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50 lines
1.9 KiB
XML
50 lines
1.9 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 using a single UART for communication
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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="0" description="use this lidar for AGL measurements"/>
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<configure name="TFMINI_COMPENSATE_ROTATION" value="1" description="compensate AGL measurements for body rotation"/>
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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="derotate_agl"/>
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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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<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>
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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="USE_TFMINI_AGL" default="0"/>
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<configure name="TFMINI_COMPENSATE_ROTATION" 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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<file name="tfmini.c"/>
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</makefile>
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<makefile target="nps">
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<define name="USE_SONAR" value="1"/><!-- in NPS use a virtual sonar to simulate lidar measurements -->
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</makefile>
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</module>
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