dji_mfio.hpp

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#ifndef DJI_MFIO_H
#define DJI_MFIO_H

#include "dji_vehicle_callback.hpp"

namespace DJI
{
namespace OSDK
{

// Forward Declarations
class Vehicle;

class MFIO
{
public:
  typedef enum MODE {
    MODE_PWM_OUT  = 0,
    MODE_PWM_IN   = 1,
    MODE_GPIO_OUT = 2,
    MODE_GPIO_IN  = 3,
    MODE_ADC      = 4
  } MODE;

  typedef enum CHANNEL {
    CHANNEL_0 = 0,
    CHANNEL_1 = 1,
    CHANNEL_2 = 2,
    CHANNEL_3 = 3,
    CHANNEL_4 = 4,
    CHANNEL_5 = 5,
    CHANNEL_6 = 6,
    CHANNEL_7 = 7,
  } CHANNEL;

public:
  MFIO(Vehicle* vehicle);
  ~MFIO();

  // Non-blocking API

  void config(MODE mode, CHANNEL channel, uint32_t defaultValue, uint16_t freq,
              VehicleCallBack fn = 0, UserData userData = 0);

  void setValue(CHANNEL channel, uint32_t value, VehicleCallBack fn = 0,
                UserData data = 0);

  void getValue(CHANNEL channel, VehicleCallBack fn = 0, UserData data = 0);

  // Blocking API

  ACK::ErrorCode config(MODE mode, CHANNEL channel, uint32_t defaultValue,
                        uint16_t freq, int wait_timeout);

  ACK::ErrorCode setValue(CHANNEL channel, uint32_t value, int wait_timeout);

  ACK::MFIOGet getValue(CHANNEL channel, int wait_timeout);

private:
  static void initCallback(Vehicle *vehicle, RecvContainer recvFrame,
                           UserData data);
  static void setValueCallback(Vehicle *vehicle, RecvContainer recvFrame,
                               UserData data);
  static void getValueCallback(Vehicle *vehicle, RecvContainer recvFrame,
                               UserData data);

private:
  Vehicle* vehicle;

  uint8_t channelUsage;

private:
#pragma pack(1)
  typedef struct InitData
  {
    uint8_t  channel;
    uint8_t  mode;
    uint32_t value;
    uint16_t freq;
  } InitData; // pack(1)

  typedef struct SetData
  {
    uint8_t  channel;
    uint32_t value;
  } SetData; // pack(1)

  typedef uint32_t GetData;

  typedef struct GetResult
  {
    uint8_t  reserved;
    uint32_t value;
  } GetResult; // pack(1)

#pragma pack()
}; // class MFIO

} // OSDK
} // DJI

#endif // DJI_MFIO_H