telemetry_common.h File Reference

Common tools for periodic telemetry interface Allows subsystem to register callback functions. More...

#include <inttypes.h>
#include "std.h"
#include "pprzlink/pprzlink_device.h"
#include "pprzlink/pprzlink_transport.h"
#include "pprzlink/messages.h"

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Data Structures
struct	telemetry_cb_slots
struct	periodic_telemetry
	Periodic telemetry structure. More...

Macros
#define	TELEMETRY_NB_CBS   4
	number of callbacks that can be registered per msg More...

Typedefs
typedef void(*	telemetry_cb) (struct transport_tx *trans, struct link_device *dev)
	Telemetry callback definition. More...
typedef const char	telemetry_msg[64]
	periodic telemetry msg name definition More...

Functions
void	telemetry_reporting_task (void)
	Periodic task. More...
int8_t	register_periodic_telemetry (struct periodic_telemetry *_pt, uint8_t _id, telemetry_cb _cb)
	Register a telemetry callback function. More...
void	periodic_telemetry_err_report (uint8_t _process, uint8_t _mode, uint8_t _id)
	Send an error report when trying to send message that as not been register. More...

Detailed Description

Common tools for periodic telemetry interface Allows subsystem to register callback functions.

Definition in file telemetry_common.h.

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Data Structure Documentation

telemetry_cb_slots

struct telemetry_cb_slots

Definition at line 53 of file telemetry_common.h.

Collaboration diagram for telemetry_cb_slots:

Data Fields
uint8_t	id	id of telemetry message
telemetry_cb	slots[TELEMETRY_NB_CBS]

periodic_telemetry

struct periodic_telemetry

Periodic telemetry structure.

Contains the total number of messages (from generated telemetry file) and the list of registered callbacks

Definition at line 62 of file telemetry_common.h.

Collaboration diagram for periodic_telemetry:

Data Fields
struct telemetry_cb_slots *	cbs	array of callbacks defined through TELEMETRY_MSG
uint8_t	nb	number of messages

Macro Definition Documentation

TELEMETRY_NB_CBS

#define TELEMETRY_NB_CBS   4

number of callbacks that can be registered per msg

Definition at line 51 of file telemetry_common.h.

Typedef Documentation

telemetry_cb

typedef void(* telemetry_cb) (struct transport_tx *trans, struct link_device *dev)

Telemetry callback definition.

Definition at line 44 of file telemetry_common.h.

telemetry_msg

typedef const char telemetry_msg[64]

periodic telemetry msg name definition

Definition at line 48 of file telemetry_common.h.

Function Documentation

periodic_telemetry_err_report()

void periodic_telemetry_err_report	(	uint8_t	_process,
		uint8_t	_mode,
		uint8_t	_id
	)

Send an error report when trying to send message that as not been register.

Parameters

_process	telemetry process id
_mode	telemetry mode
_id	id of the message
_process	telemetry process id
_mode	telemetry mode
_id	id of the message in telemetry system (see var/<AC>/generated/periodic_telemetry.h)

Definition at line 115 of file telemetry.c.

References DefaultChannel, DefaultDevice, and mode.

register_periodic_telemetry()

int8_t register_periodic_telemetry	(	struct periodic_telemetry *	_pt,
		uint8_t	_id,
		telemetry_cb	_cb
	)

Register a telemetry callback function.

empty implementation is provided if PERIODIC_TELEMETRY is not set or set to FALSE

Parameters

_pt	periodic telemetry structure to register
<em>id	message ID (use PPRZ_MSG_ID<message_name> define)
_cb	callback function, called according to telemetry mode and specified period

Returns

-1 on failure to register, index of callback otherwise

Parameters

_pt	periodic telemetry structure to register
<em>id	message ID (use PPRZ_MSG_ID<message_name> define)
_cb	callback function, called according to telemetry mode and specified period

Returns

-1 on failure to register, index of callback otherwise

Definition at line 51 of file telemetry.c.

References periodic_telemetry::cbs, telemetry_cb_slots::id, periodic_telemetry::nb, telemetry_cb_slots::slots, and TELEMETRY_NB_CBS.

Referenced by actuators_bebop_init(), actuators_dshot_arch_init(), actuators_uavcan_init(), adc_generic_init(), ahrs_aligner_init(), ahrs_dcm_register(), ahrs_fc_register(), ahrs_float_invariant_register(), ahrs_icq_register(), ahrs_madgwick_register(), ahrs_mlkf_register(), ahrs_vectornav_init(), ahrs_vectornav_register(), air_data_init(), airspeed_ets_init(), airspeed_uavcan_init(), aoa_pwm_init(), approach_moving_target_init(), autopilot_firmware_init(), autopilot_init(), baro_bmp280_init(), battery_monitor_init(), bluegiga_init(), cam_init(), can_fuelcell_init(), commands_init(), ctc_init(), ctrl_windtunnel_init(), dcf_init(), detect_gate_init(), digital_cam_uart_init(), downlink_init(), dragspeed_init(), ekf_aw_wrapper_init(), esc32_init(), gec_dl_init(), gps_init(), gps_piksi_init(), guidance_h_init(), guidance_hybrid_h_run_accel(), guidance_indi_init(), guidance_pid_h_run(), guidance_v_init(), gvf_init(), gvf_parametric_init(), h_ctl_init(), hff_init(), hott_init(), i2c_init(), imu_heater_init(), imu_init(), imu_vectornav_init(), init_parachute(), ins_ekf2_init(), ins_ext_pose_init(), ins_float_invariant_init(), ins_float_invariant_wrapper_init(), ins_flow_init(), ins_gps_passthrough_init(), ins_int_init(), ins_mekf_wind_wrapper_init(), ins_vectornav_init(), intermcu_init(), jevois_mavlink_init(), main_init(), main_recovery_init(), mateksys3901l0x_init(), mavlink_init(), max7456_init(), mission_init(), motor_mixing_init(), ms45xx_i2c_init(), nav_init(), nav_rotorcraft_init(), nav_rover_init(), nav_survey_rectangle_rotorcraft_init(), navdata_init(), oneloop_andi_init(), optical_flow_hover_init(), optical_flow_landing_init(), opticflow_module_init(), pca9685_i2c_init(), power_uavcan_init(), ppm_init(), radio_control_cc2500_init(), radio_control_init(), range_sensor_uavcan_init(), relative_localization_filter_init(), rotorcraft_cam_init(), rotwing_state_init(), rpm_sensor_init(), sbus_dual_init(), sbus_init(), sdlog_chibios_init(), sdp3x_init(), stabilization_attitude_euler_float_init(), stabilization_attitude_euler_int_init(), stabilization_attitude_quat_float_init(), stabilization_attitude_quat_int_init(), stabilization_indi_init(), stabilization_init(), stabilization_rate_init(), superbitrf_init(), sys_id_chirp_init(), sys_id_doublet_init(), sys_id_wave_init(), target_pos_init(), temp_adc_init(), tfmini_i2c_init(), tfmini_init(), throttle_curve_init(), uart_periph_init(), uav_recovery_init(), vff_init(), waypoints_init(), wind_estimation_quadrotor_init(), and wind_estimator_init().

telemetry_reporting_task()

void telemetry_reporting_task

(

void

)

Periodic task.

Periodic task.

Definition at line 77 of file telemetry.c.

References autopilot_send_version(), DefaultChannel, DefaultDevice, and DefaultPeriodic.

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