hott.c

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/*
 * Copyright (C) 2013 Alexandre Bustico, Gautier Hattenberger
 *
 * This file is part of paparazzi.
 *
 * paparazzi is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2, or (at your option)
 * any later version.
 *
 * paparazzi is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with paparazzi; see the file COPYING.  If not, see
 * <http://www.gnu.org/licenses/>.
 */
 
#include "modules/radio_control/radio_control.h"
#include "modules/radio_control/hott.h"
#include "modules/core/abi.h"
#include BOARD_CONFIG
 
 
struct SHott hott;
 
// Telemetry function
#if PERIODIC_TELEMETRY
#include "modules/datalink/telemetry.h"
 
static void send_hott(struct transport_tx *trans, struct link_device *dev)
{
  // Using PPM message
  pprz_msg_send_PPM(trans, dev, AC_ID,
                    &radio_control.frame_rate, HOTT_NB_CHANNEL, hott.ppm);
}
#endif
 
// Init function
void hott_init(void)
{
  hott_common_init(&hott, &HOTT_UART_DEV);
  radio_control.nb_channel = HOTT_NB_CHANNEL;
 
  // Register telemetry message
#if PERIODIC_TELEMETRY
  register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_PPM, send_hott);
#endif
}
 
 
// Decoding event function
// Reading from UART
void hott_event(void)
{
  hott_common_decode_event(&hott, &HOTT_UART_DEV);
  if (hott.frame_available) {
    radio_control.frame_cpt++;
    radio_control.time_since_last_frame = 0;
    if (radio_control.radio_ok_cpt > 0) {
      radio_control.radio_ok_cpt--;
    } else {
      radio_control.status = RC_OK;
      NormalizePpmIIR(hott.pulses, radio_control);
      AbiSendMsgRADIO_CONTROL(RADIO_CONTROL_HOTT_ID, &radio_control);
    }
    hott.frame_available = false;
  }
}