mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-05 06:54:49 +08:00
[messages] add char, fixed size array and int64 support to transports and gen_messages.ml
This commit is contained in:
Gautier Hattenberger
@@ -99,7 +99,7 @@ DL_PROTOCOL_H=$(STATICINCLUDE)/dl_protocol.h
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DL_PROTOCOL2_H=$(STATICINCLUDE)/dl_protocol2.h
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ABI_MESSAGES_H=$(STATICINCLUDE)/abi_messages.h
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GEN_HEADERS = $(MESSAGES_H) $(MESSAGES2_H) $(UBX_PROTOCOL_H) $(MTK_PROTOCOL_H) $(XSENS_PROTOCOL_H) $(DL_PROTOCOL_H) $(DL_PROTOCOL2_H) $(ABI_MESSAGES_H)
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GEN_HEADERS = $(MESSAGES_H) $(UBX_PROTOCOL_H) $(MTK_PROTOCOL_H) $(XSENS_PROTOCOL_H) $(DL_PROTOCOL_H) $(ABI_MESSAGES_H)
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all: ground_segment ext lpctools
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@@ -18,15 +18,19 @@ extern char* ivy_p;
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#define Space() ivy_p += sprintf(ivy_p, " ");
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#define Comma() ivy_p += sprintf(ivy_p, ",");
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#define IvyTransportPutcByAddr(_dev,x) ivy_p += sprintf(ivy_p, "%c", *x);
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#define IvyTransportPutCharByAddr(_dev,x) IvyTransportPutcByAddr(_dev,x) Space()
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#define IvyTransportPutUintByAddr(_dev,x) ivy_p += sprintf(ivy_p, "%u", *x);
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#define IvyTransportPutUint8ByAddr(_dev,x) IvyTransportPutUintByAddr(_dev,x) Space()
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#define IvyTransportPutUint16ByAddr(_dev,x) IvyTransportPutUintByAddr(_dev,x) Space()
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#define IvyTransportPutUint32ByAddr(_dev,x) IvyTransportPutUintByAddr(_dev,x) Space()
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#define IvyTransportPutUint64ByAddr(_dev,x) ivy_p += sprintf(ivy_p, "%llu", *x); Space()
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#define IvyTransportPutIntByAddr(_dev,x) ivy_p += sprintf(ivy_p, "%d", *x);
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#define IvyTransportPutInt8ByAddr(_dev,x) IvyTransportPutIntByAddr(_dev,x) Space()
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#define IvyTransportPutInt16ByAddr(_dev,x) IvyTransportPutIntByAddr(_dev,x) Space()
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#define IvyTransportPutInt32ByAddr(_dev,x) IvyTransportPutIntByAddr(_dev,x) Space()
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#define IvyTransportPutInt64ByAddr(_dev,x) ivy_p += sprintf(ivy_p, "%lld", *x); Space()
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#define IvyTransportPutOneFloatByAddr(_dev,x) ivy_p += sprintf(ivy_p, "%f", *x);
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#define IvyTransportPutFloatByAddr(_dev,x) IvyTransportPutOneFloatByAddr(_dev,x) Space()
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@@ -37,12 +41,29 @@ extern char* ivy_p;
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for(__i = 0; __i < _n; __i++) { \
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_put(_dev,&_x[__i]); \
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Comma(); \
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} \
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} Space() \
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}
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#define IvyTransportPutInt8Array(_dev,_n, _x) IvyTransportPutArray(_dev,IvyTransportPutIntByAddr, _n, _x)
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#define IvyTransportPutUint8Array(_dev,_n, _x) IvyTransportPutArray(_dev,IvyTransportPutUintByAddr, _n, _x)
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#define IvyTransportPutCharArray(_dev,_n, _x) IvyTransportPutArray(_dev,IvyTransportPutcByAddr, _n, _x)
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#define IvyTransportPutInt16Array(_dev,_n, _x) IvyTransportPutArray(_dev,IvyTransportPutIntByAddr, _n, _x)
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#define IvyTransportPutUint16Array(_dev,_n, _x) IvyTransportPutArray(_dev,IvyTransportPutUintByAddr, _n, _x)
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#define IvyTransportPutUint32Array(_dev,_n, _x) IvyTransportPutArray(_dev,IvyTransportPutUintByAddr, _n, _x)
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#define IvyTransportPutInt32Array(_dev,_n, _x) IvyTransportPutArray(_dev,IvyTransportPutIntByAddr, _n, _x)
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#define IvyTransportPutUint64Array(_dev,_n, _x) IvyTransportPutArray(_dev,IvyTransportPutUintByAddr, _n, _x)
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#define IvyTransportPutInt64Array(_dev,_n, _x) IvyTransportPutArray(_dev,IvyTransportPutIntByAddr, _n, _x)
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#define IvyTransportPutFloatArray(_dev,_n, _x) IvyTransportPutArray(_dev,IvyTransportPutOneFloatByAddr, _n, _x)
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#define IvyTransportPutDoubleArray(_dev,_n, _x) IvyTransportPutFloatArray(_dev,_n, _x)
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#define IvyTransportPutInt8FixedArray(_dev,_n, _x) IvyTransportPutArray(_dev,IvyTransportPutIntByAddr, _n, _x)
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#define IvyTransportPutUint8FixedArray(_dev,_n, _x) IvyTransportPutArray(_dev,IvyTransportPutUintByAddr, _n, _x)
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#define IvyTransportPutCharFixedArray(_dev,_n, _x) IvyTransportPutArray(_dev,IvyTransportPutcByAddr, _n, _x)
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#define IvyTransportPutInt16FixedArray(_dev,_n, _x) IvyTransportPutArray(_dev,IvyTransportPutIntByAddr, _n, _x)
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#define IvyTransportPutUint16FixedArray(_dev,_n, _x) IvyTransportPutArray(_dev,IvyTransportPutUintByAddr, _n, _x)
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#define IvyTransportPutUint32FixedArray(_dev,_n, _x) IvyTransportPutArray(_dev,IvyTransportPutUintByAddr, _n, _x)
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#define IvyTransportPutInt32FixedArray(_dev,_n, _x) IvyTransportPutArray(_dev,IvyTransportPutIntByAddr, _n, _x)
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#define IvyTransportPutUint64FixedArray(_dev,_n, _x) IvyTransportPutArray(_dev,IvyTransportPutUintByAddr, _n, _x)
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#define IvyTransportPutInt64FixedArray(_dev,_n, _x) IvyTransportPutArray(_dev,IvyTransportPutIntByAddr, _n, _x)
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#define IvyTransportPutFloatFixedArray(_dev,_n, _x) IvyTransportPutArray(_dev,IvyTransportPutOneFloatByAddr, _n, _x)
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#define IvyTransportPutDoubleFixedArray(_dev,_n, _x) IvyTransportPutFloatArray(_dev,_n, _x)
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@@ -110,6 +110,9 @@ extern uint16_t downlink_nb_msgs;
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#define DownlinkPutFloatByAddr(_trans, _dev, _x) Transport(_trans, PutFloatByAddr(_dev, _x))
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#define DownlinkPutDoubleByAddr(_trans, _dev, _x) Transport(_trans, PutDoubleByAddr(_dev, _x))
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#define DownlinkPutUint64ByAddr(_trans, _dev, _x) Transport(_trans, PutUint64ByAddr(_dev, _x))
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#define DownlinkPutInt64ByAddr(_trans, _dev, _x) Transport(_trans, PutInt64ByAddr(_dev, _x))
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#define DownlinkPutCharByAddr(_trans, _dev, _x) Transport(_trans, PutCharByAddr(_dev, _x))
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#define DownlinkPutFloatArray(_trans, _dev, _n, _x) Transport(_trans, PutFloatArray(_dev, _n, _x))
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#define DownlinkPutDoubleArray(_trans, _dev, _n, _x) Transport(_trans, PutDoubleArray(_dev, _n, _x))
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@@ -117,7 +120,23 @@ extern uint16_t downlink_nb_msgs;
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#define DownlinkPutUint16Array(_trans, _dev, _n, _x) Transport(_trans, PutUint16Array(_dev, _n, _x))
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#define DownlinkPutInt32Array(_trans, _dev, _n, _x) Transport(_trans, PutInt32Array(_dev, _n, _x))
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#define DownlinkPutUint32Array(_trans, _dev, _n, _x) Transport(_trans, PutUint32Array(_dev, _n, _x))
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#define DownlinkPutInt64Array(_trans, _dev, _n, _x) Transport(_trans, PutInt64Array(_dev, _n, _x))
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#define DownlinkPutUint64Array(_trans, _dev, _n, _x) Transport(_trans, PutUint64Array(_dev, _n, _x))
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#define DownlinkPutInt8Array(_trans, _dev, _n, _x) Transport(_trans, PutInt8Array(_dev, _n, _x))
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#define DownlinkPutUint8Array(_trans, _dev, _n, _x) Transport(_trans, PutUint8Array(_dev, _n, _x))
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#define DownlinkPutCharArray(_trans, _dev, _n, _x) Transport(_trans, PutCharArray(_dev, _n, _x))
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#define DownlinkPutFloatFixedArray(_trans, _dev, _n, _x) Transport(_trans, PutFloatFixedArray(_dev, _n, _x))
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#define DownlinkPutDoubleFixedArray(_trans, _dev, _n, _x) Transport(_trans, PutDoubleFixedArray(_dev, _n, _x))
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#define DownlinkPutInt16FixedArray(_trans, _dev, _n, _x) Transport(_trans, PutInt16FixedArray(_dev, _n, _x))
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#define DownlinkPutUint16FixedArray(_trans, _dev, _n, _x) Transport(_trans, PutUint16FixedArray(_dev, _n, _x))
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#define DownlinkPutInt32FixedArray(_trans, _dev, _n, _x) Transport(_trans, PutInt32FixedArray(_dev, _n, _x))
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#define DownlinkPutUint32FixedArray(_trans, _dev, _n, _x) Transport(_trans, PutUint32FixedArray(_dev, _n, _x))
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#define DownlinkPutInt64FixedArray(_trans, _dev, _n, _x) Transport(_trans, PutInt64FixedArray(_dev, _n, _x))
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#define DownlinkPutUint64FixedArray(_trans, _dev, _n, _x) Transport(_trans, PutUint64FixedArray(_dev, _n, _x))
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#define DownlinkPutInt8FixedArray(_trans, _dev, _n, _x) Transport(_trans, PutInt8FixedArray(_dev, _n, _x))
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#define DownlinkPutUint8FixedArray(_trans, _dev, _n, _x) Transport(_trans, PutUint8FixedArray(_dev, _n, _x))
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#define DownlinkPutCharFixedArray(_trans, _dev, _n, _x) Transport(_trans, PutCharFixedArray(_dev, _n, _x))
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#define DownlinkOverrun(_trans, _dev) downlink_nb_ovrn++;
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#define DownlinkCountBytes(_trans, _dev, _n) downlink_nb_bytes += _n;
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@@ -101,11 +101,27 @@ extern uint8_t ck_a, ck_b;
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PprzTransportPut4ByteByAddr(_dev, (const uint8_t*)_byte+4); \
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PprzTransportPut4ByteByAddr(_dev, (const uint8_t*)_byte); \
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}
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#define PprzTransportPutUint64ByAddr(_dev, _byte) { \
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PprzTransportPut4ByteByAddr(_dev, (const uint8_t*)_byte+4); \
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PprzTransportPut4ByteByAddr(_dev, (const uint8_t*)_byte); \
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}
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#define PprzTransportPutInt64ByAddr(_dev, _byte) { \
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PprzTransportPut4ByteByAddr(_dev, (const uint8_t*)_byte+4); \
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PprzTransportPut4ByteByAddr(_dev, (const uint8_t*)_byte); \
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}
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#else
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#define PprzTransportPutDoubleByAddr(_dev, _byte) { \
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PprzTransportPut4ByteByAddr(_dev, (const uint8_t*)_byte); \
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PprzTransportPut4ByteByAddr(_dev, (const uint8_t*)_byte+4); \
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}
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#define PprzTransportPutUint64ByAddr(_dev, _byte) { \
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PprzTransportPut4ByteByAddr(_dev, (const uint8_t*)_byte); \
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PprzTransportPut4ByteByAddr(_dev, (const uint8_t*)_byte+4); \
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}
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#define PprzTransportPutInt64ByAddr(_dev, _byte) { \
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PprzTransportPut4ByteByAddr(_dev, (const uint8_t*)_byte); \
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PprzTransportPut4ByteByAddr(_dev, (const uint8_t*)_byte+4); \
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}
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#endif
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@@ -116,6 +132,7 @@ extern uint8_t ck_a, ck_b;
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#define PprzTransportPutInt32ByAddr(_dev, _x) PprzTransportPut4ByteByAddr(_dev, (const uint8_t*)_x)
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#define PprzTransportPutUint32ByAddr(_dev, _x) PprzTransportPut4ByteByAddr(_dev, (const uint8_t*)_x)
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#define PprzTransportPutFloatByAddr(_dev, _x) PprzTransportPut4ByteByAddr(_dev, (const uint8_t*)_x)
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#define PprzTransportPutCharByAddr(_dev, _x) PprzTransportPut1ByteByAddr(_dev, (const uint8_t*)_x)
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#define PprzTransportPutArray(_dev, _put, _n, _x) { \
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uint8_t _i; \
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@@ -125,8 +142,10 @@ extern uint8_t ck_a, ck_b;
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} \
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}
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#define PprzTransportPutFloatArray(_dev, _n, _x) PprzTransportPutArray(_dev, PprzTransportPutFloatByAddr, _n, _x)
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#define PprzTransportPutDoubleArray(_dev, _n, _x) PprzTransportPutArray(_dev, PprzTransportPutDoubleByAddr, _n, _x)
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#define PprzTransportPutInt8Array(_dev, _n, _x) PprzTransportPutArray(_dev, PprzTransportPutInt8ByAddr, _n, _x)
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#define PprzTransportPutUint8Array(_dev, _n, _x) PprzTransportPutArray(_dev, PprzTransportPutUint8ByAddr, _n, _x)
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#define PprzTransportPutCharArray(_dev, _n, _x) PprzTransportPutArray(_dev, PprzTransportPutCharByAddr, _n, _x)
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#define PprzTransportPutInt16Array(_dev, _n, _x) PprzTransportPutArray(_dev, PprzTransportPutInt16ByAddr, _n, _x)
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#define PprzTransportPutUint16Array(_dev, _n, _x) PprzTransportPutArray(_dev, PprzTransportPutUint16ByAddr, _n, _x)
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@@ -134,8 +153,37 @@ extern uint8_t ck_a, ck_b;
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#define PprzTransportPutInt32Array(_dev, _n, _x) PprzTransportPutArray(_dev, PprzTransportPutInt32ByAddr, _n, _x)
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#define PprzTransportPutUint32Array(_dev, _n, _x) PprzTransportPutArray(_dev, PprzTransportPutUint32ByAddr, _n, _x)
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#define PprzTransportPutUint8Array(_dev, _n, _x) PprzTransportPutArray(_dev, PprzTransportPutUint8ByAddr, _n, _x)
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#define PprzTransportPutFloatArray(_dev, _n, _x) PprzTransportPutArray(_dev, PprzTransportPutFloatByAddr, _n, _x)
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#define PprzTransportPutInt64Array(_dev, _n, _x) PprzTransportPutArray(_dev, PprzTransportPutInt64ByAddr, _n, _x)
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#define PprzTransportPutUint64Array(_dev, _n, _x) PprzTransportPutArray(_dev, PprzTransportPutUint64ByAddr, _n, _x)
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#define PprzTransportPutDoubleArray(_dev, _n, _x) PprzTransportPutArray(_dev, PprzTransportPutDoubleByAddr, _n, _x)
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#define PprzTransportPutFixedArray(_dev, _put, _n, _x) { \
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uint8_t _i; \
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for(_i = 0; _i < _n; _i++) { \
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_put(_dev, &_x[_i]); \
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} \
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}
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#define PprzTransportPutInt8FixedArray(_dev, _n, _x) PprzTransportPutFixedArray(_dev, PprzTransportPutInt8ByAddr, _n, _x)
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#define PprzTransportPutUint8FixedArray(_dev, _n, _x) PprzTransportPutFixedArray(_dev, PprzTransportPutUint8ByAddr, _n, _x)
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#define PprzTransportPutCharFixedArray(_dev, _n, _x) PprzTransportPutFixedArray(_dev, PprzTransportPutCharByAddr, _n, _x)
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#define PprzTransportPutInt16FixedArray(_dev, _n, _x) PprzTransportPutFixedArray(_dev, PprzTransportPutInt16ByAddr, _n, _x)
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#define PprzTransportPutUint16FixedArray(_dev, _n, _x) PprzTransportPutFixedArray(_dev, PprzTransportPutUint16ByAddr, _n, _x)
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#define PprzTransportPutInt32FixedArray(_dev, _n, _x) PprzTransportPutFixedArray(_dev, PprzTransportPutInt32ByAddr, _n, _x)
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#define PprzTransportPutUint32FixedArray(_dev, _n, _x) PprzTransportPutFixedArray(_dev, PprzTransportPutUint32ByAddr, _n, _x)
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#define PprzTransportPutFloatFixedArray(_dev, _n, _x) PprzTransportPutFixedArray(_dev, PprzTransportPutFloatByAddr, _n, _x)
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#define PprzTransportPutInt64FixedArray(_dev, _n, _x) PprzTransportPutFixedArray(_dev, PprzTransportPutInt64ByAddr, _n, _x)
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#define PprzTransportPutUint64FixedArray(_dev, _n, _x) PprzTransportPutFixedArray(_dev, PprzTransportPutUint64ByAddr, _n, _x)
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#define PprzTransportPutDoubleFixedArray(_dev, _n, _x) PprzTransportPutFixedArray(_dev, PprzTransportPutDoubleByAddr, _n, _x)
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/** Receiving pprz messages */
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@@ -118,11 +118,27 @@ bool_t w5100_ch_available( void );
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W5100TransportPut4ByteByAddr(_dev, (const uint8_t*)_byte+4); \
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W5100TransportPut4ByteByAddr(_dev, (const uint8_t*)_byte); \
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}
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#define W5100TransportPutUint64ByAddr(_dev, _byte) { \
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W5100TransportPut4ByteByAddr(_dev, (const uint8_t*)_byte+4); \
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W5100TransportPut4ByteByAddr(_dev, (const uint8_t*)_byte); \
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}
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#define W5100TransportPutInt64ByAddr(_dev, _byte) { \
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W5100TransportPut4ByteByAddr(_dev, (const uint8_t*)_byte+4); \
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W5100TransportPut4ByteByAddr(_dev, (const uint8_t*)_byte); \
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}
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#else
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#define W5100TransportPutDoubleByAddr(_dev, _byte) { \
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W5100TransportPut4ByteByAddr(_dev, (const uint8_t*)_byte); \
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W5100TransportPut4ByteByAddr(_dev, (const uint8_t*)_byte+4); \
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}
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#define W5100TransportPutUint64ByAddr(_dev, _byte) { \
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W5100TransportPut4ByteByAddr(_dev, (const uint8_t*)_byte); \
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W5100TransportPut4ByteByAddr(_dev, (const uint8_t*)_byte+4); \
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}
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#define W5100TransportPutInt64ByAddr(_dev, _byte) { \
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W5100TransportPut4ByteByAddr(_dev, (const uint8_t*)_byte); \
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W5100TransportPut4ByteByAddr(_dev, (const uint8_t*)_byte+4); \
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}
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#endif
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@@ -143,14 +159,51 @@ _put(_dev, &_x[_i]); \
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} \
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}
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#define W5100TransportPutInt16Array(_dev, _n, _x) W5100TransportPutArray(_dev, W5100TransportPutInt16ByAddr, _n, _x)
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#define W5100TransportPutUint16Array(_dev, _n, _x) W5100TransportPutArray(_dev, W5100TransportPutUint16ByAddr, _n, _x)
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#define W5100TransportPutInt8Array(_dev, _n, _x) W5100TransportPutArray(_dev, W5100TransportPutInt8ByAddr, _n, _x)
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#define W5100TransportPutUint8Array(_dev, _n, _x) W5100TransportPutArray(_dev, W5100TransportPutUint8ByAddr, _n, _x)
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#define W5100TransportPutCharArray(_dev, _n, _x) W5100TransportPutArray(_dev, W5100TransportPutCharByAddr, _n, _x)
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#define W5100TransportPutInt16Array(_dev, _n, _x) W5100TransportPutArray(_dev, W5100TransportPutInt16ByAddr, _n, _x)
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#define W5100TransportPutUint16Array(_dev, _n, _x) W5100TransportPutArray(_dev, W5100TransportPutUint16ByAddr, _n, _x)
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#define W5100TransportPutInt32Array(_dev, _n, _x) W5100TransportPutArray(_dev, W5100TransportPutInt32ByAddr, _n, _x)
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#define W5100TransportPutUint32Array(_dev, _n, _x) W5100TransportPutArray(_dev, W5100TransportPutUint32ByAddr, _n, _x)
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#define W5100TransportPutFloatArray(_dev, _n, _x) W5100TransportPutArray(_dev, W5100TransportPutFloatByAddr, _n, _x)
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#define W5100TransportPutInt64Array(_dev, _n, _x) W5100TransportPutArray(_dev, W5100TransportPutInt64ByAddr, _n, _x)
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#define W5100TransportPutUint64Array(_dev, _n, _x) W5100TransportPutArray(_dev, W5100TransportPutUint64ByAddr, _n, _x)
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#define W5100TransportPutDoubleArray(_dev, _n, _x) W5100TransportPutArray(_dev, W5100TransportPutDoubleByAddr, _n, _x)
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#define W5100TransportPutFixedArray(_dev, _put, _n, _x) { \
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uint8_t _i; \
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for(_i = 0; _i < _n; _i++) { \
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_put(_dev, &_x[_i]); \
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} \
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}
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#define W5100TransportPutInt8FixedArray(_dev, _n, _x) W5100TransportPutFixedArray(_dev, W5100TransportPutInt8ByAddr, _n, _x)
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#define W5100TransportPutUint8FixedArray(_dev, _n, _x) W5100TransportPutFixedArray(_dev, W5100TransportPutUint8ByAddr, _n, _x)
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#define W5100TransportPutCharFixedArray(_dev, _n, _x) W5100TransportPutFixedArray(_dev, W5100TransportPutCharByAddr, _n, _x)
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#define W5100TransportPutInt16FixedArray(_dev, _n, _x) W5100TransportPutFixedArray(_dev, W5100TransportPutInt16ByAddr, _n, _x)
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#define W5100TransportPutUint16FixedArray(_dev, _n, _x) W5100TransportPutFixedArray(_dev, W5100TransportPutUint16ByAddr, _n, _x)
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#define W5100TransportPutInt32FixedArray(_dev, _n, _x) W5100TransportPutFixedArray(_dev, W5100TransportPutInt32ByAddr, _n, _x)
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#define W5100TransportPutUint32FixedArray(_dev, _n, _x) W5100TransportPutFixedArray(_dev, W5100TransportPutUint32ByAddr, _n, _x)
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#define W5100TransportPutFloatFixedArray(_dev, _n, _x) W5100TransportPutFixedArray(_dev, W5100TransportPutFloatByAddr, _n, _x)
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|
||||
#define W5100TransportPutInt64FixedArray(_dev, _n, _x) W5100TransportPutFixedArray(_dev, W5100TransportPutInt64ByAddr, _n, _x)
|
||||
#define W5100TransportPutUint64FixedArray(_dev, _n, _x) W5100TransportPutFixedArray(_dev, W5100TransportPutUint64ByAddr, _n, _x)
|
||||
|
||||
#define W5100TransportPutDoubleFixedArray(_dev, _n, _x) W5100TransportPutFixedArray(_dev, W5100TransportPutDoubleByAddr, _n, _x)
|
||||
|
||||
|
||||
#define W5100TransportHeader(_dev, payload_len) { \
|
||||
W5100TransportPut1Byte(_dev, STX); \
|
||||
uint8_t msg_len = W5100TransportSizeOf(_dev, payload_len); \
|
||||
|
||||
@@ -89,11 +89,27 @@ void xbee_init( void );
|
||||
XBeeTransportPut4ByteByAddr(_dev, (const uint8_t*)_byte+4); \
|
||||
XBeeTransportPut4ByteByAddr(_dev, (const uint8_t*)_byte); \
|
||||
}
|
||||
#define XBeeTransportPutUint64ByAddr(_dev, _byte) { \
|
||||
XBeeTransportPut4ByteByAddr(_dev, (const uint8_t*)_byte+4); \
|
||||
XBeeTransportPut4ByteByAddr(_dev, (const uint8_t*)_byte); \
|
||||
}
|
||||
#define XBeeTransportPutInt64ByAddr(_dev, _byte) { \
|
||||
XBeeTransportPut4ByteByAddr(_dev, (const uint8_t*)_byte+4); \
|
||||
XBeeTransportPut4ByteByAddr(_dev, (const uint8_t*)_byte); \
|
||||
}
|
||||
#else
|
||||
#define XBeeTransportPutDoubleByAddr(_dev, _byte) { \
|
||||
XBeeTransportPut4ByteByAddr(_dev, (const uint8_t*)_byte); \
|
||||
XBeeTransportPut4ByteByAddr(_dev, (const uint8_t*)_byte+4); \
|
||||
}
|
||||
#define XBeeTransportPutUint64ByAddr(_dev, _byte) { \
|
||||
XBeeTransportPut4ByteByAddr(_dev, (const uint8_t*)_byte); \
|
||||
XBeeTransportPut4ByteByAddr(_dev, (const uint8_t*)_byte+4); \
|
||||
}
|
||||
#define XBeeTransportPutInt64ByAddr(_dev, _byte) { \
|
||||
XBeeTransportPut4ByteByAddr(_dev, (const uint8_t*)_byte); \
|
||||
XBeeTransportPut4ByteByAddr(_dev, (const uint8_t*)_byte+4); \
|
||||
}
|
||||
#endif
|
||||
|
||||
|
||||
@@ -105,6 +121,7 @@ void xbee_init( void );
|
||||
#define XBeeTransportPutUint32ByAddr(_dev, _x) XBeeTransportPut4ByteByAddr(_dev, (const uint8_t*)_x)
|
||||
#define XBeeTransportPutFloatByAddr(_dev, _x) XBeeTransportPut4ByteByAddr(_dev, (const uint8_t*)_x)
|
||||
#define XBeeTransportPutNamedUint8(_dev, _name, _byte) XBeeTransportPutUint8(_dev, _byte)
|
||||
#define XBeeTransportPutCharByAddr(_dev, _x) XBeeTransportPut1ByteByAddr(_dev, (const uint8_t*)_x)
|
||||
|
||||
#define XBeeTransportPutArray(_dev, _put, _n, _x) { \
|
||||
uint8_t _i; \
|
||||
@@ -114,14 +131,50 @@ void xbee_init( void );
|
||||
} \
|
||||
}
|
||||
|
||||
#define XBeeTransportPutInt16Array(_dev, _n, _x) XBeeTransportPutArray(_dev, XBeeTransportPutInt16ByAddr, _n, _x)
|
||||
|
||||
#define XBeeTransportPutUint16Array(_dev, _n, _x) XBeeTransportPutArray(_dev, XBeeTransportPutUint16ByAddr, _n, _x)
|
||||
#define XBeeTransportPutInt8Array(_dev, _n, _x) XBeeTransportPutArray(_dev, XBeeTransportPutInt8ByAddr, _n, _x)
|
||||
#define XBeeTransportPutUint8Array(_dev, _n, _x) XBeeTransportPutArray(_dev, XBeeTransportPutUint8ByAddr, _n, _x)
|
||||
|
||||
#define XBeeTransportPutCharArray(_dev, _n, _x) XBeeTransportPutArray(_dev, XBeeTransportPutCharByAddr, _n, _x)
|
||||
|
||||
#define XBeeTransportPutInt16Array(_dev, _n, _x) XBeeTransportPutArray(_dev, XBeeTransportPutInt16ByAddr, _n, _x)
|
||||
#define XBeeTransportPutUint16Array(_dev, _n, _x) XBeeTransportPutArray(_dev, XBeeTransportPutUint16ByAddr, _n, _x)
|
||||
|
||||
#define XBeeTransportPutInt32Array(_dev, _n, _x) XBeeTransportPutArray(_dev, XBeeTransportPutInt32ByAddr, _n, _x)
|
||||
#define XBeeTransportPutUint32Array(_dev, _n, _x) XBeeTransportPutArray(_dev, XBeeTransportPutUint32ByAddr, _n, _x)
|
||||
|
||||
#define XBeeTransportPutFloatArray(_dev, _n, _x) XBeeTransportPutArray(_dev, XBeeTransportPutFloatByAddr, _n, _x)
|
||||
|
||||
#define XBeeTransportPutInt64Array(_dev, _n, _x) XBeeTransportPutArray(_dev, XBeeTransportPutInt64ByAddr, _n, _x)
|
||||
#define XBeeTransportPutUint64Array(_dev, _n, _x) XBeeTransportPutArray(_dev, XBeeTransportPutUint64ByAddr, _n, _x)
|
||||
|
||||
#define XBeeTransportPutDoubleArray(_dev, _n, _x) XBeeTransportPutArray(_dev, XBeeTransportPutDoubleByAddr, _n, _x)
|
||||
|
||||
|
||||
#define XBeeTransportPutFixedArray(_dev, _put, _n, _x) { \
|
||||
uint8_t _i; \
|
||||
for(_i = 0; _i < _n; _i++) { \
|
||||
_put(_dev, &_x[_i]); \
|
||||
} \
|
||||
}
|
||||
|
||||
#define XBeeTransportPutInt8FixedArray(_dev, _n, _x) XBeeTransportPutFixedArray(_dev, XBeeTransportPutInt8ByAddr, _n, _x)
|
||||
#define XBeeTransportPutUint8FixedArray(_dev, _n, _x) XBeeTransportPutFixedArray(_dev, XBeeTransportPutUint8ByAddr, _n, _x)
|
||||
|
||||
#define XBeeTransportPutCharFixedArray(_dev, _n, _x) XBeeTransportPutFixedArray(_dev, XBeeTransportPutCharByAddr, _n, _x)
|
||||
|
||||
#define XBeeTransportPutInt16FixedArray(_dev, _n, _x) XBeeTransportPutFixedArray(_dev, XBeeTransportPutInt16ByAddr, _n, _x)
|
||||
#define XBeeTransportPutUint16FixedArray(_dev, _n, _x) XBeeTransportPutFixedArray(_dev, XBeeTransportPutUint16ByAddr, _n, _x)
|
||||
|
||||
#define XBeeTransportPutInt32FixedArray(_dev, _n, _x) XBeeTransportPutFixedArray(_dev, XBeeTransportPutInt32ByAddr, _n, _x)
|
||||
#define XBeeTransportPutUint32FixedArray(_dev, _n, _x) XBeeTransportPutFixedArray(_dev, XBeeTransportPutUint32ByAddr, _n, _x)
|
||||
|
||||
#define XBeeTransportPutFloatFixedArray(_dev, _n, _x) XBeeTransportPutFixedArray(_dev, XBeeTransportPutFloatByAddr, _n, _x)
|
||||
|
||||
#define XBeeTransportPutInt64FixedArray(_dev, _n, _x) XBeeTransportPutFixedArray(_dev, XBeeTransportPutInt64ByAddr, _n, _x)
|
||||
#define XBeeTransportPutUint64FixedArray(_dev, _n, _x) XBeeTransportPutFixedArray(_dev, XBeeTransportPutUint64ByAddr, _n, _x)
|
||||
|
||||
#define XBeeTransportPutDoubleFixedArray(_dev, _n, _x) XBeeTransportPutFixedArray(_dev, XBeeTransportPutDoubleByAddr, _n, _x)
|
||||
|
||||
|
||||
#define XBeeTransportHeader(_dev, _len) { \
|
||||
XBeeTransportPut1Byte(_dev, XBEE_START); \
|
||||
|
||||
+3
-3
@@ -33,15 +33,15 @@ all: gen_common.cmo gen_aircraft.out gen_airframe.out gen_messages2.out gen_mess
|
||||
FP_CMO = fp_proc.cmo gen_flight_plan.cmo
|
||||
ABS_FP = $(FP_CMO:%=$$PAPARAZZI_SRC/sw/tools/%)
|
||||
|
||||
gen_flight_plan.out : $(FP_CMO)
|
||||
gen_flight_plan.out : $(FP_CMO) $(LIBPPRZCMA)
|
||||
@echo OL $@
|
||||
$(Q)$(OCAMLC) $(INCLUDES) -o $@ $(LINKPKG) $^
|
||||
|
||||
gen_srtm.out : gen_srtm.ml
|
||||
gen_srtm.out : gen_srtm.ml $(LIBPPRZCMA)
|
||||
@echo OL $@
|
||||
$(Q)$(OCAMLC) $(INCLUDES) -o $@ $(LINKPKG) $<
|
||||
|
||||
%.out : %.ml gen_common.cmo
|
||||
%.out : %.ml gen_common.cmo $(LIBPPRZCMA)
|
||||
@echo OL $<
|
||||
$(Q)$(OCAMLC) $(INCLUDES) -o $@ $(LINKPKG) gen_common.cmo $<
|
||||
|
||||
|
||||
+41
-15
@@ -29,6 +29,7 @@ type format = string
|
||||
type _type =
|
||||
Basic of string
|
||||
| Array of string * string
|
||||
| FixedArray of string * string * int
|
||||
|
||||
type field = _type * string * format option
|
||||
|
||||
@@ -44,11 +45,15 @@ type message = {
|
||||
module Syntax = struct
|
||||
(** Parse a type name and returns a _type value *)
|
||||
let parse_type = fun t varname ->
|
||||
let n = String.length t in
|
||||
if n >=2 && String.sub t (n-2) 2 = "[]" then
|
||||
Array (String.sub t 0 (n-2), varname)
|
||||
else
|
||||
Basic t
|
||||
try
|
||||
let type_parts = Str.full_split (Str.regexp "[][]") t in
|
||||
match type_parts with
|
||||
| [Str.Text ty] -> Basic ty
|
||||
| [Str.Text ty; Str.Delim "["; Str.Delim "]"] -> Array (ty, varname)
|
||||
| [Str.Text ty; Str.Delim "["; Str.Text len ; Str.Delim "]"] -> FixedArray (ty, varname, int_of_string len)
|
||||
| _ -> failwith "Gen_messages: not a valid field type"
|
||||
with
|
||||
| Failure fail -> failwith("Gen_messages: not a valid array length")
|
||||
|
||||
let length_name = fun s -> "nb_"^s
|
||||
|
||||
@@ -62,10 +67,12 @@ module Syntax = struct
|
||||
let rec sizeof = function
|
||||
Basic t -> string_of_int (assoc_types t).Pprz.size
|
||||
| Array (t, varname) -> sprintf "1+%s*%s" (length_name varname) (sizeof (Basic t))
|
||||
| FixedArray (t, varname, len) -> sprintf "0+%d*%s" len (sizeof (Basic t))
|
||||
|
||||
let rec nameof = function
|
||||
Basic t -> String.capitalize t
|
||||
| Array _ -> failwith "nameof"
|
||||
| FixedArray _ -> failwith "nameof"
|
||||
|
||||
(** Translates a "message" XML element into a value of the 'message' type *)
|
||||
let struct_of_xml = fun xml ->
|
||||
@@ -73,14 +80,13 @@ module Syntax = struct
|
||||
and id = ExtXml.int_attrib xml "id"
|
||||
and period = try Some (ExtXml.float_attrib xml "period") with _ -> None
|
||||
and fields =
|
||||
List.map
|
||||
(fun field ->
|
||||
let id = ExtXml.attrib field "name"
|
||||
and type_name = ExtXml.attrib field "type"
|
||||
and fmt = try Some (Xml.attrib field "format") with _ -> None in
|
||||
let _type = parse_type type_name id in
|
||||
(_type, id, fmt))
|
||||
(Xml.children xml) in
|
||||
List.map (fun field ->
|
||||
let id = ExtXml.attrib field "name"
|
||||
and type_name = ExtXml.attrib field "type"
|
||||
and fmt = try Some (Xml.attrib field "format") with _ -> None in
|
||||
let _type = parse_type type_name id in
|
||||
(_type, id, fmt))
|
||||
(List.filter (fun t -> compare (Xml.tag t) "field" = 0) (Xml.children xml)) in
|
||||
{ id=id; name = name; period = period; fields = fields }
|
||||
|
||||
let check_single_ids = fun msgs ->
|
||||
@@ -117,9 +123,13 @@ module Gen_onboard = struct
|
||||
| Array (t, varname) ->
|
||||
let _s = Syntax.sizeof (Basic t) in
|
||||
fprintf h "\t DownlinkPut%sArray(_trans, _dev, %s, %s); \\\n" (Syntax.nameof (Basic t)) (Syntax.length_name varname) name
|
||||
| FixedArray (t, varname, len) ->
|
||||
let _s = Syntax.sizeof (Basic t) in
|
||||
fprintf h "\t DownlinkPut%sFixedArray(_trans, _dev, %d, %s); \\\n" (Syntax.nameof (Basic t)) len name
|
||||
|
||||
let print_parameter h = function
|
||||
(Array _, s, _) -> fprintf h "%s, %s" (Syntax.length_name s) s
|
||||
(Array _, s, _) -> fprintf h "%s, %s" (Syntax.length_name s) s
|
||||
| (FixedArray _, s, _) -> fprintf h "%s" s
|
||||
| (_, s, _) -> fprintf h "%s" s
|
||||
|
||||
let print_macro_parameters h = function
|
||||
@@ -242,7 +252,13 @@ module Gen_onboard = struct
|
||||
sprintf "({ union { uint64_t u; double f; } _f; _f.u = (uint64_t)(%s); Swap32IfBigEndian(_f.u); _f.f; })" !s
|
||||
| 4 ->
|
||||
sprintf "(%s)(*((uint8_t*)_payload+%d)|*((uint8_t*)_payload+%d+1)<<8|((uint32_t)*((uint8_t*)_payload+%d+2))<<16|((uint32_t)*((uint8_t*)_payload+%d+3))<<24)" pprz_type.Pprz.inttype o o o o
|
||||
| _ -> failwith "unexpected size in Gen_messages.print_get_macros. Possibly since a Telemetry message was defined with a field type of string." in
|
||||
| 8 ->
|
||||
let s = ref (sprintf "(%s)(*((uint8_t*)_payload+%d)" pprz_type.Pprz.inttype o) in
|
||||
for i = 1 to 7 do
|
||||
s := !s ^ sprintf "|((uint64_t)*((uint8_t*)_payload+%d+%d))<<%d" o i (8*i)
|
||||
done;
|
||||
sprintf "%s)" !s
|
||||
| _ -> failwith "unexpected size in Gen_messages.print_get_macros" in
|
||||
|
||||
(** To be an array or not to be an array: *)
|
||||
match _type with
|
||||
@@ -263,6 +279,16 @@ module Gen_onboard = struct
|
||||
|
||||
fprintf h "#define DL_%s_%s(_payload) ((%s*)(_payload+%d))\n" msg_name field_name pprz_type.Pprz.inttype !offset;
|
||||
offset := -1 (** Mark for no more fields *)
|
||||
| FixedArray (t, _varname, len) ->
|
||||
(** The macro to access to the length of the array *)
|
||||
fprintf h "#define DL_%s_%s_length(_payload) (%d)\n" msg_name field_name len;
|
||||
(** The macro to access to the array itself *)
|
||||
let pprz_type = Syntax.assoc_types t in
|
||||
if check_alignment && !offset mod (min pprz_type.Pprz.size 4) <> 0 then
|
||||
failwith (sprintf "Wrong alignment of field '%s' in message '%s" field_name msg_name);
|
||||
|
||||
fprintf h "#define DL_%s_%s(_payload) ((%s*)(_payload+%d))\n" msg_name field_name pprz_type.Pprz.inttype !offset;
|
||||
offset := !offset + (pprz_type.Pprz.size*len)
|
||||
in
|
||||
|
||||
fprintf h "\n";
|
||||
|
||||
Reference in New Issue
Block a user