datalink.h

Go to the documentation of this file.

/*
 * 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

#ifdef DATALINK_C
#define EXTERN
#else
#define EXTERN extern
#endif

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

/* Message id helpers */
#define SenderIdOfPprzMsg(x) (x[0])
#define IdOfPprzMsg(x) (x[1])

#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 128
EXTERN uint8_t dl_buffer[MSG_SIZE]  __attribute__((aligned));

EXTERN void dl_parse_msg(void);

EXTERN void firmware_parse_msg(void);

#if USE_NPS
EXTERN bool datalink_enabled;
#endif

#define DatalinkFillDlBuffer(_buf, _len) { \
  uint8_t _i = 0; \
  for (_i = 0; _i < _len; _i++) { \
    dl_buffer[_i] = _buf[_i]; \
  } \
  dl_msg_available = true; \
}

static inline void DlCheckAndParse(void)
{
  // make it possible to disable datalink in NPS sim
#if USE_NPS
  if (!datalink_enabled) {
    return;
  }
#endif

  if (dl_msg_available) {
    datalink_time = 0;
    datalink_nb_msgs++;
    dl_parse_msg();
    dl_msg_available = false;
  }
}

#if defined DATALINK && DATALINK == PPRZ

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

#elif defined DATALINK && DATALINK == XBEE

#define DatalinkEvent() {                       \
    xbee_check_and_parse(&(XBEE_UART).device, &xbee_tp, dl_buffer, &dl_msg_available);      \
    DlCheckAndParse();                          \
  }

#elif defined DATALINK && DATALINK == W5100

#define DatalinkEvent() {                       \
    W5100CheckAndParse(W5100, pprz_tp);         \
    DlCheckAndParse();                          \
  }

#elif defined DATALINK && DATALINK == SUPERBITRF

#define DatalinkEvent() {                       \
    SuperbitRFCheckAndParse();                  \
    DlCheckAndParse();                          \
  }

#elif defined DATALINK && DATALINK == BLUEGIGA

#define DatalinkEvent() {                       \
    pprz_check_and_parse(&(DOWNLINK_DEVICE).device, &pprz_tp, dl_buffer, &dl_msg_available);      \
    DlCheckAndParse();                          \
  }

#else

// Unknown DATALINK
#define DatalinkEvent() {}

#endif /* DATALINK == */

#endif /* DATALINK_H */