#include "link_mcu_usart.h"
#include "mcu_periph/uart.h"
#include "led.h"
#include "subsystems/commands.h"

Include dependency graph for link_mcu_usart.c:

Data Structures
struct	InterMcuData

Macros
#define	InterMcuBuffer() uart_char_available(&(INTERMCU_LINK))

#define	InterMcuUartSend1(c) uart_put_byte(&(INTERMCU_LINK), 0, c)

#define	InterMcuUartSetBaudrate(_a) uart_periph_set_baudrate(&(INTERMCU_LINK), _a)

#define	InterMcuUartSendMessage() {}

#define	InterMcuUartGetch() uart_getch(&(INTERMCU_LINK))

#define	INTERMCU_SYNC1 0xB5

#define	INTERMCU_SYNC2 0x62

#define	InterMcuInitCheksum() { intermcu_data.send_ck_a = intermcu_data.send_ck_b = 0; }

#define	InterMcuUpdateChecksum(c) { intermcu_data.send_ck_a += c; intermcu_data.send_ck_b += intermcu_data.send_ck_a; }

#define	InterMcuTrailer() { InterMcuUartSend1(intermcu_data.send_ck_a); InterMcuUartSend1(intermcu_data.send_ck_b); InterMcuUartSendMessage(); }

#define	InterMcuSend1(c) { uint8_t i8=c; InterMcuUartSend1(i8); InterMcuUpdateChecksum(i8); }

#define	InterMcuSend2(c) { uint16_t i16=c; InterMcuSend1(i16&0xff); InterMcuSend1(i16 >> 8); }

#define	InterMcuSend1ByAddr(x) { InterMcuSend1(*x); }

#define	InterMcuSend2ByAddr(x) { InterMcuSend1(x); InterMcuSend1((x+1)); }

#define	InterMcuSend4ByAddr(x) { InterMcuSend1(x); InterMcuSend1((x+1)); InterMcuSend1((x+2)); InterMcuSend1((x+3)); }

#define	InterMcuHeader(nav_id, msg_id, len)

#define	MSG_INTERMCU_ID 100

#define	MSG_INTERMCU_COMMAND_ID 0x05

#define	MSG_INTERMCU_COMMAND_LENGTH (2*(COMMANDS_NB))

#define	MSG_INTERMCU_COMMAND(_intermcu_payload, nr) (uint16_t)(((uint8_t)_intermcu_payload+0+(2(nr)))\|((uint8_t)_intermcu_payload+1+(2(nr)))<<8)

#define	InterMcuSend_INTERMCU_COMMAND(cmd)

#define	MSG_INTERMCU_RADIO_ID 0x08

#define	MSG_INTERMCU_RADIO_LENGTH (2*(RADIO_CONTROL_NB_CHANNEL))

#define	MSG_INTERMCU_RADIO(_intermcu_payload, nr) (uint16_t)(((uint8_t)_intermcu_payload+0+(2(nr)))\|((uint8_t)_intermcu_payload+1+(2(nr)))<<8)

#define	InterMcuSend_INTERMCU_RADIO(cmd)

#define	MSG_INTERMCU_FBW_ID 0x06

#define	MSG_INTERMCU_FBW_MOD(_intermcu_payload) (uint8_t)(((uint8_t)_intermcu_payload+0))

#define	MSG_INTERMCU_FBW_STAT(_intermcu_payload) (uint8_t)(((uint8_t)_intermcu_payload+1))

#define	MSG_INTERMCU_FBW_ERR(_intermcu_payload) (uint8_t)(((uint8_t)_intermcu_payload+2))

#define	MSG_INTERMCU_FBW_VOLT(_intermcu_payload) (uint16_t)(((uint8_t)_intermcu_payload+3)\|((uint8_t)_intermcu_payload+1+3)<<8)

#define	MSG_INTERMCU_FBW_CURRENT(_intermcu_payload) (uint16_t)(((uint8_t)_intermcu_payload+5)\|((uint8_t)_intermcu_payload+1+5)<<8)

#define	InterMcuSend_INTERMCU_FBW(mod, stat, err, volt, current)

#define	MSG_INTERMCU_TRIM_ID 0x07

#define	MSG_INTERMCU_TRIM_ROLL(_intermcu_payload) (uint16_t)(((uint8_t)_intermcu_payload+0)\|((uint8_t)_intermcu_payload+1)<<8)

#define	MSG_INTERMCU_TRIM_PITCH(_intermcu_payload) (uint16_t)(((uint8_t)_intermcu_payload+2)\|((uint8_t)_intermcu_payload+3)<<8)

#define	InterMcuSend_INTERMCU_TRIM(roll, pitch)

#define	LINK_MCU_UNINIT 0

#define	LINK_MCU_GOT_SYNC1 1

#define	LINK_MCU_GOT_SYNC2 2

#define	LINK_MCU_GOT_CLASS 3

#define	LINK_MCU_GOT_ID 4

#define	LINK_MCU_GOT_LEN1 5

#define	LINK_MCU_GOT_LEN2 6

#define	LINK_MCU_GOT_PAYLOAD 7

#define	LINK_MCU_GOT_CHECKSUM1 8

#define	INTERMCU_MAX_PAYLOAD 255

Functions
void	intermcu_parse (uint8_t c)

void	parse_mavpilot_msg (void)

void	link_mcu_init (void)

void	link_mcu_event_task (void)

Variables
struct InterMcuData	intermcu_data

struct link_mcu_msg	link_mcu_from_ap_msg

struct link_mcu_msg	link_mcu_from_fbw_msg

Data Structure Documentation

struct InterMcuData

Definition at line 142 of file link_mcu_usart.c.

Data Fields
uint8_t	ck_a
uint8_t	ck_b
uint8_t	error_cnt
uint16_t	len
bool	msg_available
uint8_t	msg_buf[INTERMCU_MAX_PAYLOAD]
uint8_t	msg_class
uint8_t	msg_id
uint8_t	msg_idx
uint8_t	send_ck_a
uint8_t	send_ck_b
uint8_t	status

Macro Definition Documentation

#define INTERMCU_MAX_PAYLOAD 255

Definition at line 141 of file link_mcu_usart.c.

Referenced by intermcu_parse().

#define INTERMCU_SYNC1 0xB5

Definition at line 42 of file link_mcu_usart.c.

Referenced by intermcu_parse().

#define INTERMCU_SYNC2 0x62

Definition at line 43 of file link_mcu_usart.c.

Referenced by intermcu_parse().

#define InterMcuBuffer ( ) uart_char_available(&(INTERMCU_LINK))

Definition at line 33 of file link_mcu_usart.c.

Referenced by link_mcu_event_task().

#define InterMcuHeader	(	nav_id,
		msg_id,
		len
	)

Value:

{        \
    InterMcuUartSend1(INTERMCU_SYNC1);                    \
    InterMcuUartSend1(INTERMCU_SYNC2);                    \
    InterMcuInitCheksum();                           \
    InterMcuSend1(nav_id);                           \
    InterMcuSend1(msg_id);                           \
    InterMcuSend2(len);                              \
  }

Definition at line 55 of file link_mcu_usart.c.

#define InterMcuInitCheksum ( ) { intermcu_data.send_ck_a = intermcu_data.send_ck_b = 0; }

Definition at line 45 of file link_mcu_usart.c.

#define InterMcuSend1 ( c ) { uint8_t i8=c; InterMcuUartSend1(i8); InterMcuUpdateChecksum(i8); }

Definition at line 49 of file link_mcu_usart.c.

#define InterMcuSend1ByAddr ( x ) { InterMcuSend1(*x); }

Definition at line 51 of file link_mcu_usart.c.

#define InterMcuSend2 ( c ) { uint16_t i16=c; InterMcuSend1(i16&0xff); InterMcuSend1(i16 >> 8); }

Definition at line 50 of file link_mcu_usart.c.

#define InterMcuSend2ByAddr ( x ) { InterMcuSend1(*x); InterMcuSend1(*(x+1)); }

Definition at line 52 of file link_mcu_usart.c.

#define InterMcuSend4ByAddr ( x ) { InterMcuSend1(*x); InterMcuSend1(*(x+1)); InterMcuSend1(*(x+2)); InterMcuSend1(*(x+3)); }

Definition at line 53 of file link_mcu_usart.c.

#define InterMcuSend_INTERMCU_COMMAND ( cmd )

Value:

{ \
    InterMcuHeader(MSG_INTERMCU_ID, MSG_INTERMCU_COMMAND_ID, MSG_INTERMCU_COMMAND_LENGTH);\
    for (int i=0;i<COMMANDS_NB;i++) { \
      uint16_t _cmd = cmd[i];  \
      InterMcuSend2ByAddr((uint8_t*)&_cmd);\
    } \
    InterMcuTrailer();\
  }

Definition at line 75 of file link_mcu_usart.c.

#define InterMcuSend_INTERMCU_FBW	(	mod,
		stat,
		err,
		volt,
		current
	)

Value:

{ \
    InterMcuHeader(MSG_INTERMCU_ID, MSG_INTERMCU_FBW_ID, 7);\
    uint8_t _mod = mod; InterMcuSend1ByAddr((uint8_t*)&_mod);\
    uint8_t _stat = stat; InterMcuSend1ByAddr((uint8_t*)&_stat);\
    uint8_t _err = err; InterMcuSend1ByAddr((uint8_t*)&_err);\
    uint16_t _volt = volt; InterMcuSend2ByAddr((uint8_t*)&_volt);\
    uint16_t _current = current; InterMcuSend2ByAddr((uint8_t*)&_current);\
    InterMcuTrailer();\
  }

Definition at line 105 of file link_mcu_usart.c.

#define InterMcuSend_INTERMCU_RADIO ( cmd )

Value:

{ \
    InterMcuHeader(MSG_INTERMCU_ID, MSG_INTERMCU_RADIO_ID, MSG_INTERMCU_RADIO_LENGTH);\
    for (int i=0;i<RADIO_CONTROL_NB_CHANNEL;i++) { \
      uint16_t _cmd = cmd[i];  \
      InterMcuSend2ByAddr((uint8_t*)&_cmd);\
    } \
    InterMcuTrailer();\
  }

Definition at line 88 of file link_mcu_usart.c.

#define InterMcuSend_INTERMCU_TRIM	(	roll,
		pitch
	)

Value:

{ \
    InterMcuHeader(MSG_INTERMCU_ID, MSG_INTERMCU_TRIM_ID, 4);\
    uint16_t _roll = roll; InterMcuSend2ByAddr((uint8_t*)&_roll);\
    uint16_t _pitch = pitch; InterMcuSend2ByAddr((uint8_t*)&_pitch);\
    InterMcuTrailer();\
  }

Definition at line 119 of file link_mcu_usart.c.

#define InterMcuTrailer ( ) { InterMcuUartSend1(intermcu_data.send_ck_a); InterMcuUartSend1(intermcu_data.send_ck_b); InterMcuUartSendMessage(); }

Definition at line 47 of file link_mcu_usart.c.

#define InterMcuUartGetch ( ) uart_getch(&(INTERMCU_LINK))

Definition at line 37 of file link_mcu_usart.c.

Referenced by link_mcu_event_task().

#define InterMcuUartSend1 ( c ) uart_put_byte(&(INTERMCU_LINK), 0, c)

Definition at line 34 of file link_mcu_usart.c.

#define InterMcuUartSendMessage ( ) {}

Definition at line 36 of file link_mcu_usart.c.

#define InterMcuUartSetBaudrate ( _a ) uart_periph_set_baudrate(&(INTERMCU_LINK), _a)

Definition at line 35 of file link_mcu_usart.c.

#define InterMcuUpdateChecksum ( c ) { intermcu_data.send_ck_a += c; intermcu_data.send_ck_b += intermcu_data.send_ck_a; }

Definition at line 46 of file link_mcu_usart.c.

#define LINK_MCU_GOT_CHECKSUM1 8

Definition at line 138 of file link_mcu_usart.c.

Referenced by intermcu_parse().

#define LINK_MCU_GOT_CLASS 3

Definition at line 133 of file link_mcu_usart.c.

Referenced by intermcu_parse().

#define LINK_MCU_GOT_ID 4

Definition at line 134 of file link_mcu_usart.c.

Referenced by intermcu_parse().

#define LINK_MCU_GOT_LEN1 5

Definition at line 135 of file link_mcu_usart.c.

Referenced by intermcu_parse().

#define LINK_MCU_GOT_LEN2 6

Definition at line 136 of file link_mcu_usart.c.

Referenced by intermcu_parse().

#define LINK_MCU_GOT_PAYLOAD 7

Definition at line 137 of file link_mcu_usart.c.

Referenced by intermcu_parse().

#define LINK_MCU_GOT_SYNC1 1

Definition at line 131 of file link_mcu_usart.c.

Referenced by intermcu_parse().

#define LINK_MCU_GOT_SYNC2 2

Definition at line 132 of file link_mcu_usart.c.

Referenced by intermcu_parse().

#define LINK_MCU_UNINIT 0

Definition at line 130 of file link_mcu_usart.c.

Referenced by intermcu_parse(), and link_mcu_init().

#define MSG_INTERMCU_COMMAND	(	_intermcu_payload,
		nr
	)	(uint16_t)(((uint8_t)_intermcu_payload+0+(2(nr)))\|((uint8_t)_intermcu_payload+1+(2(nr)))<<8)

Definition at line 73 of file link_mcu_usart.c.

Referenced by parse_mavpilot_msg().

#define MSG_INTERMCU_COMMAND_ID 0x05

Definition at line 71 of file link_mcu_usart.c.

Referenced by parse_mavpilot_msg().

#define MSG_INTERMCU_COMMAND_LENGTH (2*(COMMANDS_NB))

Definition at line 72 of file link_mcu_usart.c.

#define MSG_INTERMCU_FBW_CURRENT ( _intermcu_payload ) (uint16_t)(*((uint8_t*)_intermcu_payload+5)|*((uint8_t*)_intermcu_payload+1+5)<<8)

Definition at line 103 of file link_mcu_usart.c.

Referenced by parse_mavpilot_msg().

#define MSG_INTERMCU_FBW_ERR ( _intermcu_payload ) (uint8_t)(*((uint8_t*)_intermcu_payload+2))

Definition at line 100 of file link_mcu_usart.c.

Referenced by parse_mavpilot_msg().

#define MSG_INTERMCU_FBW_ID 0x06

Definition at line 97 of file link_mcu_usart.c.

Referenced by parse_mavpilot_msg().

#define MSG_INTERMCU_FBW_MOD ( _intermcu_payload ) (uint8_t)(*((uint8_t*)_intermcu_payload+0))

Definition at line 98 of file link_mcu_usart.c.

Referenced by parse_mavpilot_msg().

#define MSG_INTERMCU_FBW_STAT ( _intermcu_payload ) (uint8_t)(*((uint8_t*)_intermcu_payload+1))

Definition at line 99 of file link_mcu_usart.c.

Referenced by parse_mavpilot_msg().

#define MSG_INTERMCU_FBW_VOLT ( _intermcu_payload ) (uint16_t)(*((uint8_t*)_intermcu_payload+3)|*((uint8_t*)_intermcu_payload+1+3)<<8)

Definition at line 101 of file link_mcu_usart.c.

Referenced by parse_mavpilot_msg().

#define MSG_INTERMCU_ID 100

Definition at line 68 of file link_mcu_usart.c.

Referenced by parse_mavpilot_msg().

#define MSG_INTERMCU_RADIO	(	_intermcu_payload,
		nr
	)	(uint16_t)(((uint8_t)_intermcu_payload+0+(2(nr)))\|((uint8_t)_intermcu_payload+1+(2(nr)))<<8)

Definition at line 86 of file link_mcu_usart.c.

Referenced by parse_mavpilot_msg().

#define MSG_INTERMCU_RADIO_ID 0x08

Definition at line 84 of file link_mcu_usart.c.

Referenced by parse_mavpilot_msg().

#define MSG_INTERMCU_RADIO_LENGTH (2*(RADIO_CONTROL_NB_CHANNEL))

Definition at line 85 of file link_mcu_usart.c.

#define MSG_INTERMCU_TRIM_ID 0x07

Definition at line 115 of file link_mcu_usart.c.

Referenced by parse_mavpilot_msg().

#define MSG_INTERMCU_TRIM_PITCH ( _intermcu_payload ) (uint16_t)(*((uint8_t*)_intermcu_payload+2)|*((uint8_t*)_intermcu_payload+3)<<8)

Definition at line 117 of file link_mcu_usart.c.

Referenced by parse_mavpilot_msg().

#define MSG_INTERMCU_TRIM_ROLL ( _intermcu_payload ) (uint16_t)(*((uint8_t*)_intermcu_payload+0)|*((uint8_t*)_intermcu_payload+1)<<8)

Definition at line 116 of file link_mcu_usart.c.

Referenced by parse_mavpilot_msg().

Function Documentation

void intermcu_parse ( uint8_t c )

Definition at line 160 of file link_mcu_usart.c.

References InterMcuData::ck_a, InterMcuData::ck_b, InterMcuData::error_cnt, intermcu_data, INTERMCU_MAX_PAYLOAD, INTERMCU_SYNC1, INTERMCU_SYNC2, InterMcuData::len, LINK_MCU_GOT_CHECKSUM1, LINK_MCU_GOT_CLASS, LINK_MCU_GOT_ID, LINK_MCU_GOT_LEN1, LINK_MCU_GOT_LEN2, LINK_MCU_GOT_PAYLOAD, LINK_MCU_GOT_SYNC1, LINK_MCU_GOT_SYNC2, LINK_MCU_UNINIT, InterMcuData::msg_available, InterMcuData::msg_buf, InterMcuData::msg_class, InterMcuData::msg_id, InterMcuData::msg_idx, and InterMcuData::status.

Referenced by link_mcu_event_task().

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void link_mcu_event_task ( void )

Definition at line 374 of file link_mcu_usart.c.

References intermcu_data, intermcu_parse(), InterMcuBuffer, InterMcuUartGetch, InterMcuData::msg_available, and parse_mavpilot_msg().

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void link_mcu_init ( void )

Definition at line 283 of file link_mcu_usart.c.

References DefaultPeriodic, InterMcuData::error_cnt, intermcu_data, link_mcu_on_can_msg(), LINK_MCU_UNINIT, InterMcuData::msg_available, ppz_can_init(), register_periodic_telemetry(), send_commands(), send_fbw_status(), and InterMcuData::status.

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void parse_mavpilot_msg ( void )

inline

Definition at line 297 of file link_mcu_usart.c.

References ap_state, fbw_state, inter_mcu_received_ap, inter_mcu_received_fbw, intermcu_data, LED_TOGGLE, InterMcuData::msg_buf, InterMcuData::msg_class, InterMcuData::msg_id, MSG_INTERMCU_COMMAND, MSG_INTERMCU_COMMAND_ID, MSG_INTERMCU_FBW_CURRENT, MSG_INTERMCU_FBW_ERR, MSG_INTERMCU_FBW_ID, MSG_INTERMCU_FBW_MOD, MSG_INTERMCU_FBW_STAT, MSG_INTERMCU_FBW_VOLT, MSG_INTERMCU_ID, MSG_INTERMCU_RADIO, MSG_INTERMCU_RADIO_ID, MSG_INTERMCU_TRIM_ID, MSG_INTERMCU_TRIM_PITCH, MSG_INTERMCU_TRIM_ROLL, and RADIO_CONTROL_NB_CHANNEL.

Referenced by link_mcu_event_task().

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Variable Documentation

struct InterMcuData intermcu_data

Definition at line 156 of file link_mcu_usart.c.

Referenced by intermcu_parse(), link_mcu_event_task(), link_mcu_init(), and parse_mavpilot_msg().

struct link_mcu_msg link_mcu_from_ap_msg

Definition at line 241 of file link_mcu_usart.c.

struct link_mcu_msg link_mcu_from_fbw_msg

Definition at line 242 of file link_mcu_usart.c.

Data Structures

Macros

Functions

Variables

Data Structure Documentation

Macro Definition Documentation

Function Documentation

Variable Documentation