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[extra_dl] Added an example of processing a payload_command packet

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This commit is contained in:
Michal Podhradsky
2017-03-19 12:38:38 -07:00
parent f6b662b8cb
commit 7402d0a1b4
3 changed files with 69 additions and 19 deletions
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sw/airborne/modules/datalink/extra_pprz_dl.c
+38
View File
@@ -45,8 +45,22 @@
#include "modules/datalink/extra_pprz_dl.h"
#include "subsystems/datalink/telemetry.h"
#include "subsystems/datalink/datalink.h"
#include "pprzlink/pprz_transport.h"
#if USE_UDP
#include "mcu_periph/udp.h"
#endif
#if USE_USB_SERIAL
#include "mcu_periph/usb_serial.h"
#endif
bool extra_dl_msg_available;
uint8_t extra_dl_buffer[MSG_SIZE] __attribute__((aligned));
/* PPRZ transport structure */
struct pprz_transport extra_pprz_tp;
void extra_pprz_dl_init(void)
@@ -54,6 +68,12 @@ void extra_pprz_dl_init(void)
pprz_transport_init(&extra_pprz_tp);
}
extern void extra_pprz_dl_event(void)
{
pprz_check_and_parse(&EXTRA_DOWNLINK_DEVICE.device, &extra_pprz_tp, extra_dl_buffer, &extra_dl_msg_available);
DlCheckAndParse(&EXTRA_DOWNLINK_DEVICE.device, &extra_pprz_tp.trans_tx, extra_dl_buffer);
}
void extra_pprz_dl_periodic(void)
{
#if PERIODIC_TELEMETRY && defined(TELEMETRY_PROCESS_Extra)
@@ -62,3 +82,21 @@ void extra_pprz_dl_periodic(void)
#endif
}
void extra_pprz_dl_parse_payload_cmd(void)
{
// check if the command it meant for me
if (AC_ID != DL_PAYLOAD_COMMAND_ac_id(extra_dl_buffer)){
return;
}
// check if the payload length it correct
if (EXPECTED_PAYLOAD_LENGTH != DL_PAYLOAD_COMMAND_command_length(extra_dl_buffer)){
return;
}
// optionally we can check for PAYLOAD_COMMAND version etc, depending on what we define in the packet
if (DL_PAYLOAD_COMMAND_command(extra_dl_buffer)[PAYLOAD_CMD_IDX] == PAYLOAD_CMD_INFO){
// TODO: do something
}
}
sw/airborne/modules/datalink/extra_pprz_dl.h
+13 -18
View File
@@ -27,34 +27,29 @@
#ifndef EXTRA_PPRZ_DL_H
#define EXTRA_PPRZ_DL_H
#include "subsystems/datalink/datalink.h"
#include "pprzlink/pprz_transport.h"
// example of checking for correct PAYLOAD_COMMAND message
#define EXPECTED_PAYLOAD_LENGTH 8
#if USE_UDP
#include "mcu_periph/udp.h"
#endif
// example of a payload command
#define PAYLOAD_CMD_INFO 1
#if USE_USB_SERIAL
#include "mcu_periph/usb_serial.h"
#endif
// so we don't have to remember the index of bytes
#define PAYLOAD_CMD_IDX 0
/* PPRZ transport structure */
extern struct pprz_transport extra_pprz_tp;
/* Datalink Event */
#define ExtraDatalinkEvent() { \
pprz_check_and_parse(&EXTRA_DOWNLINK_DEVICE.device, &extra_pprz_tp, dl_buffer, &dl_msg_available); \
DlCheckAndParse(&EXTRA_DOWNLINK_DEVICE.device, &extra_pprz_tp.trans_tx, dl_buffer); \
}
/** Datalink Event */
void extra_pprz_dl_event(void);
/** Init function */
extern void extra_pprz_dl_init(void);
void extra_pprz_dl_init(void);
/** Periodic function
*
* should be called at TELEMETRY_FREQUENCY
*/
extern void extra_pprz_dl_periodic(void);
void extra_pprz_dl_periodic(void);
/** Process payload commands */
void extra_pprz_dl_parse_payload_cmd(void);
#endif /* EXTRA_PPRZ_DL_H */