protocol.h File Reference

|STX|length|... More...

#include <inttypes.h>
#include "std.h"

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Data Structures
union	dc_shot_union
union	mora_status_union
struct	mora_status_union::mora_status_struct
struct	mora_transport
struct	dc_shot_union.data

Macros
#define	MORA_SHOOT   1
#define	MORA_SHOOT_MSG_SIZE   (4*10)
#define	MORA_BUFFER_EMPTY   2
#define	MORA_PAYLOAD   3
#define	MORA_PAYLOAD_MSG_SIZE   70
#define	MORA_STATUS   4
#define	MORA_STATUS_MSG_SIZE   (4*2)
#define	STX   0x99
#define	MoraSizeOf(_payload)   (_payload+5)
#define	MoraPutUint8(_byte)
#define	MoraHeader(msg_id, payload_len)
#define	MoraTrailer()
#define	MoraPut1ByteByAddr(_byte)

Functions
void	parse_mora (struct mora_transport *t, uint8_t c)

Variables
uint8_t	mora_ck_a
uint8_t	mora_ck_b
struct mora_transport	mora_protocol

Detailed Description

|STX|length|...

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

where checksum is computed over length and payload:

mora_ck_a = mora_ck_b = length
for each byte b in payload
    mora_ck_a += b;
    mora_ck_b += mora_ck_a;

Definition in file protocol.h.

---

Data Structure Documentation

union dc_shot_union

Definition at line 52 of file protocol.h.

Collaboration diagram for dc_shot_union:

Data Fields
uint8_t	bin[MORA_SHOOT_MSG_SIZE]
struct dc_shot_union	data
int32_t	i[10]

union mora_status_union

Definition at line 83 of file protocol.h.

Collaboration diagram for mora_status_union:

Data Fields
uint8_t	bin[MORA_STATUS_MSG_SIZE]
struct mora_status_struct	data

struct mora_status_union::mora_status_struct

Definition at line 84 of file protocol.h.

Data Fields
uint16_t	cpu
uint16_t	extra
uint16_t	shots
uint16_t	threads

struct mora_transport

Definition at line 129 of file protocol.h.

Data Fields
uint8_t	ck_a
uint8_t	ck_b
uint8_t	error
uint8_t	msg_id
uint8_t	msg_received
uint8_t	payload[256]
uint8_t	payload_idx
uint8_t	payload_len
uint8_t	status

struct dc_shot_union.data

Definition at line 53 of file protocol.h.

Data Fields
int32_t	alt
int32_t	course
int32_t	groundalt
int32_t	lat
int32_t	lon
int32_t	nr
int32_t	phi
int32_t	psi
int32_t	theta
int32_t	vground

Macro Definition Documentation

#define MORA_BUFFER_EMPTY   2

Definition at line 69 of file protocol.h.

Referenced by main().

#define MORA_PAYLOAD   3

Definition at line 73 of file protocol.h.

Referenced by digital_cam_uart_event(), and send_msg_image_buffer().

#define MORA_PAYLOAD_MSG_SIZE   70

Definition at line 74 of file protocol.h.

Referenced by digital_cam_uart_event(), and send_msg_image_buffer().

#define MORA_SHOOT   1

Definition at line 46 of file protocol.h.

Referenced by dc_send_command(), and main().

#define MORA_SHOOT_MSG_SIZE   (4*10)

Definition at line 47 of file protocol.h.

Referenced by dc_send_command(), and main().

#define MORA_STATUS   4

Definition at line 79 of file protocol.h.

Referenced by digital_cam_uart_event(), and send_msg_status().

#define MORA_STATUS_MSG_SIZE   (4*2)

Definition at line 80 of file protocol.h.

Referenced by digital_cam_uart_event(), and send_msg_status().

#define MoraHeader	(		msg_id,
			payload_len
	)

Value:

{           \
    CameraLinkTransmit(STX);                        \
    uint8_t msg_len = MoraSizeOf( payload_len);       \
    CameraLinkTransmit(msg_len);                    \
    mora_ck_a = msg_len; mora_ck_b = msg_len;         \
    MoraPutUint8(msg_id);                             \
  }

Definition at line 108 of file protocol.h.

Referenced by dc_send_command(), send_msg_image_buffer(), and send_msg_status().

#define MoraPut1ByteByAddr

(

_byte

)

Value:

{  \
    uint8_t _x = *(_byte);              \
    MoraPutUint8( _x);                  \
  }

Definition at line 121 of file protocol.h.

#define MoraPutUint8

(

_byte

)

Value:

{     \
    mora_ck_a += _byte;              \
    mora_ck_b += mora_ck_a;          \
    CameraLinkTransmit(_byte);     \
  }

Definition at line 102 of file protocol.h.

Referenced by dc_send_command(), send_msg_image_buffer(), and send_msg_status().

#define MoraSizeOf

(

_payload

)

(_payload+5)

Definition at line 100 of file protocol.h.

#define MoraTrailer

(

)

Value:

{               \
    CameraLinkTransmit(mora_ck_a);    \
    CameraLinkTransmit(mora_ck_b);    \
  }

Definition at line 116 of file protocol.h.

Referenced by dc_send_command(), send_msg_image_buffer(), and send_msg_status().

#define STX   0x99

Definition at line 98 of file protocol.h.

Referenced by parse_mora(), and start_message().

Function Documentation

void parse_mora	(	struct mora_transport *	t,
		uint8_t	c
	)

Definition at line 20 of file protocol.c.

References mora_transport::ck_a, mora_transport::ck_b, mora_transport::error, GOT_CRC1, GOT_LENGTH, GOT_MSGID, GOT_PAYLOAD, GOT_STX, mora_transport::msg_id, mora_transport::msg_received, mora_transport::payload, mora_transport::payload_idx, mora_transport::payload_len, mora_transport::status, STX, TRUE, and UNINIT.

Referenced by digital_cam_uart_event(), and main().

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Variable Documentation

uint8_t mora_ck_a

Definition at line 5 of file protocol.c.

uint8_t mora_ck_b

Definition at line 5 of file protocol.c.

struct mora_transport mora_protocol

Definition at line 18 of file protocol.c.

Referenced by digital_cam_uart_event(), and main().