mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-02-05 10:41:00 +08:00
06a7cde92e
* Make UAVCAN arch independant * Comply with uavcan info requests * Comply with uavcan transfer_ids specifications * Add uavcan dynamic node id allocation server * Add uavcan tunnel device * Add uavcan RC input * Use uavcan semaphores to achieve thread safety * Add key-value store * Various tweaks to make everything work...
50 lines
2.2 KiB
XML
50 lines
2.2 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="uavcan" dir="uavcan" task="core">
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<doc>
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<description>
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UAVCan interface for transmitting/receiving uavcan messages on CAN busses
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</description>
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<configure name="UAVCAN_USE_CAN1" value="FALSE" description="Enable UAVCAN on CAN1 interface"/>
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<configure name="UAVCAN_USE_CAN2" value="FALSE" description="Enable UAVCAN on CAN2 interface"/>
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<define name="UAVCAN_NODE_ID" value="100" description="The UAVCAN node ID of the AP"/>
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<define name="UAVCAN_BAUDRATE" value="1000000" description="The baudrate of the CAN interface"/>
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</doc>
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<dep>
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<depends>can</depends>
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</dep>
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<header>
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<file name="uavcan.h" dir="modules/uavcan"/>
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</header>
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<init fun="uavcan_init()"/>
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<periodic fun="uavcan_reporting()" freq="2"/>
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<makefile>
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<!-- Enable the CAN busses if needed -->
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<configure name="UAVCAN_USE_CAN1" default="FALSE"/>
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<configure name="UAVCAN_USE_CAN2" default="FALSE"/>
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<define name="USE_CAN1" cond="ifeq ($(UAVCAN_USE_CAN1), TRUE)"/>
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<define name="USE_CAN2" cond="ifeq ($(UAVCAN_USE_CAN2), TRUE)"/>
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<define name="UAVCAN_USE_CAN1" value="$(UAVCAN_USE_CAN1)"/>
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<define name="UAVCAN_USE_CAN2" value="$(UAVCAN_USE_CAN2)"/>
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<define name="CANARD_ALLOCATE_SEM"/>
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<!-- Load canard -->
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<include name="$(PAPARAZZI_SRC)/sw/ext/dronecan/libcanard"/>
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<file name="canard.c" dir="$(PAPARAZZI_SRC)/sw/ext/dronecan/libcanard"/>
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<!-- Load DSDL generated files-->
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<include name="$(PAPARAZZI_HOME)/var/include/DSDLcode/include"/>
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<file name="uavcan.protocol.NodeStatus.c" dir="$(PAPARAZZI_HOME)/var/include/DSDLcode/src"/>
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<file name="uavcan.protocol.GetNodeInfo_req.c" dir="$(PAPARAZZI_HOME)/var/include/DSDLcode/src"/>
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<file name="uavcan.protocol.GetNodeInfo_res.c" dir="$(PAPARAZZI_HOME)/var/include/DSDLcode/src"/>
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<file name="uavcan.protocol.dynamic_node_id.Allocation.c" dir="$(PAPARAZZI_HOME)/var/include/DSDLcode/src"/>
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<!-- Load uavcan itself -->
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<file name="uavcan.c" dir="modules/uavcan"/>
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<file name="uavcan_reporting.c" dir="modules/uavcan"/>
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<file name="uavcan_allocator.c" dir="modules/uavcan"/>
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<file name="framed_ring_buffer.c" dir="utils"/>
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<file name="kv_store.c" dir="utils"/>
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</makefile>
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</module>
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