Highest level
The dataLink is our method for communicating data to and from the ground. It consists of 2 seperate entites: The uplink and the downlink. As with much of the architecture of the ZeroPilot, the dataLink is heavilly based on PicPilot.
Since the architecture is so heavilly based on PicPilot, I will, for the moment, only decribe the implementation of it on ZeroPilot.
UART Interrupt: Both the rx/tx interrupts will live inside their own threads.
The Write/Read buffer functions, responsible for processing and executing/encoding commands/data will also live in their own threads. These will be scheduled to run at well spaced intervals.