mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
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
88 lines
3.5 KiB
XML
88 lines
3.5 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="gps_ublox" dir="gps" task="sensors">
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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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The reset variable allows us to manually restart the u-blox GPS. There are three modes:
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- Hotstart (GPS_UBX_BOOTRESET = 1)
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- Warmstart (GPS_UBX_BOOTRESET = 2)
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- Coldstart (GPS_UBX_BOOTRESET = 3)
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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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<configure name="GPS_UBX_BOOTRESET" value="0" description="Force a hot, warm or cold reset when the system boot up"/>
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</doc>
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<settings>
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<dl_settings>
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<dl_settings name="gps_ublox">
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<dl_setting MIN="1" MAX="3" STEP="1" values="Hotstart|Warmstart|Coldstart" module="gps/gps_ubx" VAR="gps_ubx_reset" shortname="reset"/>
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</dl_settings>
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</dl_settings>
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</settings>
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<dep>
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<depends>uart,gps</depends>
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<provides>gps</provides>
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</dep>
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<header>
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<file name="gps.h"/>
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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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<datalink message="HITL_UBX" fun="gps_ubx_parse_HITL_UBX(buf)"/>
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<makefile target="ap|fbw">
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<file name="gps_ubx.c"/>
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<!-- GPS Ublox 1 -->
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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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<define name="USE_$(UBX_GPS_PORT_UPPER)"/>
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<define name="UBX_GPS_PORT" value="$(UBX_GPS_PORT_LOWER)"/>
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<define name="$(UBX_GPS_PORT_UPPER)_BAUD" value="$(UBX_GPS_BAUD)"/>
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<!-- GPS Ublox 2 -->
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<configure name="UBX2_GPS_PORT" default="$(GPS2_PORT)" case="upper|lower"/>
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<configure name="UBX2_GPS_BAUD" default="$(GPS2_BAUD)"/>
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<define name="USE_$(UBX2_GPS_PORT_UPPER)" cond="ifneq ($(UBX2_GPS_PORT)$(SECONDARY_GPS),)"/>
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<define name="UBX2_GPS_PORT" value="$(UBX2_GPS_PORT_LOWER)" cond="ifneq ($(UBX2_GPS_PORT)$(SECONDARY_GPS),)"/>
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<define name="$(UBX2_GPS_PORT_UPPER)_BAUD" value="$(UBX2_GPS_BAUD)" cond="ifdef SECONDARY_GPS"/>
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<raw>
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ifdef SECONDARY_GPS
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ifneq (,$(findstring ublox2, $(SECONDARY_GPS)))
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# this is the secondary GPS
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$(TARGET).CFLAGS += -DGPS_SECONDARY_TYPE_H=\"modules/gps/gps_ubx.h\"
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$(TARGET).CFLAGS += -DSECONDARY_GPS=GPS_UBX2
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$(TARGET).CFLAGS += -DGPS_UBX_NB=2
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else ifneq (,$(findstring ublox, $(SECONDARY_GPS)))
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# this is the secondary GPS
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$(TARGET).CFLAGS += -DGPS_SECONDARY_TYPE_H=\"modules/gps/gps_ubx.h\"
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$(TARGET).CFLAGS += -DSECONDARY_GPS=GPS_UBX
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endif
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ifneq (,$(findstring ublox2, $(PRIMARY_GPS)))
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$(TARGET).CFLAGS += -DGPS_TYPE_H=\"modules/gps/gps_ubx.h\"
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$(TARGET).CFLAGS += -DPRIMARY_GPS=GPS_UBX2
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$(TARGET).CFLAGS += -DGPS_UBX_NB=2
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else ifneq (,$(findstring ublox, $(PRIMARY_GPS)))
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$(TARGET).CFLAGS += -DGPS_TYPE_H=\"modules/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=\"modules/gps/gps_ubx.h\"
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endif
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</raw>
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<test>
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<define name="PRIMARY_GPS" value="GPS_UBX"/>
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<define name="USE_UART2"/>
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<define name="UBX_GPS_PORT" value="uart2"/>
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</test>
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</makefile>
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</module>
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