-
Notifications
You must be signed in to change notification settings - Fork 1.1k
/
datalink.c
266 lines (237 loc) · 8.42 KB
/
datalink.c
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
/*
* Copyright (C) Kirk Scheper <kirkscheper@gmail.com>
*
* 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.
*/
/**
* @file subsystems/datalink/datalink.c
* Handling of messages coming from ground and other A/Cs.
* This is common to the fixedwing and rotorcraft firmwares,
* other firmwares should provide their own dl_parse_msg().
*/
#define DATALINK_C
#define MODULES_DATALINK_C
#include "datalink.h"
#include "subsystems/datalink/downlink.h"
#include "generated/modules.h"
#include "generated/settings.h"
#include "pprzlink/messages.h"
#include "pprzlink/dl_protocol.h"
#if defined RADIO_CONTROL && defined RADIO_CONTROL_TYPE_DATALINK
#include "subsystems/radio_control.h"
#endif
#if USE_GPS
#include "subsystems/gps.h"
#endif
#if defined GPS_DATALINK
#include "subsystems/gps/gps_datalink.h"
#endif
#ifdef TRAFFIC_INFO
#include "subsystems/navigation/traffic_info.h"
#endif
#ifdef RADIO_CONTROL_DATALINK_LED
#include "led.h"
#endif
#define MOfCm(_x) (((float)(_x))/100.)
#if USE_NPS
bool_t datalink_enabled = TRUE;
#endif
void dl_parse_msg(void)
{
uint8_t sender_id = SenderIdOfPprzMsg(dl_buffer);
uint8_t msg_id = IdOfPprzMsg(dl_buffer);
/* parse telemetry messages coming from other AC */
if (sender_id != 0) {
switch (msg_id) {
#if 0 // TODO waiting for telemetry macros to be made in pprzlink
#ifdef TRAFFIC_INFO
case DL_GPS_SMALL: {
uint32_t multiplex_speed = DL_GPS_SMALL_multiplex_speed(dl_buffer);
// Position in ENU coordinates
int16_t course = (int16_t)((multiplex_speed >> 21) & 0x7FF); // bits 31-21 course in decideg
if (course & 0x400) {
course |= 0xFFFFF800; // fix for twos complements
}
int16_t gspeed = (int16_t)((multiplex_speed >> 10) & 0x7FF); // bits 20-10 ground speed cm/s
if (gspeed & 0x400) {
gspeed |= 0xFFFFF800; // fix for twos complements
}
int16_t climb = (int16_t)(multiplex_speed >> 2 & 0x7FF); // bits 9-0 z climb speed in cm/s
if (climb & 0x400) {
climb |= 0xFFFFF800; // fix for twos complements
}
set_ac_info(sender_id,
MOfCm(DL_GPS_SMALL_utm_east(dl_buffer)), /*m*/
MOfCm(DL_GPS_SMALL_utm_north(dl_buffer)), /*m*/
RadOfDeg(((float)course) / 10.), /*rad(CW)*/
MOfCm(DL_GPS_SMALL_alt(dl_buffer)), /*m*/
MOfCm(gspeed), /*m/s*/
MOfCm(climb), /*m/s*/
gps_tow_from_sys_ticks(sys_time.nb_tick));
}
break;
case DL_GPS: {
set_ac_info(sender_id,
MOfCm(DL_GPS_utm_east(dl_buffer)), /*m*/
MOfCm(DL_GPS_utm_north(dl_buffer)), /*m*/
RadOfDeg(((float)DL_GPS_course(dl_buffer)) / 10.), /*rad(CW)*/
MOfCm(DL_GPS_alt(dl_buffer)), /*m*/
MOfCm(DL_GPS_speed(dl_buffer)), /*m/s*/
MOfCm(DL_GPS_climb(dl_buffer)), /*m/s*/
(uint32_t)DL_GPS_itow(dl_buffer));
}
break;
case DL_GPS_LLA: {
set_ac_info_lla(sender_id,
DL_GPS_LLA_lat(dl_buffer), /*1e7deg*/
DL_GPS_LLA_lon(dl_buffer), /*1e7deg*/
DL_GPS_LLA_alt(dl_buffer), /*mm*/
DL_GPS_LLA_course(dl_buffer), /*decideg*/
DL_GPS_LLA_speed(dl_buffer), /*cm/s*/
DL_GPS_LLA_climb(dl_buffer), /*cm/s*/
DL_GPS_LLA_itow(dl_buffer)); /*ms*/
}
break;
#endif /* TRAFFIC_INFO */
#ifdef TCAS
case DL_TCAS_RA: {
if (DL_TCAS_RESOLVE_ac_id(dl_buffer) == AC_ID && SenderIdOfMsg(dl_buffer) != AC_ID) {
uint8_t ac_id_conflict = SenderIdOfMsg(dl_buffer);
tcas_acs_status[the_acs_id[ac_id_conflict]].resolve = DL_TCAS_RA_resolve(dl_buffer);
}
}
#endif /* TCAS */
#endif
default: {
break;
}
}
return; // msg was telemetry not datalink so return
}
/* parse telemetry messages coming from ground station */
switch (msg_id) {
case DL_PING: {
DOWNLINK_SEND_PONG(DefaultChannel, DefaultDevice);
}
break;
case DL_SETTING : {
if (DL_SETTING_ac_id(dl_buffer) != AC_ID) { break; }
uint8_t i = DL_SETTING_index(dl_buffer);
float var = DL_SETTING_value(dl_buffer);
DlSetting(i, var);
DOWNLINK_SEND_DL_VALUE(DefaultChannel, DefaultDevice, &i, &var);
}
break;
case DL_GET_SETTING : {
if (DL_GET_SETTING_ac_id(dl_buffer) != AC_ID) { break; }
uint8_t i = DL_GET_SETTING_index(dl_buffer);
float val = settings_get_value(i);
DOWNLINK_SEND_DL_VALUE(DefaultChannel, DefaultDevice, &i, &val);
}
break;
#ifdef RADIO_CONTROL_TYPE_DATALINK
case DL_RC_3CH :
#ifdef RADIO_CONTROL_DATALINK_LED
LED_TOGGLE(RADIO_CONTROL_DATALINK_LED);
#endif
parse_rc_3ch_datalink(
DL_RC_3CH_throttle_mode(dl_buffer),
DL_RC_3CH_roll(dl_buffer),
DL_RC_3CH_pitch(dl_buffer));
break;
case DL_RC_4CH :
if (DL_RC_4CH_ac_id(dl_buffer) == AC_ID) {
#ifdef RADIO_CONTROL_DATALINK_LED
LED_TOGGLE(RADIO_CONTROL_DATALINK_LED);
#endif
parse_rc_4ch_datalink(DL_RC_4CH_mode(dl_buffer),
DL_RC_4CH_throttle(dl_buffer),
DL_RC_4CH_roll(dl_buffer),
DL_RC_4CH_pitch(dl_buffer),
DL_RC_4CH_yaw(dl_buffer));
}
break;
#endif // RADIO_CONTROL_TYPE_DATALINK
#if USE_GPS
#ifdef GPS_DATALINK
case DL_REMOTE_GPS_SMALL : {
// Check if the GPS is for this AC
if (DL_REMOTE_GPS_SMALL_ac_id(dl_buffer) != AC_ID) { break; }
parse_gps_datalink_small(
DL_REMOTE_GPS_SMALL_numsv(dl_buffer),
DL_REMOTE_GPS_SMALL_pos_xyz(dl_buffer),
DL_REMOTE_GPS_SMALL_speed_xyz(dl_buffer),
DL_REMOTE_GPS_SMALL_heading(dl_buffer));
}
break;
case DL_REMOTE_GPS : {
// Check if the GPS is for this AC
if (DL_REMOTE_GPS_ac_id(dl_buffer) != AC_ID) { break; }
// Parse the GPS
parse_gps_datalink(
DL_REMOTE_GPS_numsv(dl_buffer),
DL_REMOTE_GPS_ecef_x(dl_buffer),
DL_REMOTE_GPS_ecef_y(dl_buffer),
DL_REMOTE_GPS_ecef_z(dl_buffer),
DL_REMOTE_GPS_lat(dl_buffer),
DL_REMOTE_GPS_lon(dl_buffer),
DL_REMOTE_GPS_alt(dl_buffer),
DL_REMOTE_GPS_hmsl(dl_buffer),
DL_REMOTE_GPS_ecef_xd(dl_buffer),
DL_REMOTE_GPS_ecef_yd(dl_buffer),
DL_REMOTE_GPS_ecef_zd(dl_buffer),
DL_REMOTE_GPS_tow(dl_buffer),
DL_REMOTE_GPS_course(dl_buffer));
}
break;
#endif // GPS_DATALINK
case DL_GPS_INJECT : {
// Check if the GPS is for this AC
if (DL_GPS_INJECT_ac_id(dl_buffer) != AC_ID) { break; }
// GPS parse data
gps_inject_data(
DL_GPS_INJECT_packet_id(dl_buffer),
DL_GPS_INJECT_data_length(dl_buffer),
DL_GPS_INJECT_data(dl_buffer)
);
}
break;
#endif // USE_GPS
#ifdef TRAFFIC_INFO
case DL_ACINFO: {
if (DL_ACINFO_ac_id(dl_buffer) == AC_ID) { break; }
uint8_t id = DL_ACINFO_ac_id(dl_buffer);
float ux = MOfCm(DL_ACINFO_utm_east(dl_buffer));
float uy = MOfCm(DL_ACINFO_utm_north(dl_buffer));
float a = MOfCm(DL_ACINFO_alt(dl_buffer));
float c = RadOfDeg(((float)DL_ACINFO_course(dl_buffer)) / 10.);
float s = MOfCm(DL_ACINFO_speed(dl_buffer));
float cl = MOfCm(DL_ACINFO_climb(dl_buffer));
uint32_t t = DL_ACINFO_itow(dl_buffer);
set_ac_info(id, ux, uy, c, a, s, cl, t);
}
break;
#endif
default:
break;
}
/* Parse firmware specific datalink */
firmware_parse_msg();
/* Parse modules datalink */
modules_parse_datalink(msg_id);
}