main_fbw.c File Reference

FBW main loop. More...

#include "main_fbw.h"
#include "generated/airframe.h"
#include "generated/modules.h"
#include "modules/core/abi.h"
#include "modules/datalink/datalink.h"
#include "modules/datalink/telemetry.h"

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Macros
#define	MODULES_C
#define	ABI_C
#define	MAIN_FBW_RC_ID   ABI_BROADCAST
	ABI RC binding. More...

Functions
static void	rc_cb (uint8_t sender_id, struct RadioControl *rc)
	Callback when we received an RC frame. More...
void	main_fbw_init (void)
	Main initialization. More...
static void	fbw_safety_check (void)
	Periodic tasks. More...
static void	main_task_periodic (void)
void	main_fbw_periodic (void)
void	main_fbw_parse_EMERGENCY_CMD (uint8_t *buf)
void	main_fbw_event (void)

Variables
uint8_t	fbw_mode
	Fly by wire modes. More...
bool	fbw_motors_on = false
tid_t	periodic_tid
	IDs for timers. More...
tid_t	radio_control_tid
	id for radio_control_periodic() timer More...
tid_t	electrical_tid
	id for electrical_periodic() timer More...
tid_t	telemetry_tid
	id for telemetry_periodic() timer More...
static abi_event	rc_ev

Detailed Description

FBW main loop.

Definition in file main_fbw.c.

Macro Definition Documentation

ABI_C

#define ABI_C

Definition at line 31 of file main_fbw.c.

MAIN_FBW_RC_ID

#define MAIN_FBW_RC_ID   ABI_BROADCAST

ABI RC binding.

Definition at line 68 of file main_fbw.c.

MODULES_C

#define MODULES_C

Definition at line 29 of file main_fbw.c.

Function Documentation

fbw_safety_check()

static void fbw_safety_check ( void  )

static

Periodic tasks.

Definition at line 106 of file main_fbw.c.

References AP_LOST_FBW_MODE, fbw_mode, FBW_MODE_AUTO, FBW_MODE_FAILSAFE, FBW_MODE_MANUAL, intermcu, INTERMCU_LOST, radio_control, RC_LOST_FBW_MODE, RC_LOST_IN_AUTO_FBW_MODE, RC_REALLY_LOST, intermcu_t::status, and RadioControl::status.

Referenced by main_task_periodic().

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main_fbw_event()

void main_fbw_event

(

void

)

Definition at line 263 of file main_fbw.c.

References intermcu_event().

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main_fbw_init()

void main_fbw_init

(

void

)

Main initialization.

Definition at line 78 of file main_fbw.c.

References electrical_tid, fbw_mode, FBW_MODE_FAILSAFE, MAIN_FBW_RC_ID, periodic_tid, radio_control_tid, rc_cb(), rc_ev, sys_time_register_timer(), and telemetry_tid.

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main_fbw_parse_EMERGENCY_CMD()

void main_fbw_parse_EMERGENCY_CMD

(

uint8_t *

buf

)

Definition at line 256 of file main_fbw.c.

References fbw_mode, and FBW_MODE_FAILSAFE.

main_fbw_periodic()

void main_fbw_periodic

(

void

)

Definition at line 187 of file main_fbw.c.

References electrical_periodic(), electrical_tid, main_task_periodic(), periodic_tid, radio_control_tid, sys_time_check_and_ack_timer(), and telemetry_tid.

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main_task_periodic()

static void main_task_periodic ( void  )

static

Definition at line 142 of file main_fbw.c.

References commands_failsafe, fbw_mode, FBW_MODE_AUTO, FBW_MODE_FAILSAFE, FBW_MODE_MANUAL, fbw_motors_on, fbw_safety_check(), intermcu, intermcu_ap_motors_on, intermcu_commands, LED_OFF, LED_ON, and LED_TOGGLE.

Referenced by main_fbw_periodic().

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rc_cb()

static void rc_cb ( uint8_t  sender_id, struct RadioControl *  rc  )

static

Callback when we received an RC frame.

Definition at line 214 of file main_fbw.c.

References AP_LOST_FBW_MODE, commands, commands_failsafe, fbw_mode, FBW_MODE_AUTO, FBW_MODE_AUTO_ONLY, FBW_MODE_FAILSAFE, FBW_MODE_MANUAL, fbw_motors_on, intermcu, INTERMCU_LOST, MIN_PPRZ, radio_control, RADIO_FBW_MODE, RADIO_KILL_SWITCH, intermcu_t::status, and RadioControl::values.

Referenced by main_fbw_init().

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Variable Documentation

electrical_tid

tid_t electrical_tid

id for electrical_periodic() timer

Definition at line 61 of file main_fbw.c.

Referenced by main_fbw_init(), and main_fbw_periodic().

fbw_mode

uint8_t fbw_mode

Fly by wire modes.

Definition at line 41 of file main_fbw.c.

Referenced by fbw_safety_check(), intermcu_send_status(), main_fbw_init(), main_fbw_parse_EMERGENCY_CMD(), main_task_periodic(), rc_cb(), and send_fbw_status().

fbw_motors_on

bool fbw_motors_on = false

Definition at line 42 of file main_fbw.c.

Referenced by main_task_periodic(), and rc_cb().

periodic_tid

tid_t periodic_tid

IDs for timers.

id for general periodic task timer

Definition at line 59 of file main_fbw.c.

Referenced by main_fbw_init(), and main_fbw_periodic().

radio_control_tid

tid_t radio_control_tid

id for radio_control_periodic() timer

Definition at line 60 of file main_fbw.c.

Referenced by main_fbw_init(), and main_fbw_periodic().

rc_ev

abi_event rc_ev

static

Definition at line 71 of file main_fbw.c.

Referenced by main_fbw_init().

telemetry_tid

tid_t telemetry_tid

id for telemetry_periodic() timer

Definition at line 62 of file main_fbw.c.

Referenced by main_fbw_init(), and main_fbw_periodic().