nps_radio_control_spektrum.c File Reference

#include "nps_radio_control_spektrum.h"
#include "nps_radio_control.h"
#include <glib.h>
#include <stdio.h>
#include <termios.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <string.h>
#include <errno.h>
#include <inttypes.h>

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Macros
#define	IUCLC   0
#define	CHANNEL_OF_FRAME(i)   ((((frame_buf[2*i]<<8) + frame_buf[2*i+1])&0x03FF)-512)
#define	SYNC_1   0x03
#define	SYNC_2   0x12
#define	STA_UNINIT   0
#define	STA_GOT_SYNC_1   1
#define	STA_GOT_SYNC_2   2
#define	FRAME_LEN   14

Functions
static gboolean	on_serial_data_received (GIOChannel *source, GIOCondition condition, gpointer data)
static void	parse_data (char *buf, int len)
static void	handle_frame (void)
int	nps_radio_control_spektrum_init (const char *device)

Variables
static int	sp_fd
uint8_t	status = STA_UNINIT
static uint8_t	frame_buf [FRAME_LEN]
static uint32_t	idx = 0

Macro Definition Documentation

CHANNEL_OF_FRAME

#define CHANNEL_OF_FRAME

(

i

)

((((frame_buf[2*i]<<8) + frame_buf[2*i+1])&0x03FF)-512)

Definition at line 20 of file nps_radio_control_spektrum.c.

FRAME_LEN

#define FRAME_LEN   14

Definition at line 103 of file nps_radio_control_spektrum.c.

IUCLC

#define IUCLC   0

Definition at line 17 of file nps_radio_control_spektrum.c.

STA_GOT_SYNC_1

#define STA_GOT_SYNC_1   1

Definition at line 98 of file nps_radio_control_spektrum.c.

STA_GOT_SYNC_2

#define STA_GOT_SYNC_2   2

Definition at line 99 of file nps_radio_control_spektrum.c.

STA_UNINIT

#define STA_UNINIT   0

Definition at line 97 of file nps_radio_control_spektrum.c.

SYNC_1

#define SYNC_1   0x03

Definition at line 94 of file nps_radio_control_spektrum.c.

SYNC_2

#define SYNC_2   0x12

Definition at line 95 of file nps_radio_control_spektrum.c.

Function Documentation

handle_frame()

static void handle_frame ( void  )

static

Definition at line 141 of file nps_radio_control_spektrum.c.

References CHANNEL_OF_FRAME, foo, NpsRadioControl::mode, nps_radio_control, NpsRadioControl::pitch, NpsRadioControl::roll, NpsRadioControl::throttle, and NpsRadioControl::yaw.

Referenced by parse_data().

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nps_radio_control_spektrum_init()

int nps_radio_control_spektrum_init

(

const char *

device

)

Definition at line 31 of file nps_radio_control_spektrum.c.

References B115200, foo, IUCLC, on_serial_data_received(), and sp_fd.

Referenced by nps_radio_control_init().

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on_serial_data_received()

static gboolean on_serial_data_received ( GIOChannel *  source, GIOCondition  condition, gpointer  data  )

static

Definition at line 74 of file nps_radio_control_spektrum.c.

References foo, parse_data(), and TRUE.

Referenced by nps_radio_control_spektrum_init().

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parse_data()

static void parse_data ( char *  buf, int  len  )

static

Definition at line 107 of file nps_radio_control_spektrum.c.

References frame_buf, FRAME_LEN, handle_frame(), idx, STA_GOT_SYNC_1, STA_GOT_SYNC_2, STA_UNINIT, status, SYNC_1, and SYNC_2.

Referenced by on_serial_data_received().

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Variable Documentation

frame_buf

uint8_t frame_buf[FRAME_LEN]

static

Definition at line 104 of file nps_radio_control_spektrum.c.

Referenced by parse_data().

idx

uint32_t idx = 0

static

Definition at line 105 of file nps_radio_control_spektrum.c.

Referenced by act_feedback_cb(), actuators_disco_set(), attitude_ref_quat_float_idx_set_omega_p(), attitude_ref_quat_float_idx_set_omega_q(), attitude_ref_quat_float_idx_set_omega_r(), attitude_ref_quat_float_schedule(), baro_cb(), calculate_edge_histogram(), cloud_sensor_callback(), dshotTlmRec(), esc32_get_float(), find_launch_index(), get_actuator_idx(), get_actuator_telem(), image_show_points_color(), mavlink_common_message_handler(), mtostk_populate_float_array_from_buffer(), mtostk_populate_uuid_from_buffer(), osd_put_s(), parse_data(), pfc_act_feedback_cb(), pfc_actuators_value(), power_uavcan_send_power_device(), px4flow_i2c_periodic(), radio_control_get(), radio_control_set(), range_msg_callback(), rm3100_get_raw_from_buf(), rotwing_state_feedback_cb(), rpm_cb(), send_gps_relpos(), slcan_can_rx_cb(), spi_submit(), stabilization_attitude_gain_schedule(), superbitrf_gen_dsmx_channels(), and vn200_read_message().

sp_fd

int sp_fd

static

Definition at line 22 of file nps_radio_control_spektrum.c.

Referenced by nps_radio_control_spektrum_init().

status

uint8_t status = STA_UNINIT

Definition at line 101 of file nps_radio_control_spektrum.c.

Referenced by parse_data().