telemetry_transparent_usb module

Telemetry using PPRZ protocol over serial USB (e.g

/dev/ttyACM0)

Example for airframe file

Add to your firmware section:

<module name="telemetry_transparent_usb"/>

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.

• pprz_dl_init()

Event Functions

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

• pprz_dl_event()

Files

Header Files

The following headers are automatically included in modules.h

• pprz_dl.h

Source Files

• modules/datalink/pprz_dl.c
• subsystems/datalink/downlink.c
• subsystems/datalink/datalink.c
• subsystems/datalink/telemetry.c
• pprzlink/src/pprz_transport.c
• /fixedwing_datalink.c
• /ap_downlink.c
• /fbw_downlink.c
• /rotorcraft_datalink.c
• /rotorcraft_telemetry.c
• arch dependent: ./usb_ser_hw.c

Raw telemetry_transparent_usb.xml file:

<!DOCTYPE module SYSTEM "module.dtd">

<module name="telemetry_transparent_usb" dir="datalink" task="datalink">
  <doc>
    <description>
      Telemetry using PPRZ protocol over serial USB (e.g. /dev/ttyACM0)
    </description>
  </doc>
  <autoload name="telemetry" type="nps"/>
  <autoload name="telemetry" type="sim"/>
  <header>
    <file name="pprz_dl.h"/>
  </header>
  <init fun="pprz_dl_init()"/>
  <event fun="pprz_dl_event()"/>
  <makefile target="!fbw|sim|nps|hitl">
    <define name="DOWNLINK"/>
    <define name="PERIODIC_TELEMETRY"/>
    <define name="USE_USB_SERIAL"/>
    <define name="DOWNLINK_DEVICE" value="usb_serial"/>
    <define name="PPRZ_UART" value="usb_serial"/>
    <define name="DOWNLINK_TRANSPORT" value="pprz_tp"/>
    <define name="DATALINK" value="PPRZ"/>
    <file name="pprz_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_arch name="usb_ser_hw.c" dir="."/>
    <raw>
      ifeq ($(ARCH), lpc21)
      $(TARGET).srcs += $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbcontrol.c
      $(TARGET).srcs += $(SRC_ARCH)/lpcusb/usbstdreq.c $(SRC_ARCH)/lpcusb/usbinit.c
      endif
    </raw>
  </makefile>
  <makefile target="ap" firmware="fixedwing">
    <file name="fixedwing_datalink.c" dir="$(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>