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42 lines
2.1 KiB
XML
42 lines
2.1 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="laser_range_array" dir="range_finder">
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<doc>
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<description>Reads out values through uart of an laser range ring (array), containing multiple ToF IR laser range modules</description>
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<configure name="LASER_RANGE_ARRAY_PORT" value="UART2" description="select which uart it is connected to"/>
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<configure name="LASER_RANGE_ARRAY_BAUD" value="38400" description="set the baudrate of the uart"/>
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<define name="LASER_RANGE_ARRAY_NUM_SENSORS" value="0" description="Total amount of laser range sensors on the airframe"/>
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<define name="LASER_RANGE_ARRAY_ORIENTATIONS" value="0,0" type="float[]" description="The orientation per laser range sensor in the order: elevation,heading. The array is built up like (elv_1, head_1, elv_2, head_2,...elv_n, head_n) with n=LASER_RANGE_ARRAY_NUM_SENSORS"/>
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</doc>
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<header>
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<file name="laser_range_array.h"/>
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</header>
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<init fun="laser_range_array_init()"/>
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<event fun="laser_range_array_event()"/>
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<makefile>
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<!-- Configure default UART port and baudrate -->
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<configure name="LASER_RANGE_ARRAY_PORT" default="UART5" case="upper|lower"/>
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<configure name="LASER_RANGE_ARRAY_BAUD" default="38400"/>
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<!-- Enable UART and set baudrate -->
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<define name="USE_$(LASER_RANGE_ARRAY_PORT_UPPER)"/>
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<define name="USE_$(LASER_RANGE_ARRAY_PORT_UPPER)_TX" value="FALSE"/>
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<define name="$(LASER_RANGE_ARRAY_PORT_UPPER)_BAUD" value="$(LASER_RANGE_ARRAY_BAUD)"/>
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<define name="LASER_RANGE_ARRAY_PORT" value="$(LASER_RANGE_ARRAY_PORT_LOWER)"/>
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<file name="laser_range_array.c"/>
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<file name="pprz_transport.c" dir="pprzlink/src"/>
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<test>
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<define name="LASER_RANGE_ARRAY_PORT" value="uart2"/>
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<define name="LASER_RANGE_ARRAY_ORIENTATIONS" value="{0}"/>
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<define name="LASER_RANGE_ARRAY_NUM_SENSORS" value="1"/>
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<define name="LASER_RANGE_ARRAY_SEND_AGL" value="TRUE"/>
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<define name="USE_UART2"/>
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</test>
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</makefile>
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<makefile target="nps">
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<define name="NPS_SIMULATE_LASER_RANGE_ARRAY" value="1"/>
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</makefile>
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</module>
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