[modules] RSSI info storage

Stores info received from RSSI message from other aircrafts for communication protocols that support it.

picked out of #1630

conf/modules/rssi.xml

@@ -0,0 +1,19 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="rssi" dir="multi">
+  <doc>
+    <description>
+      RSSI info from other aircrafts.
+      Stores info received from RSSI message from other aircrafts for communication protocols that support it.
+    </description>
+  </doc>
+  <header>
+    <file name="rssi.h"/>
+  </header>
+  <init fun="rssi_init()"/>
+  <datalink message="RSSI" fun="parse_rssi_dl()"/>
+  <makefile>
+    <file name="rssi.c"/>
+  </makefile>
+</module>
+

sw/airborne/modules/multi/rssi.c

@@ -0,0 +1,93 @@
+/*
+ * Copyright (C) Kirk Scheper
+ *
+ * This file is part of paparazzi
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, see
+ * <http://www.gnu.org/licenses/>.
+ */
+/**
+ * @file "modules/multi/rssi.c"
+ * @author Kirk Scheper
+ * stores received rssi values for communication protocols that support it
+ */
+
+#include "modules/multi/rssi.h"
+
+#include "subsystems/datalink/datalink.h"
+#include "pprzlink/messages.h"
+
+#include "subsystems/abi.h"                 // rssi messages subscription
+#include "generated/airframe.h"             // AC_ID
+
+#ifndef NB_ACS_ID
+#define NB_ACS_ID 256
+#endif
+#ifndef NB_ACS
+#define NB_ACS 24
+#endif
+
+uint8_t rssi_acs_idx;
+struct rssi_info_ rssi_acs[NB_ACS];
+uint8_t rssi_acs_id[NB_ACS_ID];
+
+abi_event ev;
+
+static void rssi_cb(uint8_t sender_id __attribute__((unused)), uint8_t _ac_id, int8_t _tx_strength, int8_t _rssi)
+{
+  set_rssi(_ac_id, _tx_strength, _rssi);
+}
+
+void rssi_init()
+{
+  memset(rssi_acs_id, 0, NB_ACS_ID);
+
+  rssi_acs_id[0] = 0;  // ground station
+  rssi_acs_id[AC_ID] = 1;
+  rssi_acs[rssi_acs_id[AC_ID]].ac_id = AC_ID;
+  rssi_acs_idx = 2;
+
+  /* register for rssi messages */
+  AbiBindMsgRSSI(ABI_BROADCAST, &ev, rssi_cb);
+}
+
+void parse_rssi_dl(void)
+{
+  uint8_t sender_id = SenderIdOfPprzMsg(dl_buffer);
+  uint8_t msg_id = IdOfPprzMsg(dl_buffer);
+
+  if (sender_id > 0 && msg_id == DL_RSSI) {
+    set_rssi(sender_id,
+             DL_RSSI_tx_power(dl_buffer),
+             DL_RSSI_rssi(dl_buffer));
+  }
+}
+
+void set_rssi(uint8_t _ac_id, int8_t _tx_strength, int8_t _rssi)
+{
+  if (rssi_acs_idx < NB_ACS) {
+    if (_ac_id > 0 && rssi_acs_id[_ac_id] == 0) {
+      rssi_acs_id[_ac_id] = rssi_acs_idx++;
+      rssi_acs[rssi_acs_id[_ac_id]].ac_id = _ac_id;
+    }
+
+    rssi_acs[rssi_acs_id[_ac_id]].rssi = _rssi;
+    rssi_acs[rssi_acs_id[_ac_id]].tx_strength = _tx_strength;
+  }
+}
+
+struct rssi_info_ get_rssi(uint8_t _ac_id)
+{
+  return rssi_acs[rssi_acs_id[_ac_id]];
+}

sw/airborne/modules/multi/rssi.h

@@ -0,0 +1,47 @@
+/*
+ * Copyright (C) Kirk Scheper
+ *
+ * This file is part of paparazzi
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, see
+ * <http://www.gnu.org/licenses/>.
+ */
+/**
+ * @file "modules/multi/rssi.h"
+ * @author Kirk Scheper
+ * stores received rssi values for communication protocols that support it
+ */
+
+#ifndef RSSI_H
+#define RSSI_H
+
+#include <inttypes.h>
+
+struct rssi_info_ {
+  uint8_t ac_id;
+  int8_t rssi;
+  int8_t tx_strength;
+};
+
+extern uint8_t rssi_acs_idx;
+extern uint8_t rssi_acs_id[];
+extern struct rssi_info_ rssi_acs[];
+
+extern void rssi_init(void);
+extern void set_rssi(uint8_t _ac_id, int8_t _rssi, int8_t _tx_strength);
+extern struct rssi_info_  get_rssi(uint8_t _ac_id);
+
+extern void parse_rssi_dl(void);
+
+#endif