Paparazzi UAS  v5.15_devel-88-gb3ad7fe
Paparazzi is a free software Unmanned Aircraft System.
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intermcu_spi module

Inter-MCU communication over SPI

To enable this, please set the "SEPARATE_FBW" configure option to TRUE in your airframe file for both AP and FBW targets

Example for airframe file

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

1 <module name="intermcu_spi">
2  <configure name="SEPARATE_FBW" value="FALSE|TRUE" />
3  <configure name="INTER_MCU_SPI" value="SPI1" />
4  <configure name="INTER_MCU_SLAVE" value="SLAVE0" />
5 </module>

Module configuration options

Configure Options

  • name: SEPARATE_FBW value: FALSE|TRUE
    Description: Enable separation between AP and FBW on separated MCU
  • name: INTER_MCU_SPI value: SPI1
    Description: SPI used for inter mcu communication
  • name: INTER_MCU_SLAVE value: SLAVE0
    Description: Slave name

Files

Source Files

Raw intermcu_spi.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="intermcu_spi" dir="intermcu">
<doc>
<description>
Inter-MCU communication over SPI
To enable this, please set the "SEPARATE_FBW" configure option to TRUE
in your airframe file for both AP and FBW targets
</description>
<configure name="SEPARATE_FBW" value="FALSE|TRUE" description="Enable separation between AP and FBW on separated MCU"/>
<configure name="INTER_MCU_SPI" value="SPI1" description="SPI used for inter mcu communication"/>
<configure name="INTER_MCU_SLAVE" value="SLAVE0" description="Slave name"/>
</doc>
<makefile target="ap|fbw" firmware="fixedwing">
<raw>
ifeq (,$(findstring $(SEPARATE_FBW),1 TRUE))
$(error Using intermcu via SPI, so dual mcu with separate fbw. Please set option "SEPARATE_FBW" to TRUE.
endif
</raw>
<configure name="INTER_MCU_SPI" default="SPI1"/>
<configure name="INTER_MCU_SLAVE" default="SLAVE0"/>
<define name="MCU_SPI_LINK"/>
<define name="USE_SPI"/>
<file name="link_mcu_spi.c" dir="."/>
<file name="spi.c" dir="mcu_periph"/>
<file name="spi_arch.c" dir="$(SRC_ARCH)/mcu_periph"/>
</makefile>
<makefile target="ap" firmware="fixedwing">
<define name="USE_$(INTER_MCU_SPI)"/>
<define name="USE_SPI_$(INTER_MCU_SLAVE)"/>
<define name="SPI_MASTER"/>
<file name="fbw_downlink.c" dir="firmwares/fixedwing"/>
</makefile>
<makefile target="fbw" firmware="fixedwing">
<define name="USE_$(INTER_MCU_SPI)_SLAVE"/>
<define name="SPI_SLAVE"/>
</makefile>
</module>