Paparazzi UAS  v5.15_devel-99-g2ff7410
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protocol.h
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2  * Copyright (C) 2014 OpenUAS
3  *
4  * This file is part of paparazzi.
5  *
6  * paparazzi is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
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14  * GNU General Public License for more details.
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21  */
22 
37 #ifndef MORA_TRANSPORT_H
38 #define MORA_TRANSPORT_H
39 
40 #include <inttypes.h>
41 #include <stdbool.h>
42 #include "std.h"
43 
45 // MESSAGES
46 
47 #define MORA_SHOOT 1
48 #define MORA_SHOOT_MSG_SIZE (4*10)
49 
50 // 7 * 4 bytes int32_t
51 // nr, lat, lon, h, phi, theta, psi
52 
54  struct {
55  int32_t nr;
56  int32_t lat;
57  int32_t lon;
58  int32_t alt;
59  int32_t phi;
60  int32_t theta;
61  int32_t psi;
62  int32_t vground;
64  int32_t groundalt;
65  } data;
67  int32_t i[10];
68 };
69 
70 #define MORA_BUFFER_EMPTY 2
71 
72 // 0 bytes payload: null
73 
74 #define MORA_PAYLOAD 3
75 #define MORA_PAYLOAD_MSG_SIZE 70
76 
77 
78 // 72 bytes
79 
80 #define MORA_STATUS 4
81 #define MORA_STATUS_MSG_SIZE (4*2)
82 
83 // 4*2 bytes
90  } data;
92 };
93 
95 // SENDING
96 
98 
99 #define STX 0x99
100 
101 #define MoraSizeOf(_payload) (_payload+5)
102 
103 #define MoraPutUint8( _byte) { \
104  mora_ck_a += _byte; \
105  mora_ck_b += mora_ck_a; \
106  CameraLinkTransmit(_byte); \
107  }
108 
109 #define MoraHeader(msg_id, payload_len) { \
110  CameraLinkTransmit(STX); \
111  uint8_t msg_len = MoraSizeOf( payload_len); \
112  CameraLinkTransmit(msg_len); \
113  mora_ck_a = msg_len; mora_ck_b = msg_len; \
114  MoraPutUint8(msg_id); \
115  }
116 
117 #define MoraTrailer() { \
118  CameraLinkTransmit(mora_ck_a); \
119  CameraLinkTransmit(mora_ck_b); \
120  }
121 
122 #define MoraPut1ByteByAddr( _byte) { \
123  uint8_t _x = *(_byte); \
124  MoraPutUint8( _x); \
125  }
126 
128 // PARSING
129 
131  // generic interface
137  // specific pprz transport variables
141 };
142 
143 extern struct mora_transport mora_protocol;
144 
145 void parse_mora(struct mora_transport *t, uint8_t c);
146 
147 
148 #endif
149 
unsigned short uint16_t
Definition: types.h:16
uint8_t payload_len
Definition: protocol.h:136
uint8_t mora_ck_a
Definition: protocol.c:5
uint8_t error
Definition: protocol.h:133
uint8_t mora_ck_b
Definition: protocol.c:5
uint8_t msg_id
Definition: protocol.h:134
uint8_t ck_b
Definition: protocol.h:140
uint8_t payload[256]
Definition: protocol.h:132
uint8_t bin[MORA_SHOOT_MSG_SIZE]
Definition: protocol.h:66
void parse_mora(struct mora_transport *t, uint8_t c)
Definition: protocol.c:20
uint8_t bin[MORA_STATUS_MSG_SIZE]
Definition: protocol.h:91
struct dc_shot_union::@284 data
#define MORA_STATUS_MSG_SIZE
Definition: protocol.h:81
struct mora_transport mora_protocol
Definition: protocol.c:18
signed long int32_t
Definition: types.h:19
bool msg_received
Definition: protocol.h:135
#define MORA_SHOOT_MSG_SIZE
Definition: protocol.h:48
uint8_t payload_idx
Definition: protocol.h:139
unsigned char uint8_t
Definition: types.h:14
uint8_t ck_a
Definition: protocol.h:140
int32_t i[10]
Definition: protocol.h:67
static int16_t course[3]
Definition: airspeed_uADC.c:57
struct mora_status_union::mora_status_struct data
uint8_t status
Definition: protocol.h:138