32 #include "pprzlink/pprz_transport.h"
34 #ifndef INTERMCU_LOST_CNT
35 #define INTERMCU_LOST_CNT 25
48 enum intermcu_PX4_baud_status {
64 #define INTERMCU_SET_CMD_STATUS(_bit) { intermcu.cmd_status |= (1 << _bit); }
65 #define INTERMCU_CLR_CMD_STATUS(_bit) { intermcu.cmd_status &= ~(1 << _bit); }
66 #define INTERMCU_GET_CMD_STATUS(_bit) (intermcu.cmd_status & (1 << _bit))
79 enum intermcu_PX4_baud_status stable_px4_baud;
Hardware independent code for commands handling.
void intermcu_event(void)
struct link_device * device
Device used for communication.
void intermcu_periodic(void)
@ INTERMCU_LOST
No interMCU communication anymore.
@ INTERMCU_OK
InterMCU communication is OK.
bool enabled
If the InterMCU communication is enabled.
@ INTERMCU_CMD_MOTORS_ON
The status of intermcu_ap_motors_on.
@ INTERMCU_CMD_DISARM
Whether or not to dis-arm the FBW.
@ INTERMCU_CMD_TIPPROPS
Enable tip props.
@ INTERMCU_CMD_FAILSAFE
Set FBW in failsafe mode.
uint8_t cmd_status
Command status information that is transfered (intermcu_cmd_status)
struct intermcu_t intermcu
enum intermcu_status status
Status of the INTERMCU.
bool msg_available
If we have an InterMCU message.
uint8_t time_since_last_frame
Time since last frame.
struct pprz_transport transport
Transport over communication line (PPRZ)
unsigned char uint8_t
Typedef defining 8 bit unsigned char type.