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[modules] update modules XML for proper dependcies and tasks

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This commit is contained in:
Gautier Hattenberger
2021-05-14 10:33:51 +02:00
parent 11ac07d385
commit d02ec5ba98
269 changed files with 1677 additions and 635 deletions
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conf/modules/AOA_adc.xml
+1 -1
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@@ -1,6 +1,6 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="AOA_adc" dir="sensors">
<module name="AOA_adc" dir="sensors" task="sensors">
<doc>
<description>Angle of Attack using internal ADC</description>
<configure name="ADC_AOA" value="ADC_X" description="select the ADC channel to use"/>
conf/modules/AOA_pwm.xml
+1 -1
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@@ -1,6 +1,6 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="AOA_pwm" dir="sensors">
<module name="AOA_pwm" dir="sensors" task="sensors">
<doc>
<description>
Angle of Attack sensor using PWM input
conf/modules/actuators.xml
+23
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@@ -0,0 +1,23 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="actuators" dir="actuators" task="actuators">
<doc>
<description>
Common actuators interface
</description>
</doc>
<dep>
</dep>
<header>
<file name="actuators.h" dir="subsystems"/>
</header>
<init fun="actuators_init()"/>
<makefile>
<define name="ACTUATORS"/>
<file name="actuators.c" dir="subsystems"/>
<test/>
</makefile>
</module>
conf/modules/actuators_ardrone2.xml
+4 -1
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@@ -6,12 +6,15 @@
Actuators Driver for ARDrone2
</description>
</doc>
<dep>
<depends>actuators</depends>
<provides>actuators</provides>
</dep>
<autoload name="actuators" type="nps"/>
<header>
<file name="actuators.h" dir="boards/ardrone"/>
</header>
<makefile target="ap">
<define name="ACTUATORS"/>
<file name="actuators.c" dir="$(SRC_BOARD)"/>
<test firmware="rotorcraft">
<configure name="SRC_BOARD" value="boards/ardrone"/>
conf/modules/actuators_asctec_v2.xml
+4 -1
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@@ -11,13 +11,16 @@
</description>
<configure name="ACTUATORS_ASCTEC_V2_I2C_DEV" value="i2cX" description="I2C port (default i2c1)"/>
</doc>
<dep>
<depends>i2c,actuators</depends>
<provides>actuators</provides>
</dep>
<header>
<file name="actuators_asctec_v2.h" dir="subsystems/actuators"/>
</header>
<makefile target="!sim|nps">
<configure name="ACTUATORS_ASCTEC_V2_I2C_DEV" default="i2c1" case="upper|lower"/>
<configure name="ACTUATORS_ASCTEC_V2_I2C_SCL_TIME" default="150"/>
<define name="ACTUATORS"/>
<define name="ACTUATORS_ASCTEC_V2_I2C_DEV" value="$(ACTUATORS_ASCTEC_V2_I2C_DEV_LOWER)"/>
<define name="USE_$(ACTUATORS_ASCTEC_V2_I2C_DEV_UPPER)"/>
<file name="actuators_asctec_v2.c" dir="subsystems/actuators"/>
conf/modules/actuators_bebop.xml
+4 -1
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@@ -7,13 +7,16 @@
</description>
<configure name="BEBOP_ACTUATORS_I2C_DEV" value="i2cX" description="I2C port (default i2c1)"/>
</doc>
<dep>
<depends>i2c,actuators</depends>
<provides>actuators</provides>
</dep>
<autoload name="actuators" type="nps"/>
<header>
<file name="actuators.h" dir="boards/bebop"/>
</header>
<makefile target="ap">
<configure name="BEBOP_ACTUATORS_I2C_DEV" default="i2c1" case="upper|lower"/>
<define name="ACTUATORS"/>
<define name="BEBOP_ACTUATORS_I2C_DEV" value="$(BEBOP_ACTUATORS_I2C_DEV_LOWER)"/>
<define name="USE_$(BEBOP_ACTUATORS_I2C_DEV_UPPER)"/>
<file name="actuators.c" dir="$(SRC_BOARD)"/>
conf/modules/actuators_disco.xml
+4 -1
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@@ -6,11 +6,14 @@
Actuators Driver for Disco plane
</description>
</doc>
<dep>
<depends>i2c,actuators</depends>
<provides>actuators</provides>
</dep>
<header>
<file name="actuators.h" dir="boards/disco"/>
</header>
<makefile target="ap">
<define name="ACTUATORS"/>
<define name="USE_I2C1"/>
<file name="actuators.c" dir="$(SRC_BOARD)"/>
<file_arch name="pwm_sysfs.c" dir="mcu_periph"/>
conf/modules/actuators_dshot.xml
+4 -1
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@@ -11,11 +11,14 @@
</description>
<define name="DSHOT_SPEED" value="600" description="DSHOT speed (150,300,600,1200)"/>
</doc>
<dep>
<depends>actuators,@commands</depends>
<provides>actuators</provides>
</dep>
<header>
<file name="actuators_dshot.h"/>
</header>
<makefile>
<define name="ACTUATORS"/>
<file_arch name="actuators_dshot_arch.c"/>
<file_arch name="esc_dshot.c" cond="ifeq ($(RTOS),chibios)"/>
<file_arch name="hal_stm32_dma.c" dir="mcu_periph" cond="ifeq ($(RTOS),chibios)"/>
conf/modules/actuators_dualpwm.xml
+4 -2
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@@ -4,14 +4,16 @@
<doc>
<description>
Actuators Driver for dual PWM output
Only with stm32
</description>
</doc>
<dep>
<depends>actuators</depends>
<provides>actuators</provides>
</dep>
<header>
<file name="actuators_dualpwm.h" dir="subsystems/actuators"/>
</header>
<makefile target="!sim|nps">
<define name="ACTUATORS"/>
<file_arch name="actuators_dualpwm_arch.c" dir="subsystems/actuators"/>
<file_arch name="actuators_shared_arch.c" dir="subsystems/actuators"/>
</makefile>
conf/modules/actuators_dummy.xml
+5
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@@ -5,8 +5,13 @@
<description>
Dummy actuators driver
This module prevents autoloading of actuators by fixedwing firmware
FIXME: this as no effect anymore
</description>
</doc>
<dep>
<provides>actuators</provides>
</dep>
<header/>
<makefile>
<configure name="ACTUATORS" value="none"/>
conf/modules/actuators_esc32.xml
+4 -1
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@@ -11,11 +11,14 @@
- command_laws section to map motor_mixing commands to servos
</description>
</doc>
<dep>
<depends>actuators</depends>
<provides>actuators</provides>
</dep>
<header>
<file name="actuators_esc32.h" dir="subsystems/actuators"/>
</header>
<makefile target="ap">
<define name="ACTUATORS"/>
<define name="USE_CAN_EXT_ID"/>
<file name="can.c" dir="mcu_periph"/>
<file_arch name="can_arch.c" dir="mcu_periph"/>
conf/modules/actuators_md25.xml
+4 -1
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@@ -7,6 +7,10 @@
</description>
<configure name="ACTUATORS_MD25_DEV" value="i2cX" description="I2C port (default i2c2)"/>
</doc>
<dep>
<depends>i2c,actuators</depends>
<provides>actuators</provides>
</dep>
<header>
<file name="actuators_md25.h"/>
</header>
@@ -14,7 +18,6 @@
<event fun="actuators_md25_event()"/>
<makefile>
<configure name="ACTUATORS_MD25_DEV" default="i2c2" case="upper|lower"/>
<define name="ACTUATORS"/>
<define name="ACTUATORS_MD25_DEV" value="$(ACTUATORS_MD25_DEV_LOWER)"/>
<define name="USE_$(ACTUATORS_MD25_DEV_UPPER)"/>
<define name="$(ACTUATORS_MD25_DEV_UPPER)_CLOCK_SPEED" value="100000"/>
conf/modules/actuators_nps.xml
+4 -1
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@@ -6,8 +6,11 @@
Actuators for NPS (dummy pwm)
</description>
</doc>
<dep>
<depends>actuators</depends>
<provides>actuators</provides>
</dep>
<makefile target="nps">
<define name="ACTUATORS"/>
<file_arch name="actuators_pwm_arch.c" dir="subsystems/actuators"/>
</makefile>
</module>
conf/modules/actuators_ostrich.xml
+4
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@@ -6,6 +6,10 @@
<configure name="ACTUATORS_OSTRICH_PORT" value="UARTx" description="UART port (default UART6)"/>
<configure name="ACTUATORS_OSTRICH_BAUD" value="B115200" description="UART baudrate (default 115200)"/>
</doc>
<dep>
<depends>uart,actuators</depends>
<provides>actuators</provides>
</dep>
<header>
<file name="actuators_ostrich.h"/>
</header>
conf/modules/actuators_ppm.xml
+4 -1
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@@ -11,11 +11,14 @@
Can be adjusted in the "servos_ppm_hw.h" file to suit your particular receiver.
</description>
</doc>
<dep>
<depends>actuators</depends>
<provides>actuators</provides>
</dep>
<header>
<file name="actuators_ppm.h" dir="subsystems/actuators"/>
</header>
<makefile target="!sim">
<define name="ACTUATORS"/>
<define name="SERVOS_PPM_MAT"/>
<file_arch name="actuators_ppm_hw.c" dir="subsystems/actuators"/>
</makefile>
conf/modules/actuators_pwm.xml
+4 -1
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@@ -6,11 +6,14 @@
Actuators Driver using direct PWM output
</description>
</doc>
<dep>
<depends>actuators</depends>
<provides>actuators</provides>
</dep>
<header>
<file name="actuators_pwm.h" dir="subsystems/actuators"/>
</header>
<makefile target="!sim">
<define name="ACTUATORS"/>
<file_arch name="actuators_pwm_arch.c" dir="subsystems/actuators"/>
<file_arch name="actuators_shared_arch.c" dir="subsystems/actuators" cond="ifeq ($(ARCH), stm32)"/>
</makefile>
conf/modules/actuators_sbus.xml
+4 -1
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@@ -9,12 +9,15 @@
</description>
<configure name="ACTUATORS_SBUS_DEV" value="UARTX" description="UART port (default uart4)"/>
</doc>
<dep>
<depends>uart,actuators</depends>
<provides>actuators</provides>
</dep>
<header>
<file name="actuators_sbus.h" dir="subsystems/actuators"/>
</header>
<makefile target="!sim">
<configure name="ACTUATORS_SBUS_DEV" default="uart4" case="upper|lower"/>
<define name="ACTUATORS"/>
<define name="ACTUATORS_SBUS_DEV" value="$(ACTUATORS_SBUS_DEV_LOWER)"/>
<define name="USE_$(ACTUATORS_SBUS_DEV_UPPER)"/>
<define name="$(ACTUATORS_SBUS_DEV_UPPER)_BAUD" value="100000"/>
conf/modules/actuators_spektrum.xml
+4 -1
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@@ -12,13 +12,16 @@
<configure name="ACTUATORS_SPEKTRUM_DEV" value="UARTX" description="UART port (default uart4)"/>
<configure name="ACTUATORS_SPEKTRUM_DEV2" value="UARTX" description="UART port for optional secondary output"/>
</doc>
<dep>
<depends>uart,actuators</depends>
<provides>actuators</provides>
</dep>
<header>
<file name="actuators_spektrum.h" dir="subsystems/actuators"/>
</header>
<makefile target="!sim">
<configure name="ACTUATORS_SPEKTRUM_DEV" default="uart4" case="upper|lower"/>
<configure name="ACTUATORS_SPEKTRUM_DEV2" case="upper|lower"/>
<define name="ACTUATORS"/>
<define name="ACTUATORS_SPEKTRUM_DEV" value="$(ACTUATORS_SPEKTRUM_DEV_LOWER)"/>
<define name="USE_$(ACTUATORS_SPEKTRUM_DEV_UPPER)"/>
<define name="$(ACTUATORS_SPEKTRUM_DEV_UPPER)_BAUD" value="115200"/>
conf/modules/actuators_swing.xml
+4 -1
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@@ -6,11 +6,14 @@
Actuators Driver for Swing
</description>
</doc>
<dep>
<depends>actuators</depends>
<provides>actuators</provides>
</dep>
<header>
<file name="actuators.h" dir="boards/swing"/>
</header>
<makefile target="ap">
<define name="ACTUATORS"/>
<file name="actuators.c" dir="$(SRC_BOARD)"/>
</makefile>
</module>
conf/modules/actuators_uavcan.xml
+3 -1
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@@ -8,8 +8,10 @@
<define name="UAVCAN_ACTUATORS_USE_CURRENT" value="TRUE" description="Enable the usage of the current sensing in the ESC telemetry"/>
</doc>
<dep>
<depends>uavcan</depends>
<depends>uavcan,actuators</depends>
<provides>actuators</provides>
</dep>
<autoload name="actuators" type="nps"/>
<header>
<file name="actuators_uavcan.h" dir="subsystems/actuators"/>
</header>
conf/modules/adc.xml
+3
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@@ -7,6 +7,9 @@
To activate a specific ADC input, define flag USE_ADC_X where X is your ADC input number
</description>
</doc>
<dep>
<depends>mcu</depends>
</dep>
<header>
<file name="adc.h" dir="mcu_periph"/>
</header>
conf/modules/ahrs_chimu_spi.xml
+6 -2
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@@ -1,15 +1,19 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="ahrs_chimu_spi" dir="ins">
<module name="ahrs_chimu_spi" dir="ins" task="estimation">
<doc>
<description>CHimu (SPI)</description>
<define name="CHIMU_BIG_ENDIAN" value="TRUE" description="For older CHIMU v1.0 you should define CHIMU_BIG_ENDIAN"/>
</doc>
<dep>
<depends>spi_slave_hs</depends>
<provides>ahrs,imu</provides>
</dep>
<autoload name="ahrs_sim"/>
<autoload name="spi" type="slave_hs"/>
<header>
<file name="ins_module.h"/>
</header>
<init fun="ahrs_init()"/>
<event fun="parse_ins_msg()"/>
<makefile target="ap">
<define name="AHRS_TRIGGERED_ATTITUDE_LOOP"/>
conf/modules/ahrs_chimu_uart.xml
+6 -1
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@@ -1,14 +1,19 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="ahrs_chimu_uart" dir="ins">
<module name="ahrs_chimu_uart" dir="ins" task="estimation">
<doc>
<description>CHimu (UART)</description>
<configure name="CHIMU_UART_NR" value="3" description="UART"/>
<define name="CHIMU_BIG_ENDIAN" value="TRUE" description="For older CHIMU v1.0 you should define CHIMU_BIG_ENDIAN"/>
</doc>
<dep>
<depends>uart</depends>
<provides>ahrs,imu</provides>
</dep>
<header>
<file name="ins_module.h"/>
</header>
<init fun="ahrs_init()"/>
<event fun="parse_ins_msg()"/>
<makefile target="ap">
<define name="AHRS_TRIGGERED_ATTITUDE_LOOP"/>
conf/modules/ahrs_common.xml
+34
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@@ -0,0 +1,34 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="ahrs_common" dir="ahrs" task="estimation">
<doc>
<description>
Generic AHRS interface.
Still requires at least one module providing the actual AHRS implementation.
</description>
<configure name="AHRS_ALIGNER_LED" value="1" description="LED number to indicate AHRS alignment, none to disable (default is board dependent)"/>
</doc>
<dep>
<depends>@ahrs</depends>
</dep>
<header>
<file name="ahrs.h" dir="subsystems"/>
</header>
<init fun="ahrs_init()"/>
<makefile target="!sim|fbw">
<define name="AHRS_ALIGNER_LED" value="$(AHRS_ALIGNER_LED)" cond="ifneq ($(AHRS_ALIGNER_LED),none)"/>
<define name="USE_AHRS"/>
<define name="USE_AHRS_ALIGNER"/>
<file name="ahrs.c" dir="subsystems"/>
<file name="ahrs_aligner.c" dir="subsystems/ahrs"/>
<test>
<define name="PRIMARY_AHRS" value="ahrs_dcm"/>
<define name="AHRS_TYPE_H" value="subsystems/ahrs/ahrs_float_dcm_wrapper.h" type="string"/>
</test>
</makefile>
<makefile target="sim">
<define name="USE_AHRS"/>
<file name="ahrs.c" dir="subsystems"/>
</makefile>
</module>
conf/modules/ahrs_float_cmpl_quat.xml
+5 -12
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@@ -1,6 +1,6 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="ahrs_float_cmpl_quat" dir="ahrs">
<module name="ahrs_float_cmpl_quat" dir="ahrs" task="estimation">
<doc>
<description>
AHRS using complementary filter in floating point.
@@ -35,10 +35,11 @@
</dl_settings>
</settings>
<dep>
<depends>ahrs_common,@imu,@gps|@mag</depends>
<provides>ahrs</provides>
</dep>
<autoload name="ahrs_sim"/>
<header>
<file name="ahrs.h" dir="subsystems"/>
</header>
<makefile target="!sim|fbw" firmware="fixedwing">
<configure name="USE_MAGNETOMETER" default="0"/>
<define name="AHRS_USE_GPS_HEADING" cond="ifneq (,$(findstring $(USE_MAGNETOMETER),0 FALSE))"/>
@@ -46,16 +47,8 @@
</makefile>
<makefile target="!sim|fbw">
<configure name="USE_MAGNETOMETER" default="1"/>
<define name="USE_MAGNETOMETER" cond="ifeq (,$(findstring $(USE_MAGNETOMETER),0 FALSE))"/>
<define name="AHRS_ALIGNER_LED" value="$(AHRS_ALIGNER_LED)" cond="ifneq ($(AHRS_ALIGNER_LED),none)"/>
<define name="USE_AHRS"/>
<define name="USE_AHRS_ALIGNER"/>
<define name="AHRS_PROPAGATE_QUAT"/>
<file name="ahrs.c" dir="subsystems"/>
<file name="ahrs_aligner.c" dir="subsystems/ahrs"/>
<file name="ahrs_float_cmpl.c" dir="subsystems/ahrs"/>
<file name="ahrs_float_cmpl_wrapper.c" dir="subsystems/ahrs"/>
<test>
conf/modules/ahrs_float_cmpl_rmat.xml
+5 -12
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@@ -1,6 +1,6 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="ahrs_float_cmpl_rmat" dir="ahrs">
<module name="ahrs_float_cmpl_rmat" dir="ahrs" task="estimation">
<doc>
<description>
AHRS using complementary filter in floating point.
@@ -31,10 +31,11 @@
</dl_settings>
</settings>
<dep>
<depends>ahrs_common,@imu,@gps|@mag</depends>
<provides>ahrs</provides>
</dep>
<autoload name="ahrs_sim"/>
<header>
<file name="ahrs.h" dir="subsystems"/>
</header>
<makefile target="!sim|fbw" firmware="fixedwing">
<configure name="USE_MAGNETOMETER" default="0"/>
<define name="AHRS_USE_GPS_HEADING" cond="ifneq (,$(findstring $(USE_MAGNETOMETER),0 FALSE))"/>
@@ -42,16 +43,8 @@
</makefile>
<makefile target="!sim|fbw">
<configure name="USE_MAGNETOMETER" default="1"/>
<define name="USE_MAGNETOMETER" cond="ifeq (,$(findstring $(USE_MAGNETOMETER),0 FALSE))"/>
<define name="AHRS_ALIGNER_LED" value="$(AHRS_ALIGNER_LED)" cond="ifneq ($(AHRS_ALIGNER_LED),none)"/>
<define name="USE_AHRS"/>
<define name="USE_AHRS_ALIGNER"/>
<define name="AHRS_PROPAGATE_RMAT"/>
<file name="ahrs.c" dir="subsystems"/>
<file name="ahrs_aligner.c" dir="subsystems/ahrs"/>
<file name="ahrs_float_cmpl.c" dir="subsystems/ahrs"/>
<file name="ahrs_float_cmpl_wrapper.c" dir="subsystems/ahrs"/>
<test>
conf/modules/ahrs_float_dcm.xml
+5 -12
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@@ -1,6 +1,6 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="ahrs_float_dcm" dir="ahrs">
<module name="ahrs_float_dcm" dir="ahrs" task="estimation">
<doc>
<description>
AHRS using DCM filter.
@@ -15,7 +15,6 @@
But since people already know it under that name, we kept it.
</description>
<configure name="USE_MAGNETOMETER" value="FALSE" description="set to FALSE to disable magnetometer"/>
<configure name="AHRS_ALIGNER_LED" value="1" description="LED number to indicate AHRS alignment, none to disable (default is board dependent)"/>
<define name="USE_MAGNETOMETER_ONGROUND" description="use magnetic compensation before takeoff only while GPS course not good"/>
<define name="USE_AHRS_GPS_ACCELERATIONS" description="enable forward acceleration compensation from GPS speed"/>
<define name="ACCEL_WEIGHT_FILTER" value="8" description="adjust accel drift heuristic filter (default 8, 0 to disable filter)"/>
@@ -31,21 +30,15 @@
</dl_settings>
</settings>
<dep>
<depends>ahrs_common,@imu,@gps</depends>
<provides>ahrs</provides>
</dep>
<autoload name="ahrs_sim"/>
<header>
<file name="ahrs.h" dir="subsystems"/>
</header>
<makefile target="!sim|fbw">
<configure name="USE_MAGNETOMETER" default="0"/>
<define name="USE_MAGNETOMETER" cond="ifeq (,$(findstring $(USE_MAGNETOMETER),0 FALSE))"/>
<define name="AHRS_ALIGNER_LED" value="$(AHRS_ALIGNER_LED)" cond="ifneq ($(AHRS_ALIGNER_LED),none)"/>
<define name="USE_AHRS"/>
<define name="USE_AHRS_ALIGNER"/>
<file name="ahrs.c" dir="subsystems"/>
<file name="ahrs_aligner.c" dir="subsystems/ahrs"/>
<file name="ahrs_float_dcm.c" dir="subsystems/ahrs"/>
<file name="ahrs_float_dcm_wrapper.c" dir="subsystems/ahrs"/>
<test firmware="fixedwing">
conf/modules/ahrs_float_invariant.xml
+5 -12
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@@ -1,6 +1,6 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="ahrs_float_invariant" dir="ahrs">
<module name="ahrs_float_invariant" dir="ahrs" task="estimation">
<doc>
<description>
AHRS using invariant filter.
@@ -28,20 +28,13 @@
</dl_settings>
</settings>
<header>
<file name="ahrs.h" dir="subsystems"/>
</header>
<dep>
<depends>ahrs_common,@imu,@mag</depends>
<provides>ahrs</provides>
</dep>
<makefile target="!sim|fbw">
<configure name="USE_MAGNETOMETER" default="1"/>
<define name="USE_MAGNETOMETER" cond="ifeq (,$(findstring $(USE_MAGNETOMETER),0 FALSE))"/>
<define name="AHRS_ALIGNER_LED" value="$(AHRS_ALIGNER_LED)" cond="ifneq ($(AHRS_ALIGNER_LED),none)"/>
<define name="USE_AHRS"/>
<define name="USE_AHRS_ALIGNER"/>
<file name="ahrs.c" dir="subsystems"/>
<file name="ahrs_aligner.c" dir="subsystems/ahrs"/>
<file name="ahrs_float_invariant.c" dir="subsystems/ahrs"/>
<file name="ahrs_float_invariant_wrapper.c" dir="subsystems/ahrs"/>
<test>
conf/modules/ahrs_float_mlkf.xml
+5 -12
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@@ -1,6 +1,6 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="ahrs_float_mlkf" dir="ahrs">
<module name="ahrs_float_mlkf" dir="ahrs" task="estimation">
<doc>
<description>
AHRS using MLKF filter.
@@ -25,21 +25,14 @@
</dl_settings>
</settings>
<dep>
<depends>ahrs_common,@imu,@mag</depends>
<provides>ahrs</provides>
</dep>
<autoload name="ahrs_sim"/>
<header>
<file name="ahrs.h" dir="subsystems"/>
</header>
<makefile target="!sim|fbw">
<configure name="USE_MAGNETOMETER" default="1"/>
<define name="USE_MAGNETOMETER" cond="ifeq (,$(findstring $(USE_MAGNETOMETER),0 FALSE))"/>
<define name="AHRS_ALIGNER_LED" value="$(AHRS_ALIGNER_LED)" cond="ifneq ($(AHRS_ALIGNER_LED),none)"/>
<define name="USE_AHRS"/>
<define name="USE_AHRS_ALIGNER"/>
<file name="ahrs.c" dir="subsystems"/>
<file name="ahrs_aligner.c" dir="subsystems/ahrs"/>
<file name="ahrs_float_mlkf.c" dir="subsystems/ahrs"/>
<file name="ahrs_float_mlkf_wrapper.c" dir="subsystems/ahrs"/>
<test>
conf/modules/ahrs_gx3.xml
+6 -2
View File
@@ -1,6 +1,6 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="ahrs_gx3" dir="ahrs">
<module name="ahrs_gx3" dir="ahrs" task="estimation">
<doc>
<description>
AHRS driver for GX3.
@@ -8,11 +8,15 @@
<configure name="GX3_PORT" value="UART3" description="uart for GX3"/>
<configure name="GX3_BAUD" value="B921600" description="GX3 uart baud rate"/>
</doc>
<dep>
<depends>uart</depends>
<provides>ahrs,imu,mag</provides>
</dep>
<autoload name="ahrs_sim"/>
<header>
<file name="ahrs.h" dir="subsystems"/>
</header>
<init fun="ahrs_init()"/>
<makefile target="ap">
<configure name="GX3_PORT" default="UART3" case="upper|lower"/>
<configure name="GX3_BAUD" default="B921600"/>
conf/modules/ahrs_int_cmpl_quat.xml
+5 -11
View File
@@ -1,6 +1,6 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="ahrs_int_cmpl_quat" dir="ahrs">
<module name="ahrs_int_cmpl_quat" dir="ahrs" task="estimation">
<doc>
<description>
AHRS using complementary filter in fixed point.
@@ -47,10 +47,11 @@
</dl_settings>
</settings>
<dep>
<depends>ahrs_common,@imu,@mag|@gps</depends>
<provides>ahrs</provides>
</dep>
<autoload name="ahrs_sim"/>
<header>
<file name="ahrs.h" dir="subsystems"/>
</header>
<makefile target="!sim|fbw" firmware="fixedwing">
<configure name="USE_MAGNETOMETER" default="0"/>
@@ -59,14 +60,7 @@
</makefile>
<makefile target="!sim|fbw">
<configure name="USE_MAGNETOMETER" default="1"/>
<define name="USE_MAGNETOMETER" cond="ifeq (,$(findstring $(USE_MAGNETOMETER),0 FALSE))"/>
<define name="AHRS_ALIGNER_LED" value="$(AHRS_ALIGNER_LED)" cond="ifneq ($(AHRS_ALIGNER_LED),none)"/>
<define name="USE_AHRS"/>
<define name="USE_AHRS_ALIGNER"/>
<file name="ahrs.c" dir="subsystems"/>
<file name="ahrs_aligner.c" dir="subsystems/ahrs"/>
<file name="ahrs_int_cmpl_quat.c" dir="subsystems/ahrs"/>
<file name="ahrs_int_cmpl_quat_wrapper.c" dir="subsystems/ahrs"/>
<test>
conf/modules/ahrs_madgwick.xml
+5 -8
View File
@@ -1,6 +1,6 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="ahrs_madgwick" dir="ahrs">
<module name="ahrs_madgwick" dir="ahrs" task="estimation">
<doc>
<description>
AHRS using IMU (accel, gyro) only with Madwick implementation.
@@ -17,20 +17,17 @@
</dl_settings>
</settings>
<dep>
<depends>ahrs_common,@imu</depends>
<provides>ahrs</provides>
</dep>
<header>
<file name="ahrs.h" dir="subsystems"/>
</header>
<makefile target="!sim|fbw">
<configure name="USE_MAGNETOMETER" default="0"/>
<define name="USE_MAGNETOMETER" cond="ifeq (,$(findstring $(USE_MAGNETOMETER),0 FALSE))"/>
<define name="AHRS_ALIGNER_LED" value="$(AHRS_ALIGNER_LED)" cond="ifneq ($(AHRS_ALIGNER_LED),none)"/>
<define name="USE_AHRS"/>
<define name="USE_AHRS_ALIGNER"/>
<file name="ahrs.c" dir="subsystems"/>
<file name="ahrs_aligner.c" dir="subsystems/ahrs"/>
<file name="ahrs_madgwick.c"/>
<file name="ahrs_madgwick_wrapper.c"/>
<raw>
conf/modules/ahrs_sim.xml
+6 -4
View File
@@ -1,20 +1,22 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="ahrs_sim" dir="ahrs">
<module name="ahrs_sim" dir="ahrs" task="estimation">
<doc>
<description>
Simple simulation of the AHRS result.
Only for the simple fixedwing sim.
</description>
</doc>
<dep>
<depends>ahrs_common</depends>
<provides>ahrs</provides>
</dep>
<header>
<file name="ahrs.h" dir="subsystems"/>
</header>
<periodic fun="update_ahrs_from_sim()"/>
<makefile target="sim">
<define name="USE_AHRS"/>
<define name="AHRS_TYPE_H" value="subsystems/ahrs/ahrs_sim.h" type="string"/>
<file name="ahrs.c" dir="subsystems"/>
<file name="ahrs_sim.c" dir="subsystems/ahrs"/>
<test>
<define name="PRIMARY_AHRS" value="ahrs_sim"/>
conf/modules/ahrs_vectornav.xml
+6 -1
View File
@@ -1,6 +1,6 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="ahrs_vectornav" dir="ahrs">
<module name="ahrs_vectornav" dir="ahrs" task="estimation">
<doc>
<description>
Vectornav VN200 over uart used as AHRS.
@@ -8,10 +8,15 @@
<configure name="VN_PORT" value="uart3" description="UART to use"/>
<configure name="VN_BAUD" value="B921600" description="UART baudrate"/>
</doc>
<dep>
<depends>uart</depends>
<provides>ahrs,imu</provides>
</dep>
<autoload name="ahrs_sim"/>
<header>
<file name="ahrs.h" dir="subsystems"/>
</header>
<init fun="ahrs_init()"/>
<event fun="ahrs_vectornav_event()"/>
<makefile target="ap">
<configure name="VN_PORT" default="uart3" case="upper|lower"/>
conf/modules/air_data.xml
+2 -2
View File
@@ -1,6 +1,6 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="air_data">
<module name="air_data" task="core">
<doc>
<description>
AirData interface.
@@ -36,7 +36,7 @@
</header>
<init fun="air_data_init()"/>
<periodic fun="air_data_periodic()" freq="10"/>
<makefile>
<makefile target="!fbw">
<file name="air_data.c"/>
</makefile>
</module>
conf/modules/airspeed_adc.xml
+5 -1
View File
@@ -1,6 +1,6 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="airspeed_adc" dir="sensors">
<module name="airspeed_adc" dir="sensors" task="sensors">
<doc>
<description>Airspeed sensor (ADC).
Using the internal ADC.
@@ -19,6 +19,10 @@
</dl_settings>
</dl_settings>
</settings>
<dep>
<depends>adc</depends>
<provides>airspeed</provides>
</dep>
<header>
<file name="airspeed_adc.h"/>
</header>
conf/modules/airspeed_ads1114.xml
+5 -1
View File
@@ -1,12 +1,16 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="airspeed_ads1114" dir="sensors">
<module name="airspeed_ads1114" dir="sensors" task="sensors">
<doc>
<description>
ADS1114 airspeed sensor.
Module to extend the baro_board module with an airspeed sensor using ads1114 adc
</description>
</doc>
<dep>
<depends>i2c</depends>
<provides>airspeed</provides>
</dep>
<header>
<file name="airspeed_ads1114.h"/>
</header>
conf/modules/airspeed_amsys.xml
+5 -1
View File
@@ -1,6 +1,6 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="airspeed_amsys" dir="sensors">
<module name="airspeed_amsys" dir="sensors" task="sensors">
<doc>
<description>
Airspeed AMSYS (I2C)
@@ -25,6 +25,10 @@
</dl_settings>
</dl_settings>
</settings>
<dep>
<depends>i2c</depends>
<provides>airspeed</provides>
</dep>
<header>
<file name="airspeed_amsys.h"/>
conf/modules/airspeed_ets.xml
+5 -1
View File
@@ -1,6 +1,6 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="airspeed_ets" dir="sensors">
<module name="airspeed_ets" dir="sensors" task="sensors">
<doc>
<description>
Airspeed ETS (I2C).
@@ -27,6 +27,10 @@
<define name="AIRSPEED_ETS_3RD_PARTY_MODE" description="read raw value for sensor in third-party mode"/>
<define name="AIRSPEED_ETS_SDLOG" value="TRUE|FALSE" description="start logging to SD card"/>
</doc>
<dep>
<depends>i2c</depends>
<provides>airspeed</provides>
</dep>
<header>
<file name="airspeed_ets.h"/>
conf/modules/airspeed_ms45xx_i2c.xml
+5 -1
View File
@@ -1,6 +1,6 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="airspeed_ms45xx_i2c" dir="sensors">
<module name="airspeed_ms45xx_i2c" dir="sensors" task="sensors">
<doc>
<description>
MS45XX differential or gauge type of pressure sensor for e.g measuring airspeed.
@@ -32,6 +32,10 @@
</dl_settings>
</dl_settings>
</settings>
<dep>
<depends>i2c</depends>
<provides>airspeed</provides>
</dep>
<header>
<file name="airspeed_ms45xx_i2c.h"/>
conf/modules/airspeed_otf.xml
+5 -1
View File
@@ -1,6 +1,6 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="airspeed_otf" dir="sensors">
<module name="airspeed_otf" dir="sensors" task="sensors">
<doc>
<description>
OTF! airspeed/flow angle sensor
@@ -14,6 +14,10 @@
</description>
<configure name="OTF_UART" value="UARTX" description="UART on which computer is connected"/>
</doc>
<dep>
<depends>uart</depends>
<provides>airspeed,aoa</provides>
</dep>
<header>
<file name="met_module.h"/>
<file name="airspeed_otf.h"/>
conf/modules/airspeed_sdp3x.xml
+5 -1
View File
@@ -1,6 +1,6 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="airspeed_sdp3x" dir="sensors">
<module name="airspeed_sdp3x" dir="sensors" task="sensors">
<doc>
<description>
SDP3X differential pressure sensor for e.g measuring airspeed.
@@ -26,6 +26,10 @@
</dl_settings>
</dl_settings>
</settings>
<dep>
<depends>i2c</depends>
<provides>airspeed</provides>
</dep>
<header>
<file name="airspeed_sdp3x.h"/>
conf/modules/airspeed_uADC.xml
+5 -1
View File
@@ -1,6 +1,6 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="airspeed_uADC" dir="sensors">
<module name="airspeed_uADC" dir="sensors" task="sensors">
<doc>
<description>
Driver for the Aeroprobe uADC air data computer.
@@ -13,6 +13,10 @@
</description>
<configure name="UADC_UART" value="UARTX" description="UART on which computer is connected"/>
</doc>
<dep>
<depends>uart</depends>
<provides>airspeed,aoa</provides>
</dep>
<header>
<file name="met_module.h"/>
<file name="airspeed_uADC.h"/>
conf/modules/autopilot_gnc.xml
+31
View File
@@ -0,0 +1,31 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="autopilot_gnc" task="control">
<doc>
<description>
Autopilot Guidance Navigation anc Control
</description>
</doc>
<dep>
<depends>system_core,@guidance,@navigation,@commands</depends>
<provides>autopilot</provides>
</dep>
<header>
<file name="autopilot.h" dir="."/>
</header>
<init fun="autopilot_init()"/>
<periodic fun="autopilot_periodic()"/>
<event fun="autopilot_event()"/>
<makefile target="!fbw">
<file name="autopilot.c" dir="."/>
<file name="autopilot_firmware.c" dir="$(SRC_FIRMWARE)"/>
<file name="autopilot_utils.c" dir="$(SRC_FIRMWARE)"/>
<file name="autopilot_static.c" dir="$(SRC_FIRMWARE)" cond="ifneq ($(USE_GENERATED_AUTOPILOT), TRUE)"/>
<file name="autopilot_generated.c" dir="$(SRC_FIRMWARE)" cond="ifeq ($(USE_GENERATED_AUTOPILOT), TRUE)"/>
<define name="USE_GENERATED_AUTOPILOT" value="1" cond="ifeq ($(USE_GENERATED_AUTOPILOT), TRUE)"/>
</makefile>
<makefile target="!fbw" firmware="rotorcraft">
<file name="autopilot_guided.c" dir="$(SRC_FIRMWARE)"/>
</makefile>
</module>
conf/modules/baro_MS5534A.xml
+2 -1
View File
@@ -1,6 +1,6 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="baro_MS5534A" dir="sensors">
<module name="baro_MS5534A" dir="sensors" task="sensors">
<doc>
<description>MS5534a barometer (SPI)</description>
</doc>
@@ -9,6 +9,7 @@
</header>
<dep>
<depends>spi_master</depends>
<provides>baro</provides>
</dep>
<init fun="baro_MS5534A_init()"/>
<periodic fun="baro_MS5534A_send()" freq="20"/>
conf/modules/baro_amsys.xml
+5 -1
View File
@@ -1,6 +1,6 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="baro_amsys" dir="sensors">
<module name="baro_amsys" dir="sensors" task="sensors">
<doc>
<description>
Baro AMSYS (I2C).
@@ -21,6 +21,10 @@
</dl_settings>
</dl_settings>
</settings>
<dep>
<depends>i2c</depends>
<provides>baro</provides>
</dep>
<header>
<file name="baro_amsys.h"/>
conf/modules/baro_bmp.xml
+5 -1
View File
@@ -1,11 +1,15 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="baro_bmp" dir="sensors">
<module name="baro_bmp" dir="sensors" task="sensors">
<doc>
<description>Bosch BMP085 pressure sensor</description>
<configure name="BMP_I2C_DEV" value="i2cX" description="select which i2c peripheral to use (default i2c0)"/>
<define name="SENSOR_SYNC_SEND" description="flag to transmit the data as it is acquired"/>
</doc>
<dep>
<depends>i2c</depends>
<provides>baro</provides>
</dep>
<header>
<file name="baro_bmp.h"/>
</header>
conf/modules/baro_bmp280_i2c.xml
+5 -1
View File
@@ -1,6 +1,6 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="baro_bmp280_i2c" dir="sensors">
<module name="baro_bmp280_i2c" dir="sensors" task="sensors">
<doc>
<description>
Bosch-Sensortech BMP280xx pressure sensor
@@ -9,6 +9,10 @@
<define name="BMP280_SLAVE_ADDR" value="BMP280_I2C_ADDR|BMP280_I2C_ADDR_ALT" description="i2c slave address (default BMP280_I2C_ADDR)"/>
<define name="BMP280_SYNC_SEND" description="flag to transmit the data as it is acquired"/>
</doc>
<dep>
<depends>i2c</depends>
<provides>baro</provides>
</dep>
<header>
<file name="baro_bmp280_i2c.h"/>
</header>
conf/modules/baro_bmp3.xml
+5 -1
View File
@@ -1,6 +1,6 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="baro_bmp3" dir="sensors">
<module name="baro_bmp3" dir="sensors" task="sensors">
<doc>
<description>
Bosch-Sensortech BMP3xx pressure sensor
@@ -10,6 +10,10 @@
<define name="BMP3_SYNC_SEND" description="flag to transmit the data as it is acquired"/>
<define name="BMP3_COMPENSATION" value="BMP3_SINGLE_PRECISION_COMPENSATION" description="select precision for compensation (single precision, double precision, or integer)"/>
</doc>
<dep>
<depends>i2c</depends>
<provides>baro</provides>
</dep>
<header>
<file name="baro_bmp3.h"/>
</header>
conf/modules/baro_board.xml
+263
View File
@@ -0,0 +1,263 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="baro_board" dir="sensors" task="sensors">
<doc>
<description>
Magic module to load the proper baro for a board (if supported)
This module should be replaced by a proper loading of the correct module
in each board or airframe file
</description>
<configure name="USE_BARO_BOARD" value="FALSE|TRUE" description="enable or not the internal baro driver (default TRUE)"/>
</doc>
<dep>
<depends>baro_board_common</depends>
</dep>
<makefile target="ap">
<raw>
ifeq ($(USE_BARO_BOARD), TRUE)
# Navstik baro
ifeq ($(BOARD), navstik)
BARO_BOARD_CFLAGS += -DUSE_I2C3
BARO_BOARD_CFLAGS += -DBARO_BOARD=BARO_BOARD_BMP085
BARO_BOARD_SRCS += peripherals/bmp085.c
BARO_BOARD_SRCS += $(SRC_BOARD)/baro_board.c
# Lisa/M baro
else ifeq ($(BOARD), lisa_m)
ifeq ($(BOARD_VERSION), 1.0)
# on lisa_m_1.0: defaults to i2c baro bmp085 on the board
LISA_M_BARO ?= BARO_BOARD_BMP085
else ifeq ($(BOARD_VERSION), 2.0)
# on lisa_m_2.0: defaults to MS5611 baro connected via SPI on Aspirin2.2
LISA_M_BARO ?= BARO_MS5611_SPI
else ifeq ($(BOARD_VERSION), 2.1)
# on lisa_m_2.1: defaults to MS5611 baro connected via SPI on the integrated Aspirin2.2
LISA_M_BARO ?= BARO_MS5611_SPI
endif
ifeq ($(LISA_M_BARO), BARO_MS5611_SPI)
BARO_BOARD_CFLAGS += -DBARO_BOARD=BARO_MS5611_SPI
include $(CFG_SHARED)/spi_master.makefile
BARO_BOARD_CFLAGS += -DUSE_SPI2 -DUSE_SPI_SLAVE3
BARO_BOARD_CFLAGS += -DBB_MS5611_SPI_DEV=spi2
BARO_BOARD_CFLAGS += -DBB_MS5611_SLAVE_IDX=SPI_SLAVE3
BARO_BOARD_SRCS += peripherals/ms5611.c
BARO_BOARD_SRCS += peripherals/ms5611_spi.c
BARO_BOARD_SRCS += boards/baro_board_ms5611_spi.c
else ifeq ($(LISA_M_BARO), BARO_MS5611_I2C)
BARO_BOARD_CFLAGS += -DBARO_BOARD=BARO_MS5611_I2C
BARO_BOARD_CFLAGS += -DUSE_I2C2
BARO_BOARD_CFLAGS += -DBB_MS5611_I2C_DEV=i2c2
BARO_BOARD_SRCS += peripherals/ms5611.c
BARO_BOARD_SRCS += peripherals/ms5611_i2c.c
BARO_BOARD_SRCS += boards/baro_board_ms5611_i2c.c
else ifeq ($(LISA_M_BARO), BARO_BOARD_BMP085)
BARO_BOARD_CFLAGS += -DBARO_BOARD=BARO_BOARD_BMP085
BARO_BOARD_CFLAGS += -DUSE_I2C2
BARO_BOARD_SRCS += peripherals/bmp085.c
BARO_BOARD_SRCS += $(SRC_BOARD)/baro_board.c
endif
else ifeq ($(BOARD), lisa_mx)
# defaults to MS5611 via SPI on Aspirin
LISA_MX_BARO ?= BARO_MS5611_SPI
ifeq ($(LISA_MX_BARO), BARO_MS5611_SPI)
BARO_BOARD_CFLAGS += -DBARO_BOARD=BARO_MS5611_SPI
include $(CFG_SHARED)/spi_master.makefile
BARO_BOARD_CFLAGS += -DUSE_SPI2 -DUSE_SPI_SLAVE3
BARO_BOARD_CFLAGS += -DBB_MS5611_SPI_DEV=spi2
BARO_BOARD_CFLAGS += -DBB_MS5611_SLAVE_IDX=SPI_SLAVE3
BARO_BOARD_SRCS += peripherals/ms5611.c
BARO_BOARD_SRCS += peripherals/ms5611_spi.c
BARO_BOARD_SRCS += boards/baro_board_ms5611_spi.c
else ifeq ($(LISA_MX_BARO), BARO_MS5611_I2C)
BARO_BOARD_CFLAGS += -DBARO_BOARD=BARO_MS5611_I2C
BARO_BOARD_CFLAGS += -DUSE_I2C2
BARO_BOARD_CFLAGS += -DBB_MS5611_I2C_DEV=i2c2
BARO_BOARD_SRCS += peripherals/ms5611.c
BARO_BOARD_SRCS += peripherals/ms5611_i2c.c
BARO_BOARD_SRCS += boards/baro_board_ms5611_i2c.c
else ifeq ($(LISA_MX_BARO), BARO_BOARD_BMP085)
BARO_BOARD_CFLAGS += -DBARO_BOARD=BARO_BOARD_BMP085
BARO_BOARD_CFLAGS += -DUSE_I2C2
BARO_BOARD_SRCS += peripherals/bmp085.c
BARO_BOARD_SRCS += $(SRC_BOARD)/baro_board.c
endif
else ifeq ($(BOARD), lisa_mxs)
# defaults to MS5611 via SPI on Aspirin
LISA_MXS_BARO ?= BARO_MS5611_SPI
ifeq ($(LISA_MXS_BARO), BARO_MS5611_SPI)
BARO_BOARD_CFLAGS += -DBARO_BOARD=BARO_MS5611_SPI
include $(CFG_SHARED)/spi_master.makefile
BARO_BOARD_CFLAGS += -DUSE_SPI2 -DUSE_SPI_SLAVE3
BARO_BOARD_CFLAGS += -DBB_MS5611_SPI_DEV=spi2
BARO_BOARD_CFLAGS += -DBB_MS5611_SLAVE_IDX=SPI_SLAVE3
BARO_BOARD_SRCS += peripherals/ms5611.c
BARO_BOARD_SRCS += peripherals/ms5611_spi.c
BARO_BOARD_SRCS += boards/baro_board_ms5611_spi.c
else ifeq ($(LISA_MXS_BARO), BARO_MS5611_I2C)
BARO_BOARD_CFLAGS += -DBARO_BOARD=BARO_MS5611_I2C
BARO_BOARD_CFLAGS += -DUSE_I2C2
BARO_BOARD_CFLAGS += -DBB_MS5611_I2C_DEV=i2c2
BARO_BOARD_SRCS += peripherals/ms5611.c
BARO_BOARD_SRCS += peripherals/ms5611_i2c.c
BARO_BOARD_SRCS += boards/baro_board_ms5611_i2c.c
else ifeq ($(LISA_MXS_BARO), BARO_BOARD_BMP085)
BARO_BOARD_CFLAGS += -DBARO_BOARD=BARO_BOARD_BMP085
BARO_BOARD_CFLAGS += -DUSE_I2C2
BARO_BOARD_SRCS += peripherals/bmp085.c
BARO_BOARD_SRCS += $(SRC_BOARD)/baro_board.c
endif
# Lisa/S baro
else ifeq ($(BOARD), lisa_s)
# defaults to SPI baro MS5611 on the board
include $(CFG_SHARED)/spi_master.makefile
BARO_BOARD_CFLAGS += -DUSE_SPI1 -DUSE_SPI_SLAVE1
BARO_BOARD_CFLAGS += -DBB_MS5611_SPI_DEV=spi1
BARO_BOARD_CFLAGS += -DBB_MS5611_SLAVE_IDX=SPI_SLAVE1
BARO_BOARD_SRCS += peripherals/ms5611.c
BARO_BOARD_SRCS += peripherals/ms5611_spi.c
BARO_BOARD_SRCS += boards/baro_board_ms5611_spi.c
# ELLE0 baro
else ifeq ($(BOARD), elle0)
# defaults to SPI baro MS5611 on the board
include $(CFG_SHARED)/spi_master.makefile
BARO_BOARD_CFLAGS += -DUSE_SPI1 -DUSE_SPI_SLAVE1
BARO_BOARD_CFLAGS += -DBB_MS5611_SPI_DEV=spi1
BARO_BOARD_CFLAGS += -DBB_MS5611_SLAVE_IDX=SPI_SLAVE1
BARO_BOARD_SRCS += peripherals/ms5611.c
BARO_BOARD_SRCS += peripherals/ms5611_spi.c
BARO_BOARD_SRCS += boards/baro_board_ms5611_spi.c
# Lia baro (no bmp onboard)
else ifeq ($(BOARD), lia)
# fixme, reuse the baro drivers in lisa_m dir
LIA_BARO ?= BARO_MS5611_SPI
ifeq ($(LIA_BARO), BARO_MS5611_SPI)
BARO_BOARD_CFLAGS += -DBARO_BOARD=BARO_MS5611_SPI
include $(CFG_SHARED)/spi_master.makefile
BARO_BOARD_CFLAGS += -DUSE_SPI2 -DUSE_SPI_SLAVE3
BARO_BOARD_CFLAGS += -DBB_MS5611_SPI_DEV=spi2
BARO_BOARD_CFLAGS += -DBB_MS5611_SLAVE_IDX=SPI_SLAVE3
BARO_BOARD_SRCS += peripherals/ms5611.c
BARO_BOARD_SRCS += peripherals/ms5611_spi.c
BARO_BOARD_SRCS += boards/baro_board_ms5611_spi.c
else ifeq ($(LIA_BARO), BARO_MS5611_I2C)
BARO_BOARD_CFLAGS += -DBARO_BOARD=BARO_MS5611_I2C
BARO_BOARD_CFLAGS += -DUSE_I2C2
BARO_BOARD_CFLAGS += -DBB_MS5611_I2C_DEV=i2c2
BARO_BOARD_SRCS += peripherals/ms5611.c
BARO_BOARD_SRCS += peripherals/ms5611_i2c.c
BARO_BOARD_SRCS += boards/baro_board_ms5611_i2c.c
endif
# krooz baro
else ifeq ($(BOARD), krooz)
BARO_BOARD_CFLAGS += -DBB_MS5611_I2C_DEV=i2c2
BARO_BOARD_CFLAGS += -DBB_MS5611_SLAVE_ADDR=0xEC
BARO_BOARD_SRCS += peripherals/ms5611.c
BARO_BOARD_SRCS += peripherals/ms5611_i2c.c
BARO_BOARD_SRCS += boards/baro_board_ms5611_i2c.c
# PX4FMU
else ifeq ($(BOARD),$(filter $(BOARD),px4fmu))
include $(CFG_SHARED)/spi_master.makefile
BARO_BOARD_SRCS += peripherals/ms5611.c
BARO_BOARD_SRCS += peripherals/ms5611_spi.c
BARO_BOARD_SRCS += boards/baro_board_ms5611_spi.c
ifeq ($(BOARD_VERSION), 1.7)
# PX4FMU 1.7
BARO_BOARD_CFLAGS += -DUSE_SPI1 -DUSE_SPI_SLAVE3
BARO_BOARD_CFLAGS += -DBB_MS5611_SPI_DEV=spi1
BARO_BOARD_CFLAGS += -DBB_MS5611_SLAVE_IDX=SPI_SLAVE3
else ifeq ($(BOARD_VERSION), 2.4)
# PX4FMU 2.4 a.k.a. PIXHAWK
BARO_BOARD_CFLAGS += -DUSE_SPI1 -DUSE_SPI_SLAVE3
BARO_BOARD_CFLAGS += -DBB_MS5611_SPI_DEV=spi1
BARO_BOARD_CFLAGS += -DBB_MS5611_SLAVE_IDX=SPI_SLAVE3
else ifeq ($(BOARD_VERSION), 4.0)
# PX4FMU 4.0 a.k.a. PX4_PIXRACER
BARO_BOARD_CFLAGS += -DUSE_SPI2 -DUSE_SPI_SLAVE3
BARO_BOARD_CFLAGS += -DBB_MS5611_SPI_DEV=spi2
BARO_BOARD_CFLAGS += -DBB_MS5611_SLAVE_IDX=SPI_SLAVE3
else ifeq ($(BOARD_VERSION), 5.0)
# PX4FMU 5.0
BARO_BOARD_CFLAGS += -DUSE_SPI4 -DUSE_SPI_SLAVE4
BARO_BOARD_CFLAGS += -DBB_MS5611_SPI_DEV=spi4
BARO_BOARD_CFLAGS += -DBB_MS5611_SLAVE_IDX=SPI_SLAVE4
endif
# apogee baro
else ifeq ($(BOARD), apogee)
BARO_BOARD_CFLAGS += -DUSE_I2C1
BARO_BOARD_SRCS += peripherals/mpl3115.c
BARO_BOARD_SRCS += $(SRC_BOARD)/baro_board.c
# Umarim
else ifeq ($(BOARD), umarim)
ifeq ($(BOARD_VERSION), 1.0)
BARO_BOARD_CFLAGS += -DUSE_I2C1 -DUSE_ADS1114_1
BARO_BOARD_CFLAGS += -DADS1114_I2C_DEV=i2c1
BARO_BOARD_SRCS += peripherals/ads1114.c
BARO_BOARD_SRCS += boards/umarim/baro_board.c
endif
# Naze32
else ifeq ($(BOARD), naze32)
BARO_BOARD_CFLAGS += -DBARO_BOARD=BARO_MS5611_I2C
BARO_BOARD_CFLAGS += -DUSE_I2C2
BARO_BOARD_CFLAGS += -DBB_MS5611_I2C_DEV=i2c2
BARO_BOARD_SRCS += peripherals/ms5611.c
BARO_BOARD_SRCS += peripherals/ms5611_i2c.c
BARO_BOARD_SRCS += boards/baro_board_ms5611_i2c.c
# OPA (AP)
else ifeq ($(BOARD), opa_ap)
include $(CFG_SHARED)/spi_master.makefile
BARO_BOARD_CFLAGS += -DUSE_SPI2 -DUSE_SPI_SLAVE2
BARO_BOARD_CFLAGS += -DBB_MS5611_SPI_DEV=spi2
BARO_BOARD_CFLAGS += -DBB_MS5611_SLAVE_IDX=SPI_SLAVE2
BARO_BOARD_SRCS += peripherals/ms5611.c
BARO_BOARD_SRCS += peripherals/ms5611_spi.c
BARO_BOARD_SRCS += boards/baro_board_ms5611_spi.c
# OpenPilot Revo
else ifeq ($(BOARD), openpilot_revo)
ifeq ($(BOARD_VERSION), nano)
BARO_BOARD_CFLAGS += -DUSE_I2C3
BARO_BOARD_CFLAGS += -DBB_MS5611_I2C_DEV=i2c3
#BARO_BOARD_CFLAGS += -DBB_MS5611_SLAVE_ADDR=0xEC
else
BARO_BOARD_CFLAGS += -DUSE_I2C1
BARO_BOARD_CFLAGS += -DBB_MS5611_I2C_DEV=i2c1
endif
BARO_BOARD_CFLAGS += -DBARO_BOARD=BARO_MS5611_I2C
BARO_BOARD_SRCS += peripherals/ms5611.c
BARO_BOARD_SRCS += peripherals/ms5611_i2c.c
BARO_BOARD_SRCS += boards/baro_board_ms5611_i2c.c
else ifeq ($(BOARD), chimera)
BARO_BOARD_CFLAGS += -DBARO_BOARD=BARO_MS5611_I2C
BARO_BOARD_CFLAGS += -DUSE_I2C1
BARO_BOARD_CFLAGS += -DBB_MS5611_I2C_DEV=i2c1
BARO_BOARD_CFLAGS += -DBB_MS5611_SLAVE_ADDR=MS5611_I2C_SLAVE_ADDR_ALT
BARO_BOARD_SRCS += peripherals/ms5611.c
BARO_BOARD_SRCS += peripherals/ms5611_i2c.c
BARO_BOARD_SRCS += boards/baro_board_ms5611_i2c.c
endif # check board
ap.CFLAGS += $(BARO_BOARD_CFLAGS)
ap.srcs += $(BARO_BOARD_SRCS)
endif # check USE_BARO_BOARD
</raw>
</makefile>
</module>

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