com_manager.c File Reference

#include "com_manager.h"
#include <string.h>
#include <stdlib.h>

Include dependency graph for com_manager.c:

Go to the source code of this file.

Macros
#define	ENABLE_FILTER_DUPLICATE_PACKETS   1
#define	ENABLE_FILTER_DUPLICATE_PACKETS_MATCH_ALL_CHARACTERS   0
#define	MAX_REQUEST_PERIOD_MS   100000
#define	MIN_REQUEST_PERIOD_MS   1
#define	MSG_PERIOD_DISABLED   0
#define	MSG_PERIOD_SEND_ONCE   -1
#define	PARSE_DOUBLE(str)   strtod(str, 0)
#define	PARSE_FLOAT(str)   strtof(str, 0)

Functions
int	asciiMessageCompare (const void *elem1, const void *elem2)
void	comManagerAssignUserPointer (CMHANDLE cmInstance, void *userPointer)
void	comManagerDisableBroadcasts (int pHandle)
void	comManagerDisableBroadcastsInstance (CMHANDLE cmInstance_, int pHandle)
int	comManagerDisableData (int pHandle, uint32_t dataId)
int	comManagerDisableDataInstance (CMHANDLE cmInstance, int pHandle, uint32_t dataId)
void	comManagerGetData (int pHandle, uint32_t dataId, int offset, int size, int periodMultiple)
	Request data This function requests the specified data w/ offset and length for partial reads. More...
void	comManagerGetDataInstance (CMHANDLE cmInstance, int pHandle, uint32_t dataId, int offset, int size, int periodMultiple)
int	comManagerGetDataRequest (int pHandle, p_data_get_t *req)
int	comManagerGetDataRequestInstance (CMHANDLE _cmInstance, int pHandle, p_data_get_t *req)
void	comManagerGetDataRmc (int pHandle, uint64_t rmcBits, uint32_t rmcOptions)
void	comManagerGetDataRmcInstance (CMHANDLE cmInstance, int pHandle, uint64_t rmcBits, uint32_t rmcOptions)
CMHANDLE	comManagerGetGlobal (void)
bufTxRxPtr_t *	comManagerGetRegisteredDataInfo (uint32_t dataId)
bufTxRxPtr_t *	comManagerGetRegisteredDataInfoInstance (CMHANDLE _cmInstance, uint32_t dataId)
com_manager_status_t *	comManagerGetStatus (int pHandle)
com_manager_status_t *	comManagerGetStatusInstance (CMHANDLE cmInstance, int pHandle)
void *	comManagerGetUserPointer (CMHANDLE cmInstance)
int	comManagerInit (int numHandles, int maxEnsuredPackets, int stepPeriodMilliseconds, int retryCount, pfnComManagerRead readFnc, pfnComManagerSend sendFnc, pfnComManagerSendBufferAvailableBytes txFreeFnc, pfnComManagerPostRead pstRxFnc, pfnComManagerPostAck pstAckFnc, pfnComManagerDisableBroadcasts disableBcastFnc, com_manager_init_t *buffers, com_manager_port_t *cmPorts)
int	comManagerInitInstance (CMHANDLE cmHandle, int numHandles, int maxEnsuredPackets, int stepPeriodMilliseconds, int retryCount, pfnComManagerRead readFnc, pfnComManagerSend sendFnc, pfnComManagerSendBufferAvailableBytes txFreeFnc, pfnComManagerPostRead pstRxFnc, pfnComManagerPostAck pstAckFnc, pfnComManagerDisableBroadcasts disableBcastFnc, com_manager_init_t *buffers, com_manager_port_t *cmPorts)
void	comManagerRegister (uint32_t dataId, pfnComManagerPreSend txFnc, pfnComManagerPostRead pstRxFnc, const void *txDataPtr, void *rxDataPtr, int dataSize, uint8_t pktFlags)
void	comManagerRegisterInstance (CMHANDLE cmInstance_, uint32_t dataId, pfnComManagerPreSend txFnc, pfnComManagerPostRead pstRxFnc, const void *txDataPtr, void *rxDataPtr, int dataSize, uint8_t pktFlags)
int	comManagerSend (int pHandle, uint8_t pktInfo, bufPtr_t *bodyHdr, bufPtr_t *txData, uint8_t pFlags)
int	comManagerSendData (int pHandle, uint32_t dataId, void *dataPtr, int dataSize, int dataOffset)
int	comManagerSendDataInstance (CMHANDLE cmInstance, int pHandle, uint32_t dataId, void *dataPtr, int dataSize, int dataOffset)
int	comManagerSendDataNoAck (int pHandle, uint32_t dataId, void *dataPtr, int dataSize, int dataOffset)
int	comManagerSendDataNoAckInstance (CMHANDLE cmInstance, int pHandle, uint32_t dataId, void *dataPtr, int dataSize, int dataOffset)
int	comManagerSendEnsured (int pHandle, uint8_t pktInfo, unsigned char *data, unsigned int dataSize)
int	comManagerSendEnsuredInstance (CMHANDLE cmInstance, int pHandle, uint8_t pktInfo, unsigned char *data, unsigned int dataSize)
int	comManagerSendInstance (CMHANDLE cmInstance, int pHandle, uint8_t pktInfo, bufPtr_t *bodyHdr, bufPtr_t *txData, uint8_t pktFlags)
int	comManagerSendRawData (int pHandle, uint32_t dataId, void *dataPtr, int dataSize, int dataOffset)
int	comManagerSendRawDataInstance (CMHANDLE cmInstance, int pHandle, uint32_t dataId, void *dataPtr, int dataSize, int dataOffset)
void	comManagerSetCallbacks (pfnComManagerAsapMsg handlerRmc, pfnComManagerGenMsgHandler handlerAscii, pfnComManagerGenMsgHandler handlerUblox, pfnComManagerGenMsgHandler handlerRtcm3)
void	comManagerSetCallbacksInstance (CMHANDLE cmInstance, pfnComManagerAsapMsg handlerRmc, pfnComManagerGenMsgHandler handlerAscii, pfnComManagerGenMsgHandler handlerUblox, pfnComManagerGenMsgHandler handlerRtcm3)
void	comManagerStep (void)
void	comManagerStepInstance (CMHANDLE cmInstance_)
void	comManagerStepRxInstance (CMHANDLE cmInstance_)
void	comManagerStepTxInstance (CMHANDLE cmInstance_)
int	comManagerValidateBaudRate (unsigned int baudRate)
void	disableBroadcastMsg (com_manager_t *cmInstance, broadcast_msg_t *msg)
void	disableDidBroadcast (com_manager_t *cmInstance, int pHandle, p_data_disable_t *disable)
void	enableBroadcastMsg (com_manager_t *cmInstance, broadcast_msg_t *msg, int periodMultiple)
int	encodeBinaryPacket (com_manager_t *cmInstance, int pHandle, buffer_t *pkt, packet_t *dPkt, uint8_t additionalPktFlags)
	Adds data to a packet: adds start, info, data length, data, checksum, and stop bytes. All data is communicated in the endianess of the sender, each packet has a bit that determines big or little endian. Process for Creating Tx Packet: 1.) Add to packet. More...
int	findAsciiMessage (const void *a, const void *b)
int	initComManagerInstanceInternal (com_manager_t *cmInstance, int numHandles, int maxEnsuredPackets, int stepPeriodMilliseconds, int retryCount, pfnComManagerRead readFnc, pfnComManagerSend sendFnc, pfnComManagerSendBufferAvailableBytes txFreeFnc, pfnComManagerPostRead pstRxFnc, pfnComManagerPostAck pstAckFnc, pfnComManagerDisableBroadcasts disableBcastFnc, com_manager_init_t *buffers, com_manager_port_t *cmPorts)
int	processBinaryRxPacket (com_manager_t *cmInstance, int pHandle, packet_t *pkt)
	Process binary packet content: More...
packet_t *	registerPacketRetry (com_manager_t *cmInstance, int pHandle, uint8_t pid, unsigned char data[], unsigned int dataSize)
	registerPacketRetry - Saves data and packet header info to a retry list that will be resent if the corresponding response is not received (data or ack) within the given period. The packet header info must be populated following a call to this function. More...
void	sendAck (com_manager_t *cmInstance, int pHandle, packet_t *pkt, unsigned char pid_ack)
int	sendDataPacket (com_manager_t *cmInstance, int pHandle, pkt_info_t *msg)
int	sendPacket (com_manager_t *cmInstance, int pHandle, packet_t *dPkt, uint8_t additionalPktFlags)
	Encode and send out serial port the referenced packet structure. More...
void	stepComManagerSendMessages (void)
void	stepComManagerSendMessagesInstance (CMHANDLE cmInstance)
void	stepPacketRetry (com_manager_t *cmInstance)
	stepPacketRetry - Resend the ensured packets after the ENSURE_RETRY_COUNT period if the expected response was not received. More...
void	updatePacketRetryAck (com_manager_t *cmInstance, packet_t *pkt)
void	updatePacketRetryData (com_manager_t *cmInstance, packet_t *pkt)
	Update packet retry. If the specific data requested or acknowledge is received, the retry list is updated as to no continue to resend the corresponding message. More...

Variables
static com_manager_t	g_cm

Macro Definition Documentation

ENABLE_FILTER_DUPLICATE_PACKETS

#define ENABLE_FILTER_DUPLICATE_PACKETS   1

Definition at line 19 of file com_manager.c.

ENABLE_FILTER_DUPLICATE_PACKETS_MATCH_ALL_CHARACTERS

#define ENABLE_FILTER_DUPLICATE_PACKETS_MATCH_ALL_CHARACTERS   0

Definition at line 22 of file com_manager.c.

MAX_REQUEST_PERIOD_MS

#define MAX_REQUEST_PERIOD_MS   100000

Definition at line 28 of file com_manager.c.

MIN_REQUEST_PERIOD_MS

#define MIN_REQUEST_PERIOD_MS   1

Definition at line 27 of file com_manager.c.

MSG_PERIOD_DISABLED

#define MSG_PERIOD_DISABLED   0

Definition at line 30 of file com_manager.c.

MSG_PERIOD_SEND_ONCE

#define MSG_PERIOD_SEND_ONCE   -1

Definition at line 29 of file com_manager.c.

PARSE_DOUBLE

#define PARSE_DOUBLE

(

str

)

strtod(str, 0)

Definition at line 24 of file com_manager.c.

PARSE_FLOAT

#define PARSE_FLOAT

(

str

)

strtof(str, 0)

Definition at line 25 of file com_manager.c.

Function Documentation

asciiMessageCompare()

int asciiMessageCompare	(	const void *	elem1,
		const void *	elem2
	)

Definition at line 239 of file com_manager.c.

comManagerAssignUserPointer()

void comManagerAssignUserPointer	(	CMHANDLE	cmInstance,
		void *	userPointer
	)

Attach user defined data to a com manager instance

Definition at line 477 of file com_manager.c.

comManagerDisableBroadcasts()

void comManagerDisableBroadcasts

(

int

pHandle

)

Disables broadcasts of all messages on specified port, or all ports if phandle == -1.

Parameters

pHandle

the pHandle to disable broadcasts on, -1 for all

Definition at line 1057 of file com_manager.c.

comManagerDisableBroadcastsInstance()

void comManagerDisableBroadcastsInstance	(	CMHANDLE	cmInstance_,
		int	pHandle
	)

Definition at line 1062 of file com_manager.c.

comManagerDisableData()

int comManagerDisableData	(	int	pHandle,
		uint32_t	dataId
	)

Disable a broadcast for a specified port handle and data identifier

Parameters

pHandle	the port handle to disable a broadcast for
dataId	the data id to disable boradcast for

Returns

0 if success, anything else if failure

Example:

comManagerDisableData(0, DID_INS_1);

Definition at line 625 of file com_manager.c.

comManagerDisableDataInstance()

int comManagerDisableDataInstance	(	CMHANDLE	cmInstance,
		int	pHandle,
		uint32_t	dataId
	)

Definition at line 630 of file com_manager.c.

comManagerGetData()

void comManagerGetData	(	int	pHandle,
		uint32_t	dataId,
		int	offset,
		int	size,
		int	periodMultiple
	)

Request data This function requests the specified data w/ offset and length for partial reads.

Parameters

[in]	dataId	Data structure ID
[in]	offset	Byte offset into data structure. 0 = data start.
[in]	length	Byte length of data. 0 = entire structure.
[in]	periodMultiple	Broadcast period of requested data. 0 = single request.

Returns

0 on successful request. -1 on failure.

Definition at line 516 of file com_manager.c.

comManagerGetDataInstance()

void comManagerGetDataInstance	(	CMHANDLE	cmInstance,
		int	pHandle,
		uint32_t	dataId,
		int	offset,
		int	size,
		int	periodMultiple
	)

Definition at line 521 of file com_manager.c.

comManagerGetDataRequest()

int comManagerGetDataRequest	(	int	pHandle,
		p_data_get_t *	req
	)

Internal use mostly, process a get data request for a message that needs to be broadcasted

Returns

0 on success, anything else is failure

Definition at line 895 of file com_manager.c.

comManagerGetDataRequestInstance()

int comManagerGetDataRequestInstance	(	CMHANDLE	_cmInstance,
		int	pHandle,
		p_data_get_t *	req
	)

Definition at line 900 of file com_manager.c.

comManagerGetDataRmc()

void comManagerGetDataRmc	(	int	pHandle,
		uint64_t	rmcBits,
		uint32_t	rmcOptions
	)

Make a request to a port handle to broadcast a piece of data at a set interval.

Parameters

pHandle	the port handle to request broadcast data from
RMC	bits specifying data messages to stream. See presets: RMC_PRESET_PPD_BITS = post processing data, RMC_PRESET_INS_BITS = INS2 and GPS data at full rate
RMC	options to enable data streaming on ports other than the current port.
offset	offset into the structure for the data id to broadcast - pass offset and size of 0 to receive the entire data set
size	number of bytes in the data structure from offset to broadcast - pass offset and size of 0 to receive the entire data set
periodMultiple	the data broadcast period in multiples of the base update period

Example that enables streaming of all data messages necessary for post processing:

comManagerGetDataRmc(pHandle, RMC_PRESET_PPD_BITS, 0);

Example that broadcasts INS and GPS data at full rate:

comManagerGetDataRmc(pHandle, RMC_PRESET_INS_BITS, 0);

Definition at line 539 of file com_manager.c.

comManagerGetDataRmcInstance()

void comManagerGetDataRmcInstance	(	CMHANDLE	cmInstance,
		int	pHandle,
		uint64_t	rmcBits,
		uint32_t	rmcOptions
	)

Definition at line 544 of file com_manager.c.

comManagerGetGlobal()

CMHANDLE comManagerGetGlobal

(

void

)

Definition at line 76 of file com_manager.c.

comManagerGetRegisteredDataInfo()

bufTxRxPtr_t* comManagerGetRegisteredDataInfo

(

uint32_t

dataId

)

Internal use mostly, get data info for a the specified pre-registered dataId

Returns

0 on failure, pointer on success

Definition at line 878 of file com_manager.c.

comManagerGetRegisteredDataInfoInstance()

bufTxRxPtr_t* comManagerGetRegisteredDataInfoInstance	(	CMHANDLE	_cmInstance,
		uint32_t	dataId
	)

Definition at line 883 of file com_manager.c.

comManagerGetStatus()

com_manager_status_t* comManagerGetStatus

(

int

pHandle

)

Get the most recent status of the com manager

Returns

com manager status, this pointer is owned by the com manager

Definition at line 487 of file com_manager.c.

comManagerGetStatusInstance()

com_manager_status_t* comManagerGetStatusInstance	(	CMHANDLE	cmInstance,
		int	pHandle
	)

Definition at line 492 of file com_manager.c.

comManagerGetUserPointer()

void* comManagerGetUserPointer

(

CMHANDLE

cmInstance

)

Get user defined data to from a com manager instance

Definition at line 482 of file com_manager.c.

comManagerInit()

int comManagerInit	(	int	numHandles,
		int	maxEnsuredPackets,
		int	stepPeriodMilliseconds,
		int	retryCount,
		pfnComManagerRead	readFnc,
		pfnComManagerSend	sendFnc,
		pfnComManagerSendBufferAvailableBytes	txFreeFnc,
		pfnComManagerPostRead	pstRxFnc,
		pfnComManagerPostAck	pstAckFnc,
		pfnComManagerDisableBroadcasts	disableBcastFnc,
		com_manager_init_t *	buffers,
		com_manager_port_t *	cmPorts
	)

Initializes the default global com manager. This is generally only called once on program start. The global com manager is used by the functions that do not have the Instance suffix and first parameter of void* cmInstance. The instance functions can be ignored, unless you have a reason to have two com managers in the same process.

Parameters

numHandles	the max number of serial ports possible
maxEnsuredPackets	the max number of ensured packets
stepPeriodMilliseconds	how many milliseconds you are waiting in between calls to comManagerStep
retryCount	the number of times to retry failed packets
readFnc	read data from the serial port represented by pHandle
sendFnc	send data to the serial port represented by pHandle
txFreeFnc	optional, return the number of free bytes in the send buffer for the serial port represented by pHandle
pstRxFnc	optional, called after new data is available (successfully parsed and checksum passed) from the serial port represented by pHandle
pstAckFnc	optional, called after an ACK is received by the serial port represented by pHandle
disableBcastFnc	mostly for internal use, this can be left as 0 or NULL

Returns

0 on success, -1 on failure

Example:

comManagerInit(20, 20, 10, 25, staticReadPacket, staticSendPacket, NULL, staticProcessRxData, staticProcessAck, 0);

Definition at line 79 of file com_manager.c.

comManagerInitInstance()

int comManagerInitInstance	(	CMHANDLE	cmHandle,
		int	numHandles,
		int	maxEnsuredPackets,
		int	stepPeriodMilliseconds,
		int	retryCount,
		pfnComManagerRead	readFnc,
		pfnComManagerSend	sendFnc,
		pfnComManagerSendBufferAvailableBytes	txFreeFnc,
		pfnComManagerPostRead	pstRxFnc,
		pfnComManagerPostAck	pstAckFnc,
		pfnComManagerDisableBroadcasts	disableBcastFnc,
		com_manager_init_t *	buffers,
		com_manager_port_t *	cmPorts
	)

Definition at line 111 of file com_manager.c.

comManagerRegister()

void comManagerRegister	(	uint32_t	dataId,
		pfnComManagerPreSend	txFnc,
		pfnComManagerPostRead	pstRxFnc,
		const void *	txDataPtr,
		void *	rxDataPtr,
		int	dataSize,
		uint8_t	pktFlags
	)

Register message handling function for a received data id (binary). This is mostly an internal use function, but can be used if you are implementing your own receiver on a device.

Parameters

dataId	the data id to register the handler for
txFnc	called right before the data is sent
pstRxFnc	called after data is received for the data id
txDataPtr	a pointer to the structure in memory of the data to send
rxDataPtr	a pointer to the structure in memory to copy received data to
dataSize	size of the data structure in txDataPtr and rxDataPtr
pktFlags	packet flags, usually 0

Example:

registerComManager(DID_INS_1, prepMsgINS, writeMsgINS, &g_insData, &g_insData, sizeof(ins_1_t));

Definition at line 247 of file com_manager.c.

comManagerRegisterInstance()

void comManagerRegisterInstance	(	CMHANDLE	cmInstance_,
		uint32_t	dataId,
		pfnComManagerPreSend	txFnc,
		pfnComManagerPostRead	pstRxFnc,
		const void *	txDataPtr,
		void *	rxDataPtr,
		int	dataSize,
		uint8_t	pktFlags
	)

Definition at line 252 of file com_manager.c.

comManagerSend()

int comManagerSend	(	int	pHandle,
		uint8_t	pktInfo,
		bufPtr_t *	bodyHdr,
		bufPtr_t *	txData,
		uint8_t	pktFlags
	)

Send a packet to a port handle

Parameters

pHandle	the port handle to send the packet to
pktInfo	the type of packet (PID)
bodyHdr	optional, can contain information about the actual data of the body (txData), usually the data id, offset and size
txData	optional, the actual body of the packet

Returns

0 if success, anything else if failure

Example:

p_data_get_t request;
bufPtr_t data;
request.id = DID_INS_1;
request.offset = 0;
request.size = sizeof(ins_1_t);
request.bc_period_ms = 50;
data.ptr = (uint8_t*)&request;
data.size = sizeof(request);
comManagerSend(pHandle, PID_GET_DATA, 0, &data)

Definition at line 639 of file com_manager.c.

comManagerSendData()

int comManagerSendData	(	int	pHandle,
		uint32_t	dataId,
		void *	dataPtr,
		int	dataSize,
		int	dataOffset
	)

Convenience function that wraps comManagerSend for sending data structures. Must be multiple of 4 bytes in size.

Parameters

pHandle	the port handle to send data to
dataId	the data id of the data to send
dataPtr	pointer to the data structure to send
dataSize	number of bytes to send
dataOffset	offset into dataPtr to send at

Returns

0 if success, anything else if failure

Example:

comManagerSendData(0, DID_DEV_INFO, &g_devInfo, sizeof(dev_info_t), 0);

Definition at line 553 of file com_manager.c.

comManagerSendDataInstance()

int comManagerSendDataInstance	(	CMHANDLE	cmInstance,
		int	pHandle,
		uint32_t	dataId,
		void *	dataPtr,
		int	dataSize,
		int	dataOffset
	)

Definition at line 558 of file com_manager.c.

comManagerSendDataNoAck()

int comManagerSendDataNoAck	(	int	pHandle,
		uint32_t	dataId,
		void *	dataPtr,
		int	dataSize,
		int	dataOffset
	)

Same as comManagerSend, except that no retry is attempted

Parameters

pHandle	the port handle to send the packet to
dataId	Data structure ID number.
dataPtr	Pointer to actual data.
dataSize	Size of data to send in number of bytes.
dataOffset	Offset into data structure where copied data starts.
pFlags	Additional packet flags if needed.

Returns

0 if success, anything else if failure

Definition at line 577 of file com_manager.c.

comManagerSendDataNoAckInstance()

int comManagerSendDataNoAckInstance	(	CMHANDLE	cmInstance,
		int	pHandle,
		uint32_t	dataId,
		void *	dataPtr,
		int	dataSize,
		int	dataOffset
	)

Definition at line 582 of file com_manager.c.

comManagerSendEnsured()

int comManagerSendEnsured	(	int	pHandle,
		uint8_t	pktInfo,
		unsigned char *	data,
		unsigned int	dataSize
	)

Same as comManagerSend, except that the com manager may retry the send if an ACK is not received

Parameters

pHandle	the port handle to send the packet to
pktInfo	the type of packet (PID)
bodyHdr	optional, can contain information about the actual data of the body (txData), usually the data id, offset and size
txData	optional, the actual body of the packet

Returns

0 if success, anything else if failure

Definition at line 665 of file com_manager.c.

comManagerSendEnsuredInstance()

int comManagerSendEnsuredInstance	(	CMHANDLE	cmInstance,
		int	pHandle,
		uint8_t	pktInfo,
		unsigned char *	data,
		unsigned int	dataSize
	)

Definition at line 670 of file com_manager.c.

comManagerSendInstance()

int comManagerSendInstance	(	CMHANDLE	cmInstance,
		int	pHandle,
		uint8_t	pktInfo,
		bufPtr_t *	bodyHdr,
		bufPtr_t *	txData,
		uint8_t	pktFlags
	)

Definition at line 644 of file com_manager.c.

comManagerSendRawData()

int comManagerSendRawData	(	int	pHandle,
		uint32_t	dataId,
		void *	dataPtr,
		int	dataSize,
		int	dataOffset
	)

Convenience function that wraps comManagerSend for sending data structures. Allows arbitrary bytes size, 4 byte multiple not required. No byte swapping occurs.

Parameters

pHandle	the port handle to send data to
dataId	the data id of the data to send
dataPtr	pointer to the data structure to send
dataSize	number of bytes to send
dataOffset	offset into dataPtr to send at

Returns

0 if success, anything else if failure

Example:

comManagerSendRawData(0, DID_DEV_INFO, &g_devInfo, sizeof(dev_info_t), 0);

Definition at line 601 of file com_manager.c.

comManagerSendRawDataInstance()

int comManagerSendRawDataInstance	(	CMHANDLE	cmInstance,
		int	pHandle,
		uint32_t	dataId,
		void *	dataPtr,
		int	dataSize,
		int	dataOffset
	)

Definition at line 606 of file com_manager.c.

comManagerSetCallbacks()

void comManagerSetCallbacks	(	pfnComManagerAsapMsg	rmcHandler,
		pfnComManagerGenMsgHandler	asciiHandler,
		pfnComManagerGenMsgHandler	ubloxHandler,
		pfnComManagerGenMsgHandler	rtcm3Handler
	)

Register message handler callback functions. Pass in NULL to disable any of these callbacks.

Parameters

msgFunc	handler for Realtime Message Controller (RMC) called whenever we get a message broadcast request or message disable command.
msgFunc	handler for ASCII messages.
msgFunc	handler for ublox messages.
msgFunc	handler for RTCM3 messages.

Definition at line 453 of file com_manager.c.

comManagerSetCallbacksInstance()

void comManagerSetCallbacksInstance	(	CMHANDLE	cmInstance,
		pfnComManagerAsapMsg	handlerRmc,
		pfnComManagerGenMsgHandler	handlerAscii,
		pfnComManagerGenMsgHandler	handlerUblox,
		pfnComManagerGenMsgHandler	handlerRtcm3
	)

Definition at line 462 of file com_manager.c.

comManagerStep()

void comManagerStep

(

void

)

Performs one round of sending and receiving message. This should be called as often as you want to send and receive data.

Definition at line 281 of file com_manager.c.

comManagerStepInstance()

void comManagerStepInstance

(

CMHANDLE

cmInstance_

)

Definition at line 287 of file com_manager.c.

comManagerStepRxInstance()

void comManagerStepRxInstance

(

CMHANDLE

cmInstance_

)

Definition at line 300 of file com_manager.c.

comManagerStepTxInstance()

void comManagerStepTxInstance

(

CMHANDLE

cmInstance_

)

Definition at line 397 of file com_manager.c.

comManagerValidateBaudRate()

int comManagerValidateBaudRate

(

unsigned int

baudRate

)

Ensure baudrate is valid for InertialSense hardware

Parameters

baudRate

the baud rate to check

Returns

0 if baud rate is valid, -1 if not

Definition at line 1587 of file com_manager.c.

disableBroadcastMsg()

void disableBroadcastMsg	(	com_manager_t *	cmInstance,
		broadcast_msg_t *	msg
	)

Definition at line 1049 of file com_manager.c.

disableDidBroadcast()

void disableDidBroadcast	(	com_manager_t *	cmInstance,
		int	pHandle,
		p_data_disable_t *	disable
	)

Definition at line 1074 of file com_manager.c.

enableBroadcastMsg()

void enableBroadcastMsg	(	com_manager_t *	cmInstance,
		broadcast_msg_t *	msg,
		int	periodMultiple
	)

Definition at line 1035 of file com_manager.c.

encodeBinaryPacket()

int encodeBinaryPacket	(	com_manager_t *	cmInstance,
		int	pHandle,
		buffer_t *	pkt,
		packet_t *	dPkt,
		uint8_t	additionalPktFlags
	)

Adds data to a packet: adds start, info, data length, data, checksum, and stop bytes. All data is communicated in the endianess of the sender, each packet has a bit that determines big or little endian. Process for Creating Tx Packet: 1.) Add to packet.

• pkt start byte
• pkt ID
• pkt counter
• pkt flags
• data length
• data ID
• data start...
• ...data end
• pkt reserved
• computed cksum (2 bytes)
• pkt end byte 2.) Tx encode extraneous special characters to remove them from packet

   @return 0 on success, -1 on failure.

Definition at line 1270 of file com_manager.c.

findAsciiMessage()

int findAsciiMessage	(	const void *	a,
		const void *	b
	)

Definition at line 689 of file com_manager.c.

initComManagerInstanceInternal()

int initComManagerInstanceInternal	(	com_manager_t *	cmInstance,
		int	numHandles,
		int	maxEnsuredPackets,
		int	stepPeriodMilliseconds,
		int	retryCount,
		pfnComManagerRead	readFnc,
		pfnComManagerSend	sendFnc,
		pfnComManagerSendBufferAvailableBytes	txFreeFnc,
		pfnComManagerPostRead	pstRxFnc,
		pfnComManagerPostAck	pstAckFnc,
		pfnComManagerDisableBroadcasts	disableBcastFnc,
		com_manager_init_t *	buffers,
		com_manager_port_t *	cmPorts
	)

Definition at line 152 of file com_manager.c.

processBinaryRxPacket()

int processBinaryRxPacket	(	com_manager_t *	cmInstance,
		int	pHandle,
		packet_t *	pkt
	)

Process binary packet content:

Returns

0 on success. -1 on failure.

Definition at line 702 of file com_manager.c.

registerPacketRetry()

packet_t * registerPacketRetry	(	com_manager_t *	cmInstance,
		int	pHandle,
		uint8_t	pid,
		unsigned char	data[],
		unsigned int	dataSize
	)

registerPacketRetry - Saves data and packet header info to a retry list that will be resent if the corresponding response is not received (data or ack) within the given period. The packet header info must be populated following a call to this function.

Parameters

[in]	data[]	Pointer to data buffer.
[in]	dataSize	Size of the data buffer.

Returns

Pointer to retry packet. The header info must be populated.

Definition at line 1336 of file com_manager.c.

sendAck()

void sendAck	(	com_manager_t *	cmInstance,
		int	pHandle,
		packet_t *	pkt,
		unsigned char	pid_ack
	)

Definition at line 1220 of file com_manager.c.

sendDataPacket()

int sendDataPacket	(	com_manager_t *	cmInstance,
		int	pHandle,
		pkt_info_t *	msg
	)

Definition at line 1122 of file com_manager.c.

sendPacket()

int sendPacket	(	com_manager_t *	cmInstance,
		int	pHandle,
		packet_t *	dPkt,
		uint8_t	additionalPktFlags
	)

Encode and send out serial port the referenced packet structure.

Parameters

Definition at line 1103 of file com_manager.c.

stepComManagerSendMessages()

void stepComManagerSendMessages

(

void

)

Definition at line 403 of file com_manager.c.

stepComManagerSendMessagesInstance()

void stepComManagerSendMessagesInstance

(

CMHANDLE

cmInstance

)

Definition at line 408 of file com_manager.c.

stepPacketRetry()

void stepPacketRetry

(

com_manager_t *

cmInstance

)

stepPacketRetry - Resend the ensured packets after the ENSURE_RETRY_COUNT period if the expected response was not received.

Definition at line 1294 of file com_manager.c.

updatePacketRetryAck()

void updatePacketRetryAck	(	com_manager_t *	cmInstance,
		packet_t *	pkt
	)

Definition at line 1520 of file com_manager.c.

updatePacketRetryData()

void updatePacketRetryData	(	com_manager_t *	cmInstance,
		packet_t *	pkt
	)

Update packet retry. If the specific data requested or acknowledge is received, the retry list is updated as to no continue to resend the corresponding message.

Parameters

[in]

*pkt

Pointer to pkt buffer.

Definition at line 1476 of file com_manager.c.

Variable Documentation

g_cm

com_manager_t g_cm

static

Definition at line 32 of file com_manager.c.