mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-04 22:17:01 +08:00
Dino Hensen
106 lines
2.7 KiB
C
106 lines
2.7 KiB
C
/*
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* Copyright (C) 2005 Pascal Brisset, Antoine Drouin
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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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/** \file datalink.h
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* \brief Handling of messages coming from ground and other A/Cs
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*
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*/
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#ifndef DATALINK_H
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#define DATALINK_H
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#ifdef DATALINK_C
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#define EXTERN
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#else
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#define EXTERN extern
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#endif
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#ifdef __IEEE_BIG_ENDIAN /* From machine/ieeefp.h */
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#define Swap32IfBigEndian(_u) { _u = (_u << 32) | (_u >> 32); }
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#else
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#define Swap32IfBigEndian(_) {}
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#endif
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#include "std.h"
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#include "dl_protocol.h"
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/** Datalink kinds */
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#define PPRZ 1
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#define XBEE 2
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#define UDP 3
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EXTERN bool_t dl_msg_available;
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/** Flag provided to control calls to ::dl_parse_msg. NOT used in this module*/
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EXTERN uint16_t datalink_time;
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#define MSG_SIZE 128
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EXTERN uint8_t dl_buffer[MSG_SIZE] __attribute__ ((aligned));
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EXTERN void dl_parse_msg(void);
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/** Should be called when chars are available in dl_buffer */
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/** Check for new message and parse */
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#define DlCheckAndParse() { \
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if (dl_msg_available) { \
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dl_parse_msg(); \
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dl_msg_available = FALSE; \
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} \
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}
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#if defined DATALINK && DATALINK == PPRZ
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#define DatalinkEvent() { \
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PprzCheckAndParse(PPRZ_UART, pprz_tp); \
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DlCheckAndParse(); \
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}
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#elif defined DATALINK && DATALINK == XBEE
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#define DatalinkEvent() { \
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XBeeCheckAndParse(XBEE_UART, xbee_tp); \
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DlCheckAndParse(); \
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}
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#elif defined DATALINK && DATALINK == W5100
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#define DatalinkEvent() { \
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W5100CheckAndParse(W5100, w5100_tp); \
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DlCheckAndParse(); \
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}
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#elif defined DATALINK && DATALINK == UDP
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#define DatalinkEvent() { \
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UdpCheckAndParse(); \
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DlCheckAndParse(); \
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}
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#else
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// Unknown DATALINK
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#define DatalinkEvent() {}
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#endif /* DATALINK == */
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#endif /* DATALINK_H */
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