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967bb9bb9c
The COM layer now uses 32bit device ids rather than 8bit. All code that stores these ids must now use uint32_t to hold them. Since these 32bit numbers are really just opaque pointers, it is (reasonably) safe to assume that they won't be 0. The logic around tracking the *_previous_com_port could probably be cleaned up to remove that assumption. Missed this fixup in the recent hwinit changes. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2776 ebee16cc-31ac-478f-84a7-5cbb03baadba
501 lines
16 KiB
C
501 lines
16 KiB
C
/**
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******************************************************************************
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*
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* @file api_comms.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief RF Module hardware layer
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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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// see http://newwiki.openpilot.org/display/Doc/UAVTalk .. for UAVTalk protocol description
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//
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// This module scans for OP UAVTalk packets in the comm-port or RF data streams.
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// It will discard any corrupt/invalid packets and only pass valid ones.
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#include <string.h>
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#include "stm32f10x.h"
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#include "gpio_in.h"
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#include "api_comms.h"
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#include "packet_handler.h"
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#include "main.h"
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#if defined(PIOS_COM_DEBUG)
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#define API_DEBUG
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#endif
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// *****************************************************************************
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// modem configuration packets
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typedef struct
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{
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uint32_t marker;
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uint32_t serial_number;
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uint8_t type;
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uint8_t spare;
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uint16_t data_size;
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uint32_t header_crc;
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uint32_t data_crc;
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// uint8_t data[0];
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} __attribute__((__packed__)) t_pipx_config_header;
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typedef struct
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{
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uint8_t mode;
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uint8_t state;
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} __attribute__((__packed__)) t_pipx_config_data_mode_state;
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typedef struct
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{
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uint32_t serial_baudrate; // serial uart baudrate
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uint32_t destination_id;
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uint32_t min_frequency_Hz;
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uint32_t max_frequency_Hz;
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uint32_t frequency_Hz;
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uint32_t max_rf_bandwidth;
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uint8_t max_tx_power;
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uint8_t frequency_band;
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uint8_t rf_xtal_cap;
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bool aes_enable;
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uint8_t aes_key[16];
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uint16_t frequency_step_size;
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} __attribute__((__packed__)) t_pipx_config_data_settings;
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typedef struct
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{
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uint32_t start_frequency;
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uint16_t frequency_step_size;
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uint16_t magnitudes;
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// int8_t magnitude[0];
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} __attribute__((__packed__)) t_pipx_config_data_spectrum;
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// *****************************************************************************
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typedef struct
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{
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uint8_t sync_byte;
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uint8_t message_type;
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uint16_t packet_size; // not including CRC byte
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uint32_t object_id;
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} __attribute__((__packed__)) t_uav_header1;
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typedef struct
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{
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uint8_t sync_byte;
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uint8_t message_type;
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uint16_t packet_size; // not including CRC byte
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uint32_t object_id;
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uint16_t instance_id;
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} __attribute__((__packed__)) t_uav_header2;
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#define SYNC_VAL 0x3C
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#define TYPE_MASK 0xFC
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#define TYPE_VER 0x20
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#define TYPE_OBJ (TYPE_VER | 0x00)
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#define TYPE_OBJ_REQ (TYPE_VER | 0x01)
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#define TYPE_OBJ_ACK (TYPE_VER | 0x02)
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#define TYPE_ACK (TYPE_VER | 0x03)
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#define MIN_HEADER_LENGTH sizeof(t_uav_header1)
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#define MAX_HEADER_LENGTH sizeof(t_uav_header2)
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#define MAX_PAYLOAD_LENGTH 256
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#define CHECKSUM_LENGTH 1
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#define MAX_PACKET_LENGTH (MAX_HEADER_LENGTH + MAX_PAYLOAD_LENGTH + CHECKSUM_LENGTH)
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// CRC lookup table
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static const uint8_t crc_table[256] = {
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0x00, 0x07, 0x0e, 0x09, 0x1c, 0x1b, 0x12, 0x15, 0x38, 0x3f, 0x36, 0x31, 0x24, 0x23, 0x2a, 0x2d,
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0x70, 0x77, 0x7e, 0x79, 0x6c, 0x6b, 0x62, 0x65, 0x48, 0x4f, 0x46, 0x41, 0x54, 0x53, 0x5a, 0x5d,
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0xe0, 0xe7, 0xee, 0xe9, 0xfc, 0xfb, 0xf2, 0xf5, 0xd8, 0xdf, 0xd6, 0xd1, 0xc4, 0xc3, 0xca, 0xcd,
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0x90, 0x97, 0x9e, 0x99, 0x8c, 0x8b, 0x82, 0x85, 0xa8, 0xaf, 0xa6, 0xa1, 0xb4, 0xb3, 0xba, 0xbd,
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0xc7, 0xc0, 0xc9, 0xce, 0xdb, 0xdc, 0xd5, 0xd2, 0xff, 0xf8, 0xf1, 0xf6, 0xe3, 0xe4, 0xed, 0xea,
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0xb7, 0xb0, 0xb9, 0xbe, 0xab, 0xac, 0xa5, 0xa2, 0x8f, 0x88, 0x81, 0x86, 0x93, 0x94, 0x9d, 0x9a,
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0x27, 0x20, 0x29, 0x2e, 0x3b, 0x3c, 0x35, 0x32, 0x1f, 0x18, 0x11, 0x16, 0x03, 0x04, 0x0d, 0x0a,
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0x57, 0x50, 0x59, 0x5e, 0x4b, 0x4c, 0x45, 0x42, 0x6f, 0x68, 0x61, 0x66, 0x73, 0x74, 0x7d, 0x7a,
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0x89, 0x8e, 0x87, 0x80, 0x95, 0x92, 0x9b, 0x9c, 0xb1, 0xb6, 0xbf, 0xb8, 0xad, 0xaa, 0xa3, 0xa4,
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0xf9, 0xfe, 0xf7, 0xf0, 0xe5, 0xe2, 0xeb, 0xec, 0xc1, 0xc6, 0xcf, 0xc8, 0xdd, 0xda, 0xd3, 0xd4,
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0x69, 0x6e, 0x67, 0x60, 0x75, 0x72, 0x7b, 0x7c, 0x51, 0x56, 0x5f, 0x58, 0x4d, 0x4a, 0x43, 0x44,
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0x19, 0x1e, 0x17, 0x10, 0x05, 0x02, 0x0b, 0x0c, 0x21, 0x26, 0x2f, 0x28, 0x3d, 0x3a, 0x33, 0x34,
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0x4e, 0x49, 0x40, 0x47, 0x52, 0x55, 0x5c, 0x5b, 0x76, 0x71, 0x78, 0x7f, 0x6a, 0x6d, 0x64, 0x63,
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0x3e, 0x39, 0x30, 0x37, 0x22, 0x25, 0x2c, 0x2b, 0x06, 0x01, 0x08, 0x0f, 0x1a, 0x1d, 0x14, 0x13,
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0xae, 0xa9, 0xa0, 0xa7, 0xb2, 0xb5, 0xbc, 0xbb, 0x96, 0x91, 0x98, 0x9f, 0x8a, 0x8d, 0x84, 0x83,
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0xde, 0xd9, 0xd0, 0xd7, 0xc2, 0xc5, 0xcc, 0xcb, 0xe6, 0xe1, 0xe8, 0xef, 0xfa, 0xfd, 0xf4, 0xf3
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};
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// *****************************************************************************
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// local variables
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uint32_t api_previous_com_port = 0;
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volatile uint16_t api_rx_timer = 0;
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volatile uint16_t api_tx_timer = 0;
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uint8_t api_rx_buffer[MAX_PACKET_LENGTH] __attribute__ ((aligned(4)));
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uint16_t api_rx_buffer_wr;
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uint8_t api_tx_buffer[MAX_PACKET_LENGTH] __attribute__ ((aligned(4)));
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uint16_t api_tx_buffer_wr;
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// *****************************************************************************
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// 8-bit CRC updating
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uint8_t api_updateCRC_byte(uint8_t crc, uint8_t b)
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{
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return crc_table[crc ^ b];
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}
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uint8_t api_updateCRC_buffer(uint8_t crc, const void *data, int32_t length)
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{
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// use registers for speed
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register uint8_t crc8 = crc;
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register const uint8_t *p = (uint8_t *)data;
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for (register int32_t i = length; i > 0; i--)
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crc8 = crc_table[crc8 ^ *p++];
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return crc8;
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}
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// returned value < 0 if no valid packet detected.
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// otherwise returned value is the total size of the valid UAVTalk packet found in the buffer.
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//
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// any corrupt/invalid UAVTalk packets/data are deleted from the buffer and we scan for the next valid packet.
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int16_t api_scanForUAVTalkPacket(void *buf, uint16_t *len)
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{
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uint8_t *buffer = (uint8_t *)buf;
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t_uav_header1 *header1 = (t_uav_header1 *)buf;
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// t_uav_header2 *header2 = (t_uav_header2 *)buf;
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register uint16_t num_bytes = *len;
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if (num_bytes < MIN_HEADER_LENGTH + CHECKSUM_LENGTH)
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return -1; // not yet enough bytes for a complete packet
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while (TRUE)
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{
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// scan the buffer for the start of a UAVTalk packet
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for (uint16_t i = 0; i < num_bytes; i++)
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{
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if (api_rx_buffer[i] != SYNC_VAL)
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continue; // not the start of a packet - move on to the next byte in the buffer
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// possible start of packet found - we found a SYNC byte
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if (i > 0)
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{ // remove/delete leading bytes before the SYNC byte
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num_bytes -= i;
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if (num_bytes > 0)
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memmove(buffer, buffer + i, num_bytes);
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*len = num_bytes;
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}
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break;
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}
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if (num_bytes < MIN_HEADER_LENGTH + CHECKSUM_LENGTH)
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return -2; // not yet enough bytes for a complete packet
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if (header1->sync_byte != SYNC_VAL)
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{ // SYNC byte was not found - start of UAVTalk packet not found in any of the data in the buffer
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*len = 0; // empty the entire buffer
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return -3;
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}
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if (header1->packet_size < MIN_HEADER_LENGTH || header1->packet_size > MAX_HEADER_LENGTH + MAX_PAYLOAD_LENGTH)
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{ // the packet size value is too small or too big - assume either a corrupt UAVTalk packet or we are at the start of a packet
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// if (--num_bytes > 0)
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// memmove(buffer, buffer + 1, num_bytes); // remove 1st byte
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// *len = num_bytes;
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buffer[0] ^= 0xaa; // corrupt the sync byte - we'll move the buffer bytes down further up in the code
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continue; // continue scanning for a valid packet in the buffer
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}
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if (num_bytes < header1->packet_size + CHECKSUM_LENGTH)
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{ // not yet enough bytes for a complete packet
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return -4;
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}
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// check the packet CRC
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uint8_t crc1 = api_updateCRC_buffer(0, buffer, header1->packet_size);
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uint8_t crc2 = buffer[header1->packet_size];
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if (crc1 != crc2)
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{ // faulty CRC
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// if (--num_bytes > 0)
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// memmove(buffer, buffer + 1, num_bytes); // remove 1st byte
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// *len = num_bytes;
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buffer[0] ^= 0xaa; // corrupt the sync byte - we'll move the buffer bytes down further up in the code
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#if defined(API_DEBUG)
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DEBUG_PRINTF("UAVTalk packet corrupt %d\r\n", header1->packet_size + 1);
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#endif
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continue; // continue scanning for a valid packet in the buffer
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}
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#if defined(API_DEBUG)
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DEBUG_PRINTF("UAVTalk packet found %d\r\n", header1->packet_size + 1);
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#endif
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return (header1->packet_size + CHECKSUM_LENGTH); // return the size of the UAVTalk packet
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}
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return -5;
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}
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// *****************************************************************************
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int16_t api_scanForConfigPacket(void *buf, uint16_t *len)
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{
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return -1;
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}
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// *****************************************************************************
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// can be called from an interrupt if you wish
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void api_1ms_tick(void)
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{ // call this once every 1ms
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if (api_rx_timer < 0xffff) api_rx_timer++;
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if (api_tx_timer < 0xffff) api_tx_timer++;
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}
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// *****************************************************************************
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// call this as often as possible - not from an interrupt
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void api_process(void)
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{ // copy data from comm-port RX buffer to RF packet handler TX buffer, and from RF packet handler RX buffer to comm-port TX buffer
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// ********************
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// decide which comm-port we are using (usart or usb)
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bool usb_comms = false; // TRUE if we are using the usb port for comms.
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uint32_t comm_port = PIOS_COM_SERIAL; // default to using the usart comm-port
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#if defined(PIOS_INCLUDE_USB_HID)
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if (PIOS_USB_HID_CheckAvailable(0))
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{ // USB comms is up, use the USB comm-port instead of the USART comm-port
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usb_comms = true;
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comm_port = PIOS_COM_TELEM_USB;
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}
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#endif
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// ********************
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// check to see if the local communication port has changed (usart/usb)
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if (api_previous_com_port == 0 && api_previous_com_port != comm_port)
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{ // the local communications port has changed .. remove any data in the buffers
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api_rx_buffer_wr = 0;
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api_tx_buffer_wr = 0;
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}
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else
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if (usb_comms)
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{ // we're using the USB for comms - keep the USART rx buffer empty
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int32_t bytes = PIOS_COM_ReceiveBufferUsed(PIOS_COM_SERIAL);
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while (bytes > 0)
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{
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PIOS_COM_ReceiveBuffer(PIOS_COM_SERIAL);
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bytes--;
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}
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}
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api_previous_com_port = comm_port; // remember the current comm-port we are using
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// ********************
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uint16_t connection_index = 0; // the RF connection we are using
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// ********************
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// send the data received from the local comm-port to the RF packet handler TX buffer
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while (TRUE)
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{
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int16_t packet_size;
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// free space size in the RF packet handler tx buffer
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uint16_t ph_num = ph_putData_free(connection_index);
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// get the number of data bytes received down the comm-port
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int32_t com_num = PIOS_COM_ReceiveBufferUsed(comm_port);
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// set the USART RTS handshaking line
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if (!usb_comms && ph_connected(connection_index))
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{
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if (ph_num < 32)
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SERIAL_RTS_CLEAR; // lower the USART RTS line - we don't have space in the buffer for anymore bytes
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else
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SERIAL_RTS_SET; // release the USART RTS line - we have space in the buffer for now bytes
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}
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else
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SERIAL_RTS_SET; // release the USART RTS line
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// limit number of bytes we will get to how much space we have in our RX buffer
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if (com_num > sizeof(api_rx_buffer) - api_rx_buffer_wr)
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com_num = sizeof(api_rx_buffer) - api_rx_buffer_wr;
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while (com_num > 0)
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{ // fetch a byte from the comm-port RX buffer and save it into our RX buffer
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api_rx_buffer[api_rx_buffer_wr++] = PIOS_COM_ReceiveBuffer(comm_port);
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com_num--;
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}
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// packet_size = api_scanForConfigPacket(api_rx_buffer, &api_rx_buffer_wr);
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packet_size = api_scanForUAVTalkPacket(api_rx_buffer, &api_rx_buffer_wr);
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if (packet_size < 0)
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break; // no UAVTalk packet in our RX buffer
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api_rx_timer = 0;
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if (!ph_connected(connection_index))
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{ // we don't have a link to a remote modem .. remove the UAVTalk packet from our RX buffer
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if (api_rx_buffer_wr > packet_size)
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{
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api_rx_buffer_wr -= packet_size;
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memmove(api_rx_buffer, api_rx_buffer + packet_size, api_rx_buffer_wr);
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}
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else
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api_rx_buffer_wr = 0;
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continue;
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}
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if (ph_num < packet_size)
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break; // not enough room in the RF packet handler TX buffer for the UAVTalk packet
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// copy the rx'ed UAVTalk packet into the RF packet handler TX buffer for sending over the RF link
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ph_putData(connection_index, api_rx_buffer, packet_size);
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// remove the UAVTalk packet from our RX buffer
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if (api_rx_buffer_wr > packet_size)
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{
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api_rx_buffer_wr -= packet_size;
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memmove(api_rx_buffer, api_rx_buffer + packet_size, api_rx_buffer_wr);
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}
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else
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api_rx_buffer_wr = 0;
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}
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// ********************
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// send the data received via the RF link out the comm-port
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while (TRUE)
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{
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// get number of data bytes received via the RF link
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uint16_t ph_num = ph_getData_used(connection_index);
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// limit to how much space we have in the temp TX buffer
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if (ph_num > sizeof(api_tx_buffer) - api_tx_buffer_wr)
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ph_num = sizeof(api_tx_buffer) - api_tx_buffer_wr;
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if (ph_num > 0)
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{ // fetch the data bytes received via the RF link and save into our temp buffer
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ph_num = ph_getData(connection_index, api_tx_buffer + api_tx_buffer_wr, ph_num);
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api_tx_buffer_wr += ph_num;
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}
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int16_t packet_size = api_scanForUAVTalkPacket(api_tx_buffer, &api_tx_buffer_wr);
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if (packet_size <= 0)
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break; // no UAV Talk packet found
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// we have a UAVTalk packet to send down the comm-port
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/*
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#if (defined(PIOS_COM_DEBUG) && (PIOS_COM_DEBUG == PIOS_COM_SERIAL))
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if (!usb_comms)
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{ // the serial-port is being used for debugging - don't send data down it
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api_tx_buffer_wr = 0;
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api_tx_timer = 0;
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continue;
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}
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#endif
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*/
|
|
if (!usb_comms && !GPIO_IN(SERIAL_CTS_PIN))
|
|
break; // we can't yet send data down the comm-port
|
|
|
|
// send the data out the comm-port
|
|
int32_t res;
|
|
// if (usb_comms)
|
|
// res = PIOS_COM_SendBuffer(comm_port, api_tx_buffer, packet_size);
|
|
// else
|
|
res = PIOS_COM_SendBufferNonBlocking(comm_port, api_tx_buffer, packet_size); // this one doesn't work properly with USB :(
|
|
if (res < 0)
|
|
{ // failed to send the data out the comm-port
|
|
#if defined(API_DEBUG)
|
|
DEBUG_PRINTF("PIOS_COM_SendBuffer %d %d\r\n", packet_size, res);
|
|
#endif
|
|
|
|
if (api_tx_timer >= 5000)
|
|
{ // seems we can't send our data for at least the last 5 seconds - delete it
|
|
if (api_tx_buffer_wr > packet_size)
|
|
{
|
|
api_tx_buffer_wr -= packet_size;
|
|
memmove(api_tx_buffer, api_tx_buffer + packet_size, api_tx_buffer_wr);
|
|
}
|
|
else
|
|
api_tx_buffer_wr = 0;
|
|
}
|
|
|
|
break;
|
|
}
|
|
|
|
// data was sent out the comm-port OK .. remove the sent data from our buffer
|
|
|
|
if (api_tx_buffer_wr > packet_size)
|
|
{
|
|
api_tx_buffer_wr -= packet_size;
|
|
memmove(api_tx_buffer, api_tx_buffer + packet_size, api_tx_buffer_wr);
|
|
}
|
|
else
|
|
api_tx_buffer_wr = 0;
|
|
|
|
api_tx_timer = 0;
|
|
}
|
|
|
|
// ********************
|
|
}
|
|
|
|
// *****************************************************************************
|
|
|
|
void api_init(void)
|
|
{
|
|
api_previous_com_port = 0;
|
|
|
|
api_rx_buffer_wr = 0;
|
|
|
|
api_tx_buffer_wr = 0;
|
|
|
|
api_rx_timer = 0;
|
|
api_tx_timer = 0;
|
|
}
|
|
|
|
// *****************************************************************************
|