nps_radio_control_spektrum.c File Reference

#include "nps_radio_control.h"
#include <glib.h>
#include <stdio.h>
#include <termios.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <string.h>
#include <errno.h>
#include <inttypes.h>

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Macros
#define	IUCLC   0
#define	SYNC_1   0x03
#define	SYNC_2   0x12
#define	STA_UNINIT   0
#define	STA_GOT_SYNC_1   1
#define	STA_GOT_SYNC_2   2
#define	FRAME_LEN   14
#define	CHANNEL_OF_FRAME(i)   ((((frame_buf[2*i]<<8) + frame_buf[2*i+1])&0x03FF)-512)

Functions
static gboolean	on_serial_data_received (GIOChannel *source, GIOCondition condition, gpointer data)
static void	parse_data (char *buf, int len)
static void	handle_frame (void)
int	nps_radio_control_spektrum_init (const char *device)

Variables
static int	sp_fd
uint8_t	status = STA_UNINIT
static uint8_t	frame_buf [FRAME_LEN]
static uint32_t	idx = 0

Macro Definition Documentation

#define CHANNEL_OF_FRAME

(

i

)

((((frame_buf[2*i]<<8) + frame_buf[2*i+1])&0x03FF)-512)

Definition at line 136 of file nps_radio_control_spektrum.c.

Referenced by handle_frame().

#define FRAME_LEN   14

Definition at line 100 of file nps_radio_control_spektrum.c.

Referenced by parse_data().

#define IUCLC   0

Definition at line 16 of file nps_radio_control_spektrum.c.

Referenced by nps_radio_control_spektrum_init().

#define STA_GOT_SYNC_1   1

Definition at line 95 of file nps_radio_control_spektrum.c.

Referenced by parse_data().

#define STA_GOT_SYNC_2   2

Definition at line 96 of file nps_radio_control_spektrum.c.

Referenced by parse_data().

#define STA_UNINIT   0

Definition at line 94 of file nps_radio_control_spektrum.c.

Referenced by parse_data().

#define SYNC_1   0x03

Definition at line 91 of file nps_radio_control_spektrum.c.

Referenced by parse_data().

#define SYNC_2   0x12

Definition at line 92 of file nps_radio_control_spektrum.c.

Referenced by parse_data().

Function Documentation

static void handle_frame ( void  )

static

Definition at line 137 of file nps_radio_control_spektrum.c.

References CHANNEL_OF_FRAME, NpsRadioControl::mode, nps_radio_control, NpsRadioControl::pitch, NpsRadioControl::roll, NpsRadioControl::throttle, and NpsRadioControl::yaw.

Referenced by parse_data().

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int nps_radio_control_spektrum_init

(

const char *

device

)

Definition at line 28 of file nps_radio_control_spektrum.c.

References B115200, channel, IUCLC, on_serial_data_received(), and sp_fd.

Referenced by nps_radio_control_init().

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static gboolean on_serial_data_received ( GIOChannel *  source, GIOCondition  condition, gpointer  data  )

static

Definition at line 71 of file nps_radio_control_spektrum.c.

References parse_data(), and TRUE.

Referenced by nps_radio_control_spektrum_init().

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static void parse_data ( char *  buf, int  len  )

static

Definition at line 104 of file nps_radio_control_spektrum.c.

References FRAME_LEN, handle_frame(), idx, STA_GOT_SYNC_1, STA_GOT_SYNC_2, STA_UNINIT, SYNC_1, and SYNC_2.

Referenced by on_serial_data_received().

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Variable Documentation

uint8_t frame_buf[FRAME_LEN]

static

Definition at line 101 of file nps_radio_control_spektrum.c.

uint32_t idx = 0

static

Definition at line 102 of file nps_radio_control_spektrum.c.

Referenced by ahrs_switch(), attitude_ref_quat_float_idx_set_omega_p(), attitude_ref_quat_float_idx_set_omega_q(), attitude_ref_quat_float_idx_set_omega_r(), attitude_ref_quat_float_schedule(), chemo_periodic(), i2c_submit(), image_show_points(), ins_vectornav_read_message(), mavlink_common_message_handler(), mtostk_populate_float_array_from_buffer(), mtostk_populate_uuid_from_buffer(), parse_data(), spi_submit(), stabilization_attitude_gain_schedule(), and superbitrf_gen_dsmx_channels().

int sp_fd

static

Definition at line 19 of file nps_radio_control_spektrum.c.

Referenced by nps_radio_control_spektrum_init().

uint8_t status = STA_UNINIT

Definition at line 98 of file nps_radio_control_spektrum.c.