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[FBW] Option to have telemetry through the FBW for outback safety (so…
… it can decode flight termination modes even when AP is down)
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#include "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 FbwDataLinkPeriodic(void) | ||
{ | ||
LED_OFF(2); | ||
LED_OFF(4); | ||
} | ||
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void FbwDataLinkEvent(void) | ||
{ | ||
if (ModemLink(ChAvailable())) | ||
LED_ON(2); | ||
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if (AutopilotLink(ChAvailable())) | ||
LED_ON(4); | ||
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ReadModemBuffer(); | ||
ReadAutopilotBuffer(); | ||
} |
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/* | ||
* Copyright (C) 2014 CDW | ||
* | ||
* 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. | ||
* | ||
*/ | ||
/** \file fbw_datalink.h | ||
* \brief Handling of messages coming from ground in FTD | ||
* | ||
*/ | ||
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#ifndef FBW_DATALINK_EVENT | ||
#define FBW_DATALINK_EVENT | ||
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extern void FbwDataLinkPeriodic(void); | ||
extern void FbwDataLinkEvent(void); | ||
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#endif |