intermcu.h File Reference

Rotorcraft Inter-MCU interface. More...

#include "std.h"
#include "subsystems/commands.h"
#include "pprzlink/pprz_transport.h"
#include <BOARD_CONFIG>

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Data Structures
struct	intermcu_t

Macros
#define	INTERMCU_AP   0
#define	INTERMCU_FBW   1
#define	INTERMCU_LOST_CNT   25 /* 50ms with a 512Hz timer TODO fixed value */
#define	INTERMCU_SET_CMD_STATUS(_bit)   { intermcu.cmd_status |= (1 << _bit); }
#define	INTERMCU_CLR_CMD_STATUS(_bit)   { intermcu.cmd_status &= ~(1 << _bit); }
#define	INTERMCU_GET_CMD_STATUS(_bit)   (intermcu.cmd_status & (1 << _bit))

Enumerations
enum	intermcu_status { INTERMCU_OK, INTERMCU_LOST }
enum	intermcu_PX4_baud_status { PX4_BAUD, CHANGING_BAUD, PPRZ_BAUD }
enum	intermcu_cmd_status { INTERMCU_CMD_MOTORS_ON, INTERMCU_CMD_DISARM, INTERMCU_CMD_TIPPROPS, INTERMCU_CMD_FAILSAFE }

Functions
void	intermcu_init (void)
void	intermcu_periodic (void)

Variables
struct intermcu_t	intermcu

Detailed Description

Rotorcraft Inter-MCU interface.

Definition in file intermcu.h.

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Data Structure Documentation

intermcu_t

struct intermcu_t

Definition at line 70 of file intermcu.h.

Collaboration diagram for intermcu_t:

Data Fields
uint8_t	cmd_status	Command status information that is transfered (intermcu_cmd_status)
struct link_device *	device	Device used for communication.
bool	enabled	If the InterMCU communication is enabled.
bool	msg_available	If we have an InterMCU message.
enum intermcu_status	status	Status of the INTERMCU.
uint8_t	time_since_last_frame	Time since last frame.
struct pprz_transport	transport	Transport over communication line (PPRZ)

Macro Definition Documentation

INTERMCU_AP

#define INTERMCU_AP   0

Definition at line 34 of file intermcu.h.

INTERMCU_CLR_CMD_STATUS

#define INTERMCU_CLR_CMD_STATUS

(

_bit

)

{ intermcu.cmd_status &= ~(1 << _bit); }

Definition at line 66 of file intermcu.h.

INTERMCU_FBW

#define INTERMCU_FBW   1

Definition at line 35 of file intermcu.h.

INTERMCU_GET_CMD_STATUS

#define INTERMCU_GET_CMD_STATUS

(

_bit

)

(intermcu.cmd_status & (1 << _bit))

Definition at line 67 of file intermcu.h.

INTERMCU_LOST_CNT

#define INTERMCU_LOST_CNT   25 /* 50ms with a 512Hz timer TODO fixed value */

Definition at line 38 of file intermcu.h.

INTERMCU_SET_CMD_STATUS

#define INTERMCU_SET_CMD_STATUS

(

_bit

)

{ intermcu.cmd_status |= (1 << _bit); }

Definition at line 65 of file intermcu.h.

Enumeration Type Documentation

intermcu_cmd_status

enum intermcu_cmd_status

Enumerator
INTERMCU_CMD_MOTORS_ON	The status of autopilot_motors_on.
INTERMCU_CMD_DISARM	Whether or not to dis-arm the FBW.
INTERMCU_CMD_TIPPROPS	Enable tip props.
INTERMCU_CMD_FAILSAFE	Set FBW in failsafe mode.

Definition at line 57 of file intermcu.h.

intermcu_PX4_baud_status

enum intermcu_PX4_baud_status

Enumerator
PX4_BAUD
CHANGING_BAUD
PPRZ_BAUD

Definition at line 50 of file intermcu.h.

intermcu_status

enum intermcu_status

Enumerator
INTERMCU_OK	InterMCU communication is OK.
INTERMCU_LOST	No interMCU communication anymore.

Definition at line 44 of file intermcu.h.

Function Documentation

intermcu_init()

void intermcu_init

(

void

)

Definition at line 71 of file intermcu_ap.c.

References DefaultPeriodic, gps_cb(), gps_ev, GPS_FIX_NONE, GPS_IMCU_ID, IMCU_GPS_ID, intermcu, register_periodic_telemetry(), send_status(), sys_time_register_timer(), and intermcu_t::transport.

Referenced by main_init().

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intermcu_periodic()

void intermcu_periodic

(

void

)

Definition at line 90 of file intermcu_ap.c.

References gps_periodic_check(), intermcu, INTERMCU_LOST, INTERMCU_LOST_CNT, intermcu_t::status, and intermcu_t::time_since_last_frame.

Referenced by main_periodic().

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Variable Documentation

intermcu

struct intermcu_t intermcu

Definition at line 41 of file intermcu_ap.c.

Referenced by fbw_on_rc_frame(), fbw_safety_check(), gps_cb(), intermcu_init(), intermcu_on_rc_frame(), intermcu_parse_msg(), intermcu_periodic(), intermcu_send_spektrum_bind(), intermcu_send_status(), intermcu_set_actuators(), intermcu_set_enabled(), InterMcuEvent(), main_periodic(), opa_controller_periodic(), RadioControlEvent(), telemetry_intermcu_event(), and telemetry_intermcu_send_message().