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Re: [Paparazzi-devel] Telemetry with both FBW and AP messages on the Cla

From: pascal . brisset
Subject: Re: [Paparazzi-devel] Telemetry with both FBW and AP messages on the Classix?!?
Date: Thu, 08 Nov 2007 22:19:49 +0100
User-agent: Internet Messaging Program (IMP) 3.2.5


no, there is no way in the current code to send messages from FBW to AP through
the SPI link. Frames sent over the SPI link are described in
sw/airborne/inter_mcu.h (fbw_state and ap_state). It is possible to add more
fields in this structure (a buffer and its size for example).
The frame from FBW to AP is filled in inter_mcu.h:inter_mcu_fill_fbw_state(). It
used by AP in main_ap.c:telecommand_task() (the frame is designed by fbw_state)

Note that the code is currently written for fixed length frames (link_mcu.c:36)

A new set of macros, similar to the ones defined in uart.h, have to be defined
to emulate the uart transmission by simple writes to a buffer in the SPI frame.

Nice programming exercise ?


Quoting Alexis Lussier Desbiens <address@hidden>:

> Hey,
> So here are a few questions about the Classix again... (but good news,
> now I got the servos working just fine)!
> I think I blew up the serial port on the FBW processor (don't really
> know how... the only thing that was connected on it was the USB to
> serial adaptor)... so is there a way to "package" the FBW messages
> (PPM, commands, etc.) with the AP messages (I guess by the SPI link
> between the processor) and send them together with the AP serial port?
> There must be a way, right? Otherwise you would need two modems to
> send both the FBW and AP telemetry...
> Thanks again!
>     Alexis
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> Paparazzi-devel mailing list
> address@hidden

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