net.h

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#ifndef NET_H
#define NET_H

#ifdef  __cplusplus
extern "C" {
#endif

#define P0_SEND_FREQUENCY 300 

#define P1_SEND_FREQUENCY 1000

#define P2_SEND_FREQUENCY 20000

#define UPLINK_CHECK_FREQUENCY 100

#define BLOCKING_MODE 0

#define OUTBOUND_QUEUE_SIZE 30
#define INBOUND_QUEUE_SIZE 100

#define EDIT_NONE 0
#define EDIT_PITCH_GAIN 1
#define EDIT_ROLL_GAIN 2
#define EDIT_YAW_GAIN 3

#define API_HEADER_LENGTH 17
#define API_HEADER_PREFIX 3

#define RECEIVER_ADDRESS 0x0013A20040B47E6B//37745 //B47E6B

#define INCREMENT_DATA_FRAME 0x00
#define OPTION_BYTE 0x01 //Disables ACK

//FRAME TYPE
#define TX_PACKET 0x10
#define BROADCAST_RADIUS 1 //0 is infinite number of hops to reach target
#define RAW_PACKET_BUFFER_SIZE 16   // Number of buffer regions to allow for incoming commands

#define HEARTBEAT_TIMEOUT 10000 //In Milliseconds
    
#define GPS_TIMEOUT 30000 //In Milliseconds

#define HEARTBEAT_KILL_TIMEOUT 20000 //In Milliseconds

#define UHF_KILL_TIMEOUT 10000

typedef enum _p_priority {
    PRIORITY0 = 0,
    PRIORITY1 = 1,
    PRIORITY2 = 2,
} p_priority;


/* For reference: 
 In MPLAB XC 16 compiler:
 char           : 1 byte
 int            : 2 bytes
 long int       : 4 bytes
 float          : 4 bytes
 long double    : 8 bytes
 */

// 72 bytes
struct priority1_block { //High Frequency - Multiple times per second
    long double lat, lon; // Latitude and longitude from gps    // 2x8 Byte
    long int sysTime; // 4 bytes
    float UTC; //4 Byte
    float pitch, roll, yaw;
    float pitchRate, rollRate, yawRate;
    float airspeed;
    float alt; //4 Byte
    float gSpeed;
    int heading; //2 Byte
    int rollRateSetpoint, rollSetpoint;
    int pitchRateSetpoint, pitchSetpoint;
    int throttleSetpoint;
};

// 88 bytes
struct priority2_block { //Medium Frequency - Once every second
    float rollKD, rollKP;
    float pitchKD, pitchKP;
    float yawKD, yawKP;
    float pathChecksum; // 4 bytes
    int lastCommandsSent[4]; //4*2 bytes
    int batteryLevel1, batteryLevel2; // 2*2 bytes
    int ch1In,ch2In,ch3In,ch4In,ch5In,ch6In,ch7In,ch8In;
    int ch1Out,ch2Out,ch3Out,ch4Out,ch5Out,ch6Out,ch7Out,ch8Out;
    int cameraStatus;
    int yawRateSetpoint, headingSetpoint, altitudeSetpoint, flapSetpoint;
    char wirelessConnection; //1 byte
    char autopilotActive; //1 byte  
    char gpsStatus; //1 Byte
    char numWaypoints; //1 bytes
    char waypointIndex; //1 byte
    char pathFollowing; // 1 byte
};

// 75 bytes
struct priority3_block { //Low Frequency - On update...
    float rollKI; //4 Bytes
    float pitchKI;
    float yawKI;
    float headingKD, headingKP, headingKI;
    float altitudeKD, altitudeKP, altitudeKI;
    float throttleKD, throttleKP, throttleKI;
    float flapKD, flapKP, flapKI;
    float pathGain, orbitGain;
    int autonomousLevel;
    unsigned int startupErrorCodes; //2 bytes
    int startupSettings;
    char probeStatus;
};

typedef union {
    struct priority1_block p1_block;
    struct priority2_block p2_block;
    struct priority3_block p3_block;
} packetPayload;

struct telem_block {
    const int type;
    packetPayload data;
};

struct telem_buffer {
    unsigned int sendIndex;             // index into telemetry to send
    unsigned char header[API_HEADER_LENGTH];    // The header for the telem
    union {
        struct telem_block *asStruct;   // The telemetry block being sent
        unsigned char *asArray;         // The telemetry intepreted as an array
    } telemetry;
    unsigned char checksum;             // The checksum so far
};

struct command {
    unsigned char cmd;
    unsigned char data_length;
    unsigned char data[101];
};

// Initialize the data link
int initDataLink(void);

//Check whether or not the datalink is connected to the board properly.
int checkDataLinkConnection();

// Create a telemetry block to use for debugging, only creates one instance
struct telem_block *getDebugTelemetryBlock(p_priority packet);

// Create a telem block returns null if fails
struct telem_block *createTelemetryBlock(p_priority packet);

int packetCount();
// Destroy a dataBlock
void destroyTelemetryBlock(struct telem_block *data);

// Add a telem_block to the outbound data queue
// Returns the position in the queue or -1 if no room in queue
int pushOutboundTelemetryQueue(struct telem_block *data);
// Get the number of items waiting to be sent
int getOutboundQueueLength(void);
// Clear all telem blocks waiting to be sent
int clearOutboundTelemetryQueue(void);

// Pop next telem_block from incoming buffer, null if no data
struct telem_block *popOutboundTelemetryQueue(void);

// generate the header for the a telemetry block
unsigned int generateApiHeader(unsigned char *apiString, char dataFrame);

// Stage the given telemetry block
void stageTelemetryBlock(struct telem_block *telem);
// Do outbound buffer maintenance
void outboundBufferMaintenance(void);

// Send a block of telemetry immediately, probably shouldn't call this directly
int sendTelemetryBlock(struct telem_block *telem);

/****************************************************************************
 * Inbound relevant functions
 */

// Clean up the command
void destroyCommand( struct command* cmd );

// Get the next command
struct command* popCommand();

// Queue up another command
int pushCommand(struct command* cmd);

// Create a new command struct
struct command* createCommand( char* rawPacket );

// Check and make sure the char array is a valid packet
int checkPacket( char* rawPacket);

// Handle the inbound buffer
void inboundBufferMaintenance(void);

#ifdef  __cplusplus
}
#endif

#endif  /* NET_H */