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https://github.com/paparazzi/paparazzi.git
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OpenUAS
b4ba0dac47
* T4 actuators and T4 AOA now usable in Paparazzi master * Rename ACTUATORS_T4_UART_DEV to ACTUATORS_T4_UART_PORT since build failure on semaphore test gave: modules/actuators/actuators_t4_uart.c:194:19: error: ‘ACTUATORS_T4_PORT’ undeclared * Rename ACTUATORS_T4_UART_PORT to ACTUATORS_T4_PORT Wrongly named, FYI since for the future plans port could be as well CAN or I2C type no specific reference to UART device just plain ACTUATORS_T4_PORT
43 lines
2.3 KiB
XML
43 lines
2.3 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="actuators_t4_uart" dir="actuators" task="actuators">
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<doc>
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<description>
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Actuators Driver using T4 protocol to a T4 actuators board via UART bus.
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If you have a T4 Actuator Board, use this module to set serialbus servos, PWM ESC's, DShot ESC's and PWM servos connected to a T4 Actuators Board.
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Prominent use-case is that one can use status information that is returned in the autopilot control loop.
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All the information like: RPM, Angle, Torque, Temperature, Current, usable state information for more precisly contolled flights.
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For the hardware and software used to make your own T4 Actuators board, find all information here: https://github.com/tudelft/t4_actuators_board/
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</description>
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<configure name="ACTUATORS_T4_PORT" value="UARTX" description="UART port the T4 board is connected to (default uart2)"/>
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<configure name="ACTUATORS_T4_BAUD" value="B921600" description="Baudrate for the Flightcontroller to T4 actuators board, make they are the same (default B1500000)"/>
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</doc>
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<header>
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<file name="actuators_t4_uart.h"/>
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</header>
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<init fun="actuators_t4_uart_init()"/>
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<event fun="actuators_t4_uart_event()"/>
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<makefile target="ap|fbw">
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<configure name="ACTUATORS_T4_PORT" default="uart2" case="upper|lower"/>
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<configure name="ACTUATORS_T4_BAUD" default="B1500000"/>
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<define name="USE_$(ACTUATORS_T4_PORT_UPPER)"/>
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<define name="USE_$(ACTUATORS_T4_PORT_UPPER)_TX" value="TRUE"/>
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<define name="ACTUATORS_T4_PORT" value="$(ACTUATORS_T4_PORT_LOWER)"/>
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<define name="$(ACTUATORS_T4_PORT_UPPER)_BAUD" value="$(ACTUATORS_T4_BAUD)"/>
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<file name="actuators_t4_uart.c" dir="modules/actuators"/>
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</makefile>
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<makefile target="sim|nps">
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<define name="ACTUATORS_T4_SIM" value="TRUE"/>
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<configure name="ACTUATORS_T4_PORT" default="UART4" case="upper|lower"/>
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<configure name="ACTUATORS_T4_BAUD" default="B1500000"/>
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<define name="ACTUATORS_T4_PORT" value="$(ACTUATORS_T4_PORT_LOWER)"/>
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<file name="actuators_t4_uart.c" dir="modules/actuators"/>
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<test>
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<define name="USE_UART2"/>
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<define name="PERIODIC_FREQUENCY" value="500"/>
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<define name="ACTUATORS_T4_PORT" value="uart2"/>
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</test>
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</makefile>
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</module>
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