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downlink.h
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downlink.h
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/*
* Paparazzi $Id$
*
* Copyright (C) 2003-2006 Pascal Brisset, Antoine Drouin
*
* 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 downlink.h
* \brief Common code for AP and FBW telemetry
*
*/
#ifndef DOWNLINK_H
#define DOWNLINK_H
#include <inttypes.h>
#include "generated/modules.h"
#include "generated/airframe.h" // AC_ID is required
#if defined SITL
#ifdef SIM_UART
#include "sim_uart.h"
#include "subsystems/datalink/pprz_transport.h"
#include "subsystems/datalink/xbee.h"
#else /* SIM_UART */
/** Software In The Loop simulation uses IVY bus directly as the transport layer */
#include "ivy_transport.h"
#endif
#else /** SITL */
#include "subsystems/datalink/pprz_transport.h"
#include "subsystems/datalink/xbee.h"
#if USE_AUDIO_TELEMETRY
#include "subsystems/datalink/audio_telemetry.h"
#endif
#ifdef USE_USB_SERIAL
#include "mcu_periph/usb_serial.h"
#endif
#endif /** !SITL */
#ifndef DefaultChannel
#define DefaultChannel DOWNLINK_TRANSPORT
#endif
#ifndef DefaultDevice
#define DefaultDevice DOWNLINK_DEVICE
#endif
/** Counter of messages not sent because of unavailibity of the output buffer*/
extern uint8_t downlink_nb_ovrn;
extern uint16_t downlink_nb_bytes;
extern uint16_t downlink_nb_msgs;
/* Transport macros
*
* call transport functions from channel
*/
#if DOWNLINK
#define __Transport(dev, _x) dev##_x
#define _Transport(dev, _x) __Transport(dev, _x)
#define Transport(_chan, _fun) _Transport(_chan, _fun)
#else /** DOWNLINK */
#define Transport(_chan, _fun)
#endif /** DOWNLINK */
/** Set of macros for generated code (messages_<class_name>.h) from messages.xml */
/** 4 = packet_sequence + ac_id + class_id + msg_id */
#define DownlinkIDsSize(_trans, _dev, _x) (_x+4)
#define DownlinkSizeOf(_trans, _dev, _x) Transport(_trans, SizeOf(_dev, DownlinkIDsSize(_trans, _dev, _x)))
#define DownlinkCheckFreeSpace(_trans, _dev, _x) Transport(_trans, CheckFreeSpace(_dev, (uint8_t)(_x)))
#define DownlinkPutUint8(_trans, _dev, _x) Transport(_trans, PutUint8(_dev, _x))
#define DownlinkPutAcId(_trans, _dev, _x) Transport(_trans, PutAcId(_dev, _x))
#define DownlinkPutInt8ByAddr(_trans, _dev, _x) Transport(_trans, PutInt8ByAddr(_dev, _x))
#define DownlinkPutUint8ByAddr(_trans, _dev, _x) Transport(_trans, PutUint8ByAddr(_dev, _x))
#define DownlinkPutInt16ByAddr(_trans, _dev, _x) Transport(_trans, PutInt16ByAddr(_dev, _x))
#define DownlinkPutUint16ByAddr(_trans, _dev, _x) Transport(_trans, PutUint16ByAddr(_dev, _x))
#define DownlinkPutInt32ByAddr(_trans, _dev, _x) Transport(_trans, PutInt32ByAddr(_dev, _x))
#define DownlinkPutUint32ByAddr(_trans, _dev, _x) Transport(_trans, PutUint32ByAddr(_dev, _x))
#define DownlinkPutFloatByAddr(_trans, _dev, _x) Transport(_trans, PutFloatByAddr(_dev, _x))
#define DownlinkPutDoubleByAddr(_trans, _dev, _x) Transport(_trans, PutDoubleByAddr(_dev, _x))
#define DownlinkPutUint64ByAddr(_trans, _dev, _x) Transport(_trans, PutUint64ByAddr(_dev, _x))
#define DownlinkPutInt64ByAddr(_trans, _dev, _x) Transport(_trans, PutInt64ByAddr(_dev, _x))
#define DownlinkPutCharByAddr(_trans, _dev, _x) Transport(_trans, PutCharByAddr(_dev, _x))
#define DownlinkPutFloatArray(_trans, _dev, _n, _x) Transport(_trans, PutFloatArray(_dev, _n, _x))
#define DownlinkPutDoubleArray(_trans, _dev, _n, _x) Transport(_trans, PutDoubleArray(_dev, _n, _x))
#define DownlinkPutInt16Array(_trans, _dev, _n, _x) Transport(_trans, PutInt16Array(_dev, _n, _x))
#define DownlinkPutUint16Array(_trans, _dev, _n, _x) Transport(_trans, PutUint16Array(_dev, _n, _x))
#define DownlinkPutInt32Array(_trans, _dev, _n, _x) Transport(_trans, PutInt32Array(_dev, _n, _x))
#define DownlinkPutUint32Array(_trans, _dev, _n, _x) Transport(_trans, PutUint32Array(_dev, _n, _x))
#define DownlinkPutInt64Array(_trans, _dev, _n, _x) Transport(_trans, PutInt64Array(_dev, _n, _x))
#define DownlinkPutUint64Array(_trans, _dev, _n, _x) Transport(_trans, PutUint64Array(_dev, _n, _x))
#define DownlinkPutUint8Array(_trans, _dev, _n, _x) Transport(_trans, PutUint8Array(_dev, _n, _x))
#define DownlinkPutCharArray(_trans, _dev, _n, _x) Transport(_trans, PutCharArray(_dev, _n, _x))
#define DownlinkOverrun(_trans, _dev) downlink_nb_ovrn++;
#define DownlinkCountBytes(_trans, _dev, _n) downlink_nb_bytes += _n;
#define DownlinkStartMessage(_trans, _dev, _classname, class_id, _name, msg_id, payload_len) { \
downlink_nb_msgs++; \
Transport(_trans, Header(_dev, DownlinkIDsSize(_trans, _dev, payload_len))); \
Transport(_trans, PutPacketSequence(_dev));\
Transport(_trans, PutAcId(_dev, AC_ID)); \
Transport(_trans, PutClassUint8(_dev, _classname, class_id)); \
Transport(_trans, PutNamedUint8(_dev, _name, msg_id)); \
}
#define DownlinkEndMessage(_trans, _dev) Transport(_trans, Trailer(_dev))
#endif /* DOWNLINK_H */