diff --git a/Doxyfile b/Doxyfile index bd783c89f6..08a1eb095a 100644 --- a/Doxyfile +++ b/Doxyfile @@ -14,297 +14,297 @@ # Project related configuration options #--------------------------------------------------------------------------- -# This tag specifies the encoding used for all characters in the config file -# that follow. The default is UTF-8 which is also the encoding used for all -# text before the first occurrence of this tag. Doxygen uses libiconv (or the -# iconv built into libc) for the transcoding. See +# This tag specifies the encoding used for all characters in the config file +# that follow. The default is UTF-8 which is also the encoding used for all +# text before the first occurrence of this tag. Doxygen uses libiconv (or the +# iconv built into libc) for the transcoding. See # http://www.gnu.org/software/libiconv for the list of possible encodings. DOXYFILE_ENCODING = UTF-8 -# The PROJECT_NAME tag is a single word (or a sequence of words surrounded +# The PROJECT_NAME tag is a single word (or a sequence of words surrounded # by quotes) that should identify the project. PROJECT_NAME = "Paparazzi UAS" -# The PROJECT_NUMBER tag can be used to enter a project or revision number. -# This could be handy for archiving the generated documentation or +# The PROJECT_NUMBER tag can be used to enter a project or revision number. +# This could be handy for archiving the generated documentation or # if some version control system is used. -PROJECT_NUMBER = +PROJECT_NUMBER = -# Using the PROJECT_BRIEF tag one can provide an optional one line description -# for a project that appears at the top of each page and should give viewer +# Using the PROJECT_BRIEF tag one can provide an optional one line description +# for a project that appears at the top of each page and should give viewer # a quick idea about the purpose of the project. Keep the description short. PROJECT_BRIEF = "Paparazzi is a free software Unmanned Aircraft System." -# With the PROJECT_LOGO tag one can specify an logo or icon that is -# included in the documentation. The maximum height of the logo should not -# exceed 55 pixels and the maximum width should not exceed 200 pixels. +# With the PROJECT_LOGO tag one can specify an logo or icon that is +# included in the documentation. The maximum height of the logo should not +# exceed 55 pixels and the maximum width should not exceed 200 pixels. # Doxygen will copy the logo to the output directory. PROJECT_LOGO = data/pictures/penguin_icon.png -# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) -# base path where the generated documentation will be put. -# If a relative path is entered, it will be relative to the location +# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) +# base path where the generated documentation will be put. +# If a relative path is entered, it will be relative to the location # where doxygen was started. If left blank the current directory will be used. OUTPUT_DIRECTORY = doc/html -# If the CREATE_SUBDIRS tag is set to YES, then doxygen will create -# 4096 sub-directories (in 2 levels) under the output directory of each output -# format and will distribute the generated files over these directories. -# Enabling this option can be useful when feeding doxygen a huge amount of -# source files, where putting all generated files in the same directory would +# If the CREATE_SUBDIRS tag is set to YES, then doxygen will create +# 4096 sub-directories (in 2 levels) under the output directory of each output +# format and will distribute the generated files over these directories. +# Enabling this option can be useful when feeding doxygen a huge amount of +# source files, where putting all generated files in the same directory would # otherwise cause performance problems for the file system. CREATE_SUBDIRS = NO -# The OUTPUT_LANGUAGE tag is used to specify the language in which all -# documentation generated by doxygen is written. Doxygen will use this -# information to generate all constant output in the proper language. -# The default language is English, other supported languages are: -# Afrikaans, Arabic, Brazilian, Catalan, Chinese, Chinese-Traditional, -# Croatian, Czech, Danish, Dutch, Esperanto, Farsi, Finnish, French, German, -# Greek, Hungarian, Italian, Japanese, Japanese-en (Japanese with English -# messages), Korean, Korean-en, Lithuanian, Norwegian, Macedonian, Persian, -# Polish, Portuguese, Romanian, Russian, Serbian, Serbian-Cyrillic, Slovak, +# The OUTPUT_LANGUAGE tag is used to specify the language in which all +# documentation generated by doxygen is written. Doxygen will use this +# information to generate all constant output in the proper language. +# The default language is English, other supported languages are: +# Afrikaans, Arabic, Brazilian, Catalan, Chinese, Chinese-Traditional, +# Croatian, Czech, Danish, Dutch, Esperanto, Farsi, Finnish, French, German, +# Greek, Hungarian, Italian, Japanese, Japanese-en (Japanese with English +# messages), Korean, Korean-en, Lithuanian, Norwegian, Macedonian, Persian, +# Polish, Portuguese, Romanian, Russian, Serbian, Serbian-Cyrillic, Slovak, # Slovene, Spanish, Swedish, Ukrainian, and Vietnamese. OUTPUT_LANGUAGE = English -# If the BRIEF_MEMBER_DESC tag is set to YES (the default) Doxygen will -# include brief member descriptions after the members that are listed in -# the file and class documentation (similar to JavaDoc). +# If the BRIEF_MEMBER_DESC tag is set to YES (the default) Doxygen will +# include brief member descriptions after the members that are listed in +# the file and class documentation (similar to JavaDoc). # Set to NO to disable this. BRIEF_MEMBER_DESC = YES -# If the REPEAT_BRIEF tag is set to YES (the default) Doxygen will prepend -# the brief description of a member or function before the detailed description. -# Note: if both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the +# If the REPEAT_BRIEF tag is set to YES (the default) Doxygen will prepend +# the brief description of a member or function before the detailed description. +# Note: if both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the # brief descriptions will be completely suppressed. REPEAT_BRIEF = YES -# This tag implements a quasi-intelligent brief description abbreviator -# that is used to form the text in various listings. Each string -# in this list, if found as the leading text of the brief description, will be -# stripped from the text and the result after processing the whole list, is -# used as the annotated text. Otherwise, the brief description is used as-is. -# If left blank, the following values are used ("$name" is automatically -# replaced with the name of the entity): "The $name class" "The $name widget" -# "The $name file" "is" "provides" "specifies" "contains" +# This tag implements a quasi-intelligent brief description abbreviator +# that is used to form the text in various listings. Each string +# in this list, if found as the leading text of the brief description, will be +# stripped from the text and the result after processing the whole list, is +# used as the annotated text. Otherwise, the brief description is used as-is. +# If left blank, the following values are used ("$name" is automatically +# replaced with the name of the entity): "The $name class" "The $name widget" +# "The $name file" "is" "provides" "specifies" "contains" # "represents" "a" "an" "the" -ABBREVIATE_BRIEF = +ABBREVIATE_BRIEF = -# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then -# Doxygen will generate a detailed section even if there is only a brief +# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then +# Doxygen will generate a detailed section even if there is only a brief # description. ALWAYS_DETAILED_SEC = NO -# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all -# inherited members of a class in the documentation of that class as if those -# members were ordinary class members. Constructors, destructors and assignment +# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all +# inherited members of a class in the documentation of that class as if those +# members were ordinary class members. Constructors, destructors and assignment # operators of the base classes will not be shown. INLINE_INHERITED_MEMB = NO -# If the FULL_PATH_NAMES tag is set to YES then Doxygen will prepend the full -# path before files name in the file list and in the header files. If set +# If the FULL_PATH_NAMES tag is set to YES then Doxygen will prepend the full +# path before files name in the file list and in the header files. If set # to NO the shortest path that makes the file name unique will be used. FULL_PATH_NAMES = YES -# If the FULL_PATH_NAMES tag is set to YES then the STRIP_FROM_PATH tag -# can be used to strip a user-defined part of the path. Stripping is -# only done if one of the specified strings matches the left-hand part of -# the path. The tag can be used to show relative paths in the file list. -# If left blank the directory from which doxygen is run is used as the +# If the FULL_PATH_NAMES tag is set to YES then the STRIP_FROM_PATH tag +# can be used to strip a user-defined part of the path. Stripping is +# only done if one of the specified strings matches the left-hand part of +# the path. The tag can be used to show relative paths in the file list. +# If left blank the directory from which doxygen is run is used as the # path to strip. -STRIP_FROM_PATH = +STRIP_FROM_PATH = -# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of -# the path mentioned in the documentation of a class, which tells -# the reader which header file to include in order to use a class. -# If left blank only the name of the header file containing the class -# definition is used. Otherwise one should specify the include paths that +# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of +# the path mentioned in the documentation of a class, which tells +# the reader which header file to include in order to use a class. +# If left blank only the name of the header file containing the class +# definition is used. Otherwise one should specify the include paths that # are normally passed to the compiler using the -I flag. -STRIP_FROM_INC_PATH = +STRIP_FROM_INC_PATH = -# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter -# (but less readable) file names. This can be useful if your file system +# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter +# (but less readable) file names. This can be useful if your file system # doesn't support long names like on DOS, Mac, or CD-ROM. SHORT_NAMES = NO -# If the JAVADOC_AUTOBRIEF tag is set to YES then Doxygen -# will interpret the first line (until the first dot) of a JavaDoc-style -# comment as the brief description. If set to NO, the JavaDoc -# comments will behave just like regular Qt-style comments +# If the JAVADOC_AUTOBRIEF tag is set to YES then Doxygen +# will interpret the first line (until the first dot) of a JavaDoc-style +# comment as the brief description. If set to NO, the JavaDoc +# comments will behave just like regular Qt-style comments # (thus requiring an explicit @brief command for a brief description.) JAVADOC_AUTOBRIEF = YES -# If the QT_AUTOBRIEF tag is set to YES then Doxygen will -# interpret the first line (until the first dot) of a Qt-style -# comment as the brief description. If set to NO, the comments -# will behave just like regular Qt-style comments (thus requiring +# If the QT_AUTOBRIEF tag is set to YES then Doxygen will +# interpret the first line (until the first dot) of a Qt-style +# comment as the brief description. If set to NO, the comments +# will behave just like regular Qt-style comments (thus requiring # an explicit \brief command for a brief description.) QT_AUTOBRIEF = NO -# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make Doxygen -# treat a multi-line C++ special comment block (i.e. a block of //! or /// -# comments) as a brief description. This used to be the default behaviour. -# The new default is to treat a multi-line C++ comment block as a detailed +# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make Doxygen +# treat a multi-line C++ special comment block (i.e. a block of //! or /// +# comments) as a brief description. This used to be the default behaviour. +# The new default is to treat a multi-line C++ comment block as a detailed # description. Set this tag to YES if you prefer the old behaviour instead. MULTILINE_CPP_IS_BRIEF = NO -# If the INHERIT_DOCS tag is set to YES (the default) then an undocumented -# member inherits the documentation from any documented member that it +# If the INHERIT_DOCS tag is set to YES (the default) then an undocumented +# member inherits the documentation from any documented member that it # re-implements. INHERIT_DOCS = YES -# If the SEPARATE_MEMBER_PAGES tag is set to YES, then doxygen will produce -# a new page for each member. If set to NO, the documentation of a member will +# If the SEPARATE_MEMBER_PAGES tag is set to YES, then doxygen will produce +# a new page for each member. If set to NO, the documentation of a member will # be part of the file/class/namespace that contains it. SEPARATE_MEMBER_PAGES = NO -# The TAB_SIZE tag can be used to set the number of spaces in a tab. +# The TAB_SIZE tag can be used to set the number of spaces in a tab. # Doxygen uses this value to replace tabs by spaces in code fragments. TAB_SIZE = 2 -# This tag can be used to specify a number of aliases that acts -# as commands in the documentation. An alias has the form "name=value". -# For example adding "sideeffect=\par Side Effects:\n" will allow you to -# put the command \sideeffect (or @sideeffect) in the documentation, which -# will result in a user-defined paragraph with heading "Side Effects:". +# This tag can be used to specify a number of aliases that acts +# as commands in the documentation. An alias has the form "name=value". +# For example adding "sideeffect=\par Side Effects:\n" will allow you to +# put the command \sideeffect (or @sideeffect) in the documentation, which +# will result in a user-defined paragraph with heading "Side Effects:". # You can put \n's in the value part of an alias to insert newlines. -ALIASES = +ALIASES = -# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C -# sources only. Doxygen will then generate output that is more tailored for C. -# For instance, some of the names that are used will be different. The list +# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C +# sources only. Doxygen will then generate output that is more tailored for C. +# For instance, some of the names that are used will be different. The list # of all members will be omitted, etc. OPTIMIZE_OUTPUT_FOR_C = YES -# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java -# sources only. Doxygen will then generate output that is more tailored for -# Java. For instance, namespaces will be presented as packages, qualified +# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java +# sources only. Doxygen will then generate output that is more tailored for +# Java. For instance, namespaces will be presented as packages, qualified # scopes will look different, etc. OPTIMIZE_OUTPUT_JAVA = NO -# Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran -# sources only. Doxygen will then generate output that is more tailored for +# Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran +# sources only. Doxygen will then generate output that is more tailored for # Fortran. OPTIMIZE_FOR_FORTRAN = NO -# Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL -# sources. Doxygen will then generate output that is tailored for +# Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL +# sources. Doxygen will then generate output that is tailored for # VHDL. OPTIMIZE_OUTPUT_VHDL = NO -# Doxygen selects the parser to use depending on the extension of the files it -# parses. With this tag you can assign which parser to use for a given extension. -# Doxygen has a built-in mapping, but you can override or extend it using this -# tag. The format is ext=language, where ext is a file extension, and language -# is one of the parsers supported by doxygen: IDL, Java, Javascript, CSharp, C, -# C++, D, PHP, Objective-C, Python, Fortran, VHDL, C, C++. For instance to make -# doxygen treat .inc files as Fortran files (default is PHP), and .f files as C -# (default is Fortran), use: inc=Fortran f=C. Note that for custom extensions +# Doxygen selects the parser to use depending on the extension of the files it +# parses. With this tag you can assign which parser to use for a given extension. +# Doxygen has a built-in mapping, but you can override or extend it using this +# tag. The format is ext=language, where ext is a file extension, and language +# is one of the parsers supported by doxygen: IDL, Java, Javascript, CSharp, C, +# C++, D, PHP, Objective-C, Python, Fortran, VHDL, C, C++. For instance to make +# doxygen treat .inc files as Fortran files (default is PHP), and .f files as C +# (default is Fortran), use: inc=Fortran f=C. Note that for custom extensions # you also need to set FILE_PATTERNS otherwise the files are not read by doxygen. -EXTENSION_MAPPING = +EXTENSION_MAPPING = -# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want -# to include (a tag file for) the STL sources as input, then you should -# set this tag to YES in order to let doxygen match functions declarations and -# definitions whose arguments contain STL classes (e.g. func(std::string); v.s. -# func(std::string) {}). This also makes the inheritance and collaboration +# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want +# to include (a tag file for) the STL sources as input, then you should +# set this tag to YES in order to let doxygen match functions declarations and +# definitions whose arguments contain STL classes (e.g. func(std::string); v.s. +# func(std::string) {}). This also makes the inheritance and collaboration # diagrams that involve STL classes more complete and accurate. BUILTIN_STL_SUPPORT = NO -# If you use Microsoft's C++/CLI language, you should set this option to YES to +# If you use Microsoft's C++/CLI language, you should set this option to YES to # enable parsing support. CPP_CLI_SUPPORT = NO -# Set the SIP_SUPPORT tag to YES if your project consists of sip sources only. -# Doxygen will parse them like normal C++ but will assume all classes use public +# Set the SIP_SUPPORT tag to YES if your project consists of sip sources only. +# Doxygen will parse them like normal C++ but will assume all classes use public # instead of private inheritance when no explicit protection keyword is present. SIP_SUPPORT = NO -# For Microsoft's IDL there are propget and propput attributes to indicate getter -# and setter methods for a property. Setting this option to YES (the default) -# will make doxygen replace the get and set methods by a property in the -# documentation. This will only work if the methods are indeed getting or -# setting a simple type. If this is not the case, or you want to show the +# For Microsoft's IDL there are propget and propput attributes to indicate getter +# and setter methods for a property. Setting this option to YES (the default) +# will make doxygen replace the get and set methods by a property in the +# documentation. This will only work if the methods are indeed getting or +# setting a simple type. If this is not the case, or you want to show the # methods anyway, you should set this option to NO. IDL_PROPERTY_SUPPORT = YES -# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC -# tag is set to YES, then doxygen will reuse the documentation of the first -# member in the group (if any) for the other members of the group. By default +# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC +# tag is set to YES, then doxygen will reuse the documentation of the first +# member in the group (if any) for the other members of the group. By default # all members of a group must be documented explicitly. DISTRIBUTE_GROUP_DOC = NO -# Set the SUBGROUPING tag to YES (the default) to allow class member groups of -# the same type (for instance a group of public functions) to be put as a -# subgroup of that type (e.g. under the Public Functions section). Set it to -# NO to prevent subgrouping. Alternatively, this can be done per class using +# Set the SUBGROUPING tag to YES (the default) to allow class member groups of +# the same type (for instance a group of public functions) to be put as a +# subgroup of that type (e.g. under the Public Functions section). Set it to +# NO to prevent subgrouping. Alternatively, this can be done per class using # the \nosubgrouping command. SUBGROUPING = YES -# When the INLINE_GROUPED_CLASSES tag is set to YES, classes, structs and -# unions are shown inside the group in which they are included (e.g. using -# @ingroup) instead of on a separate page (for HTML and Man pages) or +# When the INLINE_GROUPED_CLASSES tag is set to YES, classes, structs and +# unions are shown inside the group in which they are included (e.g. using +# @ingroup) instead of on a separate page (for HTML and Man pages) or # section (for LaTeX and RTF). INLINE_GROUPED_CLASSES = NO -# When TYPEDEF_HIDES_STRUCT is enabled, a typedef of a struct, union, or enum -# is documented as struct, union, or enum with the name of the typedef. So -# typedef struct TypeS {} TypeT, will appear in the documentation as a struct -# with name TypeT. When disabled the typedef will appear as a member of a file, -# namespace, or class. And the struct will be named TypeS. This can typically -# be useful for C code in case the coding convention dictates that all compound +# When TYPEDEF_HIDES_STRUCT is enabled, a typedef of a struct, union, or enum +# is documented as struct, union, or enum with the name of the typedef. So +# typedef struct TypeS {} TypeT, will appear in the documentation as a struct +# with name TypeT. When disabled the typedef will appear as a member of a file, +# namespace, or class. And the struct will be named TypeS. This can typically +# be useful for C code in case the coding convention dictates that all compound # types are typedef'ed and only the typedef is referenced, never the tag name. TYPEDEF_HIDES_STRUCT = NO -# The SYMBOL_CACHE_SIZE determines the size of the internal cache use to -# determine which symbols to keep in memory and which to flush to disk. -# When the cache is full, less often used symbols will be written to disk. -# For small to medium size projects (<1000 input files) the default value is -# probably good enough. For larger projects a too small cache size can cause -# doxygen to be busy swapping symbols to and from disk most of the time -# causing a significant performance penalty. -# If the system has enough physical memory increasing the cache will improve the -# performance by keeping more symbols in memory. Note that the value works on -# a logarithmic scale so increasing the size by one will roughly double the -# memory usage. The cache size is given by this formula: -# 2^(16+SYMBOL_CACHE_SIZE). The valid range is 0..9, the default is 0, +# The SYMBOL_CACHE_SIZE determines the size of the internal cache use to +# determine which symbols to keep in memory and which to flush to disk. +# When the cache is full, less often used symbols will be written to disk. +# For small to medium size projects (<1000 input files) the default value is +# probably good enough. For larger projects a too small cache size can cause +# doxygen to be busy swapping symbols to and from disk most of the time +# causing a significant performance penalty. +# If the system has enough physical memory increasing the cache will improve the +# performance by keeping more symbols in memory. Note that the value works on +# a logarithmic scale so increasing the size by one will roughly double the +# memory usage. The cache size is given by this formula: +# 2^(16+SYMBOL_CACHE_SIZE). The valid range is 0..9, the default is 0, # corresponding to a cache size of 2^16 = 65536 symbols SYMBOL_CACHE_SIZE = 0 @@ -313,330 +313,331 @@ SYMBOL_CACHE_SIZE = 0 # Build related configuration options #--------------------------------------------------------------------------- -# If the EXTRACT_ALL tag is set to YES doxygen will assume all entities in -# documentation are documented, even if no documentation was available. -# Private class members and static file members will be hidden unless +# If the EXTRACT_ALL tag is set to YES doxygen will assume all entities in +# documentation are documented, even if no documentation was available. +# Private class members and static file members will be hidden unless # the EXTRACT_PRIVATE and EXTRACT_STATIC tags are set to YES EXTRACT_ALL = YES -# If the EXTRACT_PRIVATE tag is set to YES all private members of a class +# If the EXTRACT_PRIVATE tag is set to YES all private members of a class # will be included in the documentation. EXTRACT_PRIVATE = YES -# If the EXTRACT_STATIC tag is set to YES all static members of a file +# If the EXTRACT_STATIC tag is set to YES all static members of a file # will be included in the documentation. EXTRACT_STATIC = YES -# If the EXTRACT_LOCAL_CLASSES tag is set to YES classes (and structs) -# defined locally in source files will be included in the documentation. +# If the EXTRACT_LOCAL_CLASSES tag is set to YES classes (and structs) +# defined locally in source files will be included in the documentation. # If set to NO only classes defined in header files are included. EXTRACT_LOCAL_CLASSES = YES -# This flag is only useful for Objective-C code. When set to YES local -# methods, which are defined in the implementation section but not in -# the interface are included in the documentation. +# This flag is only useful for Objective-C code. When set to YES local +# methods, which are defined in the implementation section but not in +# the interface are included in the documentation. # If set to NO (the default) only methods in the interface are included. EXTRACT_LOCAL_METHODS = NO -# If this flag is set to YES, the members of anonymous namespaces will be -# extracted and appear in the documentation as a namespace called -# 'anonymous_namespace{file}', where file will be replaced with the base -# name of the file that contains the anonymous namespace. By default +# If this flag is set to YES, the members of anonymous namespaces will be +# extracted and appear in the documentation as a namespace called +# 'anonymous_namespace{file}', where file will be replaced with the base +# name of the file that contains the anonymous namespace. By default # anonymous namespaces are hidden. EXTRACT_ANON_NSPACES = NO -# If the HIDE_UNDOC_MEMBERS tag is set to YES, Doxygen will hide all -# undocumented members of documented classes, files or namespaces. -# If set to NO (the default) these members will be included in the -# various overviews, but no documentation section is generated. +# If the HIDE_UNDOC_MEMBERS tag is set to YES, Doxygen will hide all +# undocumented members of documented classes, files or namespaces. +# If set to NO (the default) these members will be included in the +# various overviews, but no documentation section is generated. # This option has no effect if EXTRACT_ALL is enabled. HIDE_UNDOC_MEMBERS = NO -# If the HIDE_UNDOC_CLASSES tag is set to YES, Doxygen will hide all -# undocumented classes that are normally visible in the class hierarchy. -# If set to NO (the default) these classes will be included in the various +# If the HIDE_UNDOC_CLASSES tag is set to YES, Doxygen will hide all +# undocumented classes that are normally visible in the class hierarchy. +# If set to NO (the default) these classes will be included in the various # overviews. This option has no effect if EXTRACT_ALL is enabled. HIDE_UNDOC_CLASSES = NO -# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, Doxygen will hide all -# friend (class|struct|union) declarations. -# If set to NO (the default) these declarations will be included in the +# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, Doxygen will hide all +# friend (class|struct|union) declarations. +# If set to NO (the default) these declarations will be included in the # documentation. HIDE_FRIEND_COMPOUNDS = NO -# If the HIDE_IN_BODY_DOCS tag is set to YES, Doxygen will hide any -# documentation blocks found inside the body of a function. -# If set to NO (the default) these blocks will be appended to the +# If the HIDE_IN_BODY_DOCS tag is set to YES, Doxygen will hide any +# documentation blocks found inside the body of a function. +# If set to NO (the default) these blocks will be appended to the # function's detailed documentation block. HIDE_IN_BODY_DOCS = NO -# The INTERNAL_DOCS tag determines if documentation -# that is typed after a \internal command is included. If the tag is set -# to NO (the default) then the documentation will be excluded. +# The INTERNAL_DOCS tag determines if documentation +# that is typed after a \internal command is included. If the tag is set +# to NO (the default) then the documentation will be excluded. # Set it to YES to include the internal documentation. INTERNAL_DOCS = NO -# If the CASE_SENSE_NAMES tag is set to NO then Doxygen will only generate -# file names in lower-case letters. If set to YES upper-case letters are also -# allowed. This is useful if you have classes or files whose names only differ -# in case and if your file system supports case sensitive file names. Windows +# If the CASE_SENSE_NAMES tag is set to NO then Doxygen will only generate +# file names in lower-case letters. If set to YES upper-case letters are also +# allowed. This is useful if you have classes or files whose names only differ +# in case and if your file system supports case sensitive file names. Windows # and Mac users are advised to set this option to NO. CASE_SENSE_NAMES = YES -# If the HIDE_SCOPE_NAMES tag is set to NO (the default) then Doxygen -# will show members with their full class and namespace scopes in the +# If the HIDE_SCOPE_NAMES tag is set to NO (the default) then Doxygen +# will show members with their full class and namespace scopes in the # documentation. If set to YES the scope will be hidden. HIDE_SCOPE_NAMES = NO -# If the SHOW_INCLUDE_FILES tag is set to YES (the default) then Doxygen -# will put a list of the files that are included by a file in the documentation +# If the SHOW_INCLUDE_FILES tag is set to YES (the default) then Doxygen +# will put a list of the files that are included by a file in the documentation # of that file. SHOW_INCLUDE_FILES = YES -# If the FORCE_LOCAL_INCLUDES tag is set to YES then Doxygen -# will list include files with double quotes in the documentation +# If the FORCE_LOCAL_INCLUDES tag is set to YES then Doxygen +# will list include files with double quotes in the documentation # rather than with sharp brackets. FORCE_LOCAL_INCLUDES = NO -# If the INLINE_INFO tag is set to YES (the default) then a tag [inline] +# If the INLINE_INFO tag is set to YES (the default) then a tag [inline] # is inserted in the documentation for inline members. INLINE_INFO = YES -# If the SORT_MEMBER_DOCS tag is set to YES (the default) then doxygen -# will sort the (detailed) documentation of file and class members -# alphabetically by member name. If set to NO the members will appear in +# If the SORT_MEMBER_DOCS tag is set to YES (the default) then doxygen +# will sort the (detailed) documentation of file and class members +# alphabetically by member name. If set to NO the members will appear in # declaration order. SORT_MEMBER_DOCS = YES -# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the -# brief documentation of file, namespace and class members alphabetically -# by member name. If set to NO (the default) the members will appear in +# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the +# brief documentation of file, namespace and class members alphabetically +# by member name. If set to NO (the default) the members will appear in # declaration order. SORT_BRIEF_DOCS = NO -# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen -# will sort the (brief and detailed) documentation of class members so that -# constructors and destructors are listed first. If set to NO (the default) -# the constructors will appear in the respective orders defined by -# SORT_MEMBER_DOCS and SORT_BRIEF_DOCS. -# This tag will be ignored for brief docs if SORT_BRIEF_DOCS is set to NO +# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen +# will sort the (brief and detailed) documentation of class members so that +# constructors and destructors are listed first. If set to NO (the default) +# the constructors will appear in the respective orders defined by +# SORT_MEMBER_DOCS and SORT_BRIEF_DOCS. +# This tag will be ignored for brief docs if SORT_BRIEF_DOCS is set to NO # and ignored for detailed docs if SORT_MEMBER_DOCS is set to NO. SORT_MEMBERS_CTORS_1ST = NO -# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the -# hierarchy of group names into alphabetical order. If set to NO (the default) +# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the +# hierarchy of group names into alphabetical order. If set to NO (the default) # the group names will appear in their defined order. SORT_GROUP_NAMES = NO -# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be -# sorted by fully-qualified names, including namespaces. If set to -# NO (the default), the class list will be sorted only by class name, -# not including the namespace part. -# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES. -# Note: This option applies only to the class list, not to the +# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be +# sorted by fully-qualified names, including namespaces. If set to +# NO (the default), the class list will be sorted only by class name, +# not including the namespace part. +# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES. +# Note: This option applies only to the class list, not to the # alphabetical list. SORT_BY_SCOPE_NAME = NO -# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to -# do proper type resolution of all parameters of a function it will reject a -# match between the prototype and the implementation of a member function even -# if there is only one candidate or it is obvious which candidate to choose -# by doing a simple string match. By disabling STRICT_PROTO_MATCHING doxygen +# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to +# do proper type resolution of all parameters of a function it will reject a +# match between the prototype and the implementation of a member function even +# if there is only one candidate or it is obvious which candidate to choose +# by doing a simple string match. By disabling STRICT_PROTO_MATCHING doxygen # will still accept a match between prototype and implementation in such cases. STRICT_PROTO_MATCHING = NO -# The GENERATE_TODOLIST tag can be used to enable (YES) or -# disable (NO) the todo list. This list is created by putting \todo +# The GENERATE_TODOLIST tag can be used to enable (YES) or +# disable (NO) the todo list. This list is created by putting \todo # commands in the documentation. GENERATE_TODOLIST = YES -# The GENERATE_TESTLIST tag can be used to enable (YES) or -# disable (NO) the test list. This list is created by putting \test +# The GENERATE_TESTLIST tag can be used to enable (YES) or +# disable (NO) the test list. This list is created by putting \test # commands in the documentation. GENERATE_TESTLIST = YES -# The GENERATE_BUGLIST tag can be used to enable (YES) or -# disable (NO) the bug list. This list is created by putting \bug +# The GENERATE_BUGLIST tag can be used to enable (YES) or +# disable (NO) the bug list. This list is created by putting \bug # commands in the documentation. GENERATE_BUGLIST = YES -# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or -# disable (NO) the deprecated list. This list is created by putting +# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or +# disable (NO) the deprecated list. This list is created by putting # \deprecated commands in the documentation. GENERATE_DEPRECATEDLIST= YES -# The ENABLED_SECTIONS tag can be used to enable conditional +# The ENABLED_SECTIONS tag can be used to enable conditional # documentation sections, marked by \if sectionname ... \endif. -ENABLED_SECTIONS = +ENABLED_SECTIONS = -# The MAX_INITIALIZER_LINES tag determines the maximum number of lines -# the initial value of a variable or macro consists of for it to appear in -# the documentation. If the initializer consists of more lines than specified -# here it will be hidden. Use a value of 0 to hide initializers completely. -# The appearance of the initializer of individual variables and macros in the -# documentation can be controlled using \showinitializer or \hideinitializer +# The MAX_INITIALIZER_LINES tag determines the maximum number of lines +# the initial value of a variable or macro consists of for it to appear in +# the documentation. If the initializer consists of more lines than specified +# here it will be hidden. Use a value of 0 to hide initializers completely. +# The appearance of the initializer of individual variables and macros in the +# documentation can be controlled using \showinitializer or \hideinitializer # command in the documentation regardless of this setting. MAX_INITIALIZER_LINES = 30 -# Set the SHOW_USED_FILES tag to NO to disable the list of files generated -# at the bottom of the documentation of classes and structs. If set to YES the +# Set the SHOW_USED_FILES tag to NO to disable the list of files generated +# at the bottom of the documentation of classes and structs. If set to YES the # list will mention the files that were used to generate the documentation. SHOW_USED_FILES = YES -# If the sources in your project are distributed over multiple directories -# then setting the SHOW_DIRECTORIES tag to YES will show the directory hierarchy +# If the sources in your project are distributed over multiple directories +# then setting the SHOW_DIRECTORIES tag to YES will show the directory hierarchy # in the documentation. The default is NO. SHOW_DIRECTORIES = YES -# Set the SHOW_FILES tag to NO to disable the generation of the Files page. -# This will remove the Files entry from the Quick Index and from the +# Set the SHOW_FILES tag to NO to disable the generation of the Files page. +# This will remove the Files entry from the Quick Index and from the # Folder Tree View (if specified). The default is YES. SHOW_FILES = YES -# Set the SHOW_NAMESPACES tag to NO to disable the generation of the -# Namespaces page. This will remove the Namespaces entry from the Quick Index +# Set the SHOW_NAMESPACES tag to NO to disable the generation of the +# Namespaces page. This will remove the Namespaces entry from the Quick Index # and from the Folder Tree View (if specified). The default is YES. SHOW_NAMESPACES = YES -# The FILE_VERSION_FILTER tag can be used to specify a program or script that -# doxygen should invoke to get the current version for each file (typically from -# the version control system). Doxygen will invoke the program by executing (via -# popen()) the command , where is the value of -# the FILE_VERSION_FILTER tag, and is the name of an input file -# provided by doxygen. Whatever the program writes to standard output +# The FILE_VERSION_FILTER tag can be used to specify a program or script that +# doxygen should invoke to get the current version for each file (typically from +# the version control system). Doxygen will invoke the program by executing (via +# popen()) the command , where is the value of +# the FILE_VERSION_FILTER tag, and is the name of an input file +# provided by doxygen. Whatever the program writes to standard output # is used as the file version. See the manual for examples. -FILE_VERSION_FILTER = +FILE_VERSION_FILTER = -# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed -# by doxygen. The layout file controls the global structure of the generated -# output files in an output format independent way. The create the layout file -# that represents doxygen's defaults, run doxygen with the -l option. -# You can optionally specify a file name after the option, if omitted +# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed +# by doxygen. The layout file controls the global structure of the generated +# output files in an output format independent way. The create the layout file +# that represents doxygen's defaults, run doxygen with the -l option. +# You can optionally specify a file name after the option, if omitted # DoxygenLayout.xml will be used as the name of the layout file. -LAYOUT_FILE = +LAYOUT_FILE = #--------------------------------------------------------------------------- # configuration options related to warning and progress messages #--------------------------------------------------------------------------- -# The QUIET tag can be used to turn on/off the messages that are generated +# The QUIET tag can be used to turn on/off the messages that are generated # by doxygen. Possible values are YES and NO. If left blank NO is used. QUIET = NO -# The WARNINGS tag can be used to turn on/off the warning messages that are -# generated by doxygen. Possible values are YES and NO. If left blank +# The WARNINGS tag can be used to turn on/off the warning messages that are +# generated by doxygen. Possible values are YES and NO. If left blank # NO is used. WARNINGS = YES -# If WARN_IF_UNDOCUMENTED is set to YES, then doxygen will generate warnings -# for undocumented members. If EXTRACT_ALL is set to YES then this flag will +# If WARN_IF_UNDOCUMENTED is set to YES, then doxygen will generate warnings +# for undocumented members. If EXTRACT_ALL is set to YES then this flag will # automatically be disabled. WARN_IF_UNDOCUMENTED = YES -# If WARN_IF_DOC_ERROR is set to YES, doxygen will generate warnings for -# potential errors in the documentation, such as not documenting some -# parameters in a documented function, or documenting parameters that +# If WARN_IF_DOC_ERROR is set to YES, doxygen will generate warnings for +# potential errors in the documentation, such as not documenting some +# parameters in a documented function, or documenting parameters that # don't exist or using markup commands wrongly. WARN_IF_DOC_ERROR = YES -# The WARN_NO_PARAMDOC option can be enabled to get warnings for -# functions that are documented, but have no documentation for their parameters -# or return value. If set to NO (the default) doxygen will only warn about -# wrong or incomplete parameter documentation, but not about the absence of +# The WARN_NO_PARAMDOC option can be enabled to get warnings for +# functions that are documented, but have no documentation for their parameters +# or return value. If set to NO (the default) doxygen will only warn about +# wrong or incomplete parameter documentation, but not about the absence of # documentation. WARN_NO_PARAMDOC = NO -# The WARN_FORMAT tag determines the format of the warning messages that -# doxygen can produce. The string should contain the $file, $line, and $text -# tags, which will be replaced by the file and line number from which the -# warning originated and the warning text. Optionally the format may contain -# $version, which will be replaced by the version of the file (if it could +# The WARN_FORMAT tag determines the format of the warning messages that +# doxygen can produce. The string should contain the $file, $line, and $text +# tags, which will be replaced by the file and line number from which the +# warning originated and the warning text. Optionally the format may contain +# $version, which will be replaced by the version of the file (if it could # be obtained via FILE_VERSION_FILTER) WARN_FORMAT = "$file:$line: $text" -# The WARN_LOGFILE tag can be used to specify a file to which warning -# and error messages should be written. If left blank the output is written +# The WARN_LOGFILE tag can be used to specify a file to which warning +# and error messages should be written. If left blank the output is written # to stderr. -WARN_LOGFILE = +WARN_LOGFILE = #--------------------------------------------------------------------------- # configuration options related to the input files #--------------------------------------------------------------------------- -# The INPUT tag can be used to specify the files and/or directories that contain -# documented source files. You may enter file names like "myfile.cpp" or -# directories like "/usr/src/myproject". Separate the files or directories +# The INPUT tag can be used to specify the files and/or directories that contain +# documented source files. You may enter file names like "myfile.cpp" or +# directories like "/usr/src/myproject". Separate the files or directories # with spaces. -INPUT = doc/manual sw/airborne +INPUT = doc/manual \ + sw/airborne -# This tag can be used to specify the character encoding of the source files -# that doxygen parses. Internally doxygen uses the UTF-8 encoding, which is -# also the default input encoding. Doxygen uses libiconv (or the iconv built -# into libc) for the transcoding. See http://www.gnu.org/software/libiconv for +# This tag can be used to specify the character encoding of the source files +# that doxygen parses. Internally doxygen uses the UTF-8 encoding, which is +# also the default input encoding. Doxygen uses libiconv (or the iconv built +# into libc) for the transcoding. See http://www.gnu.org/software/libiconv for # the list of possible encodings. INPUT_ENCODING = UTF-8 -# If the value of the INPUT tag contains directories, you can use the -# FILE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp -# and *.h) to filter out the source-files in the directories. If left -# blank the following patterns are tested: -# *.c *.cc *.cxx *.cpp *.c++ *.d *.java *.ii *.ixx *.ipp *.i++ *.inl *.h *.hh -# *.hxx *.hpp *.h++ *.idl *.odl *.cs *.php *.php3 *.inc *.m *.mm *.dox *.py +# If the value of the INPUT tag contains directories, you can use the +# FILE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp +# and *.h) to filter out the source-files in the directories. If left +# blank the following patterns are tested: +# *.c *.cc *.cxx *.cpp *.c++ *.d *.java *.ii *.ixx *.ipp *.i++ *.inl *.h *.hh +# *.hxx *.hpp *.h++ *.idl *.odl *.cs *.php *.php3 *.inc *.m *.mm *.dox *.py # *.f90 *.f *.for *.vhd *.vhdl -FILE_PATTERNS = +FILE_PATTERNS = -# The RECURSIVE tag can be used to turn specify whether or not subdirectories -# should be searched for input files as well. Possible values are YES and NO. +# The RECURSIVE tag can be used to turn specify whether or not subdirectories +# should be searched for input files as well. Possible values are YES and NO. # If left blank NO is used. RECURSIVE = YES -# The EXCLUDE tag can be used to specify files and/or directories that should -# excluded from the INPUT source files. This way you can easily exclude a +# The EXCLUDE tag can be used to specify files and/or directories that should +# excluded from the INPUT source files. This way you can easily exclude a # subdirectory from a directory tree whose root is specified with the INPUT tag. EXCLUDE = sw/airborne/csc/ \ @@ -655,138 +656,138 @@ EXCLUDE = sw/airborne/csc/ \ sw/airborne/arch/lpc21/efsl/ \ sw/airborne/arch/lpc21/lpcusb/ -# The EXCLUDE_SYMLINKS tag can be used select whether or not files or -# directories that are symbolic links (a Unix file system feature) are excluded +# The EXCLUDE_SYMLINKS tag can be used select whether or not files or +# directories that are symbolic links (a Unix file system feature) are excluded # from the input. EXCLUDE_SYMLINKS = NO -# If the value of the INPUT tag contains directories, you can use the -# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude -# certain files from those directories. Note that the wildcards are matched -# against the file with absolute path, so to exclude all test directories +# If the value of the INPUT tag contains directories, you can use the +# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude +# certain files from those directories. Note that the wildcards are matched +# against the file with absolute path, so to exclude all test directories # for example use the pattern */test/* -EXCLUDE_PATTERNS = +EXCLUDE_PATTERNS = -# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names -# (namespaces, classes, functions, etc.) that should be excluded from the -# output. The symbol name can be a fully qualified name, a word, or if the -# wildcard * is used, a substring. Examples: ANamespace, AClass, +# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names +# (namespaces, classes, functions, etc.) that should be excluded from the +# output. The symbol name can be a fully qualified name, a word, or if the +# wildcard * is used, a substring. Examples: ANamespace, AClass, # AClass::ANamespace, ANamespace::*Test -EXCLUDE_SYMBOLS = +EXCLUDE_SYMBOLS = -# The EXAMPLE_PATH tag can be used to specify one or more files or -# directories that contain example code fragments that are included (see +# The EXAMPLE_PATH tag can be used to specify one or more files or +# directories that contain example code fragments that are included (see # the \include command). -EXAMPLE_PATH = +EXAMPLE_PATH = -# If the value of the EXAMPLE_PATH tag contains directories, you can use the -# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp -# and *.h) to filter out the source-files in the directories. If left +# If the value of the EXAMPLE_PATH tag contains directories, you can use the +# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp +# and *.h) to filter out the source-files in the directories. If left # blank all files are included. -EXAMPLE_PATTERNS = +EXAMPLE_PATTERNS = -# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be -# searched for input files to be used with the \include or \dontinclude -# commands irrespective of the value of the RECURSIVE tag. +# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be +# searched for input files to be used with the \include or \dontinclude +# commands irrespective of the value of the RECURSIVE tag. # Possible values are YES and NO. If left blank NO is used. EXAMPLE_RECURSIVE = NO -# The IMAGE_PATH tag can be used to specify one or more files or -# directories that contain image that are included in the documentation (see +# The IMAGE_PATH tag can be used to specify one or more files or +# directories that contain image that are included in the documentation (see # the \image command). -IMAGE_PATH = +IMAGE_PATH = -# The INPUT_FILTER tag can be used to specify a program that doxygen should -# invoke to filter for each input file. Doxygen will invoke the filter program -# by executing (via popen()) the command , where -# is the value of the INPUT_FILTER tag, and is the name of an -# input file. Doxygen will then use the output that the filter program writes -# to standard output. If FILTER_PATTERNS is specified, this tag will be +# The INPUT_FILTER tag can be used to specify a program that doxygen should +# invoke to filter for each input file. Doxygen will invoke the filter program +# by executing (via popen()) the command , where +# is the value of the INPUT_FILTER tag, and is the name of an +# input file. Doxygen will then use the output that the filter program writes +# to standard output. If FILTER_PATTERNS is specified, this tag will be # ignored. -INPUT_FILTER = +INPUT_FILTER = -# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern -# basis. Doxygen will compare the file name with each pattern and apply the -# filter if there is a match. The filters are a list of the form: -# pattern=filter (like *.cpp=my_cpp_filter). See INPUT_FILTER for further -# info on how filters are used. If FILTER_PATTERNS is empty or if +# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern +# basis. Doxygen will compare the file name with each pattern and apply the +# filter if there is a match. The filters are a list of the form: +# pattern=filter (like *.cpp=my_cpp_filter). See INPUT_FILTER for further +# info on how filters are used. If FILTER_PATTERNS is empty or if # non of the patterns match the file name, INPUT_FILTER is applied. -FILTER_PATTERNS = +FILTER_PATTERNS = -# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using -# INPUT_FILTER) will be used to filter the input files when producing source +# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using +# INPUT_FILTER) will be used to filter the input files when producing source # files to browse (i.e. when SOURCE_BROWSER is set to YES). FILTER_SOURCE_FILES = NO -# The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file -# pattern. A pattern will override the setting for FILTER_PATTERN (if any) -# and it is also possible to disable source filtering for a specific pattern -# using *.ext= (so without naming a filter). This option only has effect when +# The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file +# pattern. A pattern will override the setting for FILTER_PATTERN (if any) +# and it is also possible to disable source filtering for a specific pattern +# using *.ext= (so without naming a filter). This option only has effect when # FILTER_SOURCE_FILES is enabled. -FILTER_SOURCE_PATTERNS = +FILTER_SOURCE_PATTERNS = #--------------------------------------------------------------------------- # configuration options related to source browsing #--------------------------------------------------------------------------- -# If the SOURCE_BROWSER tag is set to YES then a list of source files will -# be generated. Documented entities will be cross-referenced with these sources. -# Note: To get rid of all source code in the generated output, make sure also +# If the SOURCE_BROWSER tag is set to YES then a list of source files will +# be generated. Documented entities will be cross-referenced with these sources. +# Note: To get rid of all source code in the generated output, make sure also # VERBATIM_HEADERS is set to NO. SOURCE_BROWSER = YES -# Setting the INLINE_SOURCES tag to YES will include the body +# Setting the INLINE_SOURCES tag to YES will include the body # of functions and classes directly in the documentation. INLINE_SOURCES = NO -# Setting the STRIP_CODE_COMMENTS tag to YES (the default) will instruct -# doxygen to hide any special comment blocks from generated source code +# Setting the STRIP_CODE_COMMENTS tag to YES (the default) will instruct +# doxygen to hide any special comment blocks from generated source code # fragments. Normal C and C++ comments will always remain visible. STRIP_CODE_COMMENTS = YES -# If the REFERENCED_BY_RELATION tag is set to YES -# then for each documented function all documented +# If the REFERENCED_BY_RELATION tag is set to YES +# then for each documented function all documented # functions referencing it will be listed. REFERENCED_BY_RELATION = YES -# If the REFERENCES_RELATION tag is set to YES -# then for each documented function all documented entities +# If the REFERENCES_RELATION tag is set to YES +# then for each documented function all documented entities # called/used by that function will be listed. REFERENCES_RELATION = YES -# If the REFERENCES_LINK_SOURCE tag is set to YES (the default) -# and SOURCE_BROWSER tag is set to YES, then the hyperlinks from -# functions in REFERENCES_RELATION and REFERENCED_BY_RELATION lists will +# If the REFERENCES_LINK_SOURCE tag is set to YES (the default) +# and SOURCE_BROWSER tag is set to YES, then the hyperlinks from +# functions in REFERENCES_RELATION and REFERENCED_BY_RELATION lists will # link to the source code. Otherwise they will link to the documentation. REFERENCES_LINK_SOURCE = YES -# If the USE_HTAGS tag is set to YES then the references to source code -# will point to the HTML generated by the htags(1) tool instead of doxygen -# built-in source browser. The htags tool is part of GNU's global source -# tagging system (see http://www.gnu.org/software/global/global.html). You +# If the USE_HTAGS tag is set to YES then the references to source code +# will point to the HTML generated by the htags(1) tool instead of doxygen +# built-in source browser. The htags tool is part of GNU's global source +# tagging system (see http://www.gnu.org/software/global/global.html). You # will need version 4.8.6 or higher. USE_HTAGS = NO -# If the VERBATIM_HEADERS tag is set to YES (the default) then Doxygen -# will generate a verbatim copy of the header file for each class for +# If the VERBATIM_HEADERS tag is set to YES (the default) then Doxygen +# will generate a verbatim copy of the header file for each class for # which an include is specified. Set to NO to disable this. VERBATIM_HEADERS = YES @@ -795,157 +796,157 @@ VERBATIM_HEADERS = YES # configuration options related to the alphabetical class index #--------------------------------------------------------------------------- -# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index -# of all compounds will be generated. Enable this if the project +# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index +# of all compounds will be generated. Enable this if the project # contains a lot of classes, structs, unions or interfaces. ALPHABETICAL_INDEX = YES -# If the alphabetical index is enabled (see ALPHABETICAL_INDEX) then -# the COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns +# If the alphabetical index is enabled (see ALPHABETICAL_INDEX) then +# the COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns # in which this list will be split (can be a number in the range [1..20]) COLS_IN_ALPHA_INDEX = 5 -# In case all classes in a project start with a common prefix, all -# classes will be put under the same header in the alphabetical index. -# The IGNORE_PREFIX tag can be used to specify one or more prefixes that +# In case all classes in a project start with a common prefix, all +# classes will be put under the same header in the alphabetical index. +# The IGNORE_PREFIX tag can be used to specify one or more prefixes that # should be ignored while generating the index headers. -IGNORE_PREFIX = +IGNORE_PREFIX = #--------------------------------------------------------------------------- # configuration options related to the HTML output #--------------------------------------------------------------------------- -# If the GENERATE_HTML tag is set to YES (the default) Doxygen will +# If the GENERATE_HTML tag is set to YES (the default) Doxygen will # generate HTML output. GENERATE_HTML = YES -# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. -# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be # put in front of it. If left blank `html' will be used as the default path. HTML_OUTPUT = docs -# The HTML_FILE_EXTENSION tag can be used to specify the file extension for -# each generated HTML page (for example: .htm,.php,.asp). If it is left blank +# The HTML_FILE_EXTENSION tag can be used to specify the file extension for +# each generated HTML page (for example: .htm,.php,.asp). If it is left blank # doxygen will generate files with .html extension. HTML_FILE_EXTENSION = .html -# The HTML_HEADER tag can be used to specify a personal HTML header for -# each generated HTML page. If it is left blank doxygen will generate a -# standard header. Note that when using a custom header you are responsible -# for the proper inclusion of any scripts and style sheets that doxygen -# needs, which is dependent on the configuration options used. -# It is adviced to generate a default header using "doxygen -w html -# header.html footer.html stylesheet.css YourConfigFile" and then modify -# that header. Note that the header is subject to change so you typically +# The HTML_HEADER tag can be used to specify a personal HTML header for +# each generated HTML page. If it is left blank doxygen will generate a +# standard header. Note that when using a custom header you are responsible +# for the proper inclusion of any scripts and style sheets that doxygen +# needs, which is dependent on the configuration options used. +# It is adviced to generate a default header using "doxygen -w html +# header.html footer.html stylesheet.css YourConfigFile" and then modify +# that header. Note that the header is subject to change so you typically # have to redo this when upgrading to a newer version of doxygen or when # changing the value of configuration settings such as GENERATE_TREEVIEW! -HTML_HEADER = +HTML_HEADER = -# The HTML_FOOTER tag can be used to specify a personal HTML footer for -# each generated HTML page. If it is left blank doxygen will generate a +# The HTML_FOOTER tag can be used to specify a personal HTML footer for +# each generated HTML page. If it is left blank doxygen will generate a # standard footer. -HTML_FOOTER = +HTML_FOOTER = -# The HTML_STYLESHEET tag can be used to specify a user-defined cascading -# style sheet that is used by each HTML page. It can be used to -# fine-tune the look of the HTML output. If the tag is left blank doxygen -# will generate a default style sheet. Note that doxygen will try to copy -# the style sheet file to the HTML output directory, so don't put your own +# The HTML_STYLESHEET tag can be used to specify a user-defined cascading +# style sheet that is used by each HTML page. It can be used to +# fine-tune the look of the HTML output. If the tag is left blank doxygen +# will generate a default style sheet. Note that doxygen will try to copy +# the style sheet file to the HTML output directory, so don't put your own # stylesheet in the HTML output directory as well, or it will be erased! -HTML_STYLESHEET = +HTML_STYLESHEET = -# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or -# other source files which should be copied to the HTML output directory. Note -# that these files will be copied to the base HTML output directory. Use the -# $relpath$ marker in the HTML_HEADER and/or HTML_FOOTER files to load these -# files. In the HTML_STYLESHEET file, use the file name only. Also note that +# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or +# other source files which should be copied to the HTML output directory. Note +# that these files will be copied to the base HTML output directory. Use the +# $relpath$ marker in the HTML_HEADER and/or HTML_FOOTER files to load these +# files. In the HTML_STYLESHEET file, use the file name only. Also note that # the files will be copied as-is; there are no commands or markers available. -HTML_EXTRA_FILES = +HTML_EXTRA_FILES = -# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. -# Doxygen will adjust the colors in the stylesheet and background images -# according to this color. Hue is specified as an angle on a colorwheel, -# see http://en.wikipedia.org/wiki/Hue for more information. -# For instance the value 0 represents red, 60 is yellow, 120 is green, -# 180 is cyan, 240 is blue, 300 purple, and 360 is red again. +# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. +# Doxygen will adjust the colors in the stylesheet and background images +# according to this color. Hue is specified as an angle on a colorwheel, +# see http://en.wikipedia.org/wiki/Hue for more information. +# For instance the value 0 represents red, 60 is yellow, 120 is green, +# 180 is cyan, 240 is blue, 300 purple, and 360 is red again. # The allowed range is 0 to 359. HTML_COLORSTYLE_HUE = 220 -# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of -# the colors in the HTML output. For a value of 0 the output will use +# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of +# the colors in the HTML output. For a value of 0 the output will use # grayscales only. A value of 255 will produce the most vivid colors. HTML_COLORSTYLE_SAT = 100 -# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to -# the luminance component of the colors in the HTML output. Values below -# 100 gradually make the output lighter, whereas values above 100 make -# the output darker. The value divided by 100 is the actual gamma applied, -# so 80 represents a gamma of 0.8, The value 220 represents a gamma of 2.2, +# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to +# the luminance component of the colors in the HTML output. Values below +# 100 gradually make the output lighter, whereas values above 100 make +# the output darker. The value divided by 100 is the actual gamma applied, +# so 80 represents a gamma of 0.8, The value 220 represents a gamma of 2.2, # and 100 does not change the gamma. HTML_COLORSTYLE_GAMMA = 80 -# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML -# page will contain the date and time when the page was generated. Setting +# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML +# page will contain the date and time when the page was generated. Setting # this to NO can help when comparing the output of multiple runs. HTML_TIMESTAMP = YES -# If the HTML_ALIGN_MEMBERS tag is set to YES, the members of classes, -# files or namespaces will be aligned in HTML using tables. If set to +# If the HTML_ALIGN_MEMBERS tag is set to YES, the members of classes, +# files or namespaces will be aligned in HTML using tables. If set to # NO a bullet list will be used. HTML_ALIGN_MEMBERS = YES -# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML -# documentation will contain sections that can be hidden and shown after the -# page has loaded. For this to work a browser that supports -# JavaScript and DHTML is required (for instance Mozilla 1.0+, Firefox +# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML +# documentation will contain sections that can be hidden and shown after the +# page has loaded. For this to work a browser that supports +# JavaScript and DHTML is required (for instance Mozilla 1.0+, Firefox # Netscape 6.0+, Internet explorer 5.0+, Konqueror, or Safari). HTML_DYNAMIC_SECTIONS = YES -# If the GENERATE_DOCSET tag is set to YES, additional index files -# will be generated that can be used as input for Apple's Xcode 3 -# integrated development environment, introduced with OSX 10.5 (Leopard). -# To create a documentation set, doxygen will generate a Makefile in the -# HTML output directory. Running make will produce the docset in that -# directory and running "make install" will install the docset in -# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find -# it at startup. -# See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html +# If the GENERATE_DOCSET tag is set to YES, additional index files +# will be generated that can be used as input for Apple's Xcode 3 +# integrated development environment, introduced with OSX 10.5 (Leopard). +# To create a documentation set, doxygen will generate a Makefile in the +# HTML output directory. Running make will produce the docset in that +# directory and running "make install" will install the docset in +# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find +# it at startup. +# See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html # for more information. GENERATE_DOCSET = NO -# When GENERATE_DOCSET tag is set to YES, this tag determines the name of the -# feed. A documentation feed provides an umbrella under which multiple -# documentation sets from a single provider (such as a company or product suite) +# When GENERATE_DOCSET tag is set to YES, this tag determines the name of the +# feed. A documentation feed provides an umbrella under which multiple +# documentation sets from a single provider (such as a company or product suite) # can be grouped. DOCSET_FEEDNAME = "Doxygen generated docs" -# When GENERATE_DOCSET tag is set to YES, this tag specifies a string that -# should uniquely identify the documentation set bundle. This should be a -# reverse domain-name style string, e.g. com.mycompany.MyDocSet. Doxygen +# When GENERATE_DOCSET tag is set to YES, this tag specifies a string that +# should uniquely identify the documentation set bundle. This should be a +# reverse domain-name style string, e.g. com.mycompany.MyDocSet. Doxygen # will append .docset to the name. DOCSET_BUNDLE_ID = org.doxygen.Project -# When GENERATE_PUBLISHER_ID tag specifies a string that should uniquely identify -# the documentation publisher. This should be a reverse domain-name style +# When GENERATE_PUBLISHER_ID tag specifies a string that should uniquely identify +# the documentation publisher. This should be a reverse domain-name style # string, e.g. com.mycompany.MyDocSet.documentation. DOCSET_PUBLISHER_ID = org.doxygen.Publisher @@ -954,211 +955,211 @@ DOCSET_PUBLISHER_ID = org.doxygen.Publisher DOCSET_PUBLISHER_NAME = Publisher -# If the GENERATE_HTMLHELP tag is set to YES, additional index files -# will be generated that can be used as input for tools like the -# Microsoft HTML help workshop to generate a compiled HTML help file (.chm) +# If the GENERATE_HTMLHELP tag is set to YES, additional index files +# will be generated that can be used as input for tools like the +# Microsoft HTML help workshop to generate a compiled HTML help file (.chm) # of the generated HTML documentation. GENERATE_HTMLHELP = NO -# If the GENERATE_HTMLHELP tag is set to YES, the CHM_FILE tag can -# be used to specify the file name of the resulting .chm file. You -# can add a path in front of the file if the result should not be +# If the GENERATE_HTMLHELP tag is set to YES, the CHM_FILE tag can +# be used to specify the file name of the resulting .chm file. You +# can add a path in front of the file if the result should not be # written to the html output directory. -CHM_FILE = +CHM_FILE = -# If the GENERATE_HTMLHELP tag is set to YES, the HHC_LOCATION tag can -# be used to specify the location (absolute path including file name) of -# the HTML help compiler (hhc.exe). If non-empty doxygen will try to run +# If the GENERATE_HTMLHELP tag is set to YES, the HHC_LOCATION tag can +# be used to specify the location (absolute path including file name) of +# the HTML help compiler (hhc.exe). If non-empty doxygen will try to run # the HTML help compiler on the generated index.hhp. -HHC_LOCATION = +HHC_LOCATION = -# If the GENERATE_HTMLHELP tag is set to YES, the GENERATE_CHI flag -# controls if a separate .chi index file is generated (YES) or that +# If the GENERATE_HTMLHELP tag is set to YES, the GENERATE_CHI flag +# controls if a separate .chi index file is generated (YES) or that # it should be included in the master .chm file (NO). GENERATE_CHI = NO -# If the GENERATE_HTMLHELP tag is set to YES, the CHM_INDEX_ENCODING -# is used to encode HtmlHelp index (hhk), content (hhc) and project file +# If the GENERATE_HTMLHELP tag is set to YES, the CHM_INDEX_ENCODING +# is used to encode HtmlHelp index (hhk), content (hhc) and project file # content. -CHM_INDEX_ENCODING = +CHM_INDEX_ENCODING = -# If the GENERATE_HTMLHELP tag is set to YES, the BINARY_TOC flag -# controls whether a binary table of contents is generated (YES) or a +# If the GENERATE_HTMLHELP tag is set to YES, the BINARY_TOC flag +# controls whether a binary table of contents is generated (YES) or a # normal table of contents (NO) in the .chm file. BINARY_TOC = NO -# The TOC_EXPAND flag can be set to YES to add extra items for group members +# The TOC_EXPAND flag can be set to YES to add extra items for group members # to the contents of the HTML help documentation and to the tree view. TOC_EXPAND = NO -# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and -# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated -# that can be used as input for Qt's qhelpgenerator to generate a +# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and +# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated +# that can be used as input for Qt's qhelpgenerator to generate a # Qt Compressed Help (.qch) of the generated HTML documentation. GENERATE_QHP = NO -# If the QHG_LOCATION tag is specified, the QCH_FILE tag can -# be used to specify the file name of the resulting .qch file. +# If the QHG_LOCATION tag is specified, the QCH_FILE tag can +# be used to specify the file name of the resulting .qch file. # The path specified is relative to the HTML output folder. -QCH_FILE = +QCH_FILE = -# The QHP_NAMESPACE tag specifies the namespace to use when generating -# Qt Help Project output. For more information please see +# The QHP_NAMESPACE tag specifies the namespace to use when generating +# Qt Help Project output. For more information please see # http://doc.trolltech.com/qthelpproject.html#namespace QHP_NAMESPACE = org.doxygen.Project -# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating -# Qt Help Project output. For more information please see +# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating +# Qt Help Project output. For more information please see # http://doc.trolltech.com/qthelpproject.html#virtual-folders QHP_VIRTUAL_FOLDER = doc -# If QHP_CUST_FILTER_NAME is set, it specifies the name of a custom filter to -# add. For more information please see +# If QHP_CUST_FILTER_NAME is set, it specifies the name of a custom filter to +# add. For more information please see # http://doc.trolltech.com/qthelpproject.html#custom-filters -QHP_CUST_FILTER_NAME = +QHP_CUST_FILTER_NAME = -# The QHP_CUST_FILT_ATTRS tag specifies the list of the attributes of the -# custom filter to add. For more information please see -# +# The QHP_CUST_FILT_ATTRS tag specifies the list of the attributes of the +# custom filter to add. For more information please see +# # Qt Help Project / Custom Filters. -QHP_CUST_FILTER_ATTRS = +QHP_CUST_FILTER_ATTRS = -# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this -# project's -# filter section matches. -# +# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this +# project's +# filter section matches. +# # Qt Help Project / Filter Attributes. -QHP_SECT_FILTER_ATTRS = +QHP_SECT_FILTER_ATTRS = -# If the GENERATE_QHP tag is set to YES, the QHG_LOCATION tag can -# be used to specify the location of Qt's qhelpgenerator. -# If non-empty doxygen will try to run qhelpgenerator on the generated +# If the GENERATE_QHP tag is set to YES, the QHG_LOCATION tag can +# be used to specify the location of Qt's qhelpgenerator. +# If non-empty doxygen will try to run qhelpgenerator on the generated # .qhp file. -QHG_LOCATION = +QHG_LOCATION = -# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files -# will be generated, which together with the HTML files, form an Eclipse help -# plugin. To install this plugin and make it available under the help contents -# menu in Eclipse, the contents of the directory containing the HTML and XML -# files needs to be copied into the plugins directory of eclipse. The name of -# the directory within the plugins directory should be the same as -# the ECLIPSE_DOC_ID value. After copying Eclipse needs to be restarted before +# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files +# will be generated, which together with the HTML files, form an Eclipse help +# plugin. To install this plugin and make it available under the help contents +# menu in Eclipse, the contents of the directory containing the HTML and XML +# files needs to be copied into the plugins directory of eclipse. The name of +# the directory within the plugins directory should be the same as +# the ECLIPSE_DOC_ID value. After copying Eclipse needs to be restarted before # the help appears. GENERATE_ECLIPSEHELP = NO -# A unique identifier for the eclipse help plugin. When installing the plugin -# the directory name containing the HTML and XML files should also have +# A unique identifier for the eclipse help plugin. When installing the plugin +# the directory name containing the HTML and XML files should also have # this name. ECLIPSE_DOC_ID = org.doxygen.Project -# The DISABLE_INDEX tag can be used to turn on/off the condensed index at -# top of each HTML page. The value NO (the default) enables the index and +# The DISABLE_INDEX tag can be used to turn on/off the condensed index at +# top of each HTML page. The value NO (the default) enables the index and # the value YES disables it. DISABLE_INDEX = NO -# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values -# (range [0,1..20]) that doxygen will group on one line in the generated HTML -# documentation. Note that a value of 0 will completely suppress the enum +# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values +# (range [0,1..20]) that doxygen will group on one line in the generated HTML +# documentation. Note that a value of 0 will completely suppress the enum # values from appearing in the overview section. ENUM_VALUES_PER_LINE = 4 -# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index -# structure should be generated to display hierarchical information. -# If the tag value is set to YES, a side panel will be generated -# containing a tree-like index structure (just like the one that -# is generated for HTML Help). For this to work a browser that supports -# JavaScript, DHTML, CSS and frames is required (i.e. any modern browser). +# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index +# structure should be generated to display hierarchical information. +# If the tag value is set to YES, a side panel will be generated +# containing a tree-like index structure (just like the one that +# is generated for HTML Help). For this to work a browser that supports +# JavaScript, DHTML, CSS and frames is required (i.e. any modern browser). # Windows users are probably better off using the HTML help feature. GENERATE_TREEVIEW = YES -# By enabling USE_INLINE_TREES, doxygen will generate the Groups, Directories, +# By enabling USE_INLINE_TREES, doxygen will generate the Groups, Directories, # and Class Hierarchy pages using a tree view instead of an ordered list. USE_INLINE_TREES = NO -# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be -# used to set the initial width (in pixels) of the frame in which the tree +# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be +# used to set the initial width (in pixels) of the frame in which the tree # is shown. TREEVIEW_WIDTH = 250 -# When the EXT_LINKS_IN_WINDOW option is set to YES doxygen will open +# When the EXT_LINKS_IN_WINDOW option is set to YES doxygen will open # links to external symbols imported via tag files in a separate window. EXT_LINKS_IN_WINDOW = NO -# Use this tag to change the font size of Latex formulas included -# as images in the HTML documentation. The default is 10. Note that -# when you change the font size after a successful doxygen run you need -# to manually remove any form_*.png images from the HTML output directory +# Use this tag to change the font size of Latex formulas included +# as images in the HTML documentation. The default is 10. Note that +# when you change the font size after a successful doxygen run you need +# to manually remove any form_*.png images from the HTML output directory # to force them to be regenerated. FORMULA_FONTSIZE = 10 -# Use the FORMULA_TRANPARENT tag to determine whether or not the images -# generated for formulas are transparent PNGs. Transparent PNGs are -# not supported properly for IE 6.0, but are supported on all modern browsers. -# Note that when changing this option you need to delete any form_*.png files +# Use the FORMULA_TRANPARENT tag to determine whether or not the images +# generated for formulas are transparent PNGs. Transparent PNGs are +# not supported properly for IE 6.0, but are supported on all modern browsers. +# Note that when changing this option you need to delete any form_*.png files # in the HTML output before the changes have effect. FORMULA_TRANSPARENT = YES -# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax -# (see http://www.mathjax.org) which uses client side Javascript for the -# rendering instead of using prerendered bitmaps. Use this if you do not -# have LaTeX installed or if you want to formulas look prettier in the HTML -# output. When enabled you also need to install MathJax separately and +# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax +# (see http://www.mathjax.org) which uses client side Javascript for the +# rendering instead of using prerendered bitmaps. Use this if you do not +# have LaTeX installed or if you want to formulas look prettier in the HTML +# output. When enabled you also need to install MathJax separately and # configure the path to it using the MATHJAX_RELPATH option. USE_MATHJAX = NO -# When MathJax is enabled you need to specify the location relative to the -# HTML output directory using the MATHJAX_RELPATH option. The destination -# directory should contain the MathJax.js script. For instance, if the mathjax -# directory is located at the same level as the HTML output directory, then -# MATHJAX_RELPATH should be ../mathjax. The default value points to the -# mathjax.org site, so you can quickly see the result without installing -# MathJax, but it is strongly recommended to install a local copy of MathJax +# When MathJax is enabled you need to specify the location relative to the +# HTML output directory using the MATHJAX_RELPATH option. The destination +# directory should contain the MathJax.js script. For instance, if the mathjax +# directory is located at the same level as the HTML output directory, then +# MATHJAX_RELPATH should be ../mathjax. The default value points to the +# mathjax.org site, so you can quickly see the result without installing +# MathJax, but it is strongly recommended to install a local copy of MathJax # before deployment. MATHJAX_RELPATH = http://www.mathjax.org/mathjax -# When the SEARCHENGINE tag is enabled doxygen will generate a search box -# for the HTML output. The underlying search engine uses javascript -# and DHTML and should work on any modern browser. Note that when using -# HTML help (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets -# (GENERATE_DOCSET) there is already a search function so this one should -# typically be disabled. For large projects the javascript based search engine +# When the SEARCHENGINE tag is enabled doxygen will generate a search box +# for the HTML output. The underlying search engine uses javascript +# and DHTML and should work on any modern browser. Note that when using +# HTML help (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets +# (GENERATE_DOCSET) there is already a search function so this one should +# typically be disabled. For large projects the javascript based search engine # can be slow, then enabling SERVER_BASED_SEARCH may provide a better solution. SEARCHENGINE = YES -# When the SERVER_BASED_SEARCH tag is enabled the search engine will be -# implemented using a PHP enabled web server instead of at the web client -# using Javascript. Doxygen will generate the search PHP script and index -# file to put on the web server. The advantage of the server -# based approach is that it scales better to large projects and allows -# full text search. The disadvantages are that it is more difficult to setup +# When the SERVER_BASED_SEARCH tag is enabled the search engine will be +# implemented using a PHP enabled web server instead of at the web client +# using Javascript. Doxygen will generate the search PHP script and index +# file to put on the web server. The advantage of the server +# based approach is that it scales better to large projects and allows +# full text search. The disadvantages are that it is more difficult to setup # and does not have live searching capabilities. SERVER_BASED_SEARCH = NO @@ -1167,91 +1168,91 @@ SERVER_BASED_SEARCH = NO # configuration options related to the LaTeX output #--------------------------------------------------------------------------- -# If the GENERATE_LATEX tag is set to YES (the default) Doxygen will +# If the GENERATE_LATEX tag is set to YES (the default) Doxygen will # generate Latex output. GENERATE_LATEX = NO -# The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put. -# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be # put in front of it. If left blank `latex' will be used as the default path. LATEX_OUTPUT = latex -# The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be -# invoked. If left blank `latex' will be used as the default command name. -# Note that when enabling USE_PDFLATEX this option is only used for -# generating bitmaps for formulas in the HTML output, but not in the +# The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be +# invoked. If left blank `latex' will be used as the default command name. +# Note that when enabling USE_PDFLATEX this option is only used for +# generating bitmaps for formulas in the HTML output, but not in the # Makefile that is written to the output directory. LATEX_CMD_NAME = latex -# The MAKEINDEX_CMD_NAME tag can be used to specify the command name to -# generate index for LaTeX. If left blank `makeindex' will be used as the +# The MAKEINDEX_CMD_NAME tag can be used to specify the command name to +# generate index for LaTeX. If left blank `makeindex' will be used as the # default command name. MAKEINDEX_CMD_NAME = makeindex -# If the COMPACT_LATEX tag is set to YES Doxygen generates more compact -# LaTeX documents. This may be useful for small projects and may help to +# If the COMPACT_LATEX tag is set to YES Doxygen generates more compact +# LaTeX documents. This may be useful for small projects and may help to # save some trees in general. COMPACT_LATEX = NO -# The PAPER_TYPE tag can be used to set the paper type that is used -# by the printer. Possible values are: a4, letter, legal and +# The PAPER_TYPE tag can be used to set the paper type that is used +# by the printer. Possible values are: a4, letter, legal and # executive. If left blank a4wide will be used. PAPER_TYPE = a4wide -# The EXTRA_PACKAGES tag can be to specify one or more names of LaTeX +# The EXTRA_PACKAGES tag can be to specify one or more names of LaTeX # packages that should be included in the LaTeX output. -EXTRA_PACKAGES = +EXTRA_PACKAGES = -# The LATEX_HEADER tag can be used to specify a personal LaTeX header for -# the generated latex document. The header should contain everything until -# the first chapter. If it is left blank doxygen will generate a +# The LATEX_HEADER tag can be used to specify a personal LaTeX header for +# the generated latex document. The header should contain everything until +# the first chapter. If it is left blank doxygen will generate a # standard header. Notice: only use this tag if you know what you are doing! -LATEX_HEADER = +LATEX_HEADER = -# The LATEX_FOOTER tag can be used to specify a personal LaTeX footer for -# the generated latex document. The footer should contain everything after -# the last chapter. If it is left blank doxygen will generate a +# The LATEX_FOOTER tag can be used to specify a personal LaTeX footer for +# the generated latex document. The footer should contain everything after +# the last chapter. If it is left blank doxygen will generate a # standard footer. Notice: only use this tag if you know what you are doing! -LATEX_FOOTER = +LATEX_FOOTER = -# If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated -# is prepared for conversion to pdf (using ps2pdf). The pdf file will -# contain links (just like the HTML output) instead of page references +# If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated +# is prepared for conversion to pdf (using ps2pdf). The pdf file will +# contain links (just like the HTML output) instead of page references # This makes the output suitable for online browsing using a pdf viewer. PDF_HYPERLINKS = NO -# If the USE_PDFLATEX tag is set to YES, pdflatex will be used instead of -# plain latex in the generated Makefile. Set this option to YES to get a +# If the USE_PDFLATEX tag is set to YES, pdflatex will be used instead of +# plain latex in the generated Makefile. Set this option to YES to get a # higher quality PDF documentation. USE_PDFLATEX = NO -# If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \\batchmode. -# command to the generated LaTeX files. This will instruct LaTeX to keep -# running if errors occur, instead of asking the user for help. +# If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \\batchmode. +# command to the generated LaTeX files. This will instruct LaTeX to keep +# running if errors occur, instead of asking the user for help. # This option is also used when generating formulas in HTML. LATEX_BATCHMODE = NO -# If LATEX_HIDE_INDICES is set to YES then doxygen will not -# include the index chapters (such as File Index, Compound Index, etc.) +# If LATEX_HIDE_INDICES is set to YES then doxygen will not +# include the index chapters (such as File Index, Compound Index, etc.) # in the output. LATEX_HIDE_INDICES = NO -# If LATEX_SOURCE_CODE is set to YES then doxygen will include -# source code with syntax highlighting in the LaTeX output. -# Note that which sources are shown also depends on other settings +# If LATEX_SOURCE_CODE is set to YES then doxygen will include +# source code with syntax highlighting in the LaTeX output. +# Note that which sources are shown also depends on other settings # such as SOURCE_BROWSER. LATEX_SOURCE_CODE = NO @@ -1260,68 +1261,68 @@ LATEX_SOURCE_CODE = NO # configuration options related to the RTF output #--------------------------------------------------------------------------- -# If the GENERATE_RTF tag is set to YES Doxygen will generate RTF output -# The RTF output is optimized for Word 97 and may not look very pretty with +# If the GENERATE_RTF tag is set to YES Doxygen will generate RTF output +# The RTF output is optimized for Word 97 and may not look very pretty with # other RTF readers or editors. GENERATE_RTF = NO -# The RTF_OUTPUT tag is used to specify where the RTF docs will be put. -# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# The RTF_OUTPUT tag is used to specify where the RTF docs will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be # put in front of it. If left blank `rtf' will be used as the default path. RTF_OUTPUT = rtf -# If the COMPACT_RTF tag is set to YES Doxygen generates more compact -# RTF documents. This may be useful for small projects and may help to +# If the COMPACT_RTF tag is set to YES Doxygen generates more compact +# RTF documents. This may be useful for small projects and may help to # save some trees in general. COMPACT_RTF = NO -# If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated -# will contain hyperlink fields. The RTF file will -# contain links (just like the HTML output) instead of page references. -# This makes the output suitable for online browsing using WORD or other -# programs which support those fields. +# If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated +# will contain hyperlink fields. The RTF file will +# contain links (just like the HTML output) instead of page references. +# This makes the output suitable for online browsing using WORD or other +# programs which support those fields. # Note: wordpad (write) and others do not support links. RTF_HYPERLINKS = NO -# Load stylesheet definitions from file. Syntax is similar to doxygen's -# config file, i.e. a series of assignments. You only have to provide +# Load stylesheet definitions from file. Syntax is similar to doxygen's +# config file, i.e. a series of assignments. You only have to provide # replacements, missing definitions are set to their default value. -RTF_STYLESHEET_FILE = +RTF_STYLESHEET_FILE = -# Set optional variables used in the generation of an rtf document. +# Set optional variables used in the generation of an rtf document. # Syntax is similar to doxygen's config file. -RTF_EXTENSIONS_FILE = +RTF_EXTENSIONS_FILE = #--------------------------------------------------------------------------- # configuration options related to the man page output #--------------------------------------------------------------------------- -# If the GENERATE_MAN tag is set to YES (the default) Doxygen will +# If the GENERATE_MAN tag is set to YES (the default) Doxygen will # generate man pages GENERATE_MAN = NO -# The MAN_OUTPUT tag is used to specify where the man pages will be put. -# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# The MAN_OUTPUT tag is used to specify where the man pages will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be # put in front of it. If left blank `man' will be used as the default path. MAN_OUTPUT = man -# The MAN_EXTENSION tag determines the extension that is added to +# The MAN_EXTENSION tag determines the extension that is added to # the generated man pages (default is the subroutine's section .3) MAN_EXTENSION = .3 -# If the MAN_LINKS tag is set to YES and Doxygen generates man output, -# then it will generate one additional man file for each entity -# documented in the real man page(s). These additional files -# only source the real man page, but without them the man command +# If the MAN_LINKS tag is set to YES and Doxygen generates man output, +# then it will generate one additional man file for each entity +# documented in the real man page(s). These additional files +# only source the real man page, but without them the man command # would be unable to find the correct page. The default is NO. MAN_LINKS = NO @@ -1330,33 +1331,33 @@ MAN_LINKS = NO # configuration options related to the XML output #--------------------------------------------------------------------------- -# If the GENERATE_XML tag is set to YES Doxygen will -# generate an XML file that captures the structure of +# If the GENERATE_XML tag is set to YES Doxygen will +# generate an XML file that captures the structure of # the code including all documentation. GENERATE_XML = NO -# The XML_OUTPUT tag is used to specify where the XML pages will be put. -# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# The XML_OUTPUT tag is used to specify where the XML pages will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be # put in front of it. If left blank `xml' will be used as the default path. XML_OUTPUT = xml -# The XML_SCHEMA tag can be used to specify an XML schema, -# which can be used by a validating XML parser to check the +# The XML_SCHEMA tag can be used to specify an XML schema, +# which can be used by a validating XML parser to check the # syntax of the XML files. -XML_SCHEMA = +XML_SCHEMA = -# The XML_DTD tag can be used to specify an XML DTD, -# which can be used by a validating XML parser to check the +# The XML_DTD tag can be used to specify an XML DTD, +# which can be used by a validating XML parser to check the # syntax of the XML files. -XML_DTD = +XML_DTD = -# If the XML_PROGRAMLISTING tag is set to YES Doxygen will -# dump the program listings (including syntax highlighting -# and cross-referencing information) to the XML output. Note that +# If the XML_PROGRAMLISTING tag is set to YES Doxygen will +# dump the program listings (including syntax highlighting +# and cross-referencing information) to the XML output. Note that # enabling this will significantly increase the size of the XML output. XML_PROGRAMLISTING = YES @@ -1365,10 +1366,10 @@ XML_PROGRAMLISTING = YES # configuration options for the AutoGen Definitions output #--------------------------------------------------------------------------- -# If the GENERATE_AUTOGEN_DEF tag is set to YES Doxygen will -# generate an AutoGen Definitions (see autogen.sf.net) file -# that captures the structure of the code including all -# documentation. Note that this feature is still experimental +# If the GENERATE_AUTOGEN_DEF tag is set to YES Doxygen will +# generate an AutoGen Definitions (see autogen.sf.net) file +# that captures the structure of the code including all +# documentation. Note that this feature is still experimental # and incomplete at the moment. GENERATE_AUTOGEN_DEF = NO @@ -1377,97 +1378,97 @@ GENERATE_AUTOGEN_DEF = NO # configuration options related to the Perl module output #--------------------------------------------------------------------------- -# If the GENERATE_PERLMOD tag is set to YES Doxygen will -# generate a Perl module file that captures the structure of -# the code including all documentation. Note that this -# feature is still experimental and incomplete at the +# If the GENERATE_PERLMOD tag is set to YES Doxygen will +# generate a Perl module file that captures the structure of +# the code including all documentation. Note that this +# feature is still experimental and incomplete at the # moment. GENERATE_PERLMOD = NO -# If the PERLMOD_LATEX tag is set to YES Doxygen will generate -# the necessary Makefile rules, Perl scripts and LaTeX code to be able +# If the PERLMOD_LATEX tag is set to YES Doxygen will generate +# the necessary Makefile rules, Perl scripts and LaTeX code to be able # to generate PDF and DVI output from the Perl module output. PERLMOD_LATEX = NO -# If the PERLMOD_PRETTY tag is set to YES the Perl module output will be -# nicely formatted so it can be parsed by a human reader. This is useful -# if you want to understand what is going on. On the other hand, if this -# tag is set to NO the size of the Perl module output will be much smaller +# If the PERLMOD_PRETTY tag is set to YES the Perl module output will be +# nicely formatted so it can be parsed by a human reader. This is useful +# if you want to understand what is going on. On the other hand, if this +# tag is set to NO the size of the Perl module output will be much smaller # and Perl will parse it just the same. PERLMOD_PRETTY = YES -# The names of the make variables in the generated doxyrules.make file -# are prefixed with the string contained in PERLMOD_MAKEVAR_PREFIX. -# This is useful so different doxyrules.make files included by the same +# The names of the make variables in the generated doxyrules.make file +# are prefixed with the string contained in PERLMOD_MAKEVAR_PREFIX. +# This is useful so different doxyrules.make files included by the same # Makefile don't overwrite each other's variables. -PERLMOD_MAKEVAR_PREFIX = +PERLMOD_MAKEVAR_PREFIX = #--------------------------------------------------------------------------- # Configuration options related to the preprocessor #--------------------------------------------------------------------------- -# If the ENABLE_PREPROCESSING tag is set to YES (the default) Doxygen will -# evaluate all C-preprocessor directives found in the sources and include +# If the ENABLE_PREPROCESSING tag is set to YES (the default) Doxygen will +# evaluate all C-preprocessor directives found in the sources and include # files. ENABLE_PREPROCESSING = YES -# If the MACRO_EXPANSION tag is set to YES Doxygen will expand all macro -# names in the source code. If set to NO (the default) only conditional -# compilation will be performed. Macro expansion can be done in a controlled +# If the MACRO_EXPANSION tag is set to YES Doxygen will expand all macro +# names in the source code. If set to NO (the default) only conditional +# compilation will be performed. Macro expansion can be done in a controlled # way by setting EXPAND_ONLY_PREDEF to YES. MACRO_EXPANSION = NO -# If the EXPAND_ONLY_PREDEF and MACRO_EXPANSION tags are both set to YES -# then the macro expansion is limited to the macros specified with the +# If the EXPAND_ONLY_PREDEF and MACRO_EXPANSION tags are both set to YES +# then the macro expansion is limited to the macros specified with the # PREDEFINED and EXPAND_AS_DEFINED tags. EXPAND_ONLY_PREDEF = NO -# If the SEARCH_INCLUDES tag is set to YES (the default) the includes files +# If the SEARCH_INCLUDES tag is set to YES (the default) the includes files # pointed to by INCLUDE_PATH will be searched when a #include is found. SEARCH_INCLUDES = YES -# The INCLUDE_PATH tag can be used to specify one or more directories that -# contain include files that are not input files but should be processed by +# The INCLUDE_PATH tag can be used to specify one or more directories that +# contain include files that are not input files but should be processed by # the preprocessor. INCLUDE_PATH = sw/include -# You can use the INCLUDE_FILE_PATTERNS tag to specify one or more wildcard -# patterns (like *.h and *.hpp) to filter out the header-files in the -# directories. If left blank, the patterns specified with FILE_PATTERNS will +# You can use the INCLUDE_FILE_PATTERNS tag to specify one or more wildcard +# patterns (like *.h and *.hpp) to filter out the header-files in the +# directories. If left blank, the patterns specified with FILE_PATTERNS will # be used. -INCLUDE_FILE_PATTERNS = +INCLUDE_FILE_PATTERNS = -# The PREDEFINED tag can be used to specify one or more macro names that -# are defined before the preprocessor is started (similar to the -D option of -# gcc). The argument of the tag is a list of macros of the form: name -# or name=definition (no spaces). If the definition and the = are -# omitted =1 is assumed. To prevent a macro definition from being -# undefined via #undef or recursively expanded use the := operator +# The PREDEFINED tag can be used to specify one or more macro names that +# are defined before the preprocessor is started (similar to the -D option of +# gcc). The argument of the tag is a list of macros of the form: name +# or name=definition (no spaces). If the definition and the = are +# omitted =1 is assumed. To prevent a macro definition from being +# undefined via #undef or recursively expanded use the := operator # instead of the = operator. -PREDEFINED = +PREDEFINED = GUIDANCE_V_C -# If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then -# this tag can be used to specify a list of macro names that should be expanded. -# The macro definition that is found in the sources will be used. -# Use the PREDEFINED tag if you want to use a different macro definition that +# If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then +# this tag can be used to specify a list of macro names that should be expanded. +# The macro definition that is found in the sources will be used. +# Use the PREDEFINED tag if you want to use a different macro definition that # overrules the definition found in the source code. -EXPAND_AS_DEFINED = +EXPAND_AS_DEFINED = -# If the SKIP_FUNCTION_MACROS tag is set to YES (the default) then -# doxygen's preprocessor will remove all references to function-like macros -# that are alone on a line, have an all uppercase name, and do not end with a +# If the SKIP_FUNCTION_MACROS tag is set to YES (the default) then +# doxygen's preprocessor will remove all references to function-like macros +# that are alone on a line, have an all uppercase name, and do not end with a # semicolon, because these will confuse the parser if not removed. SKIP_FUNCTION_MACROS = YES @@ -1476,41 +1477,41 @@ SKIP_FUNCTION_MACROS = YES # Configuration::additions related to external references #--------------------------------------------------------------------------- -# The TAGFILES option can be used to specify one or more tagfiles. -# Optionally an initial location of the external documentation -# can be added for each tagfile. The format of a tag file without -# this location is as follows: -# TAGFILES = file1 file2 ... -# Adding location for the tag files is done as follows: -# TAGFILES = file1=loc1 "file2 = loc2" ... -# where "loc1" and "loc2" can be relative or absolute paths or -# URLs. If a location is present for each tag, the installdox tool -# does not have to be run to correct the links. -# Note that each tag file must have a unique name -# (where the name does NOT include the path) -# If a tag file is not located in the directory in which doxygen +# The TAGFILES option can be used to specify one or more tagfiles. +# Optionally an initial location of the external documentation +# can be added for each tagfile. The format of a tag file without +# this location is as follows: +# TAGFILES = file1 file2 ... +# Adding location for the tag files is done as follows: +# TAGFILES = file1=loc1 "file2 = loc2" ... +# where "loc1" and "loc2" can be relative or absolute paths or +# URLs. If a location is present for each tag, the installdox tool +# does not have to be run to correct the links. +# Note that each tag file must have a unique name +# (where the name does NOT include the path) +# If a tag file is not located in the directory in which doxygen # is run, you must also specify the path to the tagfile here. -TAGFILES = +TAGFILES = -# When a file name is specified after GENERATE_TAGFILE, doxygen will create +# When a file name is specified after GENERATE_TAGFILE, doxygen will create # a tag file that is based on the input files it reads. -GENERATE_TAGFILE = +GENERATE_TAGFILE = -# If the ALLEXTERNALS tag is set to YES all external classes will be listed -# in the class index. If set to NO only the inherited external classes +# If the ALLEXTERNALS tag is set to YES all external classes will be listed +# in the class index. If set to NO only the inherited external classes # will be listed. ALLEXTERNALS = NO -# If the EXTERNAL_GROUPS tag is set to YES all external groups will be listed -# in the modules index. If set to NO, only the current project's groups will +# If the EXTERNAL_GROUPS tag is set to YES all external groups will be listed +# in the modules index. If set to NO, only the current project's groups will # be listed. EXTERNAL_GROUPS = YES -# The PERL_PATH should be the absolute path and name of the perl script +# The PERL_PATH should be the absolute path and name of the perl script # interpreter (i.e. the result of `which perl'). PERL_PATH = /usr/bin/perl @@ -1519,204 +1520,204 @@ PERL_PATH = /usr/bin/perl # Configuration options related to the dot tool #--------------------------------------------------------------------------- -# If the CLASS_DIAGRAMS tag is set to YES (the default) Doxygen will -# generate a inheritance diagram (in HTML, RTF and LaTeX) for classes with base -# or super classes. Setting the tag to NO turns the diagrams off. Note that -# this option also works with HAVE_DOT disabled, but it is recommended to +# If the CLASS_DIAGRAMS tag is set to YES (the default) Doxygen will +# generate a inheritance diagram (in HTML, RTF and LaTeX) for classes with base +# or super classes. Setting the tag to NO turns the diagrams off. Note that +# this option also works with HAVE_DOT disabled, but it is recommended to # install and use dot, since it yields more powerful graphs. CLASS_DIAGRAMS = YES -# You can define message sequence charts within doxygen comments using the \msc -# command. Doxygen will then run the mscgen tool (see -# http://www.mcternan.me.uk/mscgen/) to produce the chart and insert it in the -# documentation. The MSCGEN_PATH tag allows you to specify the directory where -# the mscgen tool resides. If left empty the tool is assumed to be found in the +# You can define message sequence charts within doxygen comments using the \msc +# command. Doxygen will then run the mscgen tool (see +# http://www.mcternan.me.uk/mscgen/) to produce the chart and insert it in the +# documentation. The MSCGEN_PATH tag allows you to specify the directory where +# the mscgen tool resides. If left empty the tool is assumed to be found in the # default search path. -MSCGEN_PATH = +MSCGEN_PATH = -# If set to YES, the inheritance and collaboration graphs will hide -# inheritance and usage relations if the target is undocumented +# If set to YES, the inheritance and collaboration graphs will hide +# inheritance and usage relations if the target is undocumented # or is not a class. HIDE_UNDOC_RELATIONS = YES -# If you set the HAVE_DOT tag to YES then doxygen will assume the dot tool is -# available from the path. This tool is part of Graphviz, a graph visualization -# toolkit from AT&T and Lucent Bell Labs. The other options in this section +# If you set the HAVE_DOT tag to YES then doxygen will assume the dot tool is +# available from the path. This tool is part of Graphviz, a graph visualization +# toolkit from AT&T and Lucent Bell Labs. The other options in this section # have no effect if this option is set to NO (the default) HAVE_DOT = YES -# The DOT_NUM_THREADS specifies the number of dot invocations doxygen is -# allowed to run in parallel. When set to 0 (the default) doxygen will -# base this on the number of processors available in the system. You can set it -# explicitly to a value larger than 0 to get control over the balance +# The DOT_NUM_THREADS specifies the number of dot invocations doxygen is +# allowed to run in parallel. When set to 0 (the default) doxygen will +# base this on the number of processors available in the system. You can set it +# explicitly to a value larger than 0 to get control over the balance # between CPU load and processing speed. DOT_NUM_THREADS = 0 -# By default doxygen will write a font called Helvetica to the output -# directory and reference it in all dot files that doxygen generates. -# When you want a differently looking font you can specify the font name -# using DOT_FONTNAME. You need to make sure dot is able to find the font, -# which can be done by putting it in a standard location or by setting the -# DOTFONTPATH environment variable or by setting DOT_FONTPATH to the directory +# By default doxygen will write a font called Helvetica to the output +# directory and reference it in all dot files that doxygen generates. +# When you want a differently looking font you can specify the font name +# using DOT_FONTNAME. You need to make sure dot is able to find the font, +# which can be done by putting it in a standard location or by setting the +# DOTFONTPATH environment variable or by setting DOT_FONTPATH to the directory # containing the font. DOT_FONTNAME = FreeSans -# The DOT_FONTSIZE tag can be used to set the size of the font of dot graphs. +# The DOT_FONTSIZE tag can be used to set the size of the font of dot graphs. # The default size is 10pt. DOT_FONTSIZE = 10 -# By default doxygen will tell dot to use the output directory to look for the -# FreeSans.ttf font (which doxygen will put there itself). If you specify a -# different font using DOT_FONTNAME you can set the path where dot +# By default doxygen will tell dot to use the output directory to look for the +# FreeSans.ttf font (which doxygen will put there itself). If you specify a +# different font using DOT_FONTNAME you can set the path where dot # can find it using this tag. -DOT_FONTPATH = +DOT_FONTPATH = -# If the CLASS_GRAPH and HAVE_DOT tags are set to YES then doxygen -# will generate a graph for each documented class showing the direct and -# indirect inheritance relations. Setting this tag to YES will force the +# If the CLASS_GRAPH and HAVE_DOT tags are set to YES then doxygen +# will generate a graph for each documented class showing the direct and +# indirect inheritance relations. Setting this tag to YES will force the # the CLASS_DIAGRAMS tag to NO. CLASS_GRAPH = YES -# If the COLLABORATION_GRAPH and HAVE_DOT tags are set to YES then doxygen -# will generate a graph for each documented class showing the direct and -# indirect implementation dependencies (inheritance, containment, and +# If the COLLABORATION_GRAPH and HAVE_DOT tags are set to YES then doxygen +# will generate a graph for each documented class showing the direct and +# indirect implementation dependencies (inheritance, containment, and # class references variables) of the class with other documented classes. COLLABORATION_GRAPH = YES -# If the GROUP_GRAPHS and HAVE_DOT tags are set to YES then doxygen +# If the GROUP_GRAPHS and HAVE_DOT tags are set to YES then doxygen # will generate a graph for groups, showing the direct groups dependencies GROUP_GRAPHS = YES -# If the UML_LOOK tag is set to YES doxygen will generate inheritance and -# collaboration diagrams in a style similar to the OMG's Unified Modeling +# If the UML_LOOK tag is set to YES doxygen will generate inheritance and +# collaboration diagrams in a style similar to the OMG's Unified Modeling # Language. UML_LOOK = NO -# If set to YES, the inheritance and collaboration graphs will show the +# If set to YES, the inheritance and collaboration graphs will show the # relations between templates and their instances. TEMPLATE_RELATIONS = NO -# If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDE_GRAPH, and HAVE_DOT -# tags are set to YES then doxygen will generate a graph for each documented -# file showing the direct and indirect include dependencies of the file with +# If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDE_GRAPH, and HAVE_DOT +# tags are set to YES then doxygen will generate a graph for each documented +# file showing the direct and indirect include dependencies of the file with # other documented files. INCLUDE_GRAPH = YES -# If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDED_BY_GRAPH, and -# HAVE_DOT tags are set to YES then doxygen will generate a graph for each -# documented header file showing the documented files that directly or +# If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDED_BY_GRAPH, and +# HAVE_DOT tags are set to YES then doxygen will generate a graph for each +# documented header file showing the documented files that directly or # indirectly include this file. INCLUDED_BY_GRAPH = YES -# If the CALL_GRAPH and HAVE_DOT options are set to YES then -# doxygen will generate a call dependency graph for every global function -# or class method. Note that enabling this option will significantly increase -# the time of a run. So in most cases it will be better to enable call graphs +# If the CALL_GRAPH and HAVE_DOT options are set to YES then +# doxygen will generate a call dependency graph for every global function +# or class method. Note that enabling this option will significantly increase +# the time of a run. So in most cases it will be better to enable call graphs # for selected functions only using the \callgraph command. CALL_GRAPH = YES -# If the CALLER_GRAPH and HAVE_DOT tags are set to YES then -# doxygen will generate a caller dependency graph for every global function -# or class method. Note that enabling this option will significantly increase -# the time of a run. So in most cases it will be better to enable caller +# If the CALLER_GRAPH and HAVE_DOT tags are set to YES then +# doxygen will generate a caller dependency graph for every global function +# or class method. Note that enabling this option will significantly increase +# the time of a run. So in most cases it will be better to enable caller # graphs for selected functions only using the \callergraph command. CALLER_GRAPH = YES -# If the GRAPHICAL_HIERARCHY and HAVE_DOT tags are set to YES then doxygen +# If the GRAPHICAL_HIERARCHY and HAVE_DOT tags are set to YES then doxygen # will generate a graphical hierarchy of all classes instead of a textual one. GRAPHICAL_HIERARCHY = YES -# If the DIRECTORY_GRAPH, SHOW_DIRECTORIES and HAVE_DOT tags are set to YES -# then doxygen will show the dependencies a directory has on other directories -# in a graphical way. The dependency relations are determined by the #include +# If the DIRECTORY_GRAPH, SHOW_DIRECTORIES and HAVE_DOT tags are set to YES +# then doxygen will show the dependencies a directory has on other directories +# in a graphical way. The dependency relations are determined by the #include # relations between the files in the directories. DIRECTORY_GRAPH = YES -# The DOT_IMAGE_FORMAT tag can be used to set the image format of the images -# generated by dot. Possible values are svg, png, jpg, or gif. +# The DOT_IMAGE_FORMAT tag can be used to set the image format of the images +# generated by dot. Possible values are svg, png, jpg, or gif. # If left blank png will be used. DOT_IMAGE_FORMAT = png -# The tag DOT_PATH can be used to specify the path where the dot tool can be +# The tag DOT_PATH can be used to specify the path where the dot tool can be # found. If left blank, it is assumed the dot tool can be found in the path. -DOT_PATH = +DOT_PATH = -# The DOTFILE_DIRS tag can be used to specify one or more directories that -# contain dot files that are included in the documentation (see the +# The DOTFILE_DIRS tag can be used to specify one or more directories that +# contain dot files that are included in the documentation (see the # \dotfile command). -DOTFILE_DIRS = +DOTFILE_DIRS = -# The MSCFILE_DIRS tag can be used to specify one or more directories that -# contain msc files that are included in the documentation (see the +# The MSCFILE_DIRS tag can be used to specify one or more directories that +# contain msc files that are included in the documentation (see the # \mscfile command). -MSCFILE_DIRS = +MSCFILE_DIRS = -# The DOT_GRAPH_MAX_NODES tag can be used to set the maximum number of -# nodes that will be shown in the graph. If the number of nodes in a graph -# becomes larger than this value, doxygen will truncate the graph, which is -# visualized by representing a node as a red box. Note that doxygen if the -# number of direct children of the root node in a graph is already larger than -# DOT_GRAPH_MAX_NODES then the graph will not be shown at all. Also note +# The DOT_GRAPH_MAX_NODES tag can be used to set the maximum number of +# nodes that will be shown in the graph. If the number of nodes in a graph +# becomes larger than this value, doxygen will truncate the graph, which is +# visualized by representing a node as a red box. Note that doxygen if the +# number of direct children of the root node in a graph is already larger than +# DOT_GRAPH_MAX_NODES then the graph will not be shown at all. Also note # that the size of a graph can be further restricted by MAX_DOT_GRAPH_DEPTH. DOT_GRAPH_MAX_NODES = 50 -# The MAX_DOT_GRAPH_DEPTH tag can be used to set the maximum depth of the -# graphs generated by dot. A depth value of 3 means that only nodes reachable -# from the root by following a path via at most 3 edges will be shown. Nodes -# that lay further from the root node will be omitted. Note that setting this -# option to 1 or 2 may greatly reduce the computation time needed for large -# code bases. Also note that the size of a graph can be further restricted by +# The MAX_DOT_GRAPH_DEPTH tag can be used to set the maximum depth of the +# graphs generated by dot. A depth value of 3 means that only nodes reachable +# from the root by following a path via at most 3 edges will be shown. Nodes +# that lay further from the root node will be omitted. Note that setting this +# option to 1 or 2 may greatly reduce the computation time needed for large +# code bases. Also note that the size of a graph can be further restricted by # DOT_GRAPH_MAX_NODES. Using a depth of 0 means no depth restriction. MAX_DOT_GRAPH_DEPTH = 0 -# Set the DOT_TRANSPARENT tag to YES to generate images with a transparent -# background. This is disabled by default, because dot on Windows does not -# seem to support this out of the box. Warning: Depending on the platform used, -# enabling this option may lead to badly anti-aliased labels on the edges of +# Set the DOT_TRANSPARENT tag to YES to generate images with a transparent +# background. This is disabled by default, because dot on Windows does not +# seem to support this out of the box. Warning: Depending on the platform used, +# enabling this option may lead to badly anti-aliased labels on the edges of # a graph (i.e. they become hard to read). DOT_TRANSPARENT = NO -# Set the DOT_MULTI_TARGETS tag to YES allow dot to generate multiple output -# files in one run (i.e. multiple -o and -T options on the command line). This -# makes dot run faster, but since only newer versions of dot (>1.8.10) +# Set the DOT_MULTI_TARGETS tag to YES allow dot to generate multiple output +# files in one run (i.e. multiple -o and -T options on the command line). This +# makes dot run faster, but since only newer versions of dot (>1.8.10) # support this, this feature is disabled by default. DOT_MULTI_TARGETS = NO -# If the GENERATE_LEGEND tag is set to YES (the default) Doxygen will -# generate a legend page explaining the meaning of the various boxes and +# If the GENERATE_LEGEND tag is set to YES (the default) Doxygen will +# generate a legend page explaining the meaning of the various boxes and # arrows in the dot generated graphs. GENERATE_LEGEND = YES -# If the DOT_CLEANUP tag is set to YES (the default) Doxygen will -# remove the intermediate dot files that are used to generate +# If the DOT_CLEANUP tag is set to YES (the default) Doxygen will +# remove the intermediate dot files that are used to generate # the various graphs. DOT_CLEANUP = YES diff --git a/conf/airframes/CDW/LisaAspirin2.xml b/conf/airframes/CDW/LisaAspirin2.xml index 807bd309d8..04b80ab65d 100644 --- a/conf/airframes/CDW/LisaAspirin2.xml +++ b/conf/airframes/CDW/LisaAspirin2.xml @@ -198,7 +198,7 @@ - + @@ -206,7 +206,7 @@ - + @@ -232,7 +232,7 @@ - + @@ -240,7 +240,7 @@ - + diff --git a/conf/airframes/booz2_flixr.xml b/conf/airframes/booz2_flixr.xml index 59822b19c8..3c2805605c 100644 --- a/conf/airframes/booz2_flixr.xml +++ b/conf/airframes/booz2_flixr.xml @@ -37,7 +37,9 @@ - + + + @@ -185,7 +187,8 @@
- + +
diff --git a/conf/autopilot/subsystems/fixedwing/gps_skytraq.makefile b/conf/autopilot/subsystems/fixedwing/gps_skytraq.makefile new file mode 100644 index 0000000000..f34c47628f --- /dev/null +++ b/conf/autopilot/subsystems/fixedwing/gps_skytraq.makefile @@ -0,0 +1,22 @@ +# Hey Emacs, this is a -*- makefile -*- + +ap.CFLAGS += -DUSE_GPS -DGPS_USE_LATLONG +ap.CFLAGS += -DGPS_LINK=$(GPS_PORT) +ap.CFLAGS += -DUSE_$(GPS_PORT) +ap.CFLAGS += -D$(GPS_PORT)_BAUD=$(GPS_BAUD) + +ifneq ($(GPS_LED),none) + ap.CFLAGS += -DGPS_LED=$(GPS_LED) +endif + +ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_skytraq.h\" +ap.srcs += $(SRC_SUBSYSTEMS)/gps/gps_skytraq.c + +$(TARGET).srcs += $(SRC_SUBSYSTEMS)/gps.c + +sim.CFLAGS += -DUSE_GPS -DGPS_USE_LATLONG +sim.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim.h\" +sim.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim.c + +jsbsim.CFLAGS += -DUSE_GPS -DGPS_TYPE_H=\"subsystems/gps/gps_sim.h\" +jsbsim.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim. diff --git a/conf/autopilot/subsystems/rotorcraft/gps_skytraq.makefile b/conf/autopilot/subsystems/rotorcraft/gps_skytraq.makefile index 3e6049af23..9d4560cfce 100644 --- a/conf/autopilot/subsystems/rotorcraft/gps_skytraq.makefile +++ b/conf/autopilot/subsystems/rotorcraft/gps_skytraq.makefile @@ -1,14 +1,18 @@ +# Hey Emacs, this is a -*- makefile -*- -ap.srcs += $(SRC_SUBSYSTEMS)/gps.c -ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_skytraq.h\" -ap.srcs += $(SRC_SUBSYSTEMS)/gps/gps_skytraq.c - -ap.CFLAGS += -DUSE_$(GPS_PORT) -D$(GPS_PORT)_BAUD=$(GPS_BAUD) -ap.CFLAGS += -DUSE_GPS -DGPS_LINK=$(GPS_PORT) +ap.CFLAGS += -DUSE_GPS +ap.CFLAGS += -DGPS_LINK=$(GPS_PORT) +ap.CFLAGS += -DUSE_$(GPS_PORT) +ap.CFLAGS += -D$(GPS_PORT)_BAUD=$(GPS_BAUD) ifneq ($(GPS_LED),none) ap.CFLAGS += -DGPS_LED=$(GPS_LED) endif +ap.srcs += $(SRC_SUBSYSTEMS)/gps.c +ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_skytraq.h\" +ap.srcs += $(SRC_SUBSYSTEMS)/gps/gps_skytraq.c + + sim.CFLAGS += -DUSE_GPS sim.srcs += $(SRC_SUBSYSTEMS)/gps.c diff --git a/conf/boards/lisa_m_1.0.makefile b/conf/boards/lisa_m_1.0.makefile index c10f49f2cd..ce53ca3c06 100644 --- a/conf/boards/lisa_m_1.0.makefile +++ b/conf/boards/lisa_m_1.0.makefile @@ -1,7 +1,8 @@ +# Hey Emacs, this is a -*- makefile -*- # # lisa_m_1.0.makefile # -# http://paparazzi.enac.fr/wiki/User/LisaM +# http://paparazzi.enac.fr/wiki/Lisa/M # BOARD=lisa_m @@ -51,9 +52,13 @@ ifndef SYS_TIME_LED SYS_TIME_LED = 1 endif - +ifndef RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT = UART3 +endif + +ifndef RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT = UART5 +endif ifndef MODEM_PORT MODEM_PORT=UART2 diff --git a/conf/boards/lisa_m_2.0.makefile b/conf/boards/lisa_m_2.0.makefile index 02a5e4c8e7..2e9f366483 100644 --- a/conf/boards/lisa_m_2.0.makefile +++ b/conf/boards/lisa_m_2.0.makefile @@ -1,14 +1,12 @@ # Hey Emacs, this is a -*- makefile -*- -include $(PAPARAZZI_SRC)/conf/boards/lisa_m_1.0.makefile - # # Swap GPS UART with spektrum UART # RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT = UART1 -GPS_PORT=UART3 -# -# Disable aligner led for now. -# -AHRS_ALIGNER_LED = none +ifndef GPS_PORT +GPS_PORT=UART3 +endif + +include $(PAPARAZZI_SRC)/conf/boards/lisa_m_1.0.makefile diff --git a/conf/messages.xml b/conf/messages.xml index 663fb6a975..bdd4e0edef 100644 --- a/conf/messages.xml +++ b/conf/messages.xml @@ -1792,7 +1792,7 @@ - + diff --git a/conf/modules/demo_module.xml b/conf/modules/demo_module.xml index 7fd7e31464..cb03682051 100644 --- a/conf/modules/demo_module.xml +++ b/conf/modules/demo_module.xml @@ -9,7 +9,7 @@ -#Exemple of RAW makefile part +#Example of RAW makefile part diff --git a/conf/modules/sonar_maxbotix_booz.xml b/conf/modules/sonar_maxbotix_booz.xml index e28a1aa754..41607ccd1a 100644 --- a/conf/modules/sonar_maxbotix_booz.xml +++ b/conf/modules/sonar_maxbotix_booz.xml @@ -19,6 +19,12 @@ + +# set ADC_SONAR to ADC_0 as default +ifeq ($(ADC_SONAR),) +ADC_SONAR = ADC_0 +endif + diff --git a/conf/settings/tuning_ctl_new.xml b/conf/settings/tuning_ctl_new.xml index 2a8e4d9a82..b290ac9997 100644 --- a/conf/settings/tuning_ctl_new.xml +++ b/conf/settings/tuning_ctl_new.xml @@ -42,6 +42,8 @@ + + diff --git a/conf/settings/tuning_ins.xml b/conf/settings/tuning_ins.xml index 6340db2be8..596fc50ac9 100644 --- a/conf/settings/tuning_ins.xml +++ b/conf/settings/tuning_ins.xml @@ -55,7 +55,7 @@ - + diff --git a/sw/airborne/arch/lpc21/peripherals/ms2100_arch.c b/sw/airborne/arch/lpc21/peripherals/ms2100_arch.c index ec22b64b6c..f1353b8255 100644 --- a/sw/airborne/arch/lpc21/peripherals/ms2100_arch.c +++ b/sw/airborne/arch/lpc21/peripherals/ms2100_arch.c @@ -17,11 +17,11 @@ void ms2100_arch_init( void ) { ms2100_cur_axe = 0; /* configure SS pin */ - Ms2001Unselect(); /* pin idles high */ + Ms2100Unselect(); /* pin idles high */ SetBit(MS2100_SS_IODIR, MS2100_SS_PIN); /* pin is output */ /* configure RESET pin */ - Ms2001Reset(); /* pin idles low */ + Ms2100Reset(); /* pin idles low */ SetBit(MS2100_RESET_IODIR, MS2100_RESET_PIN); /* pin is output */ /* configure DRDY pin */ diff --git a/sw/airborne/arch/lpc21/peripherals/ms2100_arch.h b/sw/airborne/arch/lpc21/peripherals/ms2100_arch.h index 01fbf017b5..bd3b4d6d3a 100644 --- a/sw/airborne/arch/lpc21/peripherals/ms2100_arch.h +++ b/sw/airborne/arch/lpc21/peripherals/ms2100_arch.h @@ -16,20 +16,20 @@ extern volatile uint8_t ms2100_cur_axe; -#define Ms2001Select() SetBit(MS2100_SS_IOCLR,MS2100_SS_PIN) -#define Ms2001Unselect() SetBit(MS2100_SS_IOSET,MS2100_SS_PIN) +#define Ms2100Select() SetBit(MS2100_SS_IOCLR,MS2100_SS_PIN) +#define Ms2100Unselect() SetBit(MS2100_SS_IOSET,MS2100_SS_PIN) -#define Ms2001Reset() SetBit(MS2100_RESET_IOCLR,MS2100_RESET_PIN) -#define Ms2001Set() SetBit(MS2100_RESET_IOSET,MS2100_RESET_PIN) +#define Ms2100Reset() SetBit(MS2100_RESET_IOCLR,MS2100_RESET_PIN) +#define Ms2100Set() SetBit(MS2100_RESET_IOSET,MS2100_RESET_PIN) -#define Ms2001OnSpiInt() { \ +#define Ms2100OnSpiInt() { \ switch (ms2100_status) { \ case MS2100_SENDING_REQ: \ { \ /* read dummy control byte reply */ \ uint8_t foo __attribute__ ((unused)) = SSPDR; \ ms2100_status = MS2100_WAITING_EOC; \ - Ms2001Unselect(); \ + Ms2100Unselect(); \ SSP_ClearRti(); \ SSP_DisableRti(); \ SSP_Disable(); \ @@ -42,7 +42,7 @@ extern volatile uint8_t ms2100_cur_axe; new_val += SSPDR; \ if (abs(new_val) < 2000) \ ms2100_values[ms2100_cur_axe] = new_val; \ - Ms2001Unselect(); \ + Ms2100Unselect(); \ SSP_ClearRti(); \ SSP_DisableRti(); \ SSP_Disable(); \ @@ -59,22 +59,22 @@ extern volatile uint8_t ms2100_cur_axe; } -#define Ms2001SendReq() { \ - Ms2001Select(); \ +#define Ms2100SendReq() { \ + Ms2100Select(); \ ms2100_status = MS2100_SENDING_REQ; \ - Ms2001Set(); \ + Ms2100Set(); \ SSP_ClearRti(); \ SSP_EnableRti(); \ - Ms2001Reset(); \ + Ms2100Reset(); \ uint8_t control_byte = (ms2100_cur_axe+1) << 0 | \ MS2100_DIVISOR << 4; \ SSP_Send(control_byte); \ SSP_Enable(); \ } -#define Ms2001ReadRes() { \ +#define Ms2100ReadRes() { \ ms2100_status = MS2100_READING_RES; \ - Ms2001Select(); \ + Ms2100Select(); \ /* trigger 2 bytes read */ \ SSP_Send(0); \ SSP_Send(0); \ diff --git a/sw/airborne/arch/lpc21/subsystems/imu/imu_b2_arch.c b/sw/airborne/arch/lpc21/subsystems/imu/imu_b2_arch.c index 6cb17e1fb6..7cfdd63e96 100644 --- a/sw/airborne/arch/lpc21/subsystems/imu/imu_b2_arch.c +++ b/sw/airborne/arch/lpc21/subsystems/imu/imu_b2_arch.c @@ -115,10 +115,10 @@ static void SSP_ISR(void) { if (ms2100_status == MS2100_IDLE || ms2100_status == MS2100_GOT_EOC) { ImuSetSSP8bits(); if (ms2100_status == MS2100_IDLE) { - Ms2001SendReq(); + Ms2100SendReq(); } else { /* MS2100_GOT_EOC */ - Ms2001ReadRes(); + Ms2100ReadRes(); } imu_ssp_status = IMU_SSP_STA_BUSY_MS2100; } @@ -127,9 +127,9 @@ static void SSP_ISR(void) { } break; case IMU_SSP_STA_BUSY_MS2100: - Ms2001OnSpiInt(); + Ms2100OnSpiInt(); if (ms2100_status == MS2100_IDLE) { - Ms2001SendReq(); + Ms2100SendReq(); imu_ssp_status = IMU_SSP_STA_BUSY_MS2100; } else diff --git a/sw/airborne/arch/stm32/peripherals/ms2100_arch.c b/sw/airborne/arch/stm32/peripherals/ms2100_arch.c index 961ab71e53..893aedef3c 100644 --- a/sw/airborne/arch/stm32/peripherals/ms2100_arch.c +++ b/sw/airborne/arch/stm32/peripherals/ms2100_arch.c @@ -41,8 +41,8 @@ void ms2100_arch_init( void ) { ms2100_cur_axe = 0; /* set mag SS and reset as output and assert them (SS on PC12 reset on PC13) ----*/ - Ms2001Unselect(); - Ms2001Set(); + Ms2100Unselect(); + Ms2100Set(); RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC, ENABLE); GPIO_InitTypeDef GPIO_InitStructure; @@ -83,13 +83,13 @@ void ms2100_arch_init( void ) { #ifdef MS2100_HANDLES_SPI_IRQ void spi2_irq_handler(void) { - Ms2001OnSpiIrq(); + Ms2100OnSpiIrq(); } #endif #ifdef MS2100_HANDLES_DMA_IRQ void dma1_c4_irq_handler(void) { - Ms2001OnDmaIrq(); + Ms2100OnDmaIrq(); } #endif /* MS2100_HANDLES_DMA_IRQ */ diff --git a/sw/airborne/arch/stm32/peripherals/ms2100_arch.h b/sw/airborne/arch/stm32/peripherals/ms2100_arch.h index c95a26ce84..a76b4c0192 100644 --- a/sw/airborne/arch/stm32/peripherals/ms2100_arch.h +++ b/sw/airborne/arch/stm32/peripherals/ms2100_arch.h @@ -30,21 +30,21 @@ extern uint8_t ms2100_cur_axe; extern int16_t ms2100_last_reading; -#define Ms2001Select() GPIOC->BRR = GPIO_Pin_12 -#define Ms2001Unselect() GPIOC->BSRR = GPIO_Pin_12 +#define Ms2100Select() GPIOC->BRR = GPIO_Pin_12 +#define Ms2100Unselect() GPIOC->BSRR = GPIO_Pin_12 -#define Ms2001Reset() GPIOC->BSRR = GPIO_Pin_13; -#define Ms2001Set() GPIOC->BRR = GPIO_Pin_13 +#define Ms2100Reset() GPIOC->BSRR = GPIO_Pin_13; +#define Ms2100Set() GPIOC->BRR = GPIO_Pin_13 -#define Ms2001HasEOC() GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_5) +#define Ms2100HasEOC() GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_5) -#define Ms2001SendReq() { \ - Ms2001Select(); \ +#define Ms2100SendReq() { \ + Ms2100Select(); \ __IO uint32_t nCount = 4;for(; nCount != 0; nCount--); \ - Ms2001Reset(); \ + Ms2100Reset(); \ ms2100_status = MS2100_SENDING_REQ; \ nCount = 4;for(; nCount != 0; nCount--); \ - Ms2001Set(); \ + Ms2100Set(); \ uint16_t ctl_byte = ((ms2100_cur_axe+1) | (MS2100_DIVISOR << 4)); \ nCount = 20;for(; nCount != 0; nCount--); \ SPI_Cmd(SPI2, DISABLE); \ @@ -65,9 +65,9 @@ extern int16_t ms2100_last_reading; SPI_I2S_SendData(SPI2, ctl_byte); \ } -#define Ms2001ReadRes() { \ +#define Ms2100ReadRes() { \ ms2100_status = MS2100_READING_RES; \ - Ms2001Select(); \ + Ms2100Select(); \ SPI_Cmd(SPI2, DISABLE); \ SPI_InitTypeDef SPI_InitStructure = { \ .SPI_Direction = SPI_Direction_2Lines_FullDuplex, \ @@ -122,13 +122,13 @@ extern int16_t ms2100_last_reading; \ } -#define Ms2001OnDmaIrq() { \ +#define Ms2100OnDmaIrq() { \ /* ASSERT((ms2100_status == MS2100_READING_RES), \ * DEBUG_MS2100, MS2100_ERR_SPURIOUS_DMA_IRQ); \ */ \ if (abs(ms2100_last_reading) < 1000) \ ms2100_values[ms2100_cur_axe] = ms2100_last_reading; \ - Ms2001Unselect(); \ + Ms2100Unselect(); \ ms2100_cur_axe++; \ if (ms2100_cur_axe > 2) { \ ms2100_cur_axe = 0; \ @@ -140,13 +140,13 @@ extern int16_t ms2100_last_reading; DMA_ITConfig(DMA1_Channel4, DMA_IT_TC, DISABLE); \ } -#define Ms2001OnSpiIrq() { \ +#define Ms2100OnSpiIrq() { \ /* ASSERT((ms2100_status == MS2100_SENDING_REQ), \ * DEBUG_MS2100, MS2100_ERR_SPURIOUS_SPI_IRQ); \ */ \ /* read unused control byte reply */ \ uint8_t foo __attribute__ ((unused)) = SPI_I2S_ReceiveData(SPI2); \ - Ms2001Unselect(); \ + Ms2100Unselect(); \ ms2100_status = MS2100_WAITING_EOC; \ SPI_Cmd(SPI2, DISABLE); \ SPI_I2S_ITConfig(SPI2, SPI_I2S_IT_RXNE, DISABLE); \ diff --git a/sw/airborne/arch/stm32/subsystems/imu/imu_b2_arch.c b/sw/airborne/arch/stm32/subsystems/imu/imu_b2_arch.c index acad03c9a3..a525256575 100644 --- a/sw/airborne/arch/stm32/subsystems/imu/imu_b2_arch.c +++ b/sw/airborne/arch/stm32/subsystems/imu/imu_b2_arch.c @@ -93,11 +93,11 @@ void dma1_c4_irq_handler(void) { SPI_Cmd(SPI2, DISABLE); #if IMU_B2_MAG_TYPE == IMU_B2_MAG_MS2100 if (ms2100_status == MS2100_IDLE) { - Ms2001SendReq(); + Ms2100SendReq(); imu_ssp_status = IMU_SSP_STA_BUSY_MS2100; } - else if (ms2100_status == MS2100_WAITING_EOC && Ms2001HasEOC()) { - Ms2001ReadRes(); + else if (ms2100_status == MS2100_WAITING_EOC && Ms2100HasEOC()) { + Ms2100ReadRes(); imu_ssp_status = IMU_SSP_STA_BUSY_MS2100; } else @@ -106,7 +106,7 @@ void dma1_c4_irq_handler(void) { break; case IMU_SSP_STA_BUSY_MS2100: #if IMU_B2_MAG_TYPE == IMU_B2_MAG_MS2100 - Ms2001OnDmaIrq(); + Ms2100OnDmaIrq(); #endif break; default: @@ -118,6 +118,6 @@ void dma1_c4_irq_handler(void) { void spi2_irq_handler(void) { #if IMU_B2_MAG_TYPE == IMU_B2_MAG_MS2100 - Ms2001OnSpiIrq(); + Ms2100OnSpiIrq(); #endif } diff --git a/sw/airborne/firmwares/beth/rcv_telemetry.c b/sw/airborne/firmwares/beth/rcv_telemetry.c old mode 100755 new mode 100644 diff --git a/sw/airborne/firmwares/fixedwing/guidance/guidance_v_n.c b/sw/airborne/firmwares/fixedwing/guidance/guidance_v_n.c index a8194836fa..2fbdb722c5 100644 --- a/sw/airborne/firmwares/fixedwing/guidance/guidance_v_n.c +++ b/sw/airborne/firmwares/fixedwing/guidance/guidance_v_n.c @@ -56,6 +56,8 @@ uint8_t v_ctl_auto_throttle_submode; /* "auto throttle" inner loop parameters */ float v_ctl_auto_throttle_cruise_throttle; float v_ctl_auto_throttle_nominal_cruise_throttle; +float v_ctl_auto_throttle_min_cruise_throttle; +float v_ctl_auto_throttle_max_cruise_throttle; float v_ctl_auto_throttle_climb_throttle_increment; float v_ctl_auto_throttle_pgain; float v_ctl_auto_throttle_igain; @@ -133,6 +135,8 @@ void v_ctl_init( void ) { /* "auto throttle" inner loop parameters */ v_ctl_auto_throttle_nominal_cruise_throttle = V_CTL_AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE; v_ctl_auto_throttle_cruise_throttle = v_ctl_auto_throttle_nominal_cruise_throttle; + v_ctl_auto_throttle_min_cruise_throttle = V_CTL_AUTO_THROTTLE_MIN_CRUISE_THROTTLE; + v_ctl_auto_throttle_max_cruise_throttle = V_CTL_AUTO_THROTTLE_MAX_CRUISE_THROTTLE; v_ctl_auto_throttle_climb_throttle_increment = V_CTL_AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT; v_ctl_auto_throttle_pgain = V_CTL_AUTO_THROTTLE_PGAIN; v_ctl_auto_throttle_igain = V_CTL_AUTO_THROTTLE_IGAIN; diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c b/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c index b28cb320c0..731a660ca9 100644 --- a/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c +++ b/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c @@ -37,6 +37,7 @@ #include "generated/airframe.h" + /* warn if some gains are still negative */ #if (GUIDANCE_V_HOVER_KP < 0) || \ (GUIDANCE_V_HOVER_KD < 0) || \ @@ -44,42 +45,28 @@ #warning "ALL control gains are now positive!!!" #endif -/* In case Asctec controllers are used without supervision */ -#ifndef SUPERVISION_MIN_MOTOR -#define SUPERVISION_MIN_MOTOR 1 -#endif -#ifndef SUPERVISION_MAX_MOTOR -#define SUPERVISION_MAX_MOTOR 200 -#endif uint8_t guidance_v_mode; int32_t guidance_v_ff_cmd; int32_t guidance_v_fb_cmd; -/* command output */ int32_t guidance_v_delta_t; -/* direct throttle from radio control */ -/* range 0:200 */ -int32_t guidance_v_rc_delta_t; -/* vertical speed setpoint from radio control */ -/* Q12.19 : accuracy 0.0000019, range +/-4096 */ -int32_t guidance_v_rc_zd_sp; -/* altitude setpoint in meter (input) */ -/* Q23.8 : accuracy 0.0039, range 8388km */ -int32_t guidance_v_z_sp; -/* vertical speed setpoint in meter/s (input) */ -/* Q12.19 : accuracy 0.0000019, range +/-4096 */ -int32_t guidance_v_zd_sp; -#define GUIDANCE_V_ZD_SP_FRAC INT32_SPEED_FRAC -/* altitude reference in meter */ -/* Q23.8 : accuracy 0.0039, range 8388km */ +/** Direct throttle from radio control. + * range 0:200 + */ +int32_t guidance_v_rc_delta_t; + +/** Vertical speed setpoint from radio control. + * fixed point representation: Q12.19 + * accuracy 0.0000019, range +/-4096 + */ +int32_t guidance_v_rc_zd_sp; + +int32_t guidance_v_z_sp; +int32_t guidance_v_zd_sp; int32_t guidance_v_z_ref; -/* vertical speed reference in meter/s */ -/* Q12.19 : accuracy 0.0000038, range 4096 */ int32_t guidance_v_zd_ref; -/* vertical acceleration reference in meter/s^2 */ -/* Q21.10 : accuracy 0.0009766, range 2097152 */ int32_t guidance_v_zdd_ref; int32_t guidance_v_kp; @@ -117,14 +104,9 @@ void guidance_v_init(void) { void guidance_v_read_rc(void) { // used in RC_DIRECT directly and as saturation in CLIMB and HOVER -#ifndef USE_HELI - guidance_v_rc_delta_t = (int32_t)radio_control.values[RADIO_THROTTLE] * 200 / MAX_PPRZ; -#else - guidance_v_rc_delta_t = (int32_t)radio_control.values[RADIO_THROTTLE] * 4 / 5; -#endif + guidance_v_rc_delta_t = (int32_t)radio_control.values[RADIO_THROTTLE] * (SUPERVISION_MAX_MOTOR - SUPERVISION_MIN_MOTOR) / MAX_PPRZ; // used in RC_CLIMB - guidance_v_rc_zd_sp = ((MAX_PPRZ/2) - (int32_t)radio_control.values[RADIO_THROTTLE]) * - GUIDANCE_V_RC_CLIMB_COEF; + guidance_v_rc_zd_sp = ((MAX_PPRZ/2) - (int32_t)radio_control.values[RADIO_THROTTLE]) * GUIDANCE_V_RC_CLIMB_COEF; DeadBand(guidance_v_rc_zd_sp, GUIDANCE_V_RC_CLIMB_DEAD_BAND); } @@ -134,10 +116,6 @@ void guidance_v_mode_changed(uint8_t new_mode) { if (new_mode == guidance_v_mode) return; - // switch ( guidance_v_mode ) { - // - // } - switch (new_mode) { case GUIDANCE_V_MODE_RC_CLIMB: @@ -147,10 +125,11 @@ void guidance_v_mode_changed(uint8_t new_mode) { guidance_v_z_sum_err = 0; GuidanceVSetRef(ins_ltp_pos.z, ins_ltp_speed.z, 0); break; + default: break; - } + } guidance_v_mode = new_mode; @@ -167,14 +146,7 @@ void guidance_v_run(bool_t in_flight) { // FIXME... SATURATIONS NOT TAKEN INTO ACCOUNT // AKA SUPERVISION and co if (in_flight) { - // we should use something after the supervision!!! fuck!!! - int32_t cmd_hack = Chop(stabilization_cmd[COMMAND_THRUST], SUPERVISION_MIN_MOTOR, SUPERVISION_MAX_MOTOR); - gv_adapt_run(ins_ltp_accel.z, cmd_hack); - //gv_adapt_run(ins_ltp_accel.z, cmd_hack, guidance_v_zd_ref); - } - else { - // reset vertical filter until takeoff - //ins_vf_realign = TRUE; + gv_adapt_run(ins_ltp_accel.z, stabilization_cmd[COMMAND_THRUST], guidance_v_zd_ref); } switch (guidance_v_mode) { @@ -288,29 +260,23 @@ __attribute__ ((always_inline)) static inline void run_hover_loop(bool_t in_flig #endif const int32_t g_m_zdd = (int32_t)BFP_OF_REAL(9.81, FF_CMD_FRAC) - (guidance_v_zdd_ref<<(FF_CMD_FRAC - INT32_ACCEL_FRAC)); -#if 0 - if (g_m_zdd > 0) - guidance_v_ff_cmd = ( g_m_zdd + (inv_m>>1)) / inv_m; - else - guidance_v_ff_cmd = ( g_m_zdd - (inv_m>>1)) / inv_m; -#else + guidance_v_ff_cmd = g_m_zdd / inv_m; int32_t cphi,ctheta,cphitheta; PPRZ_ITRIG_COS(cphi, ahrs.ltp_to_body_euler.phi); PPRZ_ITRIG_COS(ctheta, ahrs.ltp_to_body_euler.theta); cphitheta = (cphi * ctheta) >> INT32_TRIG_FRAC; if (cphitheta < MAX_BANK_COEF) cphitheta = MAX_BANK_COEF; + /* feed forward command */ guidance_v_ff_cmd = (guidance_v_ff_cmd << INT32_TRIG_FRAC) / cphitheta; -#endif - /* our error command */ + + /* our error feed back command */ guidance_v_fb_cmd = ((guidance_v_kp * err_z) >> 12) + ((guidance_v_kd * err_zd) >> 21) + ((guidance_v_ki * guidance_v_z_sum_err) >> 21); - // z-axis pointing down -> positive error means we need less thrust - guidance_v_delta_t = - (guidance_v_ff_cmd + guidance_v_fb_cmd); - // guidance_v_delta_t = -guidance_v_fb_cmd; - +// z-axis pointing down -> positive error means we need less thrust + guidance_v_delta_t = -(guidance_v_ff_cmd + guidance_v_fb_cmd); } diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.h b/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.h index f68367f22b..7f045c2415 100644 --- a/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.h +++ b/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.h @@ -1,6 +1,4 @@ /* - * $Id$ - * * Copyright (C) 2008-2009 Antoine Drouin * * This file is part of paparazzi. @@ -26,6 +24,17 @@ #include "std.h" +/** Supervision default bounds + * In case Asctec controllers are used without supervision + * Used in control and adaptation filter + * */ +#ifndef SUPERVISION_MIN_MOTOR +#define SUPERVISION_MIN_MOTOR 1 +#endif +#ifndef SUPERVISION_MAX_MOTOR +#define SUPERVISION_MAX_MOTOR 200 +#endif + #include "firmwares/rotorcraft/guidance/guidance_v_ref.h" #include "firmwares/rotorcraft/guidance/guidance_v_adpt.h" @@ -38,19 +47,44 @@ extern uint8_t guidance_v_mode; +/** altitude setpoint in meters (input). + * fixed point representation: Q23.8 + * accuracy 0.0039, range 8388km + */ extern int32_t guidance_v_z_sp; -extern int32_t guidance_v_zd_sp; -extern int32_t guidance_v_z_ref; -extern int32_t guidance_v_zd_ref; -extern int32_t guidance_v_zdd_ref; -extern int32_t guidance_v_z_sum_err; -extern int32_t guidance_v_ff_cmd; -extern int32_t guidance_v_fb_cmd; -extern int32_t guidance_v_delta_t; -extern int32_t guidance_v_kp; -extern int32_t guidance_v_kd; -extern int32_t guidance_v_ki; +/** vertical speed setpoint in meter/s (input). + * fixed point representation: Q12.19 + * accuracy 0.0000019, range +/-4096 + */ +extern int32_t guidance_v_zd_sp; + +/** altitude reference in meters. + * fixed point representation: Q23.8 + * accuracy 0.0039, range 8388km + */ +extern int32_t guidance_v_z_ref; + +/** vertical speed reference in meter/s. + * fixed point representation: Q12.19 + * accuracy 0.0000038, range 4096 + */ +extern int32_t guidance_v_zd_ref; + +/** vertical acceleration reference in meter/s^2. + * fixed point representation: Q21.10 + * accuracy 0.0009766, range 2097152 + */ +extern int32_t guidance_v_zdd_ref; + +extern int32_t guidance_v_z_sum_err; ///< accumulator for I-gain +extern int32_t guidance_v_ff_cmd; ///< feed-forward command +extern int32_t guidance_v_fb_cmd; ///< feed-back command +extern int32_t guidance_v_delta_t; ///< command output (ff+fb) + +extern int32_t guidance_v_kp; ///< vertical control P-gain +extern int32_t guidance_v_kd; ///< vertical control D-gain +extern int32_t guidance_v_ki; ///< vertical control I-gain extern void guidance_v_init(void); extern void guidance_v_read_rc(void); diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_v_adpt.h b/sw/airborne/firmwares/rotorcraft/guidance/guidance_v_adpt.h index e57bcbc721..8039527984 100644 --- a/sw/airborne/firmwares/rotorcraft/guidance/guidance_v_adpt.h +++ b/sw/airborne/firmwares/rotorcraft/guidance/guidance_v_adpt.h @@ -1,6 +1,4 @@ /* - * $Id$ - * * Copyright (C) 2009-2010 The Paparazzi Team * * This file is part of paparazzi. @@ -19,37 +17,67 @@ * along with paparazzi; see the file COPYING. If not, write to * the Free Software Foundation, 59 Temple Place - Suite 330, * Boston, MA 02111-1307, USA. + */ + +/** @file guidance_v_adapt.h + * Adaptation bloc of the vertical guidance. * - * - * Adaptation bloc of the vertical guidance - * This is a dimension one kalman filter estimating - * the ratio of vertical acceleration over thrust command ( ~ invert of the mass ) - * needed by the invert dynamic model to produce a nominal command + * This is a dimension one kalman filter estimating + * the ratio of vertical acceleration over thrust command ( ~ invert of the mass ) + * needed by the invert dynamic model to produce a nominal command */ #ifndef GUIDANCE_V_ADPT #define GUIDANCE_V_ADPT +/** Adapt noise factor. + * Smaller values will make the filter to adapter faster + * Bigger values (slower adaptation) make the filter more robust to external perturbations + * Factor should always be >0 + */ +#ifndef GUIDANCE_V_ADAPT_NOISE_FACTOR +#define GUIDANCE_V_ADAPT_NOISE_FACTOR 1.0 +#endif + +/** Filter is not fed if accel values are more than +/- MAX_ACCEL + * MAX_ACCEL is a positive value in m/s^2 + */ +#ifndef GUIDANCE_V_ADAPT_MAX_ACCEL +#define GUIDANCE_V_ADAPT_MAX_ACCEL 4.0 +#endif + +/** Filter is not fed if command values are out of a % of MIN/MAX_SUPERVISION + * MAX_CMD and MIN_CMD must be between 0 and 1 with MIN_CMD < MAX_CMD + */ +#ifndef GUIDANCE_V_ADAPT_MAX_CMD +#define GUIDANCE_V_ADAPT_MAX_CMD 0.9 +#endif +#ifndef GUIDANCE_V_ADAPT_MIN_CMD +#define GUIDANCE_V_ADAPT_MIN_CMD 0.1 +#endif + +/** State of the estimator. + * fixed point representation with #GV_ADAPT_X_FRAC + * Q13.18 + */ extern int32_t gv_adapt_X; +#define GV_ADAPT_X_FRAC 18 + +/** Covariance. + * fixed point representation with #GV_ADAPT_P_FRAC + * Q13.18 + */ extern int32_t gv_adapt_P; +#define GV_ADAPT_P_FRAC 18 + +/** Measurement */ extern int32_t gv_adapt_Xmeas; #ifdef GUIDANCE_V_C -/* Our State - Q13.18 -*/ int32_t gv_adapt_X; -#define GV_ADAPT_X_FRAC 18 - -/* Our covariance - Q13.18 -*/ int32_t gv_adapt_P; -#define GV_ADAPT_P_FRAC 18 - -/* Our measurement */ int32_t gv_adapt_Xmeas; @@ -59,87 +87,97 @@ int32_t gv_adapt_Xmeas; #define GV_ADAPT_P0_F 0.5 #define GV_ADAPT_P0 BFP_OF_REAL(GV_ADAPT_P0_F, GV_ADAPT_P_FRAC) -/* System and Measuremement noises */ +/* System noises */ #define GV_ADAPT_SYS_NOISE_F 0.00005 #define GV_ADAPT_SYS_NOISE BFP_OF_REAL(GV_ADAPT_SYS_NOISE_F, GV_ADAPT_P_FRAC) -#if !USE_ADAPT_HOVER - -#define GV_ADAPT_MEAS_NOISE_F 2.0 -#define GV_ADAPT_MEAS_NOISE BFP_OF_REAL(GV_ADAPT_MEAS_NOISE_F, GV_ADAPT_P_FRAC) - -#else /* USE_ADAPT_HOVER */ - -#define GV_ADAPT_MEAS_NOISE_HOVER_F 10.0 +/* Measuremement noises */ +#define GV_ADAPT_MEAS_NOISE_HOVER_F (8.0*GUIDANCE_V_ADAPT_NOISE_FACTOR) #define GV_ADAPT_MEAS_NOISE_HOVER BFP_OF_REAL(GV_ADAPT_MEAS_NOISE_HOVER_F, GV_ADAPT_P_FRAC) -#define GV_ADAPT_MEAS_NOISE_F 50.0 -#define GV_ADAPT_MEAS_NOISE BFP_OF_REAL(GV_ADAPT_MEAS_NOISE_F, GV_ADAPT_P_FRAC) +#define GV_ADAPT_MEAS_NOISE_OF_ZD (20.0*GUIDANCE_V_ADAPT_NOISE_FACTOR) -#define GV_ADAPT_MAX_ACCEL ACCEL_BFP_OF_REAL(4.0) -#define GV_ADAPT_HOVER_ACCEL ACCEL_BFP_OF_REAL(1.0) -#define GV_ADAPT_MAX_CMD 180 -#define GV_ADAPT_MIN_CMD 20 -#define GV_ADAPT_HOVER_MAX_CMD 120 -#define GV_ADAPT_HOVER_MIN_CMD 60 +/* Max accel */ +#define GV_ADAPT_MAX_ACCEL ACCEL_BFP_OF_REAL(GUIDANCE_V_ADAPT_MAX_ACCEL) + +/* Command bounds */ +#define GV_ADAPT_MAX_CMD ((int32_t)Blend(SUPERVISION_MAX_MOTOR, SUPERVISION_MIN_MOTOR, GUIDANCE_V_ADAPT_MAX_CMD)) +#define GV_ADAPT_MIN_CMD ((int32_t)Blend(SUPERVISION_MAX_MOTOR, SUPERVISION_MIN_MOTOR, GUIDANCE_V_ADAPT_MIN_CMD)) + +/* Output bounds. + * Don't let it climb over a value that would + * give less than zero throttle and don't let it down to zero. + * Worst cases: + * MIN_ACCEL / MAX_THROTTLE + * MAX_ACCEL / MIN_THROTTLE + * ex: + * 9.81*2^18/255 = 10084 + * 9.81*2^18/1 = 2571632 + */ +// TODO Check this properly +#define GV_ADAPT_MAX_OUT (BFP_OF_REAL(9.81, GV_ADAPT_X_FRAC) / SUPERVISION_MIN_MOTOR) +#define GV_ADAPT_MIN_OUT (BFP_OF_REAL(9.81, GV_ADAPT_X_FRAC) / SUPERVISION_MAX_MOTOR) -#endif /* USE_ADAPT_HOVER */ static inline void gv_adapt_init(void) { gv_adapt_X = GV_ADAPT_X0; gv_adapt_P = GV_ADAPT_P0; } -/* - zdd_meas : INT32_ACCEL_FRAC - thrust_applied : controller input [2-200] -*/ #define K_FRAC 12 -static inline void gv_adapt_run(int32_t zdd_meas, int32_t thrust_applied) { - /* Do you really think we want to divide by zero ? */ - if (thrust_applied == 0) return; +/** Adaptation function. + * @param zdd_meas vert accel measurement in m/s^2 with #INT32_ACCEL_FRAC + * @param thrust_applied controller input [SUPERVISION_MIN_MOTOR, SUPERVISION_MAX_MOTOR] + * @param zd_ref vertical speed reference in m/s with #INT32_SPEED_FRAC + */ +static inline void gv_adapt_run(int32_t zdd_meas, int32_t thrust_applied, int32_t zd_ref) { + + /* Do you really think we want to divide by zero ? + * Negative commands are also prohibited here + */ + if (thrust_applied <= 0) return; + /* We don't propagate state, it's constant ! */ /* We propagate our covariance */ gv_adapt_P = gv_adapt_P + GV_ADAPT_SYS_NOISE; - /* Compute our measurement. If zdd_meas is in the range +/-5g, meas is less than 24 bits */ - const int32_t g_m_zdd = ((int32_t)BFP_OF_REAL(9.81, INT32_ACCEL_FRAC) - zdd_meas)<<(GV_ADAPT_X_FRAC - INT32_ACCEL_FRAC); -#if USE_ADAPT_HOVER + /* Update only if accel and commands are in a valid range */ if (thrust_applied < GV_ADAPT_MIN_CMD || thrust_applied > GV_ADAPT_MAX_CMD - || zdd_meas < -GV_ADAPT_MAX_ACCEL || zdd_meas > GV_ADAPT_MAX_ACCEL) + || zdd_meas < -GV_ADAPT_MAX_ACCEL || zdd_meas > GV_ADAPT_MAX_ACCEL) { return; -#endif - if ( g_m_zdd > 0) + } + + /* Compute our measurement. If zdd_meas is in the range +/-5g, meas is less than 24 bits */ + const int32_t g_m_zdd = ((int32_t)BFP_OF_REAL(9.81, INT32_ACCEL_FRAC) - zdd_meas)<<(GV_ADAPT_X_FRAC - INT32_ACCEL_FRAC); + if ( g_m_zdd > 0) { gv_adapt_Xmeas = (g_m_zdd + (thrust_applied>>1)) / thrust_applied; - else + } else { gv_adapt_Xmeas = (g_m_zdd - (thrust_applied>>1)) / thrust_applied; + } + /* Compute a residual */ int32_t residual = gv_adapt_Xmeas - gv_adapt_X; + /* Covariance Error */ - int32_t E = 0; -#if USE_ADAPT_HOVER - if ((thrust_applied > GV_ADAPT_HOVER_MIN_CMD && thrust_applied < GV_ADAPT_HOVER_MAX_CMD) || - (zdd_meas > -GV_ADAPT_HOVER_ACCEL && zdd_meas < GV_ADAPT_HOVER_ACCEL)) - E = gv_adapt_P + GV_ADAPT_MEAS_NOISE_HOVER; - else -#endif - E = gv_adapt_P + GV_ADAPT_MEAS_NOISE; + int32_t ref = zd_ref >> (INT32_SPEED_FRAC - GV_ADAPT_P_FRAC); + if (zd_ref < 0) ref = -ref; + int32_t E = gv_adapt_P + GV_ADAPT_MEAS_NOISE_HOVER + ref * GV_ADAPT_MEAS_NOISE_OF_ZD; + /* Kalman gain */ int32_t K = (gv_adapt_P<>K_FRAC); /* Don't let covariance climb over initial value */ if (gv_adapt_P > GV_ADAPT_P0) gv_adapt_P = GV_ADAPT_P0; + /* Update State */ gv_adapt_X = gv_adapt_X + ((K * residual)>>K_FRAC); + /* Again don't let it climb over a value that would - give less than zero throttle and don't let it down to zero. - 30254 = MAX_ACCEL*GV_ADAPT_X_FRAC/MAX_THROTTLE - aka - 30254 = 3*9.81*2^8/255 - 2571632 = 9.81*2^18 - */ - Bound(gv_adapt_X, 10000, 2571632); + * give less than zero throttle and don't let it down to zero. + */ + Bound(gv_adapt_X, GV_ADAPT_MIN_OUT, GV_ADAPT_MAX_OUT); } diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_v_ref.h b/sw/airborne/firmwares/rotorcraft/guidance/guidance_v_ref.h index 1b676645c1..171acc679d 100644 --- a/sw/airborne/firmwares/rotorcraft/guidance/guidance_v_ref.h +++ b/sw/airborne/firmwares/rotorcraft/guidance/guidance_v_ref.h @@ -1,6 +1,4 @@ /* - * $Id$ - * * Copyright (C) 2008-2009 Antoine Drouin * * This file is part of paparazzi. @@ -29,24 +27,35 @@ #include "math/pprz_algebra.h" #include "math/pprz_algebra_int.h" -/* update frequency */ +/* update frequency */ #define GV_FREQ_FRAC 9 #define GV_FREQ (1<>(_b)) #define OFFSET_AND_ROUND2(_a, _b) (((_a)+(1<<((_b)-1))-((_a)<0?1:0))>>(_b)) diff --git a/sw/airborne/firmwares/rotorcraft/telemetry.h b/sw/airborne/firmwares/rotorcraft/telemetry.h index dc082f0cfb..7b26608664 100644 --- a/sw/airborne/firmwares/rotorcraft/telemetry.h +++ b/sw/airborne/firmwares/rotorcraft/telemetry.h @@ -57,6 +57,7 @@ #define PERIODIC_SEND_ROTORCRAFT_STATUS(_trans, _dev) { \ uint32_t imu_nb_err = 0; \ uint8_t _twi_blmc_nb_err = 0; \ + uint16_t time_sec = sys_time.nb_sec; \ DOWNLINK_SEND_ROTORCRAFT_STATUS(_trans, _dev, \ &imu_nb_err, \ &_twi_blmc_nb_err, \ @@ -69,7 +70,7 @@ &guidance_h_mode, \ &guidance_v_mode, \ &electrical.vsupply, \ - &sys_time.nb_sec \ + &time_sec \ ); \ } #else /* !USE_GPS */ @@ -77,6 +78,7 @@ uint32_t imu_nb_err = 0; \ uint8_t twi_blmc_nb_err = 0; \ uint8_t fix = GPS_FIX_NONE; \ + uint16_t time_sec = sys_time.nb_sec; \ DOWNLINK_SEND_ROTORCRAFT_STATUS(_trans, _dev, \ &imu_nb_err, \ &twi_blmc_nb_err, \ @@ -89,7 +91,7 @@ &guidance_h_mode, \ &guidance_v_mode, \ &electrical.vsupply, \ - &sys_time.nb_sec \ + &time_sec \ ); \ } #endif /* USE_GPS */ @@ -512,11 +514,11 @@ &b2_hff_state.yP[1][1]); \ } #ifdef GPS_LAG -#define PERIODIC_SEND_HFF_GPS(_trans, _dev) { \ - DOWNLINK_SEND_HFF_GPS(_trans, _dev, \ - &b2_hff_rb_last->lag_counter, \ - &lag_counter_err, \ - &save_counter); \ +#define PERIODIC_SEND_HFF_GPS(_trans, _dev) { \ + DOWNLINK_SEND_HFF_GPS(_trans, _dev, \ + &(b2_hff_rb_last->lag_counter), \ + &lag_counter_err, \ + &save_counter); \ } #else #define PERIODIC_SEND_HFF_GPS(_trans, _dev) {} @@ -747,12 +749,8 @@ ); \ } -//TODO replace by BOOZ_EXTRA_ADC -#ifdef BOOZ2_SONAR -#define PERIODIC_SEND_BOOZ2_SONAR(_trans, _dev) DOWNLINK_SEND_BOOZ2_SONAR(_trans, _dev,&booz2_adc_1,&booz2_adc_2,&booz2_adc_3,&booz2_adc_4); -#else +// FIXME: still used?? or replace by EXTRA_ADC #define PERIODIC_SEND_BOOZ2_SONAR(_trans, _dev) {} -#endif #ifdef BOOZ2_TRACK_CAM #include "cam_track.h" diff --git a/sw/airborne/firmwares/vor/lo.h b/sw/airborne/firmwares/vor/lo.h old mode 100755 new mode 100644 diff --git a/sw/airborne/firmwares/vor/vor_int_demod_decim.c b/sw/airborne/firmwares/vor/vor_int_demod_decim.c old mode 100755 new mode 100644 diff --git a/sw/airborne/firmwares/vor/vor_int_demod_decim.h b/sw/airborne/firmwares/vor/vor_int_demod_decim.h old mode 100755 new mode 100644 diff --git a/sw/airborne/firmwares/vor/vor_int_filters_decim.h b/sw/airborne/firmwares/vor/vor_int_filters_decim.h old mode 100755 new mode 100644 diff --git a/sw/airborne/lisa/test/lisa_test_ms2100.c b/sw/airborne/lisa/test/lisa_test_ms2100.c index 2d20f2aece..b493f1193c 100644 --- a/sw/airborne/lisa/test/lisa_test_ms2100.c +++ b/sw/airborne/lisa/test/lisa_test_ms2100.c @@ -70,11 +70,11 @@ static inline void main_periodic_task( void ) { switch(ms2100_status) { case MS2100_IDLE: - Ms2001SendReq(); + Ms2100SendReq(); break; case MS2100_WAITING_EOC: - if (Ms2001HasEOC()) { - Ms2001ReadRes(); + if (Ms2100HasEOC()) { + Ms2100ReadRes(); } break; } diff --git a/sw/airborne/modules/nav/nav_catapult.c b/sw/airborne/modules/nav/nav_catapult.c index 8527674756..442629871c 100644 --- a/sw/airborne/modules/nav/nav_catapult.c +++ b/sw/airborne/modules/nav/nav_catapult.c @@ -64,7 +64,7 @@ static uint16_t nav_catapult_launch = 0; #endif #ifndef NAV_CATAPULT_MOTOR_DELAY -#define NAV_CATAPULT_MOTOR_DELAY 20 // Main Control Loops +#define NAV_CATAPULT_MOTOR_DELAY 45 // Main Control Loops #endif #define NAV_CATAPULT_HEADING_DELAY (60 * 3) @@ -124,7 +124,7 @@ bool_t nav_catapult_init(void) -bool_t nav_catapult(uint8_t _climb) +bool_t nav_catapult(uint8_t _to, uint8_t _climb) { float alt = WaypointAlt(_climb); @@ -154,6 +154,10 @@ bool_t nav_catapult(uint8_t _climb) NavVerticalThrottleMode(9600*(0)); // Store take-off waypoint + WaypointX(_to) = GetPosX(); + WaypointY(_to) = GetPosY(); + WaypointAlt(_to) = GetPosAlt(); + nav_catapult_x = estimator_x; nav_catapult_y = estimator_y; @@ -192,3 +196,14 @@ bool_t nav_catapult(uint8_t _climb) return TRUE; } // end of gls() + +bool_t nav_select_touch_down(uint8_t _td) +{ + WaypointX(_td) = GetPosX(); + WaypointY(_td) = GetPosY(); + WaypointAlt(_td) = GetPosAlt(); + return FALSE; +} + + + diff --git a/sw/airborne/modules/nav/nav_catapult.h b/sw/airborne/modules/nav/nav_catapult.h index 5898612255..91b989507a 100644 --- a/sw/airborne/modules/nav/nav_catapult.h +++ b/sw/airborne/modules/nav/nav_catapult.h @@ -39,7 +39,9 @@ void nav_catapult_highrate_module(void); extern bool_t nav_catapult_init(void); extern bool_t nav_catapult_arm(void); -extern bool_t nav_catapult(uint8_t _climb); +extern bool_t nav_catapult(uint8_t _to, uint8_t _climb); extern bool_t nav_catapult_disarm(void); +extern bool_t nav_select_touch_down(uint8_t _td); + #endif diff --git a/sw/airborne/modules/openlog/openlog.c b/sw/airborne/modules/openlog/openlog.c old mode 100755 new mode 100644 diff --git a/sw/airborne/modules/openlog/openlog.h b/sw/airborne/modules/openlog/openlog.h old mode 100755 new mode 100644 diff --git a/sw/airborne/modules/sensors/airspeed_amsys.c b/sw/airborne/modules/sensors/airspeed_amsys.c old mode 100755 new mode 100644 diff --git a/sw/airborne/modules/sensors/airspeed_amsys.h b/sw/airborne/modules/sensors/airspeed_amsys.h old mode 100755 new mode 100644 diff --git a/sw/airborne/modules/sensors/baro_amsys.c b/sw/airborne/modules/sensors/baro_amsys.c old mode 100755 new mode 100644 diff --git a/sw/airborne/modules/sensors/baro_amsys.h b/sw/airborne/modules/sensors/baro_amsys.h old mode 100755 new mode 100644 diff --git a/sw/airborne/subsystems/gps.h b/sw/airborne/subsystems/gps.h index 4554855932..41728b4a2e 100644 --- a/sw/airborne/subsystems/gps.h +++ b/sw/airborne/subsystems/gps.h @@ -37,10 +37,6 @@ #include GPS_TYPE_H #endif -#define GPS_FIX_NONE 0x00 -#define GPS_FIX_2D 0x02 -#define GPS_FIX_3D 0x03 - #define GpsFixValid() (gps.fix == GPS_FIX_3D) diff --git a/sw/airborne/subsystems/gps/gps_mtk.c b/sw/airborne/subsystems/gps/gps_mtk.c index 3707285244..ae54d20318 100644 --- a/sw/airborne/subsystems/gps/gps_mtk.c +++ b/sw/airborne/subsystems/gps/gps_mtk.c @@ -156,16 +156,7 @@ void gps_mtk_read_message(void) { gps.speed_3d = gps.gspeed; gps.course = (RadOfDeg(MTK_DIY14_NAV_Heading(gps_mtk.msg_buf)))*10; gps.num_sv = MTK_DIY14_NAV_numSV(gps_mtk.msg_buf); - switch (MTK_DIY14_NAV_GPSfix(gps_mtk.msg_buf)) { - case MTK_DIY_FIX_3D: - gps.fix = GPS_FIX_3D; - break; - case MTK_DIY_FIX_2D: - gps.fix = GPS_FIX_2D; - break; - default: - gps.fix = GPS_FIX_NONE; - } + gps.fix = MTK_DIY14_NAV_GPSfix(gps_mtk.msg_buf); gps.tow = MTK_DIY14_NAV_ITOW(gps_mtk.msg_buf);; // FIXME: with MTK DIY 1.4 you do not receive GPS week gps.week = 0; diff --git a/sw/airborne/subsystems/gps/gps_mtk.h b/sw/airborne/subsystems/gps/gps_mtk.h index 904e665171..b28bdaf365 100644 --- a/sw/airborne/subsystems/gps/gps_mtk.h +++ b/sw/airborne/subsystems/gps/gps_mtk.h @@ -28,6 +28,10 @@ /** Includes macros generated from mtk.xml */ #include "mtk_protocol.h" +#define GPS_FIX_NONE 0x01 +#define GPS_FIX_2D 0x02 +#define GPS_FIX_3D 0x03 + #define GPS_MTK_MAX_PAYLOAD 255 struct GpsMtk { @@ -105,10 +109,6 @@ extern bool_t gps_configuring; extern void gps_mtk_read_message(void); extern void gps_mtk_parse(uint8_t c); -#define MTK_DIY_FIX_3D 3 -#define MTK_DIY_FIX_2D 2 -#define MTK_DIY_FIX_NONE 1 - /* * dynamic GPS configuration */ diff --git a/sw/airborne/subsystems/gps/gps_nmea.c b/sw/airborne/subsystems/gps/gps_nmea.c index 961a548330..489df5e2ce 100644 --- a/sw/airborne/subsystems/gps/gps_nmea.c +++ b/sw/airborne/subsystems/gps/gps_nmea.c @@ -37,7 +37,7 @@ #include "led.h" -#ifdef GPS_USE_LATLONG +#if GPS_USE_LATLONG #include "subsystems/nav.h" #include "math/pprz_geodetic_float.h" #endif diff --git a/sw/airborne/subsystems/gps/gps_nmea.h b/sw/airborne/subsystems/gps/gps_nmea.h index 20f8452d39..16c9706b7d 100644 --- a/sw/airborne/subsystems/gps/gps_nmea.h +++ b/sw/airborne/subsystems/gps/gps_nmea.h @@ -20,8 +20,8 @@ * */ -/** \file gps_nmea.h - * \brief NMEA protocol specific code +/** @file gps_nmea.h + * NMEA protocol specific code * */ @@ -33,6 +33,10 @@ #define GPS_NB_CHANNELS 16 +#define GPS_FIX_NONE 0x00 +#define GPS_FIX_2D 0x02 +#define GPS_FIX_3D 0x03 + #ifdef DEBUG_NMEA #define NMEA_PRINT(...) { UsbSPrintString( __VA_ARGS__);}; #else diff --git a/sw/airborne/subsystems/gps/gps_sim.h b/sw/airborne/subsystems/gps/gps_sim.h index 4f84766cc5..3f07b17b9a 100644 --- a/sw/airborne/subsystems/gps/gps_sim.h +++ b/sw/airborne/subsystems/gps/gps_sim.h @@ -3,6 +3,10 @@ #include "std.h" +#define GPS_FIX_NONE 0x00 +#define GPS_FIX_2D 0x02 +#define GPS_FIX_3D 0x03 + #define GPS_NB_CHANNELS 16 extern bool_t gps_available; diff --git a/sw/airborne/subsystems/gps/gps_sim_nps.h b/sw/airborne/subsystems/gps/gps_sim_nps.h index e1dd5fc05d..b5933b88dd 100644 --- a/sw/airborne/subsystems/gps/gps_sim_nps.h +++ b/sw/airborne/subsystems/gps/gps_sim_nps.h @@ -3,6 +3,10 @@ #include "nps_sensors.h" +#define GPS_FIX_NONE 0x00 +#define GPS_FIX_2D 0x02 +#define GPS_FIX_3D 0x03 + #define GPS_NB_CHANNELS 16 extern bool_t gps_available; diff --git a/sw/airborne/subsystems/gps/gps_skytraq.c b/sw/airborne/subsystems/gps/gps_skytraq.c index 30ab9674fb..06d10bf8e8 100644 --- a/sw/airborne/subsystems/gps/gps_skytraq.c +++ b/sw/airborne/subsystems/gps/gps_skytraq.c @@ -21,6 +21,11 @@ #include "subsystems/gps.h" +#if GPS_USE_LATLONG +#include "subsystems/nav.h" +#include "math/pprz_geodetic_float.h" +#endif + struct GpsSkytraq gps_skytraq; /* parser status */ @@ -68,6 +73,23 @@ void gps_skytraq_read_message(void) { gps.num_sv = SKYTRAQ_NAVIGATION_DATA_NumSV(gps_skytraq.msg_buf); gps.fix = SKYTRAQ_NAVIGATION_DATA_FixMode(gps_skytraq.msg_buf); gps.tow = SKYTRAQ_NAVIGATION_DATA_TOW(gps_skytraq.msg_buf)/10; + +#if GPS_USE_LATLONG + /* Computes from (lat, long) in the referenced UTM zone */ + struct LlaCoor_f lla_f; + lla_f.lat = ((float) gps.lla_pos.lat) / 1e7; + lla_f.lon = ((float) gps.lla_pos.lon) / 1e7; + struct UtmCoor_f utm_f; + utm_f.zone = nav_utm_zone0; + /* convert to utm */ + utm_of_lla_f(&utm_f, &lla_f); + /* copy results of utm conversion */ + gps.utm_pos.east = utm_f.east*100; + gps.utm_pos.north = utm_f.north*100; + gps.utm_pos.alt = utm_f.alt*1000; + gps.utm_pos.zone = nav_utm_zone0; +#else + //DEBUG_S2_TOGGLE(); #ifdef GPS_LED diff --git a/sw/airborne/subsystems/gps/gps_skytraq.h b/sw/airborne/subsystems/gps/gps_skytraq.h index d7c24bbd3a..655ce3e4e1 100644 --- a/sw/airborne/subsystems/gps/gps_skytraq.h +++ b/sw/airborne/subsystems/gps/gps_skytraq.h @@ -24,6 +24,13 @@ #include "mcu_periph/uart.h" + +#define GPS_FIX_NONE 0x00 +#define GPS_FIX_2D 0x01 +#define GPS_FIX_3D 0x02 +#define GPS_FIX_3D_DGPS 0x03 + + #define SKYTRAQ_SYNC1 0xA0 #define SKYTRAQ_SYNC2 0xA1 diff --git a/sw/airborne/subsystems/gps/gps_ubx.c b/sw/airborne/subsystems/gps/gps_ubx.c index 002263bfb0..c01c34a746 100644 --- a/sw/airborne/subsystems/gps/gps_ubx.c +++ b/sw/airborne/subsystems/gps/gps_ubx.c @@ -24,7 +24,7 @@ #include "led.h" -#ifdef GPS_USE_LATLONG +#if GPS_USE_LATLONG #include "subsystems/nav.h" #include "math/pprz_geodetic_float.h" #endif @@ -124,7 +124,7 @@ void gps_ubx_read_message(void) { gps.lla_pos.lon = RadOfDeg(UBX_NAV_POSLLH_LON(gps_ubx.msg_buf)); gps.lla_pos.alt = UBX_NAV_POSLLH_HEIGHT(gps_ubx.msg_buf); gps.hmsl = UBX_NAV_POSLLH_HMSL(gps_ubx.msg_buf); -#ifdef GPS_USE_LATLONG +#if GPS_USE_LATLONG /* Computes from (lat, long) in the referenced UTM zone */ struct LlaCoor_f lla_f; lla_f.lat = ((float) gps.lla_pos.lat) / 1e7; diff --git a/sw/airborne/subsystems/gps/gps_ubx.h b/sw/airborne/subsystems/gps/gps_ubx.h index 6929701ec0..6b811993c4 100644 --- a/sw/airborne/subsystems/gps/gps_ubx.h +++ b/sw/airborne/subsystems/gps/gps_ubx.h @@ -38,6 +38,10 @@ #define GPS_NB_CHANNELS 16 +#define GPS_FIX_NONE 0x00 +#define GPS_FIX_2D 0x02 +#define GPS_FIX_3D 0x03 + #define GPS_UBX_MAX_PAYLOAD 255 struct GpsUbx { bool_t msg_available; diff --git a/sw/airborne/subsystems/imu/imu_aspirin2.c b/sw/airborne/subsystems/imu/imu_aspirin2.c index 8b905cc734..990861a69e 100644 --- a/sw/airborne/subsystems/imu/imu_aspirin2.c +++ b/sw/airborne/subsystems/imu/imu_aspirin2.c @@ -6,6 +6,7 @@ // Peripherials #include "../../peripherals/mpu60X0.h" +#include "../../peripherals/hmc58xx.h" struct ImuAspirin2 imu_aspirin2; @@ -37,10 +38,10 @@ void imu_impl_init(void) { } -void imu_periodic(void) +void imu_periodic(void) { - if (imu_aspirin2.status == Aspirin2StatusUninit) + if (imu_aspirin2.status == Aspirin2StatusUninit) { configure(); // imu_aspirin_arch_int_enable(); @@ -64,49 +65,62 @@ void imu_periodic(void) /* imu_aspirin.time_since_last_reading++; imu_aspirin.time_since_last_accel_reading++; - if (imu_aspirin.time_since_last_accel_reading > ASPIRIN_ACCEL_TIMEOUT) + if (imu_aspirin.time_since_last_accel_reading > ASPIRIN_ACCEL_TIMEOUT) { configure_accel(); imu_aspirin.time_since_last_accel_reading=0; } */ - } + } } -static void configure(void) +static inline void mpu_set(uint8_t _reg, uint8_t _val) +{ + aspirin2_mpu60x0.mosi_buf[0] = _reg; + aspirin2_mpu60x0.mosi_buf[1] = _val; + spi_rw(&aspirin2_mpu60x0); + while(aspirin2_mpu60x0.status != SPITransSuccess); +} + +static inline void mpu_wait_slave4_ready(void) +{ + uint8_t ret = 0x80; + while (ret & 0x80) + { + aspirin2_mpu60x0.mosi_buf[0] = MPU60X0_REG_I2C_SLV4_CTRL | MPU60X0_SPI_READ ; + aspirin2_mpu60x0.mosi_buf[1] = 0; + spi_rw(&aspirin2_mpu60x0); + while(aspirin2_mpu60x0.status != SPITransSuccess); + + ret = aspirin2_mpu60x0.miso_buf[1]; + } +} + + + +static void configure(void) { aspirin2_mpu60x0.length = 2; /////////////////// // Configure power: - // MPU60X0_REG_AUX_VDDIO = 0 (good on startup) - - // MPU60X0_REG_USER_CTRL: - // -Enable Aux I2C Master Mode - // -Enable SPI - // MPU60X0_REG_PWR_MGMT_1 - // -switch to gyroX clock - aspirin2_mpu60x0.mosi_buf[0] = MPU60X0_REG_PWR_MGMT_1; - aspirin2_mpu60x0.mosi_buf[1] = 0x01; - spi_rw(&aspirin2_mpu60x0); - while(aspirin2_mpu60x0.status != SPITransSuccess); + mpu_set( MPU60X0_REG_PWR_MGMT_1, + 0x01); // -switch to gyroX clock // MPU60X0_REG_PWR_MGMT_2: Nothing should be in standby: default OK + // -No standby and no wake timer ///////////////////////// // Measurement Settings - // MPU60X0_REG_CONFIG - // -ext sync on gyro X (bit 3->6) - // -digital low pass filter: 1kHz sampling of gyro/acc with 44Hz bandwidth: since reading is at 100Hz #if PERIODIC_FREQUENCY == 60 // Accelerometer: Bandwidth 44Hz, Delay 4.9ms // Gyroscope: Bandwidth 42Hz, Delay 4.8ms sampling 1Khz -#define MPU_DIG_FILTER 3 +# define MPU_DIG_FILTER 3 // -100Hz output = 1kHz / (9 + 1) -#define MPU_SMPLRT_DIV 9 +# define MPU_SMPLRT_DIV 9 #else # if PERIODIC_FREQUENCY == 120 // Accelerometer: Bandwidth 44Hz, Delay 4.9ms @@ -126,73 +140,93 @@ static void configure(void) # endif # endif #endif - aspirin2_mpu60x0.mosi_buf[0] = MPU60X0_REG_CONFIG; - aspirin2_mpu60x0.mosi_buf[1] = (2 << 3) | (MPU_DIG_FILTER << 0); - spi_rw(&aspirin2_mpu60x0); - while(aspirin2_mpu60x0.status != SPITransSuccess); + // MPU60X0_REG_CONFIG + mpu_set( MPU60X0_REG_CONFIG, + (2 << 3) | // Fsync / ext sync on gyro X (bit 3->6) + (MPU_DIG_FILTER << 0) ); // Low-Pass Filter // MPU60X0_REG_SMPLRT_DIV - aspirin2_mpu60x0.mosi_buf[0] = MPU60X0_REG_SMPLRT_DIV; - aspirin2_mpu60x0.mosi_buf[1] = MPU_SMPLRT_DIV; - spi_rw(&aspirin2_mpu60x0); - while(aspirin2_mpu60x0.status != SPITransSuccess); + mpu_set( MPU60X0_REG_SMPLRT_DIV, MPU_SMPLRT_DIV); // MPU60X0_REG_GYRO_CONFIG - // -2000deg/sec - aspirin2_mpu60x0.mosi_buf[0] = MPU60X0_REG_GYRO_CONFIG; - aspirin2_mpu60x0.mosi_buf[1] = (3<<3); - spi_rw(&aspirin2_mpu60x0); - while(aspirin2_mpu60x0.status != SPITransSuccess); + mpu_set( MPU60X0_REG_GYRO_CONFIG, + (3 << 3) ); // -2000deg/sec // MPU60X0_REG_ACCEL_CONFIG - // 16g, no HPFL - aspirin2_mpu60x0.mosi_buf[0] = MPU60X0_REG_ACCEL_CONFIG; - aspirin2_mpu60x0.mosi_buf[1] = (3<<3); - spi_rw(&aspirin2_mpu60x0); - while(aspirin2_mpu60x0.status != SPITransSuccess); + mpu_set( MPU60X0_REG_ACCEL_CONFIG, + (0 << 0) | // No HPFL + (3 << 3) ); // Full Scale = 16g -/* - struct i2c_transaction t; - t.type = I2CTransTx; - t.slave_addr = ITG3200_ADDR; - // set gyro range to 2000deg/s and low pass at 256Hz - t.mosi_buf[0] = ITG3200_REG_DLPF_FS; - t.mosi_buf[1] = (0x03<<3); - t.len_w = 2; - send_i2c_msg_with_retry(&t); - // set sample rate to 533Hz - t.mosi_buf[0] = ITG3200_REG_SMPLRT_DIV; - t.mosi_buf[1] = 0x0E; - send_i2c_msg_with_retry(&t); - // switch to gyroX clock - t.mosi_buf[0] = ITG3200_REG_PWR_MGM; - t.mosi_buf[1] = 0x01; - send_i2c_msg_with_retry(&t); - // enable interrupt on data ready, idle high, latch until read any register - t.mosi_buf[0] = ITG3200_REG_INT_CFG; - t.mosi_buf[1] = (0x01 | (0x1<<4) | (0x1<<5) | 0x01<<7); - send_i2c_msg_with_retry(&t); -*/ -} +#ifndef MPU6000_NO_SLAVES + + ///////////////////////////////////// + // SPI Slave Configuration Section + + // Power the Aux I2C Circuit: + // MPU60X0_REG_AUX_VDDIO = 0 (good on startup): (0 << 7); // MPU6000: 0=Vdd. MPU6050 : 0=VLogic 1=Vdd + + // MPU60X0_REG_USER_CTRL: + mpu_set( MPU60X0_REG_USER_CTRL, + (1 << 5) | // I2C_MST_EN: Enable Aux I2C Master Mode + (1 << 4) | // I2C_IF_DIS: Disable I2C on primary interface + (0 << 1) ); // Trigger a I2C_MST_RESET + + // Enable the aux i2c + mpu_set( MPU60X0_REG_I2C_MST_CTRL, + (0 << 7) | // no multimaster + (0 << 6) | // do not delay IRQ waiting for all external slaves + (0 << 5) | // no slave 3 FIFO + (0 << 4) | // restart or stop/start from one slave to another: read -> write is always stop/start + (8 << 0) ); // 0=348kHz 8=256kHz, 9=500kHz -/* -static void configure_accel(void) -{ - // set data rate to 800Hz - adxl345_write_to_reg(ADXL345_REG_BW_RATE, 0x0D); - // switch to measurememnt mode - adxl345_write_to_reg(ADXL345_REG_POWER_CTL, 1<<3); - // enable data ready interrupt - adxl345_write_to_reg(ADXL345_REG_INT_ENABLE, 1<<7); - // Enable full res and interrupt active low - adxl345_write_to_reg(ADXL345_REG_DATA_FORMAT, 1<<3|1<<5); - // clear spi rx reg to make DMA happy - adxl345_clear_rx_buf(); - // reads data once to bring interrupt line up - adxl345_start_reading_data(); + // HMC5883 Magnetometer Configuration + + mpu_set( MPU60X0_REG_I2C_SLV4_ADDR, (HMC58XX_ADDR >> 1)); + mpu_set( MPU60X0_REG_I2C_SLV4_REG, HMC58XX_REG_CFGA); + mpu_set( MPU60X0_REG_I2C_SLV4_DO, HMC58XX_CRA); + mpu_set( MPU60X0_REG_I2C_SLV4_CTRL, + (1 << 7) | // Slave 4 enable + (0 << 6) | // Byte Swap + (0 << 0) ); // Full Speed + + mpu_wait_slave4_ready(); + + mpu_set( MPU60X0_REG_I2C_SLV4_ADDR, (HMC58XX_ADDR >> 1)); + mpu_set( MPU60X0_REG_I2C_SLV4_REG, HMC58XX_REG_CFGB); + mpu_set( MPU60X0_REG_I2C_SLV4_DO, HMC58XX_CRB); + mpu_set( MPU60X0_REG_I2C_SLV4_CTRL, + (1 << 7) | // Slave 4 enable + (0 << 6) | // Byte Swap + (0 << 0) ); // Full Speed + + mpu_wait_slave4_ready(); + + mpu_set( MPU60X0_REG_I2C_SLV4_ADDR, (HMC58XX_ADDR >> 1)); + mpu_set( MPU60X0_REG_I2C_SLV4_REG, HMC58XX_REG_MODE); + mpu_set( MPU60X0_REG_I2C_SLV4_DO, HMC58XX_MD); + mpu_set( MPU60X0_REG_I2C_SLV4_CTRL, + (1 << 7) | // Slave 4 enable + (0 << 6) | // Byte Swap + (0 << 0) ); // Full Speed + + + // HMC5883 Reading: + // a) write hmc-register to HMC + // b) read 6 bytes from HMC + + mpu_set( MPU60X0_REG_I2C_SLV0_ADDR, (HMC58XX_ADDR >> 1) | MPU60X0_SPI_READ); + mpu_set( MPU60X0_REG_I2C_SLV0_REG, HMC58XX_REG_DATXM); + // Put the enable command as last. + mpu_set( MPU60X0_REG_I2C_SLV0_CTRL, + (1 << 7) | // Slave 0 enable + (0 << 6) | // Byte Swap + (6 << 0) ); // Read 6 bytes + + // Slave 0 Control: + + +#endif } -*/ - diff --git a/sw/airborne/subsystems/imu/imu_aspirin2.h b/sw/airborne/subsystems/imu/imu_aspirin2.h index 14b64de6f9..99d8e2d972 100644 --- a/sw/airborne/subsystems/imu/imu_aspirin2.h +++ b/sw/airborne/subsystems/imu/imu_aspirin2.h @@ -138,7 +138,7 @@ extern void imu_aspirin2_arch_init(void); static inline void imu_from_buff(void) { - int32_t x, y, z, p, q, r; + int32_t x, y, z, p, q, r, Mx, My, Mz; // If the itg3200 I2C transaction has succeeded: convert the data @@ -152,6 +152,11 @@ static inline void imu_from_buff(void) y = (int16_t) ((imu_aspirin2.imu_rx_buf[2+MPU_OFFSET_ACC] << 8) | imu_aspirin2.imu_rx_buf[3+MPU_OFFSET_ACC]); z = (int16_t) ((imu_aspirin2.imu_rx_buf[4+MPU_OFFSET_ACC] << 8) | imu_aspirin2.imu_rx_buf[5+MPU_OFFSET_ACC]); +#define MPU_OFFSET_MAG 16 + Mx = (int16_t) ((imu_aspirin2.imu_rx_buf[0+MPU_OFFSET_MAG] << 8) | imu_aspirin2.imu_rx_buf[1+MPU_OFFSET_MAG]); + My = (int16_t) ((imu_aspirin2.imu_rx_buf[2+MPU_OFFSET_MAG] << 8) | imu_aspirin2.imu_rx_buf[3+MPU_OFFSET_MAG]); + Mz = (int16_t) ((imu_aspirin2.imu_rx_buf[4+MPU_OFFSET_MAG] << 8) | imu_aspirin2.imu_rx_buf[5+MPU_OFFSET_MAG]); + #ifdef LISA_M_LONGITUDINAL_X RATES_ASSIGN(imu.gyro_unscaled, q, -p, r); VECT3_ASSIGN(imu.accel_unscaled, y, -x, z); @@ -160,6 +165,8 @@ static inline void imu_from_buff(void) VECT3_ASSIGN(imu.accel_unscaled, x, y, z); #endif + VECT3_ASSIGN(imu.mag_unscaled, Mx, My, Mz); + // Is this is new data #define MPU_OFFSET_STATUS 1 if (imu_aspirin2.imu_rx_buf[MPU_OFFSET_STATUS] & 0x01) @@ -179,7 +186,7 @@ static inline void imu_aspirin2_event(void (* _gyro_handler)(void), void (* _acc // imu_aspirin2_arch_int_disable(); - if (imu_aspirin2.imu_available) + if (imu_aspirin2.imu_available) { imu_aspirin2.time_since_last_reading = 0; imu_aspirin2.imu_available = FALSE; diff --git a/sw/airborne/subsystems/ins.c b/sw/airborne/subsystems/ins.c index 63eb8e54ae..4aeabadb3b 100644 --- a/sw/airborne/subsystems/ins.c +++ b/sw/airborne/subsystems/ins.c @@ -39,10 +39,6 @@ #include "subsystems/ins/hf_float.h" #endif -#ifdef BOOZ2_SONAR -#include "generated/modules.h" -#endif - #ifdef SITL #include "nps_fdm.h" #include @@ -107,7 +103,7 @@ void ins_init() { #endif #if USE_VFF ins_baro_initialised = FALSE; -#ifdef BOOZ2_SONAR +#if USE_SONAR ins_update_on_agl = FALSE; #endif vff_init(0., 0., 0.); diff --git a/sw/logalizer/openlog2tlm.c b/sw/logalizer/openlog2tlm.c old mode 100755 new mode 100644