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[export] export PPRZ datalink macros
useful when working with external project who wants to avoid coding the datalink parser and message protocol
This commit is contained in:
Gautier Hattenberger
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#
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# Copyright (C) 2013 Gautier Hattenberger
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#
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# This file is part of paparazzi.
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#
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# paparazzi is free software; you can redistribute it and/or modify
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# it under the terms of the GNU General Public License as published by
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# the Free Software Foundation; either version 2, or (at your option)
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# any later version.
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#
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# paparazzi is distributed in the hope that it will be useful,
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# but WITHOUT ANY WARRANTY; without even the implied warranty of
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# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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# GNU General Public License for more details.
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#
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# You should have received a copy of the GNU General Public License
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# along with paparazzi; see the file COPYING. If not, write to
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# the Free Software Foundation, 59 Temple Place - Suite 330,
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# Boston, MA 02111-1307, USA.
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#
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#
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# Export downlink library source code using PPRZ transport protocol
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#
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# The library as to be compiled by the target application
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# after implementing the dl_parse function (for parsing incoming messages)
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#
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# Quiet compilation
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Q=@
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TAR= tar
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INCLUDES= -I$(PAPARAZZI_SRC)/sw/include -I$(PAPARAZZI_SRC)/sw/airborne
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ifeq ($(PAPARAZZI_HOME),)
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PAPARAZZI_HOME=$(PAPARAZZI_SRC)
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endif
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# export in $(PAPARAZZI_HOME)/var/export/datalink
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EXPORT_ROOT ?= $(PAPARAZZI_HOME)/var/export
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EXPORT_DIR = $(EXPORT_ROOT)/datalink
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EXPORT_FILES = \
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downlink.h \
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downlink.c \
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pprz_transport.h \
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pprz_transport.c \
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transport.h \
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datalink.h \
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$(PAPARAZZI_SRC)/sw/include/std.h \
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$(PAPARAZZI_HOME)/var/include/messages.h \
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$(PAPARAZZI_HOME)/var/include/dl_protocol.h
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MAKEFILE_EXPORT = pprz_datalink.mk
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TAR_EXPORT = pprz_datalink.tar
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all:
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@cat README
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export_lib:
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@echo Exporting datalink lib to $(EXPORT_DIR)
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$(Q)test -d $(EXPORT_DIR) || mkdir -p $(EXPORT_DIR)
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$(Q)cp $(EXPORT_FILES) $(EXPORT_DIR)
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$(Q)cp $(MAKEFILE_EXPORT) $(EXPORT_DIR)
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$(Q)cp README.md $(EXPORT_DIR)
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$(Q)cd $(EXPORT_ROOT); $(TAR) -cf $(TAR_EXPORT) datalink/*
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clean:
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$(Q)rm -rf $(EXPORT_DIR)
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.PHONY: all clean export_lib
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@@ -0,0 +1,179 @@
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Datalink (uplink and downlink) lib using PPRZ protocol
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======================================================
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HOWTO export
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------------
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- Export library: in this folder, type
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```
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make export_lib
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```
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be sure that you have correctly build the paparazzi project (`make` in the main directory)
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- The default export directory is `${PAPARAZZI_HOME}/var/export`, to change it:
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```
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EXPORT_ROOT=<your_export_root_dir> make export_lib
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```
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- `make clean` will only remove the export directory
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HOWTO use the datalink library
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------------------------------
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1. Copy the folder `datalink` in the export directory to your project directory (or untar the file `pprz_datalink.tar`)
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2. In your project makefile:
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* define the variable `PPRZ_DATALINK_PORT` to your device (ex: `PPRZ_DATALINK_PORT=XXX`)
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* define the variable `PPRZ_DATALINK_DIR` to your extract folder
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* include the library makefile `include ${PPRZ_DATALINK_DIR}/datalink/pprz_datalink.mk`
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* add `PPRZ_DATALINK_CFLAGS` to your cflags
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* add `PPRZ_DATALINK_SRCS` to your sources (if your project requires a list of object files, you can use `PPRZ_DATALINK_OBJS` instead)
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3. Device interface
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You need to provide an interface to send the data. If your device is named `XXX`, you need to provide the following functions or macros
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* `XXXCheckFreeSpace(len)` that return true if your device has enough space for `len` bytes
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* `XXXTransmit(c)` that send a single byte `c` using the device `XXX` (or store them in a buffer)
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* `XXXSendMessage()` that flushs the bytes to send (if needed)
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* `XXXChAvailable()` that returns true new characters are available for reading
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* `XXXGetch()` taht returns the next character to parse
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Usually, an UART interface is used for datalink.
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4. Message parsing and includes:
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in a C file of you project (for example a file named `datalink.c`), add the following lines:
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```
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#define DATALINK_C 1 // this should be placed before the includes
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#inlcude "uart.h" // or change this include to the header of your actual device interface
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#include "downlink.h"
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void dl_parse_msg(void) {
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<add your code to parse messages here>
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}
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```
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You also need to poll for new characters, which means that you have to call the `DatalinkEvent()` function in your main loop.
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This function is non-blocking and calls the decoder on each received byte. Finally the `dl_parse_msg` function is called when a complete message is received (checksum is valid).
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Example project for Mbeb dev board
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==================================
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Test file `test_dl.cpp` (assuming you already have the Mbed library)
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```
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#include "mbed.h"
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Ticker daq;
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Serial uart1(p9, p10);
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DigitalOut led1(LED1);
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DigitalOut led2(LED2);
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/**** PPRZ interface ****/
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#define DATALINK_C 1
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#define UartCheckFreeSpace(_len) uart1.writeable()
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#define UartTransmit(_c) uart1.putc(_c)
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#define UartSendMessage() {}
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#define UartChAvailable() uart1.readable()
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#define UartGetch() uart1.getc()
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#include "downlink.h"
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void dl_parse_msg(void) {
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int msg_id = dl_buffer[1];
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switch (msg_id) {
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case DL_PONG:
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led2 =! led2; // toggle led on new PONG message
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break;
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default:
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break;
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}
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}
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/************************/
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void cb()
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{
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// Toggle led 1 when sending PING
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led1 =! led1;
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// Send PPRZ message
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DOWNLINK_SEND_PING(DefaultChannel, DefaultDevice);
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}
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int main()
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{
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uart1.baud(57600); // set serial baud rate for PPRZ
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led1 = led2 = 0; // turn off all LEDs
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daq.attach(&cb, 1); // callback
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while(1) {
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// Your (non-blocking) code
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// Poll new bytes on uart
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DatalinkEvent();
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} // ~while
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} // ~main
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```
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With the makefile:
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```
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# This file was automagically generated by mbed.org with PPRZ datalink library addition
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GCC_BIN = /usr/bin/
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PROJECT = Test_PPRZ_Datalink
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OBJECTS = ./test_dl.o
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SYS_OBJECTS = ./mbed/LPC1768/GCC_CS/sys.o ./mbed/LPC1768/GCC_CS/cmsis_nvic.o ./mbed/LPC1768/GCC_CS/system_LPC17xx.o ./mbed/LPC1768/GCC_CS/core_cm3.o ./mbed/LPC1768/GCC_CS/startup_LPC17xx.o
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INCLUDE_PATHS = -I. -I./mbed -I./mbed/LPC1768 -I./mbed/LPC1768/GCC_CS
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LIBRARY_PATHS = -L./mbed/LPC1768/GCC_CS
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LIBRARIES = -lmbed -lcapi
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LINKER_SCRIPT = ./mbed/LPC1768/GCC_CS/LPC1768.ld
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CC = $(GCC_BIN)arm-none-eabi-gcc
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CPP = $(GCC_BIN)arm-none-eabi-g++
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CC_FLAGS = -c -Os -fno-common -fmessage-length=0 -Wall -fno-exceptions -mcpu=cortex-m3 -mthumb -ffunction-sections -fdata-sections
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ONLY_C_FLAGS = -std=gnu99
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ONLY_CPP_FLAGS = -std=gnu++98
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CC_SYMBOLS = -DTARGET_LPC1768 -DTOOLCHAIN_GCC_CS -DNDEBUG
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### PPRZ Datalink ###
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PPRZ_DATALINK_PORT = Uart
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PPRZ_DATALINK_DIR = .
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include $(PPRZ_DATALINK_DIR)/datalink/pprz_datalink.mk
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OBJECTS += $(PPRZ_DATALINK_OBJS)
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CC_SYMBOLS += $(PPRZ_DATALINK_CFLAGS)
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#####################
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AS = $(GCC_BIN)arm-none-eabi-as
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LD = $(GCC_BIN)arm-none-eabi-gcc
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LD_FLAGS = -mcpu=cortex-m3 -mthumb -Wl,--gc-sections
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LD_SYS_LIBS = -lstdc++ -lsupc++ -lm -lc -lgcc
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OBJCOPY = $(GCC_BIN)arm-none-eabi-objcopy
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all: $(PROJECT).bin
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clean:
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rm -f $(PROJECT).bin $(PROJECT).elf $(OBJECTS)
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.s.o:
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$(AS) $(CC_FLAGS) $(CC_SYMBOLS) -o $@ $<
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.c.o:
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$(CC) $(CC_FLAGS) $(CC_SYMBOLS) $(ONLY_C_FLAGS) $(INCLUDE_PATHS) -o $@ $<
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.cpp.o:
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$(CPP) $(CC_FLAGS) $(CC_SYMBOLS) $(ONLY_CPP_FLAGS) $(INCLUDE_PATHS) -o $@ $<
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$(PROJECT).elf: $(OBJECTS) $(SYS_OBJECTS)
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$(LD) $(LD_FLAGS) -T$(LINKER_SCRIPT) $(LIBRARY_PATHS) -o $@ $^ $(LIBRARIES) $(LD_SYS_LIBS) $(LIBRARIES) $(LD_SYS_LIBS)
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$(PROJECT).bin: $(PROJECT).elf
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$(OBJCOPY) -O binary $< $@
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```
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@@ -27,7 +27,6 @@
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#include "std.h"
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#include "generated/airframe.h"
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uint8_t downlink_nb_ovrn;
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uint16_t downlink_nb_bytes;
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@@ -30,6 +30,8 @@
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#include <inttypes.h>
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#ifndef PPRZ_DATALINK_EXPORT
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#include "generated/modules.h"
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#include "messages.h"
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#include "generated/airframe.h" // AC_ID is required
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@@ -64,6 +66,16 @@
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#endif /** !SITL */
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#else /* PPRZ_DATALINK_EXPORT defined */
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#include "messages.h"
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#include "pprz_transport.h"
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#ifndef AC_ID
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#define AC_ID 0
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#endif
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#endif
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#ifndef DefaultChannel
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#define DefaultChannel DOWNLINK_TRANSPORT
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#endif
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@@ -0,0 +1,36 @@
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#
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# Copyright (C) 2013 Gautier Hattenberger
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#
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# This file is part of paparazzi.
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#
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# paparazzi is free software; you can redistribute it and/or modify
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# it under the terms of the GNU General Public License as published by
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# the Free Software Foundation; either version 2, or (at your option)
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# any later version.
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#
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# paparazzi is distributed in the hope that it will be useful,
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# but WITHOUT ANY WARRANTY; without even the implied warranty of
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# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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# GNU General Public License for more details.
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#
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# You should have received a copy of the GNU General Public License
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# along with paparazzi; see the file COPYING. If not, write to
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# the Free Software Foundation, 59 Temple Place - Suite 330,
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# Boston, MA 02111-1307, USA.
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#
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#
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# PPRZ datalink makefile to include to your project
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#
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# define PPRZ_DATALINK_DIR variable to your extract folder
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# define PPRZ_DATALINK_PORT variable to your UART port
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# add PPRZ_DATALINK_CFLAGS to your CFLAGS
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# and PPRZ_DATALINK_SRCS to your sources list
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#
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PPRZ_DATALINK_CFLAGS = -DPPRZ_DATALINK_EXPORT -I$(PPRZ_DATALINK_DIR)/datalink
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PPRZ_DATALINK_CFLAGS += -DDOWNLINK -DDOWNLINK_DEVICE=$(PPRZ_DATALINK_PORT) -DPPRZ_UART=$(PPRZ_DATALINK_PORT) -DDOWNLINK_TRANSPORT=PprzTransport
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PPRZ_DATALINK_CFLAGS += -DDATALINK=PPRZ
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PPRZ_DATALINK_SRCS = $(PPRZ_DATALINK_DIR)/datalink/downlink.c $(PPRZ_DATALINK_DIR)/datalink/pprz_transport.c
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PPRZ_DATALINK_OBJS = $(PPRZ_DATALINK_SRCS:.c=.o)
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@@ -21,8 +21,11 @@
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*/
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#include <inttypes.h>
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#ifndef PPRZ_DATALINK_EXPORT
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#include "subsystems/datalink/pprz_transport.h"
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#include "mcu_periph/uart.h"
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#else /* PPRZ_DATALINK_EXPORT defined */
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#include "pprz_transport.h"
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#endif
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uint8_t ck_a, ck_b;
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@@ -43,8 +43,13 @@
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#include <inttypes.h>
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#include "std.h"
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#ifndef PPRZ_DATALINK_EXPORT
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#include "subsystems/datalink/datalink.h"
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#include "subsystems/datalink/transport.h"
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#else /* PPRZ_DATALINK_EXPORT defined */
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#include "datalink.h"
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#include "transport.h"
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#endif
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/* PPRZ Transport
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* downlink macros
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