mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Felix Ruess
41 lines
2.0 KiB
XML
41 lines
2.0 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
|
|
|
|
<module name="actuators_mkk_v2" dir="actuators" task="actuators">
|
|
<doc>
|
|
<description>
|
|
Actuators Driver for Mikrokopter V2 ESC
|
|
|
|
required xml configuration:
|
|
- configuration section (number of motors and addresses)
|
|
- servo section with driver="Mkk_v2"
|
|
- command_laws section to map motor_mixing commands to servos (max command = 255)
|
|
</description>
|
|
<configure name="ACTUATORS_MKK_V2_I2C_DEV" value="i2cX" description="I2C port (default i2c1)"/>
|
|
<configure name="ACTUATORS_MKK_V2_I2C_SCL_TIME" value="150" description="configurable I2C timing on lpc21 boards (150 is default, use 50 for 8 motors)"/>
|
|
<define name="I2C_TRANSACTION_QUEUE_LEN" value="8" description="I2C queue length, default is 8, increase to 10 or more for 8 motors"/>
|
|
<section name="ACTUATORS_MKK_V2" prefix="ACTUATORS_MKK_V2_">
|
|
<define name="NB" value="4" description="number of motors"/>
|
|
<define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }" description="array of I2C addresses"/>
|
|
</section>
|
|
</doc>
|
|
<header>
|
|
<file name="actuators_mkk_v2.h" dir="subsystems/actuators"/>
|
|
</header>
|
|
<makefile target="ap">
|
|
<configure name="ACTUATORS_MKK_V2_I2C_DEV" default="i2c1" case="upper|lower"/>
|
|
<configure name="ACTUATORS_MKK_V2_I2C_SCL_TIME" default="150"/>
|
|
<define name="ACTUATORS"/>
|
|
<define name="ACTUATORS_MKK_V2_I2C_DEV" value="$(ACTUATORS_MKK_V2_I2C_DEV_LOWER)"/>
|
|
<define name="USE_$(ACTUATORS_MKK_V2_I2C_DEV_UPPER)"/>
|
|
<define name="$(ACTUATORS_MKK_V2_I2C_DEV_UPPER)_SCLL" value="$(ACTUATORS_MKK_V2_I2C_SCL_TIME)" cond="ifeq ($(ARCH), lpc21)"/>
|
|
<define name="$(ACTUATORS_MKK_V2_I2C_DEV_UPPER)_SCLH" value="$(ACTUATORS_MKK_V2_I2C_SCL_TIME)" cond="ifeq ($(ARCH), lpc21)"/>
|
|
<file name="actuators_mkk_v2.c" dir="subsystems/actuators"/>
|
|
</makefile>
|
|
<makefile target="nps">
|
|
<define name="USE_I2C0"/>
|
|
<define name="ACTUATORS_MKK_V2_I2C_DEV" value="i2c0"/>
|
|
<file name="actuators_mkk_v2.c" dir="subsystems/actuators"/>
|
|
</makefile>
|
|
</module>
|
|
|