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| Code Block | ||
|---|---|---|
| ||
/**
* @brief This thread is responsible for taking data from other managers and converting
* them to mavlink bytes, then putting them into GSC.lowPriorityTransmitBuffer.
*/
void mavlinkToBytesThread()
{
while (true)
{
// START: fill GSC.lowPriorityTransmitBuffer with data to transmit
// END: fill GSC.lowPriorityTransmitBuffer with data to transmit
vTaskDelay(pdMS_TO_TICKS(10)); // Adjust the delay as necessary
}
} |
DMA
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| Code Block |
|---|
void GroundStationComms::sendToGroundStation(CircularBuffer &transmissionBuffer)
{
// Send the bytes in transmissionBuffer to the ground station via RFD900
}
void GroundStationComms::receiveFromGroundStationISR()
{
// if GSC.DMAReceiveBuffer has enough space for the new data add it
//otherwise discard the data
//end of ISR
} |
Timer Based Interrupt
Timer Interrupt 1 (Low priority transmission)
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