*** empty log message ***

sw/airborne/fly_by_wire/telemetry.c

@@ -0,0 +1,2 @@
+#include "telemetry.h"
+uint8_t ck_a, ck_b;

sw/airborne/fly_by_wire/telemetry.h

@@ -0,0 +1,64 @@
+/*
+ * Paparazzi fbw mcu telemetry
+ *  
+ * Copyright (C) 2003 Pascal Brisset, Antoine Drouin
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA. 
+ *
+ */
+
+#ifndef TELEMETRY_H
+#define TELEMETRY_H
+
+#include <inttypes.h>
+
+#define STX 0x05
+#define ETX 0x06
+
+extern uint8_t ck_a, ck_b;
+#include "uart.h"
+
+#define TELEMETRY_START_MESSAGE(id) {					\
+    UART_PUT_1_BYTE(STX); UART_PUT_1_BYTE(id); ck_a = id; ck_b = id;	\
+}
+
+#define TELEMETRY_END_MESSAGE() {					\
+    UART_PUT_1_BYTE(ck_a); UART_PUT_1_BYTE(ck_b); UART_CHECK_RUNNING(); \
+}
+
+#define TELEMETRY_CHECK_FREE_SPACE(_space) UART_CHECK_FREE_SPACE(_space)
+
+#define TELEMETRY_PUT_1_DATA_BYTE_BY_ADDR(_byte) { \
+    UART_PUT_1_BYTE_BY_ADDR(_byte);		   \
+    ck_a += *(_byte);				   \
+    ck_b += ck_a;				   \
+}
+
+#define TELEMETRY_PUT_2_DATA_BYTE_BY_ADDR(_byte) { \
+    TELEMETRY_PUT_1_DATA_BYTE_BY_ADDR(_byte);	   \
+    TELEMETRY_PUT_1_DATA_BYTE_BY_ADDR(_byte+1);	   \
+}
+
+#define TELEMETRY_PUT_4_DATA_BYTE_BY_ADDR(_byte) { \
+  TELEMETRY_PUT_1_DATA_BYTE_BY_ADDR(_byte); \
+  TELEMETRY_PUT_1_DATA_BYTE_BY_ADDR(_byte+1); \
+  TELEMETRY_PUT_1_DATA_BYTE_BY_ADDR(_byte+2); \
+  TELEMETRY_PUT_1_DATA_BYTE_BY_ADDR(_byte+3); \
+}
+
+#endif /* TELEMETRY_H */

sw/airborne/fly_by_wire/test/Makefile

@@ -53,7 +53,7 @@ endif
 
 rc_transmitter.srcs  = rc_transmitter.c ../ppm.c ../uart.c
 
-new_rc_transmitter.srcs  = new_rc_transmitter.c ../ppm.c ../uart.c
+new_rc_transmitter.srcs  = new_rc_transmitter.c ../ppm.c ../uart.c ../telemetry.c
 
 setup_servos.srcs  = setup_servos.c ../uart.c ../servo.c
 

sw/airborne/fly_by_wire/test/new_rc_transmitter.c

@@ -0,0 +1,37 @@
+
+#include <inttypes.h>
+#include <avr/interrupt.h>
+
+#include "timer.h"
+#include "uart.h"
+#include "ppm.h"
+
+#include "fbw_messages.h"
+
+uint8_t nb_spi_err = 0;
+uint8_t rc_status = 0;
+uint8_t mode = 0;
+
+int main( void ) {
+  uart_init_tx();
+  uart_print_string("Calib_radio Booting $Id$\n");
+  timer_init();
+  ppm_init();
+  sei(); 
+  int n = 0;
+  while( 1 ) {
+    if( ppm_valid ) {
+      ppm_valid = FALSE;
+    }
+    if (timer_periodic()) {
+      n++;
+      if (n == 60) {
+	n = 0;
+	TELEMETRY_SEND_FBW_STATUS(&nb_spi_err, &rc_status, &mode);
+      }
+    }
+  }
+  return 0;
+}  
+
+

sw/airborne/fly_by_wire/uart.c

@@ -30,10 +30,9 @@
 #include "std.h"
 #include "uart.h"
 
-//#define TX_BUF_SIZE      256
-static uint8_t           tx_head; /* next free in buf */
-static volatile uint8_t  tx_tail; /* next char to send */
-static uint8_t           tx_buf[ TX_BUF_SIZE ];
+uint8_t           tx_head; /* next free in buf */
+volatile uint8_t  tx_tail; /* next char to send */
+uint8_t           tx_buf[ TX_BUF_SIZE ];
 
 /*
  * UART Baud rate generation settings:

sw/airborne/fly_by_wire/uart.h

@@ -43,6 +43,16 @@ extern uint8_t           tx_buf[ TX_BUF_SIZE ];
 
 #define UART_CHECK_FREE_SPACE(_space) (tx_head>=tx_tail? _space < (TX_BUF_SIZE - (tx_head - tx_tail)) : _space < (tx_tail - tx_head))
 
+#define UART_PUT_1_BYTE(_byte) { \
+  tx_buf[tx_head] = _byte; \
+  tx_head++; \
+  if (tx_head >= TX_BUF_SIZE) tx_head = 0; \
+}
 
+#define UART_PUT_1_BYTE_BY_ADDR(_byte) { \
+    UART_PUT_1_BYTE(*(_byte));		 \
+}
+
+#define UART_CHECK_RUNNING() {}
 
 #endif