pprz_transport.h File Reference

Building and parsing Paparazzi frames. More...

#include <inttypes.h>
#include "std.h"
#include "subsystems/datalink/datalink.h"
#include "subsystems/datalink/transport.h"

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Data Structures
struct	pprz_transport

Macros
#define	STX   0x99
#define	UNINIT   0
#define	GOT_STX   1
#define	GOT_LENGTH   2
#define	GOT_PAYLOAD   3
#define	GOT_CRC1   4
#define	PprzCheckAndParse(_dev, _trans)   pprz_check_and_parse(&(_dev).device, &(_trans))

Functions
void	pprz_transport_init (struct pprz_transport *t)
static void	parse_pprz (struct pprz_transport *t, uint8_t c)
static void	pprz_parse_payload (struct pprz_transport *t)
static void	pprz_check_and_parse (struct link_device *dev, struct pprz_transport *trans)

Variables
struct pprz_transport	pprz_tp

Detailed Description

Building and parsing Paparazzi frames.

Pprz frame:

|STX|length|... payload=(length-4) bytes ...|Checksum A|Checksum B|

where checksum is computed over length and payload:

ck_A = ck_B = length
for each byte b in payload
    ck_A += b;
    ck_b += ck_A;

Definition in file pprz_transport.h.

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Data Structure Documentation

struct pprz_transport

Definition at line 66 of file pprz_transport.h.

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Data Fields
uint8_t	ck_a_rx
uint8_t	ck_a_tx
uint8_t	ck_b_rx
uint8_t	ck_b_tx
uint8_t	payload_idx
uint8_t	status
struct transport_rx	trans_rx
struct transport_tx	trans_tx

Macro Definition Documentation

#define GOT_CRC1   4

Definition at line 64 of file pprz_transport.h.

Referenced by parse_pprz().

#define GOT_LENGTH   2

Definition at line 62 of file pprz_transport.h.

Referenced by parse_pprz().

#define GOT_PAYLOAD   3

Definition at line 63 of file pprz_transport.h.

Referenced by parse_pprz().

#define GOT_STX   1

Definition at line 61 of file pprz_transport.h.

Referenced by parse_pprz().

#define PprzCheckAndParse	(		_dev,
			_trans
	)		pprz_check_and_parse(&(_dev).device, &(_trans))

Definition at line 143 of file pprz_transport.h.

#define STX   0x99

Definition at line 57 of file pprz_transport.h.

Referenced by parse_pprz().

#define UNINIT   0

Definition at line 60 of file pprz_transport.h.

Referenced by parse_pprz().

Function Documentation

static void parse_pprz ( struct pprz_transport *  t, uint8_t  c  )

inlinestatic

Definition at line 84 of file pprz_transport.h.

References pprz_transport::ck_a_rx, pprz_transport::ck_b_rx, transport_rx::error, GOT_CRC1, GOT_LENGTH, GOT_PAYLOAD, GOT_STX, transport_rx::msg_received, transport_rx::ovrn, transport_rx::payload, pprz_transport::payload_idx, transport_rx::payload_len, pprz_transport::status, STX, pprz_transport::trans_rx, TRUE, and UNINIT.

Referenced by bluegiga_read_buffer(), InterMcuEvent(), pprz_check_and_parse(), RadioControlEvent(), superbitrf_receive_packet_cb(), and w5100_read_buffer().

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static void pprz_check_and_parse ( struct link_device *  dev, struct pprz_transport *  trans  )

inlinestatic

Definition at line 145 of file pprz_transport.h.

References link_device::char_available, FALSE, link_device::get_byte, transport_rx::msg_received, parse_pprz(), link_device::periph, pprz_parse_payload(), and pprz_transport::trans_rx.

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static void pprz_parse_payload ( struct pprz_transport *  t )

inlinestatic

Definition at line 133 of file pprz_transport.h.

References dl_buffer, dl_msg_available, transport_rx::payload, transport_rx::payload_len, pprz_transport::trans_rx, and TRUE.

Referenced by bluegiga_read_buffer(), main_event_task(), pprz_check_and_parse(), superbitrf_receive_packet_cb(), and w5100_check_and_parse().

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void pprz_transport_init

(

struct pprz_transport *

t

)

Definition at line 117 of file pprz_transport.c.

References transport_tx::check_available_space, check_available_space(), transport_tx::count_bytes, count_bytes(), end_message(), transport_tx::end_message, FALSE, transport_tx::impl, transport_rx::msg_received, transport_tx::overrun, overrun(), put_bytes(), transport_tx::put_bytes, put_named_byte(), transport_tx::put_named_byte, size_of(), transport_tx::size_of, start_message(), transport_tx::start_message, pprz_transport::status, pprz_transport::trans_rx, pprz_transport::trans_tx, and UNINIT.

Referenced by downlink_init(), extra_pprz_dl_init(), and intermcu_init().

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Variable Documentation

struct pprz_transport pprz_tp

Definition at line 49 of file pprz_transport.c.

Referenced by downlink_init().