datalink.h

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/*
 * Copyright (C) 2005  Pascal Brisset, Antoine Drouin
 *
 * This file is part of paparazzi.
 *
 * paparazzi 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 2, or (at your option)
 * any later version.
 *
 * paparazzi 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 paparazzi; see the file COPYING.  If not, write to
 * the Free Software Foundation, 59 Temple Place - Suite 330,
 * Boston, MA 02111-1307, USA.
 *
 */
#ifndef DATALINK_H
#define DATALINK_H
 
#include "std.h"
#include "pprzlink/dl_protocol.h"
 
#define PPRZ 1
#define XBEE 2
#define SUPERBITRF 3
#define W5100 4
#define BLUEGIGA 5
 
extern bool dl_msg_available;
 
extern uint16_t datalink_time;
 
extern uint16_t datalink_nb_msgs;
 
#define MSG_SIZE 256
extern uint8_t dl_buffer[MSG_SIZE]  __attribute__((aligned));
 
extern void dl_parse_msg(struct link_device *dev, struct transport_tx *trans, uint8_t *buf);
 
#if USE_NPS
extern bool datalink_enabled;
#endif
 
// TODO: replace with a memcpy for efficiency
#define DatalinkFillDlBuffer(_buf, _len) { \
  uint16_t _i = 0; \
  for (_i = 0; _i < _len; _i++) { \
    dl_buffer[_i] = _buf[_i]; \
  } \
  dl_msg_available = true; \
}
 
extern void datalink_init(void);
 
extern void datalink_periodic(void);
 
extern void datalink_parse_PING(struct link_device *dev, struct transport_tx *trans, uint8_t *buf);
 
static inline void DlCheckAndParse(struct link_device *dev, struct transport_tx *trans, uint8_t *buf, bool *msg_available, bool update_dl)
{
  // make it possible to disable datalink in NPS sim
#if USE_NPS
  if (!datalink_enabled) {
    return;
  }
#endif
 
  if (*msg_available) {
    if (update_dl) {
      datalink_time = 0;
      datalink_nb_msgs++;
    }
    dl_parse_msg(dev, trans, buf);
    *msg_available = false;
  }
}
 
#endif /* DATALINK_H */