Send over iridium

paparazzi · Sep 26, 2016 · 479d6a8 · 479d6a8
1 parent 5443fda
commit 479d6a8
Show file tree

Hide file tree

Showing 3 changed files with 53 additions and 15 deletions.
diff --git a/sw/airborne/modules/sensors/kalamos_uart.c b/sw/airborne/modules/sensors/kalamos_uart.c
@@ -26,6 +26,7 @@
 
 #include "modules/sensors/kalamos_uart.h"
 
+#include "modules/telemetry/telemetry_intermcu_ap.h"
 #include "pprzlink/pprz_transport.h"
 #include "pprzlink/intermcu_msg.h"
 #include "mcu_periph/uart.h"
@@ -131,6 +132,7 @@ static inline void kalamos_parse_msg(void)
 
       ////////////////////////////////////
       // Forward to FBW with IRRIDIUM
+      pprz_msg_send_PAYLOAD(&(telemetry_intermcu.trans.trans_tx), &telemetry_intermcu.dev, AC_ID, size, data);
 
     }
     break;

diff --git a/sw/airborne/modules/telemetry/telemetry_intermcu_ap.c b/sw/airborne/modules/telemetry/telemetry_intermcu_ap.c
@@ -26,28 +26,15 @@
 
 #define PERIODIC_C_INTERMCU
 #include "telemetry_intermcu.h"
+#include "telemetry_intermcu_ap.h"
 #include "subsystems/intermcu.h"
 #include "pprzlink/intermcu_msg.h"
-#include "pprzlink/short_transport.h"
 #include "generated/periodic_telemetry.h"
 #include "subsystems/datalink/telemetry.h"
 #include "subsystems/datalink/datalink.h"
 
-/* Default maximum telemetry message size */
-#ifndef TELEMERTY_INTERMCU_MSG_SIZE
-#define TELEMERTY_INTERMCU_MSG_SIZE 128
-#endif
-
-/* Structure for handling telemetry over InterMCU */
-struct telemetry_intermcu_t {
-  struct link_device dev;                     ///< Device structure for communication
-  struct short_transport trans;               ///< Transport without any extra encoding
-  uint8_t buf[TELEMERTY_INTERMCU_MSG_SIZE];   ///< Buffer for the messages
-  uint8_t buf_idx;                            ///< Index of the buffer
-};
-
 /* Telemetry InterMCU throughput */
-static struct telemetry_intermcu_t telemetry_intermcu;
+struct telemetry_intermcu_t telemetry_intermcu;
 
 /* Static functions */
 static bool telemetry_intermcu_check_free_space(struct telemetry_intermcu_t *p, long *fd __attribute__((unused)), uint16_t len);

diff --git a/sw/airborne/modules/telemetry/telemetry_intermcu_ap.h b/sw/airborne/modules/telemetry/telemetry_intermcu_ap.h
@@ -0,0 +1,49 @@
+/*
+ * Copyright (C) 2016 Freek van Tienen <freek.v.tienen@gmail.com>
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ *
+ */
+
+/** @file modules/telemetry/telemetry_intermcu_ap.h
+ *  @brief Telemetry through InterMCU
+ */
+
+#ifndef TELEMETRY_INTERMCU_AP_H
+#define TELEMETRY_INTERMCU_AP_H
+
+#include "std.h"
+#include "pprzlink/short_transport.h"
+
+/* Default maximum telemetry message size */
+#ifndef TELEMERTY_INTERMCU_MSG_SIZE
+#define TELEMERTY_INTERMCU_MSG_SIZE 128
+#endif
+
+/* Structure for handling telemetry over InterMCU */
+struct telemetry_intermcu_t {
+  struct link_device dev;                     ///< Device structure for communication
+  struct short_transport trans;               ///< Transport without any extra encoding
+  uint8_t buf[TELEMERTY_INTERMCU_MSG_SIZE];   ///< Buffer for the messages
+  uint8_t buf_idx;                            ///< Index of the buffer
+};
+
+/* Telemetry InterMCU throughput */
+extern struct telemetry_intermcu_t telemetry_intermcu;
+
+#endif /* TELEMETRY_INTERMCU_AP_H */