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https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Gautier Hattenberger
f1cc62c088
Convert actuators subsystems to modules. Some drivers (4015, 4017, pwm) makefiles are kept so that autoload for some boards is still working.
41 lines
2.0 KiB
XML
41 lines
2.0 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="actuators_mkk" dir="actuators" task="actuators">
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<doc>
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<description>
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Actuators Driver for Mikrokopter V1 ESC
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required xml configuration:
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- configuration section (number of motors and addresses)
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- servo section with driver="Mkk"
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- command_laws section to map motor_mixing commands to servos (max command = 255)
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</description>
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<configure name="ACTUATORS_MKK_I2C_DEV" value="i2cX" description="I2C port (default i2c1)"/>
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<configure name="ACTUATORS_MKK_I2C_SCL_TIME" value="150" description="configurable I2C timing on lpc21 boards (150 is default, use 50 for 8 motors)"/>
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<define name="I2C_TRANSACTION_QUEUE_LEN" value="8" description="I2C queue length, default is 8, increase to 10 or more for 8 motors"/>
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<section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
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<define name="NB" value="4" description="number of motors"/>
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<define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }" description="array of I2C addresses"/>
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</section>
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</doc>
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<header>
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<file name="actuators_mkk.h" dir="subsystems/actuators"/>
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</header>
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<makefile target="ap">
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<configure name="ACTUATORS_MKK_I2C_DEV" default="i2c1" case="upper|lower"/>
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<configure name="ACTUATORS_MKK_I2C_SCL_TIME" default="150"/>
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<define name="ACTUATORS"/>
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<define name="ACTUATORS_MKK_I2C_DEV" value="$(ACTUATORS_MKK_I2C_DEV_LOWER)"/>
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<define name="USE_$(ACTUATORS_MKK_I2C_DEV_UPPER)"/>
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<define name="$(ACTUATORS_MKK_I2C_DEV_UPPER)_SCLL" value="$(ACTUATORS_MKK_I2C_SCL_TIME)" cond="ifeq ($(ARCH), lpc21)"/>
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<define name="$(ACTUATORS_MKK_I2C_DEV_UPPER)_SCLH" value="$(ACTUATORS_MKK_I2C_SCL_TIME)" cond="ifeq ($(ARCH), lpc21)"/>
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<file name="actuators_mkk.c" dir="subsystems/actuators"/>
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</makefile>
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<makefile target="nps">
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<define name="USE_I2C0"/>
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<define name="ACTUATORS_MKK_I2C_DEV" value="i2c0"/>
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<file name="actuators_mkk.c" dir="subsystems/actuators"/>
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</makefile>
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</module>
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