altos: Rename 'core' to 'kernel'

[fw/altos] / src / kernel / ao_companion.h

diff --git a/src/kernel/ao_companion.h b/src/kernel/ao_companion.h
new file mode 100644 (file)
index 0000000..035325a
--- /dev/null
+++ b/src/kernel/ao_companion.h
@@ -0,0 +1,55 @@
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#ifndef _AO_COMPANION_H_
+#define _AO_COMPANION_H_
+
+/* ao_companion.c */
+
+#define AO_COMPANION_SETUP             1
+#define AO_COMPANION_FETCH             2
+#define AO_COMPANION_NOTIFY            3
+
+struct ao_companion_command {
+       uint8_t         command;
+       uint8_t         flight_state;
+       uint16_t        tick;
+       uint16_t        serial;
+       uint16_t        flight;
+       int16_t         accel;
+       int16_t         speed;
+       int16_t         height;
+       int16_t         motor_number;
+};
+
+struct ao_companion_setup {
+       uint16_t        board_id;
+       uint16_t        board_id_inverse;
+       uint8_t         update_period;
+       uint8_t         channels;
+};
+
+extern __pdata uint8_t                         ao_companion_running;
+extern __xdata uint8_t                         ao_companion_mutex;
+extern __xdata struct ao_companion_command     ao_companion_command;
+extern __xdata struct ao_companion_setup       ao_companion_setup;
+extern __xdata uint16_t                                ao_companion_data[AO_COMPANION_MAX_CHANNELS];
+
+void
+ao_companion_init(void);
+
+#endif /* _AO_COMPANION_H_ */