commands.h

/*
	Copyright 2016 Benjamin Vedder	benjamin@vedder.se

	This file is part of the VESC firmware.

	The VESC firmware 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, either version 3 of the License, or
    (at your option) any later version.

    The VESC firmware 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, see <http://www.gnu.org/licenses/>.
    */

#ifndef COMMANDS_H_
#define COMMANDS_H_

#include "datatypes.h"

// Global variables
extern uint8_t send_buffer_global[];
extern mutex_t send_buffer_mutex;

// Functions
void commands_init(void);
bool commands_is_initialized(void);
void commands_send_packet(unsigned char *data, unsigned int len);
void commands_send_packet_can_last(unsigned char *data, unsigned int len);
void commands_send_packet_nrf(unsigned char *data, unsigned int len);
void commands_send_packet_last_blocking(unsigned char *data, unsigned int len);
void commands_process_packet(unsigned char *data, unsigned int len,
		void(*reply_func)(unsigned char *data, unsigned int len));
int commands_printf(const char* format, ...);
int commands_printf_lisp(const char* format, ...);
void commands_send_rotor_pos(float rotor_pos);
void commands_send_experiment_samples(float *samples, int len);
void commands_fwd_can_frame(int len, unsigned char *data, uint32_t id, bool is_extended);
disp_pos_mode commands_get_disp_pos_mode(void);
void commands_set_app_data_handler(void(*func)(unsigned char *data, unsigned int len));
void commands_set_hw_data_handler(void(*func)(unsigned char *data, unsigned int len));
void commands_send_app_data(unsigned char *data, unsigned int len);
void commands_send_hw_data(unsigned char *data, unsigned int len);
void commands_send_gpd_buffer_notify(void);
void commands_send_mcconf(COMM_PACKET_ID packet_id, mc_configuration *mcconf);
void commands_send_appconf(COMM_PACKET_ID packet_id, app_configuration *appconf);
void commands_apply_mcconf_hw_limits(mc_configuration *mcconf);
void commands_init_plot(char *namex, char *namey);
void commands_plot_add_graph(char *name);
void commands_plot_set_graph(int graph);
void commands_send_plot_points(float x, float y);
int commands_get_fw_version_sent_cnt(void);

#endif /* COMMANDS_H_ */