mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-02-06 02:52:42 +08:00
00766ee4d5
- old airframe with single imu configuration will continue to work, ABI id is automatically found - mag modules require @imu to guarantee init order, multiple calls of imu_init is no longer needed - ABI_BROADCAST id is used by default and then replaced by correct ID - imu_set_default_config will override user conf if params are not NULL
42 lines
1.7 KiB
XML
42 lines
1.7 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="mag_pitot_uart" dir="sensors" task="sensors">
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<doc>
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<description>Remotely located magnetometer and pitot tube over uart (RS232) communication</description>
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<configure name="MAG_PITOT_PORT" value="UART5" description="select which uart it is connected to"/>
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<configure name="MAG_PITOT_BAUD" value="125000" description="set the baudrate of the uart"/>
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<define name="IMU_TO_MAG_PHI" value="0" description="rotation of magneto compared to the magneto in roll axis"/>
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<define name="IMU_TO_MAG_THETA" value="0" description="rotation of magneto compared to the magneto in pitch axis"/>
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<define name="IMU_TO_MAG_PSI" value="0" description="rotation of magneto compared to the magneto in yaw axis"/>
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</doc>
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<dep>
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<depends>uart,@imu</depends>
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<provides>mag</provides>
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</dep>
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<header>
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<file name="mag_pitot_uart.h"/>
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</header>
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<init fun="mag_pitot_init()"/>
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<event fun="mag_pitot_event()"/>
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<makefile>
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<!-- Configure default UART port and baudrate -->
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<configure name="MAG_PITOT_PORT" default="UART5" case="upper|lower"/>
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<configure name="MAG_PITOT_BAUD" default="250000"/>
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<!-- Enable UART and set baudrate -->
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<define name="USE_$(MAG_PITOT_PORT_UPPER)"/>
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<define name="USE_$(MAG_PITOT_PORT_UPPER)_TX" value="FALSE"/>
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<define name="$(MAG_PITOT_PORT_UPPER)_BAUD" value="$(MAG_PITOT_BAUD)"/>
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<define name="MAG_PITOT_PORT" value="$(MAG_PITOT_PORT_LOWER)"/>
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<!-- Sources and PPRZLink for transport -->
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<file name="mag_pitot_uart.c"/>
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<file name="pprz_transport.c" dir="pprzlink/src"/>
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<test>
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<define name="MAG_PITOT_PORT" value="uart0"/>
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<define name="USE_UART0"/>
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</test>
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</makefile>
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</module>
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