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pprz_transport.h
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pprz_transport.h
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/*
* Paparazzi $Id$
*
* Copyright (C) 2003 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 pprz_transport.h
* \brief Building and parsing Paparazzi frames
*
* Pprz frame:
*
* |STX|length|... payload=(length-4) bytes ...|Checksum A|Checksum B|
*
* where checksum is computed over length and payload:
* ck_A = ck_B = length
* for each byte b in payload
* ck_A += b; ck_b += ck_A
*/
#ifndef PPRZ_TRANSPORT_H
#define PPRZ_TRANSPORT_H
#include <inttypes.h>
#include "std.h"
#include "subsystems/datalink/datalink.h"
#include "subsystems/datalink/transport.h"
/* PPRZ Transport
* downlink macros
*/
extern uint8_t ck_a, ck_b, pprz_down_packet_seq;
#define STX 0x99
/** 4 = STX + len + ck_a + ck_b */
#define PprzTransportSizeOf(_dev, _payload) (_payload+4)
#ifndef USE_PPRZ_TRANSPORT
#define USE_PPRZ_TRANSPORT 1
#endif
#if USE_PPRZ_TRANSPORT
#define PprzTransportCheckFreeSpace(_dev, _x) TransportLink(_dev, CheckFreeSpace(_x))
#define PprzTransportPut1Byte(_dev, _x) TransportLink(_dev, Transmit(_x))
#define PprzTransportSendMessage(_dev) TransportLink(_dev, SendMessage())
#else
#define PprzTransportCheckFreeSpace(_dev, _x) TRUE
#define PprzTransportPut1Byte(_dev, _x) {}
#define PprzTransportSendMessage(_dev) {}
#endif
#define PprzTransportHeader(_dev, payload_len) { \
PprzTransportPut1Byte(_dev, STX); \
uint8_t msg_len = PprzTransportSizeOf(_dev, payload_len); \
PprzTransportPut1Byte(_dev, msg_len); \
ck_a = msg_len; ck_b = msg_len; \
}
#define PprzTransportTrailer(_dev) { \
PprzTransportPut1Byte(_dev, ck_a); \
PprzTransportPut1Byte(_dev, ck_b); \
PprzTransportSendMessage(_dev) \
}
#define PprzTransportPutUint8(_dev, _byte) { \
ck_a += _byte; \
ck_b += ck_a; \
PprzTransportPut1Byte(_dev, _byte); \
}
#define PprzTransportPutAcId(_dev, _byte) { \
PprzTransportPutUint8(_dev, _byte); \
}
#define PprzTransportPutPacketSequence(_dev) { \
pprz_down_packet_seq++; \
if(pprz_down_packet_seq==0){ pprz_down_packet_seq++; } \
PprzTransportPutUint8(_dev, pprz_down_packet_seq); \
}
#define PprzTransportPutNamedUint8(_dev, _name, _byte) PprzTransportPutUint8(_dev, _byte)
#define PprzTransportPutClassUint8(_dev, _name, _byte) PprzTransportPutUint8(_dev, _byte)
#define PprzTransportPut1ByteByAddr(_dev, _byte) { \
uint8_t _x = *(_byte); \
PprzTransportPutUint8(_dev, _x); \
}
#define PprzTransportPut2ByteByAddr(_dev, _byte) { \
PprzTransportPut1ByteByAddr(_dev, _byte); \
PprzTransportPut1ByteByAddr(_dev, (const uint8_t*)_byte+1); \
}
#define PprzTransportPut4ByteByAddr(_dev, _byte) { \
PprzTransportPut2ByteByAddr(_dev, _byte); \
PprzTransportPut2ByteByAddr(_dev, (const uint8_t*)_byte+2); \
}
#ifdef __IEEE_BIG_ENDIAN /* From machine/ieeefp.h */
#define PprzTransportPutDoubleByAddr(_dev, _byte) { \
PprzTransportPut4ByteByAddr(_dev, (const uint8_t*)_byte+4); \
PprzTransportPut4ByteByAddr(_dev, (const uint8_t*)_byte); \
}
#define PprzTransportPutUint64ByAddr(_dev, _byte) { \
PprzTransportPut4ByteByAddr(_dev, (const uint8_t*)_byte+4); \
PprzTransportPut4ByteByAddr(_dev, (const uint8_t*)_byte); \
}
#define PprzTransportPutInt64ByAddr(_dev, _byte) { \
PprzTransportPut4ByteByAddr(_dev, (const uint8_t*)_byte+4); \
PprzTransportPut4ByteByAddr(_dev, (const uint8_t*)_byte); \
}
#else
#define PprzTransportPutDoubleByAddr(_dev, _byte) { \
PprzTransportPut4ByteByAddr(_dev, (const uint8_t*)_byte); \
PprzTransportPut4ByteByAddr(_dev, (const uint8_t*)_byte+4); \
}
#define PprzTransportPutUint64ByAddr(_dev, _byte) { \
PprzTransportPut4ByteByAddr(_dev, (const uint8_t*)_byte); \
PprzTransportPut4ByteByAddr(_dev, (const uint8_t*)_byte+4); \
}
#define PprzTransportPutInt64ByAddr(_dev, _byte) { \
PprzTransportPut4ByteByAddr(_dev, (const uint8_t*)_byte); \
PprzTransportPut4ByteByAddr(_dev, (const uint8_t*)_byte+4); \
}
#endif
#define PprzTransportPutInt8ByAddr(_dev, _x) PprzTransportPut1ByteByAddr(_dev, _x)
#define PprzTransportPutUint8ByAddr(_dev, _x) PprzTransportPut1ByteByAddr(_dev, (const uint8_t*)_x)
#define PprzTransportPutInt16ByAddr(_dev, _x) PprzTransportPut2ByteByAddr(_dev, (const uint8_t*)_x)
#define PprzTransportPutUint16ByAddr(_dev, _x) PprzTransportPut2ByteByAddr(_dev, (const uint8_t*)_x)
#define PprzTransportPutInt32ByAddr(_dev, _x) PprzTransportPut4ByteByAddr(_dev, (const uint8_t*)_x)
#define PprzTransportPutUint32ByAddr(_dev, _x) PprzTransportPut4ByteByAddr(_dev, (const uint8_t*)_x)
#define PprzTransportPutFloatByAddr(_dev, _x) PprzTransportPut4ByteByAddr(_dev, (const uint8_t*)_x)
#define PprzTransportPutCharByAddr(_dev, _x) PprzTransportPut1ByteByAddr(_dev, (const uint8_t*)_x)
#define PprzTransportPutArray(_dev, _put, _n, _x) { \
uint8_t _i; \
PprzTransportPutUint8(_dev, _n); \
for(_i = 0; _i < _n; _i++) { \
_put(_dev, &_x[_i]); \
} \
}
#define PprzTransportPutFloatArray(_dev, _n, _x) PprzTransportPutArray(_dev, PprzTransportPutFloatByAddr, _n, _x)
#define PprzTransportPutDoubleArray(_dev, _n, _x) PprzTransportPutArray(_dev, PprzTransportPutDoubleByAddr, _n, _x)
#define PprzTransportPutInt16Array(_dev, _n, _x) PprzTransportPutArray(_dev, PprzTransportPutInt16ByAddr, _n, _x)
#define PprzTransportPutUint16Array(_dev, _n, _x) PprzTransportPutArray(_dev, PprzTransportPutUint16ByAddr, _n, _x)
#define PprzTransportPutInt32Array(_dev, _n, _x) PprzTransportPutArray(_dev, PprzTransportPutInt32ByAddr, _n, _x)
#define PprzTransportPutUint32Array(_dev, _n, _x) PprzTransportPutArray(_dev, PprzTransportPutUint32ByAddr, _n, _x)
#define PprzTransportPutInt64Array(_dev, _n, _x) PprzTransportPutArray(_dev, PprzTransportPutInt64ByAddr, _n, _x)
#define PprzTransportPutUint64Array(_dev, _n, _x) PprzTransportPutArray(_dev, PprzTransportPutUint64ByAddr, _n, _x)
#define PprzTransportPutCharArray(_dev, _n, _x) PprzTransportPutArray(_dev, PprzTransportPutCharByAddr, _n, _x)
#define PprzTransportPutUint8Array(_dev, _n, _x) PprzTransportPutArray(_dev, PprzTransportPutUint8ByAddr, _n, _x)
/** Receiving pprz messages */
// PPRZ parsing state machine
#define UNINIT 0
#define GOT_STX 1
#define GOT_LENGTH 2
#define GOT_PAYLOAD 3
#define GOT_CRC1 4
struct pprz_transport {
// generic interface
struct transport trans;
// specific pprz transport variables
uint8_t status;
uint8_t payload_idx;
uint8_t ck_a, ck_b;
};
extern struct pprz_transport pprz_tp;
static inline void parse_pprz(struct pprz_transport * t, uint8_t c ) {
switch (t->status) {
case UNINIT:
if (c == STX)
t->status++;
break;
case GOT_STX:
if (t->trans.msg_received) {
t->trans.ovrn++;
goto error;
}
t->trans.payload_len = c-4; /* Counting STX, LENGTH and CRC1 and CRC2 */
t->ck_a = t->ck_b = c;
t->status++;
t->payload_idx = 0;
break;
case GOT_LENGTH:
t->trans.payload[t->payload_idx] = c;
t->ck_a += c; t->ck_b += t->ck_a;
t->payload_idx++;
if (t->payload_idx == t->trans.payload_len)
t->status++;
break;
case GOT_PAYLOAD:
if (c != t->ck_a)
goto error;
t->status++;
break;
case GOT_CRC1:
if (c != t->ck_b)
goto error;
t->trans.msg_received = TRUE;
goto restart;
default:
goto error;
}
return;
error:
t->trans.error++;
restart:
t->status = UNINIT;
return;
}
static inline void pprz_parse_payload(struct pprz_transport * t) {
uint8_t i;
for(i = 0; i < t->trans.payload_len; i++)
dl_buffer[i] = t->trans.payload[i];
dl_msg_available = TRUE;
if((dl_buffer[0]!=t->trans.packet_seq+1)&&(dl_buffer[0]!=0)){
if((t->trans.packet_seq+1)<dl_buffer[0]){
//uint8_t jump = dl_buffer[0]-(t->trans.packet_seq+1);
//XGGDEBUG:SEQ: Do something like increment counter
}else{
//uint8_t jump = dl_buffer[0]+(255-(t->trans.packet_seq));
//XGGDEBUG:SEQ: Do something like increment counter
}
}
t->trans.packet_seq = dl_buffer[0];
}
#define PprzBuffer(_dev) TransportLink(_dev,ChAvailable())
#define ReadPprzBuffer(_dev,_trans) { while (TransportLink(_dev,ChAvailable())&&!(_trans.trans.msg_received)) parse_pprz(&(_trans),TransportLink(_dev,Getch())); }
#define PprzCheckAndParse(_dev,_trans) { \
if (PprzBuffer(_dev)) { \
ReadPprzBuffer(_dev,_trans); \
if (_trans.trans.msg_received) { \
pprz_parse_payload(&(_trans)); \
_trans.trans.msg_received = FALSE; \
} \
} \
}
#endif /* PPRZ_TRANSPORT_H */