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Code Issues Releases Activity

Added UAVTalkRelayInputStream to the UAVTalk library that parses a UAVTalk packet and sends it when it is complete. This allows the interlieving of packets on an output UAVTalk stream, and is used by the OPLink device to relay packets from an input com port to a different output com port without sending one packet in the middle of another packet.

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This commit is contained in:
Brian Webb 2012-10-20 14:24:29 -04:00 committed by Brian Webb
parent 4b90f81f6f
commit 0113b6a748
2 changed files with 68 additions and 0 deletions
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1
flight/UAVTalk/inc/uavtalk.h
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@ -59,6 +59,7 @@ int32_t UAVTalkSendNack(UAVTalkConnection connectionHandle, uint32_t objId);
int32_t UAVTalkSendBuf(UAVTalkConnection connectionHandle, uint8_t *buf, uint16_t len);
UAVTalkRxState UAVTalkProcessInputStream(UAVTalkConnection connection, uint8_t rxbyte);
UAVTalkRxState UAVTalkProcessInputStreamQuiet(UAVTalkConnection connection, uint8_t rxbyte);
UAVTalkRxState UAVTalkRelayInputStream(UAVTalkConnection connectionHandle, uint8_t rxbyte);
void UAVTalkGetStats(UAVTalkConnection connection, UAVTalkStats *stats);
void UAVTalkResetStats(UAVTalkConnection connection);
void UAVTalkGetLastTimestamp(UAVTalkConnection connection, uint16_t *timestamp);

67
flight/UAVTalk/uavtalk.c
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@ -558,6 +558,73 @@ UAVTalkRxState UAVTalkProcessInputStream(UAVTalkConnection connectionHandle, uin
return state;
}
/**
* Process an byte from the telemetry stream, sending the packet out the output stream when it's complete
* This allows the interlieving of packets on an output UAVTalk stream, and is used by the OPLink device to
* relay packets from an input com port to a different output com port without sending one packet in the middle
* of another packet. Because this uses both the receive buffer and transmit buffer, it should only be used
* for relaying a packet, not for the standard sending and receiving of packets.
* \param[in] connection UAVTalkConnection to be used
* \param[in] rxbyte Received byte
* \return UAVTalkRxState
*/
UAVTalkRxState UAVTalkRelayInputStream(UAVTalkConnection connectionHandle, uint8_t rxbyte)
{
UAVTalkRxState state = UAVTalkProcessInputStreamQuiet(connectionHandle, rxbyte);
if (state == UAVTALK_STATE_COMPLETE)
{
UAVTalkConnectionData *connection;
CHECKCONHANDLE(connectionHandle,connection,return -1);
UAVTalkInputProcessor *iproc = &connection->iproc;
if (!connection->outStream) return -1;
// Setup type and object id fields
connection->txBuffer[0] = UAVTALK_SYNC_VAL; // sync byte
connection->txBuffer[1] = iproc->type;
// data length inserted here below
connection->txBuffer[4] = (uint8_t)(iproc->objId & 0xFF);
connection->txBuffer[5] = (uint8_t)((iproc->objId >> 8) & 0xFF);
connection->txBuffer[6] = (uint8_t)((iproc->objId >> 16) & 0xFF);
connection->txBuffer[7] = (uint8_t)((iproc->objId >> 24) & 0xFF);
// Setup instance ID if one is required
int32_t dataOffset = 8;
if (iproc->instanceLength > 0)
{
connection->txBuffer[8] = (uint8_t)(iproc->instId & 0xFF);
connection->txBuffer[9] = (uint8_t)((iproc->instId >> 8) & 0xFF);
dataOffset = 10;
}
// Add timestamp when the transaction type is appropriate
if (iproc->type & UAVTALK_TIMESTAMPED)
{
portTickType time = xTaskGetTickCount();
connection->txBuffer[dataOffset] = (uint8_t)(time & 0xFF);
connection->txBuffer[dataOffset + 1] = (uint8_t)((time >> 8) & 0xFF);
dataOffset += 2;
}
// Copy data (if any)
memcpy(&connection->txBuffer[dataOffset], connection->rxBuffer, iproc->length);
// Store the packet length
connection->txBuffer[2] = (uint8_t)((dataOffset + iproc->length) & 0xFF);
connection->txBuffer[3] = (uint8_t)(((dataOffset + iproc->length) >> 8) & 0xFF);
// Copy the checksum
connection->txBuffer[dataOffset + iproc->length] = iproc->cs;
// Send the buffer.
if (UAVTalkSendBuf(connectionHandle, connection->txBuffer, iproc->rxPacketLength) < 0)
return UAVTALK_STATE_ERROR;
}
return state;
}
/**
* Send a ACK through the telemetry link.
* \param[in] connectionHandle UAVTalkConnection to be used