C++ (Cpp) USEC_OF_RC_PPM_TICKSの例

コード例 #1

ファイル: sbus.c プロジェクト: SuperHex/paparazzi

/** Decode the raw buffer */
static void decode_sbus_buffer (const uint8_t *src, uint16_t *dst, bool_t *available, uint16_t *dstppm)
{
  // reset counters
  uint8_t byteInRawBuf = 0;
  uint8_t bitInRawBuf = 0;
  uint8_t channel = 0;
  uint8_t bitInChannel = 0;

  // clear bits
  memset (dst, 0, SBUS_NB_CHANNEL*sizeof(uint16_t));

  // decode sbus data
  for (uint8_t i=0; i< (SBUS_NB_CHANNEL*SBUS_BIT_PER_CHANNEL); i++) {
    if (src[byteInRawBuf] & (1<<bitInRawBuf))
      dst[channel] |= (1<<bitInChannel);

    bitInRawBuf++;
    bitInChannel++;

    if (bitInRawBuf == SBUS_BIT_PER_BYTE) {
      bitInRawBuf = 0;
      byteInRawBuf++;
    }
    if (bitInChannel == SBUS_BIT_PER_CHANNEL) {
      bitInChannel = 0;
#if PERIODIC_TELEMETRY
      dstppm[channel] = USEC_OF_RC_PPM_TICKS(dst[channel]);
#endif
      channel++;
    }
  }
  // test frame lost flag
  *available = !bit_is_set(src[SBUS_FLAGS_BYTE], SBUS_FRAME_LOST_BIT);
}

コード例 #2

ファイル: ppm.c プロジェクト: EwoudSmeur/paparazzi

static void send_ppm(struct transport_tx *trans, struct link_device *dev)
{
  uint16_t ppm_pulses_usec[RADIO_CTL_NB];
  for (int i = 0; i < RADIO_CTL_NB; i++) {
    ppm_pulses_usec[i] = USEC_OF_RC_PPM_TICKS(ppm_pulses[i]);
  }
  pprz_msg_send_PPM(trans, dev, AC_ID,
                    &radio_control.frame_rate, RADIO_CTL_NB, ppm_pulses_usec);
}