mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-11 19:24:10 +01:00
d928676f5e
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1121 ebee16cc-31ac-478f-84a7-5cbb03baadba
77 lines
1.8 KiB
C
77 lines
1.8 KiB
C
/**
|
|
* @addtogroup PIOS PIOS Core hardware abstraction layer
|
|
* @{
|
|
* @addtogroup PIOS_OPAHRS OPAHRS Functions
|
|
* @{
|
|
*
|
|
* @file pios_opahrs_proto.c
|
|
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
|
* @brief PPM Input functions
|
|
* @see The GNU Public License (GPL) Version 3
|
|
*
|
|
*/
|
|
|
|
#include "pios_opahrs_proto.h"
|
|
#include <string.h> /* memset */
|
|
|
|
void opahrs_msg_v0_init_rx (struct opahrs_msg_v0 * msg)
|
|
{
|
|
/* Make sure we start with bad magic in the rx buffer */
|
|
msg->head.magic = 0;
|
|
msg->head.type = 0;
|
|
msg->tail.magic = 0;
|
|
}
|
|
|
|
void opahrs_msg_v0_init_user_tx (struct opahrs_msg_v0 * msg, enum opahrs_msg_v0_tag tag)
|
|
{
|
|
msg->head.magic = OPAHRS_MSG_MAGIC_HEAD;
|
|
msg->head.type = OPAHRS_MSG_TYPE_USER_V0;
|
|
|
|
msg->payload.user.t = tag;
|
|
|
|
msg->tail.magic = OPAHRS_MSG_MAGIC_TAIL;
|
|
}
|
|
|
|
void opahrs_msg_v0_init_link_tx (struct opahrs_msg_v0 * msg, enum opahrs_msg_link_tag tag)
|
|
{
|
|
msg->head.magic = OPAHRS_MSG_MAGIC_HEAD;
|
|
msg->head.type = OPAHRS_MSG_TYPE_LINK;
|
|
|
|
msg->payload.link.t = tag;
|
|
|
|
msg->tail.magic = OPAHRS_MSG_MAGIC_TAIL;
|
|
}
|
|
|
|
void opahrs_msg_v1_init_rx (struct opahrs_msg_v1 * msg)
|
|
{
|
|
/* Make sure we start with bad magic in the rx buffer */
|
|
msg->head.magic = 0;
|
|
msg->head.type = 0;
|
|
msg->tail.magic = 0;
|
|
}
|
|
|
|
void opahrs_msg_v1_init_user_tx (struct opahrs_msg_v1 * msg, enum opahrs_msg_v1_tag tag)
|
|
{
|
|
msg->head.magic = OPAHRS_MSG_MAGIC_HEAD;
|
|
msg->head.type = OPAHRS_MSG_TYPE_USER_V1;
|
|
|
|
msg->payload.user.t = tag;
|
|
|
|
msg->tail.magic = OPAHRS_MSG_MAGIC_TAIL;
|
|
}
|
|
|
|
void opahrs_msg_v1_init_link_tx (struct opahrs_msg_v1 * msg, enum opahrs_msg_link_tag tag)
|
|
{
|
|
msg->head.magic = OPAHRS_MSG_MAGIC_HEAD;
|
|
msg->head.type = OPAHRS_MSG_TYPE_LINK;
|
|
|
|
msg->payload.link.t = tag;
|
|
|
|
msg->tail.magic = OPAHRS_MSG_MAGIC_TAIL;
|
|
}
|
|
|
|
/**
|
|
* @}
|
|
* @}
|
|
*/
|