telemetry_intermcu module

Telemetry over InterMCU

This module transmits Telemetry of the process "InterMCU" from AP to FBW. The FBW then transmits this telemetry further through PPRZ over an UART.

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_intermcu">
  <configure name="TELEMETRY_INTERMCU_DEV" value="UART3" />
  <configure name="TELEMETRY_INTERMCU_BAUD" value="B19200" />
</module>

Module configuration options

Configure Options

• name: TELEMETRY_INTERMCU_DEV value: UART3
  Description: Device used to communicate the telemetry over on the FBW side
• name: TELEMETRY_INTERMCU_BAUD value: B19200
  Description: UART baud rate

Module functions

Init Functions

These initialization functions are called once on startup.

• telemetry_intermcu_init()

Event Functions

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

• telemetry_intermcu_event()

Periodic Functions

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

• telemetry_intermcu_periodic()
  • Running at maximum module frequency.
  • Autorun: LOCK
    Periodic function automatically starts after init and can't be stopped.

Files

Header Files

The following headers are automatically included in modules.h

• telemetry_intermcu.h

Source Files

• modules/telemetry/telemetry_intermcu_ap.c
• pprzlink/src/short_transport.c
• modules/telemetry/telemetry_intermcu_fbw.c
• pprzlink/src/pprz_transport.c

Raw telemetry_intermcu.xml file:

<!DOCTYPE module SYSTEM "module.dtd">

<module name="telemetry_intermcu" dir="telemetry" task="datalink">
  <doc>
    <description>Telemetry over InterMCU
      This module transmits Telemetry of the process "InterMCU" from AP to FBW. The FBW then transmits this telemetry further through PPRZ over an UART.
    </description>
    <configure name="TELEMETRY_INTERMCU_DEV" value="UART3" description="Device used to communicate the telemetry over on the FBW side"/>
    <configure name="TELEMETRY_INTERMCU_BAUD" value="B19200" description="UART baud rate"/>
  </doc>
  <!-- <depends>intermcu</depends> -->
  <header>
    <file name="telemetry_intermcu.h"/>
  </header>
  <init fun="telemetry_intermcu_init()"/>
  <periodic fun="telemetry_intermcu_periodic()"/>
  <event fun="telemetry_intermcu_event()"/>
  <makefile target="ap">
    <file name="telemetry_intermcu_ap.c"/>
    <file name="short_transport.c" dir="pprzlink/src"/>
    <define name="TELEMETRY_INTERMCU"/>
  </makefile>
  <makefile target="fbw">
    <file name="telemetry_intermcu_fbw.c"/>
    <file name="pprz_transport.c" dir="pprzlink/src"/>

    <configure name="TELEMETRY_INTERMCU_DEV" default="UART3" case="upper|lower"/>
    <configure name="TELEMETRY_INTERMCU_BAUD" default="B19200"/>
    <define name="USE_$(TELEMETRY_INTERMCU_DEV_UPPER)"/>
    <define name="$(TELEMETRY_INTERMCU_DEV_UPPER)_BAUD" value="$(TELEMETRY_INTERMCU_BAUD)"/>
    <define name="TELEMETRY_INTERMCU_DEV" value="$(TELEMETRY_INTERMCU_DEV_LOWER)"/>
  </makefile>
</module>