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	EXTERN   extern
#define	SenderIdOfPprzMsg(x)   (x[0])
#define	IdOfPprzMsg(x)   (x[1])
#define	PPRZ   1
	Datalink kinds. More...
#define	XBEE   2
#define	SUPERBITRF   3
#define	W5100   4
#define	BLUEGIGA   5
#define	MSG_SIZE   128
#define	DatalinkFillDlBuffer(_buf, _len)
	Convenience macro to fill dl_buffer. More...
#define	DatalinkEvent()

Functions
EXTERN void	dl_parse_msg (void)
	Should be called when chars are available in dl_buffer. More...
EXTERN void	firmware_parse_msg (void)
	Firmware specfic msg handler. More...
static void	DlCheckAndParse (void)
	Check for new message and parse. More...

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

#define BLUEGIGA   5

Definition at line 48 of file datalink.h.

Referenced by downlink_init().

#define DatalinkEvent

(

)

Value:

{                       \
    pprz_check_and_parse(&(PPRZ_UART).device, &pprz_tp, dl_buffer, &dl_msg_available);      \
    DlCheckAndParse();                          \
  }

Definition at line 101 of file datalink.h.

Referenced by event_task_ap(), main_event(), and main_event_task().

#define DatalinkFillDlBuffer	(		_buf,
			_len
	)

Value:

{ \
  uint8_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 73 of file datalink.h.

Referenced by superbitrf_receive_packet_cb(), and w5100_check_and_parse().

#define EXTERN   extern

Definition at line 33 of file datalink.h.

#define IdOfPprzMsg

(

x

)

(x[1])

Definition at line 41 of file datalink.h.

Referenced by dl_parse_msg(), firmware_parse_msg(), parse_acinfo_dl(), and parse_rssi_dl().

#define MSG_SIZE   128

Definition at line 59 of file datalink.h.

#define PPRZ   1

Datalink kinds.

Definition at line 44 of file datalink.h.

Referenced by downlink_init().

#define SenderIdOfPprzMsg

(

x

)

(x[0])

Definition at line 40 of file datalink.h.

Referenced by dl_parse_msg(), parse_acinfo_dl(), parse_rssi_dl(), and parseTcasRA().

#define SUPERBITRF   3

Definition at line 46 of file datalink.h.

Referenced by downlink_init().

#define W5100   4

Definition at line 47 of file datalink.h.

Referenced by downlink_init().

#define XBEE   2

Definition at line 45 of file datalink.h.

Function Documentation

EXTERN void dl_parse_msg

(

void

)

Should be called when chars are available in dl_buffer.

Definition at line 107 of file setup_actuators.c.

References DefaultChannel, DefaultDevice, dl_buffer, firmware_parse_msg(), gps_inject_data(), IdOfMsg, IdOfPprzMsg, LED_TOGGLE, parse_rc_3ch_datalink(), parse_rc_4ch_datalink(), SenderIdOfPprzMsg, and val.

Referenced by DlCheckAndParse().

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static void DlCheckAndParse ( void  )

inlinestatic

Check for new message and parse.

Definition at line 82 of file datalink.h.

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

Referenced by set_datalink_message().

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EXTERN void firmware_parse_msg

(

void

)

Firmware specfic msg handler.

NAV

WIND_INFO

Definition at line 63 of file fixedwing_datalink.c.

References ac_id, LlaCoor_f::alt, LlaCoor_i::alt, UtmCoor_f::alt, autopilot_guided_update(), DefaultChannel, DefaultDevice, dl_buffer, UtmCoor_f::east, gps_nb_ovrn, LtpDef_i::hmsl, IdOfPprzMsg, infrared, LlaCoor_f::lat, LlaCoor_i::lat, LtpDef_i::lla, LlaCoor_f::lon, LlaCoor_i::lon, MOfMM, nav_goto_block(), nav_move_waypoint(), nav_utm_east0, nav_utm_north0, nav_utm_zone0, State::ned_origin_i, UtmCoor_f::north, Infrared::pitch, Infrared::roll, SEND_NAVIGATION, state, stateGetAirspeed_f(), stateIsLocalCoordinateValid(), stateSetAirspeed_f(), stateSetHorizontalWindspeed_f(), stateSetVerticalWindspeed_f(), Infrared::top, utm_of_lla_f(), waypoint_move_lla(), waypoints, point::x, FloatVect2::x, point::y, FloatVect2::y, and UtmCoor_f::zone.

Referenced by dl_parse_msg().

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Variable Documentation

EXTERN uint16_t datalink_nb_msgs

number of datalink/uplink messages received

Definition at line 57 of file datalink.h.

Referenced by DlCheckAndParse().

EXTERN uint16_t datalink_time

time in seconds since last datalink message was received

Definition at line 54 of file datalink.h.

Referenced by DlCheckAndParse().

EXTERN uint8_t dl_buffer[MSG_SIZE]

Definition at line 60 of file datalink.h.

EXTERN bool dl_msg_available

Flag provided to control calls to dl_parse_msg.

NOT used in this module

Definition at line 51 of file datalink.h.

Referenced by DlCheckAndParse().