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

[pascal . brisset]

Hi,

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
is
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 ?

--Pascal

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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