mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-29 19:17:28 +08:00
Gautier Hattenberger
90 lines
2.9 KiB
C
90 lines
2.9 KiB
C
/*
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* Copyright (C) 2015 The Paparazzi Team
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*
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* This file is part of paparazzi.
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*
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* paparazzi is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2, or (at your option)
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* any later version.
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*
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* paparazzi is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with paparazzi; see the file COPYING. If not, write to
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* the Free Software Foundation, 59 Temple Place - Suite 330,
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* Boston, MA 02111-1307, USA.
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*
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*/
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/** @file modules/intermcu/intermcu.h
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* @brief Rotorcraft Inter-MCU interface
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*/
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#ifndef INTERMCU_ROTORCRAFT_H
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#define INTERMCU_ROTORCRAFT_H
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#include "std.h"
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#include "modules/core/commands.h"
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#include "pprzlink/pprz_transport.h"
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#define INTERMCU_AP 0
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#define INTERMCU_FBW 1
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#ifndef INTERMCU_LOST_CNT
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#define INTERMCU_LOST_CNT 25 /* 50ms with a 512Hz timer TODO fixed value */
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#endif
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#include BOARD_CONFIG
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/* Different states the InterMCU can be in */
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enum intermcu_status {
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INTERMCU_OK, ///< InterMCU communication is OK
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INTERMCU_LOST ///< No interMCU communication anymore
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};
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/* InterMCU baudrate protection for PX4 */
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enum intermcu_PX4_baud_status {
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PX4_BAUD,
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CHANGING_BAUD,
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PPRZ_BAUD
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};
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/* InterMCU command status bits */
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enum intermcu_cmd_status {
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INTERMCU_CMD_MOTORS_ON, ///< The status of autopilot_motors_on
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INTERMCU_CMD_DISARM, ///< Whether or not to dis-arm the FBW
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INTERMCU_CMD_TIPPROPS, ///< Enable tip props
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INTERMCU_CMD_FAILSAFE, ///< Set FBW in failsafe mode
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};
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/* Easy accessible defines for cmd_status bits */
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#define INTERMCU_SET_CMD_STATUS(_bit) { intermcu.cmd_status |= (1 << _bit); }
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#define INTERMCU_CLR_CMD_STATUS(_bit) { intermcu.cmd_status &= ~(1 << _bit); }
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#define INTERMCU_GET_CMD_STATUS(_bit) (intermcu.cmd_status & (1 << _bit))
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/* Main InterMCU structure */
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struct intermcu_t {
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struct link_device *device; ///< Device used for communication
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struct pprz_transport transport; ///< Transport over communication line (PPRZ)
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enum intermcu_status status; ///< Status of the INTERMCU
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uint8_t time_since_last_frame; ///< Time since last frame
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bool enabled; ///< If the InterMCU communication is enabled
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bool msg_available; ///< If we have an InterMCU message
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uint8_t cmd_status; ///< Command status information that is transfered (intermcu_cmd_status)
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#ifdef BOARD_PX4IO
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enum intermcu_PX4_baud_status stable_px4_baud;
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#endif
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};
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extern struct intermcu_t intermcu;
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/* Functions defined in XML */
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void intermcu_init(void);
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void intermcu_periodic(void);
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#endif
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