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[fixedwing] Option to have telemetry through the FBW
- for outback safety (so it can decode flight termination modes even when AP is down) - Keep datalink while in flight termination mode closes #844
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fbw.srcs += firmwares/fixedwing/fbw_datalink.c | ||
fbw.CFLAGS += -DFBW_DATALINK | ||
fbw.CFLAGS += -DMODEM_LINK=$(MODEM_PORT) -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD) | ||
fbw.CFLAGS += -DAUTOPILOT_LINK=$(AUTOPILOT_PORT) -DUSE_$(AUTOPILOT_PORT) -D$(AUTOPILOT_PORT)_BAUD=$(MODEM_BAUD) |
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/* | ||
* Copyright (C) 2014 Christophe De Wagter | ||
* | ||
* 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, see | ||
* <http://www.gnu.org/licenses/>. | ||
*/ | ||
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/** | ||
* @file fbw_datalink.c | ||
* | ||
* Datalink through FBW (FlyByWire) process/mcu. | ||
* So it can decode flight termination modes even when AP is down. | ||
* | ||
*/ | ||
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#include "firmwares/fixedwing/fbw_datalink.h" | ||
#include "mcu_periph/uart.h" | ||
#include "led.h" | ||
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#define __ModemLink(dev, _x) dev##_x | ||
#define _ModemLink(dev, _x) __ModemLink(dev, _x) | ||
#define ModemLink(_x) _ModemLink(MODEM_LINK, _x) | ||
#define ModemBuffer() ModemLink(ChAvailable()) | ||
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#define __AutopilotLink(dev, _x) dev##_x | ||
#define _AutopilotLink(dev, _x) __AutopilotLink(dev, _x) | ||
#define AutopilotLink(_x) _AutopilotLink(AUTOPILOT_LINK, _x) | ||
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#define AutopilotBuffer() AutopilotLink(ChAvailable()) | ||
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static inline void autopilot_parse(char c) | ||
{ | ||
ModemLink(Transmit(c)); | ||
} | ||
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static inline void modem_parse(char c) | ||
{ | ||
AutopilotLink(Transmit(c)); | ||
} | ||
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#define ReadAutopilotBuffer() { \ | ||
while (AutopilotLink(ChAvailable())) \ | ||
autopilot_parse(AutopilotLink(Getch())); \ | ||
} | ||
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#define ReadModemBuffer() { \ | ||
while (ModemLink(ChAvailable())) \ | ||
modem_parse(ModemLink(Getch())); \ | ||
} | ||
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void fbw_datalink_periodic(void) | ||
{ | ||
#ifdef MODEM_LINK_LED | ||
LED_OFF(MODEM_LINK_LED); | ||
#endif | ||
#ifdef AUTOPILOT_LINK_LED | ||
LED_OFF(AUTOPILOT_LINK_LED); | ||
#endif | ||
} | ||
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void fbw_datalink_event(void) | ||
{ | ||
#ifdef MODEM_LINK_LED | ||
if (ModemLink(ChAvailable())) { | ||
LED_ON(MODEM_LINK_LED); | ||
} | ||
#endif | ||
#ifdef AUTOPILOT_LINK_LED | ||
if (AutopilotLink(ChAvailable())) { | ||
LED_ON(AUTOPILOT_LINK_LED); | ||
} | ||
#endif | ||
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ReadModemBuffer(); | ||
ReadAutopilotBuffer(); | ||
} |
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/* | ||
* Copyright (C) 2014 Christophe De Wagter | ||
* | ||
* 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, see | ||
* <http://www.gnu.org/licenses/>. | ||
*/ | ||
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/** | ||
* @file fbw_datalink.h | ||
* Handling of messages coming from ground in FTD | ||
*/ | ||
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#ifndef FBW_DATALINK_H | ||
#define FBW_DATALINK_H | ||
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extern void fbw_datalink_periodic(void); | ||
extern void fbw_datalink_event(void); | ||
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#endif /* FBW_DATALINK_H */ |
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