#include "modules/stereocam/droplet/stereocam_droplet.h"
#include "generated/flight_plan.h"
#include "firmwares/rotorcraft/navigation.h"
#include "mcu_periph/uart.h"
#include "pprzlink/messages.h"
#include "modules/datalink/downlink.h"
#include "led.h"

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Data Structures
struct	AvoidNavigationStruct

Macros
#define	STEREO_PORT (&((STEREO_UART).device))

#define	StereoGetch() STEREO_PORT ->get_byte(STEREO_PORT->periph)

#define	StereoSend1(c) STEREO_PORT->put_byte(STEREO_PORT->periph, 0, c)

#define	StereoUartSend1(c) StereoSend1(c)

#define	StereoSend(_dat, _len) { for (uint8_t i = 0; i< (_len); i++) StereoSend1(_dat[i]); };

#define	StereoUartSetBaudrate(_b) uart_periph_set_baudrate(STEREO_PORT, _b);

#define	StereoChAvailable() (xdev->char_available(xdev->periph))

#define	DOWNLINK_DEVICE DOWNLINK_AP_DEVICE

Functions
static void	stereo_parse (uint8_t c)

void	stereocam_droplet_init (void)

void	stereocam_droplet_periodic (void)

Variables
struct link_device *	xdev = STEREO_PORT

struct AvoidNavigationStruct	avoid_navigation_data
	global VIDEO state More...

Detailed Description

Author: C. DW

Definition in file stereocam_droplet.c.

Data Structure Documentation

◆ AvoidNavigationStruct

struct AvoidNavigationStruct

Definition at line 69 of file stereocam_droplet.c.

Data Fields
uint8_t	mode	0 = straight, 1 = right, 2 = left, ... 0 = nothing, 1 = climb, 2 = sideways, ...
uint8_t	stereo_bin[8]
uint8_t	timeout

Macro Definition Documentation

◆ DOWNLINK_DEVICE

#define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE

Definition at line 57 of file stereocam_droplet.c.

◆ STEREO_PORT

#define STEREO_PORT (&((STEREO_UART).device))

Definition at line 40 of file stereocam_droplet.c.

◆ StereoChAvailable

#define StereoChAvailable ( ) (xdev->char_available(xdev->periph))

Definition at line 48 of file stereocam_droplet.c.

◆ StereoGetch

#define StereoGetch ( ) STEREO_PORT ->get_byte(STEREO_PORT->periph)

Definition at line 43 of file stereocam_droplet.c.

◆ StereoSend

#define StereoSend	(	_dat,
		_len
	)	{ for (uint8_t i = 0; i< (_len); i++) StereoSend1(_dat[i]); };

Definition at line 46 of file stereocam_droplet.c.

◆ StereoSend1

#define StereoSend1 ( c ) STEREO_PORT->put_byte(STEREO_PORT->periph, 0, c)

Definition at line 44 of file stereocam_droplet.c.

◆ StereoUartSend1

#define StereoUartSend1 ( c ) StereoSend1(c)

Definition at line 45 of file stereocam_droplet.c.

◆ StereoUartSetBaudrate

#define StereoUartSetBaudrate ( _b ) uart_periph_set_baudrate(STEREO_PORT, _b);

Definition at line 47 of file stereocam_droplet.c.

Function Documentation

◆ stereo_parse()

static void stereo_parse ( uint8_t c )

static

Definition at line 84 of file stereocam_droplet.c.

References avoid_navigation_data, AvoidNavigationStruct::stereo_bin, and AvoidNavigationStruct::timeout.

Referenced by stereocam_droplet_periodic().

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◆ stereocam_droplet_init()

void stereocam_droplet_init ( void )

Definition at line 92 of file stereocam_droplet.c.

References avoid_navigation_data, AvoidNavigationStruct::mode, and AvoidNavigationStruct::timeout.

◆ stereocam_droplet_periodic()

void stereocam_droplet_periodic ( void )

Definition at line 98 of file stereocam_droplet.c.

References avoid_navigation_data, DefaultChannel, DefaultDevice, RotorcraftNavigation::heading, heading, LED_OFF, LED_ON, nav, nav_set_heading_rad(), NavSetWaypointHere, obstacle_detected, AvoidNavigationStruct::stereo_bin, stereo_parse(), StereoChAvailable, StereoGetch, AvoidNavigationStruct::timeout, waypoint_get_alt(), waypoint_get_x(), waypoint_get_y(), waypoint_set_enu(), EnuCoor_f::x, EnuCoor_f::y, and EnuCoor_f::z.

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Variable Documentation

◆ avoid_navigation_data

struct AvoidNavigationStruct avoid_navigation_data

global VIDEO state

Definition at line 41 of file stereocam_droplet.c.

Referenced by stereo_avoid_init(), stereo_avoid_run(), stereo_parse(), stereocam_droplet_init(), and stereocam_droplet_periodic().

◆ xdev

struct link_device* xdev = STEREO_PORT