[paparazzi-commits] [5921] function to receive telemetry messages the twog sends to the overo.

[Paul Cox]

Revision: 5921
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5921
Author:   paulcox
Date:     2010-09-22 16:59:33 +0000 (Wed, 22 Sep 2010)
Log Message:
-----------
function to receive telemetry messages the twog sends to the overo.
Will be replaced with something more elegant at some point.

Added Paths:
-----------
    paparazzi3/trunk/sw/airborne/beth/rcv_telemetry.c

Added: paparazzi3/trunk/sw/airborne/beth/rcv_telemetry.c
===================================================================
--- paparazzi3/trunk/sw/airborne/beth/rcv_telemetry.c                           
(rev 0)
+++ paparazzi3/trunk/sw/airborne/beth/rcv_telemetry.c   2010-09-22 16:59:33 UTC 
(rev 5921)
@@ -0,0 +1,70 @@
+/*
+ * $Id: datalink.c 5626 2010-08-23 18:10:19Z flixr $
+ *  
+ * Copyright (C) 2005  Pascal Brisset, Antoine Drouin
+ *
+ * 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 rcv_telemetry.c
+ *  \brief Handling of messages coming from other A/Cs
+ *
+ */
+#define DATALINK_C
+
+#define MODULES_DATALINK_C
+
+#include <inttypes.h>
+#include <string.h>
+#include "datalink.h"
+
+#include "modules.h"
+
+#include <stdio.h>
+#include "common_nav.h"
+#include "settings.h"
+#include "latlong.h"
+
+
+#ifndef DOWNLINK_DEVICE
+#define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE
+#endif
+#include "uart.h"
+#include "downlink.h"
+
+
+#define MOfCm(_x) (((float)(_x))/100.)
+
+#define SenderIdOfMsg(x) (x[0])
+#define IdOfMsg(x) (x[1])
+
+void dl_parse_msg(void) {
+  datalink_time = 0;
+  uint8_t msg_id = IdOfMsg(dl_buffer);
+  printf("Tiny rx id: %d\n",msg_id);
+
+if (msg_id == DL_ATTITUDE) {
+      float phi = DL_ATTITUDE_phi(dl_buffer);
+      float psi = DL_ATTITUDE_psi(dl_buffer);
+      float theta = DL_ATTITUDE_theta(dl_buffer);
+      printf("Attitude: %f %f %f\n", phi, psi, theta);
+  } else {
+    printf("Unknown msg id %d",msg_id);
+  }
+
+}


Property changes on: paparazzi3/trunk/sw/airborne/beth/rcv_telemetry.c
___________________________________________________________________
Added: svn:executable
   + *