stereocam_droplet.c File Reference

#include "modules/stereocam/droplet/stereocam_droplet.h"
#include "generated/flight_plan.h"
#include "firmwares/rotorcraft/navigation.h"
#include "mcu_periph/uart.h"
#include "pprzlink/messages.h"
#include "subsystems/datalink/downlink.h"
#include "led.h"

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Data Structures
struct	AvoidNavigationStruct

Macros
#define	STEREO_PORT   (&((STEREO_UART).device))
#define	StereoGetch()   STEREO_PORT ->get_byte(STEREO_PORT->periph)
#define	StereoSend1(c)   STEREO_PORT->put_byte(STEREO_PORT->periph, 0, c)
#define	StereoUartSend1(c)   StereoSend1(c)
#define	StereoSend(_dat, _len)   { for (uint8_t i = 0; i< (_len); i++) StereoSend1(_dat[i]); };
#define	StereoUartSetBaudrate(_b)   uart_periph_set_baudrate(STEREO_PORT, _b);
#define	StereoChAvailable()   (xdev->char_available(xdev->periph))
#define	DOWNLINK_DEVICE   DOWNLINK_AP_DEVICE

Functions
static void	stereo_parse (uint8_t c)
void	stereocam_droplet_init (void)
void	stereocam_droplet_periodic (void)

Variables
struct link_device *	xdev = STEREO_PORT
struct AvoidNavigationStruct	avoid_navigation_data
	global VIDEO state More...

Detailed Description

Author

C. DW

Definition in file stereocam_droplet.c.

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Data Structure Documentation

AvoidNavigationStruct

struct AvoidNavigationStruct

Definition at line 69 of file stereocam_droplet.c.

Data Fields
uint8_t	mode	0 = straight, 1 = right, 2 = left, ... 0 = nothing, 1 = climb, 2 = sideways, ...
uint8_t	stereo_bin[8]
uint8_t	timeout

Macro Definition Documentation

DOWNLINK_DEVICE

#define DOWNLINK_DEVICE   DOWNLINK_AP_DEVICE

Definition at line 57 of file stereocam_droplet.c.

STEREO_PORT

#define STEREO_PORT   (&((STEREO_UART).device))

Definition at line 40 of file stereocam_droplet.c.

StereoChAvailable

#define StereoChAvailable

(

)

(xdev->char_available(xdev->periph))

Definition at line 48 of file stereocam_droplet.c.

StereoGetch

#define StereoGetch

(

)

STEREO_PORT ->get_byte(STEREO_PORT->periph)

Definition at line 43 of file stereocam_droplet.c.

StereoSend

#define StereoSend	(		_dat,
			_len
	)		{ for (uint8_t i = 0; i< (_len); i++) StereoSend1(_dat[i]); };

Definition at line 46 of file stereocam_droplet.c.

StereoSend1

#define StereoSend1

(

c

)

STEREO_PORT->put_byte(STEREO_PORT->periph, 0, c)

Definition at line 44 of file stereocam_droplet.c.

StereoUartSend1

#define StereoUartSend1

(

c

)

StereoSend1(c)

Definition at line 45 of file stereocam_droplet.c.

StereoUartSetBaudrate

#define StereoUartSetBaudrate

(

_b

)

uart_periph_set_baudrate(STEREO_PORT, _b);

Definition at line 47 of file stereocam_droplet.c.

Function Documentation

stereo_parse()

static void stereo_parse ( uint8_t  c )

static

Definition at line 84 of file stereocam_droplet.c.

References avoid_navigation_data, c(), AvoidNavigationStruct::stereo_bin, and AvoidNavigationStruct::timeout.

Referenced by stereocam_droplet_periodic().

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stereocam_droplet_init()

void stereocam_droplet_init

(

void

)

Definition at line 92 of file stereocam_droplet.c.

References avoid_navigation_data, AvoidNavigationStruct::mode, and AvoidNavigationStruct::timeout.

stereocam_droplet_periodic()

void stereocam_droplet_periodic

(

void

)

Definition at line 98 of file stereocam_droplet.c.

References ANGLE_FLOAT_OF_BFP, avoid_navigation_data, DefaultChannel, DefaultDevice, heading, LED_OFF, LED_ON, nav_heading, nav_set_heading_rad(), NavSetWaypointHere, obstacle_detected, AvoidNavigationStruct::stereo_bin, stereo_parse(), StereoChAvailable, StereoGetch, AvoidNavigationStruct::timeout, waypoint_get_alt(), waypoint_get_x(), waypoint_get_y(), waypoint_set_enu(), EnuCoor_f::x, EnuCoor_f::y, and EnuCoor_f::z.

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Variable Documentation

avoid_navigation_data

struct AvoidNavigationStruct avoid_navigation_data

global VIDEO state

Definition at line 75 of file stereocam_droplet.c.

Referenced by stereo_avoid_init(), stereo_avoid_run(), stereo_parse(), stereocam_droplet_init(), and stereocam_droplet_periodic().

xdev

struct link_device* xdev = STEREO_PORT

Definition at line 41 of file stereocam_droplet.c.