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[telemetry] add support for ivy_transport
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,178 @@ | ||
| /* | ||
| * Copyright (C) 2003 Pascal Brisset, Antoine Drouin | ||
| * 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/ivy_transport.c | ||
| * | ||
| * Building Paparazzi frames over IVY. | ||
| * | ||
| */ | ||
|
|
||
| #include "std.h" | ||
| #include "subsystems/datalink/ivy_transport.h" | ||
| #include "subsystems/datalink/downlink.h" | ||
| #include "subsystems/datalink/transport.h" | ||
|
|
||
| #include <stdio.h> | ||
| #include <Ivy/ivy.h> | ||
|
|
||
| struct ivy_transport ivy_tp; | ||
|
|
||
| static void put_bytes(struct ivy_transport *trans, struct device *dev __attribute__((unused)), enum TransportDataType type __attribute__((unused)), enum TransportDataFormat format __attribute__((unused)), uint8_t len, const void *bytes) | ||
| { | ||
| const uint8_t *b = (const uint8_t *) bytes; | ||
|
|
||
| // Start delimiter for arrays | ||
| if (format == DL_FORMAT_ARRAY) { | ||
| trans->ivy_p += sprintf(trans->ivy_p, "|"); | ||
| } | ||
|
|
||
| int i = 0; | ||
| while (i < len) { | ||
| // print data with correct type | ||
| switch (type) { | ||
| case DL_TYPE_CHAR: | ||
| trans->ivy_p += sprintf(trans->ivy_p, "%c", (char)(*((char*)(b+i)))); | ||
| i++; | ||
| break; | ||
| case DL_TYPE_UINT8: | ||
| trans->ivy_p += sprintf(trans->ivy_p, "%u", b[i]); | ||
| i++; | ||
| break; | ||
| case DL_TYPE_UINT16: | ||
| trans->ivy_p += sprintf(trans->ivy_p, "%u", (uint16_t)(*((uint16_t*)(b+i)))); | ||
| i += 2; | ||
| break; | ||
| case DL_TYPE_UINT32: | ||
| case DL_TYPE_TIMESTAMP: | ||
| trans->ivy_p += sprintf(trans->ivy_p, "%u", (uint32_t)(*((uint32_t*)(b+i)))); | ||
| i += 4; | ||
| break; | ||
| case DL_TYPE_UINT64: | ||
| trans->ivy_p += sprintf(trans->ivy_p, "%llu", (uint64_t)(*((uint64_t*)(b+i)))); | ||
| i += 8; | ||
| break; | ||
| case DL_TYPE_INT8: | ||
| trans->ivy_p += sprintf(trans->ivy_p, "%d", (int8_t)(*((int8_t*)(b+i)))); | ||
| i++; | ||
| break; | ||
| case DL_TYPE_INT16: | ||
| trans->ivy_p += sprintf(trans->ivy_p, "%d", (int16_t)(*((int16_t*)(b+i)))); | ||
| i += 2; | ||
| break; | ||
| case DL_TYPE_INT32: | ||
| trans->ivy_p += sprintf(trans->ivy_p, "%d", (int32_t)(*((int32_t*)(b+i)))); | ||
| i += 4; | ||
| break; | ||
| case DL_TYPE_INT64: | ||
| trans->ivy_p += sprintf(trans->ivy_p, "%lld", (int64_t)(*((int64_t*)(b+i)))); | ||
| i += 8; | ||
| break; | ||
| case DL_TYPE_FLOAT: | ||
| trans->ivy_p += sprintf(trans->ivy_p, "%f", (float)(*((float*)(b+i)))); | ||
| i += 4; | ||
| break; | ||
| case DL_TYPE_DOUBLE: | ||
| trans->ivy_p += sprintf(trans->ivy_p, "%f", (double)(*((double*)(b+i)))); | ||
| i += 8; | ||
| break; | ||
| case DL_TYPE_ARRAY_LENGTH: | ||
| default: | ||
| // Don't print array length but increment index | ||
| i++; | ||
| break; | ||
| } | ||
| // Coma delimiter for array, space otherwise | ||
| if (format == DL_FORMAT_ARRAY) { | ||
| trans->ivy_p += sprintf(trans->ivy_p, ","); | ||
| } else { | ||
| trans->ivy_p += sprintf(trans->ivy_p, " "); | ||
| } | ||
| } | ||
|
|
||
| // End delimiter for arrays | ||
| if (format == DL_FORMAT_ARRAY) { | ||
| trans->ivy_p += sprintf(trans->ivy_p, "| "); | ||
| } | ||
| } | ||
|
|
||
| static void put_named_byte(struct ivy_transport *trans, struct device *dev __attribute__((unused)), enum TransportDataType type __attribute__((unused)), enum TransportDataFormat format __attribute__((unused)), uint8_t byte __attribute__((unused)), const char * name __attribute__((unused))) | ||
| { | ||
| trans->ivy_p += sprintf(trans->ivy_p, "%s ", name); | ||
| } | ||
|
|
||
| static uint8_t size_of(struct ivy_transport *trans __attribute__((unused)), uint8_t len) | ||
| { | ||
| return len; | ||
| } | ||
|
|
||
| static void start_message(struct ivy_transport *trans, struct device *dev __attribute__((unused)), uint8_t payload_len __attribute__((unused))) | ||
| { | ||
| trans->ivy_p = trans->ivy_buf; | ||
| } | ||
|
|
||
| static void end_message(struct ivy_transport *trans, struct device *dev __attribute__((unused))) | ||
| { | ||
| *(--trans->ivy_p) = '\0'; | ||
| if (trans->ivy_dl_enabled) { | ||
| IvySendMsg("%s", trans->ivy_buf); | ||
| } | ||
| } | ||
|
|
||
| static void overrun(struct ivy_transport *trans __attribute__((unused)), struct device *dev __attribute__((unused))) | ||
| { | ||
| downlink_nb_ovrn++; | ||
| } | ||
|
|
||
| static void count_bytes(struct ivy_transport *trans __attribute__((unused)), struct device *dev __attribute__((unused)), uint8_t bytes) | ||
| { | ||
| downlink_nb_bytes += bytes; | ||
| } | ||
|
|
||
| static int check_available_space(struct ivy_transport *trans __attribute__((unused)), struct device *dev __attribute__((unused)), uint8_t bytes __attribute__((unused))) | ||
| { | ||
| return TRUE; | ||
| } | ||
|
|
||
| static int check_free_space(struct ivy_transport* p __attribute__((unused)), uint8_t len __attribute__((unused))) { return TRUE; } | ||
| static void transmit(struct ivy_transport* p __attribute__((unused)), uint8_t byte __attribute__((unused))) {} | ||
| static void send_message(struct ivy_transport* p __attribute__((unused))) {} | ||
|
|
||
| void ivy_transport_init(void) | ||
| { | ||
| ivy_tp.ivy_p = ivy_tp.ivy_buf; | ||
| ivy_tp.ivy_dl_enabled = TRUE; | ||
|
|
||
| ivy_tp.trans_tx.size_of = (size_of_t) size_of; | ||
| ivy_tp.trans_tx.check_available_space = (check_available_space_t) check_available_space; | ||
| ivy_tp.trans_tx.put_bytes = (put_bytes_t) put_bytes; | ||
| ivy_tp.trans_tx.put_named_byte = (put_named_byte_t) put_named_byte; | ||
| ivy_tp.trans_tx.start_message = (start_message_t) start_message; | ||
| ivy_tp.trans_tx.end_message = (end_message_t) end_message; | ||
| ivy_tp.trans_tx.overrun = (overrun_t) overrun; | ||
| ivy_tp.trans_tx.count_bytes = (count_bytes_t) count_bytes; | ||
| ivy_tp.trans_tx.impl = (void *)(&ivy_tp); | ||
| ivy_tp.device.check_free_space = (check_free_space_t) check_free_space; | ||
| ivy_tp.device.transmit = (transmit_t) transmit; | ||
| ivy_tp.device.send_message = (send_message_t) send_message; | ||
| ivy_tp.device.periph = (void *)(&ivy_tp); | ||
| } |
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