Paparazzi UAS  v6.2_unstable
Paparazzi is a free software Unmanned Aircraft System.
intermcu.h File Reference

Inter-MCU interface. More...

#include "std.h"
#include "modules/core/commands.h"
#include "pprzlink/pprz_transport.h"
#include <BOARD_CONFIG>
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Data Structures

struct  intermcu_t
 

Macros

#define INTERMCU_LOST_CNT   25 /* 50ms with a 512Hz timer TODO fixed value */
 
#define INTERMCU_SET_CMD_STATUS(_bit)   { intermcu.cmd_status |= (1 << _bit); }
 
#define INTERMCU_CLR_CMD_STATUS(_bit)   { intermcu.cmd_status &= ~(1 << _bit); }
 
#define INTERMCU_GET_CMD_STATUS(_bit)   (intermcu.cmd_status & (1 << _bit))
 

Enumerations

enum  intermcu_status { INTERMCU_OK, INTERMCU_LOST }
 
enum  intermcu_cmd_status { INTERMCU_CMD_MOTORS_ON, INTERMCU_CMD_DISARM, INTERMCU_CMD_TIPPROPS, INTERMCU_CMD_FAILSAFE }
 

Functions

void intermcu_init (void)
 
void intermcu_periodic (void)
 
void intermcu_event (void)
 

Variables

struct intermcu_t intermcu
 

Detailed Description

Inter-MCU interface.

Definition in file intermcu.h.


Data Structure Documentation

◆ intermcu_t

struct intermcu_t

Definition at line 69 of file intermcu.h.

+ Collaboration diagram for intermcu_t:
Data Fields
uint8_t cmd_status Command status information that is transfered (intermcu_cmd_status)
struct link_device * device Device used for communication.
bool enabled If the InterMCU communication is enabled.
bool msg_available If we have an InterMCU message.
enum intermcu_status status Status of the INTERMCU.
uint8_t time_since_last_frame Time since last frame.
struct pprz_transport transport Transport over communication line (PPRZ)

Macro Definition Documentation

◆ INTERMCU_CLR_CMD_STATUS

#define INTERMCU_CLR_CMD_STATUS (   _bit)    { intermcu.cmd_status &= ~(1 << _bit); }

Definition at line 65 of file intermcu.h.

◆ INTERMCU_GET_CMD_STATUS

#define INTERMCU_GET_CMD_STATUS (   _bit)    (intermcu.cmd_status & (1 << _bit))

Definition at line 66 of file intermcu.h.

◆ INTERMCU_LOST_CNT

#define INTERMCU_LOST_CNT   25 /* 50ms with a 512Hz timer TODO fixed value */

Definition at line 35 of file intermcu.h.

◆ INTERMCU_SET_CMD_STATUS

#define INTERMCU_SET_CMD_STATUS (   _bit)    { intermcu.cmd_status |= (1 << _bit); }

Definition at line 64 of file intermcu.h.

Enumeration Type Documentation

◆ intermcu_cmd_status

Enumerator
INTERMCU_CMD_MOTORS_ON 

The status of intermcu_ap_motors_on.

INTERMCU_CMD_DISARM 

Whether or not to dis-arm the FBW.

INTERMCU_CMD_TIPPROPS 

Enable tip props.

INTERMCU_CMD_FAILSAFE 

Set FBW in failsafe mode.

Definition at line 56 of file intermcu.h.

◆ intermcu_status

Enumerator
INTERMCU_OK 

InterMCU communication is OK.

INTERMCU_LOST 

No interMCU communication anymore.

Definition at line 41 of file intermcu.h.

Function Documentation

◆ intermcu_event()

void intermcu_event ( void  )

Definition at line 95 of file intermcu_ap.c.

References datalink_nb_msgs, datalink_time, intermcu_t::device, dl_parse_msg(), intermcu_t::enabled, imcu_msg_buf, intermcu, intermcu_dl_on_msg(), intermcu_t::msg_available, intermcu_t::time_since_last_frame, and intermcu_t::transport.

Referenced by main_fbw_event().

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◆ intermcu_init()

void intermcu_init ( void  )

◆ intermcu_periodic()

Variable Documentation

◆ intermcu