mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Gautier Hattenberger
494e3f3ad9
When adding a test node to a makefile section, with required compilation flags, include and other options, all the files (not arch dependent files) can be compiled with a TAP compatible program, included in the standard tests of the CI servers. Not all module's XML files are converted, but a large part of the most important parts are already covered. More will be added later. The number of tested airframes (full compilation of all targets) have been reduced to speed the CI compile time but still covers the relevant architecture and boards. The main benefit is that the overall coverage is already better than before as previous test aircraft were compiling more or less the same part of the airborne code, while this new mechanism is more efficient to test modules not included in any config.
39 lines
1.8 KiB
XML
39 lines
1.8 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="actuators_spektrum" dir="actuators" task="actuators">
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<doc>
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<description>
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Actuators Driver with Spektrum output
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required xml configuration:
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- servo section with driver="Spektrum"
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- command_laws section to map motor_mixing commands to servos
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</description>
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<configure name="ACTUATORS_SPEKTRUM_DEV" value="UARTX" description="UART port (default uart4)"/>
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<configure name="ACTUATORS_SPEKTRUM_DEV2" value="UARTX" description="UART port for optional secondary output"/>
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</doc>
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<header>
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<file name="actuators_spektrum.h" dir="subsystems/actuators"/>
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</header>
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<makefile target="!sim">
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<configure name="ACTUATORS_SPEKTRUM_DEV" default="uart4" case="upper|lower"/>
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<configure name="ACTUATORS_SPEKTRUM_DEV2" case="upper|lower"/>
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<define name="ACTUATORS"/>
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<define name="ACTUATORS_SPEKTRUM_DEV" value="$(ACTUATORS_SPEKTRUM_DEV_LOWER)"/>
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<define name="USE_$(ACTUATORS_SPEKTRUM_DEV_UPPER)"/>
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<define name="$(ACTUATORS_SPEKTRUM_DEV_UPPER)_BAUD" value="115200"/>
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<define name="USE_$(ACTUATORS_SPEKTRUM_DEV_UPPER)_RC" value="FALSE"/>
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<define name="ACTUATORS_SPEKTRUM_DEV2" value="$(ACTUATORS_SPEKTRUM_DEV2_LOWER)" cond="ifdef ACTUATORS_SPEKTRUM_DEV2"/>
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<define name="USE_$(ACTUATORS_SPEKTRUM_DEV2_UPPER)"/>
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<define name="$(ACTUATORS_SPEKTRUM_DEV2_UPPER)_BAUD" value="115200" cond="ifdef ACTUATORS_SPEKTRUM_DEV2"/>
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<define name="USE_$(ACTUATORS_SPEKTRUM_DEV2_UPPER)_RC" value="FALSE" cond="ifdef ACTUATORS_SPEKTRUM_DEV2"/>
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<file name="actuators_spektrum.c" dir="subsystems/actuators"/>
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<test>
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<define name="PERIODIC_FREQUENCY" value="500"/>
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<define name="USE_UART4"/>
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<define name="ACTUATORS_SPEKTRUM_DEV" value="uart4"/>
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</test>
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</makefile>
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</module>
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