intermcu_ap.c File Reference

Rotorcraft Inter-MCU on the autopilot. More...

#include "intermcu_ap.h"
#include "pprzlink/intermcu_msg.h"
#include "subsystems/radio_control.h"
#include "mcu_periph/uart.h"
#include "subsystems/electrical.h"
#include "autopilot.h"
#include "subsystems/datalink/telemetry.h"

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Functions
static void	intermcu_parse_msg (void(*rc_frame_handler)(void))
static void	send_status (struct transport_tx *trans, struct link_device *dev)
void	intermcu_init (void)
void	intermcu_periodic (void)
void	intermcu_set_enabled (bool value)
void	intermcu_set_actuators (pprz_t *command_values, uint8_t ap_mode)
void	intermcu_send_spektrum_bind (void)
void	RadioControlEvent (void(*frame_handler)(void))

Variables
struct intermcu_t	intermcu
uint8_t	imcu_msg_buf [128]
	The InterMCU message buffer. More...
static struct fbw_status_t	fbw_status

Detailed Description

Rotorcraft Inter-MCU on the autopilot.

Definition in file intermcu_ap.c.

Function Documentation

intermcu_init()

void intermcu_init

(

void

)

Definition at line 71 of file intermcu_ap.c.

Referenced by main_init().

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intermcu_parse_msg()

static void intermcu_parse_msg ( void(*)(void)  rc_frame_handler )

inlinestatic

Definition at line 138 of file intermcu_ap.c.

References Electrical::current, fbw_status_t::electrical, fbw_status, RadioControl::frame_cpt, fbw_status_t::frame_rate, get_sys_time_usec(), GPS_FIX_3D, GPS_IMCU_ID, GPS_VALID_COURSE_BIT, GPS_VALID_HMSL_BIT, GPS_VALID_POS_ECEF_BIT, GPS_VALID_VEL_ECEF_BIT, imcu_msg_buf, intermcu, fbw_status_t::mode, msg, sys_time::nb_sec, sys_time::nb_sec_rem, radio_control, RC_OK, fbw_status_t::rc_status, RadioControl::status, intermcu_t::status, telemetry_intermcu_on_msg(), RadioControl::time_since_last_frame, RadioControl::values, and Electrical::vsupply.

Referenced by RadioControlEvent().

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intermcu_periodic()

void intermcu_periodic

(

void

)

Definition at line 90 of file intermcu_ap.c.

Referenced by main_periodic().

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intermcu_send_spektrum_bind()

void intermcu_send_spektrum_bind

(

void

)

Definition at line 129 of file intermcu_ap.c.

References intermcu_t::device, intermcu_t::enabled, intermcu, INTERMCU_AP, and intermcu_t::transport.

Referenced by spektrum_soft_bind_click().

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intermcu_set_actuators()

void intermcu_set_actuators	(	pprz_t *	command_values,
		uint8_t	ap_mode
	)

Definition at line 111 of file intermcu_ap.c.

References autopilot_get_motors_on(), intermcu_t::cmd_status, intermcu_t::device, intermcu_t::enabled, intermcu, INTERMCU_AP, INTERMCU_CMD_MOTORS_ON, INTERMCU_SET_CMD_STATUS, and intermcu_t::transport.

Referenced by main_periodic().

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intermcu_set_enabled()

void intermcu_set_enabled

(

bool

value

)

Definition at line 105 of file intermcu_ap.c.

References intermcu_t::enabled, and intermcu.

Referenced by px4flash_event().

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RadioControlEvent()

void RadioControlEvent

(

void(*)(void)

frame_handler

)

Definition at line 231 of file intermcu_ap.c.

References intermcu_t::device, intermcu_t::enabled, imcu_msg_buf, intermcu, intermcu_parse_msg(), intermcu_t::msg_available, and intermcu_t::transport.

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send_status()

static void send_status ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 62 of file intermcu_ap.c.

References Electrical::current, dev, fbw_status_t::electrical, fbw_status, fbw_status_t::frame_rate, fbw_status_t::mode, fbw_status_t::rc_status, and Electrical::vsupply.

Referenced by intermcu_init().

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Variable Documentation

fbw_status

struct fbw_status_t fbw_status

static

Definition at line 47 of file intermcu_ap.c.

Referenced by intermcu_parse_msg(), and send_status().

imcu_msg_buf

uint8_t imcu_msg_buf[128]

The InterMCU message buffer.

Definition at line 46 of file intermcu_ap.c.

Referenced by intermcu_parse_msg(), and RadioControlEvent().

intermcu

struct intermcu_t intermcu

Initial value:

= {
  .device = (&((INTERMCU_LINK).device)),
  .enabled = true,
  .msg_available = false,
}

Definition at line 41 of file intermcu_ap.c.

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