MSP to UAVO Bridge

Bridges MSP (Multiwii Serial Protocol) telemetry to UAVOs. More...

Data Structures
struct	msp_bridge
struct	msp_message_list_item

Macros
#define	STACK_SIZE_BYTES   800
#define	THREAD_PRIORITY   PIOS_THREAD_PRIO_LOW
#define	MSP_TIMEOUT   10
#define	MSP_BRIDGE_MAGIC   0x97a4dc58

Functions
static bool	msp_bridge_validate (struct msp_bridge *m)
static bool	msp_unpack_attitude (void *data, uint8_t len)
static bool	msp_unpack_raw_imu (void *data, uint8_t len)
static bool	msp_unpack_analog (void *data, uint8_t len)
static void	set_baudrate (struct msp_bridge *m)
static bool	msp_handler (enum msp_message_id msg_id, void *data, uint8_t len, void *context)
static enum msp_message_id	get_next_message (void)
static void	mspUavoBridge_Task (void *parameters)
	MSP to UAVO bridge main task. More...
static int32_t	mspUavoBridge_Start (void)
	Start the MSP to UAVO bridge module. More...
static int32_t	mspUavoBridge_Init (void)
	Initialize the MSP to UAVO bridge module. More...

Variables
static struct msp_message_list_item	message_list []
static bool	module_enabled = false
static struct msp_bridge *	msp
uintptr_t	pios_com_msp_id

Detailed Description

Bridges MSP (Multiwii Serial Protocol) telemetry to UAVOs.

Macro Definition Documentation

#define MSP_BRIDGE_MAGIC   0x97a4dc58

Definition at line 52 of file mspuavobridge.c.

#define MSP_TIMEOUT   10

Definition at line 51 of file mspuavobridge.c.

#define STACK_SIZE_BYTES   800

Definition at line 46 of file mspuavobridge.c.

#define THREAD_PRIORITY   PIOS_THREAD_PRIO_LOW

Definition at line 48 of file mspuavobridge.c.

Function Documentation

static enum msp_message_id get_next_message ( void  )

static

Definition at line 205 of file mspuavobridge.c.

static bool msp_bridge_validate ( struct msp_bridge *  m )

static

Definition at line 83 of file mspuavobridge.c.

static bool msp_handler ( enum msp_message_id  msg_id, void *  data, uint8_t  len, void *  context  )

static

Definition at line 178 of file mspuavobridge.c.

static bool msp_unpack_analog ( void *  data, uint8_t  len  )

static

Todo:

check scaling

Definition at line 143 of file mspuavobridge.c.

static bool msp_unpack_attitude ( void *  data, uint8_t  len  )

static

Definition at line 88 of file mspuavobridge.c.

static bool msp_unpack_raw_imu ( void *  data, uint8_t  len  )

static

Definition at line 118 of file mspuavobridge.c.

static int32_t mspUavoBridge_Init ( void  )

static

Initialize the MSP to UAVO bridge module.

Return values

0	success
-1	failed to allocate memory
-2	failed to initialize MSP parser
-3	one or more UAVOs not available

Todo:

make pios_com use real pointer

Definition at line 279 of file mspuavobridge.c.

static int32_t mspUavoBridge_Start ( void  )

static

Start the MSP to UAVO bridge module.

Return values

0	success
-1	module not enabled
-2	invalid msp bridge state, somebody else blew stack?
-3	failed to create task

Definition at line 253 of file mspuavobridge.c.

static void mspUavoBridge_Task ( void *  parameters )

static

MSP to UAVO bridge main task.

Parameters

[in]

parameters

Unused

Definition at line 221 of file mspuavobridge.c.

static void set_baudrate ( struct msp_bridge *  m )

static

Todo:

teach pios_com to take a real pointer

Definition at line 166 of file mspuavobridge.c.

Variable Documentation

struct msp_message_list_item message_list[]

static

Initial value:

= {
        
        { .msg_id = MSP_MSG_ATTITUDE, .period = 20 },
        { .msg_id = MSP_MSG_ANALOG,   .period = 100 },
        { .msg_id = MSP_MSG_RAW_IMU,  .period = 50 },
}

bool module_enabled = false

static

Definition at line 76 of file mspuavobridge.c.

struct msp_bridge* msp

static

Definition at line 77 of file mspuavobridge.c.

uintptr_t pios_com_msp_id