[pprzlink] fix conpilation errors with some devices

sw/airborne/subsystems/datalink/bluegiga.h

@@ -96,7 +96,7 @@ static inline void bluegiga_read_buffer(struct bluegiga_periph *p, struct pprz_t
 #ifdef MODEM_LED
       LED_TOGGLE(MODEM_LED);
 #endif
-      pprz_parse_payload(t);
+      DatalinkFillDlBuffer(t->trans_rx.payload, t->trans_rx.payload_len);
       t->trans_rx.msg_received = FALSE;
     }
     bluegiga_increment_buf(&p->rx_extract_idx, c);

sw/airborne/subsystems/datalink/datalink.h

@@ -68,6 +68,15 @@ EXTERN void dl_parse_msg(void);
 EXTERN bool_t datalink_enabled;
 #endif
 
+/** Convenience macro to fill dl_buffer */
+#define DatalinkFillDlBuffer(_buf, _len) { \
+  uint8_t _i = 0; \
+  for (_i = 0; _i < _len; _i++) { \
+    dl_buffer[_i] = _buf[_i]; \
+  } \
+  dl_msg_available = TRUE; \
+}
+
 /** Check for new message and parse */
 static inline void DlCheckAndParse(void)
 {

sw/airborne/subsystems/datalink/downlink.c

@@ -33,7 +33,7 @@
 struct ivy_transport ivy_tp;
 #endif
 
-#if DATALINK == PPRZ
+#if DATALINK == PPRZ || DATALINK == SUPERBITRF || DATALINK == W5100 || DATALINK == BLUEGIGA
 struct pprz_transport pprz_tp;
 #endif
 #if DATALINK == XBEE

sw/airborne/subsystems/datalink/downlink.h

@@ -58,7 +58,7 @@ extern struct ivy_transport ivy_tp;
 
 #else /** SITL */
 
-#if DATALINK == PPRZ
+#if DATALINK == PPRZ || DATALINK == SUPERBITRF || DATALINK == W5100 || DATALINK == BLUEGIGA
 #include "pprzlink/pprz_transport.h"
 extern struct pprz_transport pprz_tp;
 #endif
@@ -73,10 +73,14 @@ extern struct pprzlog_transport pprzlog_tp;
 extern struct xbee_transport xbee_tp;
 #endif
 
-//#include "subsystems/datalink/w5100.h"
+#if DATALINK == W5100
-#if DATALINK == BLUEGIGA
+#include "subsystems/datalink/w5100.h"
-//#include "subsystems/datalink/bluegiga.h"
 #endif
+
+#if DATALINK == BLUEGIGA
+#include "subsystems/datalink/bluegiga.h"
+#endif
+
 #if USE_SUPERBITRF
 #include "subsystems/datalink/superbitrf.h"
 #endif

sw/airborne/subsystems/datalink/superbitrf.c

@@ -863,7 +863,7 @@ static inline void superbitrf_receive_packet_cb(bool_t error, uint8_t status, ui
 
             // When we have a full message
             if (superbitrf.rx_transport.trans_rx.msg_received) {
-              pprz_parse_payload(&superbitrf.rx_transport);
+              DatalinkFillDlBuffer(superbitrf.rx_transport.trans_rx.payload, superbitrf.rx_transport.trans_rx.payload_len);
               superbitrf.rx_transport.trans_rx.msg_received = FALSE;
             }
           }
@@ -923,7 +923,7 @@ static inline void superbitrf_receive_packet_cb(bool_t error, uint8_t status, ui
 
             // When we have a full message
             if (superbitrf.rx_transport.trans_rx.msg_received) {
-              pprz_parse_payload(&superbitrf.rx_transport);
+              DatalinkFillDlBuffer(superbitrf.rx_transport.trans_rx.payload, superbitrf.rx_transport.trans_rx.payload_len);
               superbitrf.rx_transport.trans_rx.msg_received = FALSE;
             }
           }
@@ -1009,7 +1009,7 @@ static inline void superbitrf_receive_packet_cb(bool_t error, uint8_t status, ui
 
             // When we have a full message
             if (superbitrf.rx_transport.trans_rx.msg_received) {
-              pprz_parse_payload(&superbitrf.rx_transport);
+              DatalinkFillDlBuffer(superbitrf.rx_transport.trans_rx.payload, superbitrf.rx_transport.trans_rx.payload_len);
               superbitrf.rx_transport.trans_rx.msg_received = FALSE;
             }
           }

sw/airborne/subsystems/datalink/w5100.h

@@ -93,7 +93,7 @@ static inline void w5100_check_and_parse(struct link_device *dev, struct pprz_tr
   if (dev->char_available(dev->periph)) {
     w5100_read_buffer(trans);
     if (trans->trans_rx.msg_received) {
-      pprz_parse_payload(trans);
+      DatalinkFillDlBuffer(trans->trans_rx.payload, trans->trans_rx.payload_len);
       trans->trans_rx.msg_received = FALSE;
     }
   }