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304aef2025
* [uavcan] Fix performance and restyle code * [uavcan] Add ESC telemetry
33 lines
1.3 KiB
XML
33 lines
1.3 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="uavcan" dir="uavcan">
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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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<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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<makefile target="ap">
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<!-- Enable the CAN busses if needed -->
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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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<!-- Load canard -->
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<include name="$(PAPARAZZI_SRC)/sw/ext/libcanard"/>
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<file name="canard.c" dir="$(PAPARAZZI_SRC)/sw/ext/libcanard"/>
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<!-- Load uavcan itself -->
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<file_arch name="uavcan.c" dir="modules/uavcan"/>
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</makefile>
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</module>
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