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[ins] convert ins subsystems to modules (#1740)

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and get rid of ins calls in main and register functions
This commit is contained in:
Felix Ruess
2016-06-25 17:45:30 +02:00
committed by GitHub
parent 02841d13c5
commit b97e23bdb3
49 changed files with 422 additions and 669 deletions
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conf/modules/ins_xsens.xml
+5 -34
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@@ -8,11 +8,14 @@
<configure name="XSENS_PORT" value="uart1" description="The (uart) port the XSens is connected to"/>
<configure name="XSENS_BAUD" value="B115200" description="UART baud rate"/>
</doc>
<autoload name="gps"/>
<autoload name="ins_sim"/>
<autoload name="ins_nps"/>
<header>
<file name="ins_xsens.h"/>
</header>
<!-- ins_init is still called explicitly in main -->
<!--init fun="ins_init()"/-->
<init fun="ins_xsens_init()"/>
<init fun="gps_xsens_init()"/>
<periodic fun="xsens_periodic()" freq="60"/>
<event fun="ins_xsens_event()"/>
<makefile target="ap">
@@ -35,37 +38,5 @@
<define name="GPS_NB_CHANNELS" value="16"/>
<define name="GPS_TYPE_H" value="modules/ins/ins_xsens.h" type="string"/>
</makefile>
<makefile target="sim">
<file name="ahrs.c" dir="subsystems"/>
<file name="ahrs_sim.c" dir="subsystems/ahrs"/>
<define name="USE_AHRS"/>
<define name="AHRS_TYPE_H" value="subsystems/ahrs/ahrs_sim.h" type="string"/>
<file name="ins.c" dir="subsystems"/>
<file name="ins_gps_passthrough_utm.c" dir="subsystems/ins"/>
<define name="INS_TYPE_H" value="subsystems/ins/ins_gps_passthrough_utm.h" type="string"/>
<file name="gps.c" dir="subsystems"/>
<file name="gps_sim.c" dir="subsystems/gps"/>
<define name="USE_GPS"/>
<define name="GPS_TYPE_H" value="subsystems/gps/gps_sim.h" type="string"/>
</makefile>
<makefile target="nps">
<!-- nps dummy ahrs missing -->
<file name="ahrs.c" dir="subsystems"/>
<define name="USE_AHRS"/>
<define name="NPS_BYPASS_AHRS" value="TRUE"/>
<file name="ins.c" dir="subsystems"/>
<file name="ins_gps_passthrough_utm.c" dir="subsystems/ins"/>
<define name="INS_TYPE_H" value="subsystems/ins/ins_gps_passthrough_utm.h" type="string"/>
<file name="gps.c" dir="subsystems"/>
<file name="gps_sim_nps.c" dir="subsystems/gps"/>
<define name="USE_GPS"/>
<define name="GPS_TYPE_H" value="subsystems/gps/gps_sim_nps.h" type="string"/>
</makefile>
</module>