mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Kirk Scheper
40 lines
1.9 KiB
XML
40 lines
1.9 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="stereocam" dir="stereocam">
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<doc>
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<description>
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StereoCamera read and decode.
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Module to read and decode messages from the TU Delft stereo camera over uart.
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The stereo camera is designed and produced by Christophe de Wagter from the TU Delft.
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Baud rates tested include B38400, B230400, B921600.
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If entire images are being sent, it is recommended to use a STEREO_BAUD of B921600.
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</description>
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<configure name="STEREO_UART" value="UARTX" description="Sets the UART port number of the connected camera (required)"/>
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<configure name="STEREO_BAUD" value="BXXXXX" description="Sets the BAUD rate of the connected camera (required: must be same as camera)"/>
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<define name="FORWARD_IMAGE_DATA" value="TRUE|FALSE" description="If TRUE, a copy of received iamges is sent to the ground station over the datalink (default: TRUE)"/>
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<define name="STEREO_BODY_TO_STEREO_PHI" value="90" description="Rotation matrix from body to camera frame"/>
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<define name="STEREO_BODY_TO_STEREO_THETA" value="0"/>
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<define name="STEREO_BODY_TO_STEREO_PSI" value="90"/>
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</doc>
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<header>
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<file name="stereocam.h"/>
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</header>
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<init fun="stereocam_init()"/>
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<periodic fun="state2stereocam()" autorun="TRUE" freq="25"/>
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<event fun="stereocam_event()"/>
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<makefile>
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<!-- Configure default UART port and baudrate -->
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<configure name="STEREO_UART" default="UART1" case="upper|lower"/>
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<configure name="STEREO_BAUD" default="B921600"/>
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<!-- Enable UART and set baudrate -->
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<define name="USE_$(STEREO_UART_UPPER)"/>
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<define name="UART_LINK" value="$(STEREO_UART_LOWER)"/>
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<define name="$(STEREO_UART_UPPER)_BAUD" value="$(STEREO_BAUD)"/>
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<!-- Sources and PPRZLink for transport -->
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<file name="stereocam.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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