Example for airframe file

Add to your firmware section: This example contains all possible configuration options, not all of them are mandatory!

<module name="extra_dl">
  b'<configure name="EXTRA_DL_PORT" value="UARTX|UDPX|usb_serial" />\n    '
  b'<configure name="EXTRA_DL_BAUD" value="B57600" />\n  '
</module>

Module configuration options

Configure Options

name: EXTRA_DL_PORT value: UARTX|UDPX|usb_serial
Description: Select port for extra datalink
name: EXTRA_DL_BAUD value: B57600
Description: Baudrate for extra datalink if link device is UART

Module functions

Init Functions

These initialization functions are called once on startup.

extra_pprz_dl_init()

Event Functions

These event functions are called in each cycle of the module event loop.

extra_pprz_dl_event()

Periodic Functions

These functions are called periodically at the specified frequency from the module periodic loop.

extra_pprz_dl_periodic()
- Running at maximum module frequency.
- Autorun: TRUE
  Periodic function automatically starts after init.

Files

Header Files

The following headers are automatically included in modules.h

extra_pprz_dl.h

Source Files

modules/datalink/extra_pprz_dl.c
pprzlink/src/pprz_transport.c

Raw extra_dl.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="extra_dl" dir="datalink" task="datalink">
  <doc>
    <description>Extra datalink (PPRZ transport)</description>
    <configure name="EXTRA_DL_PORT" value="UARTX|UDPX|usb_serial" description="Select port for extra datalink"/>
    <configure name="EXTRA_DL_BAUD" value="B57600" description="Baudrate for extra datalink if link device is UART"/>
  </doc>
  <dep>
    <depends>uart|udp</depends>
  </dep>
  <header>
    <file name="extra_pprz_dl.h"/>
  </header>
  <init fun="extra_pprz_dl_init()"/>
  <periodic fun="extra_pprz_dl_periodic()" autorun="TRUE"/>
 
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  <event fun="extra_pprz_dl_event()"/>
 
  <makefile>
    <configure name="EXTRA_DL_PORT" default="uart1" case="upper|lower"/>
    <define name="EXTRA_DOWNLINK_DEVICE" value="$(EXTRA_DL_PORT_LOWER)"/>
    <define name="USE_$(EXTRA_DL_PORT_UPPER)"/>
    <define name="$(EXTRA_DL_PORT_UPPER)_BAUD" value="$(EXTRA_DL_BAUD)"/>
    <configure name="TELEMETRY_FREQUENCY" default="$(PERIODIC_FREQUENCY)"/>
    <define name="TELEMETRY_FREQUENCY" value="$(TELEMETRY_FREQUENCY)"/>
    <file name="extra_pprz_dl.c"/>
    <file name="pprz_transport.c" dir="pprzlink/src"/>
  </makefile>
</module>