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	PPRZ   1
	Datalink kinds. More...
#define	XBEE   2
#define	SUPERBITRF   3
#define	W5100   4
#define	BLUEGIGA   5
#define	MSG_SIZE   256
#define	DatalinkFillDlBuffer(_buf, _len)
	Convenience macro to fill dl_buffer. More...

Functions
EXTERN void	dl_parse_msg (struct link_device *dev, struct transport_tx *trans, uint8_t *buf)
	Should be called when chars are available in dl_buffer. More...
EXTERN void	firmware_parse_msg (struct link_device *dev, struct transport_tx *trans, uint8_t *buf)
	Firmware specfic msg handler. More...
static void	DlCheckAndParse (struct link_device *dev, struct transport_tx *trans, uint8_t *buf, bool *msg_available, bool update_dl)
	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

BLUEGIGA

#define BLUEGIGA   5

Definition at line 44 of file datalink.h.

DatalinkFillDlBuffer

#define DatalinkFillDlBuffer	(		_buf,
			_len
	)

Value:

  { \
  uint16_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 70 of file datalink.h.

EXTERN

#define EXTERN   extern

Definition at line 33 of file datalink.h.

MSG_SIZE

#define MSG_SIZE   256

Definition at line 55 of file datalink.h.

PPRZ

#define PPRZ   1

Datalink kinds.

Definition at line 40 of file datalink.h.

SUPERBITRF

#define SUPERBITRF   3

Definition at line 42 of file datalink.h.

W5100

#define W5100   4

Definition at line 43 of file datalink.h.

XBEE

#define XBEE   2

Definition at line 41 of file datalink.h.

Function Documentation

dl_parse_msg()

EXTERN void dl_parse_msg	(	struct link_device *	dev,
		struct transport_tx *	trans,
		uint8_t *	buf
	)

Should be called when chars are available in dl_buffer.

Definition at line 114 of file setup_actuators.c.

References DefaultChannel, DefaultDevice, dev, firmware_parse_msg(), gps_inject_data(), IdOfMsg, LED_TOGGLE, msg, parse_rc_3ch_datalink(), parse_rc_4ch_datalink(), and val.

Referenced by DlCheckAndParse(), and telemetry_intermcu_on_msg().

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DlCheckAndParse()

static void DlCheckAndParse ( struct link_device *  dev, struct transport_tx *  trans, uint8_t *  buf, bool *  msg_available, bool  update_dl  )

inlinestatic

Check for new message and parse.

Definition at line 79 of file datalink.h.

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

Referenced by bluegiga_dl_event(), extra_pprz_dl_event(), gec_dl_event(), pprz_dl_event(), set_datalink_message(), superbitrf_dl_event(), w5100_event(), and xbee_dl_event().

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firmware_parse_msg()

EXTERN void firmware_parse_msg	(	struct link_device *	dev,
		struct transport_tx *	trans,
		uint8_t *	buf
	)

Firmware specfic msg handler.

NAV

WIND_INFO

Definition at line 50 of file fixedwing_datalink.c.

References ac_id, LlaCoor_f::alt, LlaCoor_i::alt, UtmCoor_f::alt, autopilot_guided_update(), dev, UtmCoor_f::east, gps_nb_ovrn, LtpDef_i::hmsl, 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

datalink_nb_msgs

EXTERN uint16_t datalink_nb_msgs

number of datalink/uplink messages received

Definition at line 53 of file datalink.h.

Referenced by DlCheckAndParse().

datalink_time

EXTERN uint16_t datalink_time

time in seconds since last datalink message was received

Definition at line 50 of file datalink.h.

Referenced by DlCheckAndParse().

dl_buffer

EXTERN uint8_t dl_buffer[MSG_SIZE]

Definition at line 56 of file datalink.h.

dl_msg_available

EXTERN bool dl_msg_available

Flag provided to control calls to dl_parse_msg.

NOT used in this module

Definition at line 47 of file datalink.h.