more vi_overo_link

conf/modules/vehicle_interface_overo_link.xml

@@ -5,11 +5,17 @@
     <file name="vi_overo_link.h"/>
   </header>
   <init fun="vi_init()"/>
-  <periodic fun="vi_periodic()" freq="25"/>
+  <periodic fun="vi_periodic()" freq="512"/>
+  <event fun="ViOveroLinkEvent()"/>
   <makefile>
     <file name="vi.c"/>
     <file name="vi_overo_link.c"/>
-  <!--  <file name="lisa/lisa_overo_link.c"/> -->
+    <raw>ap.srcs   += lisa/lisa_overo_link.c lisa/arch/stm32/lisa_overo_link_arch.c</raw>
+    <raw>ap.CFLAGS +=  -DUSE_OVERO_LINK</raw>
+    <raw>ap.CFLAGS +=  -Ilisa/arch/stm32</raw>
+    <raw>ap.CFLAGS +=  -DOVERO_LINK_MSG_UP=AutopilotMessageFoo</raw>
+    <raw>ap.CFLAGS +=  -DOVERO_LINK_MSG_DOWN=AutopilotMessageFoo</raw>
+    <raw>ap.CFLAGS +=  -DOVERO_LINK_LED_OK=3 -DOVERO_LINK_LED_KO=2 -DUSE_DMA1_C2_IRQ</raw>
   </makefile>
 </module>
 

sw/airborne/modules/vehicle_interface/vi_overo_link.c

@@ -23,15 +23,37 @@
 
 #include "modules/vehicle_interface/vi_overo_link.h"
 
-void vi_impl_init(void) {
+#include "lisa/lisa_overo_link.h"
 
+
+#include <string.h>
+
+static inline void on_overo_link_lost(void);
+
+void vi_impl_init(void) {
+  overo_link_init();
 }
 
 void vi_impl_periodic(void) {
-
+ OveroLinkPeriodic(on_overo_link_lost);
 }
 
 void vi_impl_set_enabled(bool_t enabled __attribute__ ((unused))) {
 
 }
 
+static inline void on_overo_link_lost(void) {
+
+}
+
+ void vi_overo_link_on_msg_received(void) {
+  
+  memcpy(&overo_link.up.msg, &overo_link.down.msg, 
+	 sizeof(union AutopilotMessage));
+  
+}
+
+
+void vi_overo_link_on_crc_err(void) {
+  
+}

sw/airborne/modules/vehicle_interface/vi_overo_link.h

@@ -27,9 +27,13 @@
 #include "std.h"
 #include "modules/vehicle_interface/vi.h"
 #include "math/pprz_algebra_int.h"
+#include "lisa/lisa_overo_link.h"
 
+#define ViOveroLinkEvent() {						\
+    OveroLinkEvent(vi_overo_link_on_msg_received, vi_overo_link_on_crc_err); \
+  }
 
-
-
+extern void vi_overo_link_on_msg_received(void);
+extern void vi_overo_link_on_crc_err(void);
 
 #endif /* VEHICLE_INTERFACE_OVERO_LINK_H */