[fix] fix extra_dl and pprrzlog

- call init function for extra_dl - add missing byte in log header
paparazzi · Feb 2, 2015 · a2f55f6 · a2f55f6
1 parent 6a37763
commit a2f55f6
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Showing 8 changed files with 25 additions and 20 deletions.
diff --git a/conf/modules/extra_dl.xml b/conf/modules/extra_dl.xml
@@ -9,6 +9,7 @@
   <header>
     <file name="extra_pprz_dl.h"/>
   </header>
+  <init fun="extra_pprz_dl_init()"/>
   <event fun="ExtraDatalinkEvent()"/>
   <makefile target="ap">
     <raw>

diff --git a/sw/airborne/modules/datalink/extra_pprz_dl.c b/sw/airborne/modules/datalink/extra_pprz_dl.c
@@ -21,11 +21,12 @@
  *
  */
 
-#include "extra_pprz_dl.h"
-
-#if DATALINK != PPRZ
-uint8_t ck_a, ck_b;
-#endif
+#include "modules/datalink/extra_pprz_dl.h"
 
 struct pprz_transport extra_pprz_tp;
 
+void extra_pprz_dl_init(void)
+{
+  pprz_transport_init(&extra_pprz_tp);
+}
+
diff --git a/sw/airborne/modules/datalink/extra_pprz_dl.h b/sw/airborne/modules/datalink/extra_pprz_dl.h
@@ -41,6 +41,8 @@ extern struct pprz_transport extra_pprz_tp;
     DlCheckAndParse();                                  \
   }
 
+/** Init function */
+extern void extra_pprz_dl_init(void);
 
 #endif /* EXTRA_PPRZ_DL_H */
 
diff --git a/sw/airborne/modules/meteo/meteo_france_DAQ.c b/sw/airborne/modules/meteo/meteo_france_DAQ.c
@@ -68,7 +68,7 @@ void init_mf_daq(void)
 void mf_daq_send_state(void)
 {
   // Send aircraft state to DAQ board
-  DOWNLINK_SEND_MF_DAQ_STATE(pprz_tp, EXTRA_DOWNLINK_DEVICE,
+  DOWNLINK_SEND_MF_DAQ_STATE(extra_pprz_tp, EXTRA_DOWNLINK_DEVICE,
                              &autopilot_flight_time,
                              &stateGetBodyRates_f()->p,
                              &stateGetBodyRates_f()->q,

diff --git a/sw/airborne/subsystems/datalink/downlink.c b/sw/airborne/subsystems/datalink/downlink.c
@@ -65,7 +65,7 @@ void downlink_init(void)
 
 #if defined DATALINK
 #if DATALINK == PPRZ || DATALINK == SUPERBITRF || DATALINK == W5100
-  pprz_transport_init();
+  pprz_transport_init(&pprz_tp);
 #endif
 #if DATALINK == XBEE
   xbee_init();

diff --git a/sw/airborne/subsystems/datalink/pprz_transport.c b/sw/airborne/subsystems/datalink/pprz_transport.c
@@ -114,18 +114,18 @@ static int check_available_space(struct pprz_transport *trans __attribute__((unu
   return dev->check_free_space(dev->periph, bytes);
 }
 
-void pprz_transport_init(void)
+void pprz_transport_init(struct pprz_transport *t)
 {
-  pprz_tp.status = UNINIT;
-  pprz_tp.trans_rx.msg_received = FALSE;
-  pprz_tp.trans_tx.size_of = (size_of_t) size_of;
-  pprz_tp.trans_tx.check_available_space = (check_available_space_t) check_available_space;
-  pprz_tp.trans_tx.put_bytes = (put_bytes_t) put_bytes;
-  pprz_tp.trans_tx.put_named_byte = (put_named_byte_t) put_named_byte;
-  pprz_tp.trans_tx.start_message = (start_message_t) start_message;
-  pprz_tp.trans_tx.end_message = (end_message_t) end_message;
-  pprz_tp.trans_tx.overrun = (overrun_t) overrun;
-  pprz_tp.trans_tx.count_bytes = (count_bytes_t) count_bytes;
-  pprz_tp.trans_tx.impl = (void *)(&pprz_tp);
+  t->status = UNINIT;
+  t->trans_rx.msg_received = FALSE;
+  t->trans_tx.size_of = (size_of_t) size_of;
+  t->trans_tx.check_available_space = (check_available_space_t) check_available_space;
+  t->trans_tx.put_bytes = (put_bytes_t) put_bytes;
+  t->trans_tx.put_named_byte = (put_named_byte_t) put_named_byte;
+  t->trans_tx.start_message = (start_message_t) start_message;
+  t->trans_tx.end_message = (end_message_t) end_message;
+  t->trans_tx.overrun = (overrun_t) overrun;
+  t->trans_tx.count_bytes = (count_bytes_t) count_bytes;
+  t->trans_tx.impl = (void *)(t);
 }
 
diff --git a/sw/airborne/subsystems/datalink/pprz_transport.h b/sw/airborne/subsystems/datalink/pprz_transport.h
@@ -79,7 +79,7 @@ struct pprz_transport {
 extern struct pprz_transport pprz_tp;
 
 // Init function
-extern void pprz_transport_init(void);
+extern void pprz_transport_init(struct pprz_transport *t);
 
 static inline void parse_pprz(struct pprz_transport *t, uint8_t c)
 {

diff --git a/sw/airborne/subsystems/datalink/pprzlog_transport.c b/sw/airborne/subsystems/datalink/pprzlog_transport.c
@@ -83,6 +83,7 @@ static void start_message(struct pprzlog_transport *trans, struct link_device *d
   const uint8_t msg_len = size_of(trans, payload_len);
   trans->ck = 0;
   put_1byte(trans, dev, msg_len);
+  put_1byte(trans, dev, 0); // TODO use correct source ID
   uint32_t ts = get_sys_time_usec() / 100;
   put_bytes(trans, dev, DL_TYPE_TIMESTAMP, DL_FORMAT_SCALAR, 4, (uint8_t *)(&ts));
 }