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downlink macros with transport and device arguments

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This commit is contained in:
Gautier Hattenberger
2011-12-11 22:42:34 +01:00
parent 930627385a
commit 98750707f5
124 changed files with 546 additions and 519 deletions
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conf/telemetry/telemetry.dtd
+1
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@@ -7,6 +7,7 @@
<!ATTLIST process <!ATTLIST process
name CDATA #REQUIRED name CDATA #REQUIRED
channel CDATA "DefaultChannel" channel CDATA "DefaultChannel"
device CDATA "DefaultDevice"
> >
<!ATTLIST mode <!ATTLIST mode
name CDATA #REQUIRED name CDATA #REQUIRED
sw/airborne/arch/sim/ivy_transport.h
+24 -24
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@@ -4,45 +4,45 @@
extern char ivy_buf[]; extern char ivy_buf[];
extern char* ivy_p; extern char* ivy_p;
#define IvyTransportCheckFreeSpace(_) TRUE #define IvyTransportCheckFreeSpace(_dev,_) TRUE
#define IvyTransportSizeOf(x) (x) #define IvyTransportSizeOf(x) (x)
#define IvyTransportHeader(len) ivy_p=ivy_buf; #define IvyTransportHeader(_dev,len) ivy_p=ivy_buf;
#define IvyTransportTrailer() { *ivy_p = '\0'; IvySendMsg("%s",ivy_buf); } #define IvyTransportTrailer(_dev) { *ivy_p = '\0'; IvySendMsg("%s",ivy_buf); }
#define IvyTransportPutUint8(x) { ivy_p += sprintf(ivy_p, "%u ", x); } #define IvyTransportPutUint8(_dev,x) { ivy_p += sprintf(ivy_p, "%u ", x); }
#define IvyTransportPutNamedUint8(_name, _x) { ivy_p += sprintf(ivy_p, "%s ", _name); } #define IvyTransportPutNamedUint8(_dev,_name, _x) { ivy_p += sprintf(ivy_p, "%s ", _name); }
#define Space() ivy_p += sprintf(ivy_p, " "); #define Space() ivy_p += sprintf(ivy_p, " ");
#define Comma() ivy_p += sprintf(ivy_p, ","); #define Comma() ivy_p += sprintf(ivy_p, ",");
#define IvyTransportPutUintByAddr(x) ivy_p += sprintf(ivy_p, "%u", *x); #define IvyTransportPutUintByAddr(_dev,x) ivy_p += sprintf(ivy_p, "%u", *x);
#define IvyTransportPutUint8ByAddr(x) IvyTransportPutUintByAddr(x) Space() #define IvyTransportPutUint8ByAddr(_dev,x) IvyTransportPutUintByAddr(_dev,x) Space()
#define IvyTransportPutUint16ByAddr(x) IvyTransportPutUintByAddr(x) Space() #define IvyTransportPutUint16ByAddr(_dev,x) IvyTransportPutUintByAddr(_dev,x) Space()
#define IvyTransportPutUint32ByAddr(x) IvyTransportPutUintByAddr(x) Space() #define IvyTransportPutUint32ByAddr(_dev,x) IvyTransportPutUintByAddr(_dev,x) Space()
#define IvyTransportPutIntByAddr(x) ivy_p += sprintf(ivy_p, "%d", *x); #define IvyTransportPutIntByAddr(_dev,x) ivy_p += sprintf(ivy_p, "%d", *x);
#define IvyTransportPutInt8ByAddr(x) IvyTransportPutIntByAddr(x) Space() #define IvyTransportPutInt8ByAddr(_dev,x) IvyTransportPutIntByAddr(_dev,x) Space()
#define IvyTransportPutInt16ByAddr(x) IvyTransportPutIntByAddr(x) Space() #define IvyTransportPutInt16ByAddr(_dev,x) IvyTransportPutIntByAddr(_dev,x) Space()
#define IvyTransportPutInt32ByAddr(x) IvyTransportPutIntByAddr(x) Space() #define IvyTransportPutInt32ByAddr(_dev,x) IvyTransportPutIntByAddr(_dev,x) Space()
#define IvyTransportPutOneFloatByAddr(x) ivy_p += sprintf(ivy_p, "%f", *x); #define IvyTransportPutOneFloatByAddr(_dev,x) ivy_p += sprintf(ivy_p, "%f", *x);
#define IvyTransportPutFloatByAddr(x) IvyTransportPutOneFloatByAddr(x) Space() #define IvyTransportPutFloatByAddr(_dev,x) IvyTransportPutOneFloatByAddr(_dev,x) Space()
#define IvyTransportPutDoubleByAddr(x) IvyTransportPutOneFloatByAddr(x) Space() #define IvyTransportPutDoubleByAddr(_dev,x) IvyTransportPutOneFloatByAddr(_dev,x) Space()
#define IvyTransportPutArray(_put, _n, _x) { \ #define IvyTransportPutArray(_dev,_put, _n, _x) { \
int __i; \ int __i; \
for(__i = 0; __i < _n; __i++) { \ for(__i = 0; __i < _n; __i++) { \
_put(&_x[__i]); \ _put(_dev,&_x[__i]); \
Comma(); \ Comma(); \
} \ } \
} }
#define IvyTransportPutUint8Array(_n, _x) IvyTransportPutArray(IvyTransportPutUintByAddr, _n, _x) #define IvyTransportPutUint8Array(_dev,_n, _x) IvyTransportPutArray(_dev,IvyTransportPutUintByAddr, _n, _x)
#define IvyTransportPutInt16Array(_n, _x) IvyTransportPutArray(IvyTransportPutIntByAddr, _n, _x) #define IvyTransportPutInt16Array(_dev,_n, _x) IvyTransportPutArray(_dev,IvyTransportPutIntByAddr, _n, _x)
#define IvyTransportPutUint16Array(_n, _x) IvyTransportPutArray(IvyTransportPutUintByAddr, _n, _x) #define IvyTransportPutUint16Array(_dev,_n, _x) IvyTransportPutArray(_dev,IvyTransportPutUintByAddr, _n, _x)
#define IvyTransportPutUint32Array(_n, _x) IvyTransportPutArray(IvyTransportPutUintByAddr, _n, _x) #define IvyTransportPutUint32Array(_dev,_n, _x) IvyTransportPutArray(_dev,IvyTransportPutUintByAddr, _n, _x)
#define IvyTransportPutFloatArray(_n, _x) IvyTransportPutArray(IvyTransportPutOneFloatByAddr, _n, _x) #define IvyTransportPutFloatArray(_dev,_n, _x) IvyTransportPutArray(_dev,IvyTransportPutOneFloatByAddr, _n, _x)
#define IvyTransportPutDoubleArray(_n, _x) IvyTransportPutFloatArray(_n, _x) #define IvyTransportPutDoubleArray(_dev,_n, _x) IvyTransportPutFloatArray(_dev,_n, _x)
sw/airborne/arch/sim/jsbsim_transport.c
+4 -4
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@@ -9,7 +9,7 @@
#define MOfCm(_x) (((float)(_x))/100.) #define MOfCm(_x) (((float)(_x))/100.)
void parse_dl_ping(char* argv[] __attribute__ ((unused))) { void parse_dl_ping(char* argv[] __attribute__ ((unused))) {
DOWNLINK_SEND_PONG(DefaultChannel); DOWNLINK_SEND_PONG(DefaultChannel, DefaultDevice);
} }
void parse_dl_acinfo(char* argv[] __attribute__ ((unused))) { void parse_dl_acinfo(char* argv[] __attribute__ ((unused))) {
@@ -30,13 +30,13 @@ void parse_dl_setting(char* argv[]) {
uint8_t index = atoi(argv[2]); uint8_t index = atoi(argv[2]);
float value = atof(argv[3]); float value = atof(argv[3]);
DlSetting(index, value); DlSetting(index, value);
DOWNLINK_SEND_DL_VALUE(DefaultChannel,&index, &value); DOWNLINK_SEND_DL_VALUE(DefaultChannel, DefaultDevice,&index, &value);
} }
void parse_dl_get_setting(char* argv[]) { void parse_dl_get_setting(char* argv[]) {
uint8_t index = atoi(argv[2]); uint8_t index = atoi(argv[2]);
float value = settings_get_value(index); float value = settings_get_value(index);
DOWNLINK_SEND_DL_VALUE(DefaultChannel,&index, &value); DOWNLINK_SEND_DL_VALUE(DefaultChannel, DefaultDevice,&index, &value);
} }
void parse_dl_block(char* argv[]) { void parse_dl_block(char* argv[]) {
@@ -61,6 +61,6 @@ void parse_dl_move_wp(char* argv[]) {
coordinates */ coordinates */
utm.east = waypoints[wp_id].x + nav_utm_east0; utm.east = waypoints[wp_id].x + nav_utm_east0;
utm.north = waypoints[wp_id].y + nav_utm_north0; utm.north = waypoints[wp_id].y + nav_utm_north0;
DOWNLINK_SEND_WP_MOVED(DefaultChannel, &wp_id, &utm.east, &utm.north, &a, &nav_utm_zone0); DOWNLINK_SEND_WP_MOVED(DefaultChannel, DefaultDevice, &wp_id, &utm.east, &utm.north, &a, &nav_utm_zone0);
} }
sw/airborne/boards/booz/test_baro.c
+2 -2
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@@ -68,7 +68,7 @@ static inline void main_init( void ) {
static inline void main_periodic_task( void ) { static inline void main_periodic_task( void ) {
RunOnceEvery(2, {baro_periodic();}); RunOnceEvery(2, {baro_periodic();});
RunOnceEvery(256, {DOWNLINK_SEND_ALIVE(DefaultChannel, 16, MD5SUM);}); RunOnceEvery(256, {DOWNLINK_SEND_ALIVE(DefaultChannel, DefaultDevice, 16, MD5SUM);});
LED_PERIODIC(); LED_PERIODIC();
} }
@@ -85,5 +85,5 @@ static inline void main_on_baro_diff(void) {
} }
static inline void main_on_baro_abs(void) { static inline void main_on_baro_abs(void) {
RunOnceEvery(5,{DOWNLINK_SEND_BARO_RAW(DefaultChannel, &baro.absolute, &baro.differential);}); RunOnceEvery(5,{DOWNLINK_SEND_BARO_RAW(DefaultChannel, DefaultDevice, &baro.absolute, &baro.differential);});
} }
sw/airborne/boards/lisa_l/test_baro.c
+3 -3
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@@ -75,10 +75,10 @@ static inline void main_periodic_task( void ) {
RunOnceEvery(2, {baro_periodic();}); RunOnceEvery(2, {baro_periodic();});
LED_PERIODIC(); LED_PERIODIC();
RunOnceEvery(256, {DOWNLINK_SEND_ALIVE(DefaultChannel, 16, MD5SUM);}); RunOnceEvery(256, {DOWNLINK_SEND_ALIVE(DefaultChannel, DefaultDevice, 16, MD5SUM);});
RunOnceEvery(256, RunOnceEvery(256,
{ {
DOWNLINK_SEND_I2C_ERRORS(DefaultChannel, DOWNLINK_SEND_I2C_ERRORS(DefaultChannel, DefaultDevice,
&i2c2_errors.ack_fail_cnt, &i2c2_errors.ack_fail_cnt,
&i2c2_errors.miss_start_stop_cnt, &i2c2_errors.miss_start_stop_cnt,
&i2c2_errors.arb_lost_cnt, &i2c2_errors.arb_lost_cnt,
@@ -104,5 +104,5 @@ static inline void main_on_baro_diff(void) {
} }
static inline void main_on_baro_abs(void) { static inline void main_on_baro_abs(void) {
RunOnceEvery(5,{DOWNLINK_SEND_BARO_RAW(DefaultChannel, &baro.absolute, &baro.differential);}); RunOnceEvery(5,{DOWNLINK_SEND_BARO_RAW(DefaultChannel, DefaultDevice, &baro.absolute, &baro.differential);});
} }
sw/airborne/boards/lisa_m/test_baro.c
+3 -3
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@@ -75,10 +75,10 @@ static inline void main_periodic_task( void ) {
RunOnceEvery(2, {baro_periodic();}); RunOnceEvery(2, {baro_periodic();});
LED_PERIODIC(); LED_PERIODIC();
RunOnceEvery(256, {DOWNLINK_SEND_ALIVE(DefaultChannel, 16, MD5SUM);}); RunOnceEvery(256, {DOWNLINK_SEND_ALIVE(DefaultChannel, DefaultDevice, 16, MD5SUM);});
RunOnceEvery(256, RunOnceEvery(256,
{ {
DOWNLINK_SEND_I2C_ERRORS(DefaultChannel, DOWNLINK_SEND_I2C_ERRORS(DefaultChannel, DefaultDevice,
&i2c2_errors.ack_fail_cnt, &i2c2_errors.ack_fail_cnt,
&i2c2_errors.miss_start_stop_cnt, &i2c2_errors.miss_start_stop_cnt,
&i2c2_errors.arb_lost_cnt, &i2c2_errors.arb_lost_cnt,
@@ -104,5 +104,5 @@ static inline void main_on_baro_diff(void) {
} }
static inline void main_on_baro_abs(void) { static inline void main_on_baro_abs(void) {
RunOnceEvery(5,{DOWNLINK_SEND_BARO_RAW(DefaultChannel, &baro.absolute, &baro.differential);}); RunOnceEvery(5,{DOWNLINK_SEND_BARO_RAW(DefaultChannel, DefaultDevice, &baro.absolute, &baro.differential);});
} }
sw/airborne/boards/navgo/imu_navgo.c
+3 -3
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@@ -91,9 +91,9 @@ void imu_periodic( void )
void imu_navgo_downlink_raw( void ) void imu_navgo_downlink_raw( void )
{ {
DOWNLINK_SEND_IMU_GYRO_RAW(DefaultChannel,&imu.gyro_unscaled.p,&imu.gyro_unscaled.q,&imu.gyro_unscaled.r); DOWNLINK_SEND_IMU_GYRO_RAW(DefaultChannel, DefaultDevice,&imu.gyro_unscaled.p,&imu.gyro_unscaled.q,&imu.gyro_unscaled.r);
DOWNLINK_SEND_IMU_ACCEL_RAW(DefaultChannel,&imu.accel_unscaled.x,&imu.accel_unscaled.y,&imu.accel_unscaled.z); DOWNLINK_SEND_IMU_ACCEL_RAW(DefaultChannel, DefaultDevice,&imu.accel_unscaled.x,&imu.accel_unscaled.y,&imu.accel_unscaled.z);
DOWNLINK_SEND_IMU_MAG_RAW(DefaultChannel,&imu.mag_unscaled.x,&imu.mag_unscaled.y,&imu.mag_unscaled.z); DOWNLINK_SEND_IMU_MAG_RAW(DefaultChannel, DefaultDevice,&imu.mag_unscaled.x,&imu.mag_unscaled.y,&imu.mag_unscaled.z);
} }
sw/airborne/boards/umarim/baro_board.c
+1 -1
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@@ -80,6 +80,6 @@ void baro_periodic( void ) {
void baro_downlink_raw( void ) void baro_downlink_raw( void )
{ {
DOWNLINK_SEND_BARO_RAW(DefaultChannel,&baro.absolute,&baro.differential); DOWNLINK_SEND_BARO_RAW(DefaultChannel, DefaultDevice,&baro.absolute,&baro.differential);
} }
sw/airborne/boards/umarim/imu_umarim.c
+2 -2
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@@ -80,8 +80,8 @@ void imu_periodic( void )
void imu_umarim_downlink_raw( void ) void imu_umarim_downlink_raw( void )
{ {
DOWNLINK_SEND_IMU_GYRO_RAW(DefaultChannel,&imu.gyro_unscaled.p,&imu.gyro_unscaled.q,&imu.gyro_unscaled.r); DOWNLINK_SEND_IMU_GYRO_RAW(DefaultChannel, DefaultDevice,&imu.gyro_unscaled.p,&imu.gyro_unscaled.q,&imu.gyro_unscaled.r);
DOWNLINK_SEND_IMU_ACCEL_RAW(DefaultChannel,&imu.accel_unscaled.x,&imu.accel_unscaled.y,&imu.accel_unscaled.z); DOWNLINK_SEND_IMU_ACCEL_RAW(DefaultChannel, DefaultDevice,&imu.accel_unscaled.x,&imu.accel_unscaled.y,&imu.accel_unscaled.z);
} }
sw/airborne/booz/test/booz2_test_buss_bldc_hexa.c
+1 -1
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@@ -68,7 +68,7 @@ static inline void main_periodic_task( void ) {
i2c0_buf[0] = thrust; i2c0_buf[0] = thrust;
i2c0_transmit(motor_addr[motor], 1, &i2c_done); i2c0_transmit(motor_addr[motor], 1, &i2c_done);
RunOnceEvery(128, { DOWNLINK_SEND_ALIVE(DefaultChannel, 16, MD5SUM);}); RunOnceEvery(128, { DOWNLINK_SEND_ALIVE(DefaultChannel, DefaultDevice, 16, MD5SUM);});
} }
sw/airborne/booz/test/booz2_test_gps.c
+2 -2
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@@ -56,7 +56,7 @@ static inline void main_init( void ) {
static inline void main_periodic_task( void ) { static inline void main_periodic_task( void ) {
RunOnceEvery(128, { DOWNLINK_SEND_ALIVE(DefaultChannel, 16, MD5SUM);}); RunOnceEvery(128, { DOWNLINK_SEND_ALIVE(DefaultChannel, DefaultDevice, 16, MD5SUM);});
RunOnceEvery(128, { LED_PERIODIC();}); RunOnceEvery(128, { LED_PERIODIC();});
} }
@@ -67,7 +67,7 @@ static inline void main_event_task( void ) {
static void on_gps_sol(void) { static void on_gps_sol(void) {
DOWNLINK_SEND_GPS_INT( DefaultChannel, DOWNLINK_SEND_GPS_INT( DefaultChannel, DefaultDevice,
&gps.ecef_pos.x, &gps.ecef_pos.x,
&gps.ecef_pos.y, &gps.ecef_pos.y,
&gps.ecef_pos.z, &gps.ecef_pos.z,
sw/airborne/booz/test/booz2_test_max1168.c
+3 -3
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@@ -73,9 +73,9 @@ static inline void main_periodic_task( void ) {
static inline void main_event_task( void ) { static inline void main_event_task( void ) {
if (max1168_status == STA_MAX1168_DATA_AVAILABLE) { if (max1168_status == STA_MAX1168_DATA_AVAILABLE) {
RunOnceEvery(10, { RunOnceEvery(10, {
DOWNLINK_SEND_IMU_GYRO_RAW(DefaultChannel, &max1168_values[0], &max1168_values[1], &max1168_values[2]); DOWNLINK_SEND_IMU_GYRO_RAW(DefaultChannel, DefaultDevice, &max1168_values[0], &max1168_values[1], &max1168_values[2]);
DOWNLINK_SEND_IMU_ACCEL_RAW(DefaultChannel, &max1168_values[3], &max1168_values[4], &max1168_values[6]); DOWNLINK_SEND_IMU_ACCEL_RAW(DefaultChannel, DefaultDevice, &max1168_values[3], &max1168_values[4], &max1168_values[6]);
DOWNLINK_SEND_BOOT(DefaultChannel, &max1168_values[7]); }); DOWNLINK_SEND_BOOT(DefaultChannel, DefaultDevice, &max1168_values[7]); });
max1168_status = STA_MAX1168_IDLE; max1168_status = STA_MAX1168_IDLE;
} }
} }
sw/airborne/booz/test/booz2_test_radio_control.c
+3 -3
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@@ -62,14 +62,14 @@ static inline void main_periodic_task( void ) {
RunOnceEvery(51, { RunOnceEvery(51, {
/*LED_TOGGLE(2);*/ /*LED_TOGGLE(2);*/
uint32_t blaaa= cpu_time_sec; uint32_t blaaa= cpu_time_sec;
DOWNLINK_SEND_TIME(DefaultChannel, &blaaa); DOWNLINK_SEND_TIME(DefaultChannel, DefaultDevice, &blaaa);
}); });
RunOnceEvery(10, {radio_control_periodic_task();}); RunOnceEvery(10, {radio_control_periodic_task();});
int16_t foo = 0;//RC_PPM_SIGNED_TICS_OF_USEC(2050-1500); int16_t foo = 0;//RC_PPM_SIGNED_TICS_OF_USEC(2050-1500);
RunOnceEvery(10, RunOnceEvery(10,
{DOWNLINK_SEND_BOOZ2_RADIO_CONTROL(DefaultChannel, \ {DOWNLINK_SEND_BOOZ2_RADIO_CONTROL(DefaultChannel, DefaultDevice, \
&radio_control.values[RADIO_ROLL], \ &radio_control.values[RADIO_ROLL], \
&radio_control.values[RADIO_PITCH], \ &radio_control.values[RADIO_PITCH], \
&radio_control.values[RADIO_YAW], \ &radio_control.values[RADIO_YAW], \
@@ -79,7 +79,7 @@ static inline void main_periodic_task( void ) {
&radio_control.status);}); &radio_control.status);});
#ifdef RADIO_CONTROL_TYPE_PPM #ifdef RADIO_CONTROL_TYPE_PPM
RunOnceEvery(10, RunOnceEvery(10,
{uint8_t blaa = 0; DOWNLINK_SEND_PPM(DefaultChannel,&blaa, 8, booz_radio_control_ppm_pulses);}); {uint8_t blaa = 0; DOWNLINK_SEND_PPM(DefaultChannel, DefaultDevice,&blaa, 8, booz_radio_control_ppm_pulses);});
#endif #endif
LED_PERIODIC(); LED_PERIODIC();
sw/airborne/booz/test/booz_test_imu.c
+8 -8
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@@ -78,11 +78,11 @@ static inline void led_toggle ( void ) {
static inline void main_periodic_task( void ) { static inline void main_periodic_task( void ) {
RunOnceEvery(100, { RunOnceEvery(100, {
led_toggle(); led_toggle();
DOWNLINK_SEND_ALIVE(DefaultChannel, 16, MD5SUM); DOWNLINK_SEND_ALIVE(DefaultChannel, DefaultDevice, 16, MD5SUM);
}); });
#ifdef USE_I2C2 #ifdef USE_I2C2
RunOnceEvery(111, { RunOnceEvery(111, {
DOWNLINK_SEND_I2C_ERRORS(DefaultChannel, DOWNLINK_SEND_I2C_ERRORS(DefaultChannel, DefaultDevice,
&i2c2_errors.ack_fail_cnt, &i2c2_errors.ack_fail_cnt,
&i2c2_errors.miss_start_stop_cnt, &i2c2_errors.miss_start_stop_cnt,
&i2c2_errors.arb_lost_cnt, &i2c2_errors.arb_lost_cnt,
@@ -112,13 +112,13 @@ static inline void on_accel_event(void) {
cnt++; cnt++;
if (cnt > 15) cnt = 0; if (cnt > 15) cnt = 0;
if (cnt == 0) { if (cnt == 0) {
DOWNLINK_SEND_IMU_ACCEL_RAW(DefaultChannel, DOWNLINK_SEND_IMU_ACCEL_RAW(DefaultChannel, DefaultDevice,
&imu.accel_unscaled.x, &imu.accel_unscaled.x,
&imu.accel_unscaled.y, &imu.accel_unscaled.y,
&imu.accel_unscaled.z); &imu.accel_unscaled.z);
} }
else if (cnt == 7) { else if (cnt == 7) {
DOWNLINK_SEND_IMU_ACCEL_SCALED(DefaultChannel, DOWNLINK_SEND_IMU_ACCEL_SCALED(DefaultChannel, DefaultDevice,
&imu.accel.x, &imu.accel.x,
&imu.accel.y, &imu.accel.y,
&imu.accel.z); &imu.accel.z);
@@ -134,13 +134,13 @@ static inline void on_gyro_accel_event(void) {
if (cnt > 15) cnt = 0; if (cnt > 15) cnt = 0;
if (cnt == 0) { if (cnt == 0) {
DOWNLINK_SEND_IMU_GYRO_RAW(DefaultChannel, DOWNLINK_SEND_IMU_GYRO_RAW(DefaultChannel, DefaultDevice,
&imu.gyro_unscaled.p, &imu.gyro_unscaled.p,
&imu.gyro_unscaled.q, &imu.gyro_unscaled.q,
&imu.gyro_unscaled.r); &imu.gyro_unscaled.r);
} }
else if (cnt == 7) { else if (cnt == 7) {
DOWNLINK_SEND_IMU_GYRO_SCALED(DefaultChannel, DOWNLINK_SEND_IMU_GYRO_SCALED(DefaultChannel, DefaultDevice,
&imu.gyro.p, &imu.gyro.p,
&imu.gyro.q, &imu.gyro.q,
&imu.gyro.r); &imu.gyro.r);
@@ -155,13 +155,13 @@ static inline void on_mag_event(void) {
if (cnt > 10) cnt = 0; if (cnt > 10) cnt = 0;
if (cnt == 0) { if (cnt == 0) {
DOWNLINK_SEND_IMU_MAG_SCALED(DefaultChannel, DOWNLINK_SEND_IMU_MAG_SCALED(DefaultChannel, DefaultDevice,
&imu.mag.x, &imu.mag.x,
&imu.mag.y, &imu.mag.y,
&imu.mag.z); &imu.mag.z);
} }
else if (cnt == 5) { else if (cnt == 5) {
DOWNLINK_SEND_IMU_MAG_RAW(DefaultChannel, DOWNLINK_SEND_IMU_MAG_RAW(DefaultChannel, DefaultDevice,
&imu.mag_unscaled.x, &imu.mag_unscaled.x,
&imu.mag_unscaled.y, &imu.mag_unscaled.y,
&imu.mag_unscaled.z); &imu.mag_unscaled.z);
sw/airborne/booz/test/booz_test_telemetry.c
+1 -1
View File
@@ -52,7 +52,7 @@ static inline void main_init( void ) {
static inline void main_periodic_task( void ) { static inline void main_periodic_task( void ) {
LED_TOGGLE(2); LED_TOGGLE(2);
DOWNLINK_SEND_TIME(DefaultChannel, &cpu_time_sec); DOWNLINK_SEND_TIME(DefaultChannel, DefaultDevice, &cpu_time_sec);
} }
static inline void main_event_task( void ) { static inline void main_event_task( void ) {
sw/airborne/firmwares/fixedwing/ap_downlink.h
+73 -73
View File
@@ -60,12 +60,12 @@
extern uint8_t telemetry_mode_Ap_DefaultChannel; extern uint8_t telemetry_mode_Ap_DefaultChannel;
#endif #endif
#define PERIODIC_SEND_ALIVE(_chan) DOWNLINK_SEND_ALIVE(_chan, 16, MD5SUM); #define PERIODIC_SEND_ALIVE(_trans, _dev) DOWNLINK_SEND_ALIVE(_trans, _dev, 16, MD5SUM);
#define PERIODIC_SEND_BAT(_chan) { \ #define PERIODIC_SEND_BAT(_trans, _dev) { \
int16_t amps = (int16_t) (current/10); \ int16_t amps = (int16_t) (current/10); \
Downlink({ int16_t e = energy; \ Downlink({ int16_t e = energy; \
DOWNLINK_SEND_BAT(_chan, \ DOWNLINK_SEND_BAT(_trans, _dev, \
&v_ctl_throttle_slewed, \ &v_ctl_throttle_slewed, \
&vsupply, \ &vsupply, \
&amps, \ &amps, \
@@ -78,180 +78,180 @@ extern uint8_t telemetry_mode_Ap_DefaultChannel;
} }
#ifdef MCU_SPI_LINK #ifdef MCU_SPI_LINK
#define PERIODIC_SEND_DEBUG_MCU_LINK(_chan) DOWNLINK_SEND_DEBUG_MCU_LINK(_chan, &link_mcu_nb_err, &link_mcu_fbw_nb_err, &mcu1_ppm_cpt); #define PERIODIC_SEND_DEBUG_MCU_LINK(_trans, _dev) DOWNLINK_SEND_DEBUG_MCU_LINK(_trans, _dev, &link_mcu_nb_err, &link_mcu_fbw_nb_err, &mcu1_ppm_cpt);
#else #else
#define PERIODIC_SEND_DEBUG_MCU_LINK(_chan) {} #define PERIODIC_SEND_DEBUG_MCU_LINK(_trans, _dev) {}
#endif #endif
#define PERIODIC_SEND_DOWNLINK(_chan) { \ #define PERIODIC_SEND_DOWNLINK(_trans, _dev) { \
static uint16_t last; \ static uint16_t last; \
uint16_t rate = (downlink_nb_bytes - last) / PERIOD_DOWNLINK_Ap_DefaultChannel_0; \ uint16_t rate = (downlink_nb_bytes - last) / PERIOD_DOWNLINK_Ap_DefaultChannel_0; \
last = downlink_nb_bytes; \ last = downlink_nb_bytes; \
DOWNLINK_SEND_DOWNLINK(_chan, &downlink_nb_ovrn, &rate, &downlink_nb_msgs); \ DOWNLINK_SEND_DOWNLINK(_trans, _dev, &downlink_nb_ovrn, &rate, &downlink_nb_msgs); \
} }
#define PERIODIC_SEND_ATTITUDE(_chan) Downlink({ \ #define PERIODIC_SEND_ATTITUDE(_trans, _dev) Downlink({ \
DOWNLINK_SEND_ATTITUDE(_chan, &estimator_phi, &estimator_psi, &estimator_theta); \ DOWNLINK_SEND_ATTITUDE(_trans, _dev, &estimator_phi, &estimator_psi, &estimator_theta); \
}) })
#define PERIODIC_SEND_PPRZ_MODE(_chan) DOWNLINK_SEND_PPRZ_MODE(_chan, &pprz_mode, &v_ctl_mode, &lateral_mode, &horizontal_mode, &rc_settings_mode, &mcu1_status); #define PERIODIC_SEND_PPRZ_MODE(_trans, _dev) DOWNLINK_SEND_PPRZ_MODE(_trans, _dev, &pprz_mode, &v_ctl_mode, &lateral_mode, &horizontal_mode, &rc_settings_mode, &mcu1_status);
#define PERIODIC_SEND_DESIRED(_chan) DOWNLINK_SEND_DESIRED(_chan, &h_ctl_roll_setpoint, &h_ctl_pitch_loop_setpoint, &h_ctl_course_setpoint, &desired_x, &desired_y, &v_ctl_altitude_setpoint, &v_ctl_climb_setpoint); #define PERIODIC_SEND_DESIRED(_trans, _dev) DOWNLINK_SEND_DESIRED(_trans, _dev, &h_ctl_roll_setpoint, &h_ctl_pitch_loop_setpoint, &h_ctl_course_setpoint, &desired_x, &desired_y, &v_ctl_altitude_setpoint, &v_ctl_climb_setpoint);
#ifdef USE_INFRARED #ifdef USE_INFRARED
#define PERIODIC_SEND_STATE_FILTER_STATUS(_chan) { uint16_t contrast = abs(infrared.roll) + abs(infrared.pitch) + abs(infrared.top); uint8_t mde = 3; if (contrast < 50) mde = 7; DOWNLINK_SEND_STATE_FILTER_STATUS(_chan, &mde, &contrast); } #define PERIODIC_SEND_STATE_FILTER_STATUS(_trans, _dev) { uint16_t contrast = abs(infrared.roll) + abs(infrared.pitch) + abs(infrared.top); uint8_t mde = 3; if (contrast < 50) mde = 7; DOWNLINK_SEND_STATE_FILTER_STATUS(_trans, _dev, &mde, &contrast); }
#elif defined USE_IMU && defined USE_AHRS #elif defined USE_IMU && defined USE_AHRS
#define PERIODIC_SEND_STATE_FILTER_STATUS(_chan) { uint8_t mde = 3; if (ahrs.status == AHRS_UNINIT) mde = 2; if (ahrs_timeout_counter > 10) mde = 5; uint16_t val = 0; DOWNLINK_SEND_STATE_FILTER_STATUS(_chan, &mde, &val); } #define PERIODIC_SEND_STATE_FILTER_STATUS(_trans, _dev) { uint8_t mde = 3; if (ahrs.status == AHRS_UNINIT) mde = 2; if (ahrs_timeout_counter > 10) mde = 5; uint16_t val = 0; DOWNLINK_SEND_STATE_FILTER_STATUS(_trans, _dev, &mde, &val); }
#else #else
#define PERIODIC_SEND_STATE_FILTER_STATUS(_chan) {} #define PERIODIC_SEND_STATE_FILTER_STATUS(_trans, _dev) {}
#endif #endif
#define PERIODIC_SEND_NAVIGATION_REF(_chan) DOWNLINK_SEND_NAVIGATION_REF(_chan, &nav_utm_east0, &nav_utm_north0, &nav_utm_zone0); #define PERIODIC_SEND_NAVIGATION_REF(_trans, _dev) DOWNLINK_SEND_NAVIGATION_REF(_trans, _dev, &nav_utm_east0, &nav_utm_north0, &nav_utm_zone0);
#define DownlinkSendWp(_chan, i) { \ #define DownlinkSendWp(_trans, _dev, i) { \
float x = nav_utm_east0 + waypoints[i].x; \ float x = nav_utm_east0 + waypoints[i].x; \
float y = nav_utm_north0 + waypoints[i].y; \ float y = nav_utm_north0 + waypoints[i].y; \
DOWNLINK_SEND_WP_MOVED(_chan, &i, &x, &y, &(waypoints[i].a),&nav_utm_zone0); \ DOWNLINK_SEND_WP_MOVED(_trans, _dev, &i, &x, &y, &(waypoints[i].a),&nav_utm_zone0); \
} }
#define PERIODIC_SEND_WP_MOVED(_chan) { \ #define PERIODIC_SEND_WP_MOVED(_trans, _dev) { \
static uint8_t i; \ static uint8_t i; \
i++; if (i >= nb_waypoint) i = 0; \ i++; if (i >= nb_waypoint) i = 0; \
DownlinkSendWp(_chan, i); \ DownlinkSendWp(_trans, _dev, i); \
} }
#ifdef RADIO_CONTROL_SETTINGS #ifdef RADIO_CONTROL_SETTINGS
#define PERIODIC_SEND_SETTINGS(_chan) if (!RcSettingsOff()) DOWNLINK_SEND_SETTINGS(_chan, &slider_1_val, &slider_2_val); #define PERIODIC_SEND_SETTINGS(_trans, _dev) if (!RcSettingsOff()) DOWNLINK_SEND_SETTINGS(_trans, _dev, &slider_1_val, &slider_2_val);
#else #else
#define PERIODIC_SEND_SETTINGS(_chan) {} #define PERIODIC_SEND_SETTINGS(_trans, _dev) {}
#endif #endif
#if defined USE_INFRARED || USE_INFRARED_TELEMETRY #if defined USE_INFRARED || USE_INFRARED_TELEMETRY
#include "subsystems/sensors/infrared.h" #include "subsystems/sensors/infrared.h"
#define PERIODIC_SEND_IR_SENSORS(_chan) DOWNLINK_SEND_IR_SENSORS(_chan, &infrared.value.ir1, &infrared.value.ir2, &infrared.pitch, &infrared.roll, &infrared.top); #define PERIODIC_SEND_IR_SENSORS(_trans, _dev) DOWNLINK_SEND_IR_SENSORS(_trans, _dev, &infrared.value.ir1, &infrared.value.ir2, &infrared.pitch, &infrared.roll, &infrared.top);
#else #else
#define PERIODIC_SEND_IR_SENSORS(_chan) ; #define PERIODIC_SEND_IR_SENSORS(_trans, _dev) ;
#endif #endif
#define PERIODIC_SEND_ADC(_chan) {} #define PERIODIC_SEND_ADC(_trans, _dev) {}
#define PERIODIC_SEND_CALIBRATION(_chan) DOWNLINK_SEND_CALIBRATION(_chan, &v_ctl_auto_throttle_sum_err, &v_ctl_auto_throttle_submode) #define PERIODIC_SEND_CALIBRATION(_trans, _dev) DOWNLINK_SEND_CALIBRATION(_trans, _dev, &v_ctl_auto_throttle_sum_err, &v_ctl_auto_throttle_submode)
#define PERIODIC_SEND_CIRCLE(_chan) if (nav_in_circle) { DOWNLINK_SEND_CIRCLE(_chan, &nav_circle_x, &nav_circle_y, &nav_circle_radius); } #define PERIODIC_SEND_CIRCLE(_trans, _dev) if (nav_in_circle) { DOWNLINK_SEND_CIRCLE(_trans, _dev, &nav_circle_x, &nav_circle_y, &nav_circle_radius); }
#define PERIODIC_SEND_SEGMENT(_chan) if (nav_in_segment) { DOWNLINK_SEND_SEGMENT(_chan, &nav_segment_x_1, &nav_segment_y_1, &nav_segment_x_2, &nav_segment_y_2); } #define PERIODIC_SEND_SEGMENT(_trans, _dev) if (nav_in_segment) { DOWNLINK_SEND_SEGMENT(_trans, _dev, &nav_segment_x_1, &nav_segment_y_1, &nav_segment_x_2, &nav_segment_y_2); }
#ifdef IMU_TYPE_H #ifdef IMU_TYPE_H
# ifdef INS_MODULE_H # ifdef INS_MODULE_H
# include "modules/ins/ins_module.h" # include "modules/ins/ins_module.h"
# define PERIODIC_SEND_IMU_ACCEL_RAW(_chan) {} # define PERIODIC_SEND_IMU_ACCEL_RAW(_trans, _dev) {}
# define PERIODIC_SEND_IMU_GYRO_RAW(_chan) {} # define PERIODIC_SEND_IMU_GYRO_RAW(_trans, _dev) {}
# define PERIODIC_SEND_IMU_MAG_RAW(_chan) {} # define PERIODIC_SEND_IMU_MAG_RAW(_trans, _dev) {}
# define PERIODIC_SEND_IMU_GYRO(_chan) { DOWNLINK_SEND_IMU_GYRO(_chan, &ins_p, &ins_q, &ins_r)} # define PERIODIC_SEND_IMU_GYRO(_trans, _dev) { DOWNLINK_SEND_IMU_GYRO(_trans, _dev, &ins_p, &ins_q, &ins_r)}
# define PERIODIC_SEND_IMU_ACCEL(_chan) { DOWNLINK_SEND_IMU_ACCEL(_chan, &ins_ax, &ins_ay, &ins_az)} # define PERIODIC_SEND_IMU_ACCEL(_trans, _dev) { DOWNLINK_SEND_IMU_ACCEL(_trans, _dev, &ins_ax, &ins_ay, &ins_az)}
# define PERIODIC_SEND_IMU_MAG(_chan) { DOWNLINK_SEND_IMU_MAG(_chan, &ins_mx, &ins_my, &ins_mz)} # define PERIODIC_SEND_IMU_MAG(_trans, _dev) { DOWNLINK_SEND_IMU_MAG(_trans, _dev, &ins_mx, &ins_my, &ins_mz)}
# else # else
# include "subsystems/imu.h" # include "subsystems/imu.h"
# define PERIODIC_SEND_IMU_ACCEL_RAW(_chan) { DOWNLINK_SEND_IMU_ACCEL_RAW(_chan, &imu.accel_unscaled.x, &imu.accel_unscaled.y, &imu.accel_unscaled.z)} # define PERIODIC_SEND_IMU_ACCEL_RAW(_trans, _dev) { DOWNLINK_SEND_IMU_ACCEL_RAW(_trans, _dev, &imu.accel_unscaled.x, &imu.accel_unscaled.y, &imu.accel_unscaled.z)}
# define PERIODIC_SEND_IMU_GYRO_RAW(_chan) { DOWNLINK_SEND_IMU_GYRO_RAW(_chan, &imu.gyro_unscaled.p, &imu.gyro_unscaled.q, &imu.gyro_unscaled.r)} # define PERIODIC_SEND_IMU_GYRO_RAW(_trans, _dev) { DOWNLINK_SEND_IMU_GYRO_RAW(_trans, _dev, &imu.gyro_unscaled.p, &imu.gyro_unscaled.q, &imu.gyro_unscaled.r)}
# define PERIODIC_SEND_IMU_MAG_RAW(_chan) { DOWNLINK_SEND_IMU_MAG_RAW(_chan, &imu.mag_unscaled.x, &imu.mag_unscaled.y, &imu.mag_unscaled.z)} # define PERIODIC_SEND_IMU_MAG_RAW(_trans, _dev) { DOWNLINK_SEND_IMU_MAG_RAW(_trans, _dev, &imu.mag_unscaled.x, &imu.mag_unscaled.y, &imu.mag_unscaled.z)}
# define PERIODIC_SEND_IMU_ACCEL(_chan) { struct FloatVect3 accel_float; ACCELS_FLOAT_OF_BFP(accel_float, imu.accel); DOWNLINK_SEND_IMU_ACCEL(_chan, &accel_float.x, &accel_float.y, &accel_float.z)} # define PERIODIC_SEND_IMU_ACCEL(_trans, _dev) { struct FloatVect3 accel_float; ACCELS_FLOAT_OF_BFP(accel_float, imu.accel); DOWNLINK_SEND_IMU_ACCEL(_trans, _dev, &accel_float.x, &accel_float.y, &accel_float.z)}
# define PERIODIC_SEND_IMU_GYRO(_chan) { struct FloatRates gyro_float; RATES_FLOAT_OF_BFP(gyro_float, imu.gyro); DOWNLINK_SEND_IMU_GYRO(_chan, &gyro_float.p, &gyro_float.q, &gyro_float.r)} # define PERIODIC_SEND_IMU_GYRO(_trans, _dev) { struct FloatRates gyro_float; RATES_FLOAT_OF_BFP(gyro_float, imu.gyro); DOWNLINK_SEND_IMU_GYRO(_trans, _dev, &gyro_float.p, &gyro_float.q, &gyro_float.r)}
# ifdef USE_MAGNETOMETER # ifdef USE_MAGNETOMETER
# define PERIODIC_SEND_IMU_MAG(_chan) { struct FloatVect3 mag_float; MAGS_FLOAT_OF_BFP(mag_float, imu.mag); DOWNLINK_SEND_IMU_MAG(_chan, &mag_float.x, &mag_float.y, &mag_float.z)} # define PERIODIC_SEND_IMU_MAG(_trans, _dev) { struct FloatVect3 mag_float; MAGS_FLOAT_OF_BFP(mag_float, imu.mag); DOWNLINK_SEND_IMU_MAG(_trans, _dev, &mag_float.x, &mag_float.y, &mag_float.z)}
# else # else
# define PERIODIC_SEND_IMU_MAG(_chan) {} # define PERIODIC_SEND_IMU_MAG(_trans, _dev) {}
# endif # endif
# endif # endif
#else #else
# define PERIODIC_SEND_IMU_ACCEL_RAW(_chan) {} # define PERIODIC_SEND_IMU_ACCEL_RAW(_trans, _dev) {}
# define PERIODIC_SEND_IMU_GYRO_RAW(_chan) {} # define PERIODIC_SEND_IMU_GYRO_RAW(_trans, _dev) {}
# define PERIODIC_SEND_IMU_MAG_RAW(_chan) {} # define PERIODIC_SEND_IMU_MAG_RAW(_trans, _dev) {}
# define PERIODIC_SEND_IMU_ACCEL(_chan) {} # define PERIODIC_SEND_IMU_ACCEL(_trans, _dev) {}
# define PERIODIC_SEND_IMU_GYRO(_chan) {} # define PERIODIC_SEND_IMU_GYRO(_trans, _dev) {}
# define PERIODIC_SEND_IMU_MAG(_chan) {} # define PERIODIC_SEND_IMU_MAG(_trans, _dev) {}
#endif #endif
#ifdef IMU_ANALOG #ifdef IMU_ANALOG
#define PERIODIC_SEND_IMU(_chan) { int16_t dummy = 42; DOWNLINK_SEND_IMU(_chan, &(from_fbw.euler_dot[0]), &(from_fbw.euler_dot[1]), &(from_fbw.euler_dot[2]), &dummy, &dummy, &dummy); } #define PERIODIC_SEND_IMU(_trans, _dev) { int16_t dummy = 42; DOWNLINK_SEND_IMU(_trans, _dev, &(from_fbw.euler_dot[0]), &(from_fbw.euler_dot[1]), &(from_fbw.euler_dot[2]), &dummy, &dummy, &dummy); }
#else #else
#define PERIODIC_SEND_IMU(_chan) {} #define PERIODIC_SEND_IMU(_trans, _dev) {}
#endif #endif
#define PERIODIC_SEND_ESTIMATOR(_chan) DOWNLINK_SEND_ESTIMATOR(_chan, &estimator_z, &estimator_z_dot) #define PERIODIC_SEND_ESTIMATOR(_trans, _dev) DOWNLINK_SEND_ESTIMATOR(_trans, _dev, &estimator_z, &estimator_z_dot)
#define SEND_NAVIGATION(_chan) Downlink({ uint8_t _circle_count = NavCircleCount(); DOWNLINK_SEND_NAVIGATION(_chan, &nav_block, &nav_stage, &estimator_x, &estimator_y, &dist2_to_wp, &dist2_to_home, &_circle_count, &nav_oval_count);}) #define SEND_NAVIGATION(_trans, _dev) Downlink({ uint8_t _circle_count = NavCircleCount(); DOWNLINK_SEND_NAVIGATION(_trans, _dev, &nav_block, &nav_stage, &estimator_x, &estimator_y, &dist2_to_wp, &dist2_to_home, &_circle_count, &nav_oval_count);})
#define PERIODIC_SEND_NAVIGATION(_chan) SEND_NAVIGATION(_chan) #define PERIODIC_SEND_NAVIGATION(_trans, _dev) SEND_NAVIGATION(_trans, _dev)
#if defined CAM || defined MOBILE_CAM #if defined CAM || defined MOBILE_CAM
#define SEND_CAM(_chan) Downlink({ int16_t x = cam_target_x; int16_t y = cam_target_y; int16_t phi = DegOfRad(cam_phi_c); int16_t theta = DegOfRad(cam_theta_c); DOWNLINK_SEND_CAM(_chan, &phi, &theta, &x, &y);}) #define SEND_CAM(_trans, _dev) Downlink({ int16_t x = cam_target_x; int16_t y = cam_target_y; int16_t phi = DegOfRad(cam_phi_c); int16_t theta = DegOfRad(cam_theta_c); DOWNLINK_SEND_CAM(_trans, _dev, &phi, &theta, &x, &y);})
#define PERIODIC_SEND_CAM_POINT(_chan) DOWNLINK_SEND_CAM_POINT(_chan, &cam_point_distance_from_home, &cam_point_lat, &cam_point_lon) #define PERIODIC_SEND_CAM_POINT(_trans, _dev) DOWNLINK_SEND_CAM_POINT(_trans, _dev, &cam_point_distance_from_home, &cam_point_lat, &cam_point_lon)
#else #else
#define SEND_CAM(_chan) {} #define SEND_CAM(_trans, _dev) {}
#define PERIODIC_SEND_CAM_POINT(_chan) {} #define PERIODIC_SEND_CAM_POINT(_trans, _dev) {}
#endif #endif
#define PERIODIC_SEND_DL_VALUE(_chan) PeriodicSendDlValue(_chan) /** generated from the xml settings config in conf/settings */ #define PERIODIC_SEND_DL_VALUE(_trans, _dev) PeriodicSendDlValue(_trans, _dev) /** generated from the xml settings config in conf/settings */
#define PERIODIC_SEND_SURVEY(_chan) { \ #define PERIODIC_SEND_SURVEY(_trans, _dev) { \
if (nav_survey_active) \ if (nav_survey_active) \
DOWNLINK_SEND_SURVEY(_chan, &nav_survey_east, &nav_survey_north, &nav_survey_west, &nav_survey_south); \ DOWNLINK_SEND_SURVEY(_trans, _dev, &nav_survey_east, &nav_survey_north, &nav_survey_west, &nav_survey_south); \
} }
#define PERIODIC_SEND_RANGEFINDER(_chan) DOWNLINK_SEND_RANGEFINDER(_chan, &rangemeter, &ctl_grz_z_dot, &ctl_grz_z_dot_sum_err, &ctl_grz_z_dot_setpoint, &ctl_grz_z_sum_err, &ctl_grz_z_setpoint, &flying) #define PERIODIC_SEND_RANGEFINDER(_trans, _dev) DOWNLINK_SEND_RANGEFINDER(_trans, _dev, &rangemeter, &ctl_grz_z_dot, &ctl_grz_z_dot_sum_err, &ctl_grz_z_dot_setpoint, &ctl_grz_z_sum_err, &ctl_grz_z_setpoint, &flying)
#define PERIODIC_SEND_TUNE_ROLL(_chan) DOWNLINK_SEND_TUNE_ROLL(_chan, &estimator_p,&estimator_phi, &h_ctl_roll_setpoint); #define PERIODIC_SEND_TUNE_ROLL(_trans, _dev) DOWNLINK_SEND_TUNE_ROLL(_trans, _dev, &estimator_p,&estimator_phi, &h_ctl_roll_setpoint);
#if defined USE_GPS || defined SITL || defined USE_GPS_XSENS #if defined USE_GPS || defined SITL || defined USE_GPS_XSENS
#define PERIODIC_SEND_GPS_SOL(_chan) DOWNLINK_SEND_GPS_SOL(_chan, &gps.pacc, &gps.sacc, &gps.pdop, &gps.num_sv) #define PERIODIC_SEND_GPS_SOL(_trans, _dev) DOWNLINK_SEND_GPS_SOL(_trans, _dev, &gps.pacc, &gps.sacc, &gps.pdop, &gps.num_sv)
#endif #endif
#define PERIODIC_SEND_GPS(_chan) { \ #define PERIODIC_SEND_GPS(_trans, _dev) { \
static uint8_t i; \ static uint8_t i; \
int16_t climb = -gps.ned_vel.z; \ int16_t climb = -gps.ned_vel.z; \
int16_t course = (DegOfRad(gps.course)/((int32_t)1e6)); \ int16_t course = (DegOfRad(gps.course)/((int32_t)1e6)); \
DOWNLINK_SEND_GPS(DefaultChannel, &gps.fix, &gps.utm_pos.east, &gps.utm_pos.north, &course, &gps.hmsl, &gps.gspeed, &climb, &gps.week, &gps.tow, &gps.utm_pos.zone, &i); \ DOWNLINK_SEND_GPS(_trans, _dev, &gps.fix, &gps.utm_pos.east, &gps.utm_pos.north, &course, &gps.hmsl, &gps.gspeed, &climb, &gps.week, &gps.tow, &gps.utm_pos.zone, &i); \
if ((gps.fix != GPS_FIX_3D) && (i >= gps.nb_channels)) i = 0; \ if ((gps.fix != GPS_FIX_3D) && (i >= gps.nb_channels)) i = 0; \
if (i >= gps.nb_channels * 2) i = 0; \ if (i >= gps.nb_channels * 2) i = 0; \
if (i < gps.nb_channels && gps.svinfos[i].cno > 0) { \ if (i < gps.nb_channels && gps.svinfos[i].cno > 0) { \
DOWNLINK_SEND_SVINFO(DefaultChannel, &i, &gps.svinfos[i].svid, &gps.svinfos[i].flags, &gps.svinfos[i].qi, &gps.svinfos[i].cno, &gps.svinfos[i].elev, &gps.svinfos[i].azim); \ DOWNLINK_SEND_SVINFO(_trans, _dev, &i, &gps.svinfos[i].svid, &gps.svinfos[i].flags, &gps.svinfos[i].qi, &gps.svinfos[i].cno, &gps.svinfos[i].elev, &gps.svinfos[i].azim); \
} \ } \
i++; \ i++; \
} }
#ifdef USE_BARO_MS5534A #ifdef USE_BARO_MS5534A
//#include "baro_MS5534A.h" //#include "baro_MS5534A.h"
#define PERIODIC_SEND_BARO_MS5534A(_chan) DOWNLINK_SEND_BARO_MS5534A(_chan, &baro_MS5534A_pressure, &baro_MS5534A_temp, &baro_MS5534A_z) #define PERIODIC_SEND_BARO_MS5534A(_trans, _dev) DOWNLINK_SEND_BARO_MS5534A(_trans, _dev, &baro_MS5534A_pressure, &baro_MS5534A_temp, &baro_MS5534A_z)
#else #else
#define PERIODIC_SEND_BARO_MS5534A(_chan) {} #define PERIODIC_SEND_BARO_MS5534A(_trans, _dev) {}
#endif #endif
#ifdef USE_BARO_SCP #ifdef USE_BARO_SCP
#include "baro_scp.h" #include "baro_scp.h"
#define PERIODIC_SEND_SCP_STATUS(_chan) DOWNLINK_SEND_SCP_STATUS(_chan, &baro_scp_pressure, &baro_scp_temperature) #define PERIODIC_SEND_SCP_STATUS(_trans, _dev) DOWNLINK_SEND_SCP_STATUS(_trans, _dev, &baro_scp_pressure, &baro_scp_temperature)
#else #else
#define PERIODIC_SEND_SCP_STATUS(_chan) {} #define PERIODIC_SEND_SCP_STATUS(_trans, _dev) {}
#endif #endif
#ifdef MEASURE_AIRSPEED #ifdef MEASURE_AIRSPEED
#define PERIODIC_SEND_AIRSPEED(_chan) DOWNLINK_SEND_AIRSPEED (_chan, &estimator_airspeed, &estimator_airspeed, &estimator_airspeed, &estimator_airspeed) #define PERIODIC_SEND_AIRSPEED(_trans, _dev) DOWNLINK_SEND_AIRSPEED (_trans, _dev, &estimator_airspeed, &estimator_airspeed, &estimator_airspeed, &estimator_airspeed)
#elif defined USE_AIRSPEED #elif defined USE_AIRSPEED
#define PERIODIC_SEND_AIRSPEED(_chan) DOWNLINK_SEND_AIRSPEED (_chan, &estimator_airspeed, &v_ctl_auto_airspeed_setpoint, &v_ctl_auto_airspeed_controlled, &v_ctl_auto_groundspeed_setpoint) #define PERIODIC_SEND_AIRSPEED(_trans, _dev) DOWNLINK_SEND_AIRSPEED (_trans, _dev, &estimator_airspeed, &v_ctl_auto_airspeed_setpoint, &v_ctl_auto_airspeed_controlled, &v_ctl_auto_groundspeed_setpoint)
#else #else
#define PERIODIC_SEND_AIRSPEED(_chan) {} #define PERIODIC_SEND_AIRSPEED(_trans, _dev) {}
#endif #endif
#define PERIODIC_SEND_ENERGY(_chan) Downlink({ const int16_t e = energy; const float vsup = ((float)vsupply) / 10.0f; const float curs = ((float) current)/1000.0f; const float power = vsup * curs; DOWNLINK_SEND_ENERGY(_chan, &vsup, &curs, &e, &power); }) #define PERIODIC_SEND_ENERGY(_trans, _dev) Downlink({ const int16_t e = energy; const float vsup = ((float)vsupply) / 10.0f; const float curs = ((float) current)/1000.0f; const float power = vsup * curs; DOWNLINK_SEND_ENERGY(_trans, _dev, &vsup, &curs, &e, &power); })
#include "firmwares/fixedwing/stabilization/stabilization_adaptive.h" #include "firmwares/fixedwing/stabilization/stabilization_adaptive.h"
#define PERIODIC_SEND_H_CTL_A(_chan) DOWNLINK_SEND_H_CTL_A(_chan, &h_ctl_roll_sum_err, &h_ctl_ref_roll_angle, &h_ctl_pitch_sum_err, &h_ctl_ref_pitch_angle) #define PERIODIC_SEND_H_CTL_A(_trans, _dev) DOWNLINK_SEND_H_CTL_A(_trans, _dev, &h_ctl_roll_sum_err, &h_ctl_ref_roll_angle, &h_ctl_pitch_sum_err, &h_ctl_ref_pitch_angle)
#endif /* AP_DOWNLINK_H */ #endif /* AP_DOWNLINK_H */
sw/airborne/firmwares/fixedwing/datalink.c
+6 -6
View File
@@ -93,7 +93,7 @@ void dl_parse_msg(void) {
#endif #endif
if (msg_id == DL_PING) { if (msg_id == DL_PING) {
DOWNLINK_SEND_PONG(DefaultChannel); DOWNLINK_SEND_PONG(DefaultChannel, DefaultDevice)
} else } else
#ifdef TRAFFIC_INFO #ifdef TRAFFIC_INFO
if (msg_id == DL_ACINFO && DL_ACINFO_ac_id(dl_buffer) != AC_ID) { if (msg_id == DL_ACINFO && DL_ACINFO_ac_id(dl_buffer) != AC_ID) {
@@ -126,10 +126,10 @@ void dl_parse_msg(void) {
coordinates */ coordinates */
utm.east = waypoints[wp_id].x + nav_utm_east0; utm.east = waypoints[wp_id].x + nav_utm_east0;
utm.north = waypoints[wp_id].y + nav_utm_north0; utm.north = waypoints[wp_id].y + nav_utm_north0;
DOWNLINK_SEND_WP_MOVED(DefaultChannel, &wp_id, &utm.east, &utm.north, &a, &nav_utm_zone0); DOWNLINK_SEND_WP_MOVED(DefaultChannel, DefaultDevice, &wp_id, &utm.east, &utm.north, &a, &nav_utm_zone0);
} else if (msg_id == DL_BLOCK && DL_BLOCK_ac_id(dl_buffer) == AC_ID) { } else if (msg_id == DL_BLOCK && DL_BLOCK_ac_id(dl_buffer) == AC_ID) {
nav_goto_block(DL_BLOCK_block_id(dl_buffer)); nav_goto_block(DL_BLOCK_block_id(dl_buffer));
SEND_NAVIGATION(DefaultChannel); SEND_NAVIGATION(DefaultChannel, DefaultDevice);
} else } else
#endif /** NAV */ #endif /** NAV */
#ifdef WIND_INFO #ifdef WIND_INFO
@@ -140,7 +140,7 @@ void dl_parse_msg(void) {
estimator_airspeed = DL_WIND_INFO_airspeed(dl_buffer); estimator_airspeed = DL_WIND_INFO_airspeed(dl_buffer);
#endif #endif
#ifdef WIND_INFO_RET #ifdef WIND_INFO_RET
DOWNLINK_SEND_WIND_INFO_RET(DefaultChannel, &wind_east, &wind_north, &estimator_airspeed); DOWNLINK_SEND_WIND_INFO_RET(DefaultChannel, DefaultDevice, &wind_east, &wind_north, &estimator_airspeed);
#endif #endif
} else } else
#endif /** WIND_INFO */ #endif /** WIND_INFO */
@@ -171,11 +171,11 @@ void dl_parse_msg(void) {
uint8_t i = DL_SETTING_index(dl_buffer); uint8_t i = DL_SETTING_index(dl_buffer);
float val = DL_SETTING_value(dl_buffer); float val = DL_SETTING_value(dl_buffer);
DlSetting(i, val); DlSetting(i, val);
DOWNLINK_SEND_DL_VALUE(DefaultChannel, &i, &val); DOWNLINK_SEND_DL_VALUE(DefaultChannel, DefaultDevice, &i, &val);
} else if (msg_id == DL_GET_SETTING && DL_GET_SETTING_ac_id(dl_buffer) == AC_ID) { } else if (msg_id == DL_GET_SETTING && DL_GET_SETTING_ac_id(dl_buffer) == AC_ID) {
uint8_t i = DL_GET_SETTING_index(dl_buffer); uint8_t i = DL_GET_SETTING_index(dl_buffer);
float val = settings_get_value(i); float val = settings_get_value(i);
DOWNLINK_SEND_DL_VALUE(DefaultChannel, &i, &val); DOWNLINK_SEND_DL_VALUE(DefaultChannel, DefaultDevice, &i, &val);
} else } else
#endif /** Else there is no dl_settings section in the flight plan */ #endif /** Else there is no dl_settings section in the flight plan */
#ifdef USE_JOYSTICK #ifdef USE_JOYSTICK
sw/airborne/firmwares/fixedwing/fbw_downlink.h
+14 -14
View File
@@ -58,41 +58,41 @@
extern uint8_t telemetry_mode_Fbw_DefaultChannel; extern uint8_t telemetry_mode_Fbw_DefaultChannel;
#endif #endif
#define PERIODIC_SEND_COMMANDS(_chan) DOWNLINK_SEND_COMMANDS(_chan, COMMANDS_NB, commands) #define PERIODIC_SEND_COMMANDS(_trans, _dev) DOWNLINK_SEND_COMMANDS(_trans, _dev, COMMANDS_NB, commands)
#ifdef RADIO_CONTROL #ifdef RADIO_CONTROL
#define PERIODIC_SEND_FBW_STATUS(_chan) DOWNLINK_SEND_FBW_STATUS(_chan, &(radio_control.status), &(radio_control.frame_rate), &fbw_mode, &electrical.vsupply, &electrical.current) #define PERIODIC_SEND_FBW_STATUS(_trans, _dev) DOWNLINK_SEND_FBW_STATUS(_trans, _dev, &(radio_control.status), &(radio_control.frame_rate), &fbw_mode, &electrical.vsupply, &electrical.current)
#ifdef RADIO_CONTROL_TYPE_PPM #ifdef RADIO_CONTROL_TYPE_PPM
#define PERIODIC_SEND_PPM(_chan) DOWNLINK_SEND_PPM(_chan, &(radio_control.frame_rate), PPM_NB_CHANNEL, ppm_pulses) #define PERIODIC_SEND_PPM(_trans, _dev) DOWNLINK_SEND_PPM(_trans, _dev, &(radio_control.frame_rate), PPM_NB_CHANNEL, ppm_pulses)
#else #else
#define PERIODIC_SEND_PPM(_chan) {} #define PERIODIC_SEND_PPM(_trans, _dev) {}
#endif #endif
#define PERIODIC_SEND_RC(_chan) DOWNLINK_SEND_RC(_chan, RADIO_CONTROL_NB_CHANNEL, radio_control.values) #define PERIODIC_SEND_RC(_trans, _dev) DOWNLINK_SEND_RC(_trans, _dev, RADIO_CONTROL_NB_CHANNEL, radio_control.values)
#else // RADIO_CONTROL #else // RADIO_CONTROL
#define PERIODIC_SEND_FBW_STATUS(_chan) { uint8_t dummy = 0; DOWNLINK_SEND_FBW_STATUS(_chan, &dummy, &dummy, &fbw_mode, &electrical.vsupply, &electrical.current); } #define PERIODIC_SEND_FBW_STATUS(_trans, _dev) { uint8_t dummy = 0; DOWNLINK_SEND_FBW_STATUS(_trans, _dev, &dummy, &dummy, &fbw_mode, &electrical.vsupply, &electrical.current); }
#define PERIODIC_SEND_PPM(_chan) {} #define PERIODIC_SEND_PPM(_trans, _dev) {}
#define PERIODIC_SEND_RC(_chan) {} #define PERIODIC_SEND_RC(_trans, _dev) {}
#endif // RADIO_CONTROL #endif // RADIO_CONTROL
#ifdef ACTUATORS #ifdef ACTUATORS
#define PERIODIC_SEND_ACTUATORS(_chan) DOWNLINK_SEND_ACTUATORS(_chan, SERVOS_NB, actuators) #define PERIODIC_SEND_ACTUATORS(_trans, _dev) DOWNLINK_SEND_ACTUATORS(_trans, _dev, SERVOS_NB, actuators)
#else #else
#define PERIODIC_SEND_ACTUATORS(_chan) {} #define PERIODIC_SEND_ACTUATORS(_trans, _dev) {}
#endif #endif
#ifdef BRICOLAGE_ADC #ifdef BRICOLAGE_ADC
extern uint16_t adc0_val[]; extern uint16_t adc0_val[];
#define PERIODIC_SEND_ADC(_chan) { \ #define PERIODIC_SEND_ADC(_trans, _dev) { \
static const uint8_t mcu = 0; \ static const uint8_t mcu = 0; \
DOWNLINK_SEND_ADC(_chan, &mcu, 8, adc0_val); \ DOWNLINK_SEND_ADC(_trans, _dev, &mcu, 8, adc0_val); \
} }
#else #else
#define PERIODIC_SEND_ADC(_chan) {} #define PERIODIC_SEND_ADC(_trans, _dev) {}
#endif #endif
static inline void fbw_downlink_periodic_task(void) { static inline void fbw_downlink_periodic_task(void) {
PeriodicSendFbw(DefaultChannel) PeriodicSendFbw(DefaultChannel,DefaultDevice)
} }
sw/airborne/firmwares/fixedwing/main_ap.c
+8 -11
View File
@@ -196,12 +196,12 @@ static inline void reporting_task( void ) {
/** initialisation phase during boot */ /** initialisation phase during boot */
if (boot) { if (boot) {
DOWNLINK_SEND_BOOT(DefaultChannel, &version); DOWNLINK_SEND_BOOT(DefaultChannel, DefaultDevice, &version);
boot = FALSE; boot = FALSE;
} }
/** then report periodicly */ /** then report periodicly */
else { else {
PeriodicSendAp(DefaultChannel); PeriodicSendAp(DefaultChannel, DefaultDevice);
} }
} }
@@ -236,7 +236,7 @@ static inline void telecommand_task( void ) {
} }
mode_changed |= mcu1_status_update(); mode_changed |= mcu1_status_update();
if ( mode_changed ) if ( mode_changed )
PERIODIC_SEND_PPRZ_MODE(DefaultChannel); PERIODIC_SEND_PPRZ_MODE(DefaultChannel, DefaultDevice);
#if defined RADIO_CONTROL || defined RADIO_CONTROL_AUTO1 #if defined RADIO_CONTROL || defined RADIO_CONTROL_AUTO1
/** In AUTO1 mode, compute roll setpoint and pitch setpoint from /** In AUTO1 mode, compute roll setpoint and pitch setpoint from
@@ -293,7 +293,7 @@ static void navigation_task( void ) {
if (pprz_mode == PPRZ_MODE_AUTO2 || pprz_mode == PPRZ_MODE_HOME) { if (pprz_mode == PPRZ_MODE_AUTO2 || pprz_mode == PPRZ_MODE_HOME) {
last_pprz_mode = pprz_mode; last_pprz_mode = pprz_mode;
pprz_mode = PPRZ_MODE_GPS_OUT_OF_ORDER; pprz_mode = PPRZ_MODE_GPS_OUT_OF_ORDER;
PERIODIC_SEND_PPRZ_MODE(DefaultChannel); PERIODIC_SEND_PPRZ_MODE(DefaultChannel, DefaultDevice);
gps_lost = TRUE; gps_lost = TRUE;
} }
} else if (gps_lost) { /* GPS is ok */ } else if (gps_lost) { /* GPS is ok */
@@ -301,7 +301,7 @@ static void navigation_task( void ) {
pprz_mode = last_pprz_mode; pprz_mode = last_pprz_mode;
gps_lost = FALSE; gps_lost = FALSE;
PERIODIC_SEND_PPRZ_MODE(DefaultChannel); PERIODIC_SEND_PPRZ_MODE(DefaultChannel, DefaultDevice);
} }
} }
#endif /* GPS && FAILSAFE_DELAY_WITHOUT_GPS */ #endif /* GPS && FAILSAFE_DELAY_WITHOUT_GPS */
@@ -319,10 +319,10 @@ static void navigation_task( void ) {
#endif #endif
#ifndef PERIOD_NAVIGATION_DefaultChannel_0 // If not sent periodically (in default 0 mode) #ifndef PERIOD_NAVIGATION_DefaultChannel_0 // If not sent periodically (in default 0 mode)
SEND_NAVIGATION(DefaultChannel); SEND_NAVIGATION(DefaultChannel, DefaultDevice);
#endif #endif
SEND_CAM(DefaultChannel); SEND_CAM(DefaultChannel, DefaultDevice);
/* The nav task computes only nav_altitude. However, we are interested /* The nav task computes only nav_altitude. However, we are interested
by desired_altitude (= nav_alt+alt_shift) in any case. by desired_altitude (= nav_alt+alt_shift) in any case.
@@ -478,9 +478,6 @@ void periodic_task_ap( void ) {
switch(_4Hz) { switch(_4Hz) {
case 0: case 0:
estimator_propagate_state(); estimator_propagate_state();
#ifdef EXTRA_DOWNLINK_DEVICE
DOWNLINK_SEND_ATTITUDE(ExtraPprzTransport,&estimator_phi,&estimator_psi,&estimator_theta);
#endif
navigation_task(); navigation_task();
break; break;
case 1: case 1:
@@ -488,7 +485,7 @@ void periodic_task_ap( void ) {
estimator_hspeed_mod > MIN_SPEED_FOR_TAKEOFF) { estimator_hspeed_mod > MIN_SPEED_FOR_TAKEOFF) {
estimator_flight_time = 1; estimator_flight_time = 1;
launch = TRUE; /* Not set in non auto launch */ launch = TRUE; /* Not set in non auto launch */
DOWNLINK_SEND_TAKEOFF(DefaultChannel, &cpu_time_sec); DOWNLINK_SEND_TAKEOFF(DefaultChannel, DefaultDevice, &cpu_time_sec);
default: default:
break; break;
} }
sw/airborne/firmwares/motor_bench/main_motor_bench.c
+3 -3
View File
@@ -80,10 +80,10 @@ static inline void main_periodic_task( void ) {
RunOnceEvery(125, { RunOnceEvery(125, {
DOWNLINK_SEND_ALIVE(DefaultChannel, 16, MD5SUM); DOWNLINK_SEND_ALIVE(DefaultChannel, DefaultDevice, 16, MD5SUM);
PeriodicSendDlValue(DefaultChannel); PeriodicSendDlValue(DefaultChannel);
}); });
DOWNLINK_SEND_MOTOR_BENCH_STATUS(DefaultChannel, &cpu_time_ticks, &throttle, &rpm, &amps , &thrust, &torque, &cpu_time_sec, &mb_modes_mode); DOWNLINK_SEND_MOTOR_BENCH_STATUS(DefaultChannel, DefaultDevice, &cpu_time_ticks, &throttle, &rpm, &amps , &thrust, &torque, &cpu_time_sec, &mb_modes_mode);
@@ -120,6 +120,6 @@ static inline void main_dl_parse_msg(void) {
uint8_t i = DL_SETTING_index(dl_buffer); uint8_t i = DL_SETTING_index(dl_buffer);
float var = DL_SETTING_value(dl_buffer); float var = DL_SETTING_value(dl_buffer);
DlSetting(i, var); DlSetting(i, var);
DOWNLINK_SEND_DL_VALUE(DefaultChannel, &i, &var); DOWNLINK_SEND_DL_VALUE(DefaultChannel, DefaultDevice, &i, &var);
} }
} }
sw/airborne/firmwares/motor_bench/main_turntable.c
+3 -3
View File
@@ -46,11 +46,11 @@ static inline void main_periodic( void ) {
RunOnceEvery(50, { RunOnceEvery(50, {
const float tach_to_rpm = 15000000.*2*M_PI/(float)NB_STEP; const float tach_to_rpm = 15000000.*2*M_PI/(float)NB_STEP;
omega_rad = tach_to_rpm / lp_pulse; omega_rad = tach_to_rpm / lp_pulse;
DOWNLINK_SEND_IMU_TURNTABLE(DefaultChannel, &omega_rad);} DOWNLINK_SEND_IMU_TURNTABLE(DefaultChannel, DefaultDevice, &omega_rad);}
// float foo = nb_pulse; // float foo = nb_pulse;
// DOWNLINK_SEND_IMU_TURNTABLE(DefaultChannel, &foo);} // DOWNLINK_SEND_IMU_TURNTABLE(DefaultChannel, DefaultDevice, &foo);}
); );
RunOnceEvery(100, {DOWNLINK_SEND_ALIVE(DefaultChannel, 16, MD5SUM);}); RunOnceEvery(100, {DOWNLINK_SEND_ALIVE(DefaultChannel, DefaultDevice, 16, MD5SUM);});
} }
sw/airborne/firmwares/rotorcraft/datalink.c
+4 -4
View File
@@ -54,7 +54,7 @@ void dl_parse_msg(void) {
case DL_PING: case DL_PING:
{ {
DOWNLINK_SEND_PONG(DefaultChannel); DOWNLINK_SEND_PONG(DefaultChannel, DefaultDevice);
} }
break; break;
@@ -64,7 +64,7 @@ void dl_parse_msg(void) {
uint8_t i = DL_SETTING_index(dl_buffer); uint8_t i = DL_SETTING_index(dl_buffer);
float var = DL_SETTING_value(dl_buffer); float var = DL_SETTING_value(dl_buffer);
DlSetting(i, var); DlSetting(i, var);
DOWNLINK_SEND_DL_VALUE(DefaultChannel, &i, &var); DOWNLINK_SEND_DL_VALUE(DefaultChannel, DefaultDevice, &i, &var);
} }
break; break;
@@ -73,7 +73,7 @@ void dl_parse_msg(void) {
if (DL_GET_SETTING_ac_id(dl_buffer) != AC_ID) break; if (DL_GET_SETTING_ac_id(dl_buffer) != AC_ID) break;
uint8_t i = DL_GET_SETTING_index(dl_buffer); uint8_t i = DL_GET_SETTING_index(dl_buffer);
float val = settings_get_value(i); float val = settings_get_value(i);
DOWNLINK_SEND_DL_VALUE(DefaultChannel, &i, &val); DOWNLINK_SEND_DL_VALUE(DefaultChannel, DefaultDevice, &i, &val);
} }
break; break;
@@ -101,7 +101,7 @@ void dl_parse_msg(void) {
enu.y = POS_BFP_OF_REAL(enu.y)/100; enu.y = POS_BFP_OF_REAL(enu.y)/100;
enu.z = POS_BFP_OF_REAL(enu.z)/100; enu.z = POS_BFP_OF_REAL(enu.z)/100;
VECT3_ASSIGN(waypoints[wp_id], enu.x, enu.y, enu.z); VECT3_ASSIGN(waypoints[wp_id], enu.x, enu.y, enu.z);
DOWNLINK_SEND_WP_MOVED_ENU(DefaultChannel, &wp_id, &enu.x, &enu.y, &enu.z); DOWNLINK_SEND_WP_MOVED_ENU(DefaultChannel, DefaultDevice, &wp_id, &enu.x, &enu.y, &enu.z);
} }
break; break;
#endif /* USE_NAVIGATION */ #endif /* USE_NAVIGATION */
sw/airborne/firmwares/rotorcraft/navigation.c
+2 -2
View File
@@ -289,7 +289,7 @@ void nav_periodic_task() {
void nav_move_waypoint(uint8_t wp_id, struct EnuCoor_i * new_pos) { void nav_move_waypoint(uint8_t wp_id, struct EnuCoor_i * new_pos) {
if (wp_id < nb_waypoint) { if (wp_id < nb_waypoint) {
INT32_VECT3_COPY(waypoints[wp_id],(*new_pos)); INT32_VECT3_COPY(waypoints[wp_id],(*new_pos));
DOWNLINK_SEND_WP_MOVED_ENU(DefaultChannel, &wp_id, &(new_pos->x), &(new_pos->y), &(new_pos->z)); DOWNLINK_SEND_WP_MOVED_ENU(DefaultChannel, DefaultDevice, &wp_id, &(new_pos->x), &(new_pos->y), &(new_pos->z));
} }
} }
@@ -310,7 +310,7 @@ void navigation_update_wp_from_speed(uint8_t wp, struct Int16Vect3 speed_sp, int
nav_heading += delta_heading; nav_heading += delta_heading;
INT32_COURSE_NORMALIZE(nav_heading); INT32_COURSE_NORMALIZE(nav_heading);
RunOnceEvery(10,DOWNLINK_SEND_WP_MOVED_ENU(DefaultChannel, &wp, &(waypoints[wp].x), &(waypoints[wp].y), &(waypoints[wp].z))); RunOnceEvery(10,DOWNLINK_SEND_WP_MOVED_ENU(DefaultChannel, DefaultDevice, &wp, &(waypoints[wp].x), &(waypoints[wp].y), &(waypoints[wp].z)));
} }
bool_t nav_detect_ground(void) { bool_t nav_detect_ground(void) {
sw/airborne/firmwares/rotorcraft/telemetry.h
+1 -1
View File
@@ -682,7 +682,7 @@ extern uint8_t telemetry_mode_Main_DefaultChannel;
static uint8_t last_cnos[GPS_NB_CHANNELS]; \ static uint8_t last_cnos[GPS_NB_CHANNELS]; \
if (i == gps.nb_channels) i = 0; \ if (i == gps.nb_channels) i = 0; \
if (i < gps.nb_channels && gps.svinfos[i].cno > 0 && gps.svinfos[i].cno != last_cnos[i]) { \ if (i < gps.nb_channels && gps.svinfos[i].cno > 0 && gps.svinfos[i].cno != last_cnos[i]) { \
DOWNLINK_SEND_SVINFO(DefaultChannel, &i, &gps.svinfos[i].svid, &gps.svinfos[i].flags, &gps.svinfos[i].qi, &gps.svinfos[i].cno, &gps.svinfos[i].elev, &gps.svinfos[i].azim); \ DOWNLINK_SEND_SVINFO(DefaultChannel, DefaultDevice, &i, &gps.svinfos[i].svid, &gps.svinfos[i].flags, &gps.svinfos[i].qi, &gps.svinfos[i].cno, &gps.svinfos[i].elev, &gps.svinfos[i].azim); \
last_cnos[i] = gps.svinfos[i].cno; \ last_cnos[i] = gps.svinfos[i].cno; \
} \ } \
i++; \ i++; \
sw/airborne/firmwares/setup/setup_actuators.c
+4 -4
View File
@@ -35,11 +35,11 @@ void dl_parse_msg( void ) {
for (int j=0 ; j<8 ; j++) { for (int j=0 ; j<8 ; j++) {
SetServo(j,actuators[j]); SetServo(j,actuators[j]);
} }
DOWNLINK_SEND_DL_VALUE(DefaultChannel, &i, &val); DOWNLINK_SEND_DL_VALUE(DefaultChannel, DefaultDevice, &i, &val);
} else if (msg_id == DL_GET_SETTING && DL_GET_SETTING_ac_id(dl_buffer) == AC_ID) { } else if (msg_id == DL_GET_SETTING && DL_GET_SETTING_ac_id(dl_buffer) == AC_ID) {
uint8_t i = DL_GET_SETTING_index(dl_buffer); uint8_t i = DL_GET_SETTING_index(dl_buffer);
float val = settings_get_value(i); float val = settings_get_value(i);
DOWNLINK_SEND_DL_VALUE(DefaultChannel, &i, &val); DOWNLINK_SEND_DL_VALUE(DefaultChannel, DefaultDevice, &i, &val);
} }
#endif #endif
} }
@@ -71,8 +71,8 @@ void periodic_task_fbw(void) {
/* uint16_t servo_value = 1500+ 500*sin(t); */ /* uint16_t servo_value = 1500+ 500*sin(t); */
/* SetServo(SERVO_THROTTLE, servo_value); */ /* SetServo(SERVO_THROTTLE, servo_value); */
RunOnceEvery(300, DOWNLINK_SEND_ALIVE(DefaultChannel, 16, MD5SUM)); RunOnceEvery(300, DOWNLINK_SEND_ALIVE(DefaultChannel, DefaultDevice, 16, MD5SUM));
RunOnceEvery(300, DOWNLINK_SEND_ACTUATORS(DefaultChannel, SERVOS_NB, actuators )); RunOnceEvery(300, DOWNLINK_SEND_ACTUATORS(DefaultChannel, DefaultDevice, SERVOS_NB, actuators ));
} }
void event_task_fbw(void) { void event_task_fbw(void) {
sw/airborne/lisa/lisa_stm_passthrough_main.c
+4 -4
View File
@@ -165,10 +165,10 @@ static inline void main_periodic(void) {
RunOnceEvery(10, { RunOnceEvery(10, {
LED_PERIODIC(); LED_PERIODIC();
DOWNLINK_SEND_ALIVE(DefaultChannel, 16, MD5SUM); DOWNLINK_SEND_ALIVE(DefaultChannel, DefaultDevice, 16, MD5SUM);
radio_control_periodic(); radio_control_periodic();
check_radio_lost(); check_radio_lost();
DOWNLINK_SEND_BARO_RAW(DefaultChannel, &baro.absolute, &baro.differential); DOWNLINK_SEND_BARO_RAW(DefaultChannel, DefaultDevice, &baro.absolute, &baro.differential);
}); });
RunOnceEvery(2, {baro_periodic();}); RunOnceEvery(2, {baro_periodic();});
@@ -179,7 +179,7 @@ static inline void main_periodic(void) {
v1 = adc0_buf.sum / adc0_buf.av_nb_sample; v1 = adc0_buf.sum / adc0_buf.av_nb_sample;
v2 = adc1_buf.values[0]; v2 = adc1_buf.values[0];
RunOnceEvery(10, { DOWNLINK_SEND_ADC_GENERIC(DefaultChannel, &v1, &v2) }); RunOnceEvery(10, { DOWNLINK_SEND_ADC_GENERIC(DefaultChannel, DefaultDevice, &v1, &v2) });
} }
} }
@@ -318,7 +318,7 @@ static inline void on_mag_event(void) {
static inline void on_vane_msg(void *data) { static inline void on_vane_msg(void *data) {
new_vane = TRUE; new_vane = TRUE;
int zero = 0; int zero = 0;
DOWNLINK_SEND_VANE_SENSOR(DefaultChannel, DOWNLINK_SEND_VANE_SENSOR(DefaultChannel, DefaultDevice,
&(csc_vane_msg.vane_angle1), &(csc_vane_msg.vane_angle1),
&zero, &zero,
&zero, &zero,
sw/airborne/lisa/test/hs_gyro.c
+3 -3
View File
@@ -70,7 +70,7 @@ static inline void main_init( void ) {
static inline void main_periodic_task( void ) { static inline void main_periodic_task( void ) {
RunOnceEvery(100, { RunOnceEvery(100, {
LED_TOGGLE(3); LED_TOGGLE(3);
DOWNLINK_SEND_ALIVE(DefaultChannel, 16, MD5SUM); DOWNLINK_SEND_ALIVE(DefaultChannel, DefaultDevice, 16, MD5SUM);
}); });
imu_periodic(); imu_periodic();
RunOnceEvery(10, { LED_PERIODIC();}); RunOnceEvery(10, { LED_PERIODIC();});
@@ -101,11 +101,11 @@ static inline void on_gyro_accel_event(void) {
if (cnt > NB_SAMPLES) cnt = 0; if (cnt > NB_SAMPLES) cnt = 0;
samples[cnt] = imu.MEASURED_SENSOR; samples[cnt] = imu.MEASURED_SENSOR;
if (cnt == NB_SAMPLES-1) { if (cnt == NB_SAMPLES-1) {
DOWNLINK_SEND_IMU_HS_GYRO(DefaultChannel, &axis, NB_SAMPLES, samples); DOWNLINK_SEND_IMU_HS_GYRO(DefaultChannel, DefaultDevice, &axis, NB_SAMPLES, samples);
} }
if (cnt == 10) { if (cnt == 10) {
DOWNLINK_SEND_IMU_GYRO_RAW(DefaultChannel, DOWNLINK_SEND_IMU_GYRO_RAW(DefaultChannel, DefaultDevice,
&imu.gyro_unscaled.p, &imu.gyro_unscaled.p,
&imu.gyro_unscaled.q, &imu.gyro_unscaled.q,
&imu.gyro_unscaled.r); &imu.gyro_unscaled.r);
sw/airborne/lisa/test/lisa_test_actuators_mkk.c
+1 -1
View File
@@ -62,7 +62,7 @@ static inline void main_periodic_task( void ) {
RunOnceEvery(100, { RunOnceEvery(100, {
LED_TOGGLE(3); LED_TOGGLE(3);
DOWNLINK_SEND_ALIVE(DefaultChannel, 16, MD5SUM); DOWNLINK_SEND_ALIVE(DefaultChannel, DefaultDevice, 16, MD5SUM);
}); });
sw/airborne/lisa/test/lisa_test_adxl345.c
+2 -2
View File
@@ -148,7 +148,7 @@ static inline void main_periodic_task( void ) {
RunOnceEvery(10, RunOnceEvery(10,
{ {
DOWNLINK_SEND_ALIVE(DefaultChannel, 16, MD5SUM); DOWNLINK_SEND_ALIVE(DefaultChannel, DefaultDevice, 16, MD5SUM);
LED_PERIODIC(); LED_PERIODIC();
}); });
@@ -197,7 +197,7 @@ static inline void main_event_task( void ) {
int32_t iax = *((int16_t*)&values[0]); int32_t iax = *((int16_t*)&values[0]);
int32_t iay = *((int16_t*)&values[2]); int32_t iay = *((int16_t*)&values[2]);
int32_t iaz = *((int16_t*)&values[4]); int32_t iaz = *((int16_t*)&values[4]);
RunOnceEvery(10, {DOWNLINK_SEND_IMU_ACCEL_RAW(DefaultChannel, &iax, &iay, &iaz);}); RunOnceEvery(10, {DOWNLINK_SEND_IMU_ACCEL_RAW(DefaultChannel, DefaultDevice, &iax, &iay, &iaz);});
} }
} }
sw/airborne/lisa/test/lisa_test_adxl345_dma.c
+2 -2
View File
@@ -161,7 +161,7 @@ static inline void main_periodic_task( void ) {
RunOnceEvery(10, RunOnceEvery(10,
{ {
DOWNLINK_SEND_ALIVE(DefaultChannel, 16, MD5SUM); DOWNLINK_SEND_ALIVE(DefaultChannel, DefaultDevice, 16, MD5SUM);
LED_PERIODIC(); LED_PERIODIC();
}); });
@@ -197,7 +197,7 @@ static inline void main_event_task( void ) {
int32_t iax = ax; int32_t iax = ax;
int32_t iay = ay; int32_t iay = ay;
int32_t iaz = az; int32_t iaz = az;
RunOnceEvery(10, {DOWNLINK_SEND_IMU_ACCEL_RAW(DefaultChannel, &iax, &iay, &iaz);}); RunOnceEvery(10, {DOWNLINK_SEND_IMU_ACCEL_RAW(DefaultChannel, DefaultDevice, &iax, &iay, &iaz);});
} }
} }
sw/airborne/lisa/test/lisa_test_aspirin.c
+1 -1
View File
@@ -80,7 +80,7 @@ static inline void main_periodic_task( void ) {
// LED_TOGGLE(6); // LED_TOGGLE(6);
RunOnceEvery(10, RunOnceEvery(10,
{ {
DOWNLINK_SEND_ALIVE(DefaultChannel, 16, MD5SUM); DOWNLINK_SEND_ALIVE(DefaultChannel, DefaultDevice, 16, MD5SUM);
LED_PERIODIC(); LED_PERIODIC();
}); });
sw/airborne/lisa/test/lisa_test_hmc5843.c
+4 -4
View File
@@ -84,12 +84,12 @@ static inline void main_periodic_task( void ) {
// LED_TOGGLE(6); // LED_TOGGLE(6);
RunOnceEvery(10, RunOnceEvery(10,
{ {
DOWNLINK_SEND_ALIVE(DefaultChannel, 16, MD5SUM); DOWNLINK_SEND_ALIVE(DefaultChannel, DefaultDevice, 16, MD5SUM);
LED_PERIODIC(); LED_PERIODIC();
}); });
RunOnceEvery(256, RunOnceEvery(256,
{ {
DOWNLINK_SEND_I2C_ERRORS(DefaultChannel, DOWNLINK_SEND_I2C_ERRORS(DefaultChannel, DefaultDevice,
&i2c2_errors.ack_fail_cnt, &i2c2_errors.ack_fail_cnt,
&i2c2_errors.miss_start_stop_cnt, &i2c2_errors.miss_start_stop_cnt,
&i2c2_errors.arb_lost_cnt, &i2c2_errors.arb_lost_cnt,
@@ -165,10 +165,10 @@ static inline void main_event_task( void ) {
int16_t mz = i2c_trans.buf[4]<<8 | i2c_trans.buf[5]; int16_t mz = i2c_trans.buf[4]<<8 | i2c_trans.buf[5];
struct Int32Vect3 m; struct Int32Vect3 m;
VECT3_ASSIGN(m, mx, my, mz); VECT3_ASSIGN(m, mx, my, mz);
DOWNLINK_SEND_IMU_MAG_RAW(DefaultChannel, &m.x, &m.y, &m.z); DOWNLINK_SEND_IMU_MAG_RAW(DefaultChannel, DefaultDevice, &m.x, &m.y, &m.z);
// uint8_t tmp[8]; // uint8_t tmp[8];
// memcpy(tmp, i2c2.buf, 8); // memcpy(tmp, i2c2.buf, 8);
// DOWNLINK_SEND_DEBUG(DefaultChannel, 8, tmp); // DOWNLINK_SEND_DEBUG(DefaultChannel, DefaultDevice, 8, tmp);
} }
); );
reading_mag = FALSE; reading_mag = FALSE;
sw/airborne/lisa/test/lisa_test_itg3200.c
+4 -4
View File
@@ -82,11 +82,11 @@ static inline void main_periodic_task( void ) {
// LED_TOGGLE(6); // LED_TOGGLE(6);
RunOnceEvery(10, RunOnceEvery(10,
{ {
DOWNLINK_SEND_ALIVE(DefaultChannel, 16, MD5SUM); DOWNLINK_SEND_ALIVE(DefaultChannel, DefaultDevice, 16, MD5SUM);
LED_PERIODIC(); LED_PERIODIC();
}); });
RunOnceEvery(256, { RunOnceEvery(256, {
DOWNLINK_SEND_I2C_ERRORS(DefaultChannel, DOWNLINK_SEND_I2C_ERRORS(DefaultChannel, DefaultDevice,
&i2c2_errors.ack_fail_cnt, &i2c2_errors.ack_fail_cnt,
&i2c2_errors.miss_start_stop_cnt, &i2c2_errors.miss_start_stop_cnt,
&i2c2_errors.arb_lost_cnt, &i2c2_errors.arb_lost_cnt,
@@ -205,11 +205,11 @@ static inline void main_event_task( void ) {
RATES_ASSIGN(g, tgp, tgq, tgr); RATES_ASSIGN(g, tgp, tgq, tgr);
RunOnceEvery(10, RunOnceEvery(10,
{ {
DOWNLINK_SEND_IMU_GYRO_RAW(DefaultChannel, &g.p, &g.q, &g.r); DOWNLINK_SEND_IMU_GYRO_RAW(DefaultChannel, DefaultDevice, &g.p, &g.q, &g.r);
uint8_t tmp[8]; uint8_t tmp[8];
memcpy(tmp, i2c_trans.buf, 8); memcpy(tmp, i2c_trans.buf, 8);
DOWNLINK_SEND_DEBUG(DefaultChannel, 8, tmp); DOWNLINK_SEND_DEBUG(DefaultChannel, DefaultDevice, 8, tmp);
}); });
sw/airborne/lisa/test/lisa_test_max1168.c
+4 -4
View File
@@ -65,7 +65,7 @@ static inline void main_periodic_task( void ) {
max1168_read(); max1168_read();
RunOnceEvery(10, RunOnceEvery(10,
{ {
DOWNLINK_SEND_BOOT(DefaultChannel, &cpu_time_sec); DOWNLINK_SEND_BOOT(DefaultChannel, DefaultDevice, &cpu_time_sec);
LED_PERIODIC(); LED_PERIODIC();
}); });
@@ -74,9 +74,9 @@ static inline void main_periodic_task( void ) {
static inline void main_event_task( void ) { static inline void main_event_task( void ) {
if (max1168_status == STA_MAX1168_DATA_AVAILABLE) { if (max1168_status == STA_MAX1168_DATA_AVAILABLE) {
RunOnceEvery(10, { RunOnceEvery(10, {
DOWNLINK_SEND_IMU_GYRO_RAW(DefaultChannel, &max1168_values[0], &max1168_values[1], &max1168_values[2]); DOWNLINK_SEND_IMU_GYRO_RAW(DefaultChannel, DefaultDevice, &max1168_values[0], &max1168_values[1], &max1168_values[2]);
DOWNLINK_SEND_IMU_ACCEL_RAW(DefaultChannel, &max1168_values[3], &max1168_values[4], &max1168_values[6]); DOWNLINK_SEND_IMU_ACCEL_RAW(DefaultChannel, DefaultDevice, &max1168_values[3], &max1168_values[4], &max1168_values[6]);
// DOWNLINK_SEND_BOOT(DefaultChannel, &max1168_values[7]); }); // DOWNLINK_SEND_BOOT(DefaultChannel, DefaultDevice, &max1168_values[7]); });
}); });
max1168_status = STA_MAX1168_IDLE; max1168_status = STA_MAX1168_IDLE;
} }
sw/airborne/lisa/test/lisa_test_ms2100.c
+2 -2
View File
@@ -63,7 +63,7 @@ static inline void main_init( void ) {
static inline void main_periodic_task( void ) { static inline void main_periodic_task( void ) {
RunOnceEvery(10, RunOnceEvery(10,
{ {
DOWNLINK_SEND_BOOT(DefaultChannel, &cpu_time_sec); DOWNLINK_SEND_BOOT(DefaultChannel, DefaultDevice, &cpu_time_sec);
LED_PERIODIC(); LED_PERIODIC();
}); });
@@ -82,7 +82,7 @@ static inline void main_periodic_task( void ) {
static inline void main_event_task( void ) { static inline void main_event_task( void ) {
if (ms2100_status == MS2100_DATA_AVAILABLE) { if (ms2100_status == MS2100_DATA_AVAILABLE) {
RunOnceEvery(10, { RunOnceEvery(10, {
DOWNLINK_SEND_IMU_MAG_RAW(DefaultChannel, DOWNLINK_SEND_IMU_MAG_RAW(DefaultChannel, DefaultDevice,
&ms2100_values[0], &ms2100_values[0],
&ms2100_values[1], &ms2100_values[1],
&ms2100_values[2]); &ms2100_values[2]);
sw/airborne/lisa/test/lisa_test_sc18is600.c
+1 -1
View File
@@ -61,7 +61,7 @@ static inline void main_periodic_task( void ) {
// LED_TOGGLE(6); // LED_TOGGLE(6);
RunOnceEvery(10, RunOnceEvery(10,
{ {
DOWNLINK_SEND_ALIVE(DefaultChannel, 16, MD5SUM); DOWNLINK_SEND_ALIVE(DefaultChannel, DefaultDevice, 16, MD5SUM);
LED_PERIODIC(); LED_PERIODIC();
}); });
sw/airborne/lisa/test/test_board.c
+9 -9
View File
@@ -113,7 +113,7 @@ static inline void main_init( void ) {
static inline void main_periodic_task( void ) { static inline void main_periodic_task( void ) {
LED_PERIODIC(); LED_PERIODIC();
RunOnceEvery(256, {DOWNLINK_SEND_ALIVE(DefaultChannel, 16, MD5SUM);}); RunOnceEvery(256, {DOWNLINK_SEND_ALIVE(DefaultChannel, DefaultDevice, 16, MD5SUM);});
tests[cur_test]._periodic(); tests[cur_test]._periodic();
@@ -156,7 +156,7 @@ static void test_baro_start(void) {all_led_green();}
static void test_baro_periodic(void) { static void test_baro_periodic(void) {
RunOnceEvery(2, {baro_periodic();}); RunOnceEvery(2, {baro_periodic();});
RunOnceEvery(100,{ RunOnceEvery(100,{
DOWNLINK_SEND_I2C_ERRORS(DefaultChannel, DOWNLINK_SEND_I2C_ERRORS(DefaultChannel, DefaultDevice,
&i2c2_errors.ack_fail_cnt, &i2c2_errors.ack_fail_cnt,
&i2c2_errors.miss_start_stop_cnt, &i2c2_errors.miss_start_stop_cnt,
&i2c2_errors.arb_lost_cnt, &i2c2_errors.arb_lost_cnt,
@@ -170,10 +170,10 @@ static void test_baro_periodic(void) {
} }
static void test_baro_event(void) {BaroEvent(test_baro_on_baro_abs, test_baro_on_baro_diff);} static void test_baro_event(void) {BaroEvent(test_baro_on_baro_abs, test_baro_on_baro_diff);}
static inline void test_baro_on_baro_abs(void) { static inline void test_baro_on_baro_abs(void) {
RunOnceEvery(5,{DOWNLINK_SEND_BOOZ_BARO2_RAW(DefaultChannel, &baro.abs_raw, &baro.diff_raw);}); RunOnceEvery(5,{DOWNLINK_SEND_BOOZ_BARO2_RAW(DefaultChannel, DefaultDevice, &baro.abs_raw, &baro.diff_raw);});
} }
static inline void test_baro_on_baro_diff(void) { static inline void test_baro_on_baro_diff(void) {
RunOnceEvery(5,{DOWNLINK_SEND_BOOZ_BARO2_RAW(DefaultChannel, &baro.abs_raw, &baro.diff_raw);}); RunOnceEvery(5,{DOWNLINK_SEND_BOOZ_BARO2_RAW(DefaultChannel, DefaultDevice, &baro.abs_raw, &baro.diff_raw);});
} }
@@ -190,7 +190,7 @@ static void test_bldc_periodic(void) {
i2c1_transmit(0x58, 1, NULL); i2c1_transmit(0x58, 1, NULL);
RunOnceEvery(100,{ RunOnceEvery(100,{
DOWNLINK_SEND_I2C_ERRORS(DefaultChannel, DOWNLINK_SEND_I2C_ERRORS(DefaultChannel, DefaultDevice,
&i2c1_errors.ack_fail_cnt, &i2c1_errors.ack_fail_cnt,
&i2c1_errors.miss_start_stop_cnt, &i2c1_errors.miss_start_stop_cnt,
&i2c1_errors.arb_lost_cnt, &i2c1_errors.arb_lost_cnt,
@@ -260,7 +260,7 @@ static void test_uart_event(void) {
if (Uart3ChAvailable()) { if (Uart3ChAvailable()) {
buf_dest[idx_rx] = Uart3Getch(); buf_dest[idx_rx] = Uart3Getch();
if (idx_rx<sizeof(buf_src)) { if (idx_rx<sizeof(buf_src)) {
DOWNLINK_SEND_DEBUG(DefaultChannel, sizeof(buf_src), buf_dest); DOWNLINK_SEND_DEBUG(DefaultChannel, DefaultDevice, sizeof(buf_src), buf_dest);
idx_rx++; idx_rx++;
if (idx_rx == sizeof(buf_src)) { if (idx_rx == sizeof(buf_src)) {
if ( memcmp(buf_dest, buf_src, sizeof(buf_src)) ) { if ( memcmp(buf_dest, buf_src, sizeof(buf_src)) ) {
@@ -278,7 +278,7 @@ static void test_uart_event(void) {
if (Uart1ChAvailable()) { if (Uart1ChAvailable()) {
buf_dest[idx_rx] = Uart1Getch(); buf_dest[idx_rx] = Uart1Getch();
if (idx_rx<sizeof(buf_src)) { if (idx_rx<sizeof(buf_src)) {
DOWNLINK_SEND_DEBUG(DefaultChannel, sizeof(buf_src), buf_dest); DOWNLINK_SEND_DEBUG(DefaultChannel, DefaultDevice, sizeof(buf_src), buf_dest);
idx_rx++; idx_rx++;
if (idx_rx == sizeof(buf_src)) { if (idx_rx == sizeof(buf_src)) {
if ( memcmp(buf_dest, buf_src, sizeof(buf_src)) ) { if ( memcmp(buf_dest, buf_src, sizeof(buf_src)) ) {
@@ -330,7 +330,7 @@ void dl_parse_msg(void) {
case DL_PING: case DL_PING:
{ {
DOWNLINK_SEND_PONG(DefaultChannel); DOWNLINK_SEND_PONG(DefaultChannel, DefaultDevice);
} }
break; break;
@@ -340,7 +340,7 @@ void dl_parse_msg(void) {
uint8_t i = DL_SETTING_index(dl_buffer); uint8_t i = DL_SETTING_index(dl_buffer);
float var = DL_SETTING_value(dl_buffer); float var = DL_SETTING_value(dl_buffer);
DlSetting(i, var); DlSetting(i, var);
DOWNLINK_SEND_DL_VALUE(DefaultChannel, &i, &var); DOWNLINK_SEND_DL_VALUE(DefaultChannel, DefaultDevice, &i, &var);
} }
break; break;
sw/airborne/lisa/test/test_mc_asctec_v1_simple.c
+2 -2
View File
@@ -60,10 +60,10 @@ static inline void main_init( void ) {
static inline void main_periodic_task( void ) { static inline void main_periodic_task( void ) {
RunOnceEvery(256, {DOWNLINK_SEND_ALIVE(DefaultChannel, 16, MD5SUM);}); RunOnceEvery(256, {DOWNLINK_SEND_ALIVE(DefaultChannel, DefaultDevice, 16, MD5SUM);});
RunOnceEvery(256, RunOnceEvery(256,
{ {
DOWNLINK_SEND_I2C_ERRORS(DefaultChannel, DOWNLINK_SEND_I2C_ERRORS(DefaultChannel, DefaultDevice,
&i2c1_errors.ack_fail_cnt, &i2c1_errors.ack_fail_cnt,
&i2c1_errors.miss_start_stop_cnt, &i2c1_errors.miss_start_stop_cnt,
&i2c1_errors.arb_lost_cnt, &i2c1_errors.arb_lost_cnt,
sw/airborne/lisa/test_adc.c
+3 -3
View File
@@ -68,8 +68,8 @@ int main( void ) {
} }
static inline void main_periodic_task( void ) { static inline void main_periodic_task( void ) {
RunOnceEvery(100, {DOWNLINK_SEND_ALIVE(DefaultChannel, 16, MD5SUM);}); RunOnceEvery(100, {DOWNLINK_SEND_ALIVE(DefaultChannel, DefaultDevice, 16, MD5SUM);});
RunOnceEvery(100, {/*LED_TOGGLE(7);*/ DOWNLINK_SEND_TIME(DefaultChannel, &cpu_time_sec);}); RunOnceEvery(100, {/*LED_TOGGLE(7);*/ DOWNLINK_SEND_TIME(DefaultChannel, DefaultDevice, &cpu_time_sec);});
LED_PERIODIC(); LED_PERIODIC();
} }
@@ -82,7 +82,7 @@ static inline void main_event_task( void ) {
// v1 = (((adc0_buf.values[0]))); // v1 = (((adc0_buf.values[0])));
v1 = adc0_buf.sum/adc0_buf.av_nb_sample; v1 = adc0_buf.sum/adc0_buf.av_nb_sample;
v2 = (((adc3_buf.values[0]))); v2 = (((adc3_buf.values[0])));
RunOnceEvery(100, {DOWNLINK_SEND_ADC_GENERIC(DefaultChannel, &v1, &v2)}); RunOnceEvery(100, {DOWNLINK_SEND_ADC_GENERIC(DefaultChannel, DefaultDevice, &v1, &v2)});
} }
} }
sw/airborne/lisa/test_csc_servo.c
+4 -4
View File
@@ -92,7 +92,7 @@ static inline void main_periodic_task( void ) {
cscp_transmit(0, 0, (uint8_t *)servos, 8); cscp_transmit(0, 0, (uint8_t *)servos, 8);
LED_PERIODIC(); LED_PERIODIC();
DOWNLINK_SEND_ALIVE(DefaultChannel, 16, MD5SUM); DOWNLINK_SEND_ALIVE(DefaultChannel, DefaultDevice, 16, MD5SUM);
} }
@@ -105,17 +105,17 @@ static inline void main_event_task( void ) {
LED_OFF(2); LED_OFF(2);
LED_OFF(3); LED_OFF(3);
// DOWNLINK_SEND_ALIVE(DefaultChannel, 16, MD5SUM); // DOWNLINK_SEND_ALIVE(DefaultChannel, DefaultDevice, 16, MD5SUM);
} }
void main_on_vane_msg(void *data) void main_on_vane_msg(void *data)
{ {
int zero = 0; int zero = 0;
// DOWNLINK_SEND_PONG(DefaultChannel); // DOWNLINK_SEND_PONG(DefaultChannel, DefaultDevice);
// RunOnceEvery(10, { // RunOnceEvery(10, {
DOWNLINK_SEND_VANE_SENSOR(DefaultChannel, DOWNLINK_SEND_VANE_SENSOR(DefaultChannel, DefaultDevice,
&(csc_vane_msg.vane_angle1), &(csc_vane_msg.vane_angle1),
&zero, &zero,
&zero, &zero,
sw/airborne/lisa/test_datalink.c
+2 -2
View File
@@ -52,7 +52,7 @@ static inline void main_init( void ) {
} }
static inline void main_periodic( void ) { static inline void main_periodic( void ) {
RunOnceEvery(100, {DOWNLINK_SEND_ALIVE(DefaultChannel, 16, MD5SUM);}); RunOnceEvery(100, {DOWNLINK_SEND_ALIVE(DefaultChannel, DefaultDevice, 16, MD5SUM);});
} }
static inline void main_event( void ) { static inline void main_event( void ) {
@@ -67,7 +67,7 @@ void dl_parse_msg(void) {
case DL_PING: case DL_PING:
{ {
DOWNLINK_SEND_PONG(DefaultChannel); DOWNLINK_SEND_PONG(DefaultChannel, DefaultDevice);
} }
break; break;
} }
sw/airborne/lisa/test_float.c
+2 -2
View File
@@ -58,11 +58,11 @@ static inline void main_periodic( void ) {
float i = sqrt(f); // ok float i = sqrt(f); // ok
//float i = powf(f1, f1); // nok //float i = powf(f1, f1); // nok
//float i = atan2(f, f); // ok //float i = atan2(f, f); // ok
RunOnceEvery(10, {DOWNLINK_SEND_TEST_FORMAT(DefaultChannel, &d1, &i);}); RunOnceEvery(10, {DOWNLINK_SEND_TEST_FORMAT(DefaultChannel, DefaultDevice, &d1, &i);});
uint16_t blaaa = f+d; uint16_t blaaa = f+d;
RunOnceEvery(10, {DOWNLINK_SEND_BOOT(DefaultChannel, &blaaa);}); RunOnceEvery(10, {DOWNLINK_SEND_BOOT(DefaultChannel, DefaultDevice, &blaaa);});
LED_PERIODIC(); LED_PERIODIC();
} }
sw/airborne/lisa/test_spi_slave.c
+2 -2
View File
@@ -65,7 +65,7 @@ static inline void main_periodic_task( void ) {
GPIOC->BSRR = GPIO_Pin_4; GPIOC->BSRR = GPIO_Pin_4;
foo = !foo; foo = !foo;
#endif #endif
RunOnceEvery(10, {DOWNLINK_SEND_BOOT(DefaultChannel, &cpu_time_sec);}); RunOnceEvery(10, {DOWNLINK_SEND_BOOT(DefaultChannel, DefaultDevice, &cpu_time_sec);});
LED_PERIODIC(); LED_PERIODIC();
} }
@@ -129,7 +129,7 @@ void spi1_irq_handler(void) {
SPI_I2S_SendData(SPI1, cnt); SPI_I2S_SendData(SPI1, cnt);
cnt++; cnt++;
LED_TOGGLE(3); LED_TOGGLE(3);
DOWNLINK_SEND_DEBUG_MCU_LINK(DefaultChannel, &foo, &foo, &cnt); DOWNLINK_SEND_DEBUG_MCU_LINK(DefaultChannel, DefaultDevice, &foo, &foo, &cnt);
} }
sw/airborne/lisa/test_spi_slave2.c
+2 -2
View File
@@ -67,7 +67,7 @@ static inline void main_init( void ) {
static inline void main_periodic_task( void ) { static inline void main_periodic_task( void ) {
RunOnceEvery(10, RunOnceEvery(10,
{ {
DOWNLINK_SEND_BOOT(DefaultChannel, &cpu_time_sec); DOWNLINK_SEND_BOOT(DefaultChannel, DefaultDevice, &cpu_time_sec);
LED_PERIODIC(); LED_PERIODIC();
}); });
@@ -78,7 +78,7 @@ static inline void main_event_task( void ) {
#ifdef USE_DMA #ifdef USE_DMA
if (DMA_GetFlagStatus(DMA1_FLAG_TC2)) { if (DMA_GetFlagStatus(DMA1_FLAG_TC2)) {
LED_TOGGLE(3); LED_TOGGLE(3);
RunOnceEvery(10, {DOWNLINK_SEND_DEBUG_MCU_LINK(DefaultChannel, &SPI_SLAVE_Buffer_Rx[0], RunOnceEvery(10, {DOWNLINK_SEND_DEBUG_MCU_LINK(DefaultChannel, DefaultDevice, &SPI_SLAVE_Buffer_Rx[0],
&SPI_SLAVE_Buffer_Rx[1], &SPI_SLAVE_Buffer_Rx[2]);}); &SPI_SLAVE_Buffer_Rx[1], &SPI_SLAVE_Buffer_Rx[2]);});
memcpy(SPI_SLAVE_Buffer_Tx, SPI_SLAVE_Buffer_Rx, BufferSize); memcpy(SPI_SLAVE_Buffer_Tx, SPI_SLAVE_Buffer_Rx, BufferSize);
main_setup_dma(); main_setup_dma();
sw/airborne/modules/MPPT/MPPT.c
+1 -1
View File
@@ -83,7 +83,7 @@ static void MPPT_ask( void ) {
fbw_current_milliamp = MPPT_data[MPPT_IBAT_INDEX]; fbw_current_milliamp = MPPT_data[MPPT_IBAT_INDEX];
MPPT_data[MPPT_ITOTAL_INDEX] = MPPT_data[MPPT_IBAT_INDEX] + MPPT_data[MPPT_ICONV_INDEX]; MPPT_data[MPPT_ITOTAL_INDEX] = MPPT_data[MPPT_IBAT_INDEX] + MPPT_data[MPPT_ICONV_INDEX];
DOWNLINK_SEND_MPPT(DefaultChannel, NB_DATA, MPPT_data); DOWNLINK_SEND_MPPT(DefaultChannel, DefaultDevice, NB_DATA, MPPT_data);
data_index = 0; data_index = 0;
} }
sw/airborne/modules/MPPT/sim_MPPT.c
+1 -1
View File
@@ -46,5 +46,5 @@ void MPPT_init( void ) {
void MPPT_periodic( void ) { void MPPT_periodic( void ) {
MPPT_data[MPPT_ITOTAL_INDEX] = MPPT_data[MPPT_IBAT_INDEX] + MPPT_data[MPPT_ICONV_INDEX]; MPPT_data[MPPT_ITOTAL_INDEX] = MPPT_data[MPPT_IBAT_INDEX] + MPPT_data[MPPT_ICONV_INDEX];
RunOnceEvery(8, DOWNLINK_SEND_MPPT(DefaultChannel, NB_DATA, MPPT_data)); RunOnceEvery(8, DOWNLINK_SEND_MPPT(DefaultChannel, DefaultDevice, NB_DATA, MPPT_data));
} }
sw/airborne/modules/adcs/adc_generic.c
+1 -1
View File
@@ -47,6 +47,6 @@ void adc_generic_periodic( void ) {
adc_generic_val2 = buf_generic2.sum / buf_generic2.av_nb_sample; adc_generic_val2 = buf_generic2.sum / buf_generic2.av_nb_sample;
#endif #endif
DOWNLINK_SEND_ADC_GENERIC(DefaultChannel, &adc_generic_val1, &adc_generic_val2); DOWNLINK_SEND_ADC_GENERIC(DefaultChannel, DefaultDevice, &adc_generic_val1, &adc_generic_val2);
} }
sw/airborne/modules/adcs/max11040.c
+1 -1
View File
@@ -66,7 +66,7 @@ void max11040_periodic(void) {
} }
DOWNLINK_SEND_TURB_PRESSURE_VOLTAGE( DOWNLINK_SEND_TURB_PRESSURE_VOLTAGE(
DefaultChannel, DefaultChannel, DefaultDevice,
&max11040_values_f[0], &max11040_values_f[0],
&max11040_values_f[1], &max11040_values_f[1],
&max11040_values_f[2], &max11040_values_f[2],
sw/airborne/modules/benchmark/flight_benchmark.c
+1 -1
View File
@@ -113,7 +113,7 @@ void flight_benchmark_periodic( void ) {
#endif #endif
} }
DOWNLINK_SEND_FLIGHT_BENCHMARK(DefaultChannel, &SquareSumErr_airspeed, &SquareSumErr_altitude, &SquareSumErr_position, &Err_airspeed, &Err_altitude, &Err_position) DOWNLINK_SEND_FLIGHT_BENCHMARK(DefaultChannel, DefaultDevice, &SquareSumErr_airspeed, &SquareSumErr_altitude, &SquareSumErr_position, &Err_airspeed, &Err_altitude, &Err_position)
} }
sw/airborne/modules/cam_control/cam_track.c
+3 -3
View File
@@ -115,7 +115,7 @@ void track_periodic_task(void) {
for (i = 0; i < c; i++) { for (i = 0; i < c; i++) {
CamUartSend1(cmd_msg[i]); CamUartSend1(cmd_msg[i]);
} }
//DOWNLINK_SEND_DEBUG(DefaultChannel,c,cmd_msg); //DOWNLINK_SEND_DEBUG(DefaultChannel, DefaultDevice,c,cmd_msg);
} }
@@ -188,13 +188,13 @@ void parse_cam_msg( void ) {
ptr++; ptr++;
*ptr = cam_data_buf[11]; *ptr = cam_data_buf[11];
//DOWNLINK_SEND_DEBUG(DefaultChannel,12,cam_data_buf); //DOWNLINK_SEND_DEBUG(DefaultChannel, DefaultDevice,12,cam_data_buf);
} }
void parse_cam_buffer( uint8_t c ) { void parse_cam_buffer( uint8_t c ) {
char bla[1]; char bla[1];
bla[1] = c; bla[1] = c;
//DOWNLINK_SEND_DEBUG(DefaultChannel,1,bla); //DOWNLINK_SEND_DEBUG(DefaultChannel, DefaultDevice,1,bla);
switch (cam_status) { switch (cam_status) {
case UNINIT: case UNINIT:
if (c != CAM_START_1) if (c != CAM_START_1)

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