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https://github.com/paparazzi/paparazzi.git
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85 lines
3.6 KiB
XML
85 lines
3.6 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="lidar_tfmini" dir="lidar">
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<doc>
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<description>
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TFMini Lidar driver with separate implementations for:
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- Real hardware using a single UART for communication (ap target)
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- NPS simulator (nps target)
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</description>
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<configure name="TFMINI_PORT" value="UART3" description="UART device to use for lidar"/>
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<configure name="TFMINI_BAUD" value="B115200" description="baudrate of the TFMini UART port"/>
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<configure name="USE_TFMINI_AGL" value="true" description="use this lidar for AGL measurements"/>
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<configure name="TFMINI_COMPENSATE_ROTATION" value="0" description="compensate AGL measurements for body rotation"/>
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<configure name="TFMINI_ROVER" value="0" description="is this lidar mounted on a rover? Change the way to calculate the compensation"/>
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<configure name="LIDAR_OFFSET" value="0.0" description="Horizontal offset from vehicle center to LIDAR [m]"/>
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<configure name="LIDAR_HEIGHT" value="0.0" description="Vertical height from ground to LIDAR [m]"/>
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<configure name="LIDAR_MIN_RANGE" value="0.1" description="minimum range of the lidar in meters (see datasheet)"/>
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<configure name="LIDAR_MAX_RANGE" value="12.0" description="maximum range of the lidar in meters (see datasheet)"/>
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</doc>
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<settings>
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<dl_settings NAME="Lidar TFMini">
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<dl_settings NAME="Lidar">
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<dl_setting MAX="1" MIN="0" STEP="1" VAR="tfmini.compensate_rotation" shortname="compensate_rotation"/>
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<dl_setting MAX="1" MIN="0" STEP="1" VAR="tfmini.update_agl" shortname="update_agl"/>
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</dl_settings>
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</dl_settings>
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</settings>
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<dep>
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<depends>uart</depends>
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<provides>sonar</provides>
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</dep>
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<header>
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<file name="tfmini.h"/>
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</header>
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<init fun="tfmini_init()"/>
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<event fun="tfmini_event()"/>
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<makefile target="ap">
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<!-- Configure default UART port and baudrate -->
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<configure name="TFMINI_PORT" default="UART3" case="upper|lower"/>
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<configure name="TFMINI_BAUD" default="B115200"/>
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<!-- Enable UART and set baudrate -->
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<define name="USE_$(TFMINI_PORT_UPPER)"/>
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<define name="$(TFMINI_PORT_UPPER)_BAUD" value="$(TFMINI_BAUD)"/>
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<define name="TFMINI_PORT" value="$(TFMINI_PORT_LOWER)"/>
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<!-- Compensation constants -->
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<configure name="LIDAR_OFFSET" default="0.0"/>
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<configure name="LIDAR_HEIGHT" default="0.0"/>
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<define name="LIDAR_OFFSET" value="$(LIDAR_OFFSET)"/>
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<define name="LIDAR_HEIGHT" value="$(LIDAR_HEIGHT)"/>
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<configure name="USE_TFMINI_AGL" default="true"/>
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<configure name="TFMINI_COMPENSATE_ROTATION" default="0"/>
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<configure name="TFMINI_ROVER" default="0"/>
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<define name="USE_TFMINI_AGL" value="$(USE_TFMINI_AGL)"/>
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<define name="TFMINI_COMPENSATE_ROTATION" value="$(TFMINI_COMPENSATE_ROTATION)"/>
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<define name="TFMINI_ROVER" value="$(TFMINI_ROVER)"/>
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<file name="tfmini.c"/>
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</makefile>
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<makefile target="nps">
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<!-- Configure default UART port and baudrate -->
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<configure name="TFMINI_PORT" default="UART3" case="upper|lower"/>
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<configure name="TFMINI_BAUD" default="B115200"/>
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<!-- Enable UART and set baudrate -->
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<define name="USE_$(TFMINI_PORT_UPPER)"/>
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<define name="$(TFMINI_PORT_UPPER)_BAUD" value="$(TFMINI_BAUD)"/>
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<define name="TFMINI_PORT" value="$(TFMINI_PORT_LOWER)"/>
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<configure name="LIDAR_MIN_RANGE" default="0.1"/>
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<configure name="LIDAR_MAX_RANGE" default="12.0"/>
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<define name="LIDAR_MIN_RANGE" value="$(LIDAR_MIN_RANGE)"/>
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<define name="LIDAR_MAX_RANGE" value="$(LIDAR_MAX_RANGE)"/>
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<file name="tfmini_nps.c"/>
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</makefile>
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</module>
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