[fixedwing] Option to have telemetry through the FBW

- for outback safety (so it can decode flight termination modes even when AP is down)
- Keep datalink while in flight termination mode

closes #844

conf/firmwares/subsystems/fixedwing/fbw_datalink.makefile

@@ -0,0 +1,5 @@
+
+fbw.srcs += firmwares/fixedwing/fbw_datalink.c
+fbw.CFLAGS += -DFBW_DATALINK
+fbw.CFLAGS += -DMODEM_LINK=$(MODEM_PORT) -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
+fbw.CFLAGS += -DAUTOPILOT_LINK=$(AUTOPILOT_PORT) -DUSE_$(AUTOPILOT_PORT) -D$(AUTOPILOT_PORT)_BAUD=$(MODEM_BAUD)

sw/airborne/firmwares/fixedwing/fbw_datalink.c

@@ -0,0 +1,91 @@
+/*
+ * Copyright (C) 2014 Christophe De Wagter
+ *
+ * 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 fbw_datalink.c
+ *
+ * Datalink through FBW (FlyByWire) process/mcu.
+ * So it can decode flight termination modes even when AP is down.
+ *
+ */
+
+#include "firmwares/fixedwing/fbw_datalink.h"
+#include "mcu_periph/uart.h"
+#include "led.h"
+
+
+#define __ModemLink(dev, _x) dev##_x
+#define _ModemLink(dev, _x)  __ModemLink(dev, _x)
+#define ModemLink(_x) _ModemLink(MODEM_LINK, _x)
+#define ModemBuffer() ModemLink(ChAvailable())
+
+
+#define __AutopilotLink(dev, _x) dev##_x
+#define _AutopilotLink(dev, _x)  __AutopilotLink(dev, _x)
+#define AutopilotLink(_x) _AutopilotLink(AUTOPILOT_LINK, _x)
+
+#define AutopilotBuffer() AutopilotLink(ChAvailable())
+
+static inline void autopilot_parse(char c)
+{
+  ModemLink(Transmit(c));
+}
+
+static inline void modem_parse(char c)
+{
+  AutopilotLink(Transmit(c));
+}
+
+#define ReadAutopilotBuffer() {                 \
+    while (AutopilotLink(ChAvailable()))        \
+      autopilot_parse(AutopilotLink(Getch()));  \
+  }
+
+#define ReadModemBuffer() {                     \
+    while (ModemLink(ChAvailable()))            \
+      modem_parse(ModemLink(Getch()));          \
+  }
+
+void fbw_datalink_periodic(void)
+{
+#ifdef MODEM_LINK_LED
+  LED_OFF(MODEM_LINK_LED);
+#endif
+#ifdef AUTOPILOT_LINK_LED
+  LED_OFF(AUTOPILOT_LINK_LED);
+#endif
+}
+
+void fbw_datalink_event(void)
+{
+#ifdef MODEM_LINK_LED
+  if (ModemLink(ChAvailable())) {
+    LED_ON(MODEM_LINK_LED);
+  }
+#endif
+#ifdef AUTOPILOT_LINK_LED
+  if (AutopilotLink(ChAvailable())) {
+    LED_ON(AUTOPILOT_LINK_LED);
+  }
+#endif
+
+  ReadModemBuffer();
+  ReadAutopilotBuffer();
+}

sw/airborne/firmwares/fixedwing/fbw_datalink.h

@@ -0,0 +1,32 @@
+/*
+ * Copyright (C) 2014 Christophe De Wagter
+ *
+ * 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 fbw_datalink.h
+ * Handling of messages coming from ground in FTD
+ */
+
+#ifndef FBW_DATALINK_H
+#define FBW_DATALINK_H
+
+extern void fbw_datalink_periodic(void);
+extern void fbw_datalink_event(void);
+
+#endif /* FBW_DATALINK_H */

sw/airborne/firmwares/fixedwing/main_fbw.c

@@ -48,6 +48,10 @@
 #include "subsystems/datalink/telemetry.h"
 #endif
 
+#ifdef FBW_DATALINK
+#include "firmwares/fixedwing/fbw_datalink.h"
+#endif
+
 uint8_t fbw_mode;
 
 #include "inter_mcu.h"
@@ -265,7 +269,11 @@ void event_task_fbw( void) {
     #if OUTBACK_CHALLENGE_VERY_DANGEROUS_RULE_AP_CAN_FORCE_FAILSAFE
     if (crash == 1)
     {
-      for (;;) {}
+      for (;;) {
+#if FBW_DATALINK
+        fbw_datalink_event();
+#endif
+      }
     }
     #endif
 
@@ -282,12 +290,19 @@ void event_task_fbw( void) {
 #endif /* MCU_SPI_LINK */
 #endif /* INTER_MCU */
 
+#ifdef FBW_DATALINK
+  fbw_datalink_event();
+#endif
 }
 
 
 /************* PERIODIC ******************************************************/
 void periodic_task_fbw( void ) {
 
+#ifdef FBW_DATALINK
+  fbw_datalink_periodic();
+#endif
+
 #ifdef RADIO_CONTROL
   radio_control_periodic_task();
   if (fbw_mode == FBW_MODE_MANUAL && radio_control.status == RC_REALLY_LOST) {