112 lines
5.5 KiB
C
112 lines
5.5 KiB
C
/**
|
||
********************************************************************
|
||
* @file dji_low_speed_data_channel.h
|
||
* @brief This is the header file for "dji_low_speed_data_channel.c", defining the structure and
|
||
* (exported) function prototypes.
|
||
*
|
||
* @copyright (c) 2021 DJI. All rights reserved.
|
||
*
|
||
* All information contained herein is, and remains, the property of DJI.
|
||
* The intellectual and technical concepts contained herein are proprietary
|
||
* to DJI and may be covered by U.S. and foreign patents, patents in process,
|
||
* and protected by trade secret or copyright law. Dissemination of this
|
||
* information, including but not limited to data and other proprietary
|
||
* material(s) incorporated within the information, in any form, is strictly
|
||
* prohibited without the express written consent of DJI.
|
||
*
|
||
* If you receive this source code without DJI’s authorization, you may not
|
||
* further disseminate the information, and you must immediately remove the
|
||
* source code and notify DJI of its removal. DJI reserves the right to pursue
|
||
* legal actions against you for any loss(es) or damage(s) caused by your
|
||
* failure to do so.
|
||
*
|
||
*********************************************************************
|
||
*/
|
||
|
||
/* Define to prevent recursive inclusion -------------------------------------*/
|
||
#ifndef DJI_LOW_SPEED_DATA_CHANNEL_H
|
||
#define DJI_LOW_SPEED_DATA_CHANNEL_H
|
||
|
||
/* Includes ------------------------------------------------------------------*/
|
||
#include "dji_typedef.h"
|
||
|
||
#ifdef __cplusplus
|
||
extern "C" {
|
||
#endif
|
||
|
||
/* Exported constants --------------------------------------------------------*/
|
||
|
||
/* Exported types ------------------------------------------------------------*/
|
||
/**
|
||
* @brief Prototype of callback function used to receive data that come from selected channel address.
|
||
* @warning User can not execute blocking style operations or functions in callback function, because that will block
|
||
* root thread, causing problems such as slow system response, payload disconnection or infinite loop.
|
||
* @param data: pointer to data.
|
||
* @param len: length of data.
|
||
* @return Execution result.
|
||
*/
|
||
typedef T_DjiReturnCode (*DjiLowSpeedDataChannelRecvDataCallback)(const uint8_t *data, uint16_t len);
|
||
|
||
/* Exported functions --------------------------------------------------------*/
|
||
/**
|
||
* @brief Initialize the low speed data channel module.
|
||
* @note The interface initialization needs to be after DjiCore_Init.
|
||
* @return Execution result.
|
||
*/
|
||
T_DjiReturnCode DjiLowSpeedDataChannel_Init(void);
|
||
|
||
/**
|
||
* @brief Deinitialize the low speed data channel module.
|
||
* @return Execution result.
|
||
*/
|
||
T_DjiReturnCode DjiLowSpeedDataChannel_DeInit(void);
|
||
|
||
/**
|
||
* @brief Send data to selected channel address end via command channel.
|
||
* @warning If actual bandwidth is below limitation, data can be sent to the endpoint directly. If exceeds the limitation,
|
||
* firstly data will be stored to buffer of the flow controller and be sent to endpoint after a period (an integer multiple of
|
||
* 1s, the exact time depends on bandwidth limitation and buffer size). If the buffer is full, data be will discarded. The
|
||
* capacity of flow controller buffer is 512 bytes.
|
||
* @note Must ensure actual bandwidth is less than bandwidth limitation of corresponding channel or stream, please
|
||
* refer to developer documentation or state of channel/stream for details related to bandwidth limitation. User can
|
||
* get state of "sendDataChannel" command channel via DjiLowSpeedDataChannel_GetSendDataState() function. If actual
|
||
* bandwidth exceeds the limitation or busy state is set, the user should stop transmitting data or decrease amount of data
|
||
* to be sent.
|
||
* @note Max size of data package sent to selected channel address end on a physical link of command channel is 128.
|
||
* If the length of data to be sent is greater than 128, data to be sent will be divided into multiple packages to send,
|
||
* and the user will also receive multiple data packages on the selected channel address end.
|
||
* @param channelAddress: the channel address of the low speed channel
|
||
* @param data: pointer to data to be sent.
|
||
* @param len: length of data to be sent, unit: byte.
|
||
* @return Execution result.
|
||
*/
|
||
T_DjiReturnCode DjiLowSpeedDataChannel_SendData(E_DjiChannelAddress channelAddress, const uint8_t *data,
|
||
uint8_t len);
|
||
|
||
/**
|
||
* @brief Get data transmission state of "sendToOsdk" command channel. User can use the state as base for controlling data
|
||
* transmission between selected channel address and onboard computer.
|
||
* @param channelAddress: the channel address of the low speed channel
|
||
* @param state: pointer to low speed channel state.
|
||
* @return Execution result.
|
||
*/
|
||
T_DjiReturnCode DjiLowSpeedDataChannel_GetSendDataState(E_DjiChannelAddress channelAddress,
|
||
T_DjiDataChannelState *state);
|
||
|
||
/**
|
||
* @brief Register callback function used to receive data from selected channel address. After registering this callback
|
||
* function, callback function will be called automatically when system receive data from selected channel address.
|
||
* @param channelAddress: the channel address of the low speed channel
|
||
* @param callback: pointer to callback function.
|
||
* @return Execution result.
|
||
*/
|
||
T_DjiReturnCode DjiLowSpeedDataChannel_RegRecvDataCallback(E_DjiChannelAddress channelAddress,
|
||
DjiLowSpeedDataChannelRecvDataCallback callback);
|
||
|
||
#ifdef __cplusplus
|
||
}
|
||
#endif
|
||
|
||
#endif // DJI_LOW_SPEED_DATA_CHANNEL_H
|
||
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
|