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datalink.c
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/
datalink.c
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/*
* 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.
*
*/
#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"
#if defined RADIO_CONTROL && defined RADIO_CONTROL_TYPE_DATALINK
#include "subsystems/radio_control.h"
#endif
#if USE_GPS
#include "subsystems/gps.h"
#endif
#ifdef RADIO_CONTROL_DATALINK_LED
#include "led.h"
#endif
#if USE_NPS
bool datalink_enabled = true;
#endif
void dl_parse_msg(struct link_device *dev, struct transport_tx *trans, uint8_t *buf)
{
uint8_t sender_id = SenderIdOfPprzMsg(buf);
uint8_t msg_id = IdOfPprzMsg(buf);
/* parse telemetry messages coming from other AC */
if (sender_id != 0) {
switch (msg_id) {
default: {
break;
}
}
} else {
/* parse telemetry messages coming from ground station */
switch (msg_id) {
case DL_PING: {
pprz_msg_send_PONG(trans, dev, AC_ID);
}
break;
case DL_SETTING : {
if (DL_SETTING_ac_id(buf) != AC_ID) { break; }
uint8_t i = DL_SETTING_index(buf);
float var = DL_SETTING_value(buf);
DlSetting(i, var);
pprz_msg_send_DL_VALUE(trans, dev, AC_ID, &i, &var);
}
break;
case DL_GET_SETTING : {
if (DL_GET_SETTING_ac_id(buf) != AC_ID) { break; }
uint8_t i = DL_GET_SETTING_index(buf);
float val = settings_get_value(i);
pprz_msg_send_DL_VALUE(trans, dev, AC_ID, &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(buf),
DL_RC_3CH_roll(buf),
DL_RC_3CH_pitch(buf));
break;
case DL_RC_4CH :
if (DL_RC_4CH_ac_id(buf) == AC_ID) {
#ifdef RADIO_CONTROL_DATALINK_LED
LED_TOGGLE(RADIO_CONTROL_DATALINK_LED);
#endif
parse_rc_4ch_datalink(DL_RC_4CH_mode(buf),
DL_RC_4CH_throttle(buf),
DL_RC_4CH_roll(buf),
DL_RC_4CH_pitch(buf),
DL_RC_4CH_yaw(buf));
}
break;
#endif // RADIO_CONTROL_TYPE_DATALINK
#if USE_GPS
case DL_GPS_INJECT : {
// Check if the GPS is for this AC
if (DL_GPS_INJECT_ac_id(buf) != AC_ID) { break; }
// GPS parse data
gps_inject_data(
DL_GPS_INJECT_packet_id(buf),
DL_GPS_INJECT_data_length(buf),
DL_GPS_INJECT_data(buf)
);
}
break;
#if USE_GPS_UBX_RTCM
case DL_RTCM_INJECT : {
// GPS parse data
gps_inject_data(
DL_RTCM_INJECT_packet_id(buf),
DL_RTCM_INJECT_data_length(buf),
DL_RTCM_INJECT_data(buf)
);
}
break;
#endif // USE_GPS_UBX_RTCM
#endif // USE_GPS
default:
break;
}
}
/* Parse firmware specific datalink */
firmware_parse_msg(dev, trans, buf);
/* Parse modules datalink */
modules_parse_datalink(msg_id);
}
/* default empty WEAK implementation for firmwares without an extra firmware_parse_msg */
WEAK void firmware_parse_msg(struct link_device *dev __attribute__((unused)), struct transport_tx *trans __attribute__((unused)), uint8_t *buf __attribute__((unused)))
{
}