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_uart">
  b'<configure name="INTERMCU_PORT" value="UARTx" />\n    '
  b'<configure name="INTERMCU_BAUD" value="B57600" />\n    '
  b'<configure name="FBW_MODE_LED" value="none|num" />\n  '
</module>

Module configuration options

Configure Options

name: INTERMCU_PORT value: UARTx
Description: UART used for inter mcu communication (default: UART2 for FBW, UART5 for AP)
name: INTERMCU_BAUD value: B57600
Description: UART baud rate
name: FBW_MODE_LED value: none|num
Description: LED number or 'none'

Module functions

Init Functions

These initialization functions are called once on startup.

intermcu_init()

Event Functions

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

intermcu_event()

Periodic Functions

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

intermcu_periodic()
- Running at maximum module frequency.
- Autorun: LOCK
  Periodic function automatically starts after init and can't be stopped.
intermcu_send_status()
- Frequency in Hz: 10.
- 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 IMCU_FBW_STATUS call intermcu_parse_IMCU_FBW_STATUS(buf)
on message IMCU_COMMANDS call intermcu_parse_IMCU_COMMANDS(buf)
on message IMCU_SPEKTRUM_SOFT_BIND call intermcu_parse_IMCU_SPEKTRUM_SOFT_BIND(buf)
on message * call intermcu_forward_uplink(buf)

Files

Header Files

The following headers are automatically included in modules.h

Source Files

Raw intermcu_uart.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="intermcu_uart" dir="intermcu" task="core">
  <doc>
    <description>
      Inter-MCU communication over UART
    </description>
    <configure name="INTERMCU_PORT" value="UARTx" description="UART used for inter mcu communication (default: UART2 for FBW, UART5 for AP)"/>
    <configure name="INTERMCU_BAUD" value="B57600" description="UART baud rate"/>
    <configure name="FBW_MODE_LED" value="none|num" description="LED number or 'none'"/>
  </doc>
  <dep>
    <depends>uart,radio_control_intermcu,datalink_common</depends>
    <provides>intermcu,commands</provides>
  </dep>
  <header>
    <file name="intermcu.h"/>
    <file name="intermcu_ap.h" cond="INTERMCU_AP"/>
    <file name="intermcu_fbw.h" cond="INTERMCU_FBW"/>
  </header>
  <init fun="intermcu_init()"/>
  <periodic fun="intermcu_periodic()"/>
  <periodic fun="intermcu_send_status()" freq="10." cond="INTERMCU_FBW"/>
  <event fun="intermcu_event()"/>
  <datalink message="IMCU_FBW_STATUS" fun="intermcu_parse_IMCU_FBW_STATUS(buf)" class="intermcu" cond="INTERMCU_AP"/>
  <datalink message="IMCU_COMMANDS" fun="intermcu_parse_IMCU_COMMANDS(buf)" class="intermcu" cond="INTERMCU_FBW"/>
  <datalink message="IMCU_SPEKTRUM_SOFT_BIND" fun="intermcu_parse_IMCU_SPEKTRUM_SOFT_BIND(buf)" class="intermcu" cond="INTERMCU_FBW"/>
  <datalink message="*" fun="intermcu_forward_uplink(buf)" cond="INTERMCU_FBW"/>
  <makefile target="ap|fbw">
    <configure name="INTERMCU_PORT" default="UART3" case="upper|lower"/>
    <configure name="INTERMCU_BAUD" default="B230400"/>
    <define name="INTERMCU_LINK" value="$(INTERMCU_PORT_LOWER)"/>
    <define name="USE_$(INTERMCU_PORT_UPPER)"/>
    <define name="$(INTERMCU_PORT_UPPER)_BAUD" value="$(INTERMCU_BAUD)"/>
    <define name="DOWNLINK_DEVICE" value="$(INTERMCU_LINK)" cond="ifndef MODEM_PORT"/>
    <define name="DOWNLINK_TRANSPORT" value="intermcu.transport" cond="ifndef MODEM_PORT"/>
    <file name="pprz_transport.c" dir="pprzlink/src"/>
  </makefile>
  <makefile target="fbw">
    <configure name="FBW_MODE_LED" default="none"/>
    <define name="FBW_MODE_LED" value="$(FBW_MODE_LED)" cond="ifneq ($(FBW_MODE_LED),none)"/>
    <define name="INTERMCU_FBW"/>
    <file name="intermcu_fbw.c"/>
    <test firmware="fixedwing">
      <define name="INTERMCU_LINK" value="uart1"/>
      <define name="USE_UART1"/>
    </test>
  </makefile>
  <makefile target="ap">
    <define name="INTERMCU_AP"/>
    <file name="intermcu_ap.c"/>
    <test firmware="fixedwing">
      <define name="INTERMCU_LINK" value="uart1"/>
      <define name="USE_UART1"/>
    </test>
  </makefile>
</module>
 