LibrePilot/flight/libraries/inc/packet_handler.h

/**
 ******************************************************************************
 * @addtogroup OpenPilotSystem OpenPilot System
 * @{
 * @addtogroup OpenPilotLibraries OpenPilot System Libraries
 * @{
 *
 * @file       packet_handler.h
 * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      A packet handler for handeling radio packet transmission.
 * @see        The GNU Public License (GPL) Version 3
 *
 *****************************************************************************/
/*
 * This program 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 3 of the License, or
 * (at your option) any later version.
 *
 * This program 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 this program; if not, write to the Free Software Foundation, Inc.,
 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 */

#ifndef __PACKET_HANDLER_H__
#define __PACKET_HANDLER_H__

#include <uavobjectmanager.h>
#include <gcsreceiver.h>
#include <oplinksettings.h>
#include <pios_rfm22b_rcvr.h>

// Public defines / macros
#define PHPacketSize(p)    ((uint8_t *)(p->data) + p->header.data_size - (uint8_t *)p)
#define PHPacketSizeECC(p) ((uint8_t *)(p->data) + p->header.data_size + RS_ECC_NPARITY - (uint8_t *)p)

// Public types
typedef enum {
    PACKET_TYPE_NONE = 0,
    PACKET_TYPE_STATUS, // broadcasts status of this modem
    PACKET_TYPE_CON_REQUEST, // request a connection to another modem
    PACKET_TYPE_DATA, // data packet (packet contains user data)
    PACKET_TYPE_DUPLICATE_DATA, // a duplicate data packet
    PACKET_TYPE_PPM, // PPM relay values
    PACKET_TYPE_ACK, // Acknowlege the receipt of a packet
    PACKET_TYPE_NACK, // Acknowlege the receipt of an uncorrectable packet
} PHPacketType;

typedef struct {
    uint32_t     destination_id;
    portTickType prev_tx_time;
    uint16_t     seq_num;
    uint8_t type;
    uint8_t data_size;
} PHPacketHeader;

#define PH_MAX_DATA (PIOS_PH_MAX_PACKET - sizeof(PHPacketHeader) - RS_ECC_NPARITY)
#define PH_PACKET_SIZE(p) ((p)->data + (p)->header.data_size - (uint8_t *)(p) + RS_ECC_NPARITY)
typedef struct {
    PHPacketHeader header;
    uint8_t data[PH_MAX_DATA + RS_ECC_NPARITY];
} PHPacket, *PHPacketHandle;

#define PH_ACK_NACK_DATA_SIZE(p) ((uint8_t *)((p)->ecc) - (uint8_t *)(((PHPacketHandle)(p))->data))
typedef struct {
    PHPacketHeader header;
    uint8_t ecc[RS_ECC_NPARITY];
} PHAckNackPacket, *PHAckNackPacketHandle;

#define PH_PPM_DATA_SIZE(p) ((uint8_t *)((p)->ecc) - (uint8_t *)(((PHPacketHandle)(p))->data))
typedef struct {
    PHPacketHeader header;
    int16_t channels[PIOS_RFM22B_RCVR_MAX_CHANNELS];
    uint8_t ecc[RS_ECC_NPARITY];
} PHPpmPacket, *PHPpmPacketHandle;

#define PH_STATUS_DATA_SIZE(p) ((uint8_t *)((p)->ecc) - (uint8_t *)(((PHPacketHandle)(p))->data))
typedef struct {
    PHPacketHeader header;
    uint32_t source_id;
    uint8_t  link_quality;
    int8_t   received_rssi;
    uint8_t  ecc[RS_ECC_NPARITY];
} PHStatusPacket, *PHStatusPacketHandle;

#define PH_CONNECTION_DATA_SIZE(p) ((uint8_t *)((p)->ecc) - (uint8_t *)(((PHPacketHandle)(p))->data))
typedef struct {
    PHPacketHeader header;
    uint32_t     source_id;
    uint32_t     min_frequency;
    uint32_t     max_frequency;
    uint32_t     channel_spacing;
    portTickType status_rx_time;
    OPLinkSettingsMainPortOptions  main_port;
    OPLinkSettingsFlexiPortOptions flexi_port;
    OPLinkSettingsVCPPortOptions   vcp_port;
    OPLinkSettingsComSpeedOptions  com_speed;
    uint8_t ecc[RS_ECC_NPARITY];
} PHConnectionPacket, *PHConnectionPacketHandle;

#endif // __PACKET_HANDLER_H__

/**
 * @}
 * @}
 */