datalink_common module

Common datalink interface for telemetry, downlink and uplink

No detailed description...

Example for airframe file

Add to your firmware section:

<module name="datalink_common"/>

Module functions

Init Functions

These initialization functions are called once on startup.

• datalink_init()
• downlink_init()

Periodic Functions

These functions are called periodically at the specified frequency from the module periodic loop.

• telemetry_reporting_task()
  • Running at maximum module frequency.
  • Autorun: LOCK
    Periodic function automatically starts after init and can't be stopped.
• datalink_periodic()
  • Frequency in Hz: 1
  • Autorun: LOCK
    Periodic function automatically starts after init and can't be stopped.

Datalink Functions

Whenever the specified datalink message is received, the corresponing handler function is called.

• on message PING call datalink_parse_PING(dev, trans, buf)

Files

Header Files

The following headers are automatically included in modules.h

• telemetry.h
• datalink.h
• downlink.h

Source Files

• modules/datalink/downlink.c
• modules/datalink/datalink.c
• modules/datalink/telemetry.c
• /ap_downlink.c
• /fbw_downlink.c
• /rotorcraft_telemetry.c
• /rover_telemetry.c

Raw datalink_common.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="datalink_common" dir="datalink" task="datalink">
  <doc>
    <description>
      Common datalink interface for telemetry, downlink and uplink
    </description>
  </doc>
  <header>
    <file name="telemetry.h"/>
    <file name="datalink.h"/>
    <file name="downlink.h"/>
  </header>
  <init fun="datalink_init()"/>
  <init fun="downlink_init()"/>
  <periodic fun="telemetry_reporting_task()"/>
  <periodic fun="datalink_periodic()" freq="1"/>
  <datalink message="PING" fun="datalink_parse_PING(dev, trans, buf)"/>
  <makefile>
    <define name="DOWNLINK"/>
    <define name="PERIODIC_TELEMETRY"/>
    <configure name="TELEMETRY_FREQUENCY" default="$(PERIODIC_FREQUENCY)"/>
    <define name="TELEMETRY_FREQUENCY" value="$(TELEMETRY_FREQUENCY)"/>
    <file name="downlink.c"/>
    <file name="datalink.c"/>
    <file name="telemetry.c"/>
    <test firmware="fixedwing">
      <define name="DOWNLINK_TRANSPORT" value="pprz_tp"/>
      <define name="DOWNLINK_DEVICE" value="uart1"/>
      <define name="USE_UART1"/>
    </test>
  </makefile>
  <makefile target="!fbw" firmware="fixedwing">
    <file name="ap_downlink.c" dir="$(SRC_FIRMWARE)"/>
    <test firmware="fixedwing">
      <define name="DOWNLINK_TRANSPORT" value="pprz_tp"/>
      <define name="DOWNLINK_DEVICE" value="uart1"/>
      <define name="USE_UART1"/>
    </test>
  </makefile>
  <makefile firmware="fixedwing">
    <file name="fbw_downlink.c" dir="$(SRC_FIRMWARE)"/>
  </makefile>
  <makefile firmware="rotorcraft">
    <file name="rotorcraft_telemetry.c" dir="$(SRC_FIRMWARE)"/>
    <test firmware="rotorcraft">
      <define name="DOWNLINK_TRANSPORT" value="pprz_tp"/>
      <define name="DOWNLINK_DEVICE" value="uart1"/>
      <define name="USE_UART1"/>
    </test>
  </makefile>
  <makefile firmware="rover">
    <file name="rover_telemetry.c" dir="$(SRC_FIRMWARE)"/>
    <test firmware="rover">
      <define name="DOWNLINK_TRANSPORT" value="pprz_tp"/>
      <define name="DOWNLINK_DEVICE" value="uart1"/>
      <define name="USE_UART1"/>
      <define name="USE_GENERATED_AUTOPILOT"/>
    </test>
  </makefile>
</module>