link_mcu_can.c File Reference

#include "link_mcu_can.h"
#include "mcu_periph/can.h"
#include "led.h"
#include "subsystems/commands.h"

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Macros
#define	MSG_INTERMCU_COMMAND_MASTER_ID   0x01
#define	MSG_INTERMCU_COMMAND_EXTRA_ID   0x02
#define	MSG_INTERMCU_RADIO_LOW_ID   0x04
#define	MSG_INTERMCU_RADIO_HIGH_ID   0x05
#define	MSG_INTERMCU_TRIM_ID   0x09
#define	MSG_INTERMCU_FBW_STATUS_ID   0x10
#define	INTERMCU_COMMAND(_intermcu_payload, nr)   (pprz_t)((uint16_t)(*((uint8_t*)_intermcu_payload+0+(2*(nr)))|*((uint8_t*)_intermcu_payload+1+(2*(nr)))<<8))

Functions
void	link_mcu_on_can_msg (uint32_t id, uint8_t *data, int len)
void	link_mcu_init (void)
void	link_mcu_event_task (void)

Variables
union {
uint8_t	data [8]
pprz_t	cmd [4]
}	imcu_cmd_mstr
union {
uint8_t	data [8]
pprz_t	cmd [4]
}	imcu_cmd_ext
union {
uint8_t	data [8]
pprz_t	cmd [4]
}	imcu_chan1
union {
uint8_t	data [8]
pprz_t	cmd [4]
}	imcu_chan2
union {
uint8_t	data [8]
pprz_t	cmd [4]
}	imcu_trim
struct link_mcu_msg	link_mcu_from_ap_msg
struct link_mcu_msg	link_mcu_from_fbw_msg

Macro Definition Documentation

#define INTERMCU_COMMAND	(		_intermcu_payload,
			nr
	)		(pprz_t)((uint16_t)(*((uint8_t*)_intermcu_payload+0+(2*(nr)))|*((uint8_t*)_intermcu_payload+1+(2*(nr)))<<8))

Definition at line 50 of file link_mcu_can.c.

Referenced by link_mcu_on_can_msg().

#define MSG_INTERMCU_COMMAND_EXTRA_ID   0x02

Definition at line 35 of file link_mcu_can.c.

Referenced by link_mcu_on_can_msg().

#define MSG_INTERMCU_COMMAND_MASTER_ID   0x01

Definition at line 34 of file link_mcu_can.c.

Referenced by link_mcu_on_can_msg().

#define MSG_INTERMCU_FBW_STATUS_ID   0x10

Definition at line 42 of file link_mcu_can.c.

Referenced by link_mcu_on_can_msg().

#define MSG_INTERMCU_RADIO_HIGH_ID   0x05

Definition at line 38 of file link_mcu_can.c.

Referenced by link_mcu_on_can_msg().

#define MSG_INTERMCU_RADIO_LOW_ID   0x04

Definition at line 37 of file link_mcu_can.c.

Referenced by link_mcu_on_can_msg().

#define MSG_INTERMCU_TRIM_ID   0x09

Definition at line 40 of file link_mcu_can.c.

Referenced by link_mcu_on_can_msg().

Function Documentation

void link_mcu_event_task

(

void

)

Definition at line 227 of file link_mcu_can.c.

Referenced by event_task_ap().

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void link_mcu_init

(

void

)

Definition at line 214 of file link_mcu_can.c.

Referenced by init_ap(), and init_fbw().

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void link_mcu_on_can_msg	(	uint32_t	id,
		uint8_t *	data,
		int	len
	)

Definition at line 57 of file link_mcu_can.c.

References ap_state, fbw_state, inter_mcu_received_ap, inter_mcu_received_fbw, INTERMCU_COMMAND, LED_TOGGLE, MSG_INTERMCU_COMMAND_EXTRA_ID, MSG_INTERMCU_COMMAND_MASTER_ID, MSG_INTERMCU_FBW_STATUS_ID, MSG_INTERMCU_RADIO_HIGH_ID, MSG_INTERMCU_RADIO_LOW_ID, MSG_INTERMCU_TRIM_ID, and RADIO_CONTROL_NB_CHANNEL.

Referenced by link_mcu_init().

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Variable Documentation

union { ... } imcu_chan1

union { ... } imcu_chan2

union { ... } imcu_cmd_ext

union { ... } imcu_cmd_mstr

union { ... } imcu_trim

struct link_mcu_msg link_mcu_from_ap_msg

Definition at line 175 of file link_mcu_can.c.

struct link_mcu_msg link_mcu_from_fbw_msg

Definition at line 176 of file link_mcu_can.c.