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107 lines
4.0 KiB
C
107 lines
4.0 KiB
C
/**
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******************************************************************************
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* @addtogroup OpenPilotSystem OpenPilot System
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* @{
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* @addtogroup OpenPilotLibraries OpenPilot System Libraries
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* @{
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*
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* @file packet_handler.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
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* @brief A packet handler for handeling radio packet transmission.
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program 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 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#ifndef __PACKET_HANDLER_H__
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#define __PACKET_HANDLER_H__
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// Public defines / macros
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#define PHPacketSize(p) ((uint8_t*)(p->data) + p->header.data_size - (uint8_t*)p)
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#define PHPacketSizeECC(p) ((uint8_t*)(p->data) + p->header.data_size + RS_ECC_NPARITY - (uint8_t*)p)
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// Public types
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typedef enum {
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PACKET_TYPE_NONE = 0,
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PACKET_TYPE_CONNECT, // for requesting a connection
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PACKET_TYPE_DISCONNECT, // to tell the other modem they cannot connect to us
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PACKET_TYPE_READY, // tells the other modem we are ready to accept more data
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PACKET_TYPE_NOTREADY, // tells the other modem we're not ready to accept more data - we can also send user data in this packet type
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PACKET_TYPE_DATARATE, // for changing the RF data rate
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PACKET_TYPE_PING, // used to check link is still up
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PACKET_TYPE_ADJUST_TX_PWR, // used to ask the other modem to adjust it's tx power
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PACKET_TYPE_DATA, // data packet (packet contains user data)
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PACKET_TYPE_ACKED_DATA, // data packet that requies an ACK
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PACKET_TYPE_PPM, // PPM relay values
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PACKET_TYPE_ACK,
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PACKET_TYPE_NACK
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} PHPacketType;
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typedef struct {
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uint32_t source_id;
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uint32_t destination_id;
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uint8_t type;
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uint8_t tx_seq;
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uint8_t rx_seq;
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uint8_t data_size;
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} PHPacketHeader;
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#define PH_MAX_DATA (PIOS_PH_MAX_PACKET - sizeof(PHPacketHeader) - RS_ECC_NPARITY)
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#define PH_PACKET_SIZE(p) (p->data + p->header.data_size - (uint8_t*)p + RS_ECC_NPARITY)
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typedef struct {
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PHPacketHeader header;
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uint8_t data[PH_MAX_DATA + RS_ECC_NPARITY];
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} PHPacket, *PHPacketHandle;
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#define PH_PPM_DATA_SIZE(p) ((uint8_t*)(p->ecc) - (uint8_t*)(((PHPacketHandle)p)->data))
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typedef struct {
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PHPacketHeader header;
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uint16_t channels[PIOS_RCVR_MAX_CHANNELS];
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uint8_t ecc[RS_ECC_NPARITY];
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} PHPpmPacket, *PHPpmPacketHandle;
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typedef struct {
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uint8_t txWinSize;
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uint16_t maxConnections;
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uint32_t id;
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} PacketHandlerConfig;
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typedef int32_t (*PHOutputStream)(PHPacketHandle packet);
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typedef void (*PHDataHandler)(uint8_t *data, uint8_t len);
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typedef void (*PHPPMHandler)(uint16_t *channels);
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typedef uint32_t PHInstHandle;
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// Public functions
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PHInstHandle PHInitialize(PacketHandlerConfig *cfg);
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void PHRegisterOutputStream(PHInstHandle h, PHOutputStream f);
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void PHRegisterDataHandler(PHInstHandle h, PHDataHandler f);
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void PHRegisterPPMHandler(PHInstHandle h, PHPPMHandler f);
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uint32_t PHConnect(PHInstHandle h, uint32_t dest_id);
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PHPacketHandle PHGetRXPacket(PHInstHandle h);
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PHPacketHandle PHGetTXPacket(PHInstHandle h);
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void PHReleaseTXPacket(PHInstHandle h, PHPacketHandle p);
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uint8_t PHTransmitPacket(PHInstHandle h, PHPacketHandle p);
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uint8_t PHReceivePacket(PHInstHandle h, PHPacketHandle p);
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#endif // __PACKET_HANDLER_H__
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/**
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* @}
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* @}
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*/
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