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hrvoje
2016-03-31 19:33:47 +02:00
parent 047586eca5 4649e4af48
commit bbfea9b991
599 changed files with 4616 additions and 4788 deletions
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conf/modules/gps_i2c.xml
-21
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@@ -1,21 +0,0 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="gps_i2c" dir="gps">
<doc>
<description>
U-blox GPS (I2C)
(apparently currently broken)
</description>
</doc>
<header>
<file name="gps_i2c.h"/>
</header>
<init fun="gps_i2c_init()"/>
<periodic fun="gps_i2c_periodic()" freq="4." delay="4" autorun="TRUE"/>
<event fun="gps_i2cEvent()"/>
<makefile target="ap">
<file name="gps_i2c.c"/>
<define name="GPS_CONFIGURE" />
</makefile>
</module>
conf/modules/gps_ubx_i2c.xml
+30
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@@ -0,0 +1,30 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="gps_ubx_i2c" dir="gps">
<doc>
<description>
U-blox GPS (I2C)
</description>
<configure name="GPS_UBX_I2C_DEV" value="i2cX" description="set i2c peripheral (default: i2c1)"/>
</doc>
<depends>gps_ublox</depends>
<header>
<file name="gps_ubx_i2c.h"/>
</header>
<init fun="gps_ubx_i2c_init()"/>
<periodic fun="gps_ubx_i2c_periodic()" freq="10."/>
<event fun="GpsUbxi2cEvent()"/>
<makefile>
<configure name="GPS_UBX_I2C_DEV" default="i2c1" case="upper|lower"/>
<define name="USE_$(GPS_UBX_I2C_DEV_UPPER)"/>
<define name="GPS_UBX_I2C_DEV" value="$(GPS_UBX_I2C_DEV_LOWER)"/>
<define name="GPS_I2C"/>
<define name="I2C_BUF_LEN" value="255"/>
<file name="gps_ubx_i2c.c"/>
</makefile>
</module>
conf/modules/imu_xsens.xml
+49
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@@ -0,0 +1,49 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="ins_xsens700" dir="ins">
<doc>
<description>
XSens IMU
</description>
<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>
<header>
<file name="imu_xsens.h"/>
</header>
<!-- imu init/periodic/event still called explicitly in main -->
<makefile target="ap">
<file name="xsens.c"/>
<file name="xsens_common.c"/>
<file name="imu_xsens.c"/>
<file name="imu.c" dir="subsystems"/>
<configure name="XSENS_PORT" default="uart1" case="upper|lower"/>
<configure name="XSENS_BAUD" default="B115200"/>
<define name="USE_$(XSENS_PORT_UPPER)" value="1"/>
<define name="XSENS_LINK" value="$(XSENS_PORT_LOWER)"/>
<define name="$(XSENS_PORT_UPPER)_BAUD" value="$(XSENS_BAUD)"/>
<!-- TODO: check output mode -->
<define name="XSENS_OUTPUT_MODE" value="0x1836"/>
<raw>
ap.CFLAGS += -DIMU_TYPE_H=\"modules/ins/imu_xsens.h\"
</raw>
</makefile>
<makefile target="sim">
<file name="ahrs.c" dir="subsystems"/>
<file name="ahrs_sim.c" dir="subsystems/ahrs"/>
<define name="USE_AHRS"/>
<raw>
sim.CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_sim.h\"
</raw>
</makefile>
<makefile target="nps">
<define name="USE_IMU"/>
<file name="imu_nps.c" dir="subsystems/imu"/>
<raw>
nps.CFLAGS += -DIMU_TYPE_H=\"subsystems/imu/imu_nps.h\"
</raw>
</makefile>
</module>
conf/modules/ins_xsens.xml
+67 -6
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@@ -1,16 +1,77 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="ins">
<module name="ins_xsens" dir="ins">
<doc>
<description>XSens</description>
<description>
XSens Mti-G INS
</description>
<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>
<header>
<file name="ins_module.h"/>
<file name="ins_xsens.h"/>
</header>
<init fun="ins_init()"/>
<periodic fun="ins_periodic()" freq="60"/>
<makefile>
<!-- ins_init is still called explicitly in main -->
<!--init fun="ins_init()"/-->
<periodic fun="xsens_periodic()" freq="60"/>
<event fun="ins_xsens_event()"/>
<makefile target="ap">
<file name="xsens.c"/>
<file name="xsens_common.c"/>
<file name="ins_xsens.c"/>
<file name="ins.c" dir="subsystems"/>
<configure name="XSENS_PORT" default="uart1" case="upper|lower"/>
<configure name="XSENS_BAUD" default="B115200"/>
<define name="USE_$(XSENS_PORT_UPPER)" value="1"/>
<define name="XSENS_LINK" value="$(XSENS_PORT_LOWER)"/>
<define name="$(XSENS_PORT_UPPER)_BAUD" value="$(XSENS_BAUD)"/>
<define name="XSENS_OUTPUT_MODE" value="0x1836"/>
<define name="AHRS_TRIGGERED_ATTITUDE_LOOP"/>
<file name="gps.c" dir="subsystems"/>
<define name="USE_GPS"/>
<define name="USE_GPS_XSENS"/>
<define name="USE_GPS_XSENS_RAW_DATA"/>
<define name="GPS_NB_CHANNELS" value="16"/>
<raw>
ap.CFLAGS += -DGPS_TYPE_H=\"modules/ins/ins_xsens.h\"
</raw>
</makefile>
<makefile target="sim">
<file name="ahrs.c" dir="subsystems"/>
<file name="ahrs_sim.c" dir="subsystems/ahrs"/>
<define name="USE_AHRS"/>
<file name="ins.c" dir="subsystems"/>
<file name="ins_gps_passthrough_utm.c" dir="subsystems/ins"/>
<file name="gps.c" dir="subsystems"/>
<file name="gps_sim.c" dir="subsystems/gps"/>
<define name="USE_GPS"/>
<raw>
sim.CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_sim.h\"
sim.CFLAGS += -DINS_TYPE_H=\"subsystems/ins/ins_gps_passthrough_utm.h\"
sim.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim.h\"
</raw>
</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"/>
<file name="gps.c" dir="subsystems"/>
<file name="gps_sim_nps.c" dir="subsystems/gps"/>
<define name="USE_GPS"/>
<raw>
nps.CFLAGS += -DINS_TYPE_H=\"subsystems/ins/ins_gps_passthrough_utm.h\"
nps.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim_nps.h\"
</raw>
</makefile>
</module>
conf/modules/ins_xsens700.xml
+76
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@@ -0,0 +1,76 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="ins_xsens700" dir="ins">
<doc>
<description>
XSens Mti-G 700 INS
</description>
<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>
<header>
<file name="ins_xsens700.h"/>
</header>
<!-- ins_init is still called explicitly in main -->
<!--init fun="ins_init()"/-->
<periodic fun="xsens700_periodic()" freq="60"/>
<event fun="ins_xsens700_event()"/>
<makefile target="ap">
<file name="xsens700.c"/>
<file name="xsens_common.c"/>
<file name="ins_xsens700.c"/>
<file name="ins.c" dir="subsystems"/>
<configure name="XSENS_PORT" default="uart1" case="upper|lower"/>
<configure name="XSENS_BAUD" default="B115200"/>
<define name="USE_$(XSENS_PORT_UPPER)" value="1"/>
<define name="XSENS_LINK" value="$(XSENS_PORT_LOWER)"/>
<define name="$(XSENS_PORT_UPPER)_BAUD" value="$(XSENS_BAUD)"/>
<define name="XSENS_OUTPUT_MODE" value="0x1836"/>
<define name="AHRS_TRIGGERED_ATTITUDE_LOOP"/>
<file name="gps.c" dir="subsystems"/>
<define name="USE_GPS"/>
<define name="USE_GPS_XSENS"/>
<define name="GPS_NB_CHANNELS" value="50"/>
<raw>
ap.CFLAGS += -DGPS_TYPE_H=\"modules/ins/ins_xsens700.h\"
</raw>
</makefile>
<makefile target="sim">
<file name="ahrs.c" dir="subsystems"/>
<file name="ahrs_sim.c" dir="subsystems/ahrs"/>
<define name="USE_AHRS"/>
<file name="ins.c" dir="subsystems"/>
<file name="ins_gps_passthrough_utm.c" dir="subsystems/ins"/>
<file name="gps.c" dir="subsystems"/>
<file name="gps_sim.c" dir="subsystems/gps"/>
<define name="USE_GPS"/>
<raw>
sim.CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_sim.h\"
sim.CFLAGS += -DINS_TYPE_H=\"subsystems/ins/ins_gps_passthrough_utm.h\"
sim.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim.h\"
</raw>
</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"/>
<file name="gps.c" dir="subsystems"/>
<file name="gps_sim_nps.c" dir="subsystems/gps"/>
<define name="USE_GPS"/>
<raw>
nps.CFLAGS += -DINS_TYPE_H=\"subsystems/ins/ins_gps_passthrough_utm.h\"
nps.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim_nps.h\"
</raw>
</makefile>
</module>
conf/modules/ins_xsens_MTiG_Uart0.xml
-26
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@@ -1,26 +0,0 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="ins">
<doc>
<description>XSens MTiG</description>
</doc>
<!-- <conflicts>ins</conflicts> -->
<!-- <requires>gps_xsens</requires> -->
<header>
<file name="ins_module.h"/>
</header>
<init fun="ins_init()"/>
<periodic fun="ins_periodic()" freq="60"/>
<makefile>
<define name="USE_UART0" value="1"/>
<define name="INS_LINK" value="UART0"/>
<define name="UART0_BAUD" value="B115200"/>
<define name="USE_GPS_XSENS"/>
<!-- calibrated, orientation, position, velocity, status -->
<define name="XSENS_OUTPUT_MODE" value="0x0836"/>
<!-- timestamp, euler, acc, rate, mag, float, no aux, NED -->
<define name="XSENS_OUTPUT_SETTINGS" value="0x80000C05"/>
<file name="ins_xsens.c"/>
</makefile>
</module>
conf/modules/ins_xsens_MTi_Uart0.xml
-24
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@@ -1,24 +0,0 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="ins">
<doc>
<description>XSens MTi</description>
</doc>
<!-- <conflicts>ins</conflicts> -->
<header>
<file name="ins_module.h"/>
</header>
<init fun="ins_init()"/>
<periodic fun="ins_periodic()" freq="60"/>
<makefile>
<define name="USE_UART0" value="1"/>
<define name="INS_LINK" value="UART0"/>
<define name="UART0_BAUD" value="B115200"/>
<!-- calibrated, orientation, status -->
<define name="XSENS_OUTPUT_MODE" value="0x0806"/>
<!-- timestamp, euler, acc, rate, mag, float, no aux, NED -->
<define name="XSENS_OUTPUT_SETTINGS" value="0x80000C05"/>
<file name="ins_xsens.c"/>
</makefile>
</module>
conf/modules/usb_serial_stm32_example1.xml
+2 -4
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@@ -17,10 +17,8 @@
<init fun="init_usb_serial()"/>
<event fun="event_usb_serial()"/>
<makefile target="ap">
<raw>
ap.srcs += $(SRC_ARCH)/usb_ser_hw.c
</raw>
<makefile target="!nps|sim">
<file_arch name="usb_ser_hw.c" dir=""/>
<define name="USE_USB_SERIAL"/>
<file name="usb_serial_stm32_example1.c"/>
</makefile>
conf/modules/usb_serial_stm32_example2.xml
+14 -16
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@@ -1,17 +1,17 @@
<!DOCTYPE module SYSTEM "module.dtd">
<!DOCTYPE module SYSTEM "module.dtd">
<module name="usb_serial_stm32_example1" dir="com">
<module name="usb_serial_stm32_example1" dir="com">
<doc>
<description>
STM32 USB-serial example.
Example of USB-serial module on STM32 architecture, using libopencm3 library.
This example tests the capability of USB-serial port by sending a lots of data.
To be used with Lisa M/MX 2.1
</description>
<description>
STM32 USB-serial example.
Example of USB-serial module on STM32 architecture, using libopencm3 library.
This example tests the capability of USB-serial port by sending a lots of data.
To be used with Lisa M/MX 2.1
</description>
</doc>
<header>
<file name="usb_serial_stm32.h"/>
<file name="usb_serial_stm32.h"/>
</header>
<init fun="init_usb_serial()"/>
@@ -20,11 +20,9 @@
<event fun="event_usb_serial()"/>
<makefile target="ap">
<raw>
ap.srcs += $(SRC_ARCH)/usb_ser_hw.c
</raw>
<define name="USE_USB_SERIAL"/>
<file name="usb_serial_stm32_example2.c"/>
<makefile target="!nps|sim">
<file_arch name="usb_ser_hw.c" dir=""/>
<define name="USE_USB_SERIAL"/>
<file name="usb_serial_stm32_example2.c"/>
</makefile>
</module>
</module>