/
extra_dl.xml
37 lines (33 loc) · 1.5 KB
/
extra_dl.xml
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
<!DOCTYPE module SYSTEM "module.dtd">
<module name="extra_dl" dir="datalink" task="datalink">
<doc>
<description>Extra datalink (PPRZ transport)</description>
<configure name="EXTRA_DL_PORT" value="UARTX|UDPX|usb_serial" description="Select port for extra datalink"/>
<configure name="EXTRA_DL_BAUD" value="B57600" description="Baudrate for extra datalink if link device is UART"/>
</doc>
<dep>
<depends>uart|udp</depends>
</dep>
<header>
<file name="extra_pprz_dl.h"/>
</header>
<init fun="extra_pprz_dl_init()"/>
<periodic fun="extra_pprz_dl_periodic()" autorun="TRUE"/>
<!--
The event function listens on the extra telemetry port (from the payload computer for example)
and parses the received "datalink" messages, such as MOVE_WP.
We need this function to be able to listen to the extra telemetry port
As a result all messages normally handled by the autopilot (such as MOVE_WP) are processed.
-->
<event fun="extra_pprz_dl_event()"/>
<makefile>
<configure name="EXTRA_DL_PORT" default="uart1" case="upper|lower"/>
<define name="EXTRA_DOWNLINK_DEVICE" value="$(EXTRA_DL_PORT_LOWER)"/>
<define name="USE_$(EXTRA_DL_PORT_UPPER)"/>
<define name="$(EXTRA_DL_PORT_UPPER)_BAUD" value="$(EXTRA_DL_BAUD)"/>
<configure name="TELEMETRY_FREQUENCY" default="$(PERIODIC_FREQUENCY)"/>
<define name="TELEMETRY_FREQUENCY" value="$(TELEMETRY_FREQUENCY)"/>
<file name="extra_pprz_dl.c"/>
<file name="pprz_transport.c" dir="pprzlink/src"/>
</makefile>
</module>