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, 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, 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 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(), ahrs_switch(), 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(), cloud_sensor_callback(), dshotTlmRec(), esc32_get_float(), find_launch_index(), 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(), 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 _vl53l5cx_poll_for_answer(), _vl53l5cx_poll_for_mcu_boot(), _vl53l5cx_send_offset_data(), _vl53l5cx_send_xtalk_data(), acInfoCalcPositionEnu_f(), acInfoCalcPositionEnu_i(), acInfoCalcPositionLla_f(), acInfoCalcPositionLla_i(), acInfoCalcPositionUtm_f(), acInfoCalcPositionUtm_i(), acInfoCalcVelocityEnu_f(), acInfoCalcVelocityEnu_i(), acInfoGetPositionEnu_f(), acInfoGetPositionEnu_i(), acInfoGetPositionLla_f(), acInfoGetPositionLla_i(), acInfoGetPositionUtm_f(), acInfoGetPositionUtm_i(), acInfoGetVelocityEnu_f(), acInfoGetVelocityEnu_i(), formation_flight(), jevois_mavlink_event(), lidar_lite_downlink(), lidar_sf11_downlink(), mavlink_event(), microrl_get_complite(), ms45xx_i2c_event(), msgqueue_pop_timeout(), new_line_handler(), parse_data(), parseFormationStatus(), py_check_status(), python_init(), rxSpiFrameStatus(), sdlog_check_free_space(), send_rotating_wing_state(), send_sdlog_status(), send_superbit(), set_ac_info_lla(), set_ac_info_utm(), start_formation(), stop_formation(), superbitrf_receive_packet_cb(), tcas_periodic_task_1Hz(), tfmini_send_lidar(), thd_lidar_vl53l5cx(), updateFormationStatus(), VL53L1X_BootState(), VL53L1X_CheckForDataReady(), VL53L1X_ClearInterrupt(), VL53L1X_GetAmbientPerSpad(), VL53L1X_GetAmbientRate(), VL53L1X_GetDistance(), VL53L1X_GetDistanceMode(), VL53L1X_GetDistanceThresholdHigh(), VL53L1X_GetDistanceThresholdLow(), VL53L1X_GetDistanceThresholdWindow(), VL53L1X_GetInterMeasurementInMs(), VL53L1X_GetInterruptPolarity(), VL53L1X_GetOffset(), VL53L1X_GetRangeStatus(), VL53L1X_GetResult(), VL53L1X_GetROI_XY(), VL53L1X_GetROICenter(), VL53L1X_GetSensorId(), VL53L1X_GetSigmaThreshold(), VL53L1X_GetSignalPerSpad(), VL53L1X_GetSignalRate(), VL53L1X_GetSignalThreshold(), VL53L1X_GetSpadNb(), VL53L1X_GetTimingBudgetInMs(), VL53L1X_GetXtalk(), VL53L1X_SensorInit(), VL53L1X_SetDistanceMode(), VL53L1X_SetDistanceThreshold(), VL53L1X_SetI2CAddress(), VL53L1X_SetInterMeasurementInMs(), VL53L1X_SetInterruptPolarity(), VL53L1X_SetOffset(), VL53L1X_SetROI(), VL53L1X_SetROICenter(), VL53L1X_SetSigmaThreshold(), VL53L1X_SetSignalThreshold(), VL53L1X_SetTimingBudgetInMs(), VL53L1X_SetXtalk(), VL53L1X_StartRanging(), VL53L1X_StartTemperatureUpdate(), VL53L1X_StopRanging(), vl53l5cx_check_data_ready(), vl53l5cx_dci_read_data(), vl53l5cx_dci_replace_data(), vl53l5cx_dci_write_data(), vl53l5cx_disable_internal_cp(), vl53l5cx_enable_internal_cp(), vl53l5cx_get_integration_time_ms(), vl53l5cx_get_power_mode(), vl53l5cx_get_ranging_data(), vl53l5cx_get_ranging_frequency_hz(), vl53l5cx_get_ranging_mode(), vl53l5cx_get_resolution(), vl53l5cx_get_sharpener_percent(), vl53l5cx_get_target_order(), vl53l5cx_init(), vl53l5cx_is_alive(), vl53l5cx_set_i2c_address(), vl53l5cx_set_integration_time_ms(), vl53l5cx_set_power_mode(), vl53l5cx_set_ranging_frequency_hz(), vl53l5cx_set_ranging_mode(), vl53l5cx_set_resolution(), vl53l5cx_set_sharpener_percent(), vl53l5cx_set_target_order(), vl53l5cx_start_ranging(), and vl53l5cx_stop_ranging().