Storm32bgc Module

Files
file	storm32bgc.c
	Forward a set of UAVObjects when updated out a PIOS_COM port.

Macros
#define	STACK_SIZE_BYTES   512
#define	TASK_PRIORITY   PIOS_THREAD_PRIO_LOW
#define	STORM32BGC_PERIOD_MS   20
#define	STORM32BGC_QUEUE_SIZE   64
#define	X25_INIT_CRC   0xFFFF

Functions
static void	storm32bgcTask (void *parameters)
static uint16_t	crc_calculate (uint8_t *pBuffer, int length)
	Calculates the X.25 checksum on a byte buffer. More...
static uint8_t	cmd_set_angle (float pitch, float roll, float yaw, uint8_t flags, uint8_t type)
int32_t	Storm32BgcInitialize (void)
int32_t	Storm32BgcStart (void)
	MODULE_INITCALL (Storm32BgcInitialize, Storm32BgcStart)
static void	crc_accumulate (uint8_t data, uint16_t *crcAccum)
	Accumulate the X.25 CRC by adding one char at a time. More...

Variables
static struct pios_thread *	storm32bgcTaskHandle
static bool	module_enabled
struct pios_queue *	storm32bgc_queue
static struct pios_recursive_mutex *	mutex
static uintptr_t	storm32bgc_com_id
union {
uint16_t   value
uint8_t   bytes [2]
}	crc
union {
uint16_t   value
uint8_t   bytes [2]
}	dataU16
union {
float   value
uint8_t   bytes [4]
}	dataFloat

Detailed Description

Macro Definition Documentation

#define STACK_SIZE_BYTES   512

Definition at line 44 of file storm32bgc.c.

#define STORM32BGC_PERIOD_MS   20

Definition at line 47 of file storm32bgc.c.

#define STORM32BGC_QUEUE_SIZE   64

Definition at line 48 of file storm32bgc.c.

#define TASK_PRIORITY   PIOS_THREAD_PRIO_LOW

Definition at line 45 of file storm32bgc.c.

#define X25_INIT_CRC   0xFFFF

CALCULATE THE CHECKSUM

Definition at line 175 of file storm32bgc.c.

Function Documentation

static uint8_t cmd_set_angle ( float  pitch, float  roll, float  yaw, uint8_t  flags, uint8_t  type  )

static

Send the Set Angle Command

Returns

0 = No Response from Storm32bgc

1 = SERIALRCCMD_ACK_OK

2 = SERIALRCCMD_ACK_ERR_FAIL

3 = SERIALRCCMD_ACK_ERR_ACCESS_DENIED

4 = SERIALRCCMD_ACK_ERR_NOT_SUPPORTED

151 = SERIALRCCMD_ACK_ERR_TIMEOUT

152 = SERIALRCCMD_ACK_ERR_CRC

153 = SERIALRCCMD_ACK_ERR_PAYLOADLEN

200 = Storm32bgc ACK CRC incorrect

Definition at line 237 of file storm32bgc.c.

static void crc_accumulate ( uint8_t  data, uint16_t *  crcAccum  )

inlinestatic

Accumulate the X.25 CRC by adding one char at a time.

The checksum function adds the hash of one char at a time to the 16 bit checksum (uint16_t).

Parameters

data	new char to hash
crcAccum	the already accumulated checksum

Definition at line 186 of file storm32bgc.c.

static uint16_t crc_calculate ( uint8_t *  pBuffer, int  length  )

inlinestatic

Calculates the X.25 checksum on a byte buffer.

Parameters

pBuffer	buffer containing the byte array to hash
length	length of the byte array

Returns

the checksum over the buffer bytes

Definition at line 203 of file storm32bgc.c.

MODULE_INITCALL	(	Storm32BgcInitialize	,
		Storm32BgcStart
	)

int32_t Storm32BgcInitialize

(

void

)

Initialise the Storm32Bgc module

Returns

-1 if initialisation failed

0 on success

Definition at line 73 of file storm32bgc.c.

int32_t Storm32BgcStart

(

void

)

Start the Storm32Bgc module

Returns

-1 if initialisation failed

0 on success

Definition at line 93 of file storm32bgc.c.

static void storm32bgcTask ( void *  parameters )

static

Definition at line 122 of file storm32bgc.c.

Variable Documentation

uint8_t { ... } bytes[2]

Definition at line 156 of file storm32bgc.c.

uint8_t { ... } bytes[2]

Definition at line 161 of file storm32bgc.c.

uint8_t { ... } bytes[4]

Definition at line 166 of file storm32bgc.c.

union { ... } crc

union { ... } dataFloat

union { ... } dataU16

bool module_enabled

static

Definition at line 54 of file storm32bgc.c.

struct pios_recursive_mutex* mutex

static

Definition at line 56 of file storm32bgc.c.

uintptr_t storm32bgc_com_id

static

Definition at line 66 of file storm32bgc.c.

struct pios_queue* storm32bgc_queue

Definition at line 55 of file storm32bgc.c.

struct pios_thread* storm32bgcTaskHandle

static

Definition at line 53 of file storm32bgc.c.

uint16_t { ... } value

Definition at line 155 of file storm32bgc.c.

uint16_t { ... } value

Definition at line 160 of file storm32bgc.c.

float { ... } value

Definition at line 165 of file storm32bgc.c.