Merge pull request #841 from paparazzi/link_mcu_can

intermcu link via CAN

conf/firmwares/subsystems/fixedwing/intermcu_can.makefile

@@ -0,0 +1,12 @@
+# Hey Emacs, this is a -*- makefile -*-
+
+# InterMCU type CAN
+
+ifneq ($(TARGET),sim)
+$(TARGET).CFLAGS += -DINTER_MCU -DMCU_CAN_LINK
+$(TARGET).srcs += link_mcu_can.c
+$(TARGET).srcs += mcu_periph/can.c
+$(TARGET).srcs += $(SRC_ARCH)/mcu_periph/can_arch.c
+endif
+
+SEPARATE_FBW=1

sw/airborne/firmwares/fixedwing/main_ap.c

@@ -37,8 +37,8 @@
 #include "firmwares/fixedwing/main_ap.h"
 #include "mcu.h"
 #include "mcu_periph/sys_time.h"
-
-#include "link_mcu_spi.h"
+#include "inter_mcu.h"
+#include "link_mcu.h"
 
 // Sensors
 #if USE_GPS
@@ -213,7 +213,7 @@ void init_ap( void ) {
   ins_init();
 
   /************* Links initialization ***************/
-#if defined MCU_SPI_LINK || defined MCU_UART_LINK
+#if defined MCU_SPI_LINK || defined MCU_UART_LINK || defined MCU_CAN_LINK
   link_mcu_init();
 #endif
 #if USE_AUDIO_TELEMETRY
@@ -575,7 +575,7 @@ void attitude_loop( void ) {
 
   ap_state->commands[COMMAND_PITCH] = h_ctl_elevator_setpoint;
 
-#if defined MCU_SPI_LINK || defined MCU_UART_LINK
+#if defined MCU_SPI_LINK || defined MCU_UART_LINK || defined MCU_CAN_LINK
   link_mcu_send();
 #elif defined INTER_MCU && defined SINGLE_MCU
   /**Directly set the flag indicating to FBW that shared buffer is available*/

sw/airborne/firmwares/fixedwing/main_fbw.c

@@ -48,17 +48,10 @@
 #include "subsystems/datalink/telemetry.h"
 #endif
 
-#ifdef MCU_SPI_LINK
-#include "link_mcu_spi.h"
-#endif
-
-#ifdef MCU_UART_LINK
-#include "link_mcu_usart.h"
-#endif
-
 uint8_t fbw_mode;
 
 #include "inter_mcu.h"
+#include "link_mcu.h"
 
 #ifdef USE_NPS
 #include "nps_autopilot.h"
@@ -130,8 +123,10 @@ void init_fbw( void ) {
 #ifdef INTER_MCU
   inter_mcu_init();
 #endif
-#ifdef MCU_SPI_LINK
+#if defined MCU_SPI_LINK || defined MCU_CAN_LINK
   link_mcu_init();
+#endif
+#ifdef MCU_SPI_LINK
   link_mcu_restart();
 #endif
 
@@ -317,6 +312,11 @@ void periodic_task_fbw( void ) {
   link_mcu_periodic_task();
 #endif
 
+#ifdef MCU_CAN_LINK
+  inter_mcu_fill_fbw_state();
+  link_mcu_periodic_task();
+#endif
+
 #if PERIODIC_TELEMETRY
   periodic_telemetry_send_Fbw();
 #endif

sw/airborne/inter_mcu.c

@@ -14,9 +14,13 @@
  * 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.
+ * along with paparazzi; see the file COPYING.  If not, see
+ * <http://www.gnu.org/licenses/>.
+ */
+
+/**
+ * @file inter_mcu.c
+ * Communication between fbw and ap processes.
  *
  */
 
@@ -28,7 +32,7 @@ static struct ap_state _ap_state;
 struct fbw_state* fbw_state = &_fbw_state;
 struct ap_state* ap_state = &_ap_state;
 #else /* SINGLE_MCU */
-#include "link_mcu_spi.h"
+#include "link_mcu.h"
 struct fbw_state* fbw_state = &link_mcu_from_fbw_msg.payload.from_fbw;
 struct ap_state*  ap_state = &link_mcu_from_ap_msg.payload.from_ap;
 #endif /* ! SINGLE_MCU */

sw/airborne/inter_mcu.h

@@ -1,5 +1,4 @@
-/*  $Id$
- *
+/*
  * Copyright (C) 2003-2005  Pascal Brisset, Antoine Drouin
  *
  * This file is part of paparazzi.
@@ -15,19 +14,20 @@
  * 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.
- *
+ * along with paparazzi; see the file COPYING.  If not, see
+ * <http://www.gnu.org/licenses/>.
  */
 
-/** \brief Communication between fbw and ap processes
+/**
+ * @file inter_mcu.h
+ * Communication between fbw and ap processes.
+ *
  * This unit contains the data structure used to communicate between the
  * "fly by wire" process and the "autopilot" process. It must be linked once in a
- * monoprocessor architecture, twice in a twin-processors (the historical
- * Atmel AVRs mega8-mega128 one) architecture. In the latter case, the
- * inter-mcu communication process (e.g. SPI) must fill and read these data structures.
-*/
+ * monoprocessor architecture, twice in a twin-processors architecture.
+ * In the latter case, the inter-mcu communication process (e.g. SPI) must fill and
+ * read these data structures.
+ */
 
 #ifndef INTER_MCU_H
 #define INTER_MCU_H

sw/airborne/link_mcu.h

@@ -0,0 +1,37 @@
+/*
+ * Copyright (C) 2003-2014 The Paparazzi Team
+ *
+ * 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, see
+ * <http://www.gnu.org/licenses/>.
+ */
+
+/**
+ * @file link_mcu.h
+ * Common transport functions for the communication between FBW and AP.
+ */
+
+#ifndef LINK_MCU_H
+#define LINK_MCU_H
+
+#ifdef MCU_SPI_LINK
+#include "link_mcu_spi.h"
+#elif defined MCU_UART_LINK
+#include "link_mcu_usart.h"
+#elif defined MCU_CAN_LINK
+#include "link_mcu_can.h"
+#endif
+
+#endif /* LINK_MCU_H */