Telemetry using PPRZ protocol over Bluegiga modules

Bluegiga is a SPI-slave device without Chip select but with a compulsory DRDY

Required: BLUEGIGA_SPI_DEV: the SPI device which MUST have a SLAVE mode without chipselect

Optional: (defaults to SUPERBITRF DRDY) BLUEGIGA_DRDY_GPIO BLUEGIGA_DRDY_GPIO_PIN

On Lisa-s, the Superbit-RF module can be replaced with a bluegiga-bluetooth 4 low power board. This module puts the telemetry over this bluetooth 4 link.

Example for airframe file

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

 <module name="telemetry_bluegiga">
   <define name="BLUEGIGA_DRDY_GPIO" value="GPIOX" />
   <define name="BLUEGIGA_DRDY_GPIO_PIN" value="GPIOY" />
   <configure name="BLUEGIGA_SPI_DEV" value="SPIx" />
   <configure name="MODEM_LED" value="none" />
 </module>

Module configuration options

Configure Options

name: BLUEGIGA_SPI_DEV value: SPIx
Description: SPI where the modem is connected to (SPI1, SPI2, etc)
name: MODEM_LED value: none
Description: LED number for modem status, 'none' to disable

Define Options

name: BLUEGIGA_DRDY_GPIO value: GPIOX
Description: GPIO port used for data ready pin
name: BLUEGIGA_DRDY_GPIO_PIN value: GPIOY
Description: GPIO pin number used for data ready pin

Auto-loaded modules

The following modules are automatically loaded (just as if you had added them in the airframe file)

module__telemetrynps
module__telemetrysim

Module functions

Init Functions

These initialization functions are called once on startup.

bluegiga_dl_init()

Event Functions

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

bluegiga_dl_event()

Files

Header Files

The following headers are automatically included in modules.h

bluegiga_dl.h

Source Files

modules/datalink/bluegiga_dl.c
subsystems/datalink/downlink.c
subsystems/datalink/datalink.c
subsystems/datalink/telemetry.c
pprzlink/src/pprz_transport.c
subsystems/datalink/bluegiga.c
/fixedwing_datalink.c
/ap_downlink.c
/fbw_downlink.c
/rotorcraft_datalink.c
/rotorcraft_telemetry.c

Raw telemetry_bluegiga.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="telemetry_bluegiga" dir="datalink" task="datalink">
  <doc>
    <description>
      Telemetry using PPRZ protocol over Bluegiga modules
      Bluegiga is a SPI-slave device without Chip select but with a compulsory DRDY
      Required:
      BLUEGIGA_SPI_DEV: the SPI device which MUST have a SLAVE mode without chipselect
      Optional: (defaults to SUPERBITRF DRDY)
      BLUEGIGA_DRDY_GPIO
      BLUEGIGA_DRDY_GPIO_PIN
      On Lisa-s, the Superbit-RF module can be replaced with a bluegiga-bluetooth 4 low power board.
      This module puts the telemetry over this bluetooth 4 link.
    </description>
    <configure name="BLUEGIGA_SPI_DEV" value="SPIx" description="SPI where the modem is connected to (SPI1, SPI2, etc)"/>
    <configure name="MODEM_LED" value="none" description="LED number for modem status, 'none' to disable"/>
    <define name="BLUEGIGA_DRDY_GPIO" value="GPIOX" description="GPIO port used for data ready pin"/>
    <define name="BLUEGIGA_DRDY_GPIO_PIN" value="GPIOY" description="GPIO pin number used for data ready pin"/>
  </doc>
  <autoload name="telemetry" type="nps"/>
  <autoload name="telemetry" type="sim"/>
  <header>
    <file name="bluegiga_dl.h"/>
  </header>
  <init fun="bluegiga_dl_init()"/>
  <event fun="bluegiga_dl_event()"/>
  <makefile target="!fbw|sim|nps">
    <raw>
      include $(CFG_SHARED)/spi_master.makefile
    </raw>
    <configure name="BLUEGIGA_SPI_DEV" default="SPI2" case="upper|lower"/>
    <configure name="MODEM_LED" default="none"/>
    <define name="USE_$(BLUEGIGA_SPI_DEV_UPPER)_SLAVE"/>
    <define name="SPI_SLAVE"/>
    <define name="BLUEGIGA_SPI_DEV" value="$(BLUEGIGA_SPI_DEV_LOWER)"/>
    <define name="MODEM_LED" value="$(MODEM_LED)" cond="ifneq ($(MODEM_LED),none)"/>
    <define name="DOWNLINK"/>
    <define name="PERIODIC_TELEMETRY"/>
    <define name="DOWNLINK_DEVICE" value="bluegiga_p"/>
    <define name="DOWNLINK_TRANSPORT" value="pprz_bg_tp"/>
    <define name="DATALINK" value="BLUEGIGA"/>
    <file name="bluegiga_dl.c"/>
    <file name="downlink.c" dir="subsystems/datalink"/>
    <file name="datalink.c" dir="subsystems/datalink"/>
    <file name="telemetry.c" dir="subsystems/datalink"/>
    <file name="pprz_transport.c" dir="pprzlink/src"/>
    <file name="bluegiga.c" dir="subsystems/datalink"/>
  </makefile>
  <makefile target="ap" firmware="fixedwing">
    <file name="fixedwing_datalink.c" dir="$(SRC_FIRMWARE)"/>
    <file name="ap_downlink.c" dir="$(SRC_FIRMWARE)"/>
  </makefile>
  <makefile target="ap|fbw" firmware="fixedwing">
    <file name="fbw_downlink.c" dir="$(SRC_FIRMWARE)"/>
  </makefile>
  <makefile target="ap" firmware="rotorcraft">
    <file name="rotorcraft_datalink.c" dir="$(SRC_FIRMWARE)"/>
    <file name="rotorcraft_telemetry.c" dir="$(SRC_FIRMWARE)"/>
  </makefile>
</module>