Paparazzi UAS  v5.15_devel-88-gb3ad7fe
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intermcu_uart module

Inter-MCU communication over UART

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_uart">
2  <configure name="SEPARATE_FBW" value="FALSE|TRUE" />
3  <configure name="INTERMCU_PORT" value="UARTx" />
4  <configure name="INTERMCU_BAUD" value="B57600" />
5  <configure name="FBW_MODE_LED" value="none|num" />
6 </module>

Module configuration options

Configure Options

  • name: SEPARATE_FBW value: FALSE|TRUE
    Description: Enable separation between AP and FBW on separated MCU
  • name: INTERMCU_PORT value: UARTx
    Description: UART used for inter mcu communication (default: UART2 for FBW, UART5 for AP)
  • name: INTERMCU_BAUD value: B57600
    Description: UART baud rate
  • name: FBW_MODE_LED value: none|num
    Description: LED number or 'none'

Files

Source Files

Raw intermcu_uart.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="intermcu_uart" dir="intermcu">
<doc>
<description>
Inter-MCU communication over UART
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="INTERMCU_PORT" value="UARTx" description="UART used for inter mcu communication (default: UART2 for FBW, UART5 for AP)"/>
<configure name="INTERMCU_BAUD" value="B57600" description="UART baud rate"/>
<configure name="FBW_MODE_LED" value="none|num" description="LED number or 'none'"/>
</doc>
<makefile target="fbw" firmware="fixedwing">
<configure name="INTERMCU_PORT" default="UART2" case="upper|lower"/>
<configure name="FBW_MODE_LED" default="none"/>
<define name="FBW_MODE_LED" value="$(FBW_MODE_LED)" cond="ifneq ($(FBW_MODE_LED),none)"/>
</makefile>
<makefile target="ap" firmware="fixedwing">
<configure name="INTERMCU_PORT" default="UART5" case="upper|lower"/>
</makefile>
<makefile target="ap|fbw" firmware="fixedwing">
<raw>
ifeq (,$(findstring $(SEPARATE_FBW),1 TRUE))
$(error Using intermcu via UART, so dual mcu with separate fbw. Please set option "SEPARATE_FBW" to TRUE.
endif
</raw>
<configure name="INTERMCU_BAUD" default="B57600"/>
<define name="INTERMCU"/>
<define name="MCU_UART_LINK"/>
<define name="INTERMCU_LINK" value="$(INTERMCU_PORT_LOWER)"/>
<define name="USE_$(INTERMCU_PORT_UPPER)"/>
<define name="$(INTERMCU_PORT_UPPER)_BAUD" value="$(INTERMCU_BAUD)"/>
<file name="link_mcu_usart.c" dir="."/>
</makefile>
<makefile target="fbw" firmware="rotorcraft">
<configure name="INTERMCU_PORT" default="UART3" case="upper|lower"/>
<configure name="FBW_MODE_LED" default="none"/>
<define name="FBW_MODE_LED" value="$(FBW_MODE_LED)" cond="ifneq ($(FBW_MODE_LED),none)"/>
<define name="INTER_MCU_FBW"/>
<define name="DOWNLINK"/>
<file name="intermcu_fbw.c" dir="subsystems/intermcu"/>
</makefile>
<makefile target="ap" firmware="rotorcraft">
<configure name="INTERMCU_PORT" default="UART3" case="upper|lower"/>
<configure name="RADIO_CONTROL_LED" value="none"/>
<define name="INTER_MCU_AP"/>
<define name="RADIO_CONTROL_TYPE_H" value="subsystems/intermcu/intermcu_ap.h" type="string"/>
<define name="RADIO_CONTROL"/>
<define name="RADIO_CONTROL_LED" value="$(RADIO_CONTROL_LED)" cond="ifneq ($(RADIO_CONTROL_LED),none)"/>
<define name="GPS_SECONDARY_TYPE_H" value="subsystems/intermcu/intermcu_ap.h" type="string" cond="ifneq (,$(findstring $(SECONDARY_GPS), imcu))"/>
<define name="SECONDARY_GPS" value="GPS_IMCU" cond="ifneq (,$(findstring $(SECONDARY_GPS), imcu))"/>
<define name="IMCU_GPS" cond="ifneq (,$(findstring $(SECONDARY_GPS), imcu))"/>
<file name="intermcu_ap.c" dir="subsystems/intermcu"/>
<file name="radio_control.c" dir="subsystems"/>
</makefile>
<makefile target="ap|fbw" firmware="rotorcraft">
<configure name="INTERMCU_BAUD" default="B230400"/>
<define name="INTERMCU_LINK" value="$(INTERMCU_PORT_LOWER)"/>
<define name="USE_$(INTERMCU_PORT_UPPER)"/>
<define name="$(INTERMCU_PORT_UPPER)_BAUD" value="$(INTERMCU_BAUD)"/>
<file name="pprz_transport.c" dir="pprzlink/src"/>
</makefile>
</module>