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!

<module name="intermcu_spi">
  <configure name="SEPARATE_FBW" value="FALSE|TRUE" />
  <configure name="INTER_MCU_SPI" value="SPI1" />
  <configure name="INTER_MCU_SLAVE" value="SLAVE0" />
</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

• ./link_mcu_spi.c
• mcu_periph/spi.c
• /mcu_periph/spi_arch.c
• firmwares/fixedwing/fbw_downlink.c

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>