<!DOCTYPE module SYSTEM "module.dtd">

<module name="actuators_skiron" dir="actuators" task="actuators">
  <doc>
    <description>
      Actuators Driver for Skiron ESC

      required xml configuration:
      - servo section with driver="Skiron"
      - command_laws section to map motor_mixing commands to servos
    </description>
    <configure name="ACTUATORS_SKIRON_I2C_DEV" value="i2cX" description="I2C port (default i2c1)"/>
    <configure name="ACTUATORS_SKIRON_I2C_SCL_TIME" value="150" description="configurable I2C timing on lpc21 boards"/>
  </doc>
  <header>
    <file name="actuators_asctec.h" dir="subsystems/actuators"/>
  </header>
  <makefile target="ap">
    <configure name="ACTUATORS_SKIRON_I2C_DEV" default="i2c1" case="upper|lower"/>
    <configure name="ACTUATORS_SKIRON_I2C_SCL_TIME" default="150"/>
    <define name="ACTUATORS"/>
    <define name="ACTUATORS_SKIRON_I2C_DEV" value="$(ACTUATORS_SKIRON_I2C_DEV_LOWER)"/>
    <define name="USE_$(ACTUATORS_SKIRON_I2C_DEV_UPPER)"/>
    <define name="$(ACTUATORS_SKIRON_I2C_DEV_UPPER)_SCLL" value="$(ACTUATORS_SKIRON_I2C_SCL_TIME)" cond="ifeq ($(ARCH), lpc21)"/>
    <define name="$(ACTUATORS_SKIRON_I2C_DEV_UPPER)_SCLH" value="$(ACTUATORS_SKIRON_I2C_SCL_TIME)" cond="ifeq ($(ARCH), lpc21)"/>
    <file name="actuators_skiron.c" dir="subsystems/actuators"/>
  </makefile>
  <makefile target="nps">
    <define name="USE_I2C0"/>
    <define name="ACTUATORS_SKIRON_I2C_DEV" value="i2c0"/>
    <file name="actuators_skiron.c" dir="subsystems/actuators"/>
  </makefile>
</module>

