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pprzlog_transport.c
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pprzlog_transport.c
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/*
* Copyright (C) 2014 Gautier Hattenberger <gautier.hattenberger@enac.fr>
*
* 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, see
* <http://www.gnu.org/licenses/>.
*
*/
/**
* @file subsystems/datalink/pprzlog_transport.c
*
* Building and Paparazzi frames with timestamp for data logger.
*
* LOG-message: ABCDEFGHxxxxxxxI
* A PPRZ_STX (0x99)
* B LENGTH (H->H)
* C SOURCE (0=uart0, 1=uart1, 2=i2c0, ...)
* D TIMESTAMP_LSB (100 microsec raster)
* E TIMESTAMP
* F TIMESTAMP
* G TIMESTAMP_MSB
* H PPRZ_DATA
* 0 SENDER_ID
* 1 MSG_ID
* 2 MSG_PAYLOAD
* . DATA (messages.xml)
* I CHECKSUM (sum[B->H])
*
*/
#include <inttypes.h>
#include "subsystems/datalink/pprzlog_transport.h"
struct pprzlog_transport pprzlog_tp;
#define STX_LOG 0x99
static void put_1byte(struct pprzlog_transport *trans, struct link_device *dev, const uint8_t byte)
{
trans->ck += byte;
dev->transmit(dev->periph, byte);
}
static void put_bytes(struct pprzlog_transport *trans, struct link_device *dev, enum TransportDataType type __attribute__((unused)), enum TransportDataFormat format __attribute__((unused)), uint8_t len, const void *bytes)
{
const uint8_t *b = (const uint8_t *) bytes;
int i;
for (i = 0; i < len; i++) {
put_1byte(trans, dev, b[i]);
}
}
static void put_named_byte(struct pprzlog_transport *trans, struct link_device *dev, enum TransportDataType type __attribute__((unused)), enum TransportDataFormat format __attribute__((unused)), uint8_t byte, const char * name __attribute__((unused)))
{
put_1byte(trans, dev, byte);
}
static uint8_t size_of(struct pprzlog_transport *trans __attribute__((unused)), uint8_t len)
{
return len;
}
static void start_message(struct pprzlog_transport *trans, struct link_device *dev, uint8_t payload_len)
{
dev->transmit(dev->periph, STX_LOG);
const uint8_t msg_len = size_of(trans, payload_len);
trans->ck = 0;
put_1byte(trans, dev, msg_len);
uint32_t ts = get_sys_time_usec()/100;
put_bytes(trans, dev, DL_TYPE_TIMESTAMP, DL_FORMAT_SCALAR, 4, (uint8_t*)(&ts));
}
static void end_message(struct pprzlog_transport *trans, struct link_device *dev)
{
dev->transmit(dev->periph, trans->ck);
dev->send_message(dev->periph);
}
static void overrun(struct pprzlog_transport *trans __attribute__((unused)), struct link_device *dev __attribute__((unused)))
{
}
static void count_bytes(struct pprzlog_transport *trans __attribute__((unused)), struct link_device *dev __attribute__((unused)), uint8_t bytes __attribute__((unused)))
{
}
static int check_available_space(struct pprzlog_transport *trans __attribute__((unused)), struct link_device *dev, uint8_t bytes)
{
return dev->check_free_space(dev, bytes);
}
void pprzlog_transport_init(void)
{
pprzlog_tp.trans_tx.size_of = (size_of_t) size_of;
pprzlog_tp.trans_tx.check_available_space = (check_available_space_t) check_available_space;
pprzlog_tp.trans_tx.put_bytes = (put_bytes_t) put_bytes;
pprzlog_tp.trans_tx.put_named_byte = (put_named_byte_t) put_named_byte;
pprzlog_tp.trans_tx.start_message = (start_message_t) start_message;
pprzlog_tp.trans_tx.end_message = (end_message_t) end_message;
pprzlog_tp.trans_tx.overrun = (overrun_t) overrun;
pprzlog_tp.trans_tx.count_bytes = (count_bytes_t) count_bytes;
pprzlog_tp.trans_tx.impl = (void *)(&pprzlog_tp);
}