Example for airframe file

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

<module name="slcan">
  b'<configure name="SLCAN_PORT" value="usb_serial_debug" />\n    '
  b'<configure name="SLCAN_BAUD" value="B230400" />\n    '
  b'<configure name="SLCAN_CAN_IF" value="0" />\n  '
</module>

Module configuration options

Configure Options

name: SLCAN_PORT value: usb_serial_debug
Description: UART for SLCAN (UART1, UART2, usb_serial, etc)
name: SLCAN_BAUD value: B230400
Description: UART baud rate
name: SLCAN_CAN_IF value: 0
Description: CAN interface number. 0 means all interfaces.

Module functions

Init Functions

These initialization functions are called once on startup.

slcan_init()

Event Functions

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

slcan_event()

Files

Header Files

The following headers are automatically included in modules.h

slcan.h

Source Files

modules/core/slcan.c

Raw slcan.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="slcan" dir="core" task="core">
  <doc>
    <description>
      SLCAN interface. CAN over serial link. See https://www.canusb.com/files/can232_v3.pdf
      Useful for using DroneCAN GUI over serial USB (see https://dronecan.github.io/GUI_Tool/Overview/).
    </description>
    <configure name="SLCAN_PORT" value="usb_serial_debug" description="UART for SLCAN (UART1, UART2, usb_serial, etc)"/>
    <configure name="SLCAN_BAUD" value="B230400" description="UART baud rate"/>
    <configure name="SLCAN_CAN_IF" value="0" description="CAN interface number. 0 means all interfaces."/>
  </doc>
  <dep>
    <depends>uart,can</depends>
  </dep>
  <header>
    <file name="slcan.h"/>
  </header>
  <init fun="slcan_init()"/>
  <event fun="slcan_event()"/>
  <makefile>
    <configure name="SLCAN_PORT" case="upper|lower" default="usb_serial_debug"/>
    <configure name="SLCAN_CAN_IF" default="0"/>
    <define name="SLCAN_PORT" value="$(SLCAN_PORT_LOWER)"/>
    <define name="USE_$(SLCAN_PORT_UPPER)"/>
    <define name="$(SLCAN_PORT_UPPER)_BAUD" value="$(SLCAN_BAUD)"/>
 
    <define name="SLCAN_CAN_IF" value="$(SLCAN_CAN_IF)"/>
    <define name="USE_CAN$(SLCAN_CAN_IF)" cond="ifneq ($(SLCAN_CAN_IF), 0)"/>
    <file name="slcan.c"/>
    <test>
      <define name="SLCAN_PORT" value="usb_serial"/>
      <define name="USE_USB_SERIAL"/>
      <define name="SLCAN_CAN_IF" value="1"/>
    </test>
  </makefile>
</module>