sdk.c File Reference

#include <mav_common/comm_packets.h>
#include <mav_common/comm.h>
#include <mav_common/comm_types.h>
#include "sdk.h"
#include "main.h"
#include "system.h"
#include "LL_HL_comm.h"
#include "uart.h"
#include "time.h"
#include "irq.h"
#include "LPC214x.h"
#include "gpsmath.h"

Include dependency graph for sdk.c:

Go to the source code of this file.

Defines
#define	MAX_TOGGLE_CMD_TIME 2000000
Functions
int	checkTxPeriod (uint16_t period, uint16_t phase)
	gets called every sdk loops. Currently, only checks for packets from the PC and starts autobaud in case there wwas no communication in the last 10 s
void	feedbackBeep ()
unsigned short	isSerialEnabled (void)
void	processEngageDisengageTimeouts ()
void	processFlightActionRequests ()
void	processKF ()
void	processLandingThrust ()
void	processMotorCommands ()
void	processMotorStateChanges ()
void	processSendData ()
void	SDK_mainloop (void)
void	sdkInit (void)
void	sendCtrlDebugData (void)
void	sendFlightStateData (void)
void	sendImuData (void)
void	sendMavPoseData (void)
void	sendRcData (void)
void	sendStatusData (void)
void	synchronizeTime (void)
	adjusts HLP time to host PC time
void	writeCommand (short pitch, short roll, short yaw, short thrust, short ctrl, short enable)
Variables
float	g_cpu_load_sum = 0.0
MAV_CTRL_CFG_PKT	g_ctrl_cfg_pkt
PacketInfo *	g_ctrl_cfg_pkt_info
MAV_CTRL_CMD	g_ctrl_cmd
MAV_CTRL_DEBUG_PKT	g_ctrl_debug_pkt
MAV_CTRL_INPUT_PKT	g_ctrl_input_pkt
PacketInfo *	g_ctrl_input_pkt_info
MAV_DES_POSE_PKT	g_des_pose_pkt
PacketInfo *	g_des_pose_pkt_info
MAV_DES_VEL_PKT	g_des_vel_pkt
PacketInfo *	g_des_vel_pkt_info
MAV_DUMMY_PKT	g_dummy_pkt
PacketInfo *	g_dummy_pkt_info
MAV_FLIGHT_ACTION_PKT	g_flight_action_pkt
PacketInfo *	g_flight_action_pkt_info
MAV_FLIGHT_STATE_PKT	g_flight_state_pkt
MAV_IMU_PKT	g_imu_pkt
uint8_t	g_kf_x_enabled
uint8_t	g_kf_y_enabled
uint8_t	g_kf_yaw_enabled
uint8_t	g_kf_z_enabled
MAV_HEIGHT_PKT	g_mav_height_pkt
PacketInfo *	g_mav_height_pkt_info
MAV_KF_CFG_PKT	g_mav_kf_cfg_pkt
PacketInfo *	g_mav_kf_cfg_pkt_info
MAV_POSE2D_PKT	g_mav_pose2D_pkt
PacketInfo *	g_mav_pose2D_pkt_info
short	g_motors_running
MAV_PID_CFG_PKT	g_pid_cfg_pkt
PacketInfo *	g_pid_cfg_pkt_info
MAV_POSE_PKT	g_pose_pkt
MAV_RCDATA_PKT	g_rcdata_pkt
unsigned int	g_sdk_loops
MAV_STATUS_PKT	g_status_pkt
volatile int64_t	g_timestamp = 0
MAV_TIMESYNC_PKT	g_timesync_pkt
PacketInfo *	g_timesync_pkt_info
int64_t	g_toggle_motors_start_time
MAV_TX_FREQ_CFG_PKT	g_tx_freq_cfg_pkt
PacketInfo *	g_tx_freq_cfg_pkt_info
float	g_vz_p_f
struct RO_RC_DATA	RO_RC_Data
int64_t	time_correction = 0
unsigned short	time_step = 2000
int64_t	timeOffset = 0
struct WO_CTRL_INPUT	WO_CTRL_Input
struct WO_DIRECT_MOTOR_CONTROL	WO_Direct_Motor_Control
struct WO_SDK_STRUCT	WO_SDK

Define Documentation

#define MAX_TOGGLE_CMD_TIME 2000000

Definition at line 58 of file sdk.c.

Function Documentation

int checkTxPeriod	(	uint16_t	period,
		uint16_t	phase
	)			`[inline]`

gets called every sdk loops. Currently, only checks for packets from the PC and starts autobaud in case there wwas no communication in the last 10 s

checks if a packet has to be sent

Definition at line 401 of file sdk.c.

void feedbackBeep ( void ) [inline]

Definition at line 495 of file sdk.c.

unsigned short isSerialEnabled ( void ) [inline]

Definition at line 328 of file sdk.c.

void processEngageDisengageTimeouts ( void ) [inline]

Definition at line 595 of file sdk.c.

void processFlightActionRequests ( void ) [inline]

Definition at line 544 of file sdk.c.

void processKF ( void ) [inline]

Definition at line 409 of file sdk.c.

void processLandingThrust ( void ) [inline]

Definition at line 607 of file sdk.c.

void processMotorCommands ( void ) [inline]

Definition at line 635 of file sdk.c.

void processMotorStateChanges ( void ) [inline]

Definition at line 523 of file sdk.c.

void processSendData ( void ) [inline]

Definition at line 679 of file sdk.c.

void SDK_mainloop ( void )

SDK_mainloop(void) is triggered @ 1kHz.

WO_(Write Only) data is written to the LL processor after execution of this function.

RO_(Read Only) data is updated before entering this function and can be read to obtain information for supervision or control

WO_ and RO_ structs are defined in sdk.h

The struct LL_1khz_attitude_data (defined in LL_HL_comm.h) can be used to read all sensor data, results of the data fusion and R/C inputs transmitted from the LL-processor. This struct is automatically updated at 1 kHz.

Definition at line 178 of file sdk.c.

void sdkInit ( void )

Definition at line 120 of file sdk.c.

void sendCtrlDebugData ( void ) [inline]

Definition at line 305 of file sdk.c.

void sendFlightStateData ( void ) [inline]

Definition at line 287 of file sdk.c.

void sendImuData ( void ) [inline]

Definition at line 276 of file sdk.c.

void sendMavPoseData ( void ) [inline]

Definition at line 271 of file sdk.c.

void sendRcData ( void ) [inline]