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112 lines
4.0 KiB
C
112 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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#include <uavobjectmanager.h>
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#include <gcsreceiver.h>
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#include <oplinksettings.h>
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#include <pios_rfm22b_rcvr.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_STATUS, // broadcasts status of this modem
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PACKET_TYPE_CON_REQUEST, // request a connection to another modem
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PACKET_TYPE_DATA, // data packet (packet contains user data)
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PACKET_TYPE_DUPLICATE_DATA, // a duplicate data packet
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PACKET_TYPE_PPM, // PPM relay values
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PACKET_TYPE_ACK, // Acknowlege the receipt of a packet
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PACKET_TYPE_ACK_RTS, // Acknowlege the receipt of a packet and indicate that the receiving side has data to send (ready to send)
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PACKET_TYPE_NACK, // Acknowlege the receipt of an uncorrectable packet
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} PHPacketType;
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typedef struct {
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uint32_t destination_id;
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uint16_t seq_num;
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uint8_t type;
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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_ACK_NACK_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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portTickType packet_recv_time;
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uint8_t ecc[RS_ECC_NPARITY];
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} PHAckNackPacket, *PHAckNackPacketHandle;
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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_RFM22B_RCVR_MAX_CHANNELS];
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uint8_t ecc[RS_ECC_NPARITY];
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} PHPpmPacket, *PHPpmPacketHandle;
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#define PH_STATUS_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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uint32_t source_id;
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uint8_t link_quality;
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int8_t received_rssi;
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uint8_t ecc[RS_ECC_NPARITY];
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} PHStatusPacket, *PHStatusPacketHandle;
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#define PH_CONNECTION_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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uint32_t source_id;
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uint32_t min_frequency;
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uint32_t max_frequency;
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uint32_t channel_spacing;
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OPLinkSettingsMainPortOptions main_port;
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OPLinkSettingsFlexiPortOptions flexi_port;
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OPLinkSettingsVCPPortOptions vcp_port;
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OPLinkSettingsComSpeedOptions com_speed;
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uint8_t ecc[RS_ECC_NPARITY];
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} PHConnectionPacket, *PHConnectionPacketHandle;
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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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