nps_hitl_sensors.c File Reference

#include "nps_ins.h"
#include <sys/time.h>
#include "nps_fdm.h"
#include <time.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <errno.h>
#include <unistd.h>
#include <fcntl.h>
#include <sys/poll.h>
#include "nps_sensors.h"
#include "nps_main.h"
#include "paparazzi.h"
#include "pprzlink/messages.h"
#include "pprzlink/dl_protocol.h"
#include "pprzlink/pprzlink_device.h"
#include "pprzlink/pprz_transport.h"
#include "arch/linux/serial_port.h"

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Data Structures
struct	linkdev

Macros
#define	AP_DEV   "/dev/ttyUSB0"
#define	AP_BAUD   B921600
#define	NPS_HITL_DEBUG   0
#define	DEBUG_PRINT(...)   {}
#define	PPRZLINK_BUFFER_SIZE   256

Functions
void *	nps_sensors_loop (void *data)
void *	nps_ap_data_loop (void *data)
static int	check_free_space (struct linkdev *d, long *fd, uint16_t len)
static void	put_byte (struct linkdev *d, long fd, uint8_t data)
static void	put_buffer (struct linkdev *d, long fd, const uint8_t *data, uint16_t len)
static void	send_message (struct linkdev *d, long fd)
static uint8_t	getch (struct linkdev *d)
static int	char_available (struct linkdev *d)
void	nps_hitl_impl_init (void)
	END pprzlink_dev. More...

Variables
pthread_t	th_sensors
pthread_t	th_ap_data
static struct linkdev	dev

---

Data Structure Documentation

linkdev

struct linkdev

Definition at line 68 of file nps_hitl_sensors.c.

Collaboration diagram for linkdev:

Data Fields
struct link_device	device	Generic device interface.
struct pollfd	fds[1]
struct SerialPort *	port	Serial port.
struct pprz_transport	pprz_tp	transport
uint8_t	rx_buf[PPRZLINK_BUFFER_SIZE]	Receive buffer.
uint16_t	rx_idx
uint8_t	tx_buf[PPRZLINK_BUFFER_SIZE]	Transmit buffer.
uint16_t	tx_idx

Macro Definition Documentation

AP_BAUD

#define AP_BAUD   B921600

Definition at line 50 of file nps_hitl_sensors.c.

AP_DEV

#define AP_DEV   "/dev/ttyUSB0"

Definition at line 47 of file nps_hitl_sensors.c.

DEBUG_PRINT

#define DEBUG_PRINT

(

...

)

{}

Definition at line 58 of file nps_hitl_sensors.c.

NPS_HITL_DEBUG

#define NPS_HITL_DEBUG   0

Definition at line 54 of file nps_hitl_sensors.c.

PPRZLINK_BUFFER_SIZE

#define PPRZLINK_BUFFER_SIZE   256

Definition at line 67 of file nps_hitl_sensors.c.

Function Documentation

char_available()

static int char_available ( struct linkdev *  d )

static

Definition at line 135 of file nps_hitl_sensors.c.

References DEBUG_PRINT, and linkdev::fds.

Referenced by generic_uart_event(), nps_hitl_impl_init(), and px4flash_event().

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check_free_space()

static int check_free_space ( struct linkdev *  d, long *  fd, uint16_t  len  )

static

Definition at line 87 of file nps_hitl_sensors.c.

References PPRZLINK_BUFFER_SIZE, and linkdev::tx_idx.

Referenced by nps_hitl_impl_init().

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getch()

static uint8_t getch ( struct linkdev *  d )

static

Definition at line 116 of file nps_hitl_sensors.c.

References DEBUG_PRINT, SerialPort::fd, linkdev::port, PPRZLINK_BUFFER_SIZE, linkdev::rx_buf, and linkdev::rx_idx.

Referenced by nps_hitl_impl_init().

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nps_ap_data_loop()

void * nps_ap_data_loop

(

void *

data

)

Definition at line 284 of file nps_hitl_sensors.c.

References cmd_buf, NpsAutopilot::commands, dev, linkdev::device, fdm_mutex, MAX_PPRZ, nps_autopilot, NPS_COMMANDS_NB, linkdev::pprz_tp, PPRZLINK_BUFFER_SIZE, linkdev::rx_idx, and TRUE.

Referenced by nps_hitl_impl_init().

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nps_hitl_impl_init()

void nps_hitl_impl_init

(

void

)

END pprzlink_dev.

Definition at line 154 of file nps_hitl_sensors.c.

References AP_BAUD, AP_DEV, char_available(), check_free_space(), dev, linkdev::device, SerialPort::fd, linkdev::fds, getch(), nps_ap_data_loop(), nps_sensors_loop(), linkdev::port, linkdev::pprz_tp, put_buffer(), put_byte(), send_message(), serial_port_free(), serial_port_new(), serial_port_open_raw(), th_ap_data, and th_sensors.

Referenced by main().

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nps_sensors_loop()

void * nps_sensors_loop

(

void *

data

)

Definition at line 183 of file nps_hitl_sensors.c.

References clock_get_current_time, dev, linkdev::device, fdm_mutex, nps_main, nps_sensors_airspeed_available(), nps_sensors_aoa_available(), nps_sensors_baro_available(), nps_sensors_gps_available(), nps_sensors_gyro_available(), nps_sensors_sideslip_available(), linkdev::pprz_tp, sensors, NpsMain::sim_time, and TRUE.

Referenced by nps_hitl_impl_init().

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put_buffer()

static void put_buffer ( struct linkdev *  d, long  fd, const uint8_t *  data, uint16_t  len  )

static

Definition at line 98 of file nps_hitl_sensors.c.

References linkdev::tx_buf, and linkdev::tx_idx.

Referenced by nps_hitl_impl_init().

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put_byte()

static void put_byte ( struct linkdev *  d, long  fd, uint8_t  data  )

static

Definition at line 93 of file nps_hitl_sensors.c.

References linkdev::tx_buf, and linkdev::tx_idx.

Referenced by nps_hitl_impl_init().

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send_message()

static void send_message ( struct linkdev *  d, long  fd  )

static

Definition at line 104 of file nps_hitl_sensors.c.

References DEBUG_PRINT, SerialPort::fd, linkdev::port, linkdev::tx_buf, and linkdev::tx_idx.

Referenced by nps_hitl_impl_init().

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Variable Documentation

dev

struct linkdev dev

static

Definition at line 64 of file nps_hitl_sensors.c.

Referenced by nps_ap_data_loop(), nps_hitl_impl_init(), and nps_sensors_loop().

th_ap_data

pthread_t th_ap_data

Definition at line 64 of file nps_hitl_sensors.c.

Referenced by nps_hitl_impl_init().

th_sensors

pthread_t th_sensors

Definition at line 63 of file nps_hitl_sensors.c.

Referenced by nps_hitl_impl_init().