intermcu_fbw.c File Reference

Rotorcraft Inter-MCU on FlyByWire. More...

#include "intermcu_fbw.h"
#include "pprzlink/intermcu_msg.h"
#include "subsystems/radio_control.h"
#include "subsystems/electrical.h"
#include "mcu_periph/uart.h"
#include "modules/telemetry/telemetry_intermcu.h"
#include "modules/spektrum_soft_bind/spektrum_soft_bind_fbw.h"
#include <BOARD_CONFIG>

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Functions
static void	intermcu_parse_msg (void(*commands_frame_handler)(void))
void	intermcu_init (void)
void	intermcu_periodic (void)
void	intermcu_on_rc_frame (uint8_t fbw_mode)
void	intermcu_send_status (uint8_t mode)
void	InterMcuEvent (void(*frame_handler)(void))

Variables
struct intermcu_t	intermcu
uint8_t	imcu_msg_buf [128]
	The InterMCU message buffer. More...
pprz_t	intermcu_commands [COMMANDS_NB]
bool	autopilot_motors_on = false

Detailed Description

Rotorcraft Inter-MCU on FlyByWire.

Definition in file intermcu_fbw.c.

Function Documentation

void intermcu_init

(

void

)

Definition at line 69 of file intermcu_fbw.c.

References DefaultPeriodic, register_periodic_telemetry(), send_status(), sys_time_register_timer(), and intermcu_t::transport.

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void intermcu_on_rc_frame

(

uint8_t

fbw_mode

)

Definition at line 88 of file intermcu_fbw.c.

References intermcu_t::device, INTERMCU_FBW, INTERMCU_RADIO_AUX1, INTERMCU_RADIO_AUX2, INTERMCU_RADIO_AUX3, 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_CONTROL_NB_CHANNEL, RADIO_KILL, RADIO_MODE, RADIO_PITCH, RADIO_ROLL, RADIO_THROTTLE, RADIO_YAW, intermcu_t::transport, and RadioControl::values.

Referenced by fbw_on_rc_frame().

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static void intermcu_parse_msg ( void(*)(void)  commands_frame_handler )

static

Definition at line 130 of file intermcu_fbw.c.

References intermcu_t::cmd_status, imcu_msg_buf, INTERMCU_CLR_CMD_STATUS, INTERMCU_CMD_MOTORS_ON, INTERMCU_GET_CMD_STATUS, INTERMCU_OK, msg, received_spektrum_soft_bind(), intermcu_t::status, telemetry_intermcu_on_msg(), and intermcu_t::time_since_last_frame.

Referenced by InterMcuEvent().

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void intermcu_periodic

(

void

)

Definition at line 78 of file intermcu_fbw.c.

References INTERMCU_LOST, INTERMCU_LOST_CNT, intermcu_t::status, and intermcu_t::time_since_last_frame.

void intermcu_send_status

(

uint8_t

mode

)

Definition at line 121 of file intermcu_fbw.c.

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

Referenced by telemetry_periodic().

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void InterMcuEvent

(

void(*)(void)

frame_handler

)

Definition at line 175 of file intermcu_fbw.c.

References intermcu_t::device, imcu_msg_buf, intermcu_parse_msg(), intermcu_t::msg_available, and intermcu_t::transport.

Referenced by main_event().

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Variable Documentation

bool autopilot_motors_on = false

Definition at line 62 of file intermcu_fbw.c.

uint8_t imcu_msg_buf[128]

The InterMCU message buffer.

Definition at line 59 of file intermcu_fbw.c.

Referenced by intermcu_parse_msg(), and InterMcuEvent().

struct intermcu_t intermcu

Initial value:

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

Definition at line 54 of file intermcu_fbw.c.

pprz_t intermcu_commands[COMMANDS_NB]

Definition at line 61 of file intermcu_fbw.c.

Referenced by fbw_on_ap_command().