rc_datalink.c File Reference

Radio control input via datalink. More...

#include "modules/radio_control/rc_datalink.h"
#include "modules/radio_control/radio_control.h"
#include "modules/core/abi.h"
#include "pprzlink/dl_protocol.h"

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Functions
void	rc_datalink_init (void)
	RC init function. More...
void	rc_datalink_parse_RC_3CH (uint8_t *buf)
void	rc_datalink_parse_RC_4CH (uint8_t *buf)
void	parse_rc_3ch_datalink (uint8_t throttle_mode, int8_t roll, int8_t pitch)
	Decode datalink message to get rc values with RC_3CH message Mode and throttle are merge in the same byte. More...
void	parse_rc_4ch_datalink (uint8_t mode, uint8_t throttle, int8_t roll, int8_t pitch, int8_t yaw)
	Decode datalink message to get rc values with RC_4CH message. More...
static void	rc_datalink_normalize (int8_t *in, int16_t *out)
	Normalize rc_dl_values to radio values. More...
void	rc_datalink_event (void)
	RC event function. More...

Variables
int8_t	rc_dl_values [RC_DL_NB_CHANNEL]
volatile bool	rc_dl_frame_available

Detailed Description

Radio control input via datalink.

Definition in file rc_datalink.c.

Function Documentation

parse_rc_3ch_datalink()

void parse_rc_3ch_datalink	(	uint8_t	throttle_mode,
		int8_t	roll,
		int8_t	pitch
	)

Decode datalink message to get rc values with RC_3CH message Mode and throttle are merge in the same byte.

Definition at line 65 of file rc_datalink.c.

References mode, RADIO_MODE, RADIO_PITCH, RADIO_ROLL, RADIO_THROTTLE, RADIO_YAW, rc_dl_frame_available, and rc_dl_values.

Referenced by rc_datalink_parse_RC_3CH().

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parse_rc_4ch_datalink()

void parse_rc_4ch_datalink	(	uint8_t	mode,
		uint8_t	throttle,
		int8_t	roll,
		int8_t	pitch,
		int8_t	yaw
	)

Decode datalink message to get rc values with RC_4CH message.

Definition at line 81 of file rc_datalink.c.

References mode, RADIO_MODE, RADIO_PITCH, RADIO_ROLL, RADIO_THROTTLE, RADIO_YAW, rc_dl_frame_available, and rc_dl_values.

Referenced by mavlink_common_message_handler(), and rc_datalink_parse_RC_4CH().

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rc_datalink_event()

void rc_datalink_event

(

void

)

RC event function.

Definition at line 114 of file rc_datalink.c.

References RadioControl::frame_cpt, radio_control, RADIO_CONTROL_DATALINK_ID, RadioControl::radio_ok_cpt, rc_datalink_normalize(), rc_dl_frame_available, rc_dl_values, RC_OK, RadioControl::status, RadioControl::time_since_last_frame, and RadioControl::values.

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rc_datalink_init()

void rc_datalink_init

(

void

)

RC init function.

Definition at line 36 of file rc_datalink.c.

References RadioControl::nb_channel, radio_control, rc_dl_frame_available, and RC_DL_NB_CHANNEL.

rc_datalink_normalize()

static void rc_datalink_normalize ( int8_t *  in, int16_t *  out  )

static

Normalize rc_dl_values to radio values.

Definition at line 100 of file rc_datalink.c.

References MAX_PPRZ, MIN_PPRZ, RADIO_MODE, RADIO_PITCH, RADIO_ROLL, RADIO_THROTTLE, and RADIO_YAW.

Referenced by rc_datalink_event().

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rc_datalink_parse_RC_3CH()

void rc_datalink_parse_RC_3CH

(

uint8_t *

buf

)

Definition at line 42 of file rc_datalink.c.

References LED_TOGGLE, and parse_rc_3ch_datalink().

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rc_datalink_parse_RC_4CH()

void rc_datalink_parse_RC_4CH

(

uint8_t *

buf

)

Definition at line 53 of file rc_datalink.c.

References LED_TOGGLE, and parse_rc_4ch_datalink().

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Variable Documentation

rc_dl_frame_available

volatile bool rc_dl_frame_available

Definition at line 33 of file rc_datalink.c.

Referenced by parse_rc_3ch_datalink(), parse_rc_4ch_datalink(), rc_datalink_event(), and rc_datalink_init().

rc_dl_values

int8_t rc_dl_values[RC_DL_NB_CHANNEL]

Definition at line 32 of file rc_datalink.c.

Referenced by parse_rc_3ch_datalink(), parse_rc_4ch_datalink(), and rc_datalink_event().