mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-06 16:58:48 +08:00
[dox] replace backticks by tilde for code block in markdown file
so it works in both doxygen and github
This commit is contained in:
Felix Ruess
@@ -5,15 +5,15 @@ HOWTO export
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------------
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- Export library: in this folder, type
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```
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~~~
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make export_lib
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```
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~~~
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be sure that you have correctly build the paparazzi project (`make` in the main directory)
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- The default export directory is `${PAPARAZZI_HOME}/var/export`, to change it:
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```
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~~~
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EXPORT_ROOT=<your_export_root_dir> make export_lib
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```
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~~~
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- `make clean` will only remove the export directory
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@@ -41,16 +41,16 @@ HOWTO use the datalink library
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4. Message parsing and includes:
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in a C file of you project (for example a file named `datalink.c`), add the following lines:
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```
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#define DATALINK_C 1 // this should be placed before the includes
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~~~{.c}
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#define DATALINK_C 1 // this should be placed before the includes
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#inlcude "uart.h" // or change this include to the header of your actual device interface
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#include "downlink.h"
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#inlcude "uart.h" // or change this include to the header of your actual device interface
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#include "downlink.h"
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void dl_parse_msg(void) {
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<add your code to parse messages here>
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}
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```
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void dl_parse_msg(void) {
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<add your code to parse messages here>
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}
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~~~
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You also need to poll for new characters, which means that you have to call the `DatalinkEvent()` function in your main loop.
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This function is non-blocking and calls the decoder on each received byte. Finally the `dl_parse_msg` function is called when a complete message is received (checksum is valid).
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@@ -58,122 +58,122 @@ Example project for Mbeb dev board
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==================================
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Test file `test_dl.cpp` (assuming you already have the Mbed library)
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```
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#include "mbed.h"
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~~~{.c}
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#include "mbed.h"
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Ticker daq;
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Serial uart1(p9, p10);
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DigitalOut led1(LED1);
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DigitalOut led2(LED2);
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Ticker daq;
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Serial uart1(p9, p10);
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DigitalOut led1(LED1);
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DigitalOut led2(LED2);
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/**** PPRZ interface ****/
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#define DATALINK_C 1
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#define UartCheckFreeSpace(_len) uart1.writeable()
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#define UartTransmit(_c) uart1.putc(_c)
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#define UartSendMessage() {}
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#define UartChAvailable() uart1.readable()
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#define UartGetch() uart1.getc()
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/**** PPRZ interface ****/
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#define DATALINK_C 1
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#define UartCheckFreeSpace(_len) uart1.writeable()
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#define UartTransmit(_c) uart1.putc(_c)
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#define UartSendMessage() {}
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#define UartChAvailable() uart1.readable()
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#define UartGetch() uart1.getc()
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#include "downlink.h"
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#include "downlink.h"
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void dl_parse_msg(void) {
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int msg_id = dl_buffer[1];
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void dl_parse_msg(void) {
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int msg_id = dl_buffer[1];
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switch (msg_id) {
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case DL_PONG:
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led2 =! led2; // toggle led on new PONG message
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break;
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default:
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break;
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}
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switch (msg_id) {
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case DL_PONG:
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led2 =! led2; // toggle led on new PONG message
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break;
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default:
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break;
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}
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}
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/************************/
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}
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/************************/
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void cb()
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{
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// Toggle led 1 when sending PING
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led1 =! led1;
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// Send PPRZ message
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DOWNLINK_SEND_PING(DefaultChannel, DefaultDevice);
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}
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void cb()
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{
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// Toggle led 1 when sending PING
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led1 =! led1;
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// Send PPRZ message
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DOWNLINK_SEND_PING(DefaultChannel, DefaultDevice);
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}
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int main()
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{
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uart1.baud(57600); // set serial baud rate for PPRZ
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led1 = led2 = 0; // turn off all LEDs
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int main()
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{
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uart1.baud(57600); // set serial baud rate for PPRZ
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led1 = led2 = 0; // turn off all LEDs
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daq.attach(&cb, 1); // callback
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daq.attach(&cb, 1); // callback
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while(1) {
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while(1) {
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// Your (non-blocking) code
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// Your (non-blocking) code
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// Poll new bytes on uart
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DatalinkEvent();
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// Poll new bytes on uart
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DatalinkEvent();
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} // ~while
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} // ~main
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```
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} // ~while
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} // ~main
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~~~
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With the makefile:
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```
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# This file was automagically generated by mbed.org with PPRZ datalink library addition
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~~
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# This file was automagically generated by mbed.org with PPRZ datalink library addition
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GCC_BIN = /usr/bin/
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PROJECT = Test_PPRZ_Datalink
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OBJECTS = ./test_dl.o
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SYS_OBJECTS = ./mbed/LPC1768/GCC_CS/sys.o ./mbed/LPC1768/GCC_CS/cmsis_nvic.o ./mbed/LPC1768/GCC_CS/system_LPC17xx.o ./mbed/LPC1768/GCC_CS/core_cm3.o ./mbed/LPC1768/GCC_CS/startup_LPC17xx.o
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INCLUDE_PATHS = -I. -I./mbed -I./mbed/LPC1768 -I./mbed/LPC1768/GCC_CS
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LIBRARY_PATHS = -L./mbed/LPC1768/GCC_CS
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LIBRARIES = -lmbed -lcapi
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LINKER_SCRIPT = ./mbed/LPC1768/GCC_CS/LPC1768.ld
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GCC_BIN = /usr/bin/
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PROJECT = Test_PPRZ_Datalink
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OBJECTS = ./test_dl.o
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SYS_OBJECTS = ./mbed/LPC1768/GCC_CS/sys.o ./mbed/LPC1768/GCC_CS/cmsis_nvic.o ./mbed/LPC1768/GCC_CS/system_LPC17xx.o ./mbed/LPC1768/GCC_CS/core_cm3.o ./mbed/LPC1768/GCC_CS/startup_LPC17xx.o
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INCLUDE_PATHS = -I. -I./mbed -I./mbed/LPC1768 -I./mbed/LPC1768/GCC_CS
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LIBRARY_PATHS = -L./mbed/LPC1768/GCC_CS
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LIBRARIES = -lmbed -lcapi
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LINKER_SCRIPT = ./mbed/LPC1768/GCC_CS/LPC1768.ld
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CC = $(GCC_BIN)arm-none-eabi-gcc
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CPP = $(GCC_BIN)arm-none-eabi-g++
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CC_FLAGS = -c -Os -fno-common -fmessage-length=0 -Wall -fno-exceptions -mcpu=cortex-m3 -mthumb -ffunction-sections -fdata-sections
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ONLY_C_FLAGS = -std=gnu99
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ONLY_CPP_FLAGS = -std=gnu++98
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CC_SYMBOLS = -DTARGET_LPC1768 -DTOOLCHAIN_GCC_CS -DNDEBUG
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CC = $(GCC_BIN)arm-none-eabi-gcc
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CPP = $(GCC_BIN)arm-none-eabi-g++
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CC_FLAGS = -c -Os -fno-common -fmessage-length=0 -Wall -fno-exceptions -mcpu=cortex-m3 -mthumb -ffunction-sections -fdata-sections
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ONLY_C_FLAGS = -std=gnu99
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ONLY_CPP_FLAGS = -std=gnu++98
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CC_SYMBOLS = -DTARGET_LPC1768 -DTOOLCHAIN_GCC_CS -DNDEBUG
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### PPRZ Datalink ###
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### PPRZ Datalink ###
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PPRZ_DATALINK_PORT = Uart
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PPRZ_DATALINK_DIR = .
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include $(PPRZ_DATALINK_DIR)/datalink/pprz_datalink.mk
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OBJECTS += $(PPRZ_DATALINK_OBJS)
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CC_SYMBOLS += $(PPRZ_DATALINK_CFLAGS)
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PPRZ_DATALINK_PORT = Uart
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PPRZ_DATALINK_DIR = .
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include $(PPRZ_DATALINK_DIR)/datalink/pprz_datalink.mk
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OBJECTS += $(PPRZ_DATALINK_OBJS)
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CC_SYMBOLS += $(PPRZ_DATALINK_CFLAGS)
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#####################
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#####################
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AS = $(GCC_BIN)arm-none-eabi-as
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AS = $(GCC_BIN)arm-none-eabi-as
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LD = $(GCC_BIN)arm-none-eabi-gcc
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LD_FLAGS = -mcpu=cortex-m3 -mthumb -Wl,--gc-sections
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LD_SYS_LIBS = -lstdc++ -lsupc++ -lm -lc -lgcc
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LD = $(GCC_BIN)arm-none-eabi-gcc
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LD_FLAGS = -mcpu=cortex-m3 -mthumb -Wl,--gc-sections
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LD_SYS_LIBS = -lstdc++ -lsupc++ -lm -lc -lgcc
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OBJCOPY = $(GCC_BIN)arm-none-eabi-objcopy
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OBJCOPY = $(GCC_BIN)arm-none-eabi-objcopy
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all: $(PROJECT).bin
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all: $(PROJECT).bin
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clean:
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rm -f $(PROJECT).bin $(PROJECT).elf $(OBJECTS)
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clean:
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rm -f $(PROJECT).bin $(PROJECT).elf $(OBJECTS)
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.s.o:
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$(AS) $(CC_FLAGS) $(CC_SYMBOLS) -o $@ $<
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.s.o:
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$(AS) $(CC_FLAGS) $(CC_SYMBOLS) -o $@ $<
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.c.o:
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$(CC) $(CC_FLAGS) $(CC_SYMBOLS) $(ONLY_C_FLAGS) $(INCLUDE_PATHS) -o $@ $<
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.c.o:
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$(CC) $(CC_FLAGS) $(CC_SYMBOLS) $(ONLY_C_FLAGS) $(INCLUDE_PATHS) -o $@ $<
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.cpp.o:
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$(CPP) $(CC_FLAGS) $(CC_SYMBOLS) $(ONLY_CPP_FLAGS) $(INCLUDE_PATHS) -o $@ $<
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.cpp.o:
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$(CPP) $(CC_FLAGS) $(CC_SYMBOLS) $(ONLY_CPP_FLAGS) $(INCLUDE_PATHS) -o $@ $<
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$(PROJECT).elf: $(OBJECTS) $(SYS_OBJECTS)
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$(LD) $(LD_FLAGS) -T$(LINKER_SCRIPT) $(LIBRARY_PATHS) -o $@ $^ $(LIBRARIES) $(LD_SYS_LIBS) $(LIBRARIES) $(LD_SYS_LIBS)
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$(PROJECT).elf: $(OBJECTS) $(SYS_OBJECTS)
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$(LD) $(LD_FLAGS) -T$(LINKER_SCRIPT) $(LIBRARY_PATHS) -o $@ $^ $(LIBRARIES) $(LD_SYS_LIBS) $(LIBRARIES) $(LD_SYS_LIBS)
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$(PROJECT).bin: $(PROJECT).elf
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$(OBJCOPY) -O binary $< $@
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```
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$(PROJECT).bin: $(PROJECT).elf
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$(OBJCOPY) -O binary $< $@
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~~~
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