downlink.c

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/*
 * Copyright (C) 2006 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.
 *
 */

#include "subsystems/datalink/downlink.h"
#include "generated/airframe.h" // AC_ID is required

#if (defined DATALINK) || PERIODIC_TELEMETRY
#include "subsystems/datalink/datalink.h"
#endif

#if USE_HARD_FAULT_RECOVERY
#include "mcu.h"
#endif

#if defined SITL && !USE_NPS
struct ivy_transport ivy_tp;
#endif

#if DATALINK == PPRZ || DATALINK == SUPERBITRF || DATALINK == W5100 || DATALINK == BLUEGIGA
struct pprz_transport pprz_tp;
#endif
#if DATALINK == XBEE
struct xbee_transport xbee_tp;
#endif
#if USE_PPRZLOG
struct pprzlog_transport pprzlog_tp;
#endif

#if PERIODIC_TELEMETRY
#include "subsystems/datalink/telemetry.h"
#include "mcu_periph/sys_time.h"

static uint32_t last_down_nb_bytes = 0;  // previous number of bytes sent
static uint32_t last_up_nb_msgs = 0;  // previous number of received messages
static uint32_t last_ts = 0;  // timestamp in usec when last message was send

static void send_downlink(struct transport_tx *trans, struct link_device *dev)
{
  // current timestamp
  uint32_t now_ts = get_sys_time_msec();
  // compute downlink byte rate
  if (now_ts > last_ts) {
    uint16_t down_rate = (1000 * ((uint32_t)dev->nb_bytes - last_down_nb_bytes)) / (now_ts - last_ts);
    uint16_t up_rate = (1000 * ((uint32_t)datalink_nb_msgs - last_up_nb_msgs)) / (now_ts - last_ts);

    last_ts = now_ts;
#if defined DATALINK || defined SITL
    last_down_nb_bytes = dev->nb_bytes;
    last_up_nb_msgs = datalink_nb_msgs;
#else
    last_down_nb_bytes = 0;
    last_up_nb_msgs = 0;
#endif

    pprz_msg_send_DATALINK_REPORT(trans, dev, AC_ID, &datalink_time, &datalink_nb_msgs, &dev->nb_msgs, &down_rate,
                                  &up_rate, &dev->nb_ovrn);
  }
}
#endif

void downlink_init(void)
{
  // Set initial counters
  (DefaultDevice).device.nb_ovrn = 0;
  (DefaultDevice).device.nb_bytes = 0;
  (DefaultDevice).device.nb_msgs = 0;

#if defined DATALINK

  datalink_nb_msgs = 0;

#if DATALINK == PPRZ || DATALINK == SUPERBITRF || DATALINK == W5100 || DATALINK == BLUEGIGA
  pprz_transport_init(&pprz_tp);
#endif
#if DATALINK == XBEE
#ifndef XBEE_TYPE
#define XBEE_TYPE XBEE_24
#endif
#ifndef XBEE_INIT
#define XBEE_INIT ""
#endif
#if USE_HARD_FAULT_RECOVERY
  if (recovering_from_hard_fault)
    // in case of hardfault recovery, we want to skip xbee init which as an active wait
    xbee_transport_init(&xbee_tp, &((DefaultDevice).device), AC_ID, XBEE_TYPE, XBEE_BAUD, NULL, XBEE_INIT);
  else
#endif
    xbee_transport_init(&xbee_tp, &((DefaultDevice).device), AC_ID, XBEE_TYPE, XBEE_BAUD, sys_time_usleep, XBEE_INIT);
#endif
#if DATALINK == W5100
  w5100_init();
#endif
#if DATALINK == BLUEGIGA
  bluegiga_init(&bluegiga_p);
#endif

#endif

#if USE_PPRZLOG
  pprzlog_transport_init(&pprzlog_tp, get_sys_time_usec);
#endif

#if SITL && !USE_NPS
  ivy_transport_init(&ivy_tp);
#endif

#if PERIODIC_TELEMETRY
  register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_DATALINK_REPORT, send_downlink);
#endif
}