datalink.h File Reference

Handling of messages coming from ground and other A/Cs. More...

#include "std.h"
#include "pprzlink/dl_protocol.h"

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Macros
#define	PPRZ   1
	Datalink kinds. More...
#define	XBEE   2
#define	SUPERBITRF   3
#define	W5100   4
#define	BLUEGIGA   5
#define	MSG_SIZE   256
#define	DatalinkFillDlBuffer(_buf, _len)
	Convenience macro to fill dl_buffer. More...

Functions
void	dl_parse_msg (struct link_device *dev, struct transport_tx *trans, uint8_t *buf)
	Should be called when chars are available in dl_buffer. More...
void	datalink_init (void)
	init function More...
void	datalink_periodic (void)
	periodic function, should be called at 1Hz More...
void	datalink_parse_PING (struct link_device *dev, struct transport_tx *trans, uint8_t *buf)
static void	DlCheckAndParse (struct link_device *dev, struct transport_tx *trans, uint8_t *buf, bool *msg_available, bool update_dl)
	Check for new message and parse. More...

Variables
bool	dl_msg_available
	Flag provided to control calls to dl_parse_msg. More...
uint16_t	datalink_time
	time in seconds since last datalink message was received More...
uint16_t	datalink_nb_msgs
	number of datalink/uplink messages received More...
uint8_t	dl_buffer [MSG_SIZE]

Detailed Description

Handling of messages coming from ground and other A/Cs.

Definition in file datalink.h.

Macro Definition Documentation

BLUEGIGA

#define BLUEGIGA   5

Definition at line 38 of file datalink.h.

DatalinkFillDlBuffer

#define DatalinkFillDlBuffer	(		_buf,
			_len
	)

Value:

  { \
  uint16_t _i = 0; \
  for (_i = 0; _i < _len; _i++) { \
    dl_buffer[_i] = _buf[_i]; \
  } \
  dl_msg_available = true; \
}

Convenience macro to fill dl_buffer.

Definition at line 61 of file datalink.h.

MSG_SIZE

#define MSG_SIZE   256

Definition at line 49 of file datalink.h.

PPRZ

#define PPRZ   1

Datalink kinds.

Definition at line 34 of file datalink.h.

SUPERBITRF

#define SUPERBITRF   3

Definition at line 36 of file datalink.h.

W5100

#define W5100   4

Definition at line 37 of file datalink.h.

XBEE

#define XBEE   2

Definition at line 35 of file datalink.h.

Function Documentation

datalink_init()

void datalink_init

(

void

)

init function

Definition at line 47 of file datalink.c.

References datalink_nb_msgs, datalink_time, and dl_msg_available.

Referenced by main_init().

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datalink_parse_PING()

void datalink_parse_PING	(	struct link_device *	dev,
		struct transport_tx *	trans,
		uint8_t *	buf
	)

Definition at line 59 of file datalink.c.

References dev, and msg.

datalink_periodic()

void datalink_periodic

(

void

)

periodic function, should be called at 1Hz

Definition at line 54 of file datalink.c.

References datalink_time.

Referenced by main_periodic_task().

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dl_parse_msg()

void dl_parse_msg	(	struct link_device *	dev,
		struct transport_tx *	trans,
		uint8_t *	buf
	)

Should be called when chars are available in dl_buffer.

Definition at line 118 of file setup_actuators.c.

References DefaultChannel, DefaultDevice, dev, IdOfMsg, LED_TOGGLE, and val.

Referenced by DlCheckAndParse(), and intermcu_event().

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DlCheckAndParse()

static void DlCheckAndParse ( struct link_device *  dev, struct transport_tx *  trans, uint8_t *  buf, bool *  msg_available, bool  update_dl  )

inlinestatic

Check for new message and parse.

Definition at line 78 of file datalink.h.

References datalink_nb_msgs, datalink_time, dev, and dl_parse_msg().

Referenced by bluegiga_dl_event(), extra_pprz_dl_event(), gec_dl_event(), pprz_dl_event(), sensors_hitl_event(), superbitrf_dl_event(), and xbee_dl_event().

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Variable Documentation

datalink_nb_msgs

uint16_t datalink_nb_msgs

extern

number of datalink/uplink messages received

Definition at line 40 of file datalink.c.

Referenced by datalink_init(), DlCheckAndParse(), intermcu_event(), and send_downlink().

datalink_time

uint16_t datalink_time

extern

time in seconds since last datalink message was received

Definition at line 39 of file datalink.c.

Referenced by autopilot_failsafe_checks(), datalink_init(), datalink_periodic(), DlCheckAndParse(), intermcu_event(), send_downlink(), and xtend_rssi_periodic().

dl_buffer

uint8_t dl_buffer[MSG_SIZE]

extern

Definition at line 63 of file main_demo5.c.

Referenced by bluegiga_dl_event(), copilot_parse_move_wp_dl(), copilot_parse_payload_command_dl(), gec_dl_event(), LWC_callback(), main_dl_parse_msg(), parse_ctc_target_CleanTable(), parse_ctc_target_RegTable(), parseTcasRA(), pprz_dl_event(), superbitrf_dl_event(), and xbee_dl_event().

dl_msg_available

bool dl_msg_available

extern

Flag provided to control calls to dl_parse_msg.

NOT used in this module

Definition at line 60 of file main_demo5.c.

Referenced by bluegiga_dl_event(), datalink_init(), gec_dl_event(), main_event_task(), pprz_dl_event(), superbitrf_dl_event(), superbitrf_receive_packet_cb(), and xbee_dl_event().