Paparazzi UAS  v5.0.5_stable-7-g4b8bbb7
Paparazzi is a free software Unmanned Aircraft System.
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datalink.h
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1 /*
2  * Copyright (C) 2005 Pascal Brisset, Antoine Drouin
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
8  * the Free Software Foundation; either version 2, or (at your option)
9  * any later version.
10  *
11  * paparazzi is distributed in the hope that it will be useful,
12  * but WITHOUT ANY WARRANTY; without even the implied warranty of
13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14  * GNU General Public License for more details.
15  *
16  * You should have received a copy of the GNU General Public License
17  * along with paparazzi; see the file COPYING. If not, write to
18  * the Free Software Foundation, 59 Temple Place - Suite 330,
19  * Boston, MA 02111-1307, USA.
20  *
21  */
27 #ifndef DATALINK_H
28 #define DATALINK_H
29 
30 #ifdef DATALINK_C
31 #define EXTERN
32 #else
33 #define EXTERN extern
34 #endif
35 
36 #ifdef __IEEE_BIG_ENDIAN /* From machine/ieeefp.h */
37 #define Swap32IfBigEndian(_u) { _u = (_u << 32) | (_u >> 32); }
38 #else
39 #define Swap32IfBigEndian(_) {}
40 #endif
41 
42 #include "std.h"
43 #include "dl_protocol.h"
44 
46 #define PPRZ 1
47 #define XBEE 2
48 #define UDP 3
49 
54 
55 #define MSG_SIZE 128
56 EXTERN uint8_t dl_buffer[MSG_SIZE] __attribute__ ((aligned));
57 
58 EXTERN void dl_parse_msg(void);
62 #define DlCheckAndParse() { \
63  if (dl_msg_available) { \
64  dl_parse_msg(); \
65  dl_msg_available = FALSE; \
66  } \
67 }
68 
69 #if defined DATALINK && DATALINK == PPRZ
70 
71 #define DatalinkEvent() { \
72  PprzCheckAndParse(PPRZ_UART, pprz_tp); \
73  DlCheckAndParse(); \
74  }
75 
76 #elif defined DATALINK && DATALINK == XBEE
77 
78 #define DatalinkEvent() { \
79  XBeeCheckAndParse(XBEE_UART, xbee_tp); \
80  DlCheckAndParse(); \
81  }
82 
83 #elif defined DATALINK && DATALINK == W5100
84 
85 #define DatalinkEvent() { \
86  W5100CheckAndParse(W5100, w5100_tp); \
87  DlCheckAndParse(); \
88  }
89 
90 #elif defined DATALINK && DATALINK == UDP
91 
92 #define DatalinkEvent() { \
93  UdpCheckAndParse(); \
94  DlCheckAndParse(); \
95  }
96 
97 
98 #else
99 
100 // Unknown DATALINK
101 #define DatalinkEvent() {}
102 
103 #endif /* DATALINK == */
104 
105 #endif /* DATALINK_H */
unsigned short uint16_t
Definition: types.h:16
unsigned char uint8_t
Definition: types.h:14