rc_datalink.c File Reference

#include "subsystems/radio_control/rc_datalink.h"
#include "subsystems/radio_control.h"

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Functions
void	radio_control_impl_init (void)
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	radio_control_impl_event (void(*_received_frame_handler)(void))
	RC event function with handler callback. More...

Variables
int8_t	rc_dl_values [RC_DL_NB_CHANNEL]
volatile bool	rc_dl_frame_available

Function Documentation

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 40 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 dl_parse_msg().

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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 56 of file rc_datalink.c.

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

Referenced by dl_parse_msg(), and mavlink_common_message_handler().

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void radio_control_impl_event

(

void(*)(void)

_received_frame_handler

)

RC event function with handler callback.

PPM frames are normalized using the IIR filter.

Definition at line 89 of file rc_datalink.c.

References RadioControl::frame_cpt, radio_control, 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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void radio_control_impl_init

(

void

)

Definition at line 34 of file rc_datalink.c.

References rc_dl_frame_available.

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

static

Normalize rc_dl_values to radio values.

Definition at line 75 of file rc_datalink.c.

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

Referenced by radio_control_impl_event().

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Variable Documentation

volatile bool rc_dl_frame_available

Definition at line 31 of file rc_datalink.c.

Referenced by parse_rc_3ch_datalink(), parse_rc_4ch_datalink(), radio_control_impl_event(), and radio_control_impl_init().

int8_t rc_dl_values[RC_DL_NB_CHANNEL]

Definition at line 30 of file rc_datalink.c.

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