Paparazzi UAS  v5.15_devel-111-g8fb4629
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stereocam_droplet.c File Reference
#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 "subsystems/datalink/downlink.h"
#include "led.h"
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Go to the source code of this file.

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

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

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

Definition at line 40 of file stereocam_droplet.c.

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

Definition at line 48 of file stereocam_droplet.c.

Referenced by stereocam_droplet_periodic().

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

Definition at line 43 of file stereocam_droplet.c.

Referenced by stereocam_droplet_periodic().

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

Definition at line 46 of file stereocam_droplet.c.

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

Definition at line 44 of file stereocam_droplet.c.

#define StereoUartSend1 (   c)    StereoSend1(c)

Definition at line 45 of file stereocam_droplet.c.

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

Definition at line 47 of file stereocam_droplet.c.

Function Documentation

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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void stereocam_droplet_init ( void  )

Variable Documentation

struct AvoidNavigationStruct avoid_navigation_data
struct link_device* xdev = STEREO_PORT

Definition at line 41 of file stereocam_droplet.c.