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46 lines
1.7 KiB
XML
46 lines
1.7 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="mavlink" dir="datalink" task="datalink">
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<doc>
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<description>Basic MAVLink implementation</description>
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<configure name="MAVLINK_PORT" value="UARTx|UDPx|UsbS" description="The port device to use for mavlink (default: UART1)"/>
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<configure name="MAVLINK_BAUD" value="B57600" description="Baud rate if MAVLINK_PORT is a UART"/>
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</doc>
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<header>
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<file name="mavlink.h"/>
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</header>
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<init fun="mavlink_init()"/>
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<periodic fun="mavlink_periodic()" freq="10" autorun="TRUE"/>
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<periodic fun="mavlink_periodic_telemetry()" autorun="TRUE"/>
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<event fun="mavlink_event()"/>
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<makefile>
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<file name="mavlink.c"/>
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<file name="mission_manager.c" dir="modules/datalink/missionlib"/>
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<file name="waypoints.c" dir="modules/datalink/missionlib"/>
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<file name="blocks.c" dir="modules/datalink/missionlib"/>
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<configure name="MAVLINK_PORT" default="uart1" case="upper|lower"/>
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<configure name="TELEMETRY_FREQUENCY" default="$(PERIODIC_FREQUENCY)"/>
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<define name="TELEMETRY_FREQUENCY" value="$(TELEMETRY_FREQUENCY)"/>
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<raw>
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ifneq (,$(findstring usb,$(MAVLINK_PORT_LOWER)))
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ap.CFLAGS += -DUSE_USB_SERIAL
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ap.srcs += $(SRC_ARCH)/usb_ser_hw.c
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ap.CFLAGS += -DMAVLINK_DEV=usb_serial
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else
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ifneq (,$(findstring udp,$(MAVLINK_PORT_LOWER)))
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include $(CFG_SHARED)/udp.makefile
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$(TARGET).CFLAGS += -DMAVLINK_DEV=$(MAVLINK_PORT_LOWER)
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$(TARGET).CFLAGS += -DUSE_$(MAVLINK_PORT_UPPER)
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else
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MAVLINK_BAUD ?= B57600
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ap.CFLAGS += -DMAVLINK_DEV=$(MAVLINK_PORT_LOWER)
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ap.CFLAGS += -DUSE_$(MAVLINK_PORT_UPPER)
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ap.CFLAGS += -D$(MAVLINK_PORT_UPPER)_BAUD=$(MAVLINK_BAUD)
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endif
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endif
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</raw>
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</makefile>
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</module>
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