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https://github.com/paparazzi/paparazzi.git
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[modules] convert radio_control subsystems to modules
- calling init functions will be done later, it needs to be attached to the FBW part - add 'cond' attribute option to more nodes in module makefile section
This commit is contained in:
Gautier Hattenberger
committed by
Felix Ruess
Felix Ruess
parent
312e366f4e
commit
bf3def687d
@@ -1,38 +0,0 @@
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# Hey Emacs, this is a -*- makefile -*-
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RADIO_CONTROL_DATALINK_LED ?= none
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RADIO_CONTROL_LED ?= none
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ifneq ($(RADIO_CONTROL_DATALINK_LED),none)
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RC_CFLAGS += -DRADIO_CONTROL_DATALINK_LED=$(RADIO_CONTROL_DATALINK_LED)
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endif
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ifneq ($(RADIO_CONTROL_LED),none)
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RC_CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
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RC_CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
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endif
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RC_CFLAGS += -DRADIO_CONTROL_TYPE_H=\"radio_control/rc_datalink.h\"
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RC_FBW_CFLAGS += -DRADIO_CONTROL
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RC_FBW_CFLAGS += -DRADIO_CONTROL_TYPE_DATALINK
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RC_SRCS += $(SRC_SUBSYSTEMS)/radio_control.c
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RC_SRCS += $(SRC_SUBSYSTEMS)/radio_control/rc_datalink.c
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ifeq (,$(findstring $(SEPARATE_FBW),1 TRUE))
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# Single MCU's run RC on ap target
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$(TARGET).CFLAGS += $(RC_CFLAGS) $(RC_FBW_CFLAGS)
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$(TARGET).srcs += $(RC_SRCS)
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else
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# Dual MCU case
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fbw.CFLAGS += $(RC_CFLAGS) $(RC_FBW_CFLAGS)
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fbw.srcs += $(RC_SRCS)
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# define RADIO_CONTROL_TYPE for ap in dual_mcu case to get defines
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# but don't add source files
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ap.CFLAGS += $(RC_CFLAGS)
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endif
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# arch only with sim target for compatibility (empty functions)
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sim.srcs += $(SRC_ARCH)/subsystems/radio_control/rc_datalink.c
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@@ -1,48 +0,0 @@
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#
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# Makefile for shared radio_control ppm subsystem
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#
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RADIO_CONTROL_LED ?= none
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ifneq ($(RADIO_CONTROL_LED),none)
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RC_CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
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endif
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RC_CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/ppm.h\"
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RC_FBW_CFLAGS += -DRADIO_CONTROL
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RC_FBW_CFLAGS += -DRADIO_CONTROL_TYPE_PPM
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RC_SRCS += $(SRC_SUBSYSTEMS)/radio_control.c
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RC_SRCS += $(SRC_SUBSYSTEMS)/radio_control/ppm.c
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RC_SRCS += $(SRC_ARCH)/subsystems/radio_control/ppm_arch.c
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#
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# Some STM32 boards have the option to configure RADIO_CONTROL_PPM_PIN.
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# See the board makefile for configure options of the pins.
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# If they set the PPM_CONFIG makefile variable, add it to the target.
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# The PPM_CONFIG define is then used in the <board>.h file to set the configuration.
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#
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ifeq ($(ARCH),stm32)
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ifdef PPM_CONFIG
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$(TARGET).CFLAGS += -DPPM_CONFIG=$(PPM_CONFIG)
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endif
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endif
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ifeq (,$(findstring $(SEPARATE_FBW),1 TRUE))
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# Single MCU's run RC on ap target
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$(TARGET).CFLAGS += $(RC_CFLAGS) $(RC_FBW_CFLAGS)
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$(TARGET).srcs += $(RC_SRCS)
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else
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# Dual MCU case
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fbw.CFLAGS += $(RC_CFLAGS) $(RC_FBW_CFLAGS)
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fbw.srcs += $(RC_SRCS)
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# define RADIO_CONTROL_TYPE for ap in dual_mcu case to get defines
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# but don't add source files
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ap.CFLAGS += $(RC_CFLAGS)
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endif
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# dummy stuff so you don't have to unload superbitrf.xml settings file for simulators
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nps.srcs += $(SRC_ARCH)/subsystems/datalink/superbitrf.c
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sim.srcs += $(SRC_ARCH)/subsystems/datalink/superbitrf.c
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@@ -1,38 +0,0 @@
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#
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# Makefile for shared radio_control SBUS subsystem
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#
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RADIO_CONTROL_LED ?= none
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ifneq ($(RADIO_CONTROL_LED),none)
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RC_CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
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endif
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RC_CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/sbus.h\"
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RC_FBW_CFLAGS += -DRADIO_CONTROL
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# convert SBUS_PORT to upper and lower case strings:
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SBUS_PORT_UPPER=$(shell echo $(SBUS_PORT) | tr a-z A-Z)
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SBUS_PORT_LOWER=$(shell echo $(SBUS_PORT) | tr A-Z a-z)
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RC_FBW_CFLAGS += -DUSE_$(SBUS_PORT_UPPER) -D$(SBUS_PORT_UPPER)_BAUD=B100000
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RC_FBW_CFLAGS += -DSBUS_UART_DEV=$(SBUS_PORT_LOWER)
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RC_FBW_CFLAGS += -DRADIO_CONTROL_TYPE_SBUS
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RC_SRCS += $(SRC_SUBSYSTEMS)/radio_control.c
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RC_SRCS += $(SRC_SUBSYSTEMS)/radio_control/sbus.c
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RC_SRCS += $(SRC_SUBSYSTEMS)/radio_control/sbus_common.c
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ifeq (,$(findstring $(SEPARATE_FBW),1 TRUE))
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# Single MCU's run RC on ap target
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$(TARGET).CFLAGS += $(RC_CFLAGS) $(RC_FBW_CFLAGS)
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$(TARGET).srcs += $(RC_SRCS)
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else
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# Dual MCU case
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fbw.CFLAGS += $(RC_CFLAGS) $(RC_FBW_CFLAGS)
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fbw.srcs += $(RC_SRCS)
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# define RADIO_CONTROL_TYPE for ap in dual_mcu case to get defines
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# but don't add source files
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ap.CFLAGS += $(RC_CFLAGS)
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endif
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@@ -1,48 +0,0 @@
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#
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# Makefile for shared radio_control SBUS subsystem
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#
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# Uart polarity needs to be reversed:
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# define RC_POLARITY_GPIO_PORT <SET_TO_SBUS_RX_PIN_GPIO>
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# define RC_POLARITY_GPIO_PIN <SET_TO_SBUS_RX_PIN_GPIO_PIN>
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#
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RADIO_CONTROL_LED ?= none
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ifneq ($(RADIO_CONTROL_LED),none)
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ap.CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
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endif
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RC_CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/sbus_dual.h\"
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RC_FBW_CFLAGS += -DRADIO_CONTROL
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# convert SBUS_PORT to upper and lower case strings:
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SBUS1_PORT_UPPER=$(shell echo $(SBUS1_PORT) | tr a-z A-Z)
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SBUS1_PORT_LOWER=$(shell echo $(SBUS1_PORT) | tr A-Z a-z)
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SBUS2_PORT_UPPER=$(shell echo $(SBUS2_PORT) | tr a-z A-Z)
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SBUS2_PORT_LOWER=$(shell echo $(SBUS2_PORT) | tr A-Z a-z)
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RC_FBW_CFLAGS += -DUSE_$(SBUS1_PORT_UPPER) -D$(SBUS1_PORT_UPPER)_BAUD=B100000
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RC_FBW_CFLAGS += -DUSE_$(SBUS2_PORT_UPPER) -D$(SBUS2_PORT_UPPER)_BAUD=B100000
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RC_FBW_CFLAGS += -DSBUS1_UART_DEV=$(SBUS1_PORT_LOWER)
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RC_FBW_CFLAGS += -DSBUS2_UART_DEV=$(SBUS2_PORT_LOWER)
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RC_FBW_CFLAGS += -DRADIO_CONTROL_TYPE_SBUS
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RC_SRCS += $(SRC_SUBSYSTEMS)/radio_control.c
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RC_SRCS += $(SRC_SUBSYSTEMS)/radio_control/sbus_dual.c
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RC_SRCS += $(SRC_SUBSYSTEMS)/radio_control/sbus_common.c
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ifeq (,$(findstring $(SEPARATE_FBW),1 TRUE))
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# Single MCU's run RC on ap target
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$(TARGET).CFLAGS += $(RC_CFLAGS) $(RC_FBW_CFLAGS)
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$(TARGET).srcs += $(RC_SRCS)
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else
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# Dual MCU case
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fbw.CFLAGS += $(RC_CFLAGS) $(RC_FBW_CFLAGS)
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fbw.srcs += $(RC_SRCS)
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# define RADIO_CONTROL_TYPE for ap in dual_mcu case to get defines
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# but don't add source files
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ap.CFLAGS += $(RC_CFLAGS)
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endif
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@@ -1,53 +0,0 @@
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#
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# Makefile for shared radio_control spektrum susbsytem
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#
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# Define USE_DSMX on STM32 microcontrollers to bind in DSMX instead of DSM2
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RADIO_CONTROL_LED ?= none
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ifneq ($(RADIO_CONTROL_LED),none)
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RC_CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
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endif
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RC_CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/spektrum.h\"
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ifeq ($(ARCH), lpc21)
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ifndef RADIO_CONTROL_SPEKTRUM_MODEL
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RADIO_CONTROL_SPEKTRUM_MODEL=\"subsystems/radio_control/spektrum_dx7se.h\"
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endif
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RC_CFLAGS += -DRADIO_CONTROL_SPEKTRUM_MODEL_H=$(RADIO_CONTROL_SPEKTRUM_MODEL)
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endif
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RC_FBW_CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_BIND_IMPL_FUNC=radio_control_spektrum_try_bind
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RC_FBW_CFLAGS += -DRADIO_CONTROL_SPEKTRUM_PRIMARY_PORT=SPEKTRUM_$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT)
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RC_FBW_CFLAGS += -DOVERRIDE_$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT)_IRQ_HANDLER
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# enable the second spektrum port if so configured
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ifdef USE_SECONDARY_SPEKTRUM_RECEIVER
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ifneq ($(USE_SECONDARY_SPEKTRUM_RECEIVER),0)
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RC_FBW_CFLAGS += -DRADIO_CONTROL_SPEKTRUM_SECONDARY_PORT=SPEKTRUM_$(RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT)
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RC_FBW_CFLAGS += -DOVERRIDE_$(RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT)_IRQ_HANDLER
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endif
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endif
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RC_SRCS += $(SRC_SUBSYSTEMS)/radio_control.c \
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$(SRC_SUBSYSTEMS)/radio_control/spektrum.c \
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$(SRC_ARCH)/subsystems/radio_control/spektrum_arch.c
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ifeq (,$(findstring $(SEPARATE_FBW),1 TRUE))
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# Single MCU's run RC on ap target
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$(TARGET).CFLAGS += $(RC_CFLAGS) $(RC_FBW_CFLAGS)
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$(TARGET).srcs += $(RC_SRCS)
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else
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# Dual MCU case
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fbw.CFLAGS += $(RC_CFLAGS) $(RC_FBW_CFLAGS)
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fbw.srcs += $(RC_SRCS)
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# define RADIO_CONTROL_TYPE for ap in dual_mcu case to get defines
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# but don't add source files
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ap.CFLAGS += $(RC_CFLAGS)
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endif
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test_radio_control.CFLAGS += $(RC_CFLAGS) $(RC_FBW_CFLAGS)
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test_radio_control.srcs += $(RC_SRCS)
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@@ -1,32 +0,0 @@
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#
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# Makefile for shared radio_control superbitrf subsystem
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#
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RADIO_CONTROL_LED ?= none
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ifneq ($(RADIO_CONTROL_LED),none)
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RC_CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
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endif
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RC_CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/superbitrf_rc.h\"
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RC_FBW_CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE_SUPERBITRF
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RC_FBW_CFLAGS += -DUSE_SUPERBITRF -DUSE_SPI2 -DUSE_SPI_SLAVE2
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RC_SRCS += peripherals/cyrf6936.c \
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$(SRC_SUBSYSTEMS)/datalink/superbitrf.c\
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$(SRC_SUBSYSTEMS)/radio_control.c \
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$(SRC_SUBSYSTEMS)/radio_control/superbitrf_rc.c
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ifeq (,$(findstring $(SEPARATE_FBW),1 TRUE))
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# Single MCU's run RC on ap target
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$(TARGET).CFLAGS += $(RC_CFLAGS) $(RC_FBW_CFLAGS)
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$(TARGET).srcs += $(RC_SRCS)
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else
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# Dual MCU case
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fbw.CFLAGS += $(RC_CFLAGS) $(RC_FBW_CFLAGS)
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fbw.srcs += $(RC_SRCS)
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# define RADIO_CONTROL_TYPE for ap in dual_mcu case to get defines
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# but don't add source files
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ap.CFLAGS += $(RC_CFLAGS)
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endif
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@@ -63,7 +63,8 @@ fun CDATA #REQUIRED>
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<!ATTLIST makefile
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target CDATA #IMPLIED
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firmware CDATA #IMPLIED>
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firmware CDATA #IMPLIED
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cond CDATA #IMPLIED>
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<!ATTLIST section
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name CDATA #REQUIRED
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@@ -95,11 +96,13 @@ value CDATA #REQUIRED>
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<!ATTLIST file
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name CDATA #REQUIRED
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dir CDATA #IMPLIED>
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dir CDATA #IMPLIED
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cond CDATA #IMPLIED>
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<!ATTLIST file_arch
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name CDATA #REQUIRED
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dir CDATA #IMPLIED>
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dir CDATA #IMPLIED
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cond CDATA #IMPLIED>
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<!ATTLIST settings_file
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name CDATA #REQUIRED
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@@ -0,0 +1,34 @@
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<!DOCTYPE module SYSTEM "module.dtd">
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<module name="radio_control_datalink" dir="radio_control">
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<doc>
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<description>
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Radio control over datalink
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</description>
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<configure name="RADIO_CONTROL_LED" value="none|num" description="LED number or 'none' to disable"/>
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<configure name="RADIO_CONTROL_DATALINK_LED" value="none|num" description="LED number or 'none' to disable"/>
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</doc>
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<header>
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<file name="rc_datalink.h" dir="subsystems/radio_control"/>
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</header>
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<makefile target="ap|fbw|sim|nps">
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<configure name="RADIO_CONTROL_LED" default="none"/>
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<configure name="RADIO_CONTROL_DATALINK_LED" default="none"/>
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<define name="RADIO_CONTROL_LED" value="$(RADIO_CONTROL_LED)" cond="ifneq ($(RADIO_CONTROL_LED),none)"/>
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<define name="RADIO_CONTROL_DATALINK_LED" value="$(RADIO_CONTROL_DATALINK_LED)" cond="ifneq ($(RADIO_CONTROL_DATALINK_LED),none)"/>
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<define name="RADIO_CONTROL_TYPE_H" value="subsystems/radio_control/rc_datalink.h" type="string"/>
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</makefile>
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<makefile target="fbw|sim|nps">
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<define name="RADIO_CONTROL"/>
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<define name="RADIO_CONTROL_TYPE_DATALINK"/>
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<file name="radio_control.c" dir="subsystems"/>
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<file name="rc_datalink.c" dir="subsystems/radio_control"/>
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</makefile>
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<makefile target="ap" cond="ifeq (,$(findstring $(SEPARATE_FBW),1 TRUE))">
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<define name="RADIO_CONTROL"/>
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<define name="RADIO_CONTROL_TYPE_DATALINK"/>
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<file name="radio_control.c" dir="subsystems"/>
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<file name="rc_datalink.c" dir="subsystems/radio_control"/>
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</makefile>
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</module>
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@@ -0,0 +1,40 @@
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<!DOCTYPE module SYSTEM "module.dtd">
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<module name="radio_control_ppm" dir="radio_control">
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<doc>
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<description>
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Radio control based on PPM input
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Some STM32 boards have the option to configure RADIO_CONTROL_PPM_PIN.
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See the board makefile for configure options of the pins.
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If they set the PPM_CONFIG makefile variable, add it to the target.
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The PPM_CONFIG define is then used in the _board_.h file to set the configuration.
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</description>
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<configure name="RADIO_CONTROL_LED" value="none|num" description="LED number or 'none' to disable"/>
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<configure name="PPM_CONFIG" value="num" description="Select PPM config, as some boards can used different mapping for the ppm input pin"/>
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</doc>
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<header>
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<file name="ppm.h" dir="subsystems/radio_control"/>
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</header>
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<makefile target="ap|fbw|sim|nps">
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<configure name="RADIO_CONTROL_LED" default="none"/>
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<define name="RADIO_CONTROL_LED" value="$(RADIO_CONTROL_LED)" cond="ifneq ($(RADIO_CONTROL_LED),none)"/>
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<define name="RADIO_CONTROL_TYPE_H" value="subsystems/radio_control/ppm.h" type="string"/>
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<define name="PPM_CONFIG" value="$(PPM_CONFIG)" cond="ifdef PPM_CONFIG"/>
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</makefile>
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<makefile target="fbw|sim|nps">
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<define name="RADIO_CONTROL"/>
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<define name="RADIO_CONTROL_TYPE_PPM"/>
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<file name="radio_control.c" dir="subsystems"/>
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<file name="ppm.c" dir="subsystems/radio_control"/>
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<file name="ppm_arch.c" dir="$(SRC_ARCH)/subsystems/radio_control"/>
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</makefile>
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<makefile target="ap" cond="ifeq (,$(findstring $(SEPARATE_FBW),1 TRUE))">
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<define name="RADIO_CONTROL"/>
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<define name="RADIO_CONTROL_TYPE_PPM"/>
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<file name="radio_control.c" dir="subsystems"/>
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<file name="ppm.c" dir="subsystems/radio_control"/>
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<file name="ppm_arch.c" dir="$(SRC_ARCH)/subsystems/radio_control"/>
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</makefile>
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</module>
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@@ -0,0 +1,41 @@
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<!DOCTYPE module SYSTEM "module.dtd">
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<module name="radio_control_sbus" dir="radio_control">
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<doc>
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<description>
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Radio control based on Futaba SBUS
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</description>
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<configure name="RADIO_CONTROL_LED" value="none|num" description="LED number or 'none' to disable"/>
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<configure name="SBUS_PORT" value="UARTX" description="UART name where SBUS receiver is plugged"/>
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</doc>
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<header>
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<file name="sbus.h" dir="subsystems/radio_control"/>
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</header>
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<makefile target="ap|fbw">
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<configure name="RADIO_CONTROL_LED" default="none"/>
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<configure name="SBUS_UART" value="$(SBUS_PORT)" case="upper|lower"/>
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<define name="RADIO_CONTROL_LED" value="$(RADIO_CONTROL_LED)" cond="ifneq ($(RADIO_CONTROL_LED),none)"/>
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<define name="RADIO_CONTROL_TYPE_H" value="subsystems/radio_control/sbus.h" type="string"/>
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</makefile>
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<makefile target="fbw">
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<define name="RADIO_CONTROL"/>
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<define name="RADIO_CONTROL_TYPE_SBUS"/>
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<define name="USE_$(SBUS_UART_UPPER)"/>
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<define name="$(SBUS_UART_UPPER)_BAUD" value="B100000"/>
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<define name="SBUS_UART_DEV" value="$(SBUS_UART_LOWER)"/>
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||||
<file name="radio_control.c" dir="subsystems"/>
|
||||
<file name="sbus.c" dir="subsystems/radio_control"/>
|
||||
<file name="sbus_common.c" dir="subsystems/radio_control"/>
|
||||
</makefile>
|
||||
<makefile target="ap" cond="ifeq (,$(findstring $(SEPARATE_FBW),1 TRUE))">
|
||||
<define name="RADIO_CONTROL"/>
|
||||
<define name="RADIO_CONTROL_TYPE_SBUS"/>
|
||||
<define name="USE_$(SBUS_UART_UPPER)"/>
|
||||
<define name="$(SBUS_UART_UPPER)_BAUD" value="B100000"/>
|
||||
<define name="SBUS_UART_DEV" value="$(SBUS_UART_LOWER)"/>
|
||||
<file name="radio_control.c" dir="subsystems"/>
|
||||
<file name="sbus.c" dir="subsystems/radio_control"/>
|
||||
<file name="sbus_common.c" dir="subsystems/radio_control"/>
|
||||
</makefile>
|
||||
</module>
|
||||
|
||||
@@ -0,0 +1,49 @@
|
||||
<!DOCTYPE module SYSTEM "module.dtd">
|
||||
|
||||
<module name="radio_control_sbus_dual" dir="radio_control">
|
||||
<doc>
|
||||
<description>
|
||||
Radio control using two Futaba SBUS receivers
|
||||
</description>
|
||||
<configure name="RADIO_CONTROL_LED" value="none|num" description="LED number or 'none' to disable"/>
|
||||
<configure name="SBUS1_PORT" value="UARTX" description="UART name where first SBUS receiver is plugged"/>
|
||||
<configure name="SBUS2_PORT" value="UARTX" description="UART name where second SBUS receiver is plugged"/>
|
||||
</doc>
|
||||
<header>
|
||||
<file name="sbus_dual.h" dir="subsystems/radio_control"/>
|
||||
</header>
|
||||
<makefile target="ap|fbw">
|
||||
<configure name="RADIO_CONTROL_LED" default="none"/>
|
||||
<configure name="SBUS1_UART" value="$(SBUS1_PORT)" case="upper|lower"/>
|
||||
<configure name="SBUS2_UART" value="$(SBUS2_PORT)" case="upper|lower"/>
|
||||
<define name="RADIO_CONTROL_LED" value="$(RADIO_CONTROL_LED)" cond="ifneq ($(RADIO_CONTROL_LED),none)"/>
|
||||
<define name="RADIO_CONTROL_TYPE_H" value="subsystems/radio_control/sbus_dual.h" type="string"/>
|
||||
</makefile>
|
||||
<makefile target="fbw">
|
||||
<define name="RADIO_CONTROL"/>
|
||||
<define name="RADIO_CONTROL_TYPE_SBUS"/>
|
||||
<define name="USE_$(SBUS1_UART_UPPER)"/>
|
||||
<define name="USE_$(SBUS1_UART_UPPER)"/>
|
||||
<define name="$(SBUS1_UART_UPPER)_BAUD" value="B100000"/>
|
||||
<define name="$(SBUS2_UART_UPPER)_BAUD" value="B100000"/>
|
||||
<define name="SBUS1_UART_DEV" value="$(SBUS1_UART_LOWER)"/>
|
||||
<define name="SBUS1_UART_DEV" value="$(SBUS1_UART_LOWER)"/>
|
||||
<file name="radio_control.c" dir="subsystems"/>
|
||||
<file name="sbus_dual.c" dir="subsystems/radio_control"/>
|
||||
<file name="sbus_common.c" dir="subsystems/radio_control"/>
|
||||
</makefile>
|
||||
<makefile target="ap" cond="ifeq (,$(findstring $(SEPARATE_FBW),1 TRUE))">
|
||||
<define name="RADIO_CONTROL"/>
|
||||
<define name="RADIO_CONTROL_TYPE_SBUS"/>
|
||||
<define name="USE_$(SBUS1_UART_UPPER)"/>
|
||||
<define name="USE_$(SBUS1_UART_UPPER)"/>
|
||||
<define name="$(SBUS1_UART_UPPER)_BAUD" value="B100000"/>
|
||||
<define name="$(SBUS2_UART_UPPER)_BAUD" value="B100000"/>
|
||||
<define name="SBUS1_UART_DEV" value="$(SBUS1_UART_LOWER)"/>
|
||||
<define name="SBUS1_UART_DEV" value="$(SBUS1_UART_LOWER)"/>
|
||||
<file name="radio_control.c" dir="subsystems"/>
|
||||
<file name="sbus_dual.c" dir="subsystems/radio_control"/>
|
||||
<file name="sbus_common.c" dir="subsystems/radio_control"/>
|
||||
</makefile>
|
||||
</module>
|
||||
|
||||
@@ -0,0 +1,56 @@
|
||||
<!DOCTYPE module SYSTEM "module.dtd">
|
||||
|
||||
<module name="radio_control_spektrum" dir="radio_control">
|
||||
<doc>
|
||||
<description>
|
||||
Radio control based on Spektrum DSM2 or DSMX receivers
|
||||
|
||||
Define USE_DSMX on STM32 microcontrollers to bind in DSMX instead of DSM2
|
||||
</description>
|
||||
<configure name="RADIO_CONTROL_LED" value="none|num" description="LED number or 'none' to disable"/>
|
||||
<configure name="RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT" value="num" description="UART number for primary spektrum receiver"/>
|
||||
<configure name="RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT" value="num" description="UART number for optional secondary spektrum receiver"/>
|
||||
<configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="0|1" description="enable secondary receiver (default: disabled)"/>
|
||||
</doc>
|
||||
<header>
|
||||
<file name="spektrum.h" dir="subsystems/radio_control"/>
|
||||
</header>
|
||||
<makefile target="ap|fbw|sim|nps|test_radio_control">
|
||||
<configure name="RADIO_CONTROL_LED" default="none"/>
|
||||
<define name="RADIO_CONTROL_LED" value="$(RADIO_CONTROL_LED)" cond="ifneq ($(RADIO_CONTROL_LED),none)"/>
|
||||
<define name="RADIO_CONTROL_TYPE_H" value="subsystems/radio_control/spektrum.h" type="string"/>
|
||||
<raw>
|
||||
ifeq ($(ARCH), lpc21)
|
||||
ifndef RADIO_CONTROL_SPEKTRUM_MODEL
|
||||
RADIO_CONTROL_SPEKTRUM_MODEL=\"subsystems/radio_control/spektrum_dx7se.h\"
|
||||
endif
|
||||
RC_CFLAGS += -DRADIO_CONTROL_SPEKTRUM_MODEL_H=$(RADIO_CONTROL_SPEKTRUM_MODEL)
|
||||
endif
|
||||
</raw>
|
||||
</makefile>
|
||||
<makefile target="fbw|sim|nps|test_radio_control">
|
||||
<configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" default="0"/>
|
||||
<define name="RADIO_CONTROL"/>
|
||||
<define name="RADIO_CONTROL_BIND_IMPL_FUNC" value="radio_control_spektrum_try_bind"/>
|
||||
<define name="RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT" value="SPEKTRUM_$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT)"/>
|
||||
<define name="OVERRIDE_$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT)_IRQ_HANDLER"/>
|
||||
<define name="RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT" value="SPEKTRUM_$(RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT)" cond="ifneq ($(USE_SECONDARY_SPEKTRUM_RECEIVER),0)"/>
|
||||
<define name="OVERRIDE_$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT)_IRQ_HANDLER" cond="ifneq ($(USE_SECONDARY_SPEKTRUM_RECEIVER),0)"/>
|
||||
<file name="radio_control.c" dir="subsystems"/>
|
||||
<file name="spektrum.c" dir="subsystems/radio_control"/>
|
||||
<file name="spektrum_arch.c" dir="$(SRC_ARCH)/subsystems/radio_control"/>
|
||||
</makefile>
|
||||
<makefile target="ap" cond="ifeq (,$(findstring $(SEPARATE_FBW),1 TRUE))">
|
||||
<configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" default="0"/>
|
||||
<define name="RADIO_CONTROL"/>
|
||||
<define name="RADIO_CONTROL_BIND_IMPL_FUNC" value="radio_control_spektrum_try_bind"/>
|
||||
<define name="RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT" value="SPEKTRUM_$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT)"/>
|
||||
<define name="OVERRIDE_$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT)_IRQ_HANDLER"/>
|
||||
<define name="RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT" value="SPEKTRUM_$(RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT)" cond="ifneq ($(USE_SECONDARY_SPEKTRUM_RECEIVER),0)"/>
|
||||
<define name="OVERRIDE_$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT)_IRQ_HANDLER" cond="ifneq ($(USE_SECONDARY_SPEKTRUM_RECEIVER),0)"/>
|
||||
<file name="radio_control.c" dir="subsystems"/>
|
||||
<file name="spektrum.c" dir="subsystems/radio_control"/>
|
||||
<file name="spektrum_arch.c" dir="$(SRC_ARCH)/subsystems/radio_control"/>
|
||||
</makefile>
|
||||
</module>
|
||||
|
||||
@@ -0,0 +1,55 @@
|
||||
<!DOCTYPE module SYSTEM "module.dtd">
|
||||
|
||||
<module name="radio_control_superbitrf_rc" dir="radio_control">
|
||||
<doc>
|
||||
<description>
|
||||
Radio control based on the SuperbitRF chip
|
||||
</description>
|
||||
<configure name="RADIO_CONTROL_LED" value="none|num" description="LED number or 'none' to disable"/>
|
||||
<configure name="SUPERBITRF_SPI_DEV" value="SPI2" description="SPI used for SuperbitRF"/>
|
||||
<configure name="SUPERBITRF_SPI_SLAVE_IDX" value="2" description="SPI slave number for SuperbitRF"/>
|
||||
</doc>
|
||||
<settings>
|
||||
<dl_settings>
|
||||
<dl_settings NAME="Superbit">
|
||||
<dl_setting var="settings_store_flag" min="1" step="1" max="1" shortname="store" handler="StoreSettings" module="autopilot" values="Store"/>
|
||||
<dl_setting var="superbitrf.bind_mfg_id32" type="uint32" min="0" step="1" max="4294967295" shortname ="mfg_id" persistent="true" module="subsystems/datalink/superbitrf" handler="set_mfg_id"/>
|
||||
<dl_setting var="superbitrf.num_channels" type="uint8" min="0" step="1" max="14" shortname ="#chan" persistent="true" module="subsystems/datalink/superbitrf"/>
|
||||
<dl_setting var="superbitrf.protocol" type="uint8" min="0" step="1" max="32" shortname ="prot" persistent="true" module="subsystems/datalink/superbitrf" handler="set_protocol"/>
|
||||
</dl_settings>
|
||||
</dl_settings>
|
||||
</settings>
|
||||
<header>
|
||||
<file name="superbitrf_rc.h" dir="subsystems/radio_control"/>
|
||||
</header>
|
||||
<makefile target="ap|fbw|sim|nps">
|
||||
<configure name="RADIO_CONTROL_LED" default="none"/>
|
||||
<configure name="SUPERBITRF_SPI_DEV" default="SPI2"/>
|
||||
<configure name="SUPERBITRF_SPI_SLAVE_IDX" default="2"/>
|
||||
<define name="RADIO_CONTROL_LED" value="$(RADIO_CONTROL_LED)" cond="ifneq ($(RADIO_CONTROL_LED),none)"/>
|
||||
<define name="RADIO_CONTROL_TYPE_H" value="subsystems/radio_control/superbitrf_rc.h" type="string"/>
|
||||
</makefile>
|
||||
<makefile target="fbw">
|
||||
<define name="RADIO_CONTROL"/>
|
||||
<define name="RADIO_CONTROL_TYPE_SUPERBITRF"/>
|
||||
<define name="USE_SUPERBITRF"/>
|
||||
<define name="USE_$(SUPERBITRF_SPI_DEV)"/>
|
||||
<define name="USE_SPI_SLAVE$(SUPERBITRF_SPI_SLAVE_IDX)"/>
|
||||
<file name="radio_control.c" dir="subsystems"/>
|
||||
<file name="superbitrf_rc.c" dir="subsystems/radio_control"/>
|
||||
<file name="superbitrf.c" dir="subsystems/datalink"/>
|
||||
<file name="cyrf6936.c" dir="peripherals"/>
|
||||
</makefile>
|
||||
<makefile target="ap" cond="ifeq (,$(findstring $(SEPARATE_FBW),1 TRUE))">
|
||||
<define name="RADIO_CONTROL"/>
|
||||
<define name="RADIO_CONTROL_TYPE_SUPERBITRF"/>
|
||||
<define name="USE_SUPERBITRF"/>
|
||||
<define name="USE_$(SUPERBITRF_SPI_DEV)"/>
|
||||
<define name="USE_SPI_SLAVE$(SUPERBITRF_SPI_SLAVE_IDX)"/>
|
||||
<file name="radio_control.c" dir="subsystems"/>
|
||||
<file name="superbitrf_rc.c" dir="subsystems/radio_control"/>
|
||||
<file name="superbitrf.c" dir="subsystems/datalink"/>
|
||||
<file name="cyrf6936.c" dir="peripherals"/>
|
||||
</makefile>
|
||||
</module>
|
||||
|
||||
@@ -108,10 +108,11 @@ let raw_xml2mk = fun f name xml ->
|
||||
let file_xml2mk = fun f ?(arch = false) dir_name target xml ->
|
||||
let name = Xml.attrib xml "name" in
|
||||
let dir_name = ExtXml.attrib_or_default xml "dir" ("$(" ^ dir_name ^ ")") in
|
||||
let cond, cond_end = try "\n"^(Xml.attrib xml "cond"), "\nendif" with Xml.No_attribute _ -> "", "" in
|
||||
let fmt =
|
||||
if arch then format_of_string "%s.srcs += arch/$(ARCH)/%s/%s\n"
|
||||
else format_of_string "%s.srcs += %s/%s\n" in
|
||||
fprintf f fmt target dir_name name
|
||||
if arch then format_of_string "%s%s.srcs += arch/$(ARCH)/%s/%s%s\n"
|
||||
else format_of_string "%s%s.srcs += %s/%s%s\n" in
|
||||
fprintf f fmt cond target dir_name name cond_end
|
||||
|
||||
(* only print the configuration flags for a module
|
||||
* 'raw' section are not handled here
|
||||
@@ -171,6 +172,9 @@ let module_xml2mk = fun f target firmware m ->
|
||||
else Xml.Element ("makefile", [], [])
|
||||
with _ -> section end
|
||||
in
|
||||
(* add condition if need *)
|
||||
let cond = try Some (Xml.attrib section "cond") with _ -> None in
|
||||
let _ = match cond with Some c -> fprintf f "%s\n" c | None -> () in
|
||||
Xml.iter
|
||||
(fun field ->
|
||||
match Compat.bytes_lowercase (Xml.tag field) with
|
||||
@@ -184,7 +188,8 @@ let module_xml2mk = fun f target firmware m ->
|
||||
| "file_arch" -> file_xml2mk f ~arch:true dir_name target field
|
||||
| "raw" -> raw_xml2mk f name field
|
||||
| _ -> ()
|
||||
) section
|
||||
) section;
|
||||
match cond with Some _ -> fprintf f "endif\n" | None -> ()
|
||||
) m.xml
|
||||
|
||||
let modules_xml2mk = fun f target ac_id xml fp ->
|
||||
|
||||
Reference in New Issue
Block a user