mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-10 06:59:54 +08:00
Michal Podhradsky
57 lines
2.2 KiB
XML
57 lines
2.2 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="extra_dl" dir="datalink">
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<doc>
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<description>Extra datalink (PPRZ transport)</description>
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<configure name="EXTRA_DL_PORT" value="UARTX|UDPX|usb_serial" description="Select port for extra datalink"/>
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<configure name="EXTRA_DL_BAUD" value="B57600" description="Baudrate for extra datalink if link device is UART"/>
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</doc>
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<header>
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<file name="extra_pprz_dl.h"/>
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</header>
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<init fun="extra_pprz_dl_init()"/>
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<periodic fun="extra_pprz_dl_periodic()" freq="TELEMETRY_FREQUENCY" autorun="TRUE"/>
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<!--
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The event function listens on the extra telemetry port (from the payload computer for example)
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and parses the received "datalink" messages, such as MOVE_WP.
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We need this function to be able to listen to the extra telemetry port
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As a result all messages normally handled by the autopilot (such as MOVE_WP) are processed.
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-->
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<event fun="extra_pprz_dl_event()"/>
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<makefile target="ap">
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<configure name="EXTRA_DL_PORT" default="uart1" case="upper|lower"/>
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<define name="EXTRA_DOWNLINK_DEVICE" value="$(EXTRA_DL_PORT_LOWER)"/>
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<define name="USE_$(EXTRA_DL_PORT_UPPER)"/>
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<raw>
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# Check for UDP port
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ifneq (,$(findstring udp,$(EXTRA_DL_PORT_LOWER)))
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include $(CFG_SHARED)/udp.makefile
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else
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ifneq (,$(findstring usb_serial,$(EXTRA_DL_PORT_LOWER)))
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# usb_serial telemetry chosen, add files based on architecture
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ifeq ($(ARCH), lpc21)
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$(TARGET).srcs += $(SRC_ARCH)/usb_ser_hw.c $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbcontrol.c
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$(TARGET).srcs += $(SRC_ARCH)/lpcusb/usbstdreq.c $(SRC_ARCH)/lpcusb/usbinit.c
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else
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ifeq ($(ARCH), stm32)
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$(TARGET).srcs += $(SRC_ARCH)/usb_ser_hw.c
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else
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ifneq ($(ARCH), sim)
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$(error telemetry_transparent_usb currently only implemented for the lpc21 and stm32)
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endif
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endif
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endif
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else
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EXTRA_DL_BAUD ?= B57600
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$(TARGET).CFLAGS += -D$(EXTRA_DL_PORT_UPPER)_BAUD=$(EXTRA_DL_BAUD)
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endif # USB serial
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endif # UDP
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</raw>
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<file name="extra_pprz_dl.c"/>
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<file name="pprz_transport.c" dir="pprzlink/src"/>
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</makefile>
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</module>
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