mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-10 06:59:54 +08:00
Gautier Hattenberger
82 lines
3.8 KiB
XML
82 lines
3.8 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="intermcu_uart" dir="intermcu" task="core">
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<doc>
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<description>
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Inter-MCU communication over UART
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To enable this, please set the "SEPARATE_FBW" configure option to TRUE
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in your airframe file for both AP and FBW targets
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</description>
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<configure name="SEPARATE_FBW" value="FALSE|TRUE" description="Enable separation between AP and FBW on separated MCU"/>
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<configure name="INTERMCU_PORT" value="UARTx" description="UART used for inter mcu communication (default: UART2 for FBW, UART5 for AP)"/>
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<configure name="INTERMCU_BAUD" value="B57600" description="UART baud rate"/>
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<configure name="FBW_MODE_LED" value="none|num" description="LED number or 'none'"/>
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</doc>
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<dep>
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<depends>uart</depends>
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<provides>intermcu,commands,radio_control</provides>
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</dep>
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<header>
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<file name="intermcu.h" dir="subsystems" cond="ROTORCRAFT_FIRMWARE"/>
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<file name="inter_mcu.h" dir="." cond="FIXEDWING_FIRMWARE"/>
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</header>
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<init fun="intermcu_init()"/>
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<periodic fun="intermcu_periodic()"/>
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<makefile target="fbw" firmware="fixedwing">
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<configure name="INTERMCU_PORT" default="UART2" case="upper|lower"/>
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<configure name="FBW_MODE_LED" default="none"/>
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<define name="FBW_MODE_LED" value="$(FBW_MODE_LED)" cond="ifneq ($(FBW_MODE_LED),none)"/>
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<define name="INTER_MCU_FBW"/>
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</makefile>
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<makefile target="ap" firmware="fixedwing">
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<configure name="INTERMCU_PORT" default="UART5" case="upper|lower"/>
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<define name="INTER_MCU_AP"/>
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</makefile>
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<makefile target="ap|fbw" firmware="fixedwing">
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<raw>
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ifeq (,$(findstring $(SEPARATE_FBW),1 TRUE))
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$(error Using intermcu via UART, so dual mcu with separate fbw. Please set option "SEPARATE_FBW" to TRUE.
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endif
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</raw>
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<configure name="INTERMCU_BAUD" default="B57600"/>
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<define name="INTERMCU"/>
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<define name="MCU_UART_LINK"/>
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<define name="INTERMCU_LINK" value="$(INTERMCU_PORT_LOWER)"/>
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<define name="USE_$(INTERMCU_PORT_UPPER)"/>
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<define name="$(INTERMCU_PORT_UPPER)_BAUD" value="$(INTERMCU_BAUD)"/>
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<file name="link_mcu_usart.c" dir="."/>
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</makefile>
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<makefile target="fbw" firmware="rotorcraft">
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<configure name="INTERMCU_PORT" default="UART3" case="upper|lower"/>
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<configure name="FBW_MODE_LED" default="none"/>
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<define name="FBW_MODE_LED" value="$(FBW_MODE_LED)" cond="ifneq ($(FBW_MODE_LED),none)"/>
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<define name="INTER_MCU_FBW"/>
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<define name="DOWNLINK"/>
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<file name="intermcu_fbw.c" dir="subsystems/intermcu"/>
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</makefile>
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<makefile target="ap" firmware="rotorcraft">
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<configure name="INTERMCU_PORT" default="UART3" case="upper|lower"/>
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<configure name="RADIO_CONTROL_LED" value="none"/>
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<define name="INTER_MCU_AP"/>
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<define name="RADIO_CONTROL_TYPE_H" value="subsystems/intermcu/intermcu_ap.h" type="string"/>
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<define name="RADIO_CONTROL"/>
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<define name="RADIO_CONTROL_LED" value="$(RADIO_CONTROL_LED)" cond="ifneq ($(RADIO_CONTROL_LED),none)"/>
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<define name="GPS_SECONDARY_TYPE_H" value="subsystems/intermcu/intermcu_ap.h" type="string" cond="ifneq (,$(findstring $(SECONDARY_GPS), imcu))"/>
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<define name="SECONDARY_GPS" value="GPS_IMCU" cond="ifneq (,$(findstring $(SECONDARY_GPS), imcu))"/>
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<define name="IMCU_GPS" cond="ifneq (,$(findstring $(SECONDARY_GPS), imcu))"/>
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<file name="intermcu_ap.c" dir="subsystems/intermcu"/>
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<file name="radio_control.c" dir="modules/radio_control"/>
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</makefile>
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<makefile target="ap|fbw" firmware="rotorcraft">
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<configure name="INTERMCU_BAUD" default="B230400"/>
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<define name="INTERMCU_LINK" value="$(INTERMCU_PORT_LOWER)"/>
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<define name="USE_$(INTERMCU_PORT_UPPER)"/>
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<define name="$(INTERMCU_PORT_UPPER)_BAUD" value="$(INTERMCU_BAUD)"/>
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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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