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https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Christophe De Wagter
56a2eb21e0
* [FBW_GPS] Run GPS driver in FBW, e.g. for geofencing * [FBW_GPS] convert all GPS modules to run in FBW
51 lines
1.7 KiB
XML
51 lines
1.7 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="gps_ublox" dir="gps">
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<doc>
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<description>
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U-blox GPS (UART)
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Driver for u-blox GPS modules parsing the binary UBX protocol.
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</description>
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<configure name="UBX_GPS_PORT" value="UARTx" description="UART where the GPS is connected to (UART1, UART2, etc"/>
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<configure name="UBX_GPS_BAUD" value="B38400" description="UART baud rate"/>
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</doc>
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<autoload name="gps"/>
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<autoload name="gps_nps"/>
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<autoload name="gps_sim"/>
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<header>
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<file name="gps.h" dir="subsystems"/>
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</header>
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<init fun="gps_ubx_init()"/>
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<periodic fun="gps_ubx_periodic_check()" freq="1." autorun="TRUE"/>
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<event fun="gps_ubx_event()"/>
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<makefile target="ap|fbw">
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<configure name="UBX_GPS_PORT" default="$(GPS_PORT)" case="upper|lower"/>
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<configure name="UBX_GPS_BAUD" default="$(GPS_BAUD)"/>
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<file name="gps_ubx.c" dir="subsystems/gps"/>
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<define name="USE_$(UBX_GPS_PORT_UPPER)"/>
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<define name="UBX_GPS_LINK" value="$(UBX_GPS_PORT_LOWER)"/>
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<define name="$(UBX_GPS_PORT_UPPER)_BAUD" value="$(UBX_GPS_BAUD)"/>
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<raw>
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ifdef SECONDARY_GPS
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ifneq (,$(findstring $(SECONDARY_GPS), ublox))
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# this is the secondary GPS
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$(TARGET).CFLAGS += -DGPS_SECONDARY_TYPE_H=\"subsystems/gps/gps_ubx.h\"
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$(TARGET).CFLAGS += -DSECONDARY_GPS=GPS_UBX
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else
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$(TARGET).CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_ubx.h\"
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$(TARGET).CFLAGS += -DPRIMARY_GPS=GPS_UBX
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endif
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else
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# plain old single GPS usage
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$(TARGET).CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_ubx.h\"
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endif
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</raw>
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</makefile>
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<makefile target="fbw">
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<define name="USE_GPS"/>
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</makefile>
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</module>
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