intermcu_can module

Inter-MCU communication over CAN

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!

<module name="intermcu_can">
  <configure name="SEPARATE_FBW" value="FALSE|TRUE" />
</module>

Module configuration options

Configure Options

• name: SEPARATE_FBW value: FALSE|TRUE
  Description: Enable separation between AP and FBW on separated MCU

Files

Source Files

• ./link_mcu_can.c
• mcu_periph/can.c
• /mcu_periph/can_arch.c

Raw intermcu_can.xml file:

<!DOCTYPE module SYSTEM "module.dtd">

<module name="intermcu_can" dir="intermcu">
  <doc>
    <description>
      Inter-MCU communication over CAN

      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"/>
  </doc>

  <makefile target="ap|fbw" firmware="fixedwing">
    <raw>
      ifeq (,$(findstring $(SEPARATE_FBW),1 TRUE))
      $(error Using intermcu via CAN, so dual mcu with separate fbw. Please set option "SEPARATE_FBW" to TRUE.
      endif
    </raw>
    <define name="INTER_MCU"/>
    <define name="MCU_CAN_LINK"/>
    <file name="link_mcu_can.c" dir="."/>
    <file name="can.c" dir="mcu_periph"/>
    <file name="can_arch.c" dir="$(SRC_ARCH)/mcu_periph"/>
  </makefile>

</module>