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[modules] convert intermcu subsystems to modules (#1982)
* [modules] convert intermcu subsystems to modules * [doc] improve doc on intermcu modules
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conf/firmwares/subsystems/fixedwing/intermcu_uart.makefile
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conf/firmwares/subsystems/rotorcraft/intermcu_uart.makefile
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,28 @@ | ||
| <!DOCTYPE module SYSTEM "module.dtd"> | ||
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| <module name="intermcu_can" dir="intermcu"> | ||
| <doc> | ||
| <description> | ||
| Inter-MCU communication over CAN | ||
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| To enable this, please set the "SEPARATE_FBW" configure option to TRUE | ||
| in your airframe file for both AP and FBW targets | ||
| </description> | ||
| <configure name="SEPARATE_FBW" value="FALSE|TRUE" description="Enable separation between AP and FBW on separated MCU"/> | ||
| </doc> | ||
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| <makefile target="ap|fbw" firmware="fixedwing"> | ||
| <raw> | ||
| ifeq (,$(findstring $(SEPARATE_FBW),1 TRUE)) | ||
| $(error Using intermcu via CAN, so dual mcu with separate fbw. Please set option "SEPARATE_FBW" to TRUE. | ||
| endif | ||
| </raw> | ||
| <define name="INTER_MCU"/> | ||
| <define name="MCU_CAN_LINK"/> | ||
| <file name="link_mcu_can.c" dir="firmwares/fixedwing"/> | ||
| <file name="can.c" dir="mcu_periph"/> | ||
| <file name="can_arch.c" dir="$(SRC_ARCH)/mcu_periph"/> | ||
| </makefile> | ||
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| </module> | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,42 @@ | ||
| <!DOCTYPE module SYSTEM "module.dtd"> | ||
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| <module name="intermcu_spi" dir="intermcu"> | ||
| <doc> | ||
| <description> | ||
| Inter-MCU communication over SPI | ||
|
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| To enable this, please set the "SEPARATE_FBW" configure option to TRUE | ||
| in your airframe file for both AP and FBW targets | ||
| </description> | ||
| <configure name="SEPARATE_FBW" value="FALSE|TRUE" description="Enable separation between AP and FBW on separated MCU"/> | ||
| <configure name="INTER_MCU_SPI" value="SPI1" description="SPI used for inter mcu communication"/> | ||
| <configure name="INTER_MCU_SLAVE" value="SLAVE0" description="Slave name"/> | ||
| </doc> | ||
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| <makefile target="ap|fbw" firmware="fixedwing"> | ||
| <raw> | ||
| ifeq (,$(findstring $(SEPARATE_FBW),1 TRUE)) | ||
| $(error Using intermcu via SPI, so dual mcu with separate fbw. Please set option "SEPARATE_FBW" to TRUE. | ||
| endif | ||
| </raw> | ||
| <configure name="INTER_MCU_SPI" default="SPI1"/> | ||
| <configure name="INTER_MCU_SLAVE" default="SLAVE0"/> | ||
| <define name="MCU_SPI_LINK"/> | ||
| <define name="USE_SPI"/> | ||
| <file name="link_mcu_spi.c" dir="firmwares/fixedwing"/> | ||
| <file name="spi.c" dir="mcu_periph"/> | ||
| <file name="spi_arch.c" dir="$(SRC_ARCH)/mcu_periph"/> | ||
| </makefile> | ||
| <makefile target="ap" firmware="fixedwing"> | ||
| <define name="USE_$(INTER_MCU_SPI)"/> | ||
| <define name="USE_SPI_$(INTER_MCU_SLAVE)"/> | ||
| <define name="SPI_MASTER"/> | ||
| <file name="fbw_downlink.c" dir="firmwares/fixedwing"/> | ||
| </makefile> | ||
| <makefile target="fbw" firmware="fixedwing"> | ||
| <define name="USE_$(INTER_MCU_SPI)_SLAVE"/> | ||
| <define name="SPI_SLAVE"/> | ||
| </makefile> | ||
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| </module> | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,69 @@ | ||
| <!DOCTYPE module SYSTEM "module.dtd"> | ||
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| <module name="intermcu_uart" dir="intermcu"> | ||
| <doc> | ||
| <description> | ||
| Inter-MCU communication over UART | ||
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| To enable this, please set the "SEPARATE_FBW" configure option to TRUE | ||
| in your airframe file for both AP and FBW targets | ||
| </description> | ||
| <configure name="SEPARATE_FBW" value="FALSE|TRUE" description="Enable separation between AP and FBW on separated MCU"/> | ||
| <configure name="INTERMCU_PORT" value="UARTx" description="UART used for inter mcu communication (default: UART2 for FBW, UART5 for AP)"/> | ||
| <configure name="INTERMCU_BAUD" value="B57600" description="UART baud rate"/> | ||
| <configure name="FBW_MODE_LED" value="none|num" description="LED number or 'none'"/> | ||
| </doc> | ||
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| <makefile target="fbw" firmware="fixedwing"> | ||
| <configure name="INTERMCU_PORT" default="UART2" case="upper|lower"/> | ||
| <configure name="FBW_MODE_LED" default="none"/> | ||
| <define name="FBW_MODE_LED" value="$(FBW_MODE_LED)" cond="ifneq ($(FBW_MODE_LED),none)"/> | ||
| </makefile> | ||
| <makefile target="ap" firmware="fixedwing"> | ||
| <configure name="INTERMCU_PORT" default="UART5" case="upper|lower"/> | ||
| </makefile> | ||
| <makefile target="ap|fbw" firmware="fixedwing"> | ||
| <raw> | ||
| ifeq (,$(findstring $(SEPARATE_FBW),1 TRUE)) | ||
| $(error Using intermcu via UART, so dual mcu with separate fbw. Please set option "SEPARATE_FBW" to TRUE. | ||
| endif | ||
| </raw> | ||
| <configure name="INTERMCU_BAUD" default="B57600"/> | ||
| <define name="INTERMCU"/> | ||
| <define name="MCU_UART_LINK"/> | ||
| <define name="INTERMCU_LINK" value="$(INTERMCU_PORT_LOWER)"/> | ||
| <define name="USE_$(INTERMCU_PORT_UPPER)"/> | ||
| <define name="$(INTERMCU_PORT_UPPER)_BAUD" value="$(INTERMCU_BAUD)"/> | ||
| <file name="link_mcu_usart.c" dir="."/> | ||
| </makefile> | ||
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| <makefile target="fbw" firmware="rotorcraft"> | ||
| <configure name="INTERMCU_PORT" default="UART3" case="upper|lower"/> | ||
| <configure name="FBW_MODE_LED" default="none"/> | ||
| <define name="FBW_MODE_LED" value="$(FBW_MODE_LED)" cond="ifneq ($(FBW_MODE_LED),none)"/> | ||
| <define name="INTER_MCU_FBW"/> | ||
| <define name="DOWNLINK"/> | ||
| <file name="intermcu_fbw.c" dir="subsystems/intermcu"/> | ||
| </makefile> | ||
| <makefile target="ap" firmware="rotorcraft"> | ||
| <configure name="INTERMCU_PORT" default="UART3" case="upper|lower"/> | ||
| <configure name="RADIO_CONTROL_LED" value="none"/> | ||
| <define name="INTER_MCU_AP"/> | ||
| <define name="RADIO_CONTROL_TYPE_H" value="subsystems/intermcu/intermcu_ap.h" type="string"/> | ||
| <define name="RADIO_CONTROL"/> | ||
| <define name="RADIO_CONTROL_LED" value="$(RADIO_CONTROL_LED)" cond="ifneq ($(RADIO_CONTROL_LED),none)"/> | ||
| <define name="GPS_SECONDARY_TYPE_H" value="subsystems/intermcu/intermcu_ap.h" type="string" cond="ifneq (,$(findstring $(SECONDARY_GPS), imcu))"/> | ||
| <define name="GPS_SECONDARY_GPS" value="GPS_IMU" cond="ifneq (,$(findstring $(SECONDARY_GPS), imcu))"/> | ||
| <define name="IMCU_GPS" cond="ifneq (,$(findstring $(SECONDARY_GPS), imcu))"/> | ||
| <file name="intermcu_ap.c" dir="subsystems/intermcu"/> | ||
| <file name="radio_control.c" dir="subsystems"/> | ||
| </makefile> | ||
| <makefile target="ap|fbw" firmware="rotorcraft"> | ||
| <configure name="INTERMCU_BAUD" default="B230400"/> | ||
| <define name="INTERMCU_LINK" value="$(INTERMCU_PORT_LOWER)"/> | ||
| <define name="USE_$(INTERMCU_PORT_UPPER)"/> | ||
| <define name="$(INTERMCU_PORT_UPPER)_BAUD" value="$(INTERMCU_BAUD)"/> | ||
| <file name="pprz_transport.c" dir="pprzlink/src"/> | ||
| </makefile> | ||
| </module> | ||
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