intermcu_fbw.c File Reference

Rotorcraft Inter-MCU on FlyByWire. More...

#include "intermcu_fbw.h"
#include "pprzlink/intermcu_msg.h"
#include "subsystems/radio_control.h"
#include "subsystems/electrical.h"
#include "mcu_periph/uart.h"
#include "modules/telemetry/telemetry_intermcu.h"
#include "modules/spektrum_soft_bind/spektrum_soft_bind_fbw.h"
#include <BOARD_CONFIG>
#include "subsystems/abi.h"
#include "subsystems/gps.h"

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Macros
#define	ABI_C
#define	IMCU_GPS_ID   GPS_MULTI_ID

Functions
static void	intermcu_parse_msg (void(*commands_frame_handler)(void))
static void	gps_cb (uint8_t sender_id, uint32_t stamp, struct GpsState *gps_s)
void	intermcu_init (void)
void	intermcu_periodic (void)
void	intermcu_on_rc_frame (uint8_t fbw_mode)
void	intermcu_send_status (uint8_t mode)
void	InterMcuEvent (void(*frame_handler)(void))

Variables
struct intermcu_t	intermcu
uint8_t	imcu_msg_buf [128]
	The InterMCU message buffer. More...
pprz_t	intermcu_commands [COMMANDS_NB]
bool	autopilot_motors_on = false
static abi_event	gps_ev

Detailed Description

Rotorcraft Inter-MCU on FlyByWire.

Definition in file intermcu_fbw.c.

Macro Definition Documentation

ABI_C

#define ABI_C

Definition at line 27 of file intermcu_fbw.c.

IMCU_GPS_ID

#define IMCU_GPS_ID   GPS_MULTI_ID

Definition at line 74 of file intermcu_fbw.c.

Function Documentation

gps_cb()

static void gps_cb ( uint8_t  sender_id, uint32_t  stamp, struct GpsState *  gps_s  )

static

Definition at line 233 of file intermcu_fbw.c.

References LlaCoor_i::alt, GpsState::course, intermcu_t::device, GpsState::ecef_pos, GpsState::ecef_vel, GpsState::fix, GpsState::gspeed, GpsState::hmsl, intermcu, INTERMCU_FBW, GpsState::lla_pos, GpsState::num_sv, GpsState::pacc, GpsState::sacc, intermcu_t::transport, EcefCoor_i::x, EcefCoor_i::y, and EcefCoor_i::z.

Referenced by intermcu_init().

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intermcu_init()

void intermcu_init

(

void

)

Definition at line 83 of file intermcu_fbw.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.

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intermcu_on_rc_frame()

void intermcu_on_rc_frame

(

uint8_t

fbw_mode

)

Definition at line 106 of file intermcu_fbw.c.

References intermcu_t::device, fbw_mode, intermcu, INTERMCU_FBW, INTERMCU_RADIO_AUX1, INTERMCU_RADIO_AUX2, INTERMCU_RADIO_AUX3, INTERMCU_RADIO_KILL_SWITCH, INTERMCU_RADIO_MODE, INTERMCU_RADIO_PITCH, INTERMCU_RADIO_ROLL, INTERMCU_RADIO_THROTTLE, INTERMCU_RADIO_YAW, RADIO_AUX1, RADIO_AUX2, RADIO_AUX3, radio_control, RADIO_CONTROL_NB_CHANNEL, RADIO_KILL_SWITCH, RADIO_MODE, RADIO_PITCH, RADIO_ROLL, RADIO_THROTTLE, RADIO_YAW, intermcu_t::transport, and RadioControl::values.

Referenced by fbw_on_rc_frame().

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intermcu_parse_msg()

static void intermcu_parse_msg ( void(*)(void)  commands_frame_handler )

static

Definition at line 148 of file intermcu_fbw.c.

References autopilot_motors_on, intermcu_t::cmd_status, imcu_msg_buf, intermcu, INTERMCU_CLR_CMD_STATUS, INTERMCU_CMD_MOTORS_ON, intermcu_commands, INTERMCU_GET_CMD_STATUS, INTERMCU_OK, msg, received_spektrum_soft_bind(), intermcu_t::status, telemetry_intermcu_on_msg(), and intermcu_t::time_since_last_frame.

Referenced by InterMcuEvent().

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intermcu_periodic()

void intermcu_periodic

(

void

)

Definition at line 96 of file intermcu_fbw.c.

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

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intermcu_send_status()

void intermcu_send_status

(

uint8_t

mode

)

Definition at line 139 of file intermcu_fbw.c.

References Electrical::current, intermcu_t::device, electrical, RadioControl::frame_rate, intermcu, INTERMCU_FBW, mode, radio_control, RadioControl::status, intermcu_t::transport, and Electrical::vsupply.

Referenced by telemetry_periodic().

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InterMcuEvent()

void InterMcuEvent

(

void(*)(void)

frame_handler

)

Definition at line 199 of file intermcu_fbw.c.

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

Referenced by main_event().

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Variable Documentation

autopilot_motors_on

bool autopilot_motors_on = false

Definition at line 64 of file intermcu_fbw.c.

Referenced by intermcu_parse_msg(), and main_periodic().

gps_ev

abi_event gps_ev

static

Definition at line 79 of file intermcu_fbw.c.

Referenced by intermcu_init().

imcu_msg_buf

uint8_t imcu_msg_buf[128]

The InterMCU message buffer.

Definition at line 61 of file intermcu_fbw.c.

Referenced by intermcu_parse_msg(), and InterMcuEvent().

intermcu

struct intermcu_t intermcu

Initial value:

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

Definition at line 56 of file intermcu_fbw.c.

Referenced by gps_cb(), intermcu_init(), intermcu_on_rc_frame(), intermcu_parse_msg(), intermcu_periodic(), intermcu_send_status(), and InterMcuEvent().

intermcu_commands

pprz_t intermcu_commands[COMMANDS_NB]

Definition at line 63 of file intermcu_fbw.c.

Referenced by fbw_on_ap_command(), and intermcu_parse_msg().