intermcu_fbw.c File Reference

Inter-MCU on FlyByWire side. More...

#include "modules/intermcu/intermcu_fbw.h"
#include "main_fbw.h"
#include "pprzlink/intermcu_msg.h"
#include "generated/modules.h"
#include "modules/radio_control/radio_control.h"
#include "modules/energy/electrical.h"
#include "modules/datalink/datalink.h"
#include "modules/core/abi.h"
#include "modules/spektrum_soft_bind/spektrum_soft_bind_fbw.h"
#include <BOARD_CONFIG>
#include "modules/gps/gps.h"

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Macros
#define	IMCU_RADIO_CONTROL_ID   ABI_BROADCAST
#define	IMCU_GPS_ID   GPS_MULTI_ID

Functions
static void	rc_cb (uint8_t sender_id, struct RadioControl *rc)
static void	gps_cb (uint8_t sender_id, uint32_t stamp, struct GpsState *gps_s)
void	intermcu_init (void)
void	intermcu_periodic (void)
void	intermcu_event (void)
void	intermcu_send_status (void)
	send fbw status message More...
void	intermcu_parse_IMCU_COMMANDS (uint8_t *buf)
	Datalink event functions. More...
void	intermcu_parse_IMCU_SPEKTRUM_SOFT_BIND (uint8_t *buf)
void	intermcu_forward_uplink (uint8_t *buf)

Variables
struct intermcu_t	intermcu
uint8_t	imcu_msg_buf [256]
	The InterMCU message buffer. More...
pprz_t	intermcu_commands [COMMANDS_NB]
bool	intermcu_ap_motors_on = false
static abi_event	rc_ev
static abi_event	gps_ev

Detailed Description

Inter-MCU on FlyByWire side.

Definition in file intermcu_fbw.c.

Macro Definition Documentation

IMCU_GPS_ID

#define IMCU_GPS_ID   GPS_MULTI_ID

Definition at line 85 of file intermcu_fbw.c.

IMCU_RADIO_CONTROL_ID

#define IMCU_RADIO_CONTROL_ID   ABI_BROADCAST

Definition at line 76 of file intermcu_fbw.c.

Function Documentation

gps_cb()

static void gps_cb ( uint8_t  sender_id, uint32_t stamp  , struct GpsState *  gps_s  )

static

Definition at line 242 of file intermcu_fbw.c.

References LlaCoor_i::alt, GpsState::course, intermcu_t::device, GpsState::ecef_pos, GpsState::ecef_vel, GpsState::fix, GpsState::gspeed, GpsState::hmsl, intermcu, GpsState::lla_pos, GpsState::num_sv, GpsState::pacc, GpsState::sacc, intermcu_t::transport, EcefCoor_i::x, EcefCoor_i::y, and EcefCoor_i::z.

Referenced by intermcu_init().

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intermcu_event()

void intermcu_event

(

void

)

Definition at line 115 of file intermcu_fbw.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_forward_uplink()

void intermcu_forward_uplink

(

uint8_t *

buf

)

Definition at line 197 of file intermcu_fbw.c.

References intermcu_t::device, intermcu, intermcu_dl_repack(), and intermcu_t::transport.

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intermcu_init()

void intermcu_init

(

void

)

Definition at line 91 of file intermcu_fbw.c.

References DefaultPeriodic, gps_cb(), gps_ev, IMCU_GPS_ID, IMCU_RADIO_CONTROL_ID, intermcu, rc_cb(), rc_ev, register_periodic_telemetry(), send_status(), sys_time_register_timer(), and intermcu_t::transport.

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intermcu_parse_IMCU_COMMANDS()

void intermcu_parse_IMCU_COMMANDS

(

uint8_t *

buf

)

Datalink event functions.

Definition at line 172 of file intermcu_fbw.c.

References intermcu_t::cmd_status, intermcu, intermcu_ap_motors_on, INTERMCU_CLR_CMD_STATUS, INTERMCU_CMD_MOTORS_ON, intermcu_commands, INTERMCU_GET_CMD_STATUS, INTERMCU_OK, intermcu_t::status, and intermcu_t::time_since_last_frame.

intermcu_parse_IMCU_SPEKTRUM_SOFT_BIND()

void intermcu_parse_IMCU_SPEKTRUM_SOFT_BIND

(

uint8_t *

buf

)

Definition at line 190 of file intermcu_fbw.c.

References received_spektrum_soft_bind().

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intermcu_periodic()

void intermcu_periodic

(

void

)

Definition at line 105 of file intermcu_fbw.c.

References DefaultPeriodic, intermcu_t::device, intermcu, INTERMCU_LOST, INTERMCU_LOST_CNT, intermcu_t::status, intermcu_t::time_since_last_frame, and intermcu_t::transport.

intermcu_send_status()

void intermcu_send_status

(

void

)

send fbw status message

Definition at line 157 of file intermcu_fbw.c.

References Electrical::current, intermcu_t::device, electrical, fbw_mode, RadioControl::frame_rate, intermcu, radio_control, RadioControl::status, intermcu_t::transport, and Electrical::vsupply.

rc_cb()

static void rc_cb ( uint8_t sender_id  , struct RadioControl *  rc  )

static

Definition at line 206 of file intermcu_fbw.c.

References intermcu_t::device, fbw_mode, intermcu, INTERMCU_RADIO_AUX1, INTERMCU_RADIO_AUX2, INTERMCU_RADIO_AUX3, INTERMCU_RADIO_CONTROL_NB_CHANNEL, INTERMCU_RADIO_KILL_SWITCH, INTERMCU_RADIO_MODE, INTERMCU_RADIO_PITCH, INTERMCU_RADIO_ROLL, INTERMCU_RADIO_THROTTLE, INTERMCU_RADIO_YAW, RADIO_AUX1, RADIO_AUX2, RADIO_AUX3, radio_control, RADIO_KILL_SWITCH, RADIO_MODE, RADIO_PITCH, RADIO_ROLL, RADIO_THROTTLE, RADIO_YAW, intermcu_t::transport, and RadioControl::values.

Referenced by intermcu_init().

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Variable Documentation

gps_ev

abi_event gps_ev

static

Definition at line 87 of file intermcu_fbw.c.

Referenced by intermcu_init().

imcu_msg_buf

uint8_t imcu_msg_buf[256]

The InterMCU message buffer.

Definition at line 64 of file intermcu_fbw.c.

Referenced by intermcu_event().

intermcu

struct intermcu_t intermcu

Initial value:

= {
  .device = (&((INTERMCU_LINK).device)),
  .enabled = true,
  .msg_available = false
}

Definition at line 1 of file intermcu_fbw.c.

Referenced by fbw_safety_check(), gps_cb(), intermcu_event(), intermcu_forward_uplink(), intermcu_init(), intermcu_parse_IMCU_COMMANDS(), intermcu_periodic(), intermcu_send_status(), main_task_periodic(), opa_controller_periodic(), and rc_cb().

intermcu_ap_motors_on

bool intermcu_ap_motors_on = false

Definition at line 67 of file intermcu_fbw.c.

Referenced by intermcu_parse_IMCU_COMMANDS(), and main_task_periodic().

intermcu_commands

pprz_t intermcu_commands[COMMANDS_NB]

Definition at line 66 of file intermcu_fbw.c.

Referenced by intermcu_parse_IMCU_COMMANDS(), and main_task_periodic().

rc_ev

abi_event rc_ev

static

Definition at line 78 of file intermcu_fbw.c.

Referenced by intermcu_init().