mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-01-18 03:52:11 +01:00
Merge remote-tracking branch 'origin/next' into os/debug-pins
This commit is contained in:
commit
654dd051c7
80
Makefile
80
Makefile
@ -125,7 +125,8 @@ all: uavobjects all_ground all_flight
|
||||
|
||||
.PHONY: all_clean
|
||||
all_clean:
|
||||
[ ! -d "$(BUILD_DIR)" ] || $(RM) -rf "$(BUILD_DIR)"
|
||||
@$(ECHO) " CLEAN $(call toprel, $(BUILD_DIR))"
|
||||
$(V1) [ ! -d "$(BUILD_DIR)" ] || $(RM) -rf "$(BUILD_DIR)"
|
||||
|
||||
$(DL_DIR):
|
||||
$(MKDIR) -p $@
|
||||
@ -176,7 +177,7 @@ uavobjects_test: $(UAVOBJ_OUT_DIR) uavobjgenerator
|
||||
$(V1) $(UAVOBJGENERATOR) -v -none $(UAVOBJ_XML_DIR) $(ROOT_DIR)
|
||||
|
||||
uavobjects_clean:
|
||||
$(V0) @$(ECHO) " CLEAN $@"
|
||||
@$(ECHO) " CLEAN $(call toprel, $(UAVOBJ_OUT_DIR))"
|
||||
$(V1) [ ! -d "$(UAVOBJ_OUT_DIR)" ] || $(RM) -r "$(UAVOBJ_OUT_DIR)"
|
||||
|
||||
##############################
|
||||
@ -271,7 +272,7 @@ fw_$(1)_%: uavobjects_flight
|
||||
.PHONY: $(1)_clean
|
||||
$(1)_clean: fw_$(1)_clean
|
||||
fw_$(1)_clean:
|
||||
$(V0) @$(ECHO) " CLEAN $$@"
|
||||
@$(ECHO) " CLEAN $(call toprel, $(BUILD_DIR)/fw_$(1))"
|
||||
$(V1) $(RM) -fr $(BUILD_DIR)/fw_$(1)
|
||||
endef
|
||||
|
||||
@ -311,7 +312,7 @@ $(if $(filter-out undefined,$(origin UNBRICK_TTY)),
|
||||
|
||||
.PHONY: bl_$(1)_clean
|
||||
bl_$(1)_clean:
|
||||
$(V0) @$(ECHO) " CLEAN $$@"
|
||||
@$(ECHO) " CLEAN $(call toprel, $(BUILD_DIR)/bl_$(1))"
|
||||
$(V1) $(RM) -fr $(BUILD_DIR)/bl_$(1)
|
||||
endef
|
||||
|
||||
@ -335,7 +336,7 @@ bu_$(1)_%: bl_$(1)_bino
|
||||
|
||||
.PHONY: bu_$(1)_clean
|
||||
bu_$(1)_clean:
|
||||
$(V0) @$(ECHO) " CLEAN $$@"
|
||||
@$(ECHO) " CLEAN $(call toprel, $(BUILD_DIR)/bu_$(1))"
|
||||
$(V1) $(RM) -fr $(BUILD_DIR)/bu_$(1)
|
||||
endef
|
||||
|
||||
@ -360,7 +361,7 @@ ef_$(1)_%: bl_$(1)_bin fw_$(1)_opfw
|
||||
|
||||
.PHONY: ef_$(1)_clean
|
||||
ef_$(1)_clean:
|
||||
$(V0) @$(ECHO) " CLEAN $$@"
|
||||
@$(ECHO) " CLEAN $(call toprel, $(BUILD_DIR)/ef_$(1))"
|
||||
$(V1) $(RM) -fr $(BUILD_DIR)/ef_$(1)
|
||||
endef
|
||||
|
||||
@ -461,7 +462,7 @@ openpilotgcs: uavobjects_gcs
|
||||
|
||||
.PHONY: openpilotgcs_clean
|
||||
openpilotgcs_clean:
|
||||
$(V0) @$(ECHO) " CLEAN $@"
|
||||
@$(ECHO) " CLEAN $(call toprel, $(BUILD_DIR)/openpilotgcs_$(GCS_BUILD_CONF))"
|
||||
$(V1) [ ! -d "$(BUILD_DIR)/openpilotgcs_$(GCS_BUILD_CONF)" ] || $(RM) -r "$(BUILD_DIR)/openpilotgcs_$(GCS_BUILD_CONF)"
|
||||
|
||||
################################
|
||||
@ -504,7 +505,7 @@ androidgcs: uavo-collections_java
|
||||
|
||||
.PHONY: androidgcs_clean
|
||||
androidgcs_clean:
|
||||
$(V0) @$(ECHO) " CLEAN $@"
|
||||
@$(ECHO) " CLEAN $(call toprel, $(ANDROIDGCS_OUT_DIR))"
|
||||
$(V1) [ ! -d "$(ANDROIDGCS_OUT_DIR)" ] || $(RM) -r "$(ANDROIDGCS_OUT_DIR)"
|
||||
|
||||
# We want to take snapshots of the UAVOs at each point that they change
|
||||
@ -615,7 +616,7 @@ uavo-collections: uavo-collections_java
|
||||
|
||||
.PHONY: uavo-collections_clean
|
||||
uavo-collections_clean:
|
||||
$(V0) @$(ECHO) " CLEAN $(UAVO_COLLECTION_DIR)"
|
||||
@$(ECHO) " CLEAN $(call toprel, $(UAVO_COLLECTION_DIR))"
|
||||
$(V1) [ ! -d "$(UAVO_COLLECTION_DIR)" ] || $(RM) -r $(UAVO_COLLECTION_DIR)
|
||||
|
||||
##############################
|
||||
@ -642,7 +643,7 @@ all_ut_run: $(addsuffix _run, $(addprefix ut_, $(ALL_UNITTESTS)))
|
||||
|
||||
.PHONY: all_ut_clean
|
||||
all_ut_clean:
|
||||
$(V0) @$(ECHO) " CLEAN $@"
|
||||
@$(ECHO) " CLEAN $(call toprel, $(UT_OUT_DIR))"
|
||||
$(V1) [ ! -d "$(UT_OUT_DIR)" ] || $(RM) -r "$(UT_OUT_DIR)"
|
||||
|
||||
# $(1) = Unit test name
|
||||
@ -673,7 +674,7 @@ ut_$(1)_%: $$(UT_OUT_DIR)
|
||||
|
||||
.PHONY: ut_$(1)_clean
|
||||
ut_$(1)_clean:
|
||||
$(V0) @$(ECHO) " CLEAN $(1)"
|
||||
@$(ECHO) " CLEAN $(call toprel, $(UT_OUT_DIR)/$(1))"
|
||||
$(V1) [ ! -d "$(UT_OUT_DIR)/$(1)" ] || $(RM) -r "$(UT_OUT_DIR)/$(1)"
|
||||
endef
|
||||
|
||||
@ -784,6 +785,8 @@ package: all_fw all_ground uavobjects_matlab
|
||||
#
|
||||
##############################
|
||||
|
||||
UNCRUSTIFY_TARGETS := flight ground
|
||||
|
||||
# $(1) = Uncrustify target (e.g flight or ground)
|
||||
# $(2) = Target root directory
|
||||
define UNCRUSTIFY_TEMPLATE
|
||||
@ -794,11 +797,47 @@ uncrustify_$(1):
|
||||
$(V1) UNCRUSTIFY_CONFIG="$(ROOT_DIR)/make/uncrustify/uncrustify.cfg" $(SHELL) make/scripts/uncrustify.sh $(call toprel, $(2))
|
||||
endef
|
||||
|
||||
$(eval $(call UNCRUSTIFY_TEMPLATE,flight,$(ROOT_DIR)/flight))
|
||||
$(eval $(call UNCRUSTIFY_TEMPLATE,ground,$(ROOT_DIR)/ground))
|
||||
$(foreach uncrustify_targ, $(UNCRUSTIFY_TARGETS), $(eval $(call UNCRUSTIFY_TEMPLATE,$(uncrustify_targ),$(ROOT_DIR)/$(uncrustify_targ))))
|
||||
|
||||
.PHONY: uncrustify_all
|
||||
uncrustify_all: $(addprefix uncrustify_,flight ground)
|
||||
uncrustify_all: $(addprefix uncrustify_,$(UNCRUSTIFY_TARGETS))
|
||||
|
||||
##############################
|
||||
#
|
||||
# Doxygen documentation
|
||||
#
|
||||
# Each target should have own Doxyfile.$(target) with build directory build/docs/$(target),
|
||||
# proper source directory (e.g. $(target)) and appropriate other doxygen options.
|
||||
#
|
||||
##############################
|
||||
|
||||
DOCS_TARGETS := flight ground uavobjects
|
||||
|
||||
# $(1) = Doxygen target (e.g flight or ground)
|
||||
define DOXYGEN_TEMPLATE
|
||||
|
||||
.PHONY: docs_$(1)
|
||||
docs_$(1): docs_$(1)_clean
|
||||
@$(ECHO) "Generating $(1) documentation"
|
||||
$(V1) $(MKDIR) -p $(BUILD_DIR)/docs/$(1)
|
||||
$(V1) $(DOXYGEN) $(ROOT_DIR)/make/doxygen/Doxyfile.$(1)
|
||||
|
||||
.PHONY: docs_$(1)_clean
|
||||
docs_$(1)_clean:
|
||||
@$(ECHO) " CLEAN $(call toprel, $(BUILD_DIR)/docs/$(1))"
|
||||
$(V1) [ ! -d "$(BUILD_DIR)/docs/$(1)" ] || $(RM) -r "$(BUILD_DIR)/docs/$(1)"
|
||||
|
||||
endef
|
||||
|
||||
$(foreach docs_targ, $(DOCS_TARGETS), $(eval $(call DOXYGEN_TEMPLATE,$(docs_targ))))
|
||||
|
||||
.PHONY: docs_all
|
||||
docs_all: $(addprefix docs_,$(DOCS_TARGETS))
|
||||
|
||||
.PHONY: docs_all_clean
|
||||
docs_all_clean:
|
||||
@$(ECHO) " CLEAN $(call toprel, $(BUILD_DIR)/docs)"
|
||||
$(V1) [ ! -d "$(BUILD_DIR)/docs" ] || $(RM) -rf "$(BUILD_DIR)/docs"
|
||||
|
||||
##############################
|
||||
#
|
||||
@ -808,24 +847,13 @@ uncrustify_all: $(addprefix uncrustify_,flight ground)
|
||||
|
||||
.PHONY: build-info
|
||||
build-info:
|
||||
@$(ECHO) " BUILD-INFO $(call toprel, $(BUILD_DIR)/$@.txt)"
|
||||
$(V1) $(MKDIR) -p $(BUILD_DIR)
|
||||
$(V1) $(VERSION_INFO) \
|
||||
--uavodir=$(ROOT_DIR)/shared/uavobjectdefinition \
|
||||
--template="make/templates/$@.txt" \
|
||||
--outfile="$(BUILD_DIR)/$@.txt"
|
||||
|
||||
##############################
|
||||
#
|
||||
# Doxygen documentation
|
||||
# FIXME: currently is not not used and should be updated
|
||||
#
|
||||
##############################
|
||||
|
||||
# Generate Doxygen documentation
|
||||
.PHONY: docs
|
||||
docs:
|
||||
$(DOXYGEN) $(ROOT_DIR)/make/doxygen/doxygen.cfg
|
||||
|
||||
##############################
|
||||
#
|
||||
# Help message, the default Makefile goal
|
||||
|
@ -696,7 +696,7 @@ int WMM_RotateMagneticVector(WMMtype_CoordSpherical * CoordSpherical,
|
||||
*/
|
||||
{
|
||||
/* Difference between the spherical and Geodetic latitudes */
|
||||
float Psi = (M_PI_F / 180) * (CoordSpherical->phig - CoordGeodetic->phi);
|
||||
float Psi = DEG2RAD(CoordSpherical->phig - CoordGeodetic->phi);
|
||||
|
||||
/* Rotate spherical field components to the Geodeitic system */
|
||||
MagneticResultsGeo->Bz = MagneticResultsSph->Bx * sinf(Psi) + MagneticResultsSph->Bz * cosf(Psi);
|
||||
|
@ -76,7 +76,7 @@ typedef struct {
|
||||
#define PH_PPM_DATA_SIZE(p) ((uint8_t*)((p)->ecc) - (uint8_t*)(((PHPacketHandle)(p))->data))
|
||||
typedef struct {
|
||||
PHPacketHeader header;
|
||||
uint16_t channels[PIOS_RFM22B_RCVR_MAX_CHANNELS];
|
||||
int16_t channels[PIOS_RFM22B_RCVR_MAX_CHANNELS];
|
||||
uint8_t ecc[RS_ECC_NPARITY];
|
||||
} PHPpmPacket, *PHPpmPacketHandle;
|
||||
|
||||
|
@ -5,9 +5,6 @@
|
||||
#include "insgps.h"
|
||||
#include "CoordinateConversions.h"
|
||||
|
||||
#define DEG_TO_RAD (M_PI / 180.0)
|
||||
#define RAD_TO_DEG (180.0 / M_PI)
|
||||
|
||||
#define INSGPS_GPS_TIMEOUT 2 /* 2 seconds triggers reinit of position */
|
||||
#define INSGPS_GPS_MINSAT 6 /* 2 seconds triggers reinit of position */
|
||||
#define INSGPS_GPS_MINPDOP 3.5 /* minimum PDOP for postition updates */
|
||||
|
@ -30,8 +30,7 @@
|
||||
|
||||
#include "openpilot.h"
|
||||
#include "pid.h"
|
||||
|
||||
#define F_PI ((float) M_PI)
|
||||
#include <pios_math.h>
|
||||
|
||||
//! Private method
|
||||
static float bound(float val, float range);
|
||||
@ -121,7 +120,7 @@ void pid_zero(struct pid *pid)
|
||||
*/
|
||||
void pid_configure_derivative(float cutoff, float g)
|
||||
{
|
||||
deriv_tau = 1.0f / (2 * F_PI * cutoff);
|
||||
deriv_tau = 1.0f / (2 * M_PI_F * cutoff);
|
||||
deriv_gamma = g;
|
||||
}
|
||||
|
||||
|
@ -127,7 +127,7 @@ float cos_lookup_deg(float angle)
|
||||
*/
|
||||
float sin_lookup_rad(float angle)
|
||||
{
|
||||
int degrees = angle * 180.0f / M_PI_F;
|
||||
int degrees = RAD2DEG(angle);
|
||||
return sin_lookup_deg(degrees);
|
||||
}
|
||||
|
||||
@ -138,6 +138,6 @@ float sin_lookup_rad(float angle)
|
||||
*/
|
||||
float cos_lookup_rad(float angle)
|
||||
{
|
||||
int degrees = angle * 180.0f / M_PI_F;
|
||||
int degrees = RAD2DEG(angle);
|
||||
return cos_lookup_deg(degrees);
|
||||
}
|
||||
|
@ -300,9 +300,9 @@ static int32_t updateAttitudeComplementary(bool first_run)
|
||||
AttitudeActualData attitudeActual;
|
||||
AttitudeActualGet(&attitudeActual);
|
||||
init = 0;
|
||||
attitudeActual.Roll = atan2f(-accelsData.y, -accelsData.z) * 180.0f / M_PI_F;
|
||||
attitudeActual.Pitch = atan2f(accelsData.x, -accelsData.z) * 180.0f / M_PI_F;
|
||||
attitudeActual.Yaw = atan2f(-magData.y, magData.x) * 180.0f / M_PI_F;
|
||||
attitudeActual.Roll = RAD2DEG(atan2f(-accelsData.y, -accelsData.z));
|
||||
attitudeActual.Pitch = RAD2DEG(atan2f(accelsData.x, -accelsData.z));
|
||||
attitudeActual.Yaw = RAD2DEG(atan2f(-magData.y, magData.x));
|
||||
|
||||
RPY2Quaternion(&attitudeActual.Roll,&attitudeActual.q1);
|
||||
AttitudeActualSet(&attitudeActual);
|
||||
@ -646,9 +646,9 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
|
||||
|
||||
// Set initial attitude
|
||||
AttitudeActualData attitudeActual;
|
||||
attitudeActual.Roll = atan2f(-accelsData.y, -accelsData.z) * 180.0f / M_PI_F;
|
||||
attitudeActual.Pitch = atan2f(accelsData.x, -accelsData.z) * 180.0f / M_PI_F;
|
||||
attitudeActual.Yaw = atan2f(-magData.y, magData.x) * 180.0f / M_PI_F;
|
||||
attitudeActual.Roll = RAD2DEG(atan2f(-accelsData.y, -accelsData.z));
|
||||
attitudeActual.Pitch = RAD2DEG(atan2f(accelsData.x, -accelsData.z));
|
||||
attitudeActual.Yaw = RAD2DEG(atan2f(-magData.y, magData.x));
|
||||
RPY2Quaternion(&attitudeActual.Roll,&attitudeActual.q1);
|
||||
AttitudeActualSet(&attitudeActual);
|
||||
|
||||
@ -690,9 +690,9 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
|
||||
|
||||
// Set initial attitude
|
||||
AttitudeActualData attitudeActual;
|
||||
attitudeActual.Roll = atan2f(-accelsData.y, -accelsData.z) * 180.0f / M_PI_F;
|
||||
attitudeActual.Pitch = atan2f(accelsData.x, -accelsData.z) * 180.0f / M_PI_F;
|
||||
attitudeActual.Yaw = atan2f(-magData.y, magData.x) * 180.0f / M_PI_F;
|
||||
attitudeActual.Roll = RAD2DEG(atan2f(-accelsData.y, -accelsData.z));
|
||||
attitudeActual.Pitch = RAD2DEG(atan2f(accelsData.x, -accelsData.z));
|
||||
attitudeActual.Yaw = RAD2DEG(atan2f(-magData.y, magData.x));
|
||||
RPY2Quaternion(&attitudeActual.Roll,&attitudeActual.q1);
|
||||
AttitudeActualSet(&attitudeActual);
|
||||
|
||||
@ -792,8 +792,8 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
|
||||
|
||||
if (0) { // Old code to take horizontal velocity from GPS Position update
|
||||
sensors |= HORIZ_SENSORS;
|
||||
vel[0] = gpsData.Groundspeed * cosf(gpsData.Heading * M_PI_F / 180.0f);
|
||||
vel[1] = gpsData.Groundspeed * sinf(gpsData.Heading * M_PI_F / 180.0f);
|
||||
vel[0] = gpsData.Groundspeed * cosf(DEG2RAD(gpsData.Heading));
|
||||
vel[1] = gpsData.Groundspeed * sinf(DEG2RAD(gpsData.Heading));
|
||||
vel[2] = 0;
|
||||
}
|
||||
// Transform the GPS position into NED coordinates
|
||||
@ -886,12 +886,11 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
|
||||
* @returns 0 for success, -1 for failure
|
||||
*/
|
||||
float T[3];
|
||||
const float DEG2RAD = 3.141592653589793f / 180.0f;
|
||||
static int32_t getNED(GPSPositionData * gpsPosition, float * NED)
|
||||
{
|
||||
float dL[3] = {(gpsPosition->Latitude - homeLocation.Latitude) / 10.0e6f * DEG2RAD,
|
||||
(gpsPosition->Longitude - homeLocation.Longitude) / 10.0e6f * DEG2RAD,
|
||||
(gpsPosition->Altitude + gpsPosition->GeoidSeparation - homeLocation.Altitude)};
|
||||
float dL[3] = { DEG2RAD((gpsPosition->Latitude - homeLocation.Latitude) / 10.0e6f),
|
||||
DEG2RAD((gpsPosition->Longitude - homeLocation.Longitude) / 10.0e6f),
|
||||
(gpsPosition->Altitude + gpsPosition->GeoidSeparation - homeLocation.Altitude) };
|
||||
|
||||
NED[0] = T[0] * dL[0];
|
||||
NED[1] = T[1] * dL[1];
|
||||
@ -925,7 +924,7 @@ static void settingsUpdatedCb(UAVObjEvent * ev)
|
||||
HomeLocationGet(&homeLocation);
|
||||
// Compute matrix to convert deltaLLA to NED
|
||||
float lat, alt;
|
||||
lat = homeLocation.Latitude / 10.0e6f * DEG2RAD;
|
||||
lat = DEG2RAD(homeLocation.Latitude / 10.0e6f);
|
||||
alt = homeLocation.Altitude;
|
||||
|
||||
T[0] = alt+6.378137E6f;
|
||||
|
@ -30,6 +30,7 @@
|
||||
*/
|
||||
|
||||
#include "openpilot.h"
|
||||
#include <pios_math.h>
|
||||
#include "paths.h"
|
||||
|
||||
#include "flightstatus.h"
|
||||
@ -46,8 +47,6 @@
|
||||
#define STACK_SIZE_BYTES 1024
|
||||
#define TASK_PRIORITY (tskIDLE_PRIORITY+1)
|
||||
#define MAX_QUEUE_SIZE 2
|
||||
#define F_PI 3.141526535897932f
|
||||
#define RAD2DEG (180.0f/F_PI)
|
||||
#define PATH_PLANNER_UPDATE_RATE_MS 20
|
||||
|
||||
// Private types
|
||||
@ -472,7 +471,7 @@ static uint8_t conditionPointingTowardsNext() {
|
||||
float angle2 = atan2f(velocity.North,velocity.East);
|
||||
|
||||
// calculate the absolute angular difference
|
||||
angle1 = fabsf(RAD2DEG * (angle1 - angle2));
|
||||
angle1 = fabsf(RAD2DEG(angle1 - angle2));
|
||||
while (angle1>360) angle1-=360;
|
||||
|
||||
if (angle1 <= pathAction.ConditionParameters[0]) {
|
||||
|
@ -1,17 +1,17 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup OpenPilotModules OpenPilot Modules
|
||||
* @{
|
||||
* @addtogroup RadioComBridgeModule Com Port to Radio Bridge Module
|
||||
* @brief Bridge Com and Radio ports
|
||||
* @{
|
||||
*
|
||||
* @file RadioComBridge.c
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
|
||||
* @brief Bridges selected Com Port to the COM VCP emulated serial port
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
*****************************************************************************/
|
||||
******************************************************************************
|
||||
* @addtogroup OpenPilotModules OpenPilot Modules
|
||||
* @{
|
||||
* @addtogroup RadioComBridgeModule Com Port to Radio Bridge Module
|
||||
* @brief Bridge Com and Radio ports
|
||||
* @{
|
||||
*
|
||||
* @file RadioComBridge.c
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
|
||||
* @brief Bridges selected Com Port to the COM VCP emulated serial port
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
@ -69,30 +69,33 @@ void PIOS_InitPPMFlexiPort(bool input);
|
||||
|
||||
typedef struct {
|
||||
|
||||
// The task handles.
|
||||
xTaskHandle telemetryTxTaskHandle;
|
||||
xTaskHandle radioRxTaskHandle;
|
||||
xTaskHandle radioTxTaskHandle;
|
||||
// The task handles.
|
||||
xTaskHandle telemetryTxTaskHandle;
|
||||
xTaskHandle radioRxTaskHandle;
|
||||
xTaskHandle radioTxTaskHandle;
|
||||
|
||||
// The UAVTalk connection on the com side.
|
||||
UAVTalkConnection outUAVTalkCon;
|
||||
UAVTalkConnection inUAVTalkCon;
|
||||
// The UAVTalk connection on the com side.
|
||||
UAVTalkConnection outUAVTalkCon;
|
||||
UAVTalkConnection inUAVTalkCon;
|
||||
|
||||
// Queue handles.
|
||||
xQueueHandle gcsEventQueue;
|
||||
xQueueHandle uavtalkEventQueue;
|
||||
// Queue handles.
|
||||
xQueueHandle gcsEventQueue;
|
||||
xQueueHandle uavtalkEventQueue;
|
||||
|
||||
// Error statistics.
|
||||
uint32_t comTxErrors;
|
||||
uint32_t comTxRetries;
|
||||
uint32_t UAVTalkErrors;
|
||||
uint32_t droppedPackets;
|
||||
// Error statistics.
|
||||
uint32_t comTxErrors;
|
||||
uint32_t comTxRetries;
|
||||
uint32_t UAVTalkErrors;
|
||||
uint32_t droppedPackets;
|
||||
|
||||
// Should we parse UAVTalk?
|
||||
bool parseUAVTalk;
|
||||
// Should we parse UAVTalk?
|
||||
bool parseUAVTalk;
|
||||
|
||||
// The current configured uart speed
|
||||
OPLinkSettingsComSpeedOptions comSpeed;
|
||||
// We can only configure the hardware once.
|
||||
bool configured;
|
||||
|
||||
// The current configured uart speed
|
||||
OPLinkSettingsComSpeedOptions comSpeed;
|
||||
|
||||
} RadioComBridgeData;
|
||||
|
||||
@ -118,8 +121,8 @@ static RadioComBridgeData *data;
|
||||
|
||||
/**
|
||||
* Start the module
|
||||
* \return -1 if initialisation failed
|
||||
* \return 0 on success
|
||||
*
|
||||
* @return -1 if initialisation failed, 0 on success
|
||||
*/
|
||||
static int32_t RadioComBridgeStart(void)
|
||||
{
|
||||
@ -137,8 +140,7 @@ static int32_t RadioComBridgeStart(void)
|
||||
if (is_coordinator) {
|
||||
|
||||
// Set the maximum radio RF power.
|
||||
switch (oplinkSettings.MaxRFPower)
|
||||
{
|
||||
switch (oplinkSettings.MaxRFPower) {
|
||||
case OPLINKSETTINGS_MAXRFPOWER_125:
|
||||
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_0);
|
||||
break;
|
||||
@ -198,175 +200,187 @@ static int32_t RadioComBridgeStart(void)
|
||||
|
||||
/**
|
||||
* Initialise the module
|
||||
* \return -1 if initialisation failed
|
||||
* \return 0 on success
|
||||
*
|
||||
* @return -1 if initialisation failed on success
|
||||
*/
|
||||
static int32_t RadioComBridgeInitialize(void)
|
||||
{
|
||||
|
||||
// allocate and initialize the static data storage only if module is enabled
|
||||
data = (RadioComBridgeData *)pvPortMalloc(sizeof(RadioComBridgeData));
|
||||
if (!data)
|
||||
return -1;
|
||||
// allocate and initialize the static data storage only if module is enabled
|
||||
data = (RadioComBridgeData *)pvPortMalloc(sizeof(RadioComBridgeData));
|
||||
if (!data) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
// Initialize the UAVObjects that we use
|
||||
OPLinkStatusInitialize();
|
||||
ObjectPersistenceInitialize();
|
||||
// Initialize the UAVObjects that we use
|
||||
OPLinkStatusInitialize();
|
||||
ObjectPersistenceInitialize();
|
||||
|
||||
// Initialise UAVTalk
|
||||
data->outUAVTalkCon = UAVTalkInitialize(&UAVTalkSendHandler);
|
||||
data->inUAVTalkCon = UAVTalkInitialize(&RadioSendHandler);
|
||||
// Initialise UAVTalk
|
||||
data->outUAVTalkCon = UAVTalkInitialize(&UAVTalkSendHandler);
|
||||
data->inUAVTalkCon = UAVTalkInitialize(&RadioSendHandler);
|
||||
|
||||
// Initialize the queues.
|
||||
data->uavtalkEventQueue = xQueueCreate(EVENT_QUEUE_SIZE, sizeof(UAVObjEvent));
|
||||
// Initialize the queues.
|
||||
data->uavtalkEventQueue = xQueueCreate(EVENT_QUEUE_SIZE, sizeof(UAVObjEvent));
|
||||
|
||||
// Configure our UAVObjects for updates.
|
||||
UAVObjConnectQueue(UAVObjGetByID(OPLINKSTATUS_OBJID), data->uavtalkEventQueue, EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ);
|
||||
UAVObjConnectQueue(UAVObjGetByID(OBJECTPERSISTENCE_OBJID), data->uavtalkEventQueue, EV_UPDATED | EV_UPDATED_MANUAL);
|
||||
// Configure our UAVObjects for updates.
|
||||
UAVObjConnectQueue(UAVObjGetByID(OPLINKSTATUS_OBJID), data->uavtalkEventQueue, EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ);
|
||||
UAVObjConnectQueue(UAVObjGetByID(OBJECTPERSISTENCE_OBJID), data->uavtalkEventQueue, EV_UPDATED | EV_UPDATED_MANUAL);
|
||||
#if defined(PIOS_INCLUDE_RFM22B_GCSRECEIVER)
|
||||
UAVObjConnectQueue(UAVObjGetByID(GCSRECEIVER_OBJID), data->uavtalkEventQueue, EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ);
|
||||
UAVObjConnectQueue(UAVObjGetByID(GCSRECEIVER_OBJID), data->uavtalkEventQueue, EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ);
|
||||
#endif
|
||||
|
||||
// Initialize the statistics.
|
||||
data->comTxErrors = 0;
|
||||
data->comTxRetries = 0;
|
||||
data->UAVTalkErrors = 0;
|
||||
data->parseUAVTalk = false;
|
||||
data->comSpeed = OPLINKSETTINGS_COMSPEED_9600;
|
||||
PIOS_COM_RADIO = PIOS_COM_RFM22B;
|
||||
// Initialize the statistics.
|
||||
data->comTxErrors = 0;
|
||||
data->comTxRetries = 0;
|
||||
data->UAVTalkErrors = 0;
|
||||
data->parseUAVTalk = false;
|
||||
data->configured = false;
|
||||
data->comSpeed = OPLINKSETTINGS_COMSPEED_9600;
|
||||
PIOS_COM_RADIO = PIOS_COM_RFM22B;
|
||||
|
||||
return 0;
|
||||
return 0;
|
||||
}
|
||||
MODULE_INITCALL(RadioComBridgeInitialize, RadioComBridgeStart)
|
||||
|
||||
/**
|
||||
* Telemetry transmit task, regular priority
|
||||
*
|
||||
* @param[in] parameters The task parameters
|
||||
*/
|
||||
static void telemetryTxTask(void *parameters)
|
||||
{
|
||||
UAVObjEvent ev;
|
||||
UAVObjEvent ev;
|
||||
|
||||
// Loop forever
|
||||
while (1) {
|
||||
// Loop forever
|
||||
while (1) {
|
||||
#ifdef PIOS_INCLUDE_WDG
|
||||
PIOS_WDG_UpdateFlag(PIOS_WDG_TELEMETRY);
|
||||
PIOS_WDG_UpdateFlag(PIOS_WDG_TELEMETRY);
|
||||
#endif
|
||||
// Wait for queue message
|
||||
if (xQueueReceive(data->uavtalkEventQueue, &ev, MAX_PORT_DELAY) == pdTRUE) {
|
||||
if ((ev.event == EV_UPDATED) || (ev.event == EV_UPDATE_REQ))
|
||||
{
|
||||
// Send update (with retries)
|
||||
uint32_t retries = 0;
|
||||
int32_t success = -1;
|
||||
while (retries < MAX_RETRIES && success == -1) {
|
||||
success = UAVTalkSendObject(data->outUAVTalkCon, ev.obj, 0, 0, RETRY_TIMEOUT_MS) == 0;
|
||||
if (!success)
|
||||
++retries;
|
||||
}
|
||||
data->comTxRetries += retries;
|
||||
}
|
||||
else if(ev.event == EV_SEND_ACK)
|
||||
{
|
||||
// Send the ACK
|
||||
uint32_t retries = 0;
|
||||
int32_t success = -1;
|
||||
while (retries < MAX_RETRIES && success == -1) {
|
||||
success = UAVTalkSendAck(data->outUAVTalkCon, ev.obj, ev.instId) == 0;
|
||||
if (!success)
|
||||
++retries;
|
||||
}
|
||||
data->comTxRetries += retries;
|
||||
}
|
||||
else if(ev.event == EV_SEND_NACK)
|
||||
{
|
||||
// Send the NACK
|
||||
uint32_t retries = 0;
|
||||
int32_t success = -1;
|
||||
while (retries < MAX_RETRIES && success == -1) {
|
||||
success = UAVTalkSendNack(data->outUAVTalkCon, UAVObjGetID(ev.obj)) == 0;
|
||||
if (!success)
|
||||
++retries;
|
||||
}
|
||||
data->comTxRetries += retries;
|
||||
}
|
||||
}
|
||||
}
|
||||
// Wait for queue message
|
||||
if (xQueueReceive(data->uavtalkEventQueue, &ev, MAX_PORT_DELAY) == pdTRUE) {
|
||||
if ((ev.event == EV_UPDATED) || (ev.event == EV_UPDATE_REQ)) {
|
||||
// Send update (with retries)
|
||||
uint32_t retries = 0;
|
||||
int32_t success = -1;
|
||||
while (retries < MAX_RETRIES && success == -1) {
|
||||
success = UAVTalkSendObject(data->outUAVTalkCon, ev.obj, 0, 0, RETRY_TIMEOUT_MS) == 0;
|
||||
if (!success)
|
||||
++retries;
|
||||
}
|
||||
data->comTxRetries += retries;
|
||||
} else if(ev.event == EV_SEND_ACK) {
|
||||
// Send the ACK
|
||||
uint32_t retries = 0;
|
||||
int32_t success = -1;
|
||||
while (retries < MAX_RETRIES && success == -1) {
|
||||
success = UAVTalkSendAck(data->outUAVTalkCon, ev.obj, ev.instId) == 0;
|
||||
if (!success)
|
||||
++retries;
|
||||
}
|
||||
data->comTxRetries += retries;
|
||||
} else if(ev.event == EV_SEND_NACK) {
|
||||
// Send the NACK
|
||||
uint32_t retries = 0;
|
||||
int32_t success = -1;
|
||||
while (retries < MAX_RETRIES && success == -1) {
|
||||
success = UAVTalkSendNack(data->outUAVTalkCon, UAVObjGetID(ev.obj)) == 0;
|
||||
if (!success)
|
||||
++retries;
|
||||
}
|
||||
data->comTxRetries += retries;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Radio rx task. Receive data packets from the radio and pass them on.
|
||||
*
|
||||
* @param[in] parameters The task parameters
|
||||
*/
|
||||
static void radioRxTask(void *parameters)
|
||||
{
|
||||
// Task loop
|
||||
while (1) {
|
||||
// Task loop
|
||||
while (1) {
|
||||
#ifdef PIOS_INCLUDE_WDG
|
||||
PIOS_WDG_UpdateFlag(PIOS_WDG_RADIORX);
|
||||
PIOS_WDG_UpdateFlag(PIOS_WDG_RADIORX);
|
||||
#endif
|
||||
uint8_t serial_data[1];
|
||||
uint16_t bytes_to_process = PIOS_COM_ReceiveBuffer(PIOS_COM_RADIO, serial_data, sizeof(serial_data), MAX_PORT_DELAY);
|
||||
if (bytes_to_process > 0)
|
||||
for (uint8_t i = 0; i < bytes_to_process; i++)
|
||||
if (UAVTalkRelayInputStream(data->outUAVTalkCon, serial_data[i]) == UAVTALK_STATE_ERROR)
|
||||
data->UAVTalkErrors++;
|
||||
}
|
||||
uint8_t serial_data[1];
|
||||
uint16_t bytes_to_process = PIOS_COM_ReceiveBuffer(PIOS_COM_RADIO, serial_data, sizeof(serial_data), MAX_PORT_DELAY);
|
||||
if (bytes_to_process > 0) {
|
||||
for (uint8_t i = 0; i < bytes_to_process; i++) {
|
||||
if (UAVTalkRelayInputStream(data->outUAVTalkCon, serial_data[i]) == UAVTALK_STATE_ERROR) {
|
||||
data->UAVTalkErrors++;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Radio rx task. Receive data from a com port and pass it on to the radio.
|
||||
*
|
||||
* @param[in] parameters The task parameters
|
||||
*/
|
||||
static void radioTxTask(void *parameters)
|
||||
{
|
||||
// Task loop
|
||||
while (1) {
|
||||
uint32_t inputPort = PIOS_COM_TELEMETRY;
|
||||
// Task loop
|
||||
while (1) {
|
||||
uint32_t inputPort = PIOS_COM_TELEMETRY;
|
||||
#ifdef PIOS_INCLUDE_WDG
|
||||
PIOS_WDG_UpdateFlag(PIOS_WDG_RADIOTX);
|
||||
PIOS_WDG_UpdateFlag(PIOS_WDG_RADIOTX);
|
||||
#endif
|
||||
#if defined(PIOS_INCLUDE_USB)
|
||||
// Determine output port (USB takes priority over telemetry port)
|
||||
if (PIOS_USB_CheckAvailable(0) && PIOS_COM_TELEM_USB_HID)
|
||||
inputPort = PIOS_COM_TELEM_USB_HID;
|
||||
// Determine output port (USB takes priority over telemetry port)
|
||||
if (PIOS_USB_CheckAvailable(0) && PIOS_COM_TELEM_USB_HID) {
|
||||
inputPort = PIOS_COM_TELEM_USB_HID;
|
||||
}
|
||||
#endif /* PIOS_INCLUDE_USB */
|
||||
if(inputPort) {
|
||||
uint8_t serial_data[1];
|
||||
uint16_t bytes_to_process = PIOS_COM_ReceiveBuffer(inputPort, serial_data, sizeof(serial_data), MAX_PORT_DELAY);
|
||||
if (bytes_to_process > 0) {
|
||||
for (uint8_t i = 0; i < bytes_to_process; i++)
|
||||
ProcessInputStream(data->inUAVTalkCon, serial_data[i]);
|
||||
}
|
||||
} else
|
||||
vTaskDelay(5);
|
||||
}
|
||||
if(inputPort) {
|
||||
uint8_t serial_data[1];
|
||||
uint16_t bytes_to_process = PIOS_COM_ReceiveBuffer(inputPort, serial_data, sizeof(serial_data), MAX_PORT_DELAY);
|
||||
if (bytes_to_process > 0) {
|
||||
for (uint8_t i = 0; i < bytes_to_process; i++)
|
||||
ProcessInputStream(data->inUAVTalkCon, serial_data[i]);
|
||||
}
|
||||
} else {
|
||||
vTaskDelay(5);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Transmit data buffer to the com port.
|
||||
* \param[in] buf Data buffer to send
|
||||
* \param[in] length Length of buffer
|
||||
* \return -1 on failure
|
||||
* \return number of bytes transmitted on success
|
||||
*
|
||||
* @param[in] buf Data buffer to send
|
||||
* @param[in] length Length of buffer
|
||||
* @return -1 on failure
|
||||
* @return number of bytes transmitted on success
|
||||
*/
|
||||
static int32_t UAVTalkSendHandler(uint8_t *buf, int32_t length)
|
||||
{
|
||||
uint32_t outputPort = PIOS_COM_TELEMETRY;
|
||||
uint32_t outputPort = PIOS_COM_TELEMETRY;
|
||||
#if defined(PIOS_INCLUDE_USB)
|
||||
// Determine output port (USB takes priority over telemetry port)
|
||||
if (PIOS_COM_TELEM_USB_HID && PIOS_COM_Available(PIOS_COM_TELEM_USB_HID))
|
||||
outputPort = PIOS_COM_TELEM_USB_HID;
|
||||
// Determine output port (USB takes priority over telemetry port)
|
||||
if (PIOS_COM_TELEM_USB_HID && PIOS_COM_Available(PIOS_COM_TELEM_USB_HID)) {
|
||||
outputPort = PIOS_COM_TELEM_USB_HID;
|
||||
}
|
||||
#endif /* PIOS_INCLUDE_USB */
|
||||
if(outputPort)
|
||||
return PIOS_COM_SendBufferNonBlocking(outputPort, buf, length);
|
||||
else
|
||||
return -1;
|
||||
if(outputPort) {
|
||||
return PIOS_COM_SendBufferNonBlocking(outputPort, buf, length);
|
||||
} else {
|
||||
return -1;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Transmit data buffer to the com port.
|
||||
* \param[in] buf Data buffer to send
|
||||
* \param[in] length Length of buffer
|
||||
* \return -1 on failure
|
||||
* \return number of bytes transmitted on success
|
||||
*
|
||||
* @param[in] buf Data buffer to send
|
||||
* @param[in] length Length of buffer
|
||||
* @return -1 on failure
|
||||
* @return number of bytes transmitted on success
|
||||
*/
|
||||
static int32_t RadioSendHandler(uint8_t *buf, int32_t length)
|
||||
{
|
||||
@ -380,136 +394,136 @@ static int32_t RadioSendHandler(uint8_t *buf, int32_t length)
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Process a byte of data received
|
||||
*
|
||||
* @param[in] connectionHandle The UAVTalk connection handle
|
||||
* @param[in] rxbyte The received byte.
|
||||
*/
|
||||
static void ProcessInputStream(UAVTalkConnection connectionHandle, uint8_t rxbyte)
|
||||
{
|
||||
// Keep reading until we receive a completed packet.
|
||||
UAVTalkRxState state = UAVTalkRelayInputStream(connectionHandle, rxbyte);
|
||||
UAVTalkConnectionData *connection = (UAVTalkConnectionData*)(connectionHandle);
|
||||
UAVTalkInputProcessor *iproc = &(connection->iproc);
|
||||
// Keep reading until we receive a completed packet.
|
||||
UAVTalkRxState state = UAVTalkRelayInputStream(connectionHandle, rxbyte);
|
||||
UAVTalkConnectionData *connection = (UAVTalkConnectionData*)(connectionHandle);
|
||||
UAVTalkInputProcessor *iproc = &(connection->iproc);
|
||||
|
||||
if (state == UAVTALK_STATE_COMPLETE)
|
||||
{
|
||||
// Is this a local UAVObject?
|
||||
// We only generate GcsReceiver ojects, we don't consume them.
|
||||
if ((iproc->obj != NULL) && (iproc->objId != GCSRECEIVER_OBJID))
|
||||
{
|
||||
// We treat the ObjectPersistence object differently
|
||||
if(iproc->objId == OBJECTPERSISTENCE_OBJID)
|
||||
{
|
||||
// Unpack object, if the instance does not exist it will be created!
|
||||
UAVObjUnpack(iproc->obj, iproc->instId, connection->rxBuffer);
|
||||
if (state == UAVTALK_STATE_COMPLETE) {
|
||||
// Is this a local UAVObject?
|
||||
// We only generate GcsReceiver ojects, we don't consume them.
|
||||
if ((iproc->obj != NULL) && (iproc->objId != GCSRECEIVER_OBJID)) {
|
||||
// We treat the ObjectPersistence object differently
|
||||
if(iproc->objId == OBJECTPERSISTENCE_OBJID) {
|
||||
// Unpack object, if the instance does not exist it will be created!
|
||||
UAVObjUnpack(iproc->obj, iproc->instId, connection->rxBuffer);
|
||||
|
||||
// Get the ObjectPersistence object.
|
||||
ObjectPersistenceData obj_per;
|
||||
ObjectPersistenceGet(&obj_per);
|
||||
// Get the ObjectPersistence object.
|
||||
ObjectPersistenceData obj_per;
|
||||
ObjectPersistenceGet(&obj_per);
|
||||
|
||||
// Is this concerning or setting object?
|
||||
if (obj_per.ObjectID == OPLINKSETTINGS_OBJID)
|
||||
{
|
||||
// Queue up the ACK.
|
||||
queueEvent(data->uavtalkEventQueue, (void*)iproc->obj, iproc->instId, EV_SEND_ACK);
|
||||
// Is this concerning or setting object?
|
||||
if (obj_per.ObjectID == OPLINKSETTINGS_OBJID) {
|
||||
// Queue up the ACK.
|
||||
queueEvent(data->uavtalkEventQueue, (void*)iproc->obj, iproc->instId, EV_SEND_ACK);
|
||||
|
||||
// Is this a save, load, or delete?
|
||||
bool success = true;
|
||||
switch (obj_per.Operation)
|
||||
{
|
||||
case OBJECTPERSISTENCE_OPERATION_LOAD:
|
||||
{
|
||||
// Is this a save, load, or delete?
|
||||
bool success = true;
|
||||
switch (obj_per.Operation) {
|
||||
case OBJECTPERSISTENCE_OPERATION_LOAD:
|
||||
{
|
||||
#if defined(PIOS_INCLUDE_FLASH_EEPROM)
|
||||
// Load the settings.
|
||||
OPLinkSettingsData oplinkSettings;
|
||||
if (PIOS_EEPROM_Load((uint8_t*)&oplinkSettings, sizeof(OPLinkSettingsData)) == 0)
|
||||
OPLinkSettingsSet(&oplinkSettings);
|
||||
else
|
||||
success = false;
|
||||
// Load the settings.
|
||||
OPLinkSettingsData oplinkSettings;
|
||||
if (PIOS_EEPROM_Load((uint8_t*)&oplinkSettings, sizeof(OPLinkSettingsData)) == 0)
|
||||
OPLinkSettingsSet(&oplinkSettings);
|
||||
else
|
||||
success = false;
|
||||
#endif
|
||||
break;
|
||||
}
|
||||
case OBJECTPERSISTENCE_OPERATION_SAVE:
|
||||
{
|
||||
break;
|
||||
}
|
||||
case OBJECTPERSISTENCE_OPERATION_SAVE:
|
||||
{
|
||||
#if defined(PIOS_INCLUDE_FLASH_EEPROM)
|
||||
// Save the settings.
|
||||
OPLinkSettingsData oplinkSettings;
|
||||
OPLinkSettingsGet(&oplinkSettings);
|
||||
int32_t ret = PIOS_EEPROM_Save((uint8_t*)&oplinkSettings, sizeof(OPLinkSettingsData));
|
||||
if (ret != 0)
|
||||
success = false;
|
||||
// Save the settings.
|
||||
OPLinkSettingsData oplinkSettings;
|
||||
OPLinkSettingsGet(&oplinkSettings);
|
||||
int32_t ret = PIOS_EEPROM_Save((uint8_t*)&oplinkSettings, sizeof(OPLinkSettingsData));
|
||||
if (ret != 0)
|
||||
success = false;
|
||||
#endif
|
||||
break;
|
||||
}
|
||||
case OBJECTPERSISTENCE_OPERATION_DELETE:
|
||||
{
|
||||
break;
|
||||
}
|
||||
case OBJECTPERSISTENCE_OPERATION_DELETE:
|
||||
{
|
||||
#if defined(PIOS_INCLUDE_FLASH_EEPROM)
|
||||
// Erase the settings.
|
||||
OPLinkSettingsData oplinkSettings;
|
||||
uint8_t *ptr = (uint8_t*)&oplinkSettings;
|
||||
memset(ptr, 0, sizeof(OPLinkSettingsData));
|
||||
int32_t ret = PIOS_EEPROM_Save(ptr, sizeof(OPLinkSettingsData));
|
||||
if (ret != 0)
|
||||
success = false;
|
||||
// Erase the settings.
|
||||
OPLinkSettingsData oplinkSettings;
|
||||
uint8_t *ptr = (uint8_t*)&oplinkSettings;
|
||||
memset(ptr, 0, sizeof(OPLinkSettingsData));
|
||||
int32_t ret = PIOS_EEPROM_Save(ptr, sizeof(OPLinkSettingsData));
|
||||
if (ret != 0)
|
||||
success = false;
|
||||
#endif
|
||||
break;
|
||||
}
|
||||
default:
|
||||
break;
|
||||
}
|
||||
if (success == true)
|
||||
{
|
||||
obj_per.Operation = OBJECTPERSISTENCE_OPERATION_COMPLETED;
|
||||
ObjectPersistenceSet(&obj_per);
|
||||
}
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
switch (iproc->type)
|
||||
{
|
||||
case UAVTALK_TYPE_OBJ:
|
||||
// Unpack object, if the instance does not exist it will be created!
|
||||
UAVObjUnpack(iproc->obj, iproc->instId, connection->rxBuffer);
|
||||
break;
|
||||
case UAVTALK_TYPE_OBJ_REQ:
|
||||
// Queue up an object send request.
|
||||
queueEvent(data->uavtalkEventQueue, (void*)iproc->obj, iproc->instId, EV_UPDATE_REQ);
|
||||
break;
|
||||
case UAVTALK_TYPE_OBJ_ACK:
|
||||
if (UAVObjUnpack(iproc->obj, iproc->instId, connection->rxBuffer) == 0)
|
||||
// Queue up an ACK
|
||||
queueEvent(data->uavtalkEventQueue, (void*)iproc->obj, iproc->instId, EV_SEND_ACK);
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
break;
|
||||
}
|
||||
default:
|
||||
break;
|
||||
}
|
||||
if (success == true) {
|
||||
obj_per.Operation = OBJECTPERSISTENCE_OPERATION_COMPLETED;
|
||||
ObjectPersistenceSet(&obj_per);
|
||||
}
|
||||
}
|
||||
} else {
|
||||
switch (iproc->type) {
|
||||
case UAVTALK_TYPE_OBJ:
|
||||
// Unpack object, if the instance does not exist it will be created!
|
||||
UAVObjUnpack(iproc->obj, iproc->instId, connection->rxBuffer);
|
||||
break;
|
||||
case UAVTALK_TYPE_OBJ_REQ:
|
||||
// Queue up an object send request.
|
||||
queueEvent(data->uavtalkEventQueue, (void*)iproc->obj, iproc->instId, EV_UPDATE_REQ);
|
||||
break;
|
||||
case UAVTALK_TYPE_OBJ_ACK:
|
||||
if (UAVObjUnpack(iproc->obj, iproc->instId, connection->rxBuffer) == 0)
|
||||
// Queue up an ACK
|
||||
queueEvent(data->uavtalkEventQueue, (void*)iproc->obj, iproc->instId, EV_SEND_ACK);
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
} else if(state == UAVTALK_STATE_ERROR) {
|
||||
data->UAVTalkErrors++;
|
||||
} else if(state == UAVTALK_STATE_ERROR) {
|
||||
data->UAVTalkErrors++;
|
||||
|
||||
// Send a NACK if required.
|
||||
if((iproc->obj) && (iproc->type == UAVTALK_TYPE_OBJ_ACK))
|
||||
// Queue up a NACK
|
||||
queueEvent(data->uavtalkEventQueue, iproc->obj, iproc->instId, EV_SEND_NACK);
|
||||
}
|
||||
// Send a NACK if required.
|
||||
if((iproc->obj) && (iproc->type == UAVTALK_TYPE_OBJ_ACK)) {
|
||||
// Queue up a NACK
|
||||
queueEvent(data->uavtalkEventQueue, iproc->obj, iproc->instId, EV_SEND_NACK);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Queue and event into an event queue.
|
||||
* \param[in] queue The event queue
|
||||
* \param[in] obj The data pointer
|
||||
* \param[in] type The event type
|
||||
*
|
||||
* @param[in] queue The event queue
|
||||
* @param[in] obj The data pointer
|
||||
* @param[in] type The event type
|
||||
*/
|
||||
static void queueEvent(xQueueHandle queue, void *obj, uint16_t instId, UAVObjEventType type)
|
||||
{
|
||||
UAVObjEvent ev;
|
||||
ev.obj = (UAVObjHandle)obj;
|
||||
ev.instId = instId;
|
||||
ev.event = type;
|
||||
xQueueSend(queue, &ev, portMAX_DELAY);
|
||||
UAVObjEvent ev;
|
||||
ev.obj = (UAVObjHandle)obj;
|
||||
ev.instId = instId;
|
||||
ev.event = type;
|
||||
xQueueSend(queue, &ev, portMAX_DELAY);
|
||||
}
|
||||
|
||||
/**
|
||||
* Configure the output port based on a configuration event from the remote coordinator.
|
||||
* \param[in] com_port The com port to configure
|
||||
* \param[in] com_speed The com port speed
|
||||
*
|
||||
* @param[in] com_port The com port to configure
|
||||
* @param[in] com_speed The com port speed
|
||||
*/
|
||||
static void configureComCallback(OPLinkSettingsRemoteMainPortOptions main_port, OPLinkSettingsRemoteFlexiPortOptions flexi_port,
|
||||
OPLinkSettingsRemoteVCPPortOptions vcp_port, OPLinkSettingsComSpeedOptions com_speed,
|
||||
@ -580,10 +594,15 @@ static void updateSettings()
|
||||
OPLinkSettingsData oplinkSettings;
|
||||
OPLinkSettingsGet(&oplinkSettings);
|
||||
|
||||
// We can only configure the hardware once.
|
||||
if (data->configured) {
|
||||
return;
|
||||
}
|
||||
data->configured = true;
|
||||
|
||||
// Configure the main port
|
||||
bool is_coordinator = PIOS_RFM22B_IsCoordinator(pios_rfm22b_id);
|
||||
switch (oplinkSettings.MainPort)
|
||||
{
|
||||
switch (oplinkSettings.MainPort) {
|
||||
case OPLINKSETTINGS_MAINPORT_TELEMETRY:
|
||||
data->parseUAVTalk = true;
|
||||
case OPLINKSETTINGS_MAINPORT_SERIAL:
|
||||
@ -599,8 +618,7 @@ static void updateSettings()
|
||||
}
|
||||
|
||||
// Configure the flexi port
|
||||
switch (oplinkSettings.FlexiPort)
|
||||
{
|
||||
switch (oplinkSettings.FlexiPort) {
|
||||
case OPLINKSETTINGS_FLEXIPORT_TELEMETRY:
|
||||
data->parseUAVTalk = true;
|
||||
case OPLINKSETTINGS_FLEXIPORT_SERIAL:
|
||||
@ -616,8 +634,7 @@ static void updateSettings()
|
||||
}
|
||||
|
||||
// Configure the USB VCP port
|
||||
switch (oplinkSettings.VCPPort)
|
||||
{
|
||||
switch (oplinkSettings.VCPPort) {
|
||||
case OPLINKSETTINGS_VCPPORT_SERIAL:
|
||||
PIOS_COM_TELEMETRY = PIOS_COM_TELEM_USB_VCP;
|
||||
break;
|
||||
|
@ -47,6 +47,7 @@
|
||||
*/
|
||||
|
||||
#include "openpilot.h"
|
||||
#include <pios_math.h>
|
||||
#include "paths.h"
|
||||
|
||||
#include "vtolpathfollower.h"
|
||||
@ -74,8 +75,6 @@
|
||||
#define MAX_QUEUE_SIZE 4
|
||||
#define STACK_SIZE_BYTES 1548
|
||||
#define TASK_PRIORITY (tskIDLE_PRIORITY+2)
|
||||
#define F_PI 3.14159265358979323846f
|
||||
#define DEG2RAD (F_PI/180.0f)
|
||||
|
||||
// Private types
|
||||
|
||||
@ -355,13 +354,13 @@ void updateEndpointVelocity()
|
||||
GPSPositionGet(&gpsPosition);
|
||||
HomeLocationData homeLocation;
|
||||
HomeLocationGet(&homeLocation);
|
||||
float lat = homeLocation.Latitude / 10.0e6f * DEG2RAD;
|
||||
float lat = DEG2RAD(homeLocation.Latitude / 10.0e6f);
|
||||
float alt = homeLocation.Altitude;
|
||||
float T[3] = { alt+6.378137E6f,
|
||||
cosf(lat)*(alt+6.378137E6f),
|
||||
-1.0f};
|
||||
float NED[3] = {T[0] * ((gpsPosition.Latitude - homeLocation.Latitude) / 10.0e6f * DEG2RAD),
|
||||
T[1] * ((gpsPosition.Longitude - homeLocation.Longitude) / 10.0e6f * DEG2RAD),
|
||||
float NED[3] = {T[0] * (DEG2RAD((gpsPosition.Latitude - homeLocation.Latitude) / 10.0e6f)),
|
||||
T[1] * (DEG2RAD((gpsPosition.Longitude - homeLocation.Longitude) / 10.0e6f)),
|
||||
T[2] * ((gpsPosition.Altitude + gpsPosition.GeoidSeparation - homeLocation.Altitude))};
|
||||
|
||||
northPos = NED[0];
|
||||
@ -488,8 +487,8 @@ static void updateVtolDesiredAttitude()
|
||||
{
|
||||
GPSPositionData gpsPosition;
|
||||
GPSPositionGet(&gpsPosition);
|
||||
northVel = gpsPosition.Groundspeed * cosf(gpsPosition.Heading * F_PI / 180.0f);
|
||||
eastVel = gpsPosition.Groundspeed * sinf(gpsPosition.Heading * F_PI / 180.0f);
|
||||
northVel = gpsPosition.Groundspeed * cosf(DEG2RAD(gpsPosition.Heading));
|
||||
eastVel = gpsPosition.Groundspeed * sinf(DEG2RAD(gpsPosition.Heading));
|
||||
downVel = velocityActual.Down;
|
||||
}
|
||||
break;
|
||||
@ -538,11 +537,11 @@ static void updateVtolDesiredAttitude()
|
||||
|
||||
// Project the north and east command signals into the pitch and roll based on yaw. For this to behave well the
|
||||
// craft should move similarly for 5 deg roll versus 5 deg pitch
|
||||
stabDesired.Pitch = bound(-northCommand * cosf(attitudeActual.Yaw * M_PI / 180) +
|
||||
-eastCommand * sinf(attitudeActual.Yaw * M_PI / 180),
|
||||
stabDesired.Pitch = bound(-northCommand * cosf(DEG2RAD(attitudeActual.Yaw)) +
|
||||
-eastCommand * sinf(DEG2RAD(attitudeActual.Yaw)),
|
||||
-vtolpathfollowerSettings.MaxRollPitch, vtolpathfollowerSettings.MaxRollPitch);
|
||||
stabDesired.Roll = bound(-northCommand * sinf(attitudeActual.Yaw * M_PI / 180) +
|
||||
eastCommand * cosf(attitudeActual.Yaw * M_PI / 180),
|
||||
stabDesired.Roll = bound(-northCommand * sinf(DEG2RAD(attitudeActual.Yaw)) +
|
||||
eastCommand * cosf(DEG2RAD(attitudeActual.Yaw)),
|
||||
-vtolpathfollowerSettings.MaxRollPitch, vtolpathfollowerSettings.MaxRollPitch);
|
||||
|
||||
if(vtolpathfollowerSettings.ThrottleControl == VTOLPATHFOLLOWERSETTINGS_THROTTLECONTROL_FALSE) {
|
||||
|
@ -67,7 +67,6 @@ static int32_t PIOS_L3GD20_ReleaseBus();
|
||||
volatile bool l3gd20_configured = false;
|
||||
|
||||
/* Local Variables */
|
||||
#define DEG_TO_RAD (M_PI / 180.0)
|
||||
|
||||
/**
|
||||
* @brief Allocate a new device
|
||||
|
@ -64,8 +64,6 @@ static void PIOS_MPU6000_Config(struct pios_mpu6000_cfg const * cfg);
|
||||
static int32_t PIOS_MPU6000_SetReg(uint8_t address, uint8_t buffer);
|
||||
static int32_t PIOS_MPU6000_GetReg(uint8_t address);
|
||||
|
||||
#define DEG_TO_RAD (M_PI / 180.0)
|
||||
|
||||
#define GRAV 9.81f
|
||||
|
||||
/**
|
||||
|
@ -79,9 +79,6 @@
|
||||
// The maximum amount of time without activity before initiating a reset.
|
||||
#define PIOS_RFM22B_SUPERVISOR_TIMEOUT 100 // ms
|
||||
|
||||
// The time between connection attempts when not connected
|
||||
#define CONNECT_ATTEMPT_PERIOD_MS 250 // ms
|
||||
|
||||
// The time between updates for sending stats the radio link.
|
||||
#define RADIOSTATS_UPDATE_PERIOD_MS 250
|
||||
|
||||
@ -92,31 +89,27 @@
|
||||
#define PPM_UPDATE_PERIOD_MS 20
|
||||
|
||||
// this is too adjust the RF module so that it is on frequency
|
||||
#define OSC_LOAD_CAP 0x7F // cap = 12.5pf .. default
|
||||
#define OSC_LOAD_CAP_1 0x7D // board 1
|
||||
#define OSC_LOAD_CAP_2 0x7B // board 2
|
||||
#define OSC_LOAD_CAP_3 0x7E // board 3
|
||||
#define OSC_LOAD_CAP_4 0x7F // board 4
|
||||
#define OSC_LOAD_CAP 0x7F // cap = 12.5pf .. default
|
||||
|
||||
// ************************************
|
||||
|
||||
#define TX_PREAMBLE_NIBBLES 12 // 7 to 511 (number of nibbles)
|
||||
#define RX_PREAMBLE_NIBBLES 6 // 5 to 31 (number of nibbles)
|
||||
#define TX_PREAMBLE_NIBBLES 12 // 7 to 511 (number of nibbles)
|
||||
#define RX_PREAMBLE_NIBBLES 6 // 5 to 31 (number of nibbles)
|
||||
|
||||
// the size of the rf modules internal FIFO buffers
|
||||
#define FIFO_SIZE 64
|
||||
#define FIFO_SIZE 64
|
||||
|
||||
#define TX_FIFO_HI_WATERMARK 62 // 0-63
|
||||
#define TX_FIFO_LO_WATERMARK 32 // 0-63
|
||||
#define TX_FIFO_HI_WATERMARK 62 // 0-63
|
||||
#define TX_FIFO_LO_WATERMARK 32 // 0-63
|
||||
|
||||
#define RX_FIFO_HI_WATERMARK 32 // 0-63
|
||||
#define RX_FIFO_HI_WATERMARK 32 // 0-63
|
||||
|
||||
#define PREAMBLE_BYTE 0x55 // preamble byte (preceeds SYNC_BYTE's)
|
||||
// preamble byte (preceeds SYNC_BYTE's)
|
||||
#define PREAMBLE_BYTE 0x55
|
||||
|
||||
#define SYNC_BYTE_1 0x2D // RF sync bytes (32-bit in all)
|
||||
#define SYNC_BYTE_2 0xD4 //
|
||||
#define SYNC_BYTE_3 0x4B //
|
||||
#define SYNC_BYTE_4 0x59 //
|
||||
// RF sync bytes (32-bit in all)
|
||||
#define SYNC_BYTE_1 0x2D
|
||||
#define SYNC_BYTE_2 0xD4
|
||||
#define SYNC_BYTE_3 0x4B
|
||||
#define SYNC_BYTE_4 0x59
|
||||
|
||||
#ifndef RX_LED_ON
|
||||
#define RX_LED_ON
|
||||
@ -129,53 +122,44 @@
|
||||
#define USB_LED_OFF
|
||||
#endif
|
||||
|
||||
// ************************************
|
||||
// Normal data streaming
|
||||
// GFSK modulation
|
||||
// no manchester encoding
|
||||
// data whitening
|
||||
// FIFO mode
|
||||
// 5-nibble rx preamble length detection
|
||||
// 10-nibble tx preamble length
|
||||
// AFC enabled
|
||||
|
||||
/* Local type definitions */
|
||||
|
||||
struct pios_rfm22b_transition {
|
||||
enum pios_rfm22b_event (*entry_fn) (struct pios_rfm22b_dev *rfm22b_dev);
|
||||
enum pios_rfm22b_state next_state[RFM22B_EVENT_NUM_EVENTS];
|
||||
enum pios_rfm22b_event (*entry_fn) (struct pios_rfm22b_dev *rfm22b_dev);
|
||||
enum pios_rfm22b_state next_state[RFM22B_EVENT_NUM_EVENTS];
|
||||
};
|
||||
|
||||
// Must ensure these prefilled arrays match the define sizes
|
||||
static const uint8_t FULL_PREAMBLE[FIFO_SIZE] = {
|
||||
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
|
||||
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
|
||||
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
|
||||
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
|
||||
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
|
||||
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
|
||||
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
|
||||
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
|
||||
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
|
||||
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
|
||||
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
|
||||
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
|
||||
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE}; // 64 bytes
|
||||
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
|
||||
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
|
||||
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
|
||||
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
|
||||
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
|
||||
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
|
||||
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
|
||||
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
|
||||
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
|
||||
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
|
||||
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
|
||||
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
|
||||
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE}; // 64 bytes
|
||||
static const uint8_t HEADER[(TX_PREAMBLE_NIBBLES + 1)/2 + 2] = {PREAMBLE_BYTE, PREAMBLE_BYTE, PREAMBLE_BYTE, PREAMBLE_BYTE,PREAMBLE_BYTE, PREAMBLE_BYTE, SYNC_BYTE_1, SYNC_BYTE_2};
|
||||
static const uint8_t OUT_FF[64] = {
|
||||
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
|
||||
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
|
||||
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
|
||||
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
|
||||
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
|
||||
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
|
||||
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
|
||||
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF};
|
||||
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
|
||||
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
|
||||
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
|
||||
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
|
||||
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
|
||||
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
|
||||
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
|
||||
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF};
|
||||
|
||||
/* Local function forwared declarations */
|
||||
static void PIOS_RFM22B_Task(void *parameters);
|
||||
static void pios_rfm22_task(void *parameters);
|
||||
static bool rfm22_readStatus(struct pios_rfm22b_dev *rfm22b_dev);
|
||||
static void rfm22_setDatarate(struct pios_rfm22b_dev * rfm22b_dev, enum rfm22b_datarate datarate, bool data_whitening);
|
||||
static void pios_rfm22_inject_event(struct pios_rfm22b_dev *rfm22b_dev, enum pios_rfm22b_event event, bool inISR);
|
||||
static enum pios_rfm22b_event rfm22_init(struct pios_rfm22b_dev *rfm22b_dev);
|
||||
static enum pios_rfm22b_event rfm22_setRxMode(struct pios_rfm22b_dev *rfm22b_dev);
|
||||
static enum pios_rfm22b_event rfm22_detectPreamble(struct pios_rfm22b_dev *rfm22b_dev);
|
||||
@ -213,6 +197,10 @@ static uint8_t rfm22_calcChannel(struct pios_rfm22b_dev *rfm22b_dev);
|
||||
static bool rfm22_changeChannel(struct pios_rfm22b_dev *rfm22b_dev);
|
||||
static void rfm22_clearLEDs();
|
||||
|
||||
// Utility functions.
|
||||
static uint32_t pios_rfm22_time_difference_ms(portTickType start_time, portTickType end_time);
|
||||
static struct pios_rfm22b_dev *pios_rfm22_alloc(void);
|
||||
|
||||
// SPI read/write functions
|
||||
static void rfm22_assertCs(struct pios_rfm22b_dev *rfm22b_dev);
|
||||
static void rfm22_deassertCs(struct pios_rfm22b_dev *rfm22b_dev);
|
||||
@ -222,223 +210,223 @@ static void rfm22_write(struct pios_rfm22b_dev *rfm22b_dev, uint8_t addr, uint8_
|
||||
static uint8_t rfm22_read(struct pios_rfm22b_dev *rfm22b_dev, uint8_t addr);
|
||||
static uint8_t rfm22_read_noclaim(struct pios_rfm22b_dev *rfm22b_dev, uint8_t addr);
|
||||
|
||||
/* Te state transition table */
|
||||
|
||||
/* The state transition table */
|
||||
const static struct pios_rfm22b_transition rfm22b_transitions[RFM22B_STATE_NUM_STATES] = {
|
||||
|
||||
// Initialization thread
|
||||
[RFM22B_STATE_UNINITIALIZED] = {
|
||||
.entry_fn = 0,
|
||||
.next_state = {
|
||||
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
|
||||
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
|
||||
},
|
||||
},
|
||||
[RFM22B_STATE_INITIALIZING] = {
|
||||
.entry_fn = rfm22_init,
|
||||
.next_state = {
|
||||
[RFM22B_EVENT_INITIALIZED] = RFM22B_STATE_RX_MODE,
|
||||
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
|
||||
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
|
||||
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
|
||||
},
|
||||
},
|
||||
[RFM22B_STATE_REQUESTING_CONNECTION] = {
|
||||
.entry_fn = rfm22_requestConnection,
|
||||
.next_state = {
|
||||
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
|
||||
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
|
||||
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
|
||||
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
|
||||
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR
|
||||
},
|
||||
},
|
||||
[RFM22B_STATE_ACCEPTING_CONNECTION] = {
|
||||
.entry_fn = rfm22_acceptConnection,
|
||||
.next_state = {
|
||||
[RFM22B_EVENT_DEFAULT] = RFM22B_STATE_SENDING_ACK,
|
||||
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
|
||||
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
|
||||
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
|
||||
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
|
||||
},
|
||||
},
|
||||
// Initialization thread
|
||||
[RFM22B_STATE_UNINITIALIZED] = {
|
||||
.entry_fn = 0,
|
||||
.next_state = {
|
||||
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
|
||||
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
|
||||
},
|
||||
},
|
||||
[RFM22B_STATE_INITIALIZING] = {
|
||||
.entry_fn = rfm22_init,
|
||||
.next_state = {
|
||||
[RFM22B_EVENT_INITIALIZED] = RFM22B_STATE_RX_MODE,
|
||||
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
|
||||
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
|
||||
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
|
||||
},
|
||||
},
|
||||
[RFM22B_STATE_REQUESTING_CONNECTION] = {
|
||||
.entry_fn = rfm22_requestConnection,
|
||||
.next_state = {
|
||||
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
|
||||
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
|
||||
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
|
||||
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
|
||||
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR
|
||||
},
|
||||
},
|
||||
[RFM22B_STATE_ACCEPTING_CONNECTION] = {
|
||||
.entry_fn = rfm22_acceptConnection,
|
||||
.next_state = {
|
||||
[RFM22B_EVENT_DEFAULT] = RFM22B_STATE_SENDING_ACK,
|
||||
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
|
||||
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
|
||||
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
|
||||
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
|
||||
},
|
||||
},
|
||||
|
||||
[RFM22B_STATE_RX_MODE] = {
|
||||
.entry_fn = rfm22_setRxMode,
|
||||
.next_state = {
|
||||
[RFM22B_EVENT_INT_RECEIVED] = RFM22B_STATE_WAIT_PREAMBLE,
|
||||
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
|
||||
[RFM22B_EVENT_ACK_TIMEOUT] = RFM22B_STATE_RECEIVING_NACK,
|
||||
[RFM22B_EVENT_FAILURE] = RFM22B_STATE_RX_FAILURE,
|
||||
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
|
||||
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
|
||||
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
|
||||
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
|
||||
},
|
||||
},
|
||||
[RFM22B_STATE_WAIT_PREAMBLE] = {
|
||||
.entry_fn = rfm22_detectPreamble,
|
||||
.next_state = {
|
||||
[RFM22B_EVENT_PREAMBLE_DETECTED] = RFM22B_STATE_WAIT_SYNC,
|
||||
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
|
||||
[RFM22B_EVENT_ACK_TIMEOUT] = RFM22B_STATE_RECEIVING_NACK,
|
||||
[RFM22B_EVENT_INT_RECEIVED] = RFM22B_STATE_WAIT_PREAMBLE,
|
||||
[RFM22B_EVENT_FAILURE] = RFM22B_STATE_RX_FAILURE,
|
||||
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
|
||||
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
|
||||
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
|
||||
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
|
||||
},
|
||||
},
|
||||
[RFM22B_STATE_WAIT_SYNC] = {
|
||||
.entry_fn = rfm22_detectSync,
|
||||
.next_state = {
|
||||
[RFM22B_EVENT_INT_RECEIVED] = RFM22B_STATE_WAIT_SYNC,
|
||||
[RFM22B_EVENT_SYNC_DETECTED] = RFM22B_STATE_RX_DATA,
|
||||
[RFM22B_EVENT_FAILURE] = RFM22B_STATE_RX_FAILURE,
|
||||
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
|
||||
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
|
||||
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
|
||||
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
|
||||
},
|
||||
},
|
||||
[RFM22B_STATE_RX_DATA] = {
|
||||
.entry_fn = rfm22_rxData,
|
||||
.next_state = {
|
||||
[RFM22B_EVENT_INT_RECEIVED] = RFM22B_STATE_RX_DATA,
|
||||
[RFM22B_EVENT_RX_COMPLETE] = RFM22B_STATE_SENDING_ACK,
|
||||
[RFM22B_EVENT_RX_MODE] = RFM22B_STATE_RX_MODE,
|
||||
[RFM22B_EVENT_RX_ERROR] = RFM22B_STATE_SENDING_NACK,
|
||||
[RFM22B_EVENT_STATUS_RECEIVED] = RFM22B_STATE_RECEIVING_STATUS,
|
||||
[RFM22B_EVENT_CONNECTION_REQUESTED] = RFM22B_STATE_ACCEPTING_CONNECTION,
|
||||
[RFM22B_EVENT_PACKET_ACKED] = RFM22B_STATE_RECEIVING_ACK,
|
||||
[RFM22B_EVENT_PACKET_NACKED] = RFM22B_STATE_RECEIVING_NACK,
|
||||
[RFM22B_EVENT_FAILURE] = RFM22B_STATE_RX_FAILURE,
|
||||
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
|
||||
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
|
||||
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
|
||||
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
|
||||
},
|
||||
},
|
||||
[RFM22B_STATE_RX_FAILURE] = {
|
||||
.entry_fn = rfm22_rxFailure,
|
||||
.next_state = {
|
||||
[RFM22B_EVENT_RX_MODE] = RFM22B_STATE_RX_MODE,
|
||||
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
|
||||
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
|
||||
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
|
||||
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
|
||||
},
|
||||
},
|
||||
[RFM22B_STATE_RECEIVING_ACK] = {
|
||||
.entry_fn = rfm22_receiveAck,
|
||||
.next_state = {
|
||||
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
|
||||
[RFM22B_EVENT_RX_MODE] = RFM22B_STATE_RX_MODE,
|
||||
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
|
||||
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
|
||||
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
|
||||
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
|
||||
},
|
||||
},
|
||||
[RFM22B_STATE_RECEIVING_NACK] = {
|
||||
.entry_fn = rfm22_receiveNack,
|
||||
.next_state = {
|
||||
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
|
||||
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
|
||||
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
|
||||
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
|
||||
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
|
||||
},
|
||||
},
|
||||
[RFM22B_STATE_RECEIVING_STATUS] = {
|
||||
.entry_fn = rfm22_receiveStatus,
|
||||
.next_state = {
|
||||
[RFM22B_EVENT_RX_COMPLETE] = RFM22B_STATE_SENDING_ACK,
|
||||
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
|
||||
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
|
||||
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
|
||||
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
|
||||
},
|
||||
},
|
||||
[RFM22B_STATE_TX_START] = {
|
||||
.entry_fn = rfm22_txStart,
|
||||
.next_state = {
|
||||
[RFM22B_EVENT_INT_RECEIVED] = RFM22B_STATE_TX_DATA,
|
||||
[RFM22B_EVENT_RX_MODE] = RFM22B_STATE_RX_MODE,
|
||||
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
|
||||
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
|
||||
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
|
||||
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
|
||||
},
|
||||
},
|
||||
[RFM22B_STATE_TX_DATA] = {
|
||||
.entry_fn = rfm22_txData,
|
||||
.next_state = {
|
||||
[RFM22B_EVENT_INT_RECEIVED] = RFM22B_STATE_TX_DATA,
|
||||
[RFM22B_EVENT_REQUEST_CONNECTION] = RFM22B_STATE_REQUESTING_CONNECTION,
|
||||
[RFM22B_EVENT_RX_MODE] = RFM22B_STATE_RX_MODE,
|
||||
[RFM22B_EVENT_FAILURE] = RFM22B_STATE_TX_FAILURE,
|
||||
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
|
||||
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
|
||||
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
|
||||
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
|
||||
},
|
||||
},
|
||||
[RFM22B_STATE_TX_FAILURE] = {
|
||||
.entry_fn = rfm22_txFailure,
|
||||
.next_state = {
|
||||
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
|
||||
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
|
||||
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
|
||||
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
|
||||
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
|
||||
},
|
||||
},
|
||||
[RFM22B_STATE_SENDING_ACK] = {
|
||||
.entry_fn = rfm22_sendAck,
|
||||
.next_state = {
|
||||
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
|
||||
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
|
||||
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
|
||||
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
|
||||
},
|
||||
},
|
||||
[RFM22B_STATE_SENDING_NACK] = {
|
||||
.entry_fn = rfm22_sendNack,
|
||||
.next_state = {
|
||||
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
|
||||
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
|
||||
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
|
||||
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
|
||||
},
|
||||
},
|
||||
[RFM22B_STATE_TIMEOUT] = {
|
||||
.entry_fn = rfm22_timeout,
|
||||
.next_state = {
|
||||
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
|
||||
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
|
||||
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
|
||||
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
|
||||
},
|
||||
},
|
||||
[RFM22B_STATE_ERROR] = {
|
||||
.entry_fn = rfm22_error,
|
||||
.next_state = {
|
||||
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
|
||||
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
|
||||
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
|
||||
},
|
||||
},
|
||||
[RFM22B_STATE_FATAL_ERROR] = {
|
||||
.entry_fn = rfm22_fatal_error,
|
||||
.next_state = {
|
||||
},
|
||||
},
|
||||
[RFM22B_STATE_RX_MODE] = {
|
||||
.entry_fn = rfm22_setRxMode,
|
||||
.next_state = {
|
||||
[RFM22B_EVENT_INT_RECEIVED] = RFM22B_STATE_WAIT_PREAMBLE,
|
||||
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
|
||||
[RFM22B_EVENT_ACK_TIMEOUT] = RFM22B_STATE_RECEIVING_NACK,
|
||||
[RFM22B_EVENT_FAILURE] = RFM22B_STATE_RX_FAILURE,
|
||||
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
|
||||
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
|
||||
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
|
||||
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
|
||||
},
|
||||
},
|
||||
[RFM22B_STATE_WAIT_PREAMBLE] = {
|
||||
.entry_fn = rfm22_detectPreamble,
|
||||
.next_state = {
|
||||
[RFM22B_EVENT_PREAMBLE_DETECTED] = RFM22B_STATE_WAIT_SYNC,
|
||||
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
|
||||
[RFM22B_EVENT_ACK_TIMEOUT] = RFM22B_STATE_RECEIVING_NACK,
|
||||
[RFM22B_EVENT_INT_RECEIVED] = RFM22B_STATE_WAIT_PREAMBLE,
|
||||
[RFM22B_EVENT_FAILURE] = RFM22B_STATE_RX_FAILURE,
|
||||
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
|
||||
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
|
||||
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
|
||||
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
|
||||
},
|
||||
},
|
||||
[RFM22B_STATE_WAIT_SYNC] = {
|
||||
.entry_fn = rfm22_detectSync,
|
||||
.next_state = {
|
||||
[RFM22B_EVENT_INT_RECEIVED] = RFM22B_STATE_WAIT_SYNC,
|
||||
[RFM22B_EVENT_SYNC_DETECTED] = RFM22B_STATE_RX_DATA,
|
||||
[RFM22B_EVENT_FAILURE] = RFM22B_STATE_RX_FAILURE,
|
||||
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
|
||||
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
|
||||
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
|
||||
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
|
||||
},
|
||||
},
|
||||
[RFM22B_STATE_RX_DATA] = {
|
||||
.entry_fn = rfm22_rxData,
|
||||
.next_state = {
|
||||
[RFM22B_EVENT_INT_RECEIVED] = RFM22B_STATE_RX_DATA,
|
||||
[RFM22B_EVENT_RX_COMPLETE] = RFM22B_STATE_SENDING_ACK,
|
||||
[RFM22B_EVENT_RX_MODE] = RFM22B_STATE_RX_MODE,
|
||||
[RFM22B_EVENT_RX_ERROR] = RFM22B_STATE_SENDING_NACK,
|
||||
[RFM22B_EVENT_STATUS_RECEIVED] = RFM22B_STATE_RECEIVING_STATUS,
|
||||
[RFM22B_EVENT_CONNECTION_REQUESTED] = RFM22B_STATE_ACCEPTING_CONNECTION,
|
||||
[RFM22B_EVENT_PACKET_ACKED] = RFM22B_STATE_RECEIVING_ACK,
|
||||
[RFM22B_EVENT_PACKET_NACKED] = RFM22B_STATE_RECEIVING_NACK,
|
||||
[RFM22B_EVENT_FAILURE] = RFM22B_STATE_RX_FAILURE,
|
||||
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
|
||||
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
|
||||
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
|
||||
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
|
||||
},
|
||||
},
|
||||
[RFM22B_STATE_RX_FAILURE] = {
|
||||
.entry_fn = rfm22_rxFailure,
|
||||
.next_state = {
|
||||
[RFM22B_EVENT_RX_MODE] = RFM22B_STATE_RX_MODE,
|
||||
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
|
||||
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
|
||||
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
|
||||
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
|
||||
},
|
||||
},
|
||||
[RFM22B_STATE_RECEIVING_ACK] = {
|
||||
.entry_fn = rfm22_receiveAck,
|
||||
.next_state = {
|
||||
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
|
||||
[RFM22B_EVENT_RX_MODE] = RFM22B_STATE_RX_MODE,
|
||||
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
|
||||
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
|
||||
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
|
||||
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
|
||||
},
|
||||
},
|
||||
[RFM22B_STATE_RECEIVING_NACK] = {
|
||||
.entry_fn = rfm22_receiveNack,
|
||||
.next_state = {
|
||||
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
|
||||
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
|
||||
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
|
||||
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
|
||||
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
|
||||
},
|
||||
},
|
||||
[RFM22B_STATE_RECEIVING_STATUS] = {
|
||||
.entry_fn = rfm22_receiveStatus,
|
||||
.next_state = {
|
||||
[RFM22B_EVENT_RX_COMPLETE] = RFM22B_STATE_SENDING_ACK,
|
||||
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
|
||||
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
|
||||
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
|
||||
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
|
||||
},
|
||||
},
|
||||
[RFM22B_STATE_TX_START] = {
|
||||
.entry_fn = rfm22_txStart,
|
||||
.next_state = {
|
||||
[RFM22B_EVENT_INT_RECEIVED] = RFM22B_STATE_TX_DATA,
|
||||
[RFM22B_EVENT_RX_MODE] = RFM22B_STATE_RX_MODE,
|
||||
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
|
||||
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
|
||||
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
|
||||
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
|
||||
},
|
||||
},
|
||||
[RFM22B_STATE_TX_DATA] = {
|
||||
.entry_fn = rfm22_txData,
|
||||
.next_state = {
|
||||
[RFM22B_EVENT_INT_RECEIVED] = RFM22B_STATE_TX_DATA,
|
||||
[RFM22B_EVENT_REQUEST_CONNECTION] = RFM22B_STATE_REQUESTING_CONNECTION,
|
||||
[RFM22B_EVENT_RX_MODE] = RFM22B_STATE_RX_MODE,
|
||||
[RFM22B_EVENT_FAILURE] = RFM22B_STATE_TX_FAILURE,
|
||||
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
|
||||
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
|
||||
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
|
||||
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
|
||||
},
|
||||
},
|
||||
[RFM22B_STATE_TX_FAILURE] = {
|
||||
.entry_fn = rfm22_txFailure,
|
||||
.next_state = {
|
||||
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
|
||||
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
|
||||
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
|
||||
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
|
||||
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
|
||||
},
|
||||
},
|
||||
[RFM22B_STATE_SENDING_ACK] = {
|
||||
.entry_fn = rfm22_sendAck,
|
||||
.next_state = {
|
||||
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
|
||||
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
|
||||
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
|
||||
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
|
||||
},
|
||||
},
|
||||
[RFM22B_STATE_SENDING_NACK] = {
|
||||
.entry_fn = rfm22_sendNack,
|
||||
.next_state = {
|
||||
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
|
||||
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
|
||||
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
|
||||
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
|
||||
},
|
||||
},
|
||||
[RFM22B_STATE_TIMEOUT] = {
|
||||
.entry_fn = rfm22_timeout,
|
||||
.next_state = {
|
||||
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
|
||||
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
|
||||
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
|
||||
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
|
||||
},
|
||||
},
|
||||
[RFM22B_STATE_ERROR] = {
|
||||
.entry_fn = rfm22_error,
|
||||
.next_state = {
|
||||
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
|
||||
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
|
||||
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
|
||||
},
|
||||
},
|
||||
[RFM22B_STATE_FATAL_ERROR] = {
|
||||
.entry_fn = rfm22_fatal_error,
|
||||
.next_state = {
|
||||
},
|
||||
},
|
||||
};
|
||||
|
||||
// xtal 10 ppm, 434MHz
|
||||
#define LOOKUP_SIZE 15
|
||||
static const uint32_t data_rate[] = { 500, 1000, 2000, 4000, 8000, 9600, 16000, 19200, 24000, 32000, 57600, 64000, 128000, 192000, 256000};
|
||||
static const uint8_t modulation_index[] = { 16, 8, 4, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1};
|
||||
|
||||
@ -467,162 +455,133 @@ static const uint8_t reg_71[] = { 0x23, 0x23, 0x23, 0x23, 0x
|
||||
|
||||
static const uint8_t reg_72[] = { 0x06, 0x06, 0x06, 0x06, 0x06, 0x08, 0x0D, 0x0F, 0x13, 0x1A, 0x2E, 0x33, 0x66, 0x9A, 0xCD}; // rfm22_frequency_deviation
|
||||
|
||||
|
||||
static inline uint32_t timeDifferenceMs(portTickType start_time, portTickType end_time)
|
||||
{
|
||||
if(end_time >= start_time)
|
||||
return (end_time - start_time) * portTICK_RATE_MS;
|
||||
// Rollover
|
||||
return ((portMAX_DELAY - start_time) + end_time) * portTICK_RATE_MS;
|
||||
}
|
||||
|
||||
bool PIOS_RFM22B_validate(struct pios_rfm22b_dev * rfm22b_dev)
|
||||
{
|
||||
return (rfm22b_dev != NULL && rfm22b_dev->magic == PIOS_RFM22B_DEV_MAGIC);
|
||||
}
|
||||
|
||||
#if defined(PIOS_INCLUDE_FREERTOS)
|
||||
static struct pios_rfm22b_dev * PIOS_RFM22B_alloc(void)
|
||||
{
|
||||
struct pios_rfm22b_dev * rfm22b_dev;
|
||||
|
||||
rfm22b_dev = (struct pios_rfm22b_dev *)pvPortMalloc(sizeof(*rfm22b_dev));
|
||||
rfm22b_dev->spi_id = 0;
|
||||
if (!rfm22b_dev) return(NULL);
|
||||
|
||||
rfm22b_dev->magic = PIOS_RFM22B_DEV_MAGIC;
|
||||
return(rfm22b_dev);
|
||||
}
|
||||
#else
|
||||
static struct pios_rfm22b_dev pios_rfm22b_devs[PIOS_RFM22B_MAX_DEVS];
|
||||
static uint8_t pios_rfm22b_num_devs;
|
||||
static struct pios_rfm22b_dev * PIOS_RFM22B_alloc(void)
|
||||
{
|
||||
struct pios_rfm22b_dev * rfm22b_dev;
|
||||
|
||||
if (pios_rfm22b_num_devs >= PIOS_RFM22B_MAX_DEVS)
|
||||
return NULL;
|
||||
|
||||
rfm22b_dev = &pios_rfm22b_devs[pios_rfm22b_num_devs++];
|
||||
rfm22b_dev->magic = PIOS_RFM22B_DEV_MAGIC;
|
||||
|
||||
return (rfm22b_dev);
|
||||
}
|
||||
#endif
|
||||
|
||||
static struct pios_rfm22b_dev * g_rfm22b_dev = NULL;
|
||||
|
||||
|
||||
/*****************************************************************************
|
||||
* External Interface Functions
|
||||
*****************************************************************************/
|
||||
|
||||
/**
|
||||
* Initialise an RFM22B device
|
||||
*
|
||||
* @param[out] rfm22b_id A pointer to store the device ID in.
|
||||
* @param[in] spi_id The SPI bus index.
|
||||
* @param[in] slave_num The SPI bus slave number.
|
||||
* @param[in] cfg The device configuration.
|
||||
*/
|
||||
int32_t PIOS_RFM22B_Init(uint32_t *rfm22b_id, uint32_t spi_id, uint32_t slave_num, const struct pios_rfm22b_cfg *cfg)
|
||||
{
|
||||
PIOS_DEBUG_Assert(rfm22b_id);
|
||||
PIOS_DEBUG_Assert(cfg);
|
||||
PIOS_DEBUG_Assert(rfm22b_id);
|
||||
PIOS_DEBUG_Assert(cfg);
|
||||
|
||||
// Allocate the device structure.
|
||||
struct pios_rfm22b_dev * rfm22b_dev = (struct pios_rfm22b_dev *) PIOS_RFM22B_alloc();
|
||||
if (!rfm22b_dev)
|
||||
return(-1);
|
||||
*rfm22b_id = (uint32_t)rfm22b_dev;
|
||||
g_rfm22b_dev = rfm22b_dev;
|
||||
// Allocate the device structure.
|
||||
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)pios_rfm22_alloc();
|
||||
if (!rfm22b_dev) {
|
||||
return(-1);
|
||||
}
|
||||
*rfm22b_id = (uint32_t)rfm22b_dev;
|
||||
g_rfm22b_dev = rfm22b_dev;
|
||||
|
||||
// Store the SPI handle
|
||||
rfm22b_dev->slave_num = slave_num;
|
||||
rfm22b_dev->spi_id = spi_id;
|
||||
// Store the SPI handle
|
||||
rfm22b_dev->slave_num = slave_num;
|
||||
rfm22b_dev->spi_id = spi_id;
|
||||
|
||||
// Initialize our configuration parameters
|
||||
rfm22b_dev->send_ppm = false;
|
||||
rfm22b_dev->datarate = RFM22B_DEFAULT_RX_DATARATE;
|
||||
rfm22b_dev->tx_power = RFM22B_DEFAULT_TX_POWER;
|
||||
// Initialize our configuration parameters
|
||||
rfm22b_dev->send_ppm = false;
|
||||
rfm22b_dev->datarate = RFM22B_DEFAULT_RX_DATARATE;
|
||||
rfm22b_dev->tx_power = RFM22B_DEFAULT_TX_POWER;
|
||||
|
||||
// Initialize the com callbacks.
|
||||
rfm22b_dev->com_config_cb = NULL;
|
||||
rfm22b_dev->rx_in_cb = NULL;
|
||||
rfm22b_dev->tx_out_cb = NULL;
|
||||
// Initialize the com callbacks.
|
||||
rfm22b_dev->com_config_cb = NULL;
|
||||
rfm22b_dev->rx_in_cb = NULL;
|
||||
rfm22b_dev->tx_out_cb = NULL;
|
||||
|
||||
// Initialize the stats.
|
||||
rfm22b_dev->stats.packets_per_sec = 0;
|
||||
rfm22b_dev->stats.rx_good = 0;
|
||||
rfm22b_dev->stats.rx_corrected = 0;
|
||||
rfm22b_dev->stats.rx_error = 0;
|
||||
rfm22b_dev->stats.rx_missed = 0;
|
||||
rfm22b_dev->stats.tx_dropped = 0;
|
||||
rfm22b_dev->stats.tx_resent = 0;
|
||||
rfm22b_dev->stats.resets = 0;
|
||||
rfm22b_dev->stats.timeouts = 0;
|
||||
rfm22b_dev->stats.link_quality = 0;
|
||||
rfm22b_dev->stats.rssi = 0;
|
||||
rfm22b_dev->stats.tx_seq = 0;
|
||||
rfm22b_dev->stats.rx_seq = 0;
|
||||
// Initialize the stats.
|
||||
rfm22b_dev->stats.packets_per_sec = 0;
|
||||
rfm22b_dev->stats.rx_good = 0;
|
||||
rfm22b_dev->stats.rx_corrected = 0;
|
||||
rfm22b_dev->stats.rx_error = 0;
|
||||
rfm22b_dev->stats.rx_missed = 0;
|
||||
rfm22b_dev->stats.tx_dropped = 0;
|
||||
rfm22b_dev->stats.tx_resent = 0;
|
||||
rfm22b_dev->stats.resets = 0;
|
||||
rfm22b_dev->stats.timeouts = 0;
|
||||
rfm22b_dev->stats.link_quality = 0;
|
||||
rfm22b_dev->stats.rssi = 0;
|
||||
rfm22b_dev->stats.tx_seq = 0;
|
||||
rfm22b_dev->stats.rx_seq = 0;
|
||||
|
||||
// Initialize the frequencies.
|
||||
PIOS_RFM22B_SetInitialFrequency(*rfm22b_id, RFM22B_DEFAULT_FREQUENCY);
|
||||
PIOS_RFM22B_SetFrequencyRange(*rfm22b_id, RFM22B_DEFAULT_FREQUENCY, RFM22B_DEFAULT_FREQUENCY, RFM22B_FREQUENCY_HOP_STEP_SIZE);
|
||||
// Initialize the frequencies.
|
||||
PIOS_RFM22B_SetInitialFrequency(*rfm22b_id, RFM22B_DEFAULT_FREQUENCY);
|
||||
PIOS_RFM22B_SetFrequencyRange(*rfm22b_id, RFM22B_DEFAULT_FREQUENCY, RFM22B_DEFAULT_FREQUENCY, RFM22B_FREQUENCY_HOP_STEP_SIZE);
|
||||
|
||||
// Initialize the bindings.
|
||||
for (uint32_t i = 0; i < OPLINKSETTINGS_BINDINGS_NUMELEM; ++i) {
|
||||
rfm22b_dev->bindings[i].pairID = 0;
|
||||
}
|
||||
rfm22b_dev->coordinator = false;
|
||||
// Initialize the bindings.
|
||||
for (uint32_t i = 0; i < OPLINKSETTINGS_BINDINGS_NUMELEM; ++i) {
|
||||
rfm22b_dev->bindings[i].pairID = 0;
|
||||
}
|
||||
rfm22b_dev->coordinator = false;
|
||||
|
||||
// Create the event queue
|
||||
rfm22b_dev->eventQueue = xQueueCreate(EVENT_QUEUE_SIZE, sizeof(enum pios_rfm22b_event));
|
||||
// Create the event queue
|
||||
rfm22b_dev->eventQueue = xQueueCreate(EVENT_QUEUE_SIZE, sizeof(enum pios_rfm22b_event));
|
||||
|
||||
// Bind the configuration to the device instance
|
||||
rfm22b_dev->cfg = *cfg;
|
||||
// Bind the configuration to the device instance
|
||||
rfm22b_dev->cfg = *cfg;
|
||||
|
||||
// Create a semaphore to know if an ISR needs responding to
|
||||
vSemaphoreCreateBinary( rfm22b_dev->isrPending );
|
||||
// Create a semaphore to know if an ISR needs responding to
|
||||
vSemaphoreCreateBinary( rfm22b_dev->isrPending );
|
||||
|
||||
// Create our (hopefully) unique 32 bit id from the processor serial number.
|
||||
uint8_t crcs[] = { 0, 0, 0, 0 };
|
||||
{
|
||||
char serial_no_str[33];
|
||||
PIOS_SYS_SerialNumberGet(serial_no_str);
|
||||
// Create a 32 bit value using 4 8 bit CRC values.
|
||||
for (uint8_t i = 0; serial_no_str[i] != 0; ++i)
|
||||
crcs[i % 4] = PIOS_CRC_updateByte(crcs[i % 4], serial_no_str[i]);
|
||||
}
|
||||
rfm22b_dev->deviceID = crcs[0] | crcs[1] << 8 | crcs[2] << 16 | crcs[3] << 24;
|
||||
DEBUG_PRINTF(2, "RF device ID: %x\n\r", rfm22b_dev->deviceID);
|
||||
// Create our (hopefully) unique 32 bit id from the processor serial number.
|
||||
uint8_t crcs[] = { 0, 0, 0, 0 };
|
||||
{
|
||||
char serial_no_str[33];
|
||||
PIOS_SYS_SerialNumberGet(serial_no_str);
|
||||
// Create a 32 bit value using 4 8 bit CRC values.
|
||||
for (uint8_t i = 0; serial_no_str[i] != 0; ++i)
|
||||
crcs[i % 4] = PIOS_CRC_updateByte(crcs[i % 4], serial_no_str[i]);
|
||||
}
|
||||
rfm22b_dev->deviceID = crcs[0] | crcs[1] << 8 | crcs[2] << 16 | crcs[3] << 24;
|
||||
DEBUG_PRINTF(2, "RF device ID: %x\n\r", rfm22b_dev->deviceID);
|
||||
|
||||
#if defined(PIOS_INCLUDE_GCSRCVR)
|
||||
// Initialize the GCSReceive object
|
||||
GCSReceiverInitialize();
|
||||
// Initialize the GCSReceive object
|
||||
GCSReceiverInitialize();
|
||||
#endif
|
||||
|
||||
// Initialize the external interrupt.
|
||||
PIOS_EXTI_Init(cfg->exti_cfg);
|
||||
// Initialize the external interrupt.
|
||||
PIOS_EXTI_Init(cfg->exti_cfg);
|
||||
|
||||
// Register the watchdog timer for the radio driver task
|
||||
// Register the watchdog timer for the radio driver task
|
||||
#ifdef PIOS_WDG_RFM22B
|
||||
PIOS_WDG_RegisterFlag(PIOS_WDG_RFM22B);
|
||||
PIOS_WDG_RegisterFlag(PIOS_WDG_RFM22B);
|
||||
#endif /* PIOS_WDG_RFM22B */
|
||||
|
||||
// Initialize the ECC library.
|
||||
initialize_ecc();
|
||||
// Initialize the ECC library.
|
||||
initialize_ecc();
|
||||
|
||||
// Set the state to initializing.
|
||||
rfm22b_dev->state = RFM22B_STATE_UNINITIALIZED;
|
||||
// Set the state to initializing.
|
||||
rfm22b_dev->state = RFM22B_STATE_UNINITIALIZED;
|
||||
|
||||
// Initialize the radio device.
|
||||
PIOS_RFM22B_InjectEvent(rfm22b_dev, RFM22B_EVENT_INITIALIZE, false);
|
||||
// Initialize the radio device.
|
||||
pios_rfm22_inject_event(rfm22b_dev, RFM22B_EVENT_INITIALIZE, false);
|
||||
|
||||
// Start the driver task. This task controls the radio state machine and removed all of the IO from the IRQ handler.
|
||||
xTaskCreate(PIOS_RFM22B_Task, (signed char *)"PIOS_RFM22B_Task", STACK_SIZE_BYTES, (void*)rfm22b_dev, TASK_PRIORITY, &(rfm22b_dev->taskHandle));
|
||||
// Start the driver task. This task controls the radio state machine and removed all of the IO from the IRQ handler.
|
||||
xTaskCreate(pios_rfm22_task, (signed char *)"PIOS_RFM22B_Task", STACK_SIZE_BYTES, (void*)rfm22b_dev, TASK_PRIORITY, &(rfm22b_dev->taskHandle));
|
||||
|
||||
return(0);
|
||||
return(0);
|
||||
}
|
||||
|
||||
/**
|
||||
* Re-initialize the modem after a configuration change.
|
||||
*
|
||||
* @param[in] rbm22b_id The RFM22B device ID.
|
||||
*/
|
||||
void PIOS_RFM22B_Reinit(uint32_t rfm22b_id)
|
||||
{
|
||||
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
|
||||
if (PIOS_RFM22B_validate(rfm22b_dev))
|
||||
PIOS_RFM22B_InjectEvent(rfm22b_dev, RFM22B_EVENT_INITIALIZE, false);
|
||||
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
|
||||
if (PIOS_RFM22B_Validate(rfm22b_dev)) {
|
||||
pios_rfm22_inject_event(rfm22b_dev, RFM22B_EVENT_INITIALIZE, false);
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
@ -630,1924 +589,2190 @@ void PIOS_RFM22B_Reinit(uint32_t rfm22b_id)
|
||||
*/
|
||||
bool PIOS_RFM22_EXT_Int(void)
|
||||
{
|
||||
if (!PIOS_RFM22B_validate(g_rfm22b_dev))
|
||||
return false;
|
||||
|
||||
// Inject an interrupt event into the state machine.
|
||||
PIOS_RFM22B_InjectEvent(g_rfm22b_dev, RFM22B_EVENT_INT_RECEIVED, true);
|
||||
if (!PIOS_RFM22B_Validate(g_rfm22b_dev)) {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Inject an event into the RFM22B state machine.
|
||||
* \param[in] rfm22b_dev The device structure
|
||||
* \param[in] event The event to inject
|
||||
* \param[in] inISR Is this being called from an interrrup service routine?
|
||||
*/
|
||||
void PIOS_RFM22B_InjectEvent(struct pios_rfm22b_dev *rfm22b_dev, enum pios_rfm22b_event event, bool inISR)
|
||||
{
|
||||
|
||||
// Store the event.
|
||||
if (xQueueSend(rfm22b_dev->eventQueue, &event, portMAX_DELAY) != pdTRUE)
|
||||
return;
|
||||
|
||||
// Signal the semaphore to wake up the handler thread.
|
||||
if (inISR) {
|
||||
portBASE_TYPE pxHigherPriorityTaskWoken;
|
||||
if (xSemaphoreGiveFromISR(rfm22b_dev->isrPending, &pxHigherPriorityTaskWoken) != pdTRUE) {
|
||||
// Something went fairly seriously wrong
|
||||
rfm22b_dev->errors++;
|
||||
}
|
||||
portEND_SWITCHING_ISR(pxHigherPriorityTaskWoken);
|
||||
}
|
||||
else
|
||||
{
|
||||
if (xSemaphoreGive(rfm22b_dev->isrPending) != pdTRUE) {
|
||||
// Something went fairly seriously wrong
|
||||
rfm22b_dev->errors++;
|
||||
}
|
||||
}
|
||||
// Inject an interrupt event into the state machine.
|
||||
pios_rfm22_inject_event(g_rfm22b_dev, RFM22B_EVENT_INT_RECEIVED, true);
|
||||
return false;
|
||||
}
|
||||
|
||||
/**
|
||||
* Returns the unique device ID for the RFM22B device.
|
||||
* \param[in] rfm22b_id The RFM22B device index.
|
||||
* \return The unique device ID
|
||||
*
|
||||
* @param[in] rfm22b_id The RFM22B device index.
|
||||
* @return The unique device ID
|
||||
*/
|
||||
uint32_t PIOS_RFM22B_DeviceID(uint32_t rfm22b_id)
|
||||
{
|
||||
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
|
||||
if (PIOS_RFM22B_validate(rfm22b_dev)) {
|
||||
return rfm22b_dev->deviceID;
|
||||
} else {
|
||||
return 0;
|
||||
}
|
||||
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
|
||||
if (PIOS_RFM22B_Validate(rfm22b_dev)) {
|
||||
return rfm22b_dev->deviceID;
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
/**
|
||||
* Returns true if the modem is configured as a coordinator.
|
||||
* \param[in] rfm22b_id The RFM22B device index.
|
||||
* \return True if the modem is configured as a coordinator.
|
||||
*
|
||||
* @param[in] rfm22b_id The RFM22B device index.
|
||||
* @return True if the modem is configured as a coordinator.
|
||||
*/
|
||||
bool PIOS_RFM22B_IsCoordinator(uint32_t rfm22b_id)
|
||||
{
|
||||
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
|
||||
if (PIOS_RFM22B_validate(rfm22b_dev)) {
|
||||
return rfm22b_dev->coordinator;
|
||||
} else {
|
||||
return false;
|
||||
}
|
||||
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
|
||||
if (PIOS_RFM22B_Validate(rfm22b_dev)) {
|
||||
return rfm22b_dev->coordinator;
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
/**
|
||||
* Sets the radio device transmit power.
|
||||
* \param[in] rfm22b_id The RFM22B device index.
|
||||
* \param[in] tx_pwr The transmit power.
|
||||
*
|
||||
* @param[in] rfm22b_id The RFM22B device index.
|
||||
* @param[in] tx_pwr The transmit power.
|
||||
*/
|
||||
void PIOS_RFM22B_SetTxPower(uint32_t rfm22b_id, enum rfm22b_tx_power tx_pwr)
|
||||
{
|
||||
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
|
||||
if (!PIOS_RFM22B_validate(rfm22b_dev)) {
|
||||
return;
|
||||
}
|
||||
rfm22b_dev->tx_power = tx_pwr;
|
||||
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
|
||||
if (!PIOS_RFM22B_Validate(rfm22b_dev)) {
|
||||
return;
|
||||
}
|
||||
rfm22b_dev->tx_power = tx_pwr;
|
||||
}
|
||||
|
||||
/**
|
||||
* Sets the radio frequency range and initial frequency
|
||||
* \param[in] rfm22b_id The RFM22B device index.
|
||||
* \param[in] min_freq The minimum frequency
|
||||
* \param[in] max_freq The maximum frequency
|
||||
* \param[in] step_size The channel step size
|
||||
*
|
||||
* @param[in] rfm22b_id The RFM22B device index.
|
||||
* @param[in] min_freq The minimum frequency
|
||||
* @param[in] max_freq The maximum frequency
|
||||
* @param[in] step_size The channel step size
|
||||
*/
|
||||
void PIOS_RFM22B_SetFrequencyRange(uint32_t rfm22b_id, uint32_t min_freq, uint32_t max_freq, uint32_t step_size)
|
||||
{
|
||||
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
|
||||
if (!PIOS_RFM22B_validate(rfm22b_dev)) {
|
||||
return;
|
||||
}
|
||||
rfm22b_dev->con_packet.min_frequency = min_freq;
|
||||
rfm22b_dev->con_packet.max_frequency = max_freq;
|
||||
rfm22b_dev->con_packet.channel_spacing = step_size;
|
||||
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
|
||||
if (!PIOS_RFM22B_Validate(rfm22b_dev)) {
|
||||
return;
|
||||
}
|
||||
rfm22b_dev->con_packet.min_frequency = min_freq;
|
||||
rfm22b_dev->con_packet.max_frequency = max_freq;
|
||||
rfm22b_dev->con_packet.channel_spacing = step_size;
|
||||
}
|
||||
|
||||
/**
|
||||
* Sets the initial radio frequency range
|
||||
* \param[in] rfm22b_id The RFM22B device index.
|
||||
* \param[in] init_freq The initial frequency
|
||||
*
|
||||
* @param[in] rfm22b_id The RFM22B device index.
|
||||
* @param[in] init_freq The initial frequency
|
||||
*/
|
||||
void PIOS_RFM22B_SetInitialFrequency(uint32_t rfm22b_id, uint32_t init_freq)
|
||||
{
|
||||
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
|
||||
if (!PIOS_RFM22B_validate(rfm22b_dev)) {
|
||||
return;
|
||||
}
|
||||
rfm22b_dev->init_frequency = init_freq;
|
||||
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
|
||||
if (!PIOS_RFM22B_Validate(rfm22b_dev)) {
|
||||
return;
|
||||
}
|
||||
rfm22b_dev->init_frequency = init_freq;
|
||||
}
|
||||
|
||||
/**
|
||||
* Set the com port configuration callback (to receive com configuration over the air)
|
||||
* \param[in] rfm22b_id The rfm22b device.
|
||||
* \param[in] cb A pointer to the callback function
|
||||
*
|
||||
* @param[in] rfm22b_id The rfm22b device.
|
||||
* @param[in] cb A pointer to the callback function
|
||||
*/
|
||||
void PIOS_RFM22B_SetComConfigCallback(uint32_t rfm22b_id, PIOS_RFM22B_ComConfigCallback cb)
|
||||
{
|
||||
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
|
||||
if(!PIOS_RFM22B_validate(rfm22b_dev)) {
|
||||
return;
|
||||
}
|
||||
rfm22b_dev->com_config_cb = cb;
|
||||
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
|
||||
if(!PIOS_RFM22B_Validate(rfm22b_dev)) {
|
||||
return;
|
||||
}
|
||||
rfm22b_dev->com_config_cb = cb;
|
||||
}
|
||||
|
||||
/**
|
||||
* Set the list of modems that this modem will bind with.
|
||||
* \param[in] rfm22b_id The rfm22b device.
|
||||
* \param[in] bindings The array of bindings.
|
||||
*
|
||||
* @param[in] rfm22b_id The rfm22b device.
|
||||
* @param[in] bindingPairIDs The array of binding IDs.
|
||||
* @param[in] mainPortSettings The array of main com port configurations.
|
||||
* @param[in] flexiPortSettings The array of flexi com port configurations.
|
||||
* @param[in] vcpPortSettings The array of VCP com port configurations.
|
||||
* @param[in] comSpeeds The array of com port speeds.
|
||||
*/
|
||||
void PIOS_RFM22B_SetBindings(uint32_t rfm22b_id, const uint32_t bindingPairIDs[], const uint8_t mainPortSettings[],
|
||||
const uint8_t flexiPortSettings[], const uint8_t vcpPortSettings[], const uint8_t comSpeeds[])
|
||||
{
|
||||
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
|
||||
if(!PIOS_RFM22B_validate(rfm22b_dev))
|
||||
return;
|
||||
// This modem will be considered a coordinator if any bindings have been set.
|
||||
rfm22b_dev->coordinator = false;
|
||||
for (uint32_t i = 0; i < OPLINKSETTINGS_BINDINGS_NUMELEM; ++i) {
|
||||
rfm22b_dev->bindings[i].pairID = bindingPairIDs[i];
|
||||
rfm22b_dev->bindings[i].main_port = mainPortSettings[i];
|
||||
rfm22b_dev->bindings[i].flexi_port = flexiPortSettings[i];
|
||||
rfm22b_dev->bindings[i].vcp_port = vcpPortSettings[i];
|
||||
rfm22b_dev->bindings[i].com_speed = comSpeeds[i];
|
||||
rfm22b_dev->coordinator |= (rfm22b_dev->bindings[i].pairID != 0);
|
||||
}
|
||||
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
|
||||
if(!PIOS_RFM22B_Validate(rfm22b_dev)) {
|
||||
return;
|
||||
}
|
||||
|
||||
// This modem will be considered a coordinator if any bindings have been set.
|
||||
rfm22b_dev->coordinator = false;
|
||||
for (uint32_t i = 0; i < OPLINKSETTINGS_BINDINGS_NUMELEM; ++i) {
|
||||
rfm22b_dev->bindings[i].pairID = bindingPairIDs[i];
|
||||
rfm22b_dev->bindings[i].main_port = mainPortSettings[i];
|
||||
rfm22b_dev->bindings[i].flexi_port = flexiPortSettings[i];
|
||||
rfm22b_dev->bindings[i].vcp_port = vcpPortSettings[i];
|
||||
rfm22b_dev->bindings[i].com_speed = comSpeeds[i];
|
||||
rfm22b_dev->coordinator |= (rfm22b_dev->bindings[i].pairID != 0);
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Returns the device statistics RFM22B device.
|
||||
* \param[in] rfm22b_id The RFM22B device index.
|
||||
* \param[out] stats The stats are returned in this structure
|
||||
*
|
||||
* @param[in] rfm22b_id The RFM22B device index.
|
||||
* @param[out] stats The stats are returned in this structure
|
||||
*/
|
||||
void PIOS_RFM22B_GetStats(uint32_t rfm22b_id, struct rfm22b_stats *stats) {
|
||||
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
|
||||
if(!PIOS_RFM22B_validate(rfm22b_dev))
|
||||
return;
|
||||
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
|
||||
if(!PIOS_RFM22B_Validate(rfm22b_dev)) {
|
||||
return;
|
||||
}
|
||||
|
||||
// Calculate the current link quality
|
||||
rfm22_calculateLinkQuality(rfm22b_dev);
|
||||
// Calculate the current link quality
|
||||
rfm22_calculateLinkQuality(rfm22b_dev);
|
||||
|
||||
// We are connected if our destination ID is in the pair stats.
|
||||
if (rfm22b_dev->destination_id != 0xffffffff)
|
||||
for (uint8_t i = 0; i < OPLINKSTATUS_PAIRIDS_NUMELEM; ++i)
|
||||
{
|
||||
if ((rfm22b_dev->pair_stats[i].pairID == rfm22b_dev->destination_id) &&
|
||||
(rfm22b_dev->pair_stats[i].rssi > -127))
|
||||
{
|
||||
rfm22b_dev->stats.rssi = rfm22b_dev->pair_stats[i].rssi;
|
||||
rfm22b_dev->stats.afc_correction = rfm22b_dev->pair_stats[i].afc_correction;
|
||||
break;
|
||||
}
|
||||
}
|
||||
*stats = rfm22b_dev->stats;
|
||||
// We are connected if our destination ID is in the pair stats.
|
||||
if (rfm22b_dev->destination_id != 0xffffffff) {
|
||||
for (uint8_t i = 0; i < OPLINKSTATUS_PAIRIDS_NUMELEM; ++i) {
|
||||
if ((rfm22b_dev->pair_stats[i].pairID == rfm22b_dev->destination_id) &&
|
||||
(rfm22b_dev->pair_stats[i].rssi > -127)) {
|
||||
rfm22b_dev->stats.rssi = rfm22b_dev->pair_stats[i].rssi;
|
||||
rfm22b_dev->stats.afc_correction = rfm22b_dev->pair_stats[i].afc_correction;
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
*stats = rfm22b_dev->stats;
|
||||
}
|
||||
|
||||
/**
|
||||
* Get the stats of the oter radio devices that are in range.
|
||||
* \param[out] device_ids A pointer to the array to store the device IDs.
|
||||
* \param[out] RSSIs A pointer to the array to store the RSSI values in.
|
||||
* \param[in] mx_pairs The length of the pdevice_ids and RSSIs arrays.
|
||||
* \return The number of pair stats returned.
|
||||
*
|
||||
* @param[out] device_ids A pointer to the array to store the device IDs.
|
||||
* @param[out] RSSIs A pointer to the array to store the RSSI values in.
|
||||
* @param[in] mx_pairs The length of the pdevice_ids and RSSIs arrays.
|
||||
* @return The number of pair stats returned.
|
||||
*/
|
||||
uint8_t PIOS_RFM2B_GetPairStats(uint32_t rfm22b_id, uint32_t *device_ids, int8_t *RSSIs, uint8_t max_pairs)
|
||||
{
|
||||
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
|
||||
if (!PIOS_RFM22B_validate(rfm22b_dev))
|
||||
return 0;
|
||||
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
|
||||
if (!PIOS_RFM22B_Validate(rfm22b_dev)) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
uint8_t mp = (max_pairs >= OPLINKSTATUS_PAIRIDS_NUMELEM) ? max_pairs : OPLINKSTATUS_PAIRIDS_NUMELEM;
|
||||
for (uint8_t i = 0; i < mp; ++i)
|
||||
{
|
||||
device_ids[i] = rfm22b_dev->pair_stats[i].pairID;
|
||||
RSSIs[i] = rfm22b_dev->pair_stats[i].rssi;
|
||||
}
|
||||
uint8_t mp = (max_pairs >= OPLINKSTATUS_PAIRIDS_NUMELEM) ? max_pairs : OPLINKSTATUS_PAIRIDS_NUMELEM;
|
||||
for (uint8_t i = 0; i < mp; ++i) {
|
||||
device_ids[i] = rfm22b_dev->pair_stats[i].pairID;
|
||||
RSSIs[i] = rfm22b_dev->pair_stats[i].rssi;
|
||||
}
|
||||
|
||||
return mp;
|
||||
return mp;
|
||||
}
|
||||
|
||||
/**
|
||||
* Check the radio device for a valid connection
|
||||
* \param[in] rfm22b_id The rfm22b device.
|
||||
* Returns true if there is a valid connection to paired radio, false otherwise.
|
||||
*
|
||||
* @param[in] rfm22b_id The rfm22b device.
|
||||
* @return true if there is a valid connection to paired radio, false otherwise.
|
||||
*/
|
||||
bool PIOS_RFM22B_LinkStatus(uint32_t rfm22b_id)
|
||||
{
|
||||
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
|
||||
if(!PIOS_RFM22B_validate(rfm22b_dev))
|
||||
return false;
|
||||
return (rfm22_isConnected(rfm22b_dev) && (rfm22b_dev->stats.link_quality > RFM22B_LINK_QUALITY_THRESHOLD));
|
||||
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
|
||||
if(!PIOS_RFM22B_Validate(rfm22b_dev)) {
|
||||
return false;
|
||||
}
|
||||
return (rfm22_isConnected(rfm22b_dev) && (rfm22b_dev->stats.link_quality > RFM22B_LINK_QUALITY_THRESHOLD));
|
||||
}
|
||||
|
||||
/**
|
||||
* Send a PPM packet with the given channel values.
|
||||
* \param[in] rfm22b_id The rfm22b device.
|
||||
* \param[in] channels The channel values.
|
||||
* \param[in] nchannels The number of channels.
|
||||
* Returns true if there is a valid connection to paired radio, false otherwise.
|
||||
* Validate that the device structure is valid.
|
||||
*
|
||||
* @param[in] rfm22b_dev The RFM22B device structure pointer.
|
||||
*/
|
||||
void PIOS_RFM22B_SendPPM(uint32_t rfm22b_id, const uint16_t *channels, uint8_t nchannels)
|
||||
inline bool PIOS_RFM22B_Validate(struct pios_rfm22b_dev *rfm22b_dev)
|
||||
{
|
||||
#ifdef PIOS_PPM_RECEIVER
|
||||
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
|
||||
if (!PIOS_RFM22B_validate(rfm22b_dev)) {
|
||||
return;
|
||||
}
|
||||
|
||||
// Only send PPM if we're connected
|
||||
if (!rfm22_isConnected(rfm22b_dev)) {
|
||||
return;
|
||||
}
|
||||
|
||||
// See if we have any valid channels.
|
||||
uint8_t nchan = (nchannels <= PIOS_PPM_NUM_INPUTS) ? nchannels : PIOS_PPM_NUM_INPUTS;
|
||||
for (uint8_t i = 0; i < nchan; ++i) {
|
||||
rfm22b_dev->ppm_packet.channels[i] = channels[i];
|
||||
}
|
||||
|
||||
// Send the PPM packet.
|
||||
rfm22b_dev->ppm_packet.header.destination_id = rfm22b_dev->destination_id;
|
||||
rfm22b_dev->ppm_packet.header.type = PACKET_TYPE_PPM;
|
||||
rfm22b_dev->ppm_packet.header.data_size = PH_PPM_DATA_SIZE(&(rfm22b_dev->ppm_packet));
|
||||
rfm22b_dev->send_ppm = true;
|
||||
#endif
|
||||
return (rfm22b_dev != NULL && rfm22b_dev->magic == PIOS_RFM22B_DEV_MAGIC);
|
||||
}
|
||||
|
||||
|
||||
/*****************************************************************************
|
||||
* The Device Control Thread
|
||||
*****************************************************************************/
|
||||
|
||||
/**
|
||||
* The task that controls the radio state machine.
|
||||
*
|
||||
* @param[in] paramters The task parameters.
|
||||
*/
|
||||
static void PIOS_RFM22B_Task(void *parameters)
|
||||
static void pios_rfm22_task(void *parameters)
|
||||
{
|
||||
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)parameters;
|
||||
if (!PIOS_RFM22B_validate(rfm22b_dev))
|
||||
return;
|
||||
portTickType lastEventTicks = xTaskGetTickCount();
|
||||
portTickType lastStatusTicks = lastEventTicks;
|
||||
portTickType lastPPMTicks = lastEventTicks;
|
||||
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)parameters;
|
||||
if (!PIOS_RFM22B_Validate(rfm22b_dev)) {
|
||||
return;
|
||||
}
|
||||
portTickType lastEventTicks = xTaskGetTickCount();
|
||||
portTickType lastStatusTicks = lastEventTicks;
|
||||
portTickType lastPPMTicks = lastEventTicks;
|
||||
|
||||
while(1)
|
||||
{
|
||||
while(1) {
|
||||
#ifdef PIOS_WDG_RFM22B
|
||||
// Update the watchdog timer
|
||||
PIOS_WDG_UpdateFlag(PIOS_WDG_RFM22B);
|
||||
// Update the watchdog timer
|
||||
PIOS_WDG_UpdateFlag(PIOS_WDG_RFM22B);
|
||||
#endif /* PIOS_WDG_RFM22B */
|
||||
|
||||
// Wait for a signal indicating an external interrupt or a pending send/receive request.
|
||||
if (xSemaphoreTake(rfm22b_dev->isrPending, ISR_TIMEOUT / portTICK_RATE_MS) == pdTRUE) {
|
||||
lastEventTicks = xTaskGetTickCount();
|
||||
// Wait for a signal indicating an external interrupt or a pending send/receive request.
|
||||
if (xSemaphoreTake(rfm22b_dev->isrPending, ISR_TIMEOUT / portTICK_RATE_MS) == pdTRUE) {
|
||||
lastEventTicks = xTaskGetTickCount();
|
||||
|
||||
// Process events through the state machine.
|
||||
enum pios_rfm22b_event event;
|
||||
while (xQueueReceive(rfm22b_dev->eventQueue, &event, 0) == pdTRUE)
|
||||
{
|
||||
if ((event == RFM22B_EVENT_INT_RECEIVED) &&
|
||||
((rfm22b_dev->state == RFM22B_STATE_UNINITIALIZED) || (rfm22b_dev->state == RFM22B_STATE_INITIALIZING)))
|
||||
continue;
|
||||
rfm22_process_event(rfm22b_dev, event);
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
// Has it been too long since the last event?
|
||||
portTickType curTicks = xTaskGetTickCount();
|
||||
if (timeDifferenceMs(lastEventTicks, curTicks) > PIOS_RFM22B_SUPERVISOR_TIMEOUT)
|
||||
{
|
||||
// Transsition through an error event.
|
||||
rfm22_process_event(rfm22b_dev, RFM22B_EVENT_ERROR);
|
||||
// Process events through the state machine.
|
||||
enum pios_rfm22b_event event;
|
||||
while (xQueueReceive(rfm22b_dev->eventQueue, &event, 0) == pdTRUE) {
|
||||
if ((event == RFM22B_EVENT_INT_RECEIVED) &&
|
||||
((rfm22b_dev->state == RFM22B_STATE_UNINITIALIZED) || (rfm22b_dev->state == RFM22B_STATE_INITIALIZING)))
|
||||
continue;
|
||||
rfm22_process_event(rfm22b_dev, event);
|
||||
}
|
||||
} else {
|
||||
// Has it been too long since the last event?
|
||||
portTickType curTicks = xTaskGetTickCount();
|
||||
if (pios_rfm22_time_difference_ms(lastEventTicks, curTicks) > PIOS_RFM22B_SUPERVISOR_TIMEOUT) {
|
||||
// Transsition through an error event.
|
||||
rfm22_process_event(rfm22b_dev, RFM22B_EVENT_ERROR);
|
||||
|
||||
// Clear the event queue.
|
||||
enum pios_rfm22b_event event;
|
||||
while (xQueueReceive(rfm22b_dev->eventQueue, &event, 0) == pdTRUE)
|
||||
;
|
||||
lastEventTicks = xTaskGetTickCount();
|
||||
}
|
||||
}
|
||||
// Clear the event queue.
|
||||
enum pios_rfm22b_event event;
|
||||
while (xQueueReceive(rfm22b_dev->eventQueue, &event, 0) == pdTRUE) {
|
||||
// Do nothing;
|
||||
}
|
||||
lastEventTicks = xTaskGetTickCount();
|
||||
}
|
||||
}
|
||||
|
||||
// Change channels if necessary.
|
||||
if ((rfm22b_dev->state == RFM22B_STATE_RX_MODE) || (rfm22b_dev->state == RFM22B_STATE_WAIT_PREAMBLE)) {
|
||||
rfm22_changeChannel(rfm22b_dev);
|
||||
}
|
||||
// Change channels if necessary.
|
||||
if ((rfm22b_dev->state == RFM22B_STATE_RX_MODE) || (rfm22b_dev->state == RFM22B_STATE_WAIT_PREAMBLE)) {
|
||||
rfm22_changeChannel(rfm22b_dev);
|
||||
}
|
||||
|
||||
portTickType curTicks = xTaskGetTickCount();
|
||||
uint32_t last_rec_ms = (rfm22b_dev->rx_complete_ticks == 0) ? 0 : timeDifferenceMs(rfm22b_dev->rx_complete_ticks, curTicks);
|
||||
// Have we been sending this packet too long?
|
||||
if ((rfm22b_dev->packet_start_ticks > 0) && (timeDifferenceMs(rfm22b_dev->packet_start_ticks, curTicks) > (rfm22b_dev->max_packet_time * 3))) {
|
||||
rfm22_process_event(rfm22b_dev, RFM22B_EVENT_TIMEOUT);
|
||||
portTickType curTicks = xTaskGetTickCount();
|
||||
uint32_t last_rec_ms = (rfm22b_dev->rx_complete_ticks == 0) ? 0 : pios_rfm22_time_difference_ms(rfm22b_dev->rx_complete_ticks, curTicks);
|
||||
// Have we been sending this packet too long?
|
||||
if ((rfm22b_dev->packet_start_ticks > 0) && (pios_rfm22_time_difference_ms(rfm22b_dev->packet_start_ticks, curTicks) > (rfm22b_dev->max_packet_time * 3))) {
|
||||
rfm22_process_event(rfm22b_dev, RFM22B_EVENT_TIMEOUT);
|
||||
|
||||
// Has it been too long since we received a packet
|
||||
} else if (last_rec_ms > DISCONNECT_TIMEOUT_MS) {
|
||||
rfm22_process_event(rfm22b_dev, RFM22B_EVENT_ERROR);
|
||||
} else {
|
||||
// Has it been too long since we received a packet
|
||||
} else if (last_rec_ms > DISCONNECT_TIMEOUT_MS) {
|
||||
rfm22_process_event(rfm22b_dev, RFM22B_EVENT_ERROR);
|
||||
} else {
|
||||
|
||||
// Are we waiting for an ACK?
|
||||
if (rfm22b_dev->prev_tx_packet)
|
||||
{
|
||||
// Are we waiting for an ACK?
|
||||
if (rfm22b_dev->prev_tx_packet) {
|
||||
|
||||
// Should we resend the packet?
|
||||
if (timeDifferenceMs(rfm22b_dev->tx_complete_ticks, curTicks) > rfm22b_dev->max_ack_delay)
|
||||
{
|
||||
rfm22b_dev->tx_complete_ticks = curTicks;
|
||||
rfm22_process_event(rfm22b_dev, RFM22B_EVENT_ACK_TIMEOUT);
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
// Should we resend the packet?
|
||||
if (pios_rfm22_time_difference_ms(rfm22b_dev->tx_complete_ticks, curTicks) > rfm22b_dev->max_ack_delay) {
|
||||
rfm22b_dev->tx_complete_ticks = curTicks;
|
||||
rfm22_process_event(rfm22b_dev, RFM22B_EVENT_ACK_TIMEOUT);
|
||||
}
|
||||
|
||||
// Queue up a PPM packet if it's time.
|
||||
if (timeDifferenceMs(lastPPMTicks, curTicks) > PPM_UPDATE_PERIOD_MS)
|
||||
{
|
||||
rfm22_sendPPM(rfm22b_dev);
|
||||
lastPPMTicks = curTicks;
|
||||
}
|
||||
} else {
|
||||
|
||||
// Queue up a status packet if it's time.
|
||||
if ((timeDifferenceMs(lastStatusTicks, curTicks) > RADIOSTATS_UPDATE_PERIOD_MS) || (last_rec_ms > rfm22b_dev->max_packet_time * 4))
|
||||
{
|
||||
rfm22_sendStatus(rfm22b_dev);
|
||||
lastStatusTicks = curTicks;
|
||||
}
|
||||
}
|
||||
// Queue up a PPM packet if it's time.
|
||||
if (pios_rfm22_time_difference_ms(lastPPMTicks, curTicks) > PPM_UPDATE_PERIOD_MS) {
|
||||
rfm22_sendPPM(rfm22b_dev);
|
||||
lastPPMTicks = curTicks;
|
||||
}
|
||||
|
||||
}
|
||||
// Queue up a status packet if it's time.
|
||||
if ((pios_rfm22_time_difference_ms(lastStatusTicks, curTicks) > RADIOSTATS_UPDATE_PERIOD_MS) || (last_rec_ms > rfm22b_dev->max_packet_time * 4)) {
|
||||
rfm22_sendStatus(rfm22b_dev);
|
||||
lastStatusTicks = curTicks;
|
||||
}
|
||||
}
|
||||
|
||||
// Send a packet if it's our time slice
|
||||
rfm22b_dev->time_to_send = (((curTicks - rfm22b_dev->time_to_send_offset) & 0x6) == 0);
|
||||
}
|
||||
|
||||
// Send a packet if it's our time slice
|
||||
rfm22b_dev->time_to_send = (((curTicks - rfm22b_dev->time_to_send_offset) & 0x6) == 0);
|
||||
#if defined(PIOS_RFM22B_DEBUG_ON_TELEM) || defined(PIOS_RFM22B_DEBUG_ON_RCVR)
|
||||
if (rfm22b_dev->time_to_send) {
|
||||
D4_LED_ON;
|
||||
} else {
|
||||
D4_LED_OFF;
|
||||
}
|
||||
if (rfm22_inChannelBuffer(rfm22b_dev)) {
|
||||
D3_LED_ON;
|
||||
} else {
|
||||
D3_LED_OFF;
|
||||
}
|
||||
if (rfm22b_dev->time_to_send) {
|
||||
D4_LED_ON;
|
||||
} else {
|
||||
D4_LED_OFF;
|
||||
}
|
||||
if (rfm22_inChannelBuffer(rfm22b_dev)) {
|
||||
D3_LED_ON;
|
||||
} else {
|
||||
D3_LED_OFF;
|
||||
}
|
||||
#endif
|
||||
if (rfm22b_dev->time_to_send)
|
||||
rfm22_process_event(rfm22b_dev, RFM22B_EVENT_TX_START);
|
||||
}
|
||||
if (rfm22b_dev->time_to_send) {
|
||||
rfm22_process_event(rfm22b_dev, RFM22B_EVENT_TX_START);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// ************************************
|
||||
// radio datarate about 19200 Baud
|
||||
// radio frequency deviation 45kHz
|
||||
// radio receiver bandwidth 67kHz.
|
||||
//
|
||||
// Carson's rule:
|
||||
// The signal bandwidth is about 2(Delta-f + fm) ..
|
||||
//
|
||||
// Delta-f = frequency deviation
|
||||
// fm = maximum frequency of the signal
|
||||
//
|
||||
// This gives 2(45 + 9.6) = 109.2kHz.
|
||||
|
||||
static void rfm22_setDatarate(struct pios_rfm22b_dev * rfm22b_dev, enum rfm22b_datarate datarate, bool data_whitening)
|
||||
{
|
||||
uint32_t datarate_bps = data_rate[datarate];
|
||||
rfm22b_dev->max_packet_time = (uint16_t)((float)(PIOS_PH_MAX_PACKET * 8 * 1000) / (float)(datarate_bps) + 0.5f);
|
||||
if (rfm22_isConnected(rfm22b_dev))
|
||||
{
|
||||
// Generate a pseudo-random number from 0-8 to add to the delay
|
||||
uint8_t random = PIOS_CRC_updateByte(0, (uint8_t)(xTaskGetTickCount() & 0xff)) & 0x03;
|
||||
rfm22b_dev->max_ack_delay = (uint16_t)((float)((sizeof(PHAckNackPacket) * 8 + TX_PREAMBLE_NIBBLES * 4) * 1000) / (float)(datarate_bps) + 0.5f) * 4 + 4 + random;
|
||||
}
|
||||
else
|
||||
rfm22b_dev->max_ack_delay = CONNECT_ATTEMPT_PERIOD_MS;
|
||||
|
||||
// rfm22_if_filter_bandwidth
|
||||
rfm22_write(rfm22b_dev, 0x1C, reg_1C[datarate]);
|
||||
|
||||
// rfm22_afc_loop_gearshift_override
|
||||
rfm22_write(rfm22b_dev, 0x1D, reg_1D[datarate]);
|
||||
// RFM22_afc_timing_control
|
||||
rfm22_write(rfm22b_dev, 0x1E, reg_1E[datarate]);
|
||||
|
||||
// RFM22_clk_recovery_gearshift_override
|
||||
rfm22_write(rfm22b_dev, 0x1F, reg_1F[datarate]);
|
||||
// rfm22_clk_recovery_oversampling_ratio
|
||||
rfm22_write(rfm22b_dev, 0x20, reg_20[datarate]);
|
||||
// rfm22_clk_recovery_offset2
|
||||
rfm22_write(rfm22b_dev, 0x21, reg_21[datarate]);
|
||||
// rfm22_clk_recovery_offset1
|
||||
rfm22_write(rfm22b_dev, 0x22, reg_22[datarate]);
|
||||
// rfm22_clk_recovery_offset0
|
||||
rfm22_write(rfm22b_dev, 0x23, reg_23[datarate]);
|
||||
// rfm22_clk_recovery_timing_loop_gain1
|
||||
rfm22_write(rfm22b_dev, 0x24, reg_24[datarate]);
|
||||
// rfm22_clk_recovery_timing_loop_gain0
|
||||
rfm22_write(rfm22b_dev, 0x25, reg_25[datarate]);
|
||||
// rfm22_agc_override1
|
||||
rfm22_write(rfm22b_dev, RFM22_agc_override1, reg_69[datarate]);
|
||||
|
||||
// rfm22_afc_limiter
|
||||
rfm22_write(rfm22b_dev, 0x2A, reg_2A[datarate]);
|
||||
|
||||
// rfm22_tx_data_rate1
|
||||
rfm22_write(rfm22b_dev, 0x6E, reg_6E[datarate]);
|
||||
// rfm22_tx_data_rate0
|
||||
rfm22_write(rfm22b_dev, 0x6F, reg_6F[datarate]);
|
||||
|
||||
if (!data_whitening)
|
||||
// rfm22_modulation_mode_control1
|
||||
rfm22_write(rfm22b_dev, 0x70, reg_70[datarate] & ~RFM22_mmc1_enwhite);
|
||||
else
|
||||
// rfm22_modulation_mode_control1
|
||||
rfm22_write(rfm22b_dev, 0x70, reg_70[datarate] | RFM22_mmc1_enwhite);
|
||||
|
||||
// rfm22_modulation_mode_control2
|
||||
rfm22_write(rfm22b_dev, 0x71, reg_71[datarate]);
|
||||
|
||||
// rfm22_frequency_deviation
|
||||
rfm22_write(rfm22b_dev, 0x72, reg_72[datarate]);
|
||||
|
||||
// rfm22_cpcuu
|
||||
rfm22_write(rfm22b_dev, 0x58, reg_58[datarate]);
|
||||
|
||||
rfm22_write(rfm22b_dev, RFM22_ook_counter_value1, 0x00);
|
||||
rfm22_write(rfm22b_dev, RFM22_ook_counter_value2, 0x00);
|
||||
}
|
||||
|
||||
// ************************************
|
||||
// SPI read/write
|
||||
|
||||
//! Assert the CS line
|
||||
static void rfm22_assertCs(struct pios_rfm22b_dev *rfm22b_dev)
|
||||
{
|
||||
PIOS_DELAY_WaituS(1);
|
||||
if(rfm22b_dev->spi_id != 0)
|
||||
PIOS_SPI_RC_PinSet(rfm22b_dev->spi_id, rfm22b_dev->slave_num, 0);
|
||||
}
|
||||
|
||||
//! Deassert the CS line
|
||||
static void rfm22_deassertCs(struct pios_rfm22b_dev *rfm22b_dev)
|
||||
{
|
||||
if(rfm22b_dev->spi_id != 0)
|
||||
PIOS_SPI_RC_PinSet(rfm22b_dev->spi_id, rfm22b_dev->slave_num, 1);
|
||||
}
|
||||
|
||||
//! Claim the SPI bus semaphore
|
||||
static void rfm22_claimBus(struct pios_rfm22b_dev *rfm22b_dev)
|
||||
{
|
||||
if(rfm22b_dev->spi_id != 0)
|
||||
PIOS_SPI_ClaimBus(rfm22b_dev->spi_id);
|
||||
}
|
||||
|
||||
//! Release the SPI bus semaphore
|
||||
static void rfm22_releaseBus(struct pios_rfm22b_dev *rfm22b_dev)
|
||||
{
|
||||
if(rfm22b_dev->spi_id != 0)
|
||||
PIOS_SPI_ReleaseBus(rfm22b_dev->spi_id);
|
||||
}
|
||||
/*****************************************************************************
|
||||
* The State Machine Functions
|
||||
*****************************************************************************/
|
||||
|
||||
/**
|
||||
* Claim the semaphore and write a byte to a register
|
||||
* @param[in] addr The address to write to
|
||||
* @param[in] data The datat to write to that address
|
||||
* Inject an event into the RFM22B state machine.
|
||||
*
|
||||
* @param[in] rfm22b_dev The device structure
|
||||
* @param[in] event The event to inject
|
||||
* @param[in] inISR Is this being called from an interrrup service routine?
|
||||
*/
|
||||
static void rfm22_write(struct pios_rfm22b_dev *rfm22b_dev, uint8_t addr, uint8_t data)
|
||||
static void pios_rfm22_inject_event(struct pios_rfm22b_dev *rfm22b_dev, enum pios_rfm22b_event event, bool inISR)
|
||||
{
|
||||
rfm22_claimBus(rfm22b_dev);
|
||||
rfm22_assertCs(rfm22b_dev);
|
||||
uint8_t buf[2] = {addr | 0x80, data};
|
||||
PIOS_SPI_TransferBlock(rfm22b_dev->spi_id, buf, NULL, sizeof(buf), NULL);
|
||||
rfm22_deassertCs(rfm22b_dev);
|
||||
rfm22_releaseBus(rfm22b_dev);
|
||||
|
||||
// Store the event.
|
||||
if (xQueueSend(rfm22b_dev->eventQueue, &event, portMAX_DELAY) != pdTRUE)
|
||||
return;
|
||||
|
||||
// Signal the semaphore to wake up the handler thread.
|
||||
if (inISR) {
|
||||
portBASE_TYPE pxHigherPriorityTaskWoken;
|
||||
if (xSemaphoreGiveFromISR(rfm22b_dev->isrPending, &pxHigherPriorityTaskWoken) != pdTRUE) {
|
||||
// Something went fairly seriously wrong
|
||||
rfm22b_dev->errors++;
|
||||
}
|
||||
portEND_SWITCHING_ISR(pxHigherPriorityTaskWoken);
|
||||
} else {
|
||||
if (xSemaphoreGive(rfm22b_dev->isrPending) != pdTRUE) {
|
||||
// Something went fairly seriously wrong
|
||||
rfm22b_dev->errors++;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Write a byte to a register without claiming the bus. Also
|
||||
* toggle the NSS line
|
||||
* @param[in] addr The address of the RFM22b register to write
|
||||
* @param[in] data The data to write to that register
|
||||
static void rfm22_write_noclaim(struct pios_rfm22b_dev *rfm22b_dev, uint8_t addr, uint8_t data)
|
||||
{
|
||||
uint8_t buf[2] = {addr | 0x80, data};
|
||||
rfm22_assertCs(rfm22b_dev);
|
||||
PIOS_SPI_TransferBlock(rfm22b_dev->spi_id, buf, NULL, sizeof(buf), NULL);
|
||||
rfm22_deassertCs(rfm22b_dev);
|
||||
}
|
||||
*/
|
||||
|
||||
/**
|
||||
|
||||
* Read a byte from an RFM22b register
|
||||
* @param[in] addr The address to read from
|
||||
* @return Returns the result of the register read
|
||||
* Process the next state transition from the given event.
|
||||
*
|
||||
* @param[in] rfm22b_dev The device structure
|
||||
* @param[in] event The event to process
|
||||
* @return enum pios_rfm22b_event The next event to inject
|
||||
*/
|
||||
static uint8_t rfm22_read(struct pios_rfm22b_dev *rfm22b_dev, uint8_t addr)
|
||||
{
|
||||
uint8_t in[2];
|
||||
uint8_t out[2] = {addr & 0x7f, 0xFF};
|
||||
rfm22_claimBus(rfm22b_dev);
|
||||
rfm22_assertCs(rfm22b_dev);
|
||||
PIOS_SPI_TransferBlock(rfm22b_dev->spi_id, out, in, sizeof(out), NULL);
|
||||
rfm22_deassertCs(rfm22b_dev);
|
||||
rfm22_releaseBus(rfm22b_dev);
|
||||
return in[1];
|
||||
}
|
||||
|
||||
/**
|
||||
* Read a byte from an RFM22b register without claiming the bus
|
||||
* @param[in] addr The address to read from
|
||||
* @return Returns the result of the register read
|
||||
*/
|
||||
static uint8_t rfm22_read_noclaim(struct pios_rfm22b_dev *rfm22b_dev, uint8_t addr)
|
||||
{
|
||||
uint8_t out[2] = {addr & 0x7F, 0xFF};
|
||||
uint8_t in[2];
|
||||
rfm22_assertCs(rfm22b_dev);
|
||||
PIOS_SPI_TransferBlock(rfm22b_dev->spi_id, out, in, sizeof(out), NULL);
|
||||
rfm22_deassertCs(rfm22b_dev);
|
||||
return in[1];
|
||||
}
|
||||
|
||||
// ************************************
|
||||
|
||||
static enum pios_rfm22b_event rfm22_process_state_transition(struct pios_rfm22b_dev *rfm22b_dev, enum pios_rfm22b_event event)
|
||||
{
|
||||
|
||||
// No event
|
||||
if (event == RFM22B_EVENT_NUM_EVENTS)
|
||||
return RFM22B_EVENT_NUM_EVENTS;
|
||||
|
||||
// Don't transition if there is no transition defined
|
||||
enum pios_rfm22b_state next_state = rfm22b_transitions[rfm22b_dev->state].next_state[event];
|
||||
if (!next_state)
|
||||
return RFM22B_EVENT_NUM_EVENTS;
|
||||
|
||||
/*
|
||||
* Move to the next state
|
||||
*
|
||||
* This is done prior to calling the new state's entry function to
|
||||
* guarantee that the entry function never depends on the previous
|
||||
* state. This way, it cannot ever know what the previous state was.
|
||||
*/
|
||||
enum pios_rfm22b_state prev_state = rfm22b_dev->state;
|
||||
if (prev_state) ;
|
||||
|
||||
rfm22b_dev->state = next_state;
|
||||
|
||||
/* Call the entry function (if any) for the next state. */
|
||||
if (rfm22b_transitions[rfm22b_dev->state].entry_fn)
|
||||
return rfm22b_transitions[rfm22b_dev->state].entry_fn(rfm22b_dev);
|
||||
|
||||
return RFM22B_EVENT_NUM_EVENTS;
|
||||
}
|
||||
|
||||
static void rfm22_process_event(struct pios_rfm22b_dev *rfm22b_dev, enum pios_rfm22b_event event)
|
||||
{
|
||||
// Process all state transitions.
|
||||
while(event != RFM22B_EVENT_NUM_EVENTS)
|
||||
event = rfm22_process_state_transition(rfm22b_dev, event);
|
||||
}
|
||||
|
||||
// ************************************
|
||||
|
||||
static void rfm22_setNominalCarrierFrequency(struct pios_rfm22b_dev *rfm22b_dev, uint32_t min_frequency, uint32_t max_frequency, uint32_t step_size)
|
||||
{
|
||||
uint32_t frequency_hz = min_frequency;
|
||||
|
||||
// holds the hbsel (1 or 2)
|
||||
uint8_t hbsel;
|
||||
if (frequency_hz < 480000000)
|
||||
hbsel = 0;
|
||||
else
|
||||
hbsel = 1;
|
||||
float freq_mhz = (float)(frequency_hz) / 1000000.0;
|
||||
float xtal_freq_khz = 30000;
|
||||
float sfreq = freq_mhz / (10.0 * (xtal_freq_khz / 30000.0) * (1 + hbsel));
|
||||
uint32_t fb = (uint32_t)sfreq - 24 + (64 + 32 * hbsel);
|
||||
uint32_t fc = (uint32_t)((sfreq - (uint32_t)sfreq) * 64000.0);
|
||||
uint8_t fch = (fc >> 8) & 0xff;
|
||||
uint8_t fcl = fc & 0xff;
|
||||
|
||||
// Calculate the number of frequency hopping channels.
|
||||
rfm22b_dev->num_channels = (step_size == 0) ? 1 : (uint16_t)((max_frequency - min_frequency) / step_size);
|
||||
|
||||
// initialize the frequency hopping step size (specified in 10khz increments).
|
||||
uint32_t freq_hop_step_size = step_size / 10000;
|
||||
if (freq_hop_step_size > 255) {
|
||||
freq_hop_step_size = 255;
|
||||
}
|
||||
rfm22_write(rfm22b_dev, RFM22_frequency_hopping_step_size, (uint8_t)freq_hop_step_size);
|
||||
|
||||
// frequency hopping channel (0-255)
|
||||
rfm22b_dev->frequency_step_size = 156.25f * hbsel;
|
||||
|
||||
// frequency hopping channel (0-255)
|
||||
rfm22b_dev->frequency_hop_channel = 0;
|
||||
rfm22_write(rfm22b_dev, RFM22_frequency_hopping_channel_select, 0);
|
||||
|
||||
// no frequency offset
|
||||
rfm22_write(rfm22b_dev, RFM22_frequency_offset1, 0);
|
||||
rfm22_write(rfm22b_dev, RFM22_frequency_offset2, 0);
|
||||
|
||||
// set the carrier frequency
|
||||
rfm22_write(rfm22b_dev, RFM22_frequency_band_select, fb & 0xff);
|
||||
rfm22_write(rfm22b_dev, RFM22_nominal_carrier_frequency1, fch);
|
||||
rfm22_write(rfm22b_dev, RFM22_nominal_carrier_frequency0, fcl);
|
||||
}
|
||||
|
||||
static bool rfm22_setFreqHopChannel(struct pios_rfm22b_dev *rfm22b_dev, uint8_t channel)
|
||||
{
|
||||
// set the frequency hopping channel
|
||||
if (rfm22b_dev->frequency_hop_channel == channel)
|
||||
return false;
|
||||
rfm22b_dev->frequency_hop_channel = channel;
|
||||
rfm22_write(rfm22b_dev, RFM22_frequency_hopping_channel_select, channel);
|
||||
return true;
|
||||
}
|
||||
|
||||
static void rfm22_calculateLinkQuality(struct pios_rfm22b_dev *rfm22b_dev)
|
||||
{
|
||||
// Add the RX packet statistics
|
||||
rfm22b_dev->stats.rx_good = 0;
|
||||
rfm22b_dev->stats.rx_corrected = 0;
|
||||
rfm22b_dev->stats.rx_error = 0;
|
||||
rfm22b_dev->stats.tx_resent = 0;
|
||||
for (uint8_t i = 0; i < RFM22B_RX_PACKET_STATS_LEN; ++i)
|
||||
{
|
||||
uint32_t val = rfm22b_dev->rx_packet_stats[i];
|
||||
for (uint8_t j = 0; j < 16; ++j)
|
||||
{
|
||||
switch ((val >> (j * 2)) & 0x3)
|
||||
{
|
||||
case RFM22B_GOOD_RX_PACKET:
|
||||
rfm22b_dev->stats.rx_good++;
|
||||
break;
|
||||
case RFM22B_CORRECTED_RX_PACKET:
|
||||
rfm22b_dev->stats.rx_corrected++;
|
||||
break;
|
||||
case RFM22B_ERROR_RX_PACKET:
|
||||
rfm22b_dev->stats.rx_error++;
|
||||
break;
|
||||
case RFM22B_RESENT_TX_PACKET:
|
||||
rfm22b_dev->stats.tx_resent++;
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// Calculate the link quality metric, which is related to the number of good packets in relation to the number of bad packets.
|
||||
// Note: This assumes that the number of packets sampled for the stats is 64.
|
||||
// Using this equation, error and resent packets are counted as -2, and corrected packets are counted as -1.
|
||||
// The range is 0 (all error or resent packets) to 128 (all good packets).
|
||||
rfm22b_dev->stats.link_quality = 64 + rfm22b_dev->stats.rx_good - rfm22b_dev->stats.rx_error - rfm22b_dev->stats.tx_resent;
|
||||
}
|
||||
|
||||
// ************************************
|
||||
|
||||
static enum pios_rfm22b_event rfm22_setRxMode(struct pios_rfm22b_dev *rfm22b_dev)
|
||||
{
|
||||
// Are we already in Rx mode?
|
||||
if (rfm22b_dev->in_rx_mode)
|
||||
return RFM22B_EVENT_NUM_EVENTS;
|
||||
rfm22b_dev->packet_start_ticks = 0;
|
||||
#if defined(PIOS_RFM22B_DEBUG_ON_TELEM) || defined(PIOS_RFM22B_DEBUG_ON_RCVR)
|
||||
D2_LED_ON;
|
||||
#endif // PIOS_RFM22B_DEBUG_ON_TELEM
|
||||
|
||||
// disable interrupts
|
||||
rfm22_write(rfm22b_dev, RFM22_interrupt_enable1, 0x00);
|
||||
rfm22_write(rfm22b_dev, RFM22_interrupt_enable2, 0x00);
|
||||
|
||||
// Switch to TUNE mode
|
||||
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl1, RFM22_opfc1_pllon);
|
||||
|
||||
RX_LED_OFF;
|
||||
TX_LED_OFF;
|
||||
|
||||
// empty the rx buffer
|
||||
rfm22b_dev->rx_buffer_wr = 0;
|
||||
|
||||
// Clear the TX buffer.
|
||||
rfm22b_dev->tx_data_rd = rfm22b_dev->tx_data_wr = 0;
|
||||
|
||||
// clear FIFOs
|
||||
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl2, RFM22_opfc2_ffclrrx | RFM22_opfc2_ffclrtx);
|
||||
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl2, 0x00);
|
||||
|
||||
// enable RX interrupts
|
||||
rfm22_write(rfm22b_dev, RFM22_interrupt_enable1, RFM22_ie1_encrcerror | RFM22_ie1_enpkvalid |
|
||||
RFM22_ie1_enrxffafull | RFM22_ie1_enfferr);
|
||||
rfm22_write(rfm22b_dev, RFM22_interrupt_enable2, RFM22_ie2_enpreainval | RFM22_ie2_enpreaval |
|
||||
RFM22_ie2_enswdet);
|
||||
|
||||
// enable the receiver
|
||||
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl1, RFM22_opfc1_pllon | RFM22_opfc1_rxon);
|
||||
|
||||
// Indicate that we're in RX mode.
|
||||
rfm22b_dev->in_rx_mode = true;
|
||||
|
||||
// No event generated
|
||||
return RFM22B_EVENT_NUM_EVENTS;
|
||||
}
|
||||
|
||||
// ************************************
|
||||
|
||||
static bool rfm22_ready_to_send(struct pios_rfm22b_dev *rfm22b_dev)
|
||||
{
|
||||
// Is there a status of PPM packet ready to send?
|
||||
if (rfm22b_dev->prev_tx_packet || rfm22b_dev->send_ppm || rfm22b_dev->send_status)
|
||||
return true;
|
||||
|
||||
// Are we not connected yet?
|
||||
if (!rfm22_isConnected(rfm22b_dev))
|
||||
return true;
|
||||
|
||||
// Is there some data ready to sent?
|
||||
PHPacketHandle dp = &rfm22b_dev->data_packet;
|
||||
if (dp->header.data_size > 0)
|
||||
return true;
|
||||
bool need_yield = false;
|
||||
if (rfm22b_dev->tx_out_cb)
|
||||
dp->header.data_size = (rfm22b_dev->tx_out_cb)(rfm22b_dev->tx_out_context, dp->data, PH_MAX_DATA, NULL, &need_yield);
|
||||
if (dp->header.data_size > 0)
|
||||
return true;
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
static bool rfm22_isConnected(struct pios_rfm22b_dev *rfm22b_dev)
|
||||
{
|
||||
return (rfm22b_dev->stats.link_state == OPLINKSTATUS_LINKSTATE_CONNECTED);
|
||||
}
|
||||
|
||||
static enum pios_rfm22b_event rfm22_txStart(struct pios_rfm22b_dev *rfm22b_dev)
|
||||
{
|
||||
PHPacketHandle p = NULL;
|
||||
|
||||
// Don't send if it's not our turn.
|
||||
if (!rfm22b_dev->time_to_send || (rfm22_inChannelBuffer(rfm22b_dev) && rfm22_isConnected(rfm22b_dev)))
|
||||
return RFM22B_EVENT_RX_MODE;
|
||||
|
||||
// See if there's a packet ready to send.
|
||||
if (rfm22b_dev->tx_packet)
|
||||
p = rfm22b_dev->tx_packet;
|
||||
|
||||
else {
|
||||
|
||||
// Don't send a packet if we're waiting for an ACK
|
||||
if (rfm22b_dev->prev_tx_packet)
|
||||
return RFM22B_EVENT_RX_MODE;
|
||||
|
||||
// Send a connection request?
|
||||
if (!p && rfm22b_dev->send_connection_request) {
|
||||
p = (PHPacketHandle)&(rfm22b_dev->con_packet);
|
||||
rfm22b_dev->send_connection_request = false;
|
||||
}
|
||||
|
||||
#ifdef PIOS_PPM_RECEIVER
|
||||
// Send a PPM packet?
|
||||
if (!p && rfm22b_dev->send_ppm) {
|
||||
p = (PHPacketHandle)&(rfm22b_dev->ppm_packet);
|
||||
rfm22b_dev->send_ppm = false;
|
||||
}
|
||||
#endif
|
||||
|
||||
// Send status?
|
||||
if (!p && rfm22b_dev->send_status) {
|
||||
p = (PHPacketHandle)&(rfm22b_dev->status_packet);
|
||||
rfm22b_dev->send_status = false;
|
||||
}
|
||||
|
||||
// Try to get some data to send
|
||||
if (!p) {
|
||||
bool need_yield = false;
|
||||
p = &rfm22b_dev->data_packet;
|
||||
p->header.type = PACKET_TYPE_DATA;
|
||||
p->header.destination_id = rfm22b_dev->destination_id;
|
||||
if (rfm22b_dev->tx_out_cb && (p->header.data_size == 0))
|
||||
p->header.data_size = (rfm22b_dev->tx_out_cb)(rfm22b_dev->tx_out_context, p->data, PH_MAX_DATA, NULL, &need_yield);
|
||||
|
||||
// Don't send any data until we're connected.
|
||||
if (!rfm22_isConnected(rfm22b_dev))
|
||||
p->header.data_size = 0;
|
||||
if (p->header.data_size == 0)
|
||||
p = NULL;
|
||||
}
|
||||
|
||||
if (p)
|
||||
p->header.seq_num = rfm22b_dev->stats.tx_seq++;
|
||||
}
|
||||
if (!p)
|
||||
return RFM22B_EVENT_RX_MODE;
|
||||
|
||||
// We're transitioning out of Rx mode.
|
||||
rfm22b_dev->in_rx_mode = false;
|
||||
|
||||
#if defined(PIOS_RFM22B_DEBUG_ON_TELEM) || defined(PIOS_RFM22B_DEBUG_ON_RCVR)
|
||||
D1_LED_ON;
|
||||
D2_LED_OFF;
|
||||
#endif
|
||||
|
||||
// Change the channel if necessary.
|
||||
if (((p->header.type != PACKET_TYPE_ACK) && (p->header.type != PACKET_TYPE_ACK_RTS)) ||
|
||||
(rfm22b_dev->rx_packet.header.type != PACKET_TYPE_CON_REQUEST))
|
||||
rfm22_changeChannel(rfm22b_dev);
|
||||
|
||||
// Add the error correcting code.
|
||||
encode_data((unsigned char*)p, PHPacketSize(p), (unsigned char*)p);
|
||||
|
||||
rfm22b_dev->tx_packet = p;
|
||||
rfm22b_dev->packet_start_ticks = xTaskGetTickCount();
|
||||
if (rfm22b_dev->packet_start_ticks == 0)
|
||||
rfm22b_dev->packet_start_ticks = 1;
|
||||
|
||||
// disable interrupts
|
||||
rfm22_write(rfm22b_dev, RFM22_interrupt_enable1, 0x00);
|
||||
rfm22_write(rfm22b_dev, RFM22_interrupt_enable2, 0x00);
|
||||
|
||||
// TUNE mode
|
||||
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl1, RFM22_opfc1_pllon);
|
||||
|
||||
// Queue the data up for sending
|
||||
rfm22b_dev->tx_data_wr = PH_PACKET_SIZE(rfm22b_dev->tx_packet);
|
||||
|
||||
RX_LED_OFF;
|
||||
|
||||
// Set the destination address in the transmit header.
|
||||
// The destination address is the first 4 bytes of the message.
|
||||
uint8_t *tx_buffer = (uint8_t*)(rfm22b_dev->tx_packet);
|
||||
rfm22_write(rfm22b_dev, RFM22_transmit_header0, tx_buffer[0]);
|
||||
rfm22_write(rfm22b_dev, RFM22_transmit_header1, tx_buffer[1]);
|
||||
rfm22_write(rfm22b_dev, RFM22_transmit_header2, tx_buffer[2]);
|
||||
rfm22_write(rfm22b_dev, RFM22_transmit_header3, tx_buffer[3]);
|
||||
|
||||
// FIFO mode, GFSK modulation
|
||||
uint8_t fd_bit = rfm22_read(rfm22b_dev, RFM22_modulation_mode_control2) & RFM22_mmc2_fd;
|
||||
rfm22_write(rfm22b_dev, RFM22_modulation_mode_control2, fd_bit | RFM22_mmc2_dtmod_fifo |
|
||||
RFM22_mmc2_modtyp_gfsk);
|
||||
|
||||
// clear FIFOs
|
||||
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl2, RFM22_opfc2_ffclrrx | RFM22_opfc2_ffclrtx);
|
||||
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl2, 0x00);
|
||||
|
||||
// *******************
|
||||
// add some data to the chips TX FIFO before enabling the transmitter
|
||||
|
||||
// set the total number of data bytes we are going to transmit
|
||||
rfm22_write(rfm22b_dev, RFM22_transmit_packet_length, rfm22b_dev->tx_data_wr);
|
||||
|
||||
// add some data
|
||||
rfm22_claimBus(rfm22b_dev);
|
||||
rfm22_assertCs(rfm22b_dev);
|
||||
PIOS_SPI_TransferByte(rfm22b_dev->spi_id, RFM22_fifo_access | 0x80);
|
||||
int bytes_to_write = (rfm22b_dev->tx_data_wr - rfm22b_dev->tx_data_rd);
|
||||
bytes_to_write = (bytes_to_write > FIFO_SIZE) ? FIFO_SIZE: bytes_to_write;
|
||||
PIOS_SPI_TransferBlock(rfm22b_dev->spi_id, &tx_buffer[rfm22b_dev->tx_data_rd], NULL, bytes_to_write, NULL);
|
||||
rfm22b_dev->tx_data_rd += bytes_to_write;
|
||||
rfm22_deassertCs(rfm22b_dev);
|
||||
rfm22_releaseBus(rfm22b_dev);
|
||||
|
||||
// enable TX interrupts
|
||||
rfm22_write(rfm22b_dev, RFM22_interrupt_enable1, RFM22_ie1_enpksent | RFM22_ie1_entxffaem);
|
||||
|
||||
// enable the transmitter
|
||||
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl1, RFM22_opfc1_pllon | RFM22_opfc1_txon);
|
||||
|
||||
TX_LED_ON;
|
||||
|
||||
return RFM22B_EVENT_NUM_EVENTS;
|
||||
}
|
||||
|
||||
static void rfm22_sendStatus(struct pios_rfm22b_dev *rfm22b_dev)
|
||||
{
|
||||
// The coordinator doesn't send status.
|
||||
if (rfm22b_dev->coordinator)
|
||||
return;
|
||||
|
||||
// Update the link quality metric.
|
||||
rfm22_calculateLinkQuality(rfm22b_dev);
|
||||
|
||||
// Queue the status message
|
||||
if (rfm22_isConnected(rfm22b_dev))
|
||||
rfm22b_dev->status_packet.header.destination_id = rfm22b_dev->destination_id;
|
||||
else if (rfm22b_dev->coordinator)
|
||||
return;
|
||||
else
|
||||
rfm22b_dev->status_packet.header.destination_id = 0xffffffff; // Broadcast
|
||||
rfm22b_dev->status_packet.header.type = PACKET_TYPE_STATUS;
|
||||
rfm22b_dev->status_packet.header.data_size = PH_STATUS_DATA_SIZE(&(rfm22b_dev->status_packet));
|
||||
rfm22b_dev->status_packet.source_id = rfm22b_dev->deviceID;
|
||||
rfm22b_dev->status_packet.link_quality = rfm22b_dev->stats.link_quality;
|
||||
rfm22b_dev->status_packet.received_rssi = rfm22b_dev->rssi_dBm;
|
||||
rfm22b_dev->send_status = true;
|
||||
|
||||
return;
|
||||
}
|
||||
|
||||
static void rfm22_sendPPM(struct pios_rfm22b_dev *rfm22b_dev)
|
||||
{
|
||||
#ifdef PIOS_PPM_RECEIVER
|
||||
// Only send PPM if we're connected
|
||||
if (!rfm22_isConnected(rfm22b_dev)) {
|
||||
return;
|
||||
}
|
||||
|
||||
// Just return if the PPM receiver is not configured.
|
||||
if (PIOS_PPM_RECEIVER == 0) {
|
||||
return;
|
||||
}
|
||||
|
||||
// See if we have any valid channels.
|
||||
bool valid_input_detected = false;
|
||||
for (uint8_t i = 1; i <= PIOS_PPM_NUM_INPUTS; ++i)
|
||||
{
|
||||
rfm22b_dev->ppm_packet.channels[i - 1] = PIOS_RCVR_Read(PIOS_PPM_RECEIVER, i);
|
||||
if(rfm22b_dev->ppm_packet.channels[i - 1] != PIOS_RCVR_TIMEOUT)
|
||||
valid_input_detected = true;
|
||||
}
|
||||
|
||||
// Send the PPM packet if it's valid
|
||||
if (valid_input_detected)
|
||||
{
|
||||
rfm22b_dev->ppm_packet.header.destination_id = rfm22b_dev->destination_id;
|
||||
rfm22b_dev->ppm_packet.header.type = PACKET_TYPE_PPM;
|
||||
rfm22b_dev->ppm_packet.header.data_size = PH_PPM_DATA_SIZE(&(rfm22b_dev->ppm_packet));
|
||||
rfm22b_dev->send_ppm = true;
|
||||
}
|
||||
#endif
|
||||
// No event
|
||||
if (event == RFM22B_EVENT_NUM_EVENTS) {
|
||||
return RFM22B_EVENT_NUM_EVENTS;
|
||||
}
|
||||
|
||||
// Don't transition if there is no transition defined
|
||||
enum pios_rfm22b_state next_state = rfm22b_transitions[rfm22b_dev->state].next_state[event];
|
||||
if (!next_state) {
|
||||
return RFM22B_EVENT_NUM_EVENTS;
|
||||
}
|
||||
|
||||
/*
|
||||
* Move to the next state
|
||||
*
|
||||
* This is done prior to calling the new state's entry function to
|
||||
* guarantee that the entry function never depends on the previous
|
||||
* state. This way, it cannot ever know what the previous state was.
|
||||
*/
|
||||
rfm22b_dev->state = next_state;
|
||||
|
||||
/* Call the entry function (if any) for the next state. */
|
||||
if (rfm22b_transitions[rfm22b_dev->state].entry_fn) {
|
||||
return rfm22b_transitions[rfm22b_dev->state].entry_fn(rfm22b_dev);
|
||||
}
|
||||
|
||||
return RFM22B_EVENT_NUM_EVENTS;
|
||||
}
|
||||
|
||||
/**
|
||||
* Process the given event through the state transition table.
|
||||
* This could cause a series of events and transitions to take place.
|
||||
*
|
||||
* @param[in] rfm22b_dev The device structure
|
||||
* @param[in] event The event to process
|
||||
*/
|
||||
static void rfm22_process_event(struct pios_rfm22b_dev *rfm22b_dev, enum pios_rfm22b_event event)
|
||||
{
|
||||
// Process all state transitions.
|
||||
while(event != RFM22B_EVENT_NUM_EVENTS) {
|
||||
event = rfm22_process_state_transition(rfm22b_dev, event);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
/*****************************************************************************
|
||||
* The Device Initialization / Configuration Functions
|
||||
*****************************************************************************/
|
||||
|
||||
/**
|
||||
* Initialize (or re-initialize) the RFM22B radio device.
|
||||
*
|
||||
* @param[in] rfm22b_dev The device structure
|
||||
* @return enum pios_rfm22b_event The next event to inject
|
||||
*/
|
||||
static enum pios_rfm22b_event rfm22_init(struct pios_rfm22b_dev *rfm22b_dev)
|
||||
{
|
||||
|
||||
// Initialize the register values.
|
||||
rfm22b_dev->device_status = 0;
|
||||
rfm22b_dev->int_status1 = 0;
|
||||
rfm22b_dev->int_status2 = 0;
|
||||
rfm22b_dev->ezmac_status = 0;
|
||||
|
||||
// Clean the LEDs
|
||||
rfm22_clearLEDs();
|
||||
|
||||
// Initialize the detected device statistics.
|
||||
for (uint8_t i = 0; i < OPLINKSTATUS_PAIRIDS_NUMELEM; ++i) {
|
||||
rfm22b_dev->pair_stats[i].pairID = 0;
|
||||
rfm22b_dev->pair_stats[i].rssi = -127;
|
||||
rfm22b_dev->pair_stats[i].afc_correction = 0;
|
||||
rfm22b_dev->pair_stats[i].lastContact = 0;
|
||||
}
|
||||
|
||||
// Initlize the link stats.
|
||||
for (uint8_t i = 0; i < RFM22B_RX_PACKET_STATS_LEN; ++i) {
|
||||
rfm22b_dev->rx_packet_stats[i] = 0;
|
||||
}
|
||||
|
||||
// Initialize the state
|
||||
rfm22b_dev->stats.link_state = OPLINKSTATUS_LINKSTATE_DISCONNECTED;
|
||||
rfm22b_dev->destination_id = 0xffffffff;
|
||||
rfm22b_dev->time_to_send = false;
|
||||
rfm22b_dev->time_to_send_offset = 0;
|
||||
rfm22b_dev->send_status = false;
|
||||
rfm22b_dev->send_connection_request = false;
|
||||
|
||||
// Initialize the packets.
|
||||
rfm22b_dev->rx_packet_len = 0;
|
||||
rfm22b_dev->tx_packet = NULL;
|
||||
rfm22b_dev->prev_tx_packet = NULL;
|
||||
rfm22b_dev->data_packet.header.data_size = 0;
|
||||
rfm22b_dev->in_rx_mode = false;
|
||||
|
||||
// Initialize the devide state
|
||||
rfm22b_dev->device_status = rfm22b_dev->int_status1 = rfm22b_dev->int_status2 = rfm22b_dev->ezmac_status = 0;
|
||||
rfm22b_dev->rx_buffer_wr = 0;
|
||||
rfm22b_dev->tx_data_rd = rfm22b_dev->tx_data_wr = 0;
|
||||
rfm22b_dev->frequency_hop_channel = 0;
|
||||
rfm22b_dev->afc_correction_Hz = 0;
|
||||
rfm22b_dev->packet_start_ticks = 0;
|
||||
rfm22b_dev->tx_complete_ticks = 0;
|
||||
rfm22b_dev->rx_complete_ticks = 0;
|
||||
|
||||
// software reset the RF chip .. following procedure according to Si4x3x Errata (rev. B)
|
||||
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl1, RFM22_opfc1_swres);
|
||||
|
||||
for (int i = 50; i > 0; i--) {
|
||||
// read the status registers
|
||||
rfm22b_dev->int_status1 = rfm22_read(rfm22b_dev, RFM22_interrupt_status1);
|
||||
rfm22b_dev->int_status2 = rfm22_read(rfm22b_dev, RFM22_interrupt_status2);
|
||||
if (rfm22b_dev->int_status2 & RFM22_is2_ichiprdy) break;
|
||||
|
||||
// wait 1ms
|
||||
PIOS_DELAY_WaitmS(1);
|
||||
}
|
||||
|
||||
// ****************
|
||||
|
||||
// read status - clears interrupt
|
||||
rfm22b_dev->device_status = rfm22_read(rfm22b_dev, RFM22_device_status);
|
||||
rfm22b_dev->int_status1 = rfm22_read(rfm22b_dev, RFM22_interrupt_status1);
|
||||
rfm22b_dev->int_status2 = rfm22_read(rfm22b_dev, RFM22_interrupt_status2);
|
||||
rfm22b_dev->ezmac_status = rfm22_read(rfm22b_dev, RFM22_ezmac_status);
|
||||
|
||||
// disable all interrupts
|
||||
rfm22_write(rfm22b_dev, RFM22_interrupt_enable1, 0x00);
|
||||
rfm22_write(rfm22b_dev, RFM22_interrupt_enable2, 0x00);
|
||||
|
||||
// read the RF chip ID bytes
|
||||
|
||||
// read the device type
|
||||
uint8_t device_type = rfm22_read(rfm22b_dev, RFM22_DEVICE_TYPE) & RFM22_DT_MASK;
|
||||
// read the device version
|
||||
uint8_t device_version = rfm22_read(rfm22b_dev, RFM22_DEVICE_VERSION) & RFM22_DV_MASK;
|
||||
|
||||
#if defined(RFM22_DEBUG)
|
||||
DEBUG_PRINTF(2, "rf device type: %d\n\r", device_type);
|
||||
DEBUG_PRINTF(2, "rf device version: %d\n\r", device_version);
|
||||
#endif
|
||||
|
||||
if (device_type != 0x08) {
|
||||
#if defined(RFM22_DEBUG)
|
||||
DEBUG_PRINTF(2, "rf device type: INCORRECT - should be 0x08\n\r");
|
||||
#endif
|
||||
|
||||
// incorrect RF module type
|
||||
return RFM22B_EVENT_FATAL_ERROR;
|
||||
}
|
||||
if (device_version != RFM22_DEVICE_VERSION_B1) {
|
||||
#if defined(RFM22_DEBUG)
|
||||
DEBUG_PRINTF(2, "rf device version: INCORRECT\n\r");
|
||||
#endif
|
||||
// incorrect RF module version
|
||||
return RFM22B_EVENT_FATAL_ERROR;
|
||||
}
|
||||
|
||||
// calibrate our RF module to be exactly on frequency .. different for every module
|
||||
rfm22_write(rfm22b_dev, RFM22_xtal_osc_load_cap, OSC_LOAD_CAP);
|
||||
|
||||
// disable Low Duty Cycle Mode
|
||||
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl2, 0x00);
|
||||
|
||||
// 1MHz clock output
|
||||
rfm22_write(rfm22b_dev, RFM22_cpu_output_clk, RFM22_coc_1MHz);
|
||||
|
||||
// READY mode
|
||||
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl1, RFM22_opfc1_xton);
|
||||
|
||||
// choose the 3 GPIO pin functions
|
||||
// GPIO port use default value
|
||||
rfm22_write(rfm22b_dev, RFM22_io_port_config, RFM22_io_port_default);
|
||||
if (rfm22b_dev->cfg.gpio_direction == GPIO0_TX_GPIO1_RX) {
|
||||
// GPIO0 = TX State (to control RF Switch)
|
||||
rfm22_write(rfm22b_dev, RFM22_gpio0_config, RFM22_gpio0_config_drv3 | RFM22_gpio0_config_txstate);
|
||||
// GPIO1 = RX State (to control RF Switch)
|
||||
rfm22_write(rfm22b_dev, RFM22_gpio1_config, RFM22_gpio1_config_drv3 | RFM22_gpio1_config_rxstate);
|
||||
} else {
|
||||
// GPIO0 = TX State (to control RF Switch)
|
||||
rfm22_write(rfm22b_dev, RFM22_gpio0_config, RFM22_gpio0_config_drv3 | RFM22_gpio0_config_rxstate);
|
||||
// GPIO1 = RX State (to control RF Switch)
|
||||
rfm22_write(rfm22b_dev, RFM22_gpio1_config, RFM22_gpio1_config_drv3 | RFM22_gpio1_config_txstate);
|
||||
}
|
||||
// GPIO2 = Clear Channel Assessment
|
||||
rfm22_write(rfm22b_dev, RFM22_gpio2_config, RFM22_gpio2_config_drv3 | RFM22_gpio2_config_cca);
|
||||
|
||||
// FIFO mode, GFSK modulation
|
||||
uint8_t fd_bit = rfm22_read(rfm22b_dev, RFM22_modulation_mode_control2) & RFM22_mmc2_fd;
|
||||
rfm22_write(rfm22b_dev, RFM22_modulation_mode_control2, RFM22_mmc2_trclk_clk_none | RFM22_mmc2_dtmod_fifo | fd_bit | RFM22_mmc2_modtyp_gfsk);
|
||||
|
||||
// setup to read the internal temperature sensor
|
||||
|
||||
// ADC used to sample the temperature sensor
|
||||
uint8_t adc_config = RFM22_ac_adcsel_temp_sensor | RFM22_ac_adcref_bg;
|
||||
rfm22_write(rfm22b_dev, RFM22_adc_config, adc_config);
|
||||
|
||||
// adc offset
|
||||
rfm22_write(rfm22b_dev, RFM22_adc_sensor_amp_offset, 0);
|
||||
|
||||
// temp sensor calibration .. <20>40C to +64C 0.5C resolution
|
||||
rfm22_write(rfm22b_dev, RFM22_temp_sensor_calib, RFM22_tsc_tsrange0 | RFM22_tsc_entsoffs);
|
||||
|
||||
// temp sensor offset
|
||||
rfm22_write(rfm22b_dev, RFM22_temp_value_offset, 0);
|
||||
|
||||
// start an ADC conversion
|
||||
rfm22_write(rfm22b_dev, RFM22_adc_config, adc_config | RFM22_ac_adcstartbusy);
|
||||
|
||||
// set the RSSI threshold interrupt to about -90dBm
|
||||
rfm22_write(rfm22b_dev, RFM22_rssi_threshold_clear_chan_indicator, (-90 + 122) * 2);
|
||||
|
||||
// enable the internal Tx & Rx packet handlers (without CRC)
|
||||
rfm22_write(rfm22b_dev, RFM22_data_access_control, RFM22_dac_enpacrx | RFM22_dac_enpactx);
|
||||
|
||||
// x-nibbles tx preamble
|
||||
rfm22_write(rfm22b_dev, RFM22_preamble_length, TX_PREAMBLE_NIBBLES);
|
||||
// x-nibbles rx preamble detection
|
||||
rfm22_write(rfm22b_dev, RFM22_preamble_detection_ctrl1, RX_PREAMBLE_NIBBLES << 3);
|
||||
|
||||
// header control - using a 4 by header with broadcast of 0xffffffff
|
||||
rfm22_write(rfm22b_dev, RFM22_header_control1,
|
||||
RFM22_header_cntl1_bcen_0 |
|
||||
RFM22_header_cntl1_bcen_1 |
|
||||
RFM22_header_cntl1_bcen_2 |
|
||||
RFM22_header_cntl1_bcen_3 |
|
||||
RFM22_header_cntl1_hdch_0 |
|
||||
RFM22_header_cntl1_hdch_1 |
|
||||
RFM22_header_cntl1_hdch_2 |
|
||||
RFM22_header_cntl1_hdch_3);
|
||||
// Check all bit of all bytes of the header
|
||||
rfm22_write(rfm22b_dev, RFM22_header_enable0, 0xff);
|
||||
rfm22_write(rfm22b_dev, RFM22_header_enable1, 0xff);
|
||||
rfm22_write(rfm22b_dev, RFM22_header_enable2, 0xff);
|
||||
rfm22_write(rfm22b_dev, RFM22_header_enable3, 0xff);
|
||||
// Set the ID to be checked
|
||||
uint32_t id = rfm22b_dev->deviceID;
|
||||
rfm22_write(rfm22b_dev, RFM22_check_header0, id & 0xff);
|
||||
rfm22_write(rfm22b_dev, RFM22_check_header1, (id >> 8) & 0xff);
|
||||
rfm22_write(rfm22b_dev, RFM22_check_header2, (id >> 16) & 0xff);
|
||||
rfm22_write(rfm22b_dev, RFM22_check_header3, (id >> 24) & 0xff);
|
||||
// 4 header bytes, synchronization word length 3, 2, 1 & 0 used, packet length included in header.
|
||||
rfm22_write(rfm22b_dev, RFM22_header_control2,
|
||||
RFM22_header_cntl2_hdlen_3210 |
|
||||
RFM22_header_cntl2_synclen_3210 |
|
||||
((TX_PREAMBLE_NIBBLES >> 8) & 0x01));
|
||||
|
||||
// sync word
|
||||
rfm22_write(rfm22b_dev, RFM22_sync_word3, SYNC_BYTE_1);
|
||||
rfm22_write(rfm22b_dev, RFM22_sync_word2, SYNC_BYTE_2);
|
||||
rfm22_write(rfm22b_dev, RFM22_sync_word1, SYNC_BYTE_3);
|
||||
rfm22_write(rfm22b_dev, RFM22_sync_word0, SYNC_BYTE_4);
|
||||
|
||||
// set the tx power
|
||||
rfm22_write(rfm22b_dev, RFM22_tx_power, RFM22_tx_pwr_lna_sw | rfm22b_dev->tx_power);
|
||||
|
||||
// TX FIFO Almost Full Threshold (0 - 63)
|
||||
rfm22_write(rfm22b_dev, RFM22_tx_fifo_control1, TX_FIFO_HI_WATERMARK);
|
||||
|
||||
// TX FIFO Almost Empty Threshold (0 - 63)
|
||||
rfm22_write(rfm22b_dev, RFM22_tx_fifo_control2, TX_FIFO_LO_WATERMARK);
|
||||
|
||||
// RX FIFO Almost Full Threshold (0 - 63)
|
||||
rfm22_write(rfm22b_dev, RFM22_rx_fifo_control, RX_FIFO_HI_WATERMARK);
|
||||
|
||||
// Set the frequency calibration
|
||||
rfm22_write(rfm22b_dev, RFM22_xtal_osc_load_cap, rfm22b_dev->cfg.RFXtalCap);
|
||||
|
||||
// Initialize the frequency and datarate to te default.
|
||||
rfm22_setNominalCarrierFrequency(rfm22b_dev, rfm22b_dev->init_frequency, rfm22b_dev->init_frequency, RFM22B_FREQUENCY_HOP_STEP_SIZE);
|
||||
rfm22_setDatarate(rfm22b_dev, RFM22B_DEFAULT_RX_DATARATE, true);
|
||||
|
||||
return RFM22B_EVENT_INITIALIZED;
|
||||
}
|
||||
|
||||
/**
|
||||
* Set the air datarate for the RFM22B device.
|
||||
*
|
||||
* Carson's rule:
|
||||
* The signal bandwidth is about 2(Delta-f + fm) ..
|
||||
*
|
||||
* Delta-f = frequency deviation
|
||||
* fm = maximum frequency of the signal
|
||||
*
|
||||
* @param[in] rfm33b_dev The device structure pointer.
|
||||
* @param[in] datarate The air datarate.
|
||||
* @param[in] data_whitening Is data whitening desired?
|
||||
*/
|
||||
static void rfm22_setDatarate(struct pios_rfm22b_dev *rfm22b_dev, enum rfm22b_datarate datarate, bool data_whitening)
|
||||
{
|
||||
uint32_t datarate_bps = data_rate[datarate];
|
||||
rfm22b_dev->max_packet_time = (uint16_t)((float)(PIOS_PH_MAX_PACKET * 8 * 1000) / (float)(datarate_bps) + 0.5);
|
||||
|
||||
// Generate a pseudo-random number from 0-8 to add to the delay
|
||||
uint8_t random = PIOS_CRC_updateByte(0, (uint8_t)(xTaskGetTickCount() & 0xff)) & 0x03;
|
||||
rfm22b_dev->max_ack_delay = (uint16_t)((float)((sizeof(PHAckNackPacket) * 8 + TX_PREAMBLE_NIBBLES * 4) * 1000) / (float)(datarate_bps) + 0.5) * 4 + 4 + random;
|
||||
|
||||
// rfm22_if_filter_bandwidth
|
||||
rfm22_write(rfm22b_dev, 0x1C, reg_1C[datarate]);
|
||||
|
||||
// rfm22_afc_loop_gearshift_override
|
||||
rfm22_write(rfm22b_dev, 0x1D, reg_1D[datarate]);
|
||||
// RFM22_afc_timing_control
|
||||
rfm22_write(rfm22b_dev, 0x1E, reg_1E[datarate]);
|
||||
|
||||
// RFM22_clk_recovery_gearshift_override
|
||||
rfm22_write(rfm22b_dev, 0x1F, reg_1F[datarate]);
|
||||
// rfm22_clk_recovery_oversampling_ratio
|
||||
rfm22_write(rfm22b_dev, 0x20, reg_20[datarate]);
|
||||
// rfm22_clk_recovery_offset2
|
||||
rfm22_write(rfm22b_dev, 0x21, reg_21[datarate]);
|
||||
// rfm22_clk_recovery_offset1
|
||||
rfm22_write(rfm22b_dev, 0x22, reg_22[datarate]);
|
||||
// rfm22_clk_recovery_offset0
|
||||
rfm22_write(rfm22b_dev, 0x23, reg_23[datarate]);
|
||||
// rfm22_clk_recovery_timing_loop_gain1
|
||||
rfm22_write(rfm22b_dev, 0x24, reg_24[datarate]);
|
||||
// rfm22_clk_recovery_timing_loop_gain0
|
||||
rfm22_write(rfm22b_dev, 0x25, reg_25[datarate]);
|
||||
// rfm22_agc_override1
|
||||
rfm22_write(rfm22b_dev, RFM22_agc_override1, reg_69[datarate]);
|
||||
|
||||
// rfm22_afc_limiter
|
||||
rfm22_write(rfm22b_dev, 0x2A, reg_2A[datarate]);
|
||||
|
||||
// rfm22_tx_data_rate1
|
||||
rfm22_write(rfm22b_dev, 0x6E, reg_6E[datarate]);
|
||||
// rfm22_tx_data_rate0
|
||||
rfm22_write(rfm22b_dev, 0x6F, reg_6F[datarate]);
|
||||
|
||||
if (!data_whitening) {
|
||||
// rfm22_modulation_mode_control1
|
||||
rfm22_write(rfm22b_dev, 0x70, reg_70[datarate] & ~RFM22_mmc1_enwhite);
|
||||
} else {
|
||||
// rfm22_modulation_mode_control1
|
||||
rfm22_write(rfm22b_dev, 0x70, reg_70[datarate] | RFM22_mmc1_enwhite);
|
||||
}
|
||||
|
||||
// rfm22_modulation_mode_control2
|
||||
rfm22_write(rfm22b_dev, 0x71, reg_71[datarate]);
|
||||
|
||||
// rfm22_frequency_deviation
|
||||
rfm22_write(rfm22b_dev, 0x72, reg_72[datarate]);
|
||||
|
||||
// rfm22_cpcuu
|
||||
rfm22_write(rfm22b_dev, 0x58, reg_58[datarate]);
|
||||
|
||||
rfm22_write(rfm22b_dev, RFM22_ook_counter_value1, 0x00);
|
||||
rfm22_write(rfm22b_dev, RFM22_ook_counter_value2, 0x00);
|
||||
}
|
||||
|
||||
/**
|
||||
* Set the nominal carrier frequency and channel step size.
|
||||
*
|
||||
* @param[in] rfm33b_dev The device structure pointer.
|
||||
* @param[in] min_frequency The minimum frequenc to transmit on (in Hz).
|
||||
* @param[in] max_frequency The maximum frequenc to transmit on (in Hz).
|
||||
* @param[in] step_size The channel spacing (in Hz).
|
||||
*/
|
||||
static void rfm22_setNominalCarrierFrequency(struct pios_rfm22b_dev *rfm22b_dev, uint32_t min_frequency, uint32_t max_frequency, uint32_t step_size)
|
||||
{
|
||||
uint32_t frequency_hz = min_frequency;
|
||||
|
||||
// holds the hbsel (1 or 2)
|
||||
uint8_t hbsel;
|
||||
if (frequency_hz < 480000000) {
|
||||
hbsel = 0;
|
||||
} else {
|
||||
hbsel = 1;
|
||||
}
|
||||
float freq_mhz = (float)(frequency_hz) / 1000000.0;
|
||||
float xtal_freq_khz = 30000;
|
||||
float sfreq = freq_mhz / (10.0 * (xtal_freq_khz / 30000.0) * (1 + hbsel));
|
||||
uint32_t fb = (uint32_t)sfreq - 24 + (64 + 32 * hbsel);
|
||||
uint32_t fc = (uint32_t)((sfreq - (uint32_t)sfreq) * 64000.0);
|
||||
uint8_t fch = (fc >> 8) & 0xff;
|
||||
uint8_t fcl = fc & 0xff;
|
||||
|
||||
// Calculate the number of frequency hopping channels.
|
||||
rfm22b_dev->num_channels = (step_size == 0) ? 1 : (uint16_t)((max_frequency - min_frequency) / step_size);
|
||||
|
||||
// initialize the frequency hopping step size (specified in 10khz increments).
|
||||
uint32_t freq_hop_step_size = step_size / 10000;
|
||||
if (freq_hop_step_size > 255) {
|
||||
freq_hop_step_size = 255;
|
||||
}
|
||||
rfm22_write(rfm22b_dev, RFM22_frequency_hopping_step_size, (uint8_t)freq_hop_step_size);
|
||||
|
||||
// frequency hopping channel (0-255)
|
||||
rfm22b_dev->frequency_step_size = 156.25f * hbsel;
|
||||
|
||||
// frequency hopping channel (0-255)
|
||||
rfm22b_dev->frequency_hop_channel = 0;
|
||||
rfm22_write(rfm22b_dev, RFM22_frequency_hopping_channel_select, 0);
|
||||
|
||||
// no frequency offset
|
||||
rfm22_write(rfm22b_dev, RFM22_frequency_offset1, 0);
|
||||
rfm22_write(rfm22b_dev, RFM22_frequency_offset2, 0);
|
||||
|
||||
// set the carrier frequency
|
||||
rfm22_write(rfm22b_dev, RFM22_frequency_band_select, fb & 0xff);
|
||||
rfm22_write(rfm22b_dev, RFM22_nominal_carrier_frequency1, fch);
|
||||
rfm22_write(rfm22b_dev, RFM22_nominal_carrier_frequency0, fcl);
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* Set the frequency hopping channel.
|
||||
*
|
||||
* @param[in] rfm33b_dev The device structure pointer.
|
||||
*/
|
||||
static bool rfm22_setFreqHopChannel(struct pios_rfm22b_dev *rfm22b_dev, uint8_t channel)
|
||||
{
|
||||
// set the frequency hopping channel
|
||||
if (rfm22b_dev->frequency_hop_channel == channel) {
|
||||
return false;
|
||||
}
|
||||
rfm22b_dev->frequency_hop_channel = channel;
|
||||
rfm22_write(rfm22b_dev, RFM22_frequency_hopping_channel_select, channel);
|
||||
return true;
|
||||
}
|
||||
|
||||
|
||||
/*****************************************************************************
|
||||
* Radio Transmit and Receive functions.
|
||||
*****************************************************************************/
|
||||
|
||||
/**
|
||||
* Read the RFM22B interrupt and device status registers
|
||||
* \param[in] rfm22b_dev The device structure
|
||||
*
|
||||
* @param[in] rfm22b_dev The device structure
|
||||
*/
|
||||
static bool rfm22_readStatus(struct pios_rfm22b_dev *rfm22b_dev)
|
||||
{
|
||||
|
||||
// 1. Read the interrupt statuses with burst read
|
||||
rfm22_claimBus(rfm22b_dev); // Set RC and the semaphore
|
||||
uint8_t write_buf[3] = {RFM22_interrupt_status1 & 0x7f, 0xFF, 0xFF};
|
||||
uint8_t read_buf[3];
|
||||
rfm22_assertCs(rfm22b_dev);
|
||||
PIOS_SPI_TransferBlock(rfm22b_dev->spi_id, write_buf, read_buf, sizeof(write_buf), NULL);
|
||||
rfm22_deassertCs(rfm22b_dev);
|
||||
rfm22b_dev->int_status1 = read_buf[1];
|
||||
rfm22b_dev->int_status2 = read_buf[2];
|
||||
// 1. Read the interrupt statuses with burst read
|
||||
rfm22_claimBus(rfm22b_dev); // Set RC and the semaphore
|
||||
uint8_t write_buf[3] = {RFM22_interrupt_status1 & 0x7f, 0xFF, 0xFF};
|
||||
uint8_t read_buf[3];
|
||||
rfm22_assertCs(rfm22b_dev);
|
||||
PIOS_SPI_TransferBlock(rfm22b_dev->spi_id, write_buf, read_buf, sizeof(write_buf), NULL);
|
||||
rfm22_deassertCs(rfm22b_dev);
|
||||
rfm22b_dev->int_status1 = read_buf[1];
|
||||
rfm22b_dev->int_status2 = read_buf[2];
|
||||
|
||||
// Device status
|
||||
rfm22b_dev->device_status = rfm22_read_noclaim(rfm22b_dev, RFM22_device_status);
|
||||
// Device status
|
||||
rfm22b_dev->device_status = rfm22_read_noclaim(rfm22b_dev, RFM22_device_status);
|
||||
|
||||
// EzMAC status
|
||||
rfm22b_dev->ezmac_status = rfm22_read_noclaim(rfm22b_dev, RFM22_ezmac_status);
|
||||
// EzMAC status
|
||||
rfm22b_dev->ezmac_status = rfm22_read_noclaim(rfm22b_dev, RFM22_ezmac_status);
|
||||
|
||||
// Release the bus
|
||||
rfm22_releaseBus(rfm22b_dev);
|
||||
// Release the bus
|
||||
rfm22_releaseBus(rfm22b_dev);
|
||||
|
||||
// the RF module has gone and done a reset - we need to re-initialize the rf module
|
||||
if (rfm22b_dev->int_status2 & RFM22_is2_ipor)
|
||||
return false;
|
||||
// the RF module has gone and done a reset - we need to re-initialize the rf module
|
||||
if (rfm22b_dev->int_status2 & RFM22_is2_ipor) {
|
||||
return false;
|
||||
}
|
||||
|
||||
return true;
|
||||
return true;
|
||||
}
|
||||
|
||||
/**
|
||||
* Add a status value to the RX packet status array.
|
||||
* \param[in] rfm22b_dev The device structure
|
||||
* \param[in] status The packet status value
|
||||
* Switch the radio into receive mode.
|
||||
*
|
||||
* @param[in] rfm22b_dev The device structure
|
||||
* @return enum pios_rfm22b_event The next event to inject
|
||||
*/
|
||||
static void rfm22b_add_rx_status(struct pios_rfm22b_dev *rfm22b_dev, enum pios_rfm22b_rx_packet_status status)
|
||||
static enum pios_rfm22b_event rfm22_setRxMode(struct pios_rfm22b_dev *rfm22b_dev)
|
||||
{
|
||||
// Shift the status registers
|
||||
for (uint8_t i = RFM22B_RX_PACKET_STATS_LEN - 1; i > 0; --i)
|
||||
{
|
||||
rfm22b_dev->rx_packet_stats[i] = (rfm22b_dev->rx_packet_stats[i] << 2) | (rfm22b_dev->rx_packet_stats[i - 1] >> 30);
|
||||
}
|
||||
rfm22b_dev->rx_packet_stats[0] = (rfm22b_dev->rx_packet_stats[0] << 2) | status;
|
||||
// Are we already in Rx mode?
|
||||
if (rfm22b_dev->in_rx_mode) {
|
||||
return RFM22B_EVENT_NUM_EVENTS;
|
||||
}
|
||||
rfm22b_dev->packet_start_ticks = 0;
|
||||
#if defined(PIOS_RFM22B_DEBUG_ON_TELEM) || defined(PIOS_RFM22B_DEBUG_ON_RCVR)
|
||||
D2_LED_ON;
|
||||
#endif // PIOS_RFM22B_DEBUG_ON_TELEM
|
||||
|
||||
// disable interrupts
|
||||
rfm22_write(rfm22b_dev, RFM22_interrupt_enable1, 0x00);
|
||||
rfm22_write(rfm22b_dev, RFM22_interrupt_enable2, 0x00);
|
||||
|
||||
// Switch to TUNE mode
|
||||
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl1, RFM22_opfc1_pllon);
|
||||
|
||||
RX_LED_OFF;
|
||||
TX_LED_OFF;
|
||||
|
||||
// empty the rx buffer
|
||||
rfm22b_dev->rx_buffer_wr = 0;
|
||||
|
||||
// Clear the TX buffer.
|
||||
rfm22b_dev->tx_data_rd = rfm22b_dev->tx_data_wr = 0;
|
||||
|
||||
// clear FIFOs
|
||||
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl2, RFM22_opfc2_ffclrrx | RFM22_opfc2_ffclrtx);
|
||||
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl2, 0x00);
|
||||
|
||||
// enable RX interrupts
|
||||
rfm22_write(rfm22b_dev, RFM22_interrupt_enable1, RFM22_ie1_encrcerror | RFM22_ie1_enpkvalid |
|
||||
RFM22_ie1_enrxffafull | RFM22_ie1_enfferr);
|
||||
rfm22_write(rfm22b_dev, RFM22_interrupt_enable2, RFM22_ie2_enpreainval | RFM22_ie2_enpreaval |
|
||||
RFM22_ie2_enswdet);
|
||||
|
||||
// enable the receiver
|
||||
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl1, RFM22_opfc1_pllon | RFM22_opfc1_rxon);
|
||||
|
||||
// Indicate that we're in RX mode.
|
||||
rfm22b_dev->in_rx_mode = true;
|
||||
|
||||
// No event generated
|
||||
return RFM22B_EVENT_NUM_EVENTS;
|
||||
}
|
||||
|
||||
/**
|
||||
* Detect the preamble
|
||||
*
|
||||
* @param[in] rfm22b_dev The device structure
|
||||
* @return enum pios_rfm22b_event The next event to inject
|
||||
*/
|
||||
static enum pios_rfm22b_event rfm22_detectPreamble(struct pios_rfm22b_dev *rfm22b_dev)
|
||||
{
|
||||
// Read the device status registers
|
||||
if (!rfm22_readStatus(rfm22b_dev))
|
||||
return RFM22B_EVENT_FAILURE;
|
||||
// Read the device status registers
|
||||
if (!rfm22_readStatus(rfm22b_dev))
|
||||
return RFM22B_EVENT_FAILURE;
|
||||
|
||||
// Valid preamble detected
|
||||
if (rfm22b_dev->int_status2 & RFM22_is2_ipreaval)
|
||||
{
|
||||
rfm22b_dev->packet_start_ticks = xTaskGetTickCount();
|
||||
if (rfm22b_dev->packet_start_ticks == 0)
|
||||
rfm22b_dev->packet_start_ticks = 1;
|
||||
RX_LED_ON;
|
||||
return RFM22B_EVENT_PREAMBLE_DETECTED;
|
||||
}
|
||||
// Valid preamble detected
|
||||
if (rfm22b_dev->int_status2 & RFM22_is2_ipreaval) {
|
||||
rfm22b_dev->packet_start_ticks = xTaskGetTickCount();
|
||||
if (rfm22b_dev->packet_start_ticks == 0)
|
||||
rfm22b_dev->packet_start_ticks = 1;
|
||||
RX_LED_ON;
|
||||
return RFM22B_EVENT_PREAMBLE_DETECTED;
|
||||
}
|
||||
|
||||
return RFM22B_EVENT_NUM_EVENTS;
|
||||
return RFM22B_EVENT_NUM_EVENTS;
|
||||
}
|
||||
|
||||
/**
|
||||
* Detect the sync
|
||||
*
|
||||
* @param[in] rfm22b_dev The device structure
|
||||
* @return enum pios_rfm22b_event The next event to inject
|
||||
*/
|
||||
static enum pios_rfm22b_event rfm22_detectSync(struct pios_rfm22b_dev *rfm22b_dev)
|
||||
{
|
||||
|
||||
// Read the device status registers
|
||||
if (!rfm22_readStatus(rfm22b_dev))
|
||||
return RFM22B_EVENT_FAILURE;
|
||||
// Read the device status registers
|
||||
if (!rfm22_readStatus(rfm22b_dev))
|
||||
return RFM22B_EVENT_FAILURE;
|
||||
|
||||
// Sync word detected
|
||||
if (rfm22b_dev->int_status2 & RFM22_is2_iswdet)
|
||||
{
|
||||
RX_LED_ON;
|
||||
// Sync word detected
|
||||
if (rfm22b_dev->int_status2 & RFM22_is2_iswdet) {
|
||||
RX_LED_ON;
|
||||
|
||||
// read the 10-bit signed afc correction value
|
||||
// bits 9 to 2
|
||||
uint16_t afc_correction = (uint16_t)rfm22_read(rfm22b_dev, RFM22_afc_correction_read) << 8;
|
||||
// bits 1 & 0
|
||||
afc_correction |= (uint16_t)rfm22_read(rfm22b_dev, RFM22_ook_counter_value1) & 0x00c0;
|
||||
afc_correction >>= 6;
|
||||
// convert the afc value to Hz
|
||||
int32_t afc_corr = (int32_t)(rfm22b_dev->frequency_step_size * afc_correction + 0.5f);
|
||||
rfm22b_dev->afc_correction_Hz = (afc_corr < -127) ? -127 : ((afc_corr > 127) ? 127 : afc_corr);
|
||||
// read the 10-bit signed afc correction value
|
||||
// bits 9 to 2
|
||||
uint16_t afc_correction = (uint16_t)rfm22_read(rfm22b_dev, RFM22_afc_correction_read) << 8;
|
||||
// bits 1 & 0
|
||||
afc_correction |= (uint16_t)rfm22_read(rfm22b_dev, RFM22_ook_counter_value1) & 0x00c0;
|
||||
afc_correction >>= 6;
|
||||
// convert the afc value to Hz
|
||||
int32_t afc_corr = (int32_t)(rfm22b_dev->frequency_step_size * afc_correction + 0.5f);
|
||||
rfm22b_dev->afc_correction_Hz = (afc_corr < -127) ? -127 : ((afc_corr > 127) ? 127 : afc_corr);
|
||||
|
||||
// read rx signal strength .. 45 = -100dBm, 205 = -20dBm
|
||||
uint8_t rssi = rfm22_read(rfm22b_dev, RFM22_rssi);
|
||||
// convert to dBm
|
||||
rfm22b_dev->rssi_dBm = (int8_t)(rssi >> 1) - 122;
|
||||
// read rx signal strength .. 45 = -100dBm, 205 = -20dBm
|
||||
uint8_t rssi = rfm22_read(rfm22b_dev, RFM22_rssi);
|
||||
// convert to dBm
|
||||
rfm22b_dev->rssi_dBm = (int8_t)(rssi >> 1) - 122;
|
||||
|
||||
return RFM22B_EVENT_SYNC_DETECTED;
|
||||
}
|
||||
else if (rfm22b_dev->int_status2 & !RFM22_is2_ipreaval)
|
||||
// Waiting for sync timed out.
|
||||
return RFM22B_EVENT_FAILURE;
|
||||
return RFM22B_EVENT_SYNC_DETECTED;
|
||||
} else if (rfm22b_dev->int_status2 & !RFM22_is2_ipreaval) {
|
||||
// Waiting for sync timed out.
|
||||
return RFM22B_EVENT_FAILURE;
|
||||
}
|
||||
|
||||
return RFM22B_EVENT_NUM_EVENTS;
|
||||
}
|
||||
|
||||
static bool rfm22_receivePacket(struct pios_rfm22b_dev *rfm22b_dev, PHPacketHandle p, uint16_t rx_len)
|
||||
{
|
||||
|
||||
// Attempt to correct any errors in the packet.
|
||||
decode_data((unsigned char*)p, rx_len);
|
||||
|
||||
bool good_packet = check_syndrome() == 0;
|
||||
bool corrected_packet = false;
|
||||
// We have an error. Try to correct it.
|
||||
if(!good_packet && (correct_errors_erasures((unsigned char*)p, rx_len, 0, 0) != 0))
|
||||
// We corrected it
|
||||
corrected_packet = true;
|
||||
|
||||
// Add any missed packets into the stats.
|
||||
bool ack_nack_packet = ((p->header.type == PACKET_TYPE_ACK) || (p->header.type == PACKET_TYPE_ACK_RTS) || (p->header.type == PACKET_TYPE_NACK));
|
||||
if (!ack_nack_packet && (good_packet || corrected_packet))
|
||||
{
|
||||
uint16_t seq_num = p->header.seq_num;
|
||||
if (rfm22_isConnected(rfm22b_dev)) {
|
||||
static bool first_time = true;
|
||||
uint16_t missed_packets = 0;
|
||||
if (first_time)
|
||||
first_time = false;
|
||||
else
|
||||
{
|
||||
uint16_t prev_seq_num = rfm22b_dev->stats.rx_seq;
|
||||
if (seq_num > prev_seq_num)
|
||||
missed_packets = seq_num - prev_seq_num - 1;
|
||||
else if((seq_num == prev_seq_num) && (p->header.type == PACKET_TYPE_DATA))
|
||||
p->header.type = PACKET_TYPE_DUPLICATE_DATA;
|
||||
}
|
||||
rfm22b_dev->stats.rx_missed += missed_packets;
|
||||
}
|
||||
rfm22b_dev->stats.rx_seq = seq_num;
|
||||
}
|
||||
|
||||
// Set the packet status
|
||||
if (good_packet)
|
||||
rfm22b_add_rx_status(rfm22b_dev, RFM22B_GOOD_RX_PACKET);
|
||||
else if(corrected_packet)
|
||||
// We corrected the error.
|
||||
rfm22b_add_rx_status(rfm22b_dev, RFM22B_CORRECTED_RX_PACKET);
|
||||
else
|
||||
// We couldn't correct the error, so drop the packet.
|
||||
rfm22b_add_rx_status(rfm22b_dev, RFM22B_ERROR_RX_PACKET);
|
||||
|
||||
return (good_packet || corrected_packet);
|
||||
return RFM22B_EVENT_NUM_EVENTS;
|
||||
}
|
||||
|
||||
/**
|
||||
* Receive the packet data.
|
||||
*
|
||||
* @param[in] rfm22b_dev The device structure
|
||||
* @return enum pios_rfm22b_event The next event to inject
|
||||
*/
|
||||
static enum pios_rfm22b_event rfm22_rxData(struct pios_rfm22b_dev *rfm22b_dev)
|
||||
{
|
||||
// Swap in the next packet buffer if required.
|
||||
uint8_t *rx_buffer = (uint8_t*)&(rfm22b_dev->rx_packet);
|
||||
// Swap in the next packet buffer if required.
|
||||
uint8_t *rx_buffer = (uint8_t*)&(rfm22b_dev->rx_packet);
|
||||
|
||||
// Read the device status registers
|
||||
if (!rfm22_readStatus(rfm22b_dev))
|
||||
return RFM22B_EVENT_FAILURE;
|
||||
// Read the device status registers
|
||||
if (!rfm22_readStatus(rfm22b_dev)) {
|
||||
return RFM22B_EVENT_FAILURE;
|
||||
}
|
||||
|
||||
// FIFO under/over flow error. Restart RX mode.
|
||||
if (rfm22b_dev->int_status1 & RFM22_is1_ifferr)
|
||||
return RFM22B_EVENT_FAILURE;
|
||||
// FIFO under/over flow error. Restart RX mode.
|
||||
if (rfm22b_dev->int_status1 & RFM22_is1_ifferr) {
|
||||
return RFM22B_EVENT_FAILURE;
|
||||
}
|
||||
|
||||
// RX FIFO almost full, it needs emptying
|
||||
if (rfm22b_dev->int_status1 & RFM22_is1_irxffafull)
|
||||
{
|
||||
// read data from the rf chips FIFO buffer
|
||||
// read the total length of the packet data
|
||||
uint16_t len = rfm22_read(rfm22b_dev, RFM22_received_packet_length);
|
||||
// RX FIFO almost full, it needs emptying
|
||||
if (rfm22b_dev->int_status1 & RFM22_is1_irxffafull) {
|
||||
// read data from the rf chips FIFO buffer
|
||||
// read the total length of the packet data
|
||||
uint16_t len = rfm22_read(rfm22b_dev, RFM22_received_packet_length);
|
||||
|
||||
// The received packet is going to be larger than the specified length
|
||||
if ((rfm22b_dev->rx_buffer_wr + RX_FIFO_HI_WATERMARK) > len)
|
||||
return RFM22B_EVENT_FAILURE;
|
||||
// The received packet is going to be larger than the specified length
|
||||
if ((rfm22b_dev->rx_buffer_wr + RX_FIFO_HI_WATERMARK) > len) {
|
||||
return RFM22B_EVENT_FAILURE;
|
||||
}
|
||||
|
||||
// Another packet length error.
|
||||
if (((rfm22b_dev->rx_buffer_wr + RX_FIFO_HI_WATERMARK) >= len) && !(rfm22b_dev->int_status1 & RFM22_is1_ipkvalid))
|
||||
return RFM22B_EVENT_FAILURE;
|
||||
// Another packet length error.
|
||||
if (((rfm22b_dev->rx_buffer_wr + RX_FIFO_HI_WATERMARK) >= len) && !(rfm22b_dev->int_status1 & RFM22_is1_ipkvalid)) {
|
||||
return RFM22B_EVENT_FAILURE;
|
||||
}
|
||||
|
||||
// Fetch the data from the RX FIFO
|
||||
rfm22_claimBus(rfm22b_dev);
|
||||
rfm22_assertCs(rfm22b_dev);
|
||||
PIOS_SPI_TransferByte(rfm22b_dev->spi_id,RFM22_fifo_access & 0x7F);
|
||||
rfm22b_dev->rx_buffer_wr += (PIOS_SPI_TransferBlock(rfm22b_dev->spi_id ,OUT_FF, (uint8_t *)&rx_buffer[rfm22b_dev->rx_buffer_wr], RX_FIFO_HI_WATERMARK, NULL) == 0) ? RX_FIFO_HI_WATERMARK : 0;
|
||||
rfm22_deassertCs(rfm22b_dev);
|
||||
rfm22_releaseBus(rfm22b_dev);
|
||||
}
|
||||
// Fetch the data from the RX FIFO
|
||||
rfm22_claimBus(rfm22b_dev);
|
||||
rfm22_assertCs(rfm22b_dev);
|
||||
PIOS_SPI_TransferByte(rfm22b_dev->spi_id,RFM22_fifo_access & 0x7F);
|
||||
rfm22b_dev->rx_buffer_wr += (PIOS_SPI_TransferBlock(rfm22b_dev->spi_id ,OUT_FF, (uint8_t *)&rx_buffer[rfm22b_dev->rx_buffer_wr], RX_FIFO_HI_WATERMARK, NULL) == 0) ? RX_FIFO_HI_WATERMARK : 0;
|
||||
rfm22_deassertCs(rfm22b_dev);
|
||||
rfm22_releaseBus(rfm22b_dev);
|
||||
}
|
||||
|
||||
// CRC error .. discard the received data
|
||||
if (rfm22b_dev->int_status1 & RFM22_is1_icrerror)
|
||||
return RFM22B_EVENT_FAILURE;
|
||||
// CRC error .. discard the received data
|
||||
if (rfm22b_dev->int_status1 & RFM22_is1_icrerror) {
|
||||
return RFM22B_EVENT_FAILURE;
|
||||
}
|
||||
|
||||
// Valid packet received
|
||||
if (rfm22b_dev->int_status1 & RFM22_is1_ipkvalid)
|
||||
{
|
||||
// Valid packet received
|
||||
if (rfm22b_dev->int_status1 & RFM22_is1_ipkvalid) {
|
||||
|
||||
// read the total length of the packet data
|
||||
uint32_t len = rfm22_read(rfm22b_dev, RFM22_received_packet_length);
|
||||
// read the total length of the packet data
|
||||
uint32_t len = rfm22_read(rfm22b_dev, RFM22_received_packet_length);
|
||||
|
||||
// their must still be data in the RX FIFO we need to get
|
||||
if (rfm22b_dev->rx_buffer_wr < len)
|
||||
{
|
||||
int32_t bytes_to_read = len - rfm22b_dev->rx_buffer_wr;
|
||||
// Fetch the data from the RX FIFO
|
||||
rfm22_claimBus(rfm22b_dev);
|
||||
rfm22_assertCs(rfm22b_dev);
|
||||
PIOS_SPI_TransferByte(rfm22b_dev->spi_id,RFM22_fifo_access & 0x7F);
|
||||
rfm22b_dev->rx_buffer_wr += (PIOS_SPI_TransferBlock(rfm22b_dev->spi_id,OUT_FF, (uint8_t *)&rx_buffer[rfm22b_dev->rx_buffer_wr], bytes_to_read, NULL) == 0) ? bytes_to_read : 0;
|
||||
rfm22_deassertCs(rfm22b_dev);
|
||||
rfm22_releaseBus(rfm22b_dev);
|
||||
}
|
||||
// their must still be data in the RX FIFO we need to get
|
||||
if (rfm22b_dev->rx_buffer_wr < len) {
|
||||
int32_t bytes_to_read = len - rfm22b_dev->rx_buffer_wr;
|
||||
// Fetch the data from the RX FIFO
|
||||
rfm22_claimBus(rfm22b_dev);
|
||||
rfm22_assertCs(rfm22b_dev);
|
||||
PIOS_SPI_TransferByte(rfm22b_dev->spi_id,RFM22_fifo_access & 0x7F);
|
||||
rfm22b_dev->rx_buffer_wr += (PIOS_SPI_TransferBlock(rfm22b_dev->spi_id,OUT_FF, (uint8_t *)&rx_buffer[rfm22b_dev->rx_buffer_wr], bytes_to_read, NULL) == 0) ? bytes_to_read : 0;
|
||||
rfm22_deassertCs(rfm22b_dev);
|
||||
rfm22_releaseBus(rfm22b_dev);
|
||||
}
|
||||
|
||||
if (rfm22b_dev->rx_buffer_wr != len)
|
||||
return RFM22B_EVENT_FAILURE;
|
||||
if (rfm22b_dev->rx_buffer_wr != len) {
|
||||
return RFM22B_EVENT_FAILURE;
|
||||
}
|
||||
|
||||
// we have a valid received packet
|
||||
enum pios_rfm22b_event ret_event = RFM22B_EVENT_RX_COMPLETE;
|
||||
if (rfm22b_dev->rx_buffer_wr > 0)
|
||||
{
|
||||
rfm22b_dev->stats.rx_byte_count += rfm22b_dev->rx_buffer_wr;
|
||||
// Check the packet for errors.
|
||||
if (rfm22_receivePacket(rfm22b_dev, &(rfm22b_dev->rx_packet), rfm22b_dev->rx_buffer_wr))
|
||||
{
|
||||
switch (rfm22b_dev->rx_packet.header.type)
|
||||
{
|
||||
case PACKET_TYPE_STATUS:
|
||||
ret_event = RFM22B_EVENT_STATUS_RECEIVED;
|
||||
break;
|
||||
case PACKET_TYPE_CON_REQUEST:
|
||||
ret_event = RFM22B_EVENT_CONNECTION_REQUESTED;
|
||||
break;
|
||||
case PACKET_TYPE_DATA:
|
||||
{
|
||||
// Send the data to the com port
|
||||
bool rx_need_yield;
|
||||
if (rfm22b_dev->rx_in_cb)
|
||||
(rfm22b_dev->rx_in_cb)(rfm22b_dev->rx_in_context, rfm22b_dev->rx_packet.data, rfm22b_dev->rx_packet.header.data_size, NULL, &rx_need_yield);
|
||||
// we have a valid received packet
|
||||
enum pios_rfm22b_event ret_event = RFM22B_EVENT_RX_COMPLETE;
|
||||
if (rfm22b_dev->rx_buffer_wr > 0) {
|
||||
rfm22b_dev->stats.rx_byte_count += rfm22b_dev->rx_buffer_wr;
|
||||
// Check the packet for errors.
|
||||
if (rfm22_receivePacket(rfm22b_dev, &(rfm22b_dev->rx_packet), rfm22b_dev->rx_buffer_wr)) {
|
||||
switch (rfm22b_dev->rx_packet.header.type) {
|
||||
case PACKET_TYPE_STATUS:
|
||||
ret_event = RFM22B_EVENT_STATUS_RECEIVED;
|
||||
break;
|
||||
case PACKET_TYPE_CON_REQUEST:
|
||||
ret_event = RFM22B_EVENT_CONNECTION_REQUESTED;
|
||||
break;
|
||||
case PACKET_TYPE_DATA:
|
||||
{
|
||||
// Send the data to the com port
|
||||
bool rx_need_yield;
|
||||
if (rfm22b_dev->rx_in_cb)
|
||||
(rfm22b_dev->rx_in_cb)(rfm22b_dev->rx_in_context, rfm22b_dev->rx_packet.data, rfm22b_dev->rx_packet.header.data_size, NULL, &rx_need_yield);
|
||||
#ifdef RFM22B_TEST_DROPPED_PACKETS
|
||||
// Inject radnom missed ACKs
|
||||
{
|
||||
static uint8_t crc = 0;
|
||||
static uint8_t cntr = 0;
|
||||
crc = PIOS_CRC_updateByte(crc, cntr++);
|
||||
if ((crc & 0x7) == 0)
|
||||
ret_event = RFM22B_EVENT_RX_MODE;
|
||||
}
|
||||
// Inject radnom missed ACKs
|
||||
{
|
||||
static uint8_t crc = 0;
|
||||
static uint8_t cntr = 0;
|
||||
crc = PIOS_CRC_updateByte(crc, cntr++);
|
||||
if ((crc & 0x7) == 0)
|
||||
ret_event = RFM22B_EVENT_RX_MODE;
|
||||
}
|
||||
#endif
|
||||
break;
|
||||
}
|
||||
case PACKET_TYPE_DUPLICATE_DATA:
|
||||
break;
|
||||
case PACKET_TYPE_ACK:
|
||||
case PACKET_TYPE_ACK_RTS:
|
||||
ret_event = RFM22B_EVENT_PACKET_ACKED;
|
||||
break;
|
||||
case PACKET_TYPE_NACK:
|
||||
ret_event = RFM22B_EVENT_PACKET_NACKED;
|
||||
break;
|
||||
case PACKET_TYPE_PPM:
|
||||
{
|
||||
break;
|
||||
}
|
||||
case PACKET_TYPE_DUPLICATE_DATA:
|
||||
break;
|
||||
case PACKET_TYPE_ACK:
|
||||
case PACKET_TYPE_ACK_RTS:
|
||||
ret_event = RFM22B_EVENT_PACKET_ACKED;
|
||||
break;
|
||||
case PACKET_TYPE_NACK:
|
||||
ret_event = RFM22B_EVENT_PACKET_NACKED;
|
||||
break;
|
||||
case PACKET_TYPE_PPM:
|
||||
{
|
||||
#if defined(PIOS_INCLUDE_GCSRCVR) || (defined(PIOS_INCLUDE_PPM_OUT) && defined(PIOS_PPM_OUTPUT)) || defined(PIOS_INCLUDE_RFM22B_RCVR)
|
||||
PHPpmPacketHandle ppmp = (PHPpmPacketHandle)&(rfm22b_dev->rx_packet);
|
||||
PHPpmPacketHandle ppmp = (PHPpmPacketHandle)&(rfm22b_dev->rx_packet);
|
||||
#if defined(PIOS_INCLUDE_GCSRCVR) || (defined(PIOS_INCLUDE_PPM_OUT) && defined(PIOS_PPM_OUTPUT))
|
||||
bool ppm_output = false;
|
||||
bool ppm_output = false;
|
||||
#endif
|
||||
#endif
|
||||
#if defined(PIOS_INCLUDE_RFM22B_RCVR)
|
||||
ppm_output = true;
|
||||
for (uint8_t i = 0; i < PIOS_RFM22B_RCVR_MAX_CHANNELS; ++i) {
|
||||
rfm22b_dev->ppm_channel[i] = ppmp->channels[i];
|
||||
}
|
||||
ppm_output = true;
|
||||
for (uint8_t i = 0; i < PIOS_RFM22B_RCVR_MAX_CHANNELS; ++i) {
|
||||
rfm22b_dev->ppm_channel[i] = ppmp->channels[i];
|
||||
}
|
||||
#endif
|
||||
#if defined(PIOS_INCLUDE_PPM_OUT) && defined(PIOS_PPM_OUTPUT)
|
||||
if (PIOS_PPM_OUTPUT) {
|
||||
ppm_output = true;
|
||||
for (uint8_t i = 0; i < PIOS_RFM22B_RCVR_MAX_CHANNELS; ++i) {
|
||||
PIOS_PPM_OUT_Set(PIOS_PPM_OUTPUT, i, ppmp->channels[i]);
|
||||
}
|
||||
}
|
||||
if (PIOS_PPM_OUTPUT) {
|
||||
ppm_output = true;
|
||||
for (uint8_t i = 0; i < PIOS_RFM22B_RCVR_MAX_CHANNELS; ++i) {
|
||||
PIOS_PPM_OUT_Set(PIOS_PPM_OUTPUT, i, ppmp->channels[i]);
|
||||
}
|
||||
}
|
||||
#endif
|
||||
#if defined(PIOS_INCLUDE_GCSRCVR)
|
||||
if (!ppm_output) {
|
||||
GCSReceiverData gcsRcvr;
|
||||
for (uint8_t i = 0; (i < PIOS_RFM22B_RCVR_MAX_CHANNELS) && (i < GCSRECEIVER_CHANNEL_NUMELEM); ++i) {
|
||||
gcsRcvr.Channel[i] = ppmp->channels[i];
|
||||
}
|
||||
GCSReceiverSet(&gcsRcvr);
|
||||
}
|
||||
if (!ppm_output) {
|
||||
GCSReceiverData gcsRcvr;
|
||||
for (uint8_t i = 0; (i < PIOS_RFM22B_RCVR_MAX_CHANNELS) && (i < GCSRECEIVER_CHANNEL_NUMELEM); ++i) {
|
||||
gcsRcvr.Channel[i] = ppmp->channels[i];
|
||||
}
|
||||
GCSReceiverSet(&gcsRcvr);
|
||||
}
|
||||
#endif
|
||||
break;
|
||||
}
|
||||
default:
|
||||
break;
|
||||
}
|
||||
break;
|
||||
}
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
}
|
||||
else
|
||||
ret_event = RFM22B_EVENT_RX_ERROR;
|
||||
rfm22b_dev->rx_buffer_wr = 0;
|
||||
rfm22b_dev->rx_complete_ticks = xTaskGetTickCount();
|
||||
if (rfm22b_dev->rx_complete_ticks == 0)
|
||||
rfm22b_dev->rx_complete_ticks = 1;
|
||||
}
|
||||
else {
|
||||
ret_event = RFM22B_EVENT_RX_ERROR;
|
||||
}
|
||||
rfm22b_dev->rx_buffer_wr = 0;
|
||||
rfm22b_dev->rx_complete_ticks = xTaskGetTickCount();
|
||||
if (rfm22b_dev->rx_complete_ticks == 0)
|
||||
rfm22b_dev->rx_complete_ticks = 1;
|
||||
#if defined(PIOS_RFM22B_DEBUG_ON_TELEM) || defined(PIOS_RFM22B_DEBUG_ON_RCVR)
|
||||
D2_LED_OFF;
|
||||
D2_LED_OFF;
|
||||
#endif
|
||||
}
|
||||
}
|
||||
|
||||
// We're finished with Rx mode
|
||||
rfm22b_dev->in_rx_mode = false;
|
||||
// We're finished with Rx mode
|
||||
rfm22b_dev->in_rx_mode = false;
|
||||
|
||||
// Start a new transaction
|
||||
rfm22b_dev->packet_start_ticks = 0;
|
||||
return ret_event;
|
||||
}
|
||||
// Start a new transaction
|
||||
rfm22b_dev->packet_start_ticks = 0;
|
||||
return ret_event;
|
||||
}
|
||||
|
||||
return RFM22B_EVENT_NUM_EVENTS;
|
||||
return RFM22B_EVENT_NUM_EVENTS;
|
||||
}
|
||||
|
||||
static enum pios_rfm22b_event rfm22_rxFailure(struct pios_rfm22b_dev *rfm22b_dev)
|
||||
/**
|
||||
* Complete the receipt of a packet.
|
||||
*
|
||||
* @param[in] rfm22b_dev The device structure
|
||||
* @param[in] p The packet handle of the received packet.
|
||||
* @param[in] rc_len The number of bytes received.
|
||||
*/
|
||||
static bool rfm22_receivePacket(struct pios_rfm22b_dev *rfm22b_dev, PHPacketHandle p, uint16_t rx_len)
|
||||
{
|
||||
rfm22b_dev->stats.rx_failure++;
|
||||
rfm22b_dev->rx_buffer_wr = 0;
|
||||
rfm22b_dev->rx_complete_ticks = xTaskGetTickCount();
|
||||
rfm22b_dev->in_rx_mode = false;
|
||||
if (rfm22b_dev->rx_complete_ticks == 0)
|
||||
rfm22b_dev->rx_complete_ticks = 1;
|
||||
return RFM22B_EVENT_RX_MODE;
|
||||
|
||||
// Attempt to correct any errors in the packet.
|
||||
decode_data((unsigned char*)p, rx_len);
|
||||
|
||||
bool good_packet = check_syndrome() == 0;
|
||||
bool corrected_packet = false;
|
||||
// We have an error. Try to correct it.
|
||||
if(!good_packet && (correct_errors_erasures((unsigned char*)p, rx_len, 0, 0) != 0)) {
|
||||
// We corrected it
|
||||
corrected_packet = true;
|
||||
}
|
||||
|
||||
// Add any missed packets into the stats.
|
||||
bool ack_nack_packet = ((p->header.type == PACKET_TYPE_ACK) || (p->header.type == PACKET_TYPE_ACK_RTS) || (p->header.type == PACKET_TYPE_NACK));
|
||||
if (!ack_nack_packet && (good_packet || corrected_packet)) {
|
||||
uint16_t seq_num = p->header.seq_num;
|
||||
if (rfm22_isConnected(rfm22b_dev)) {
|
||||
static bool first_time = true;
|
||||
uint16_t missed_packets = 0;
|
||||
if (first_time) {
|
||||
first_time = false;
|
||||
} else {
|
||||
uint16_t prev_seq_num = rfm22b_dev->stats.rx_seq;
|
||||
if (seq_num > prev_seq_num)
|
||||
missed_packets = seq_num - prev_seq_num - 1;
|
||||
else if((seq_num == prev_seq_num) && (p->header.type == PACKET_TYPE_DATA))
|
||||
p->header.type = PACKET_TYPE_DUPLICATE_DATA;
|
||||
}
|
||||
rfm22b_dev->stats.rx_missed += missed_packets;
|
||||
}
|
||||
rfm22b_dev->stats.rx_seq = seq_num;
|
||||
}
|
||||
|
||||
// Set the packet status
|
||||
if (good_packet) {
|
||||
rfm22b_add_rx_status(rfm22b_dev, RFM22B_GOOD_RX_PACKET);
|
||||
} else if(corrected_packet) {
|
||||
// We corrected the error.
|
||||
rfm22b_add_rx_status(rfm22b_dev, RFM22B_CORRECTED_RX_PACKET);
|
||||
} else {
|
||||
// We couldn't correct the error, so drop the packet.
|
||||
rfm22b_add_rx_status(rfm22b_dev, RFM22B_ERROR_RX_PACKET);
|
||||
}
|
||||
|
||||
return (good_packet || corrected_packet);
|
||||
}
|
||||
|
||||
/**
|
||||
* Start a transmit if possible
|
||||
*
|
||||
* @param[in] rfm22b_dev The device structure
|
||||
* @return enum pios_rfm22b_event The next event to inject
|
||||
*/
|
||||
static enum pios_rfm22b_event rfm22_txStart(struct pios_rfm22b_dev *rfm22b_dev)
|
||||
{
|
||||
PHPacketHandle p = NULL;
|
||||
|
||||
// Don't send if it's not our turn.
|
||||
if (!rfm22b_dev->time_to_send || (rfm22_inChannelBuffer(rfm22b_dev) && rfm22_isConnected(rfm22b_dev))) {
|
||||
return RFM22B_EVENT_RX_MODE;
|
||||
}
|
||||
|
||||
// See if there's a packet ready to send.
|
||||
if (rfm22b_dev->tx_packet) {
|
||||
p = rfm22b_dev->tx_packet;
|
||||
|
||||
} else {
|
||||
|
||||
// Don't send a packet if we're waiting for an ACK
|
||||
if (rfm22b_dev->prev_tx_packet) {
|
||||
return RFM22B_EVENT_RX_MODE;
|
||||
}
|
||||
|
||||
// Send a connection request?
|
||||
if (!p && rfm22b_dev->send_connection_request) {
|
||||
p = (PHPacketHandle)&(rfm22b_dev->con_packet);
|
||||
rfm22b_dev->send_connection_request = false;
|
||||
}
|
||||
|
||||
#ifdef PIOS_PPM_RECEIVER
|
||||
// Send a PPM packet?
|
||||
if (!p && rfm22b_dev->send_ppm) {
|
||||
p = (PHPacketHandle)&(rfm22b_dev->ppm_packet);
|
||||
rfm22b_dev->send_ppm = false;
|
||||
}
|
||||
#endif
|
||||
|
||||
// Send status?
|
||||
if (!p && rfm22b_dev->send_status) {
|
||||
p = (PHPacketHandle)&(rfm22b_dev->status_packet);
|
||||
rfm22b_dev->send_status = false;
|
||||
}
|
||||
|
||||
// Try to get some data to send
|
||||
if (!p) {
|
||||
bool need_yield = false;
|
||||
p = &rfm22b_dev->data_packet;
|
||||
p->header.type = PACKET_TYPE_DATA;
|
||||
p->header.destination_id = rfm22b_dev->destination_id;
|
||||
if (rfm22b_dev->tx_out_cb && (p->header.data_size == 0)) {
|
||||
p->header.data_size = (rfm22b_dev->tx_out_cb)(rfm22b_dev->tx_out_context, p->data, PH_MAX_DATA, NULL, &need_yield);
|
||||
}
|
||||
|
||||
// Don't send any data until we're connected.
|
||||
if (!rfm22_isConnected(rfm22b_dev)) {
|
||||
p->header.data_size = 0;
|
||||
}
|
||||
if (p->header.data_size == 0) {
|
||||
p = NULL;
|
||||
}
|
||||
}
|
||||
|
||||
if (p) {
|
||||
p->header.seq_num = rfm22b_dev->stats.tx_seq++;
|
||||
}
|
||||
}
|
||||
if (!p) {
|
||||
return RFM22B_EVENT_RX_MODE;
|
||||
}
|
||||
|
||||
// We're transitioning out of Rx mode.
|
||||
rfm22b_dev->in_rx_mode = false;
|
||||
|
||||
#if defined(PIOS_RFM22B_DEBUG_ON_TELEM) || defined(PIOS_RFM22B_DEBUG_ON_RCVR)
|
||||
D1_LED_ON;
|
||||
D2_LED_OFF;
|
||||
#endif
|
||||
|
||||
// Change the channel if necessary.
|
||||
if (((p->header.type != PACKET_TYPE_ACK) && (p->header.type != PACKET_TYPE_ACK_RTS)) ||
|
||||
(rfm22b_dev->rx_packet.header.type != PACKET_TYPE_CON_REQUEST)) {
|
||||
rfm22_changeChannel(rfm22b_dev);
|
||||
}
|
||||
|
||||
// Add the error correcting code.
|
||||
encode_data((unsigned char*)p, PHPacketSize(p), (unsigned char*)p);
|
||||
|
||||
rfm22b_dev->tx_packet = p;
|
||||
rfm22b_dev->packet_start_ticks = xTaskGetTickCount();
|
||||
if (rfm22b_dev->packet_start_ticks == 0) {
|
||||
rfm22b_dev->packet_start_ticks = 1;
|
||||
}
|
||||
|
||||
// disable interrupts
|
||||
rfm22_write(rfm22b_dev, RFM22_interrupt_enable1, 0x00);
|
||||
rfm22_write(rfm22b_dev, RFM22_interrupt_enable2, 0x00);
|
||||
|
||||
// TUNE mode
|
||||
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl1, RFM22_opfc1_pllon);
|
||||
|
||||
// Queue the data up for sending
|
||||
rfm22b_dev->tx_data_wr = PH_PACKET_SIZE(rfm22b_dev->tx_packet);
|
||||
|
||||
RX_LED_OFF;
|
||||
|
||||
// Set the destination address in the transmit header.
|
||||
// The destination address is the first 4 bytes of the message.
|
||||
uint8_t *tx_buffer = (uint8_t*)(rfm22b_dev->tx_packet);
|
||||
rfm22_write(rfm22b_dev, RFM22_transmit_header0, tx_buffer[0]);
|
||||
rfm22_write(rfm22b_dev, RFM22_transmit_header1, tx_buffer[1]);
|
||||
rfm22_write(rfm22b_dev, RFM22_transmit_header2, tx_buffer[2]);
|
||||
rfm22_write(rfm22b_dev, RFM22_transmit_header3, tx_buffer[3]);
|
||||
|
||||
// FIFO mode, GFSK modulation
|
||||
uint8_t fd_bit = rfm22_read(rfm22b_dev, RFM22_modulation_mode_control2) & RFM22_mmc2_fd;
|
||||
rfm22_write(rfm22b_dev, RFM22_modulation_mode_control2, fd_bit | RFM22_mmc2_dtmod_fifo |
|
||||
RFM22_mmc2_modtyp_gfsk);
|
||||
|
||||
// clear FIFOs
|
||||
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl2, RFM22_opfc2_ffclrrx | RFM22_opfc2_ffclrtx);
|
||||
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl2, 0x00);
|
||||
|
||||
// *******************
|
||||
// add some data to the chips TX FIFO before enabling the transmitter
|
||||
|
||||
// set the total number of data bytes we are going to transmit
|
||||
rfm22_write(rfm22b_dev, RFM22_transmit_packet_length, rfm22b_dev->tx_data_wr);
|
||||
|
||||
// add some data
|
||||
rfm22_claimBus(rfm22b_dev);
|
||||
rfm22_assertCs(rfm22b_dev);
|
||||
PIOS_SPI_TransferByte(rfm22b_dev->spi_id, RFM22_fifo_access | 0x80);
|
||||
int bytes_to_write = (rfm22b_dev->tx_data_wr - rfm22b_dev->tx_data_rd);
|
||||
bytes_to_write = (bytes_to_write > FIFO_SIZE) ? FIFO_SIZE: bytes_to_write;
|
||||
PIOS_SPI_TransferBlock(rfm22b_dev->spi_id, &tx_buffer[rfm22b_dev->tx_data_rd], NULL, bytes_to_write, NULL);
|
||||
rfm22b_dev->tx_data_rd += bytes_to_write;
|
||||
rfm22_deassertCs(rfm22b_dev);
|
||||
rfm22_releaseBus(rfm22b_dev);
|
||||
|
||||
// enable TX interrupts
|
||||
rfm22_write(rfm22b_dev, RFM22_interrupt_enable1, RFM22_ie1_enpksent | RFM22_ie1_entxffaem);
|
||||
|
||||
// enable the transmitter
|
||||
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl1, RFM22_opfc1_pllon | RFM22_opfc1_txon);
|
||||
|
||||
TX_LED_ON;
|
||||
|
||||
return RFM22B_EVENT_NUM_EVENTS;
|
||||
}
|
||||
|
||||
/**
|
||||
* Receive packet data.
|
||||
*
|
||||
* @param[in] rfm22b_dev The device structure
|
||||
* @return enum pios_rfm22b_event The next event to inject
|
||||
*/
|
||||
static enum pios_rfm22b_event rfm22_txData(struct pios_rfm22b_dev *rfm22b_dev)
|
||||
{
|
||||
enum pios_rfm22b_event ret_event = RFM22B_EVENT_NUM_EVENTS;
|
||||
enum pios_rfm22b_event ret_event = RFM22B_EVENT_NUM_EVENTS;
|
||||
|
||||
// Read the device status registers
|
||||
if (!rfm22_readStatus(rfm22b_dev))
|
||||
return RFM22B_EVENT_FAILURE;
|
||||
// Read the device status registers
|
||||
if (!rfm22_readStatus(rfm22b_dev)) {
|
||||
return RFM22B_EVENT_FAILURE;
|
||||
}
|
||||
|
||||
// TX FIFO almost empty, it needs filling up
|
||||
if (rfm22b_dev->int_status1 & RFM22_is1_ixtffaem)
|
||||
{
|
||||
// top-up the rf chips TX FIFO buffer
|
||||
uint8_t *tx_buffer = (uint8_t*)(rfm22b_dev->tx_packet);
|
||||
uint16_t max_bytes = FIFO_SIZE - TX_FIFO_LO_WATERMARK - 1;
|
||||
rfm22_claimBus(rfm22b_dev);
|
||||
rfm22_assertCs(rfm22b_dev);
|
||||
PIOS_SPI_TransferByte(rfm22b_dev->spi_id, RFM22_fifo_access | 0x80);
|
||||
int bytes_to_write = (rfm22b_dev->tx_data_wr - rfm22b_dev->tx_data_rd);
|
||||
bytes_to_write = (bytes_to_write > max_bytes) ? max_bytes: bytes_to_write;
|
||||
PIOS_SPI_TransferBlock(rfm22b_dev->spi_id, &tx_buffer[rfm22b_dev->tx_data_rd], NULL, bytes_to_write, NULL);
|
||||
rfm22b_dev->tx_data_rd += bytes_to_write;
|
||||
rfm22_deassertCs(rfm22b_dev);
|
||||
rfm22_releaseBus(rfm22b_dev);
|
||||
}
|
||||
// TX FIFO almost empty, it needs filling up
|
||||
if (rfm22b_dev->int_status1 & RFM22_is1_ixtffaem) {
|
||||
// top-up the rf chips TX FIFO buffer
|
||||
uint8_t *tx_buffer = (uint8_t*)(rfm22b_dev->tx_packet);
|
||||
uint16_t max_bytes = FIFO_SIZE - TX_FIFO_LO_WATERMARK - 1;
|
||||
rfm22_claimBus(rfm22b_dev);
|
||||
rfm22_assertCs(rfm22b_dev);
|
||||
PIOS_SPI_TransferByte(rfm22b_dev->spi_id, RFM22_fifo_access | 0x80);
|
||||
int bytes_to_write = (rfm22b_dev->tx_data_wr - rfm22b_dev->tx_data_rd);
|
||||
bytes_to_write = (bytes_to_write > max_bytes) ? max_bytes: bytes_to_write;
|
||||
PIOS_SPI_TransferBlock(rfm22b_dev->spi_id, &tx_buffer[rfm22b_dev->tx_data_rd], NULL, bytes_to_write, NULL);
|
||||
rfm22b_dev->tx_data_rd += bytes_to_write;
|
||||
rfm22_deassertCs(rfm22b_dev);
|
||||
rfm22_releaseBus(rfm22b_dev);
|
||||
|
||||
// Packet has been sent
|
||||
else if (rfm22b_dev->int_status1 & RFM22_is1_ipksent)
|
||||
{
|
||||
portTickType curTicks = xTaskGetTickCount();
|
||||
rfm22b_dev->stats.tx_byte_count += PH_PACKET_SIZE(rfm22b_dev->tx_packet);
|
||||
// Packet has been sent
|
||||
} else if (rfm22b_dev->int_status1 & RFM22_is1_ipksent) {
|
||||
portTickType curTicks = xTaskGetTickCount();
|
||||
rfm22b_dev->stats.tx_byte_count += PH_PACKET_SIZE(rfm22b_dev->tx_packet);
|
||||
|
||||
// Is this an ACK?
|
||||
bool is_ack = ((rfm22b_dev->tx_packet->header.type == PACKET_TYPE_ACK) || (rfm22b_dev->tx_packet->header.type == PACKET_TYPE_ACK_RTS));
|
||||
ret_event = RFM22B_EVENT_RX_MODE;
|
||||
if (is_ack) {
|
||||
// Is this an ACK?
|
||||
bool is_ack = ((rfm22b_dev->tx_packet->header.type == PACKET_TYPE_ACK) || (rfm22b_dev->tx_packet->header.type == PACKET_TYPE_ACK_RTS));
|
||||
ret_event = RFM22B_EVENT_RX_MODE;
|
||||
if (is_ack) {
|
||||
|
||||
// If this is an ACK for a connection request message we need to
|
||||
// configure this modem from the connection request message.
|
||||
if (rfm22b_dev->rx_packet.header.type == PACKET_TYPE_CON_REQUEST) {
|
||||
// If this is an ACK for a connection request message we need to
|
||||
// configure this modem from the connection request message.
|
||||
if (rfm22b_dev->rx_packet.header.type == PACKET_TYPE_CON_REQUEST) {
|
||||
|
||||
rfm22_setConnectionParameters(rfm22b_dev);
|
||||
rfm22_setConnectionParameters(rfm22b_dev);
|
||||
|
||||
} else if (rfm22b_dev->coordinator && !rfm22_isConnected(rfm22b_dev) && (rfm22b_dev->rx_packet.header.type == PACKET_TYPE_STATUS)) {
|
||||
} else if (rfm22b_dev->coordinator && !rfm22_isConnected(rfm22b_dev) && (rfm22b_dev->rx_packet.header.type == PACKET_TYPE_STATUS)) {
|
||||
|
||||
// Send a connection request message if we're not connected, and this is a status message from a modem that we're bound to.
|
||||
PHStatusPacketHandle status = (PHStatusPacketHandle)&(rfm22b_dev->rx_packet);
|
||||
uint32_t source_id = status->source_id;
|
||||
for (uint8_t i = 0; OPLINKSETTINGS_BINDINGS_NUMELEM; ++i) {
|
||||
if (rfm22b_dev->bindings[i].pairID == source_id) {
|
||||
rfm22b_dev->cur_binding = i;
|
||||
ret_event = RFM22B_EVENT_REQUEST_CONNECTION;
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
// Send a connection request message if we're not connected, and this is a status message from a modem that we're bound to.
|
||||
PHStatusPacketHandle status = (PHStatusPacketHandle)&(rfm22b_dev->rx_packet);
|
||||
uint32_t source_id = status->source_id;
|
||||
for (uint8_t i = 0; OPLINKSETTINGS_BINDINGS_NUMELEM; ++i) {
|
||||
if (rfm22b_dev->bindings[i].pairID == source_id) {
|
||||
rfm22b_dev->cur_binding = i;
|
||||
ret_event = RFM22B_EVENT_REQUEST_CONNECTION;
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// Change the channel
|
||||
// On the remote side, we initialize the time delta when we finish sending the ACK for the connection request message.
|
||||
if (rfm22b_dev->rx_packet.header.type == PACKET_TYPE_CON_REQUEST) {
|
||||
rfm22b_dev->time_delta = portMAX_DELAY - curTicks;
|
||||
}
|
||||
// Change the channel
|
||||
// On the remote side, we initialize the time delta when we finish sending the ACK for the connection request message.
|
||||
if (rfm22b_dev->rx_packet.header.type == PACKET_TYPE_CON_REQUEST) {
|
||||
rfm22b_dev->time_delta = portMAX_DELAY - curTicks;
|
||||
}
|
||||
|
||||
} else if (rfm22b_dev->tx_packet->header.type != PACKET_TYPE_NACK) {
|
||||
} else if (rfm22b_dev->tx_packet->header.type != PACKET_TYPE_NACK) {
|
||||
|
||||
// We need to wait for an ACK if this packet it not an ACK or NACK.
|
||||
rfm22b_dev->prev_tx_packet = rfm22b_dev->tx_packet;
|
||||
rfm22b_dev->tx_complete_ticks = xTaskGetTickCount();
|
||||
}
|
||||
// Set the Tx period
|
||||
if (rfm22b_dev->tx_packet->header.type == PACKET_TYPE_ACK)
|
||||
rfm22b_dev->time_to_send_offset = curTicks + 0x4;
|
||||
else if (rfm22b_dev->tx_packet->header.type == PACKET_TYPE_ACK_RTS)
|
||||
rfm22b_dev->time_to_send_offset = curTicks;
|
||||
rfm22b_dev->tx_packet = 0;
|
||||
rfm22b_dev->tx_data_wr = rfm22b_dev->tx_data_rd = 0;
|
||||
// Start a new transaction
|
||||
rfm22b_dev->packet_start_ticks = 0;
|
||||
// We need to wait for an ACK if this packet it not an ACK or NACK.
|
||||
rfm22b_dev->prev_tx_packet = rfm22b_dev->tx_packet;
|
||||
rfm22b_dev->tx_complete_ticks = xTaskGetTickCount();
|
||||
}
|
||||
// Set the Tx period
|
||||
if (rfm22b_dev->tx_packet->header.type == PACKET_TYPE_ACK) {
|
||||
rfm22b_dev->time_to_send_offset = curTicks + 0x4;
|
||||
} else if (rfm22b_dev->tx_packet->header.type == PACKET_TYPE_ACK_RTS) {
|
||||
rfm22b_dev->time_to_send_offset = curTicks;
|
||||
}
|
||||
rfm22b_dev->tx_packet = 0;
|
||||
rfm22b_dev->tx_data_wr = rfm22b_dev->tx_data_rd = 0;
|
||||
// Start a new transaction
|
||||
rfm22b_dev->packet_start_ticks = 0;
|
||||
|
||||
#if defined(PIOS_RFM22B_DEBUG_ON_TELEM) || defined(PIOS_RFM22B_DEBUG_ON_RCVR)
|
||||
D1_LED_OFF;
|
||||
D1_LED_OFF;
|
||||
#endif
|
||||
}
|
||||
}
|
||||
|
||||
return ret_event;
|
||||
return ret_event;
|
||||
}
|
||||
|
||||
static enum pios_rfm22b_event rfm22_txFailure(struct pios_rfm22b_dev *rfm22b_dev)
|
||||
|
||||
/*****************************************************************************
|
||||
* Packet Transmition Functions
|
||||
*****************************************************************************/
|
||||
|
||||
/**
|
||||
* Send a radio status message.
|
||||
*
|
||||
* @param[in] rfm22b_dev The device structure
|
||||
*/
|
||||
static void rfm22_sendStatus(struct pios_rfm22b_dev *rfm22b_dev)
|
||||
{
|
||||
rfm22b_dev->stats.tx_failure++;
|
||||
rfm22b_dev->tx_data_wr = rfm22b_dev->tx_data_rd = 0;
|
||||
return RFM22B_EVENT_TX_START;
|
||||
// The coordinator doesn't send status.
|
||||
if (rfm22b_dev->coordinator) {
|
||||
return;
|
||||
}
|
||||
|
||||
// Update the link quality metric.
|
||||
rfm22_calculateLinkQuality(rfm22b_dev);
|
||||
|
||||
// Queue the status message
|
||||
if (rfm22_isConnected(rfm22b_dev)) {
|
||||
rfm22b_dev->status_packet.header.destination_id = rfm22b_dev->destination_id;
|
||||
} else if (rfm22b_dev->coordinator) {
|
||||
return;
|
||||
} else {
|
||||
rfm22b_dev->status_packet.header.destination_id = 0xffffffff; // Broadcast
|
||||
}
|
||||
rfm22b_dev->status_packet.header.type = PACKET_TYPE_STATUS;
|
||||
rfm22b_dev->status_packet.header.data_size = PH_STATUS_DATA_SIZE(&(rfm22b_dev->status_packet));
|
||||
rfm22b_dev->status_packet.source_id = rfm22b_dev->deviceID;
|
||||
rfm22b_dev->status_packet.link_quality = rfm22b_dev->stats.link_quality;
|
||||
rfm22b_dev->status_packet.received_rssi = rfm22b_dev->rssi_dBm;
|
||||
rfm22b_dev->send_status = true;
|
||||
|
||||
return;
|
||||
}
|
||||
|
||||
/**
|
||||
* Send a PPM packet.
|
||||
*
|
||||
* @param[in] rfm22b_dev The device structure
|
||||
*/
|
||||
static void rfm22_sendPPM(struct pios_rfm22b_dev *rfm22b_dev)
|
||||
{
|
||||
#ifdef PIOS_PPM_RECEIVER
|
||||
// Only send PPM if we're connected
|
||||
if (!rfm22_isConnected(rfm22b_dev)) {
|
||||
return;
|
||||
}
|
||||
|
||||
// Just return if the PPM receiver is not configured.
|
||||
if (PIOS_PPM_RECEIVER == 0) {
|
||||
return;
|
||||
}
|
||||
|
||||
// See if we have any valid channels.
|
||||
bool valid_input_detected = false;
|
||||
for (uint8_t i = 0; i < PIOS_PPM_NUM_INPUTS; ++i) {
|
||||
rfm22b_dev->ppm_packet.channels[i] = PIOS_RCVR_Read(PIOS_PPM_RECEIVER, i + 1);
|
||||
if((rfm22b_dev->ppm_packet.channels[i] != PIOS_RCVR_INVALID) && (rfm22b_dev->ppm_packet.channels[i] != PIOS_RCVR_TIMEOUT))
|
||||
valid_input_detected = true;
|
||||
}
|
||||
|
||||
// Send the PPM packet if it's valid
|
||||
if (valid_input_detected) {
|
||||
rfm22b_dev->ppm_packet.header.destination_id = rfm22b_dev->destination_id;
|
||||
rfm22b_dev->ppm_packet.header.type = PACKET_TYPE_PPM;
|
||||
rfm22b_dev->ppm_packet.header.data_size = PH_PPM_DATA_SIZE(&(rfm22b_dev->ppm_packet));
|
||||
rfm22b_dev->send_ppm = true;
|
||||
}
|
||||
#endif
|
||||
}
|
||||
|
||||
/**
|
||||
* Send an ACK to a received packet.
|
||||
* \param[in] rfm22b_dev The device structure
|
||||
*
|
||||
* @param[in] rfm22b_dev The device structure
|
||||
* @return enum pios_rfm22b_event The next event to inject
|
||||
*/
|
||||
static enum pios_rfm22b_event rfm22_sendAck(struct pios_rfm22b_dev *rfm22b_dev)
|
||||
{
|
||||
PHAckNackPacketHandle aph = (PHAckNackPacketHandle)(&(rfm22b_dev->ack_nack_packet));
|
||||
aph->header.destination_id = rfm22b_dev->destination_id;
|
||||
aph->header.type = rfm22_ready_to_send(rfm22b_dev) ? PACKET_TYPE_ACK_RTS : PACKET_TYPE_ACK;
|
||||
aph->header.data_size = PH_ACK_NACK_DATA_SIZE(aph);
|
||||
aph->header.seq_num = rfm22b_dev->rx_packet.header.seq_num;
|
||||
aph->packet_recv_time = rfm22_coordinatorTime(rfm22b_dev, rfm22b_dev->rx_complete_ticks);
|
||||
rfm22b_dev->tx_packet = (PHPacketHandle)aph;
|
||||
rfm22b_dev->time_to_send = true;
|
||||
return RFM22B_EVENT_TX_START;
|
||||
PHAckNackPacketHandle aph = (PHAckNackPacketHandle)(&(rfm22b_dev->ack_nack_packet));
|
||||
aph->header.destination_id = rfm22b_dev->destination_id;
|
||||
aph->header.type = rfm22_ready_to_send(rfm22b_dev) ? PACKET_TYPE_ACK_RTS : PACKET_TYPE_ACK;
|
||||
aph->header.data_size = PH_ACK_NACK_DATA_SIZE(aph);
|
||||
aph->header.seq_num = rfm22b_dev->rx_packet.header.seq_num;
|
||||
aph->packet_recv_time = rfm22_coordinatorTime(rfm22b_dev, rfm22b_dev->rx_complete_ticks);
|
||||
rfm22b_dev->tx_packet = (PHPacketHandle)aph;
|
||||
rfm22b_dev->time_to_send = true;
|
||||
return RFM22B_EVENT_TX_START;
|
||||
}
|
||||
|
||||
/**
|
||||
* Send an NACK to a received packet.
|
||||
* \param[in] rfm22b_dev The device structure
|
||||
*
|
||||
* @param[in] rfm22b_dev The device structure
|
||||
* @return enum pios_rfm22b_event The next event to inject
|
||||
*/
|
||||
static enum pios_rfm22b_event rfm22_sendNack(struct pios_rfm22b_dev *rfm22b_dev)
|
||||
{
|
||||
PHAckNackPacketHandle aph = (PHAckNackPacketHandle)(&(rfm22b_dev->ack_nack_packet));
|
||||
aph->header.destination_id = rfm22b_dev->destination_id;
|
||||
aph->header.type = PACKET_TYPE_NACK;
|
||||
aph->header.data_size = PH_ACK_NACK_DATA_SIZE(aph);
|
||||
aph->header.seq_num = rfm22b_dev->rx_packet.header.seq_num;
|
||||
rfm22b_dev->tx_packet = (PHPacketHandle)aph;
|
||||
rfm22b_dev->time_to_send = true;
|
||||
return RFM22B_EVENT_TX_START;
|
||||
PHAckNackPacketHandle aph = (PHAckNackPacketHandle)(&(rfm22b_dev->ack_nack_packet));
|
||||
aph->header.destination_id = rfm22b_dev->destination_id;
|
||||
aph->header.type = PACKET_TYPE_NACK;
|
||||
aph->header.data_size = PH_ACK_NACK_DATA_SIZE(aph);
|
||||
aph->header.seq_num = rfm22b_dev->rx_packet.header.seq_num;
|
||||
rfm22b_dev->tx_packet = (PHPacketHandle)aph;
|
||||
rfm22b_dev->time_to_send = true;
|
||||
return RFM22B_EVENT_TX_START;
|
||||
}
|
||||
|
||||
/**
|
||||
* Send a connection request message.
|
||||
*
|
||||
* @param[in] rfm22b_dev The device structure
|
||||
* @return enum pios_rfm22b_event The next event to inject
|
||||
*/
|
||||
static enum pios_rfm22b_event rfm22_requestConnection(struct pios_rfm22b_dev *rfm22b_dev)
|
||||
{
|
||||
PHConnectionPacketHandle cph = &(rfm22b_dev->con_packet);
|
||||
|
||||
// Set our connection state to requesting connection.
|
||||
rfm22b_dev->stats.link_state = OPLINKSTATUS_LINKSTATE_CONNECTING;
|
||||
|
||||
// Fill in the connection request
|
||||
rfm22b_dev->destination_id = rfm22b_dev->bindings[rfm22b_dev->cur_binding].pairID;
|
||||
cph->header.destination_id = rfm22b_dev->destination_id;
|
||||
cph->header.type = PACKET_TYPE_CON_REQUEST;
|
||||
cph->header.data_size = PH_CONNECTION_DATA_SIZE(&(rfm22b_dev->con_packet));
|
||||
cph->source_id = rfm22b_dev->deviceID;
|
||||
cph->main_port = rfm22b_dev->bindings[rfm22b_dev->cur_binding].main_port;
|
||||
cph->flexi_port = rfm22b_dev->bindings[rfm22b_dev->cur_binding].flexi_port;
|
||||
cph->vcp_port = rfm22b_dev->bindings[rfm22b_dev->cur_binding].vcp_port;
|
||||
cph->com_speed = rfm22b_dev->bindings[rfm22b_dev->cur_binding].com_speed;
|
||||
rfm22b_dev->time_to_send = true;
|
||||
rfm22b_dev->send_connection_request = true;
|
||||
rfm22b_dev->prev_tx_packet = NULL;
|
||||
|
||||
return RFM22B_EVENT_TX_START;
|
||||
}
|
||||
|
||||
|
||||
/*****************************************************************************
|
||||
* Packet Receipt Functions
|
||||
*****************************************************************************/
|
||||
|
||||
/**
|
||||
* Receive an ACK.
|
||||
* \param[in] rfm22b_dev The device structure
|
||||
*
|
||||
* @param[in] rfm22b_dev The device structure
|
||||
* @return enum pios_rfm22b_event The next event to inject
|
||||
*/
|
||||
static enum pios_rfm22b_event rfm22_receiveAck(struct pios_rfm22b_dev *rfm22b_dev)
|
||||
{
|
||||
PHPacketHandle prev = rfm22b_dev->prev_tx_packet;
|
||||
portTickType curTicks = xTaskGetTickCount();
|
||||
PHPacketHandle prev = rfm22b_dev->prev_tx_packet;
|
||||
portTickType curTicks = xTaskGetTickCount();
|
||||
|
||||
// Clear the previous TX packet.
|
||||
rfm22b_dev->prev_tx_packet = NULL;
|
||||
// Clear the previous TX packet.
|
||||
rfm22b_dev->prev_tx_packet = NULL;
|
||||
|
||||
// Was this a connection request?
|
||||
switch (prev->header.type) {
|
||||
case PACKET_TYPE_CON_REQUEST:
|
||||
rfm22_setConnectionParameters(rfm22b_dev);
|
||||
break;
|
||||
case PACKET_TYPE_DATA:
|
||||
rfm22b_dev->data_packet.header.data_size = 0;
|
||||
break;
|
||||
}
|
||||
// Was this a connection request?
|
||||
switch (prev->header.type) {
|
||||
case PACKET_TYPE_CON_REQUEST:
|
||||
rfm22_setConnectionParameters(rfm22b_dev);
|
||||
break;
|
||||
case PACKET_TYPE_DATA:
|
||||
rfm22b_dev->data_packet.header.data_size = 0;
|
||||
break;
|
||||
}
|
||||
|
||||
// On the coordinator side, we initialize the time delta when we receive the ACK for the connection request message.
|
||||
if (prev->header.type == PACKET_TYPE_CON_REQUEST) {
|
||||
rfm22b_dev->time_delta = portMAX_DELAY - rfm22b_dev->rx_complete_ticks;
|
||||
} else if (!rfm22b_dev->coordinator) {
|
||||
PHAckNackPacketHandle aph = (PHAckNackPacketHandle)(&(rfm22b_dev->rx_packet));
|
||||
portTickType local_tx_time = rfm22_coordinatorTime(rfm22b_dev, rfm22b_dev->tx_complete_ticks);
|
||||
portTickType remote_rx_time = aph->packet_recv_time;
|
||||
// Adjust the time delta based on the difference between our estimated time offset and the coordinator offset.
|
||||
// This is not working yet
|
||||
rfm22b_dev->time_delta += remote_rx_time - local_tx_time;
|
||||
}
|
||||
// On the coordinator side, we initialize the time delta when we receive the ACK for the connection request message.
|
||||
if (prev->header.type == PACKET_TYPE_CON_REQUEST) {
|
||||
rfm22b_dev->time_delta = portMAX_DELAY - rfm22b_dev->rx_complete_ticks;
|
||||
} else if (!rfm22b_dev->coordinator) {
|
||||
PHAckNackPacketHandle aph = (PHAckNackPacketHandle)(&(rfm22b_dev->rx_packet));
|
||||
portTickType local_tx_time = rfm22_coordinatorTime(rfm22b_dev, rfm22b_dev->tx_complete_ticks);
|
||||
portTickType remote_rx_time = aph->packet_recv_time;
|
||||
// Adjust the time delta based on the difference between our estimated time offset and the coordinator offset.
|
||||
// This is not working yet
|
||||
rfm22b_dev->time_delta += remote_rx_time - local_tx_time;
|
||||
}
|
||||
|
||||
// Reset the resend count
|
||||
rfm22b_dev->cur_resent_count = 0;
|
||||
|
||||
// Should we try to start another TX?
|
||||
if (rfm22b_dev->rx_packet.header.type == PACKET_TYPE_ACK) {
|
||||
rfm22b_dev->time_to_send_offset = curTicks;
|
||||
rfm22b_dev->time_to_send = true;
|
||||
return RFM22B_EVENT_TX_START;
|
||||
} else {
|
||||
rfm22b_dev->time_to_send_offset = curTicks + 0x4;
|
||||
return RFM22B_EVENT_RX_MODE;
|
||||
}
|
||||
// Should we try to start another TX?
|
||||
if (rfm22b_dev->rx_packet.header.type == PACKET_TYPE_ACK) {
|
||||
rfm22b_dev->time_to_send_offset = curTicks;
|
||||
rfm22b_dev->time_to_send = true;
|
||||
return RFM22B_EVENT_TX_START;
|
||||
} else {
|
||||
rfm22b_dev->time_to_send_offset = curTicks + 0x4;
|
||||
return RFM22B_EVENT_RX_MODE;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Receive an MACK.
|
||||
* \param[in] rfm22b_dev The device structure
|
||||
*
|
||||
* @param[in] rfm22b_dev The device structure
|
||||
* @return enum pios_rfm22b_event The next event to inject
|
||||
*/
|
||||
static enum pios_rfm22b_event rfm22_receiveNack(struct pios_rfm22b_dev *rfm22b_dev)
|
||||
{
|
||||
|
||||
// Resend the previous TX packet.
|
||||
rfm22b_dev->tx_packet = rfm22b_dev->prev_tx_packet;
|
||||
rfm22b_dev->prev_tx_packet = NULL;
|
||||
// Resend the previous TX packet.
|
||||
rfm22b_dev->tx_packet = rfm22b_dev->prev_tx_packet;
|
||||
rfm22b_dev->prev_tx_packet = NULL;
|
||||
|
||||
// Increment the reset packet counter if we're connected.
|
||||
if (rfm22_isConnected(rfm22b_dev)) {
|
||||
rfm22b_add_rx_status(rfm22b_dev, RFM22B_RESENT_TX_PACKET);
|
||||
}
|
||||
rfm22b_dev->time_to_send = true;
|
||||
return RFM22B_EVENT_TX_START;
|
||||
// Increment the reset packet counter if we're connected.
|
||||
if (rfm22_isConnected(rfm22b_dev)) {
|
||||
rfm22b_add_rx_status(rfm22b_dev, RFM22B_RESENT_TX_PACKET);
|
||||
}
|
||||
rfm22b_dev->time_to_send = true;
|
||||
return RFM22B_EVENT_TX_START;
|
||||
}
|
||||
|
||||
/**
|
||||
* Receive a status packet
|
||||
* \param[in] rfm22b_dev The device structure
|
||||
*
|
||||
* @param[in] rfm22b_dev The device structure
|
||||
* @return enum pios_rfm22b_event The next event to inject
|
||||
*/
|
||||
static enum pios_rfm22b_event rfm22_receiveStatus(struct pios_rfm22b_dev *rfm22b_dev)
|
||||
{
|
||||
PHStatusPacketHandle status = (PHStatusPacketHandle)&(rfm22b_dev->rx_packet);
|
||||
int8_t rssi = rfm22b_dev->rssi_dBm;
|
||||
int8_t afc = rfm22b_dev->afc_correction_Hz;
|
||||
uint32_t id = status->source_id;
|
||||
PHStatusPacketHandle status = (PHStatusPacketHandle)&(rfm22b_dev->rx_packet);
|
||||
int8_t rssi = rfm22b_dev->rssi_dBm;
|
||||
int8_t afc = rfm22b_dev->afc_correction_Hz;
|
||||
uint32_t id = status->source_id;
|
||||
|
||||
// Have we seen this device recently?
|
||||
bool found = false;
|
||||
uint8_t id_idx = 0;
|
||||
for ( ; id_idx < OPLINKSTATUS_PAIRIDS_NUMELEM; ++id_idx)
|
||||
if(rfm22b_dev->pair_stats[id_idx].pairID == id)
|
||||
{
|
||||
found = true;
|
||||
break;
|
||||
}
|
||||
// Have we seen this device recently?
|
||||
bool found = false;
|
||||
uint8_t id_idx = 0;
|
||||
for ( ; id_idx < OPLINKSTATUS_PAIRIDS_NUMELEM; ++id_idx) {
|
||||
if(rfm22b_dev->pair_stats[id_idx].pairID == id) {
|
||||
found = true;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
// If we have seen it, update the RSSI and reset the last contact couter
|
||||
if(found)
|
||||
{
|
||||
rfm22b_dev->pair_stats[id_idx].rssi = rssi;
|
||||
rfm22b_dev->pair_stats[id_idx].afc_correction = afc;
|
||||
rfm22b_dev->pair_stats[id_idx].lastContact = 0;
|
||||
}
|
||||
// If we have seen it, update the RSSI and reset the last contact couter
|
||||
if(found) {
|
||||
rfm22b_dev->pair_stats[id_idx].rssi = rssi;
|
||||
rfm22b_dev->pair_stats[id_idx].afc_correction = afc;
|
||||
rfm22b_dev->pair_stats[id_idx].lastContact = 0;
|
||||
|
||||
// If we haven't seen it, find a slot to put it in.
|
||||
else
|
||||
{
|
||||
uint8_t min_idx = 0;
|
||||
int8_t min_rssi = rfm22b_dev->pair_stats[0].rssi;
|
||||
for (id_idx = 1; id_idx < OPLINKSTATUS_PAIRIDS_NUMELEM; ++id_idx)
|
||||
{
|
||||
if(rfm22b_dev->pair_stats[id_idx].rssi < min_rssi)
|
||||
{
|
||||
min_rssi = rfm22b_dev->pair_stats[id_idx].rssi;
|
||||
min_idx = id_idx;
|
||||
}
|
||||
}
|
||||
rfm22b_dev->pair_stats[min_idx].pairID = id;
|
||||
rfm22b_dev->pair_stats[min_idx].rssi = rssi;
|
||||
rfm22b_dev->pair_stats[min_idx].afc_correction = afc;
|
||||
rfm22b_dev->pair_stats[min_idx].lastContact = 0;
|
||||
}
|
||||
// If we haven't seen it, find a slot to put it in.
|
||||
} else {
|
||||
uint8_t min_idx = 0;
|
||||
int8_t min_rssi = rfm22b_dev->pair_stats[0].rssi;
|
||||
for (id_idx = 1; id_idx < OPLINKSTATUS_PAIRIDS_NUMELEM; ++id_idx) {
|
||||
if(rfm22b_dev->pair_stats[id_idx].rssi < min_rssi) {
|
||||
min_rssi = rfm22b_dev->pair_stats[id_idx].rssi;
|
||||
min_idx = id_idx;
|
||||
}
|
||||
}
|
||||
rfm22b_dev->pair_stats[min_idx].pairID = id;
|
||||
rfm22b_dev->pair_stats[min_idx].rssi = rssi;
|
||||
rfm22b_dev->pair_stats[min_idx].afc_correction = afc;
|
||||
rfm22b_dev->pair_stats[min_idx].lastContact = 0;
|
||||
}
|
||||
|
||||
return RFM22B_EVENT_RX_COMPLETE;
|
||||
return RFM22B_EVENT_RX_COMPLETE;
|
||||
}
|
||||
|
||||
static enum pios_rfm22b_event rfm22_requestConnection(struct pios_rfm22b_dev *rfm22b_dev)
|
||||
|
||||
/*****************************************************************************
|
||||
* Link Statistics Functions
|
||||
*****************************************************************************/
|
||||
|
||||
/**
|
||||
* Calculate the link quality from the packet receipt, tranmittion statistics.
|
||||
*
|
||||
* @param[in] rfm22b_dev The device structure
|
||||
*/
|
||||
static void rfm22_calculateLinkQuality(struct pios_rfm22b_dev *rfm22b_dev)
|
||||
{
|
||||
PHConnectionPacketHandle cph = &(rfm22b_dev->con_packet);
|
||||
// Add the RX packet statistics
|
||||
rfm22b_dev->stats.rx_good = 0;
|
||||
rfm22b_dev->stats.rx_corrected = 0;
|
||||
rfm22b_dev->stats.rx_error = 0;
|
||||
rfm22b_dev->stats.tx_resent = 0;
|
||||
for (uint8_t i = 0; i < RFM22B_RX_PACKET_STATS_LEN; ++i) {
|
||||
uint32_t val = rfm22b_dev->rx_packet_stats[i];
|
||||
for (uint8_t j = 0; j < 16; ++j) {
|
||||
switch ((val >> (j * 2)) & 0x3) {
|
||||
case RFM22B_GOOD_RX_PACKET:
|
||||
rfm22b_dev->stats.rx_good++;
|
||||
break;
|
||||
case RFM22B_CORRECTED_RX_PACKET:
|
||||
rfm22b_dev->stats.rx_corrected++;
|
||||
break;
|
||||
case RFM22B_ERROR_RX_PACKET:
|
||||
rfm22b_dev->stats.rx_error++;
|
||||
break;
|
||||
case RFM22B_RESENT_TX_PACKET:
|
||||
rfm22b_dev->stats.tx_resent++;
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// Set our connection state to requesting connection.
|
||||
rfm22b_dev->stats.link_state = OPLINKSTATUS_LINKSTATE_CONNECTING;
|
||||
|
||||
// Fill in the connection request
|
||||
rfm22b_dev->destination_id = rfm22b_dev->bindings[rfm22b_dev->cur_binding].pairID;
|
||||
cph->header.destination_id = rfm22b_dev->destination_id;
|
||||
cph->header.type = PACKET_TYPE_CON_REQUEST;
|
||||
cph->header.data_size = PH_CONNECTION_DATA_SIZE(&(rfm22b_dev->con_packet));
|
||||
cph->source_id = rfm22b_dev->deviceID;
|
||||
cph->main_port = rfm22b_dev->bindings[rfm22b_dev->cur_binding].main_port;
|
||||
cph->flexi_port = rfm22b_dev->bindings[rfm22b_dev->cur_binding].flexi_port;
|
||||
cph->vcp_port = rfm22b_dev->bindings[rfm22b_dev->cur_binding].vcp_port;
|
||||
cph->com_speed = rfm22b_dev->bindings[rfm22b_dev->cur_binding].com_speed;
|
||||
rfm22b_dev->time_to_send = true;
|
||||
rfm22b_dev->send_connection_request = true;
|
||||
rfm22b_dev->prev_tx_packet = NULL;
|
||||
|
||||
return RFM22B_EVENT_TX_START;
|
||||
// Calculate the link quality metric, which is related to the number of good packets in relation to the number of bad packets.
|
||||
// Note: This assumes that the number of packets sampled for the stats is 64.
|
||||
// Using this equation, error and resent packets are counted as -2, and corrected packets are counted as -1.
|
||||
// The range is 0 (all error or resent packets) to 128 (all good packets).
|
||||
rfm22b_dev->stats.link_quality = 64 + rfm22b_dev->stats.rx_good - rfm22b_dev->stats.rx_error - rfm22b_dev->stats.tx_resent;
|
||||
}
|
||||
|
||||
/**
|
||||
* Add a status value to the RX packet status array.
|
||||
*
|
||||
* @param[in] rfm22b_dev The device structure
|
||||
* @param[in] status The packet status value
|
||||
*/
|
||||
static void rfm22b_add_rx_status(struct pios_rfm22b_dev *rfm22b_dev, enum pios_rfm22b_rx_packet_status status)
|
||||
{
|
||||
// Shift the status registers
|
||||
for (uint8_t i = RFM22B_RX_PACKET_STATS_LEN - 1; i > 0; --i) {
|
||||
rfm22b_dev->rx_packet_stats[i] = (rfm22b_dev->rx_packet_stats[i] << 2) | (rfm22b_dev->rx_packet_stats[i - 1] >> 30);
|
||||
}
|
||||
rfm22b_dev->rx_packet_stats[0] = (rfm22b_dev->rx_packet_stats[0] << 2) | status;
|
||||
}
|
||||
|
||||
/**
|
||||
* Is it this modem's turn to send?
|
||||
*
|
||||
* @param[in] rfm22b_dev The device structure
|
||||
*/
|
||||
static bool rfm22_ready_to_send(struct pios_rfm22b_dev *rfm22b_dev)
|
||||
{
|
||||
// Is there a status of PPM packet ready to send?
|
||||
if (rfm22b_dev->prev_tx_packet || rfm22b_dev->send_ppm || rfm22b_dev->send_status) {
|
||||
return true;
|
||||
}
|
||||
|
||||
// Are we not connected yet?
|
||||
if (!rfm22_isConnected(rfm22b_dev)) {
|
||||
return true;
|
||||
}
|
||||
|
||||
// Is there some data ready to sent?
|
||||
PHPacketHandle dp = &rfm22b_dev->data_packet;
|
||||
if (dp->header.data_size > 0) {
|
||||
return true;
|
||||
}
|
||||
bool need_yield = false;
|
||||
if (rfm22b_dev->tx_out_cb) {
|
||||
dp->header.data_size = (rfm22b_dev->tx_out_cb)(rfm22b_dev->tx_out_context, dp->data, PH_MAX_DATA, NULL, &need_yield);
|
||||
}
|
||||
if (dp->header.data_size > 0) {
|
||||
return true;
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
|
||||
/*****************************************************************************
|
||||
* Connection Handling Functions
|
||||
*****************************************************************************/
|
||||
|
||||
/**
|
||||
* Are we connected to the remote modem?
|
||||
*
|
||||
* @param[in] rfm22b_dev The device structure
|
||||
*/
|
||||
static bool rfm22_isConnected(struct pios_rfm22b_dev *rfm22b_dev)
|
||||
{
|
||||
return (rfm22b_dev->stats.link_state == OPLINKSTATUS_LINKSTATE_CONNECTED);
|
||||
}
|
||||
|
||||
/**
|
||||
* Set the connection parameters from a connection request message.
|
||||
*
|
||||
* @param[in] rfm22b_dev The device structure
|
||||
*/
|
||||
static void rfm22_setConnectionParameters(struct pios_rfm22b_dev *rfm22b_dev)
|
||||
{
|
||||
PHConnectionPacketHandle cph = &(rfm22b_dev->con_packet);
|
||||
PHConnectionPacketHandle cph = &(rfm22b_dev->con_packet);
|
||||
|
||||
// Set our connection state to connected
|
||||
rfm22b_dev->stats.link_state = OPLINKSTATUS_LINKSTATE_CONNECTED;
|
||||
// Set our connection state to connected
|
||||
rfm22b_dev->stats.link_state = OPLINKSTATUS_LINKSTATE_CONNECTED;
|
||||
|
||||
// Call the com port configuration function
|
||||
if (rfm22b_dev->com_config_cb)
|
||||
rfm22b_dev->com_config_cb(cph->main_port, cph->flexi_port, cph->vcp_port, cph->com_speed,
|
||||
cph->min_frequency, cph->max_frequency, cph->channel_spacing);
|
||||
|
||||
// Configure this modem from the connection request message.
|
||||
rfm22_setNominalCarrierFrequency(rfm22b_dev, cph->min_frequency, cph->max_frequency, cph->channel_spacing);
|
||||
rfm22_setDatarate(rfm22b_dev, rfm22b_dev->datarate, true);
|
||||
}
|
||||
|
||||
static portTickType rfm22_coordinatorTime(struct pios_rfm22b_dev *rfm22b_dev, portTickType ticks)
|
||||
{
|
||||
return ticks + rfm22b_dev->time_delta;
|
||||
}
|
||||
|
||||
static bool rfm22_inChannelBuffer(struct pios_rfm22b_dev *rfm22b_dev)
|
||||
{
|
||||
portTickType time = rfm22_coordinatorTime(rfm22b_dev, xTaskGetTickCount());
|
||||
uint8_t window = (uint8_t)(time & 0x7e);
|
||||
return ((window == 0x7f) || (window == 0));
|
||||
}
|
||||
|
||||
static uint8_t rfm22_calcChannel(struct pios_rfm22b_dev *rfm22b_dev)
|
||||
{
|
||||
portTickType time = rfm22_coordinatorTime(rfm22b_dev, xTaskGetTickCount());
|
||||
// We change channels every 128 ms.
|
||||
uint16_t n = (time >> 7) & 0xffff;
|
||||
// The channel is calculated using the 16 bit CRC as the pseudo random number generator.
|
||||
n = PIOS_CRC16_updateByte(n, 0);
|
||||
float num_channels = rfm22b_dev->num_channels;
|
||||
return (uint8_t)(num_channels * (float)n / (float)0xffff);
|
||||
}
|
||||
|
||||
static bool rfm22_changeChannel(struct pios_rfm22b_dev *rfm22b_dev)
|
||||
{
|
||||
if (rfm22_isConnected(rfm22b_dev)) {
|
||||
return rfm22_setFreqHopChannel(rfm22b_dev, rfm22_calcChannel(rfm22b_dev));
|
||||
}
|
||||
return false;
|
||||
// Call the com port configuration function
|
||||
if (rfm22b_dev->com_config_cb) {
|
||||
rfm22b_dev->com_config_cb(cph->main_port, cph->flexi_port, cph->vcp_port, cph->com_speed,
|
||||
cph->min_frequency, cph->max_frequency, cph->channel_spacing);
|
||||
}
|
||||
|
||||
// Configure this modem from the connection request message.
|
||||
rfm22_setNominalCarrierFrequency(rfm22b_dev, cph->min_frequency, cph->max_frequency, cph->channel_spacing);
|
||||
rfm22_setDatarate(rfm22b_dev, rfm22b_dev->datarate, true);
|
||||
}
|
||||
|
||||
/**
|
||||
* Accept a connection request.
|
||||
*
|
||||
* @param[in] rfm22b_dev The device structure
|
||||
* @return enum pios_rfm22b_event The next event to inject
|
||||
*/
|
||||
static enum pios_rfm22b_event rfm22_acceptConnection(struct pios_rfm22b_dev *rfm22b_dev)
|
||||
{
|
||||
// Set our connection state to connected
|
||||
rfm22b_dev->stats.link_state = OPLINKSTATUS_LINKSTATE_CONNECTED;
|
||||
// Set our connection state to connected
|
||||
rfm22b_dev->stats.link_state = OPLINKSTATUS_LINKSTATE_CONNECTED;
|
||||
|
||||
// Copy the connection packet
|
||||
PHConnectionPacketHandle cph = (PHConnectionPacketHandle)(&(rfm22b_dev->rx_packet));
|
||||
PHConnectionPacketHandle lcph = (PHConnectionPacketHandle)(&(rfm22b_dev->con_packet));
|
||||
memcpy((uint8_t*)lcph, (uint8_t*)cph, PH_PACKET_SIZE((PHPacketHandle)cph));
|
||||
// Copy the connection packet
|
||||
PHConnectionPacketHandle cph = (PHConnectionPacketHandle)(&(rfm22b_dev->rx_packet));
|
||||
PHConnectionPacketHandle lcph = (PHConnectionPacketHandle)(&(rfm22b_dev->con_packet));
|
||||
memcpy((uint8_t*)lcph, (uint8_t*)cph, PH_PACKET_SIZE((PHPacketHandle)cph));
|
||||
|
||||
// Set the destination ID to the source of the connection request message.
|
||||
rfm22b_dev->destination_id = cph->source_id;
|
||||
// Set the destination ID to the source of the connection request message.
|
||||
rfm22b_dev->destination_id = cph->source_id;
|
||||
|
||||
return RFM22B_EVENT_DEFAULT;
|
||||
return RFM22B_EVENT_DEFAULT;
|
||||
}
|
||||
|
||||
// ************************************
|
||||
// Initialise this hardware layer module and the rf module
|
||||
|
||||
static enum pios_rfm22b_event rfm22_init(struct pios_rfm22b_dev *rfm22b_dev)
|
||||
/*****************************************************************************
|
||||
* Frequency Hopping Functions
|
||||
*****************************************************************************/
|
||||
|
||||
/**
|
||||
* There needs to be a buffer in time around a channel change in which we delay starting a new packet transmit.
|
||||
* This function returns true of we are in that range of time.
|
||||
*
|
||||
* @param[in] rfm22b_dev The device structure
|
||||
* @return True if we're near a channel change time.
|
||||
*/
|
||||
static bool rfm22_inChannelBuffer(struct pios_rfm22b_dev *rfm22b_dev)
|
||||
{
|
||||
|
||||
// Initialize the register values.
|
||||
rfm22b_dev->device_status = 0;
|
||||
rfm22b_dev->int_status1 = 0;
|
||||
rfm22b_dev->int_status2 = 0;
|
||||
rfm22b_dev->ezmac_status = 0;
|
||||
|
||||
// Clean the LEDs
|
||||
rfm22_clearLEDs();
|
||||
|
||||
// Initialize the detected device statistics.
|
||||
for (uint8_t i = 0; i < OPLINKSTATUS_PAIRIDS_NUMELEM; ++i) {
|
||||
rfm22b_dev->pair_stats[i].pairID = 0;
|
||||
rfm22b_dev->pair_stats[i].rssi = -127;
|
||||
rfm22b_dev->pair_stats[i].afc_correction = 0;
|
||||
rfm22b_dev->pair_stats[i].lastContact = 0;
|
||||
}
|
||||
|
||||
// Initlize the link stats.
|
||||
for (uint8_t i = 0; i < RFM22B_RX_PACKET_STATS_LEN; ++i)
|
||||
rfm22b_dev->rx_packet_stats[i] = 0;
|
||||
|
||||
// Initialize the state
|
||||
rfm22b_dev->stats.link_state = OPLINKSTATUS_LINKSTATE_DISCONNECTED;
|
||||
rfm22b_dev->destination_id = 0xffffffff;
|
||||
rfm22b_dev->time_to_send = false;
|
||||
rfm22b_dev->time_to_send_offset = 0;
|
||||
rfm22b_dev->send_status = false;
|
||||
rfm22b_dev->send_connection_request = false;
|
||||
rfm22b_dev->cur_resent_count = 0;
|
||||
|
||||
// Initialize the packets.
|
||||
rfm22b_dev->rx_packet_len = 0;
|
||||
rfm22b_dev->tx_packet = NULL;
|
||||
rfm22b_dev->prev_tx_packet = NULL;
|
||||
rfm22b_dev->data_packet.header.data_size = 0;
|
||||
rfm22b_dev->in_rx_mode = false;
|
||||
|
||||
// Initialize the devide state
|
||||
rfm22b_dev->device_status = rfm22b_dev->int_status1 = rfm22b_dev->int_status2 = rfm22b_dev->ezmac_status = 0;
|
||||
rfm22b_dev->rx_buffer_wr = 0;
|
||||
rfm22b_dev->tx_data_rd = rfm22b_dev->tx_data_wr = 0;
|
||||
rfm22b_dev->frequency_hop_channel = 0;
|
||||
rfm22b_dev->afc_correction_Hz = 0;
|
||||
rfm22b_dev->packet_start_ticks = 0;
|
||||
rfm22b_dev->tx_complete_ticks = 0;
|
||||
rfm22b_dev->rx_complete_ticks = 0;
|
||||
|
||||
// software reset the RF chip .. following procedure according to Si4x3x Errata (rev. B)
|
||||
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl1, RFM22_opfc1_swres);
|
||||
|
||||
for (int i = 50; i > 0; i--) {
|
||||
// read the status registers
|
||||
rfm22b_dev->int_status1 = rfm22_read(rfm22b_dev, RFM22_interrupt_status1);
|
||||
rfm22b_dev->int_status2 = rfm22_read(rfm22b_dev, RFM22_interrupt_status2);
|
||||
if (rfm22b_dev->int_status2 & RFM22_is2_ichiprdy) break;
|
||||
|
||||
// wait 1ms
|
||||
PIOS_DELAY_WaitmS(1);
|
||||
}
|
||||
|
||||
// ****************
|
||||
|
||||
// read status - clears interrupt
|
||||
rfm22b_dev->device_status = rfm22_read(rfm22b_dev, RFM22_device_status);
|
||||
rfm22b_dev->int_status1 = rfm22_read(rfm22b_dev, RFM22_interrupt_status1);
|
||||
rfm22b_dev->int_status2 = rfm22_read(rfm22b_dev, RFM22_interrupt_status2);
|
||||
rfm22b_dev->ezmac_status = rfm22_read(rfm22b_dev, RFM22_ezmac_status);
|
||||
|
||||
// disable all interrupts
|
||||
rfm22_write(rfm22b_dev, RFM22_interrupt_enable1, 0x00);
|
||||
rfm22_write(rfm22b_dev, RFM22_interrupt_enable2, 0x00);
|
||||
|
||||
// read the RF chip ID bytes
|
||||
|
||||
// read the device type
|
||||
uint8_t device_type = rfm22_read(rfm22b_dev, RFM22_DEVICE_TYPE) & RFM22_DT_MASK;
|
||||
// read the device version
|
||||
uint8_t device_version = rfm22_read(rfm22b_dev, RFM22_DEVICE_VERSION) & RFM22_DV_MASK;
|
||||
|
||||
#if defined(RFM22_DEBUG)
|
||||
DEBUG_PRINTF(2, "rf device type: %d\n\r", device_type);
|
||||
DEBUG_PRINTF(2, "rf device version: %d\n\r", device_version);
|
||||
#endif
|
||||
|
||||
if (device_type != 0x08)
|
||||
{
|
||||
#if defined(RFM22_DEBUG)
|
||||
DEBUG_PRINTF(2, "rf device type: INCORRECT - should be 0x08\n\r");
|
||||
#endif
|
||||
// incorrect RF module type
|
||||
return RFM22B_EVENT_FATAL_ERROR;
|
||||
}
|
||||
if (device_version != RFM22_DEVICE_VERSION_B1)
|
||||
{
|
||||
#if defined(RFM22_DEBUG)
|
||||
DEBUG_PRINTF(2, "rf device version: INCORRECT\n\r");
|
||||
#endif
|
||||
// incorrect RF module version
|
||||
return RFM22B_EVENT_FATAL_ERROR;
|
||||
}
|
||||
|
||||
// calibrate our RF module to be exactly on frequency .. different for every module
|
||||
rfm22_write(rfm22b_dev, RFM22_xtal_osc_load_cap, OSC_LOAD_CAP);
|
||||
|
||||
// disable Low Duty Cycle Mode
|
||||
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl2, 0x00);
|
||||
|
||||
// 1MHz clock output
|
||||
rfm22_write(rfm22b_dev, RFM22_cpu_output_clk, RFM22_coc_1MHz);
|
||||
|
||||
// READY mode
|
||||
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl1, RFM22_opfc1_xton);
|
||||
|
||||
// choose the 3 GPIO pin functions
|
||||
// GPIO port use default value
|
||||
rfm22_write(rfm22b_dev, RFM22_io_port_config, RFM22_io_port_default);
|
||||
if (rfm22b_dev->cfg.gpio_direction == GPIO0_TX_GPIO1_RX) {
|
||||
// GPIO0 = TX State (to control RF Switch)
|
||||
rfm22_write(rfm22b_dev, RFM22_gpio0_config, RFM22_gpio0_config_drv3 | RFM22_gpio0_config_txstate);
|
||||
// GPIO1 = RX State (to control RF Switch)
|
||||
rfm22_write(rfm22b_dev, RFM22_gpio1_config, RFM22_gpio1_config_drv3 | RFM22_gpio1_config_rxstate);
|
||||
} else {
|
||||
// GPIO0 = TX State (to control RF Switch)
|
||||
rfm22_write(rfm22b_dev, RFM22_gpio0_config, RFM22_gpio0_config_drv3 | RFM22_gpio0_config_rxstate);
|
||||
// GPIO1 = RX State (to control RF Switch)
|
||||
rfm22_write(rfm22b_dev, RFM22_gpio1_config, RFM22_gpio1_config_drv3 | RFM22_gpio1_config_txstate);
|
||||
}
|
||||
// GPIO2 = Clear Channel Assessment
|
||||
rfm22_write(rfm22b_dev, RFM22_gpio2_config, RFM22_gpio2_config_drv3 | RFM22_gpio2_config_cca);
|
||||
|
||||
// FIFO mode, GFSK modulation
|
||||
uint8_t fd_bit = rfm22_read(rfm22b_dev, RFM22_modulation_mode_control2) & RFM22_mmc2_fd;
|
||||
rfm22_write(rfm22b_dev, RFM22_modulation_mode_control2, RFM22_mmc2_trclk_clk_none | RFM22_mmc2_dtmod_fifo | fd_bit | RFM22_mmc2_modtyp_gfsk);
|
||||
|
||||
// setup to read the internal temperature sensor
|
||||
|
||||
// ADC used to sample the temperature sensor
|
||||
uint8_t adc_config = RFM22_ac_adcsel_temp_sensor | RFM22_ac_adcref_bg;
|
||||
rfm22_write(rfm22b_dev, RFM22_adc_config, adc_config);
|
||||
|
||||
// adc offset
|
||||
rfm22_write(rfm22b_dev, RFM22_adc_sensor_amp_offset, 0);
|
||||
|
||||
// temp sensor calibration .. <20>40C to +64C 0.5C resolution
|
||||
rfm22_write(rfm22b_dev, RFM22_temp_sensor_calib, RFM22_tsc_tsrange0 | RFM22_tsc_entsoffs);
|
||||
|
||||
// temp sensor offset
|
||||
rfm22_write(rfm22b_dev, RFM22_temp_value_offset, 0);
|
||||
|
||||
// start an ADC conversion
|
||||
rfm22_write(rfm22b_dev, RFM22_adc_config, adc_config | RFM22_ac_adcstartbusy);
|
||||
|
||||
// set the RSSI threshold interrupt to about -90dBm
|
||||
rfm22_write(rfm22b_dev, RFM22_rssi_threshold_clear_chan_indicator, (-90 + 122) * 2);
|
||||
|
||||
// enable the internal Tx & Rx packet handlers (without CRC)
|
||||
rfm22_write(rfm22b_dev, RFM22_data_access_control, RFM22_dac_enpacrx | RFM22_dac_enpactx);
|
||||
|
||||
// x-nibbles tx preamble
|
||||
rfm22_write(rfm22b_dev, RFM22_preamble_length, TX_PREAMBLE_NIBBLES);
|
||||
// x-nibbles rx preamble detection
|
||||
rfm22_write(rfm22b_dev, RFM22_preamble_detection_ctrl1, RX_PREAMBLE_NIBBLES << 3);
|
||||
|
||||
#ifdef PIOS_RFM22_NO_HEADER
|
||||
// header control - we are not using the header
|
||||
rfm22_write(rfm22b_dev, RFM22_header_control1, RFM22_header_cntl1_bcen_none | RFM22_header_cntl1_hdch_none);
|
||||
|
||||
// no header bytes, synchronization word length 3, 2, 1 & 0 used, packet length included in header.
|
||||
rfm22_write(rfm22b_dev, RFM22_header_control2, RFM22_header_cntl2_hdlen_none |
|
||||
RFM22_header_cntl2_synclen_3210 | ((TX_PREAMBLE_NIBBLES >> 8) & 0x01));
|
||||
#else
|
||||
// header control - using a 4 by header with broadcast of 0xffffffff
|
||||
rfm22_write(rfm22b_dev, RFM22_header_control1,
|
||||
RFM22_header_cntl1_bcen_0 |
|
||||
RFM22_header_cntl1_bcen_1 |
|
||||
RFM22_header_cntl1_bcen_2 |
|
||||
RFM22_header_cntl1_bcen_3 |
|
||||
RFM22_header_cntl1_hdch_0 |
|
||||
RFM22_header_cntl1_hdch_1 |
|
||||
RFM22_header_cntl1_hdch_2 |
|
||||
RFM22_header_cntl1_hdch_3);
|
||||
// Check all bit of all bytes of the header
|
||||
rfm22_write(rfm22b_dev, RFM22_header_enable0, 0xff);
|
||||
rfm22_write(rfm22b_dev, RFM22_header_enable1, 0xff);
|
||||
rfm22_write(rfm22b_dev, RFM22_header_enable2, 0xff);
|
||||
rfm22_write(rfm22b_dev, RFM22_header_enable3, 0xff);
|
||||
// Set the ID to be checked
|
||||
uint32_t id = rfm22b_dev->deviceID;
|
||||
rfm22_write(rfm22b_dev, RFM22_check_header0, id & 0xff);
|
||||
rfm22_write(rfm22b_dev, RFM22_check_header1, (id >> 8) & 0xff);
|
||||
rfm22_write(rfm22b_dev, RFM22_check_header2, (id >> 16) & 0xff);
|
||||
rfm22_write(rfm22b_dev, RFM22_check_header3, (id >> 24) & 0xff);
|
||||
// 4 header bytes, synchronization word length 3, 2, 1 & 0 used, packet length included in header.
|
||||
rfm22_write(rfm22b_dev, RFM22_header_control2,
|
||||
RFM22_header_cntl2_hdlen_3210 |
|
||||
RFM22_header_cntl2_synclen_3210 |
|
||||
((TX_PREAMBLE_NIBBLES >> 8) & 0x01));
|
||||
#endif
|
||||
|
||||
// sync word
|
||||
rfm22_write(rfm22b_dev, RFM22_sync_word3, SYNC_BYTE_1);
|
||||
rfm22_write(rfm22b_dev, RFM22_sync_word2, SYNC_BYTE_2);
|
||||
rfm22_write(rfm22b_dev, RFM22_sync_word1, SYNC_BYTE_3);
|
||||
rfm22_write(rfm22b_dev, RFM22_sync_word0, SYNC_BYTE_4);
|
||||
|
||||
// set the tx power
|
||||
rfm22_write(rfm22b_dev, RFM22_tx_power, RFM22_tx_pwr_lna_sw | rfm22b_dev->tx_power);
|
||||
|
||||
// TX FIFO Almost Full Threshold (0 - 63)
|
||||
rfm22_write(rfm22b_dev, RFM22_tx_fifo_control1, TX_FIFO_HI_WATERMARK);
|
||||
|
||||
// TX FIFO Almost Empty Threshold (0 - 63)
|
||||
rfm22_write(rfm22b_dev, RFM22_tx_fifo_control2, TX_FIFO_LO_WATERMARK);
|
||||
|
||||
// RX FIFO Almost Full Threshold (0 - 63)
|
||||
rfm22_write(rfm22b_dev, RFM22_rx_fifo_control, RX_FIFO_HI_WATERMARK);
|
||||
|
||||
// Set the frequency calibration
|
||||
rfm22_write(rfm22b_dev, RFM22_xtal_osc_load_cap, rfm22b_dev->cfg.RFXtalCap);
|
||||
|
||||
// Initialize the frequency and datarate to te default.
|
||||
rfm22_setNominalCarrierFrequency(rfm22b_dev, rfm22b_dev->init_frequency, rfm22b_dev->init_frequency, RFM22B_FREQUENCY_HOP_STEP_SIZE);
|
||||
rfm22_setDatarate(rfm22b_dev, RFM22B_DEFAULT_RX_DATARATE, true);
|
||||
|
||||
return RFM22B_EVENT_INITIALIZED;
|
||||
portTickType time = rfm22_coordinatorTime(rfm22b_dev, xTaskGetTickCount());
|
||||
uint8_t window = (uint8_t)(time & 0x7e);
|
||||
return ((window == 0x7f) || (window == 0));
|
||||
}
|
||||
|
||||
static void rfm22_clearLEDs() {
|
||||
LINK_LED_OFF;
|
||||
RX_LED_OFF;
|
||||
TX_LED_OFF;
|
||||
#if defined(PIOS_RFM22B_DEBUG_ON_TELEM) || defined(PIOS_RFM22B_DEBUG_ON_RCVR)
|
||||
D1_LED_OFF;
|
||||
D2_LED_OFF;
|
||||
D3_LED_OFF;
|
||||
D4_LED_OFF;
|
||||
#endif
|
||||
/**
|
||||
* Return the extimated current clock ticks count on the coordinator modem.
|
||||
* This is the master clock used for all synchronization.
|
||||
*
|
||||
* @param[in] rfm22b_dev The device structure
|
||||
*/
|
||||
static portTickType rfm22_coordinatorTime(struct pios_rfm22b_dev *rfm22b_dev, portTickType ticks)
|
||||
{
|
||||
return ticks + rfm22b_dev->time_delta;
|
||||
}
|
||||
|
||||
/**
|
||||
* Calculate what the current channel shold be.
|
||||
*
|
||||
* @param[in] rfm22b_dev The device structure
|
||||
*/
|
||||
static uint8_t rfm22_calcChannel(struct pios_rfm22b_dev *rfm22b_dev)
|
||||
{
|
||||
portTickType time = rfm22_coordinatorTime(rfm22b_dev, xTaskGetTickCount());
|
||||
// We change channels every 128 ms.
|
||||
uint16_t n = (time >> 7) & 0xffff;
|
||||
// The channel is calculated using the 16 bit CRC as the pseudo random number generator.
|
||||
n = PIOS_CRC16_updateByte(n, 0);
|
||||
float num_channels = rfm22b_dev->num_channels;
|
||||
return (uint8_t)(num_channels * (float)n / (float)0xffff);
|
||||
}
|
||||
|
||||
/**
|
||||
* Change channels to the calculated current channel.
|
||||
*
|
||||
* @param[in] rfm22b_dev The device structure
|
||||
*/
|
||||
static bool rfm22_changeChannel(struct pios_rfm22b_dev *rfm22b_dev)
|
||||
{
|
||||
if (rfm22_isConnected(rfm22b_dev)) {
|
||||
return rfm22_setFreqHopChannel(rfm22b_dev, rfm22_calcChannel(rfm22b_dev));
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
|
||||
/*****************************************************************************
|
||||
* Error Handling Functions
|
||||
*****************************************************************************/
|
||||
|
||||
/**
|
||||
* Recover from a failure in receiving a packet.
|
||||
*
|
||||
* @param[in] rfm22b_dev The device structure
|
||||
* @return enum pios_rfm22b_event The next event to inject
|
||||
*/
|
||||
static enum pios_rfm22b_event rfm22_rxFailure(struct pios_rfm22b_dev *rfm22b_dev)
|
||||
{
|
||||
rfm22b_dev->stats.rx_failure++;
|
||||
rfm22b_dev->rx_buffer_wr = 0;
|
||||
rfm22b_dev->rx_complete_ticks = xTaskGetTickCount();
|
||||
rfm22b_dev->in_rx_mode = false;
|
||||
if (rfm22b_dev->rx_complete_ticks == 0) {
|
||||
rfm22b_dev->rx_complete_ticks = 1;
|
||||
}
|
||||
return RFM22B_EVENT_RX_MODE;
|
||||
}
|
||||
|
||||
/**
|
||||
* Recover from a transmit failure.
|
||||
*
|
||||
* @param[in] rfm22b_dev The device structure
|
||||
* @return enum pios_rfm22b_event The next event to inject
|
||||
*/
|
||||
static enum pios_rfm22b_event rfm22_txFailure(struct pios_rfm22b_dev *rfm22b_dev)
|
||||
{
|
||||
rfm22b_dev->stats.tx_failure++;
|
||||
rfm22b_dev->tx_data_wr = rfm22b_dev->tx_data_rd = 0;
|
||||
return RFM22B_EVENT_TX_START;
|
||||
}
|
||||
|
||||
/**
|
||||
* Recover from a timeout event.
|
||||
*
|
||||
* @param[in] rfm22b_dev The device structure
|
||||
* @return enum pios_rfm22b_event The next event to inject
|
||||
*/
|
||||
static enum pios_rfm22b_event rfm22_timeout(struct pios_rfm22b_dev *rfm22b_dev)
|
||||
{
|
||||
rfm22b_dev->stats.timeouts++;
|
||||
rfm22b_dev->packet_start_ticks = 0;
|
||||
// Release the Tx packet if it's set.
|
||||
if (rfm22b_dev->tx_packet != 0)
|
||||
{
|
||||
rfm22b_dev->tx_data_rd = rfm22b_dev->tx_data_wr = 0;
|
||||
}
|
||||
rfm22b_dev->rx_buffer_wr = 0;
|
||||
TX_LED_OFF;
|
||||
RX_LED_OFF;
|
||||
rfm22b_dev->stats.timeouts++;
|
||||
rfm22b_dev->packet_start_ticks = 0;
|
||||
// Release the Tx packet if it's set.
|
||||
if (rfm22b_dev->tx_packet != 0) {
|
||||
rfm22b_dev->tx_data_rd = rfm22b_dev->tx_data_wr = 0;
|
||||
}
|
||||
rfm22b_dev->rx_buffer_wr = 0;
|
||||
TX_LED_OFF;
|
||||
RX_LED_OFF;
|
||||
#if defined(PIOS_RFM22B_DEBUG_ON_TELEM) || defined(PIOS_RFM22B_DEBUG_ON_RCVR)
|
||||
D1_LED_OFF;
|
||||
D2_LED_OFF;
|
||||
D3_LED_OFF;
|
||||
D4_LED_OFF;
|
||||
D1_LED_OFF;
|
||||
D2_LED_OFF;
|
||||
D3_LED_OFF;
|
||||
D4_LED_OFF;
|
||||
#endif
|
||||
return RFM22B_EVENT_TX_START;
|
||||
return RFM22B_EVENT_TX_START;
|
||||
}
|
||||
|
||||
/**
|
||||
* Recover from a severe error.
|
||||
*
|
||||
* @param[in] rfm22b_dev The device structure
|
||||
* @return enum pios_rfm22b_event The next event to inject
|
||||
*/
|
||||
static enum pios_rfm22b_event rfm22_error(struct pios_rfm22b_dev *rfm22b_dev)
|
||||
{
|
||||
rfm22b_dev->stats.resets++;
|
||||
rfm22_clearLEDs();
|
||||
return RFM22B_EVENT_INITIALIZE;
|
||||
rfm22b_dev->stats.resets++;
|
||||
rfm22_clearLEDs();
|
||||
return RFM22B_EVENT_INITIALIZE;
|
||||
}
|
||||
|
||||
/**
|
||||
* A fatal error has occured in the state machine.
|
||||
* this should not happen.
|
||||
* \parem [in] rfm22b_dev The device structure
|
||||
* \return enum pios_rfm22b_event The next event to inject
|
||||
*
|
||||
* @parem [in] rfm22b_dev The device structure
|
||||
* @return enum pios_rfm22b_event The next event to inject
|
||||
*/
|
||||
static enum pios_rfm22b_event rfm22_fatal_error(struct pios_rfm22b_dev *rfm22b_dev)
|
||||
{
|
||||
// RF module error .. flash the LED's
|
||||
rfm22_clearLEDs();
|
||||
for(unsigned int j = 0; j < 16; j++)
|
||||
{
|
||||
USB_LED_ON;
|
||||
LINK_LED_ON;
|
||||
RX_LED_OFF;
|
||||
TX_LED_OFF;
|
||||
// RF module error .. flash the LED's
|
||||
rfm22_clearLEDs();
|
||||
for(unsigned int j = 0; j < 16; j++) {
|
||||
USB_LED_ON;
|
||||
LINK_LED_ON;
|
||||
RX_LED_OFF;
|
||||
TX_LED_OFF;
|
||||
|
||||
PIOS_DELAY_WaitmS(200);
|
||||
PIOS_DELAY_WaitmS(200);
|
||||
|
||||
USB_LED_OFF;
|
||||
LINK_LED_OFF;
|
||||
RX_LED_ON;
|
||||
TX_LED_ON;
|
||||
USB_LED_OFF;
|
||||
LINK_LED_OFF;
|
||||
RX_LED_ON;
|
||||
TX_LED_ON;
|
||||
|
||||
PIOS_DELAY_WaitmS(200);
|
||||
}
|
||||
PIOS_DELAY_WaitmS(200);
|
||||
}
|
||||
|
||||
PIOS_DELAY_WaitmS(1000);
|
||||
PIOS_DELAY_WaitmS(1000);
|
||||
|
||||
PIOS_Assert(0);
|
||||
PIOS_Assert(0);
|
||||
|
||||
return RFM22B_EVENT_FATAL_ERROR;
|
||||
return RFM22B_EVENT_FATAL_ERROR;
|
||||
}
|
||||
|
||||
// ************************************
|
||||
|
||||
/*****************************************************************************
|
||||
* Utility Functions
|
||||
*****************************************************************************/
|
||||
|
||||
/**
|
||||
* Calculate the time difference between the start time and end time.
|
||||
* Times are in ticks. Also handles rollover.
|
||||
*
|
||||
* @param[in] start_time The start time in ticks.
|
||||
* @param[in] end_time The end time in ticks.
|
||||
*/
|
||||
static uint32_t pios_rfm22_time_difference_ms(portTickType start_time, portTickType end_time)
|
||||
{
|
||||
if(end_time >= start_time) {
|
||||
return (end_time - start_time) * portTICK_RATE_MS;
|
||||
}
|
||||
// Rollover
|
||||
return ((portMAX_DELAY - start_time) + end_time) * portTICK_RATE_MS;
|
||||
}
|
||||
|
||||
/**
|
||||
* Allocate the device structure
|
||||
*/
|
||||
#if defined(PIOS_INCLUDE_FREERTOS)
|
||||
static struct pios_rfm22b_dev *pios_rfm22_alloc(void)
|
||||
{
|
||||
struct pios_rfm22b_dev * rfm22b_dev;
|
||||
|
||||
rfm22b_dev = (struct pios_rfm22b_dev *)pvPortMalloc(sizeof(*rfm22b_dev));
|
||||
rfm22b_dev->spi_id = 0;
|
||||
if (!rfm22b_dev) {
|
||||
return NULL;
|
||||
}
|
||||
|
||||
rfm22b_dev->magic = PIOS_RFM22B_DEV_MAGIC;
|
||||
return(rfm22b_dev);
|
||||
}
|
||||
#else
|
||||
static struct pios_rfm22b_dev pios_rfm22b_devs[PIOS_RFM22B_MAX_DEVS];
|
||||
static uint8_t pios_rfm22b_num_devs;
|
||||
static struct pios_rfm22b_dev *pios_rfm22_alloc(void)
|
||||
{
|
||||
struct pios_rfm22b_dev * rfm22b_dev;
|
||||
|
||||
if (pios_rfm22b_num_devs >= PIOS_RFM22B_MAX_DEVS) {
|
||||
return NULL;
|
||||
}
|
||||
|
||||
rfm22b_dev = &pios_rfm22b_devs[pios_rfm22b_num_devs++];
|
||||
rfm22b_dev->magic = PIOS_RFM22B_DEV_MAGIC;
|
||||
|
||||
return (rfm22b_dev);
|
||||
}
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Turn off all of the LEDs
|
||||
*/
|
||||
static void rfm22_clearLEDs(void) {
|
||||
LINK_LED_OFF;
|
||||
RX_LED_OFF;
|
||||
TX_LED_OFF;
|
||||
#if defined(PIOS_RFM22B_DEBUG_ON_TELEM) || defined(PIOS_RFM22B_DEBUG_ON_RCVR)
|
||||
D1_LED_OFF;
|
||||
D2_LED_OFF;
|
||||
D3_LED_OFF;
|
||||
D4_LED_OFF;
|
||||
#endif
|
||||
}
|
||||
|
||||
|
||||
/*****************************************************************************
|
||||
* SPI Read/Write Functions
|
||||
*****************************************************************************/
|
||||
|
||||
/**
|
||||
* Assert the chip select line.
|
||||
*
|
||||
* @param[in] rfm22b_dev The RFM22B device.
|
||||
*/
|
||||
static void rfm22_assertCs(struct pios_rfm22b_dev *rfm22b_dev)
|
||||
{
|
||||
PIOS_DELAY_WaituS(1);
|
||||
if(rfm22b_dev->spi_id != 0) {
|
||||
PIOS_SPI_RC_PinSet(rfm22b_dev->spi_id, rfm22b_dev->slave_num, 0);
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Deassert the chip select line.
|
||||
*
|
||||
* @param[in] rfm22b_dev The RFM22B device structure pointer.
|
||||
*/
|
||||
static void rfm22_deassertCs(struct pios_rfm22b_dev *rfm22b_dev)
|
||||
{
|
||||
if(rfm22b_dev->spi_id != 0) {
|
||||
PIOS_SPI_RC_PinSet(rfm22b_dev->spi_id, rfm22b_dev->slave_num, 1);
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Claim the SPI bus.
|
||||
*
|
||||
* @param[in] rfm22b_dev The RFM22B device structure pointer.
|
||||
*/
|
||||
static void rfm22_claimBus(struct pios_rfm22b_dev *rfm22b_dev)
|
||||
{
|
||||
if(rfm22b_dev->spi_id != 0) {
|
||||
PIOS_SPI_ClaimBus(rfm22b_dev->spi_id);
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Release the SPI bus.
|
||||
*
|
||||
* @param[in] rfm22b_dev The RFM22B device structure pointer.
|
||||
*/
|
||||
static void rfm22_releaseBus(struct pios_rfm22b_dev *rfm22b_dev)
|
||||
{
|
||||
if(rfm22b_dev->spi_id != 0) {
|
||||
PIOS_SPI_ReleaseBus(rfm22b_dev->spi_id);
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Claim the semaphore and write a byte to a register
|
||||
*
|
||||
* @param[in] rfm22b_dev The RFM22B device.
|
||||
* @param[in] addr The address to write to
|
||||
* @param[in] data The datat to write to that address
|
||||
*/
|
||||
static void rfm22_write(struct pios_rfm22b_dev *rfm22b_dev, uint8_t addr, uint8_t data)
|
||||
{
|
||||
rfm22_claimBus(rfm22b_dev);
|
||||
rfm22_assertCs(rfm22b_dev);
|
||||
uint8_t buf[2] = {addr | 0x80, data};
|
||||
PIOS_SPI_TransferBlock(rfm22b_dev->spi_id, buf, NULL, sizeof(buf), NULL);
|
||||
rfm22_deassertCs(rfm22b_dev);
|
||||
rfm22_releaseBus(rfm22b_dev);
|
||||
}
|
||||
|
||||
/**
|
||||
* Read a byte from an RFM22b register
|
||||
*
|
||||
* @param[in] rfm22b_dev The RFM22B device structure pointer.
|
||||
* @param[in] addr The address to read from
|
||||
* @return Returns the result of the register read
|
||||
*/
|
||||
static uint8_t rfm22_read(struct pios_rfm22b_dev *rfm22b_dev, uint8_t addr)
|
||||
{
|
||||
uint8_t in[2];
|
||||
uint8_t out[2] = {addr & 0x7f, 0xFF};
|
||||
rfm22_claimBus(rfm22b_dev);
|
||||
rfm22_assertCs(rfm22b_dev);
|
||||
PIOS_SPI_TransferBlock(rfm22b_dev->spi_id, out, in, sizeof(out), NULL);
|
||||
rfm22_deassertCs(rfm22b_dev);
|
||||
rfm22_releaseBus(rfm22b_dev);
|
||||
return in[1];
|
||||
}
|
||||
|
||||
/**
|
||||
* Read a byte from an RFM22b register without claiming the bus
|
||||
*
|
||||
* @param[in] rfm22b_dev The RFM22B device structure pointer.
|
||||
* @param[in] addr The address to read from
|
||||
* @return Returns the result of the register read
|
||||
*/
|
||||
static uint8_t rfm22_read_noclaim(struct pios_rfm22b_dev *rfm22b_dev, uint8_t addr)
|
||||
{
|
||||
uint8_t out[2] = {addr & 0x7F, 0xFF};
|
||||
uint8_t in[2];
|
||||
rfm22_assertCs(rfm22b_dev);
|
||||
PIOS_SPI_TransferBlock(rfm22b_dev->spi_id, out, in, sizeof(out), NULL);
|
||||
rfm22_deassertCs(rfm22b_dev);
|
||||
return in[1];
|
||||
}
|
||||
|
||||
#endif /* PIOS_INCLUDE_RFM22B */
|
||||
|
||||
|
@ -44,87 +44,123 @@ static bool PIOS_RFM22B_COM_Available(uint32_t rfm22b_com_id);
|
||||
|
||||
/* Local variables */
|
||||
const struct pios_com_driver pios_rfm22b_com_driver = {
|
||||
.set_baud = PIOS_RFM22B_COM_ChangeBaud,
|
||||
.tx_start = PIOS_RFM22B_COM_TxStart,
|
||||
.rx_start = PIOS_RFM22B_COM_RxStart,
|
||||
.bind_tx_cb = PIOS_RFM22B_COM_RegisterTxCallback,
|
||||
.bind_rx_cb = PIOS_RFM22B_COM_RegisterRxCallback,
|
||||
.available = PIOS_RFM22B_COM_Available
|
||||
.set_baud = PIOS_RFM22B_COM_ChangeBaud,
|
||||
.tx_start = PIOS_RFM22B_COM_TxStart,
|
||||
.rx_start = PIOS_RFM22B_COM_RxStart,
|
||||
.bind_tx_cb = PIOS_RFM22B_COM_RegisterTxCallback,
|
||||
.bind_rx_cb = PIOS_RFM22B_COM_RegisterRxCallback,
|
||||
.available = PIOS_RFM22B_COM_Available
|
||||
};
|
||||
|
||||
/**
|
||||
* Changes the baud rate of the RFM22B peripheral without re-initialising.
|
||||
* \param[in] rfm22b_id RFM22B name (GPS, TELEM, AUX)
|
||||
* \param[in] baud Requested baud rate
|
||||
*
|
||||
* @param[in] rfm22b_id RFM22B name (GPS, TELEM, AUX)
|
||||
* @param[in] baud Requested baud rate
|
||||
*/
|
||||
static void PIOS_RFM22B_COM_ChangeBaud(uint32_t rfm22b_id, uint32_t baud)
|
||||
{
|
||||
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
|
||||
if (!PIOS_RFM22B_validate(rfm22b_dev))
|
||||
return;
|
||||
// Set the RF data rate on the modem to ~2X the selected buad rate because the modem is half duplex.
|
||||
enum rfm22b_datarate datarate = RFM22_datarate_64000;
|
||||
if (baud <= 1024)
|
||||
datarate = RFM22_datarate_500;
|
||||
else if (baud <= 2048)
|
||||
datarate = RFM22_datarate_1000;
|
||||
else if (baud <= 4096)
|
||||
datarate = RFM22_datarate_8000;
|
||||
else if (baud <= 9600)
|
||||
datarate = RFM22_datarate_16000;
|
||||
else if (baud <= 19200)
|
||||
datarate = RFM22_datarate_32000;
|
||||
else if (baud <= 38400)
|
||||
datarate = RFM22_datarate_57600;
|
||||
else if (baud <= 57600)
|
||||
datarate = RFM22_datarate_128000;
|
||||
else if (baud <= 115200)
|
||||
datarate = RFM22_datarate_192000;
|
||||
rfm22b_dev->datarate = datarate;
|
||||
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
|
||||
if (!PIOS_RFM22B_Validate(rfm22b_dev)) {
|
||||
return;
|
||||
}
|
||||
// Set the RF data rate on the modem to ~2X the selected buad rate because the modem is half duplex.
|
||||
enum rfm22b_datarate datarate = RFM22_datarate_64000;
|
||||
if (baud <= 1024)
|
||||
datarate = RFM22_datarate_500;
|
||||
else if (baud <= 2048)
|
||||
datarate = RFM22_datarate_1000;
|
||||
else if (baud <= 4096)
|
||||
datarate = RFM22_datarate_8000;
|
||||
else if (baud <= 9600)
|
||||
datarate = RFM22_datarate_16000;
|
||||
else if (baud <= 19200)
|
||||
datarate = RFM22_datarate_32000;
|
||||
else if (baud <= 38400)
|
||||
datarate = RFM22_datarate_57600;
|
||||
else if (baud <= 57600)
|
||||
datarate = RFM22_datarate_128000;
|
||||
else if (baud <= 115200)
|
||||
datarate = RFM22_datarate_192000;
|
||||
rfm22b_dev->datarate = datarate;
|
||||
}
|
||||
|
||||
/**
|
||||
* Start a receive from the COM device
|
||||
*
|
||||
* @param[in] rfm22b_dev The device ID.
|
||||
* @param[in] rx_bytes_available The number of bytes available to receive
|
||||
*/
|
||||
static void PIOS_RFM22B_COM_RxStart(uint32_t rfm22b_id, uint16_t rx_bytes_avail)
|
||||
{
|
||||
}
|
||||
|
||||
/**
|
||||
* Start a transmit from the COM device
|
||||
*
|
||||
* @param[in] rfm22b_dev The device ID.
|
||||
* @param[in] tx_bytes_available The number of bytes available to transmit
|
||||
*/
|
||||
static void PIOS_RFM22B_COM_TxStart(uint32_t rfm22b_id, uint16_t tx_bytes_avail)
|
||||
{
|
||||
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
|
||||
if (!PIOS_RFM22B_validate(rfm22b_dev))
|
||||
return;
|
||||
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
|
||||
if (!PIOS_RFM22B_Validate(rfm22b_dev)) {
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Register the callback to pass received data to
|
||||
*
|
||||
* @param[in] rfm22b_dev The device ID.
|
||||
* @param[in] rx_in_cb The Rx callback function.
|
||||
* @param[in] context The callback context.
|
||||
*/
|
||||
static void PIOS_RFM22B_COM_RegisterRxCallback(uint32_t rfm22b_id, pios_com_callback rx_in_cb, uint32_t context)
|
||||
{
|
||||
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
|
||||
if (!PIOS_RFM22B_validate(rfm22b_dev))
|
||||
return;
|
||||
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
|
||||
if (!PIOS_RFM22B_Validate(rfm22b_dev))
|
||||
return;
|
||||
|
||||
/*
|
||||
* Order is important in these assignments since ISR uses _cb
|
||||
* field to determine if it's ok to dereference _cb and _context
|
||||
*/
|
||||
rfm22b_dev->rx_in_context = context;
|
||||
rfm22b_dev->rx_in_cb = rx_in_cb;
|
||||
/*
|
||||
* Order is important in these assignments since ISR uses _cb
|
||||
* field to determine if it's ok to dereference _cb and _context
|
||||
*/
|
||||
rfm22b_dev->rx_in_context = context;
|
||||
rfm22b_dev->rx_in_cb = rx_in_cb;
|
||||
}
|
||||
|
||||
/**
|
||||
* Register the callback to get data from.
|
||||
*
|
||||
* @param[in] rfm22b_dev The device ID.
|
||||
* @param[in] rx_in_cb The Tx callback function.
|
||||
* @param[in] context The callback context.
|
||||
*/
|
||||
static void PIOS_RFM22B_COM_RegisterTxCallback(uint32_t rfm22b_id, pios_com_callback tx_out_cb, uint32_t context)
|
||||
{
|
||||
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
|
||||
if (!PIOS_RFM22B_validate(rfm22b_dev))
|
||||
return;
|
||||
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
|
||||
if (!PIOS_RFM22B_Validate(rfm22b_dev)) {
|
||||
return;
|
||||
}
|
||||
|
||||
/*
|
||||
* Order is important in these assignments since ISR uses _cb
|
||||
* field to determine if it's ok to dereference _cb and _context
|
||||
*/
|
||||
rfm22b_dev->tx_out_context = context;
|
||||
rfm22b_dev->tx_out_cb = tx_out_cb;
|
||||
/*
|
||||
* Order is important in these assignments since ISR uses _cb
|
||||
* field to determine if it's ok to dereference _cb and _context
|
||||
*/
|
||||
rfm22b_dev->tx_out_context = context;
|
||||
rfm22b_dev->tx_out_cb = tx_out_cb;
|
||||
}
|
||||
|
||||
/**
|
||||
* See if the COM port is alive
|
||||
*
|
||||
* @param[in] rfm22b_dev The device ID.
|
||||
* @return True of the device is available.
|
||||
*/
|
||||
static bool PIOS_RFM22B_COM_Available(uint32_t rfm22b_id)
|
||||
{
|
||||
return PIOS_RFM22B_LinkStatus(rfm22b_id);
|
||||
return PIOS_RFM22B_LinkStatus(rfm22b_id);
|
||||
}
|
||||
|
||||
#endif /* PIOS_INCLUDE_RFM22B_COM */
|
||||
|
@ -1,17 +1,17 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup PIOS PIOS Core hardware abstraction layer
|
||||
* @{
|
||||
* @addtogroup PIOS_RFM22B_RCVR RFM22B Receiver Input Functions
|
||||
* @brief Code to output the PPM signal from the RFM22B
|
||||
* @{
|
||||
*
|
||||
* @file pios_rfm22b_rcvr.c
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
|
||||
* @brief Implements a receiver interface to the RFM22B device
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
*****************************************************************************/
|
||||
******************************************************************************
|
||||
* @addtogroup PIOS PIOS Core hardware abstraction layer
|
||||
* @{
|
||||
* @addtogroup PIOS_RFM22B_RCVR RFM22B Receiver Input Functions
|
||||
* @brief Code to output the PPM signal from the RFM22B
|
||||
* @{
|
||||
*
|
||||
* @file pios_rfm22b_rcvr.c
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
|
||||
* @brief Implements a receiver interface to the RFM22B device
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
@ -39,60 +39,86 @@ static int32_t PIOS_RFM22B_RCVR_Get(uint32_t rcvr_id, uint8_t channel);
|
||||
static void PIOS_RFM22B_RCVR_Supervisor(uint32_t rcvr_id);
|
||||
|
||||
const struct pios_rcvr_driver pios_rfm22b_rcvr_driver = {
|
||||
.read = PIOS_RFM22B_RCVR_Get,
|
||||
.read = PIOS_RFM22B_RCVR_Get,
|
||||
};
|
||||
|
||||
/**
|
||||
* Initialize the receiver.
|
||||
*
|
||||
* @param[in] rfm22b_dev The receiver ID.
|
||||
* @return < 0 on failure.
|
||||
*/
|
||||
int32_t PIOS_RFM22B_RCVR_Init(uint32_t rcvr_id)
|
||||
{
|
||||
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rcvr_id;
|
||||
if (!PIOS_RFM22B_validate(rfm22b_dev))
|
||||
return -1;
|
||||
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rcvr_id;
|
||||
if (!PIOS_RFM22B_Validate(rfm22b_dev)) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
// Initialize
|
||||
for (uint8_t i = 0; i < PIOS_RFM22B_RCVR_MAX_CHANNELS; ++i)
|
||||
rfm22b_dev->ppm_channel[i] = PIOS_RCVR_TIMEOUT;
|
||||
rfm22b_dev->ppm_supv_timer = 0;
|
||||
// Initialize
|
||||
for (uint8_t i = 0; i < PIOS_RFM22B_RCVR_MAX_CHANNELS; ++i) {
|
||||
rfm22b_dev->ppm_channel[i] = PIOS_RCVR_TIMEOUT;
|
||||
}
|
||||
rfm22b_dev->ppm_supv_timer = 0;
|
||||
|
||||
// Register the failsafe timer callback.
|
||||
if (!PIOS_RTC_RegisterTickCallback(PIOS_RFM22B_RCVR_Supervisor, rcvr_id))
|
||||
PIOS_DEBUG_Assert(0);
|
||||
// Register the failsafe timer callback.
|
||||
if (!PIOS_RTC_RegisterTickCallback(PIOS_RFM22B_RCVR_Supervisor, rcvr_id)) {
|
||||
PIOS_DEBUG_Assert(0);
|
||||
}
|
||||
|
||||
return 0;
|
||||
return 0;
|
||||
}
|
||||
|
||||
/**
|
||||
* Get a channel from the receiver.
|
||||
*
|
||||
* @param[in] rcvr_id The receiver ID.
|
||||
* @return The channel value, or -1 on failure.
|
||||
*/
|
||||
static int32_t PIOS_RFM22B_RCVR_Get(uint32_t rcvr_id, uint8_t channel)
|
||||
{
|
||||
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rcvr_id;
|
||||
if (!PIOS_RFM22B_validate(rfm22b_dev))
|
||||
return -1;
|
||||
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rcvr_id;
|
||||
if (!PIOS_RFM22B_Validate(rfm22b_dev)) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
if (channel >= GCSRECEIVER_CHANNEL_NUMELEM)
|
||||
/* channel is out of range */
|
||||
return -1;
|
||||
if (channel >= GCSRECEIVER_CHANNEL_NUMELEM) {
|
||||
/* channel is out of range */
|
||||
return -1;
|
||||
}
|
||||
|
||||
return rfm22b_dev->ppm_channel[channel];
|
||||
return rfm22b_dev->ppm_channel[channel];
|
||||
}
|
||||
|
||||
/**
|
||||
* The supervisor function that ensures that the data is current.
|
||||
*
|
||||
* @param[in] rcvr_id The receiver ID.
|
||||
*/
|
||||
static void PIOS_RFM22B_RCVR_Supervisor(uint32_t rcvr_id) {
|
||||
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rcvr_id;
|
||||
if (!PIOS_RFM22B_validate(rfm22b_dev))
|
||||
return;
|
||||
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rcvr_id;
|
||||
if (!PIOS_RFM22B_Validate(rfm22b_dev)) {
|
||||
return;
|
||||
}
|
||||
|
||||
// RTC runs at 625Hz.
|
||||
if (++(rfm22b_dev->ppm_supv_timer) < (PIOS_RFM22B_RCVR_TIMEOUT_MS * 1000 / 625))
|
||||
return;
|
||||
rfm22b_dev->ppm_supv_timer = 0;
|
||||
// RTC runs at 625Hz.
|
||||
if (++(rfm22b_dev->ppm_supv_timer) < (PIOS_RFM22B_RCVR_TIMEOUT_MS * 1000 / 625)) {
|
||||
return;
|
||||
}
|
||||
rfm22b_dev->ppm_supv_timer = 0;
|
||||
|
||||
// Have we received fresh values since the last update?
|
||||
if (!rfm22b_dev->ppm_fresh)
|
||||
for (uint8_t i = 0; i < PIOS_RFM22B_RCVR_MAX_CHANNELS; ++i)
|
||||
rfm22b_dev->ppm_channel[i] = 0;
|
||||
rfm22b_dev->ppm_fresh = false;
|
||||
// Have we received fresh values since the last update?
|
||||
if (!rfm22b_dev->ppm_fresh) {
|
||||
for (uint8_t i = 0; i < PIOS_RFM22B_RCVR_MAX_CHANNELS; ++i) {
|
||||
rfm22b_dev->ppm_channel[i] = 0;
|
||||
}
|
||||
}
|
||||
rfm22b_dev->ppm_fresh = false;
|
||||
}
|
||||
|
||||
#endif /* PIOS_INCLUDE_RFM22B_RCVR */
|
||||
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
|
@ -68,6 +68,12 @@ void PIOS_DEBUG_Panic(const char *msg);
|
||||
#define PIOS_Assert(test) if (!(test)) while (1);
|
||||
#endif
|
||||
|
||||
/* Static (compile-time) assertion for use in a function.
|
||||
If test evaluates to 0 (ie fails) at compile time then compilation will
|
||||
fail with the error: "size of unnamed array is negative" */
|
||||
#define PIOS_STATIC_ASSERT(test) ((void)sizeof(int[1 - 2*!(test)]))
|
||||
|
||||
|
||||
#endif /* PIOS_DEBUG_H */
|
||||
|
||||
/**
|
||||
|
@ -1,17 +1,17 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup PIOS PIOS Core hardware abstraction layer
|
||||
* @{
|
||||
* @addtogroup PIOS_RFM22B Radio Functions
|
||||
* @brief PIOS interface for RFM22B Radio
|
||||
* @{
|
||||
*
|
||||
* @file pios_rfm22b.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
|
||||
* @brief RFM22B functions header.
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
*****************************************************************************/
|
||||
******************************************************************************
|
||||
* @addtogroup PIOS PIOS Core hardware abstraction layer
|
||||
* @{
|
||||
* @addtogroup PIOS_RFM22B Radio Functions
|
||||
* @brief PIOS interface for RFM22B Radio
|
||||
* @{
|
||||
*
|
||||
* @file pios_rfm22b.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
|
||||
* @brief RFM22B functions header.
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
@ -39,62 +39,62 @@ enum gpio_direction {GPIO0_TX_GPIO1_RX, GPIO0_RX_GPIO1_TX};
|
||||
|
||||
/* Global Types */
|
||||
struct pios_rfm22b_cfg {
|
||||
const struct pios_spi_cfg * spi_cfg; /* Pointer to SPI interface configuration */
|
||||
const struct pios_exti_cfg * exti_cfg; /* Pointer to the EXTI configuration */
|
||||
uint8_t RFXtalCap;
|
||||
uint8_t slave_num;
|
||||
enum gpio_direction gpio_direction;
|
||||
const struct pios_spi_cfg * spi_cfg; /* Pointer to SPI interface configuration */
|
||||
const struct pios_exti_cfg * exti_cfg; /* Pointer to the EXTI configuration */
|
||||
uint8_t RFXtalCap;
|
||||
uint8_t slave_num;
|
||||
enum gpio_direction gpio_direction;
|
||||
};
|
||||
|
||||
enum rfm22b_tx_power {
|
||||
RFM22_tx_pwr_txpow_0 = 0x00, // +1dBm .. 1.25mW
|
||||
RFM22_tx_pwr_txpow_1 = 0x01, // +2dBm .. 1.6mW
|
||||
RFM22_tx_pwr_txpow_2 = 0x02, // +5dBm .. 3.16mW
|
||||
RFM22_tx_pwr_txpow_3 = 0x03, // +8dBm .. 6.3mW
|
||||
RFM22_tx_pwr_txpow_4 = 0x04, // +11dBm .. 12.6mW
|
||||
RFM22_tx_pwr_txpow_5 = 0x05, // +14dBm .. 25mW
|
||||
RFM22_tx_pwr_txpow_6 = 0x06, // +17dBm .. 50mW
|
||||
RFM22_tx_pwr_txpow_7 = 0x07 // +20dBm .. 100mW
|
||||
RFM22_tx_pwr_txpow_0 = 0x00, // +1dBm .. 1.25mW
|
||||
RFM22_tx_pwr_txpow_1 = 0x01, // +2dBm .. 1.6mW
|
||||
RFM22_tx_pwr_txpow_2 = 0x02, // +5dBm .. 3.16mW
|
||||
RFM22_tx_pwr_txpow_3 = 0x03, // +8dBm .. 6.3mW
|
||||
RFM22_tx_pwr_txpow_4 = 0x04, // +11dBm .. 12.6mW
|
||||
RFM22_tx_pwr_txpow_5 = 0x05, // +14dBm .. 25mW
|
||||
RFM22_tx_pwr_txpow_6 = 0x06, // +17dBm .. 50mW
|
||||
RFM22_tx_pwr_txpow_7 = 0x07 // +20dBm .. 100mW
|
||||
};
|
||||
|
||||
enum rfm22b_datarate {
|
||||
RFM22_datarate_500 = 0,
|
||||
RFM22_datarate_1000 = 1,
|
||||
RFM22_datarate_2000 = 2,
|
||||
RFM22_datarate_4000 = 3,
|
||||
RFM22_datarate_8000 = 4,
|
||||
RFM22_datarate_9600 = 5,
|
||||
RFM22_datarate_16000 = 6,
|
||||
RFM22_datarate_19200 = 7,
|
||||
RFM22_datarate_24000 = 8,
|
||||
RFM22_datarate_32000 = 9,
|
||||
RFM22_datarate_57600 = 10,
|
||||
RFM22_datarate_64000 = 11,
|
||||
RFM22_datarate_128000 = 12,
|
||||
RFM22_datarate_192000 = 13,
|
||||
RFM22_datarate_256000 = 14,
|
||||
RFM22_datarate_500 = 0,
|
||||
RFM22_datarate_1000 = 1,
|
||||
RFM22_datarate_2000 = 2,
|
||||
RFM22_datarate_4000 = 3,
|
||||
RFM22_datarate_8000 = 4,
|
||||
RFM22_datarate_9600 = 5,
|
||||
RFM22_datarate_16000 = 6,
|
||||
RFM22_datarate_19200 = 7,
|
||||
RFM22_datarate_24000 = 8,
|
||||
RFM22_datarate_32000 = 9,
|
||||
RFM22_datarate_57600 = 10,
|
||||
RFM22_datarate_64000 = 11,
|
||||
RFM22_datarate_128000 = 12,
|
||||
RFM22_datarate_192000 = 13,
|
||||
RFM22_datarate_256000 = 14,
|
||||
};
|
||||
|
||||
struct rfm22b_stats {
|
||||
uint16_t packets_per_sec;
|
||||
uint16_t tx_byte_count;
|
||||
uint16_t rx_byte_count;
|
||||
uint16_t tx_seq;
|
||||
uint16_t rx_seq;
|
||||
uint8_t rx_good;
|
||||
uint8_t rx_corrected;
|
||||
uint8_t rx_error;
|
||||
uint8_t rx_missed;
|
||||
uint8_t rx_failure;
|
||||
uint8_t tx_dropped;
|
||||
uint8_t tx_resent;
|
||||
uint8_t tx_failure;
|
||||
uint8_t resets;
|
||||
uint8_t timeouts;
|
||||
uint8_t link_quality;
|
||||
int8_t rssi;
|
||||
int8_t afc_correction;
|
||||
uint8_t link_state;
|
||||
uint16_t packets_per_sec;
|
||||
uint16_t tx_byte_count;
|
||||
uint16_t rx_byte_count;
|
||||
uint16_t tx_seq;
|
||||
uint16_t rx_seq;
|
||||
uint8_t rx_good;
|
||||
uint8_t rx_corrected;
|
||||
uint8_t rx_error;
|
||||
uint8_t rx_missed;
|
||||
uint8_t rx_failure;
|
||||
uint8_t tx_dropped;
|
||||
uint8_t tx_resent;
|
||||
uint8_t tx_failure;
|
||||
uint8_t resets;
|
||||
uint8_t timeouts;
|
||||
uint8_t link_quality;
|
||||
int8_t rssi;
|
||||
int8_t afc_correction;
|
||||
uint8_t link_state;
|
||||
};
|
||||
|
||||
/* Callback function prototypes */
|
||||
@ -124,6 +124,6 @@ extern const struct pios_com_driver pios_rfm22b_com_driver;
|
||||
#endif /* PIOS_RFM22B_H */
|
||||
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
|
@ -443,37 +443,11 @@
|
||||
#define RFM22_received_packet_length 0x4B // R
|
||||
|
||||
#define RFM22_adc8_control 0x4F // R/W
|
||||
/*
|
||||
#define RFM22_analog_test_bus 0x50 // R/W
|
||||
#define RFM22_digital_test_bus 0x51 // R/W
|
||||
#define RFM22_tx_ramp_control 0x52 // R/W
|
||||
#define RFM22_pll_tune_time 0x53 // R/W
|
||||
|
||||
#define RFM22_calibration_control 0x55 // R/W
|
||||
|
||||
#define RFM22_modem_test 0x56 // R/W
|
||||
|
||||
#define RFM22_chargepump_test 0x57 // R/W
|
||||
#define RFM22_chargepump_current_trimming_override 0x58 // R/W
|
||||
|
||||
#define RFM22_divider_current_trimming 0x59 // R/W
|
||||
|
||||
#define RFM22_vco_current_trimming 0x5A // R/W
|
||||
#define RFM22_vco_calibration_override 0x5B // R/W
|
||||
|
||||
#define RFM22_synthersizer_test 0x5C // R/W
|
||||
|
||||
#define RFM22_block_enable_override1 0x5D // R/W
|
||||
#define RFM22_block_enable_override2 0x5E // R/W
|
||||
#define RFM22_block_enable_override3 0x5F // R/W
|
||||
*/
|
||||
#define RFM22_channel_filter_coeff_addr 0x60 // R/W
|
||||
#define RFM22_ch_fil_coeff_ad_inv_pre_th_mask 0xF0 //
|
||||
#define RFM22_ch_fil_coeff_ad_chfiladd_mask 0x0F // Channel Filter Coefficient Look-up Table Address. The address for channel filter coefficients used in the RX path.
|
||||
|
||||
|
||||
//#define RFM22_channel_filter_coeff_value 0x61 // R/W
|
||||
|
||||
#define RFM22_xtal_osc_por_ctrl 0x62 // R/W
|
||||
#define RFM22_xtal_osc_por_ctrl_pwst_mask 0xE0 // Internal Power States of the Chip.
|
||||
#define RFM22_xtal_osc_por_ctrl_clkhyst 0x10 // Clock Hysteresis Setting.
|
||||
@ -481,27 +455,13 @@
|
||||
#define RFM22_xtal_osc_por_ctrl_enamp2x 0x04 // 2 Times Higher Amplification Enable.
|
||||
#define RFM22_xtal_osc_por_ctrl_bufovr 0x02 // Output Buffer Enable Override.
|
||||
#define RFM22_xtal_osc_por_ctrl_enbuf 0x01 // Output Buffer Enable.
|
||||
/*
|
||||
#define RFM22_rc_osc_coarse_calbration_override 0x63 // R/W
|
||||
#define RFM22_rc_osc_fine_calbration_override 0x64 // R/W
|
||||
|
||||
#define RFM22_ldo_control_override 0x65 // R/W
|
||||
#define RFM22_ldo_level_setting 0x66 // R/W
|
||||
|
||||
#define RFM22_deltasigma_adc_tuning1 0x67 // R/W
|
||||
#define RFM22_deltasigma_adc_tuning2 0x68 // R/W
|
||||
*/
|
||||
#define RFM22_agc_override1 0x69 // R/W
|
||||
#define RFM22_agc_ovr1_sgi 0x40 // AGC Loop, Set Gain Increase. If set to 0 then gain increasing will not be allowed. If set to 1 then gain increasing is allowed, default is 0.
|
||||
#define RFM22_agc_ovr1_agcen 0x20 // Automatic Gain Control Enable. When this bit is set then the result of the control can be read out from bits [4:0], otherwise the gain can be controlled manually by writing into bits [4:0].
|
||||
#define RFM22_agc_ovr1_lnagain 0x10 // LNA Gain Select. 0 = min gain = 5dB, 1 = max gain = 25 dB.
|
||||
#define RFM22_agc_ovr1_pga_mask 0x0F // PGA Gain Override Value.
|
||||
|
||||
//#define RFM22_agc_override2 0x6A // R/W
|
||||
|
||||
//#define RFM22_gfsk_fir_coeff_addr 0x6B // R/W
|
||||
//#define RFM22_gfsk_fir_coeff_value 0x6C // R/W
|
||||
|
||||
#define RFM22_tx_power 0x6D // R/W
|
||||
#define RFM22_tx_pwr_lna_sw 0x08 // LNA Switch Controller. If set, lna_sw control from the digital will go high during TX modes, and low during other times. If reset, the digital control signal is low at all times.
|
||||
|
||||
@ -568,233 +528,229 @@
|
||||
typedef int16_t (*t_rfm22_TxDataByteCallback) (void);
|
||||
typedef bool (*t_rfm22_RxDataCallback) (void *data, uint8_t len);
|
||||
enum pios_rfm22b_dev_magic {
|
||||
PIOS_RFM22B_DEV_MAGIC = 0x68e971b6,
|
||||
PIOS_RFM22B_DEV_MAGIC = 0x68e971b6,
|
||||
};
|
||||
|
||||
enum pios_rfm22b_state {
|
||||
RFM22B_STATE_UNINITIALIZED,
|
||||
RFM22B_STATE_INITIALIZING,
|
||||
RFM22B_STATE_REQUESTING_CONNECTION,
|
||||
RFM22B_STATE_ACCEPTING_CONNECTION,
|
||||
RFM22B_STATE_RX_MODE,
|
||||
RFM22B_STATE_WAIT_PREAMBLE,
|
||||
RFM22B_STATE_WAIT_SYNC,
|
||||
RFM22B_STATE_RX_DATA,
|
||||
RFM22B_STATE_RX_FAILURE,
|
||||
RFM22B_STATE_RECEIVING_STATUS,
|
||||
RFM22B_STATE_TX_START,
|
||||
RFM22B_STATE_TX_DATA,
|
||||
RFM22B_STATE_TX_FAILURE,
|
||||
RFM22B_STATE_SENDING_ACK,
|
||||
RFM22B_STATE_SENDING_NACK,
|
||||
RFM22B_STATE_RECEIVING_ACK,
|
||||
RFM22B_STATE_RECEIVING_NACK,
|
||||
RFM22B_STATE_TIMEOUT,
|
||||
RFM22B_STATE_ERROR,
|
||||
RFM22B_STATE_FATAL_ERROR,
|
||||
RFM22B_STATE_UNINITIALIZED,
|
||||
RFM22B_STATE_INITIALIZING,
|
||||
RFM22B_STATE_REQUESTING_CONNECTION,
|
||||
RFM22B_STATE_ACCEPTING_CONNECTION,
|
||||
RFM22B_STATE_RX_MODE,
|
||||
RFM22B_STATE_WAIT_PREAMBLE,
|
||||
RFM22B_STATE_WAIT_SYNC,
|
||||
RFM22B_STATE_RX_DATA,
|
||||
RFM22B_STATE_RX_FAILURE,
|
||||
RFM22B_STATE_RECEIVING_STATUS,
|
||||
RFM22B_STATE_TX_START,
|
||||
RFM22B_STATE_TX_DATA,
|
||||
RFM22B_STATE_TX_FAILURE,
|
||||
RFM22B_STATE_SENDING_ACK,
|
||||
RFM22B_STATE_SENDING_NACK,
|
||||
RFM22B_STATE_RECEIVING_ACK,
|
||||
RFM22B_STATE_RECEIVING_NACK,
|
||||
RFM22B_STATE_TIMEOUT,
|
||||
RFM22B_STATE_ERROR,
|
||||
RFM22B_STATE_FATAL_ERROR,
|
||||
|
||||
RFM22B_STATE_NUM_STATES // Must be last
|
||||
RFM22B_STATE_NUM_STATES // Must be last
|
||||
};
|
||||
|
||||
enum pios_rfm22b_event {
|
||||
RFM22B_EVENT_DEFAULT,
|
||||
RFM22B_EVENT_INT_RECEIVED,
|
||||
RFM22B_EVENT_INITIALIZE,
|
||||
RFM22B_EVENT_INITIALIZED,
|
||||
RFM22B_EVENT_REQUEST_CONNECTION,
|
||||
RFM22B_EVENT_CONNECTION_REQUESTED,
|
||||
RFM22B_EVENT_PACKET_ACKED,
|
||||
RFM22B_EVENT_PACKET_NACKED,
|
||||
RFM22B_EVENT_ACK_TIMEOUT,
|
||||
RFM22B_EVENT_RX_MODE,
|
||||
RFM22B_EVENT_PREAMBLE_DETECTED,
|
||||
RFM22B_EVENT_SYNC_DETECTED,
|
||||
RFM22B_EVENT_RX_COMPLETE,
|
||||
RFM22B_EVENT_RX_ERROR,
|
||||
RFM22B_EVENT_STATUS_RECEIVED,
|
||||
RFM22B_EVENT_TX_START,
|
||||
RFM22B_EVENT_FAILURE,
|
||||
RFM22B_EVENT_TIMEOUT,
|
||||
RFM22B_EVENT_ERROR,
|
||||
RFM22B_EVENT_FATAL_ERROR,
|
||||
RFM22B_EVENT_DEFAULT,
|
||||
RFM22B_EVENT_INT_RECEIVED,
|
||||
RFM22B_EVENT_INITIALIZE,
|
||||
RFM22B_EVENT_INITIALIZED,
|
||||
RFM22B_EVENT_REQUEST_CONNECTION,
|
||||
RFM22B_EVENT_CONNECTION_REQUESTED,
|
||||
RFM22B_EVENT_PACKET_ACKED,
|
||||
RFM22B_EVENT_PACKET_NACKED,
|
||||
RFM22B_EVENT_ACK_TIMEOUT,
|
||||
RFM22B_EVENT_RX_MODE,
|
||||
RFM22B_EVENT_PREAMBLE_DETECTED,
|
||||
RFM22B_EVENT_SYNC_DETECTED,
|
||||
RFM22B_EVENT_RX_COMPLETE,
|
||||
RFM22B_EVENT_RX_ERROR,
|
||||
RFM22B_EVENT_STATUS_RECEIVED,
|
||||
RFM22B_EVENT_TX_START,
|
||||
RFM22B_EVENT_FAILURE,
|
||||
RFM22B_EVENT_TIMEOUT,
|
||||
RFM22B_EVENT_ERROR,
|
||||
RFM22B_EVENT_FATAL_ERROR,
|
||||
|
||||
RFM22B_EVENT_NUM_EVENTS // Must be last
|
||||
RFM22B_EVENT_NUM_EVENTS // Must be last
|
||||
};
|
||||
|
||||
#define RFM22B_RX_PACKET_STATS_LEN 4
|
||||
enum pios_rfm22b_rx_packet_status {
|
||||
RFM22B_GOOD_RX_PACKET = 0x00,
|
||||
RFM22B_CORRECTED_RX_PACKET = 0x01,
|
||||
RFM22B_ERROR_RX_PACKET = 0x2,
|
||||
RFM22B_RESENT_TX_PACKET = 0x3
|
||||
RFM22B_GOOD_RX_PACKET = 0x00,
|
||||
RFM22B_CORRECTED_RX_PACKET = 0x01,
|
||||
RFM22B_ERROR_RX_PACKET = 0x2,
|
||||
RFM22B_RESENT_TX_PACKET = 0x3
|
||||
};
|
||||
|
||||
typedef struct {
|
||||
uint32_t pairID;
|
||||
int8_t rssi;
|
||||
int8_t afc_correction;
|
||||
uint8_t lastContact;
|
||||
uint32_t pairID;
|
||||
int8_t rssi;
|
||||
int8_t afc_correction;
|
||||
uint8_t lastContact;
|
||||
} rfm22b_pair_stats;
|
||||
|
||||
typedef struct {
|
||||
uint32_t pairID;
|
||||
OPLinkSettingsRemoteMainPortOptions main_port;
|
||||
OPLinkSettingsRemoteFlexiPortOptions flexi_port;
|
||||
OPLinkSettingsRemoteVCPPortOptions vcp_port;
|
||||
OPLinkSettingsComSpeedOptions com_speed;
|
||||
uint32_t pairID;
|
||||
OPLinkSettingsRemoteMainPortOptions main_port;
|
||||
OPLinkSettingsRemoteFlexiPortOptions flexi_port;
|
||||
OPLinkSettingsRemoteVCPPortOptions vcp_port;
|
||||
OPLinkSettingsComSpeedOptions com_speed;
|
||||
} rfm22b_binding;
|
||||
|
||||
struct pios_rfm22b_dev {
|
||||
enum pios_rfm22b_dev_magic magic;
|
||||
struct pios_rfm22b_cfg cfg;
|
||||
enum pios_rfm22b_dev_magic magic;
|
||||
struct pios_rfm22b_cfg cfg;
|
||||
|
||||
// The SPI bus information
|
||||
uint32_t spi_id;
|
||||
uint32_t slave_num;
|
||||
// The SPI bus information
|
||||
uint32_t spi_id;
|
||||
uint32_t slave_num;
|
||||
|
||||
// The device ID
|
||||
uint32_t deviceID;
|
||||
// The device ID
|
||||
uint32_t deviceID;
|
||||
|
||||
// The destination ID
|
||||
uint32_t destination_id;
|
||||
// The destination ID
|
||||
uint32_t destination_id;
|
||||
|
||||
// The list of bound radios.
|
||||
rfm22b_binding bindings[OPLINKSETTINGS_BINDINGS_NUMELEM];
|
||||
uint8_t cur_binding;
|
||||
// The list of bound radios.
|
||||
rfm22b_binding bindings[OPLINKSETTINGS_BINDINGS_NUMELEM];
|
||||
uint8_t cur_binding;
|
||||
|
||||
// Is this device a coordinator?
|
||||
bool coordinator;
|
||||
// Is this device a coordinator?
|
||||
bool coordinator;
|
||||
|
||||
// The task handle
|
||||
xTaskHandle taskHandle;
|
||||
// The task handle
|
||||
xTaskHandle taskHandle;
|
||||
|
||||
// The potential paired statistics
|
||||
rfm22b_pair_stats pair_stats[OPLINKSTATUS_PAIRIDS_NUMELEM];
|
||||
// The potential paired statistics
|
||||
rfm22b_pair_stats pair_stats[OPLINKSTATUS_PAIRIDS_NUMELEM];
|
||||
|
||||
// ISR pending semaphore
|
||||
xSemaphoreHandle isrPending;
|
||||
// ISR pending semaphore
|
||||
xSemaphoreHandle isrPending;
|
||||
|
||||
// The com configuration callback
|
||||
PIOS_RFM22B_ComConfigCallback com_config_cb;
|
||||
// The com configuration callback
|
||||
PIOS_RFM22B_ComConfigCallback com_config_cb;
|
||||
|
||||
// The COM callback functions.
|
||||
pios_com_callback rx_in_cb;
|
||||
uint32_t rx_in_context;
|
||||
pios_com_callback tx_out_cb;
|
||||
uint32_t tx_out_context;
|
||||
// The COM callback functions.
|
||||
pios_com_callback rx_in_cb;
|
||||
uint32_t rx_in_context;
|
||||
pios_com_callback tx_out_cb;
|
||||
uint32_t tx_out_context;
|
||||
|
||||
// the transmit power to use for data transmissions
|
||||
uint8_t tx_power;
|
||||
// the transmit power to use for data transmissions
|
||||
uint8_t tx_power;
|
||||
|
||||
// The RF datarate lookup index.
|
||||
uint8_t datarate;
|
||||
// The RF datarate lookup index.
|
||||
uint8_t datarate;
|
||||
|
||||
// The state machine state and the current event
|
||||
enum pios_rfm22b_state state;
|
||||
// The state machine state and the current event
|
||||
enum pios_rfm22b_state state;
|
||||
|
||||
// The event queue handle
|
||||
xQueueHandle eventQueue;
|
||||
// The event queue handle
|
||||
xQueueHandle eventQueue;
|
||||
|
||||
// device status register
|
||||
uint8_t device_status;
|
||||
// interrupt status register 1
|
||||
uint8_t int_status1;
|
||||
// interrupt status register 2
|
||||
uint8_t int_status2;
|
||||
// ezmac status register
|
||||
uint8_t ezmac_status;
|
||||
// device status register
|
||||
uint8_t device_status;
|
||||
// interrupt status register 1
|
||||
uint8_t int_status1;
|
||||
// interrupt status register 2
|
||||
uint8_t int_status2;
|
||||
// ezmac status register
|
||||
uint8_t ezmac_status;
|
||||
|
||||
// The error statistics counters
|
||||
uint16_t prev_rx_seq_num;
|
||||
uint32_t rx_packet_stats[RFM22B_RX_PACKET_STATS_LEN];
|
||||
// The error statistics counters
|
||||
uint16_t prev_rx_seq_num;
|
||||
uint32_t rx_packet_stats[RFM22B_RX_PACKET_STATS_LEN];
|
||||
|
||||
// The packet statistics
|
||||
struct rfm22b_stats stats;
|
||||
// The packet statistics
|
||||
struct rfm22b_stats stats;
|
||||
|
||||
// Stats
|
||||
uint16_t errors;
|
||||
// Stats
|
||||
uint16_t errors;
|
||||
|
||||
// RSSI in dBm
|
||||
int8_t rssi_dBm;
|
||||
// RSSI in dBm
|
||||
int8_t rssi_dBm;
|
||||
|
||||
// The tx data packet
|
||||
PHPacket data_packet;
|
||||
// The current tx packet
|
||||
PHPacketHandle tx_packet;
|
||||
// The previous tx packet (waiting for an ACK)
|
||||
PHPacketHandle prev_tx_packet;
|
||||
// The tx data read index
|
||||
uint16_t tx_data_rd;
|
||||
// The tx data write index
|
||||
uint16_t tx_data_wr;
|
||||
// The tx packet sequence number
|
||||
uint16_t tx_seq;
|
||||
// The tx data packet
|
||||
PHPacket data_packet;
|
||||
// The current tx packet
|
||||
PHPacketHandle tx_packet;
|
||||
// The previous tx packet (waiting for an ACK)
|
||||
PHPacketHandle prev_tx_packet;
|
||||
// The tx data read index
|
||||
uint16_t tx_data_rd;
|
||||
// The tx data write index
|
||||
uint16_t tx_data_wr;
|
||||
// The tx packet sequence number
|
||||
uint16_t tx_seq;
|
||||
|
||||
// The rx data packet
|
||||
PHPacket rx_packet;
|
||||
// The receive buffer write index
|
||||
uint16_t rx_buffer_wr;
|
||||
// The receive buffer write index
|
||||
uint16_t rx_packet_len;
|
||||
// Is the modem currently in Rx mode?
|
||||
bool in_rx_mode;
|
||||
// The rx data packet
|
||||
PHPacket rx_packet;
|
||||
// The receive buffer write index
|
||||
uint16_t rx_buffer_wr;
|
||||
// The receive buffer write index
|
||||
uint16_t rx_packet_len;
|
||||
// Is the modem currently in Rx mode?
|
||||
bool in_rx_mode;
|
||||
|
||||
// The status packet
|
||||
PHStatusPacket status_packet;
|
||||
// The status packet
|
||||
PHStatusPacket status_packet;
|
||||
|
||||
// The ACK/NACK packet
|
||||
PHAckNackPacket ack_nack_packet;
|
||||
// The ACK/NACK packet
|
||||
PHAckNackPacket ack_nack_packet;
|
||||
|
||||
#ifdef PIOS_PPM_RECEIVER
|
||||
// The PPM packet
|
||||
PHPpmPacket ppm_packet;
|
||||
// The PPM packet
|
||||
PHPpmPacket ppm_packet;
|
||||
#endif
|
||||
|
||||
// The connection packet.
|
||||
PHConnectionPacket con_packet;
|
||||
// The connection packet.
|
||||
PHConnectionPacket con_packet;
|
||||
|
||||
// Send flags
|
||||
bool send_status;
|
||||
bool send_ppm;
|
||||
bool send_connection_request;
|
||||
bool time_to_send;
|
||||
// Send flags
|
||||
bool send_status;
|
||||
bool send_ppm;
|
||||
bool send_connection_request;
|
||||
bool time_to_send;
|
||||
|
||||
// The offset between our clock and the global send clock
|
||||
uint8_t time_to_send_offset;
|
||||
// The number of times that the current packet has been resent.
|
||||
uint8_t cur_resent_count;
|
||||
// The offset between our clock and the global send clock
|
||||
uint8_t time_to_send_offset;
|
||||
|
||||
// The initial frequency
|
||||
uint32_t init_frequency;
|
||||
// The number of frequency hopping channels.
|
||||
uint16_t num_channels;
|
||||
// The initial frequency
|
||||
uint32_t init_frequency;
|
||||
// The number of frequency hopping channels.
|
||||
uint16_t num_channels;
|
||||
|
||||
// The frequency hopping step size
|
||||
float frequency_step_size;
|
||||
// current frequency hop channel
|
||||
uint8_t frequency_hop_channel;
|
||||
// the frequency hop step size
|
||||
uint8_t frequency_hop_step_size_reg;
|
||||
// afc correction reading (in Hz)
|
||||
int8_t afc_correction_Hz;
|
||||
// The frequency hopping step size
|
||||
float frequency_step_size;
|
||||
// current frequency hop channel
|
||||
uint8_t frequency_hop_channel;
|
||||
// afc correction reading (in Hz)
|
||||
int8_t afc_correction_Hz;
|
||||
|
||||
// The packet timers.
|
||||
portTickType packet_start_ticks;
|
||||
portTickType tx_complete_ticks;
|
||||
portTickType rx_complete_ticks;
|
||||
portTickType time_delta;
|
||||
// The packet timers.
|
||||
portTickType packet_start_ticks;
|
||||
portTickType tx_complete_ticks;
|
||||
portTickType rx_complete_ticks;
|
||||
portTickType time_delta;
|
||||
|
||||
// The maximum time (ms) that it should take to transmit / receive a packet.
|
||||
uint32_t max_packet_time;
|
||||
// The maximum time (ms) that it should take to transmit / receive a packet.
|
||||
uint32_t max_packet_time;
|
||||
|
||||
// The maximum time to wait for an ACK.
|
||||
uint8_t max_ack_delay;
|
||||
// The maximum time to wait for an ACK.
|
||||
uint8_t max_ack_delay;
|
||||
|
||||
#ifdef PIOS_INCLUDE_RFM22B_RCVR
|
||||
// The PPM channel values
|
||||
uint16_t ppm_channel[PIOS_RFM22B_RCVR_MAX_CHANNELS];
|
||||
uint8_t ppm_supv_timer;
|
||||
bool ppm_fresh;
|
||||
// The PPM channel values
|
||||
uint16_t ppm_channel[PIOS_RFM22B_RCVR_MAX_CHANNELS];
|
||||
uint8_t ppm_supv_timer;
|
||||
bool ppm_fresh;
|
||||
#endif
|
||||
};
|
||||
|
||||
@ -802,9 +758,7 @@ struct pios_rfm22b_dev {
|
||||
// External function definitions
|
||||
|
||||
bool PIOS_RFM22_EXT_Int(void);
|
||||
bool PIOS_RFM22B_validate(struct pios_rfm22b_dev * rfm22b_dev);
|
||||
void PIOS_RFM22B_InjectEvent(struct pios_rfm22b_dev *rfm22b_dev, enum pios_rfm22b_event event, bool inISR);
|
||||
|
||||
bool PIOS_RFM22B_Validate(struct pios_rfm22b_dev *rfm22b_dev);
|
||||
|
||||
// Global variable definitions
|
||||
|
||||
|
@ -188,6 +188,7 @@ extern int32_t PIOS_PPM_Init(uint32_t * ppm_id, const struct pios_ppm_cfg * cfg)
|
||||
TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
|
||||
TIM_ICInitStructure.TIM_ICFilter = 0x0;
|
||||
|
||||
ppm_dev->supv_timer = 0;
|
||||
if (!PIOS_RTC_RegisterTickCallback(PIOS_PPM_Supervisor, (uint32_t)ppm_dev)) {
|
||||
PIOS_DEBUG_Assert(0);
|
||||
}
|
||||
|
@ -49,16 +49,20 @@ struct pios_ppm_out_dev {
|
||||
enum pios_ppm_out_dev_magic magic;
|
||||
const struct pios_ppm_out_cfg * cfg;
|
||||
|
||||
uint32_t triggering_period;
|
||||
uint32_t TriggeringPeriod;
|
||||
uint32_t ChannelSum;
|
||||
uint8_t NumChannelCounter;
|
||||
uint16_t ChannelValue[PIOS_PPM_OUT_MAX_CHANNELS];
|
||||
|
||||
uint8_t supv_timer;
|
||||
bool Tracking;
|
||||
uint8_t SupvTimer;
|
||||
bool Fresh;
|
||||
bool Tracking;
|
||||
bool Enabled;
|
||||
};
|
||||
|
||||
static void PIOS_PPM_Out_Supervisor(uint32_t ppm_id);
|
||||
static void PIOS_PPM_Out_Enable_Disable(struct pios_ppm_out_dev *ppm_dev, bool enable);
|
||||
|
||||
static bool PIOS_PPM_Out_validate(struct pios_ppm_out_dev *ppm_dev)
|
||||
{
|
||||
return (ppm_dev->magic == PIOS_PPM_OUT_DEV_MAGIC);
|
||||
@ -115,12 +119,12 @@ int32_t PIOS_PPM_Out_Init(uint32_t *ppm_out_id, const struct pios_ppm_out_cfg *
|
||||
ppm_dev->cfg = cfg;
|
||||
|
||||
// Set up the state variables
|
||||
ppm_dev->triggering_period = PIOS_PPM_OUT_HIGH_PULSE_US;
|
||||
ppm_dev->TriggeringPeriod = PIOS_PPM_OUT_HIGH_PULSE_US;
|
||||
ppm_dev->ChannelSum = 0;
|
||||
ppm_dev->NumChannelCounter = 0;
|
||||
|
||||
// Flush counter variables
|
||||
for (uint8_t i = 0; i < PIOS_PPM_OUT_MAX_CHANNELS; i++)
|
||||
for (uint8_t i = 0; i < PIOS_PPM_OUT_MAX_CHANNELS; ++i)
|
||||
ppm_dev->ChannelValue[i] = 1000;
|
||||
|
||||
uint32_t tim_id;
|
||||
@ -149,20 +153,6 @@ int32_t PIOS_PPM_Out_Init(uint32_t *ppm_out_id, const struct pios_ppm_out_cfg *
|
||||
TIM_OC4PreloadConfig(chan->timer, TIM_OCPreload_Enable);
|
||||
break;
|
||||
}
|
||||
switch (chan->timer_chan) {
|
||||
case TIM_Channel_1:
|
||||
TIM_ITConfig(chan->timer, TIM_IT_CC1 | TIM_IT_Update, ENABLE);
|
||||
break;
|
||||
case TIM_Channel_2:
|
||||
TIM_ITConfig(chan->timer, TIM_IT_CC2 | TIM_IT_Update, ENABLE);
|
||||
break;
|
||||
case TIM_Channel_3:
|
||||
TIM_ITConfig(chan->timer, TIM_IT_CC3 | TIM_IT_Update, ENABLE);
|
||||
break;
|
||||
case TIM_Channel_4:
|
||||
TIM_ITConfig(chan->timer, TIM_IT_CC4 | TIM_IT_Update, ENABLE);
|
||||
break;
|
||||
}
|
||||
|
||||
TIM_ARRPreloadConfig(chan->timer, ENABLE);
|
||||
TIM_CtrlPWMOutputs(chan->timer, ENABLE);
|
||||
@ -174,20 +164,17 @@ int32_t PIOS_PPM_Out_Init(uint32_t *ppm_out_id, const struct pios_ppm_out_cfg *
|
||||
TIM_TimeBaseStructure.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1;
|
||||
TIM_TimeBaseStructure.TIM_Period = ((1000000 / 100) - 1);
|
||||
TIM_TimeBaseInit(chan->timer, &TIM_TimeBaseStructure);
|
||||
switch(chan->timer_chan) {
|
||||
case TIM_Channel_1:
|
||||
TIM_SetCompare1(chan->timer, ppm_dev->triggering_period);
|
||||
break;
|
||||
case TIM_Channel_2:
|
||||
TIM_SetCompare2(chan->timer, ppm_dev->triggering_period);
|
||||
break;
|
||||
case TIM_Channel_3:
|
||||
TIM_SetCompare3(chan->timer, ppm_dev->triggering_period);
|
||||
break;
|
||||
case TIM_Channel_4:
|
||||
TIM_SetCompare4(chan->timer, ppm_dev->triggering_period);
|
||||
break;
|
||||
PIOS_PPM_Out_Enable_Disable(ppm_dev, false);
|
||||
|
||||
// Configure the supervisor
|
||||
ppm_dev->SupvTimer = 0;
|
||||
ppm_dev->Fresh = FALSE;
|
||||
ppm_dev->Tracking = FALSE;
|
||||
ppm_dev->Enabled = FALSE;
|
||||
if (!PIOS_RTC_RegisterTickCallback(PIOS_PPM_Out_Supervisor, (uint32_t)ppm_dev)) {
|
||||
PIOS_DEBUG_Assert(0);
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
@ -202,6 +189,15 @@ void PIOS_PPM_OUT_Set(uint32_t ppm_out_id, uint8_t servo, uint16_t position)
|
||||
position = PIOS_PPM_OUT_MIN_CHANNEL_PULSE_US;
|
||||
if (position > PIOS_PPM_OUT_MAX_CHANNEL_PULSE_US)
|
||||
position = PIOS_PPM_OUT_MAX_CHANNEL_PULSE_US;
|
||||
|
||||
// Update the supervisor tracking variables.
|
||||
ppm_dev->Fresh = TRUE;
|
||||
|
||||
// Reenable the TIM if it's been turned off.
|
||||
if (!ppm_dev->Tracking) {
|
||||
ppm_dev->Tracking = TRUE;
|
||||
PIOS_PPM_Out_Enable_Disable(ppm_dev, true);
|
||||
}
|
||||
|
||||
// Update the position
|
||||
ppm_dev->ChannelValue[servo] = position;
|
||||
@ -213,13 +209,29 @@ static void PIOS_PPM_OUT_tim_edge_cb (uint32_t tim_id, uint32_t context, uint8_t
|
||||
if (!PIOS_PPM_Out_validate(ppm_dev))
|
||||
return;
|
||||
|
||||
// Just return if the device is disabled.
|
||||
if (!ppm_dev->Enabled) {
|
||||
return;
|
||||
}
|
||||
|
||||
// Turn off the PPM stream if we are no longer receiving update
|
||||
// Note: This must happen between frames.
|
||||
if ((ppm_dev->NumChannelCounter == 0) && !ppm_dev->Tracking) {
|
||||
// Flush counter variables
|
||||
for (uint8_t i = 0; i < PIOS_PPM_OUT_MAX_CHANNELS; ++i) {
|
||||
ppm_dev->ChannelValue[i] = 1000;
|
||||
}
|
||||
PIOS_PPM_Out_Enable_Disable(ppm_dev, false);
|
||||
return;
|
||||
}
|
||||
|
||||
// Finish out the frame if we reached the last channel.
|
||||
uint32_t pulse_width;
|
||||
if ((ppm_dev->NumChannelCounter >= PIOS_PPM_OUT_MAX_CHANNELS)) {
|
||||
pulse_width = PIOS_PPM_OUT_FRAME_PERIOD_US - ppm_dev->ChannelSum;
|
||||
ppm_dev->NumChannelCounter = 0;
|
||||
ppm_dev->ChannelSum = 0;
|
||||
} else
|
||||
} else
|
||||
ppm_dev->ChannelSum += (pulse_width = ppm_dev->ChannelValue[ppm_dev->NumChannelCounter++]);
|
||||
|
||||
// Initiate the pulse
|
||||
@ -228,4 +240,50 @@ static void PIOS_PPM_OUT_tim_edge_cb (uint32_t tim_id, uint32_t context, uint8_t
|
||||
return;
|
||||
}
|
||||
|
||||
static void PIOS_PPM_Out_Enable_Disable(struct pios_ppm_out_dev *ppm_dev, bool enable)
|
||||
{
|
||||
const struct pios_tim_channel *chan = ppm_dev->cfg->channel;
|
||||
uint32_t trig = enable ? ppm_dev->TriggeringPeriod : 0;
|
||||
FunctionalState state = enable ? ENABLE : DISABLE;
|
||||
ppm_dev->Enabled = enable;
|
||||
switch (chan->timer_chan) {
|
||||
case TIM_Channel_1:
|
||||
TIM_ITConfig(chan->timer, TIM_IT_CC1 | TIM_IT_Update, state);
|
||||
TIM_SetCompare1(chan->timer, trig);
|
||||
break;
|
||||
case TIM_Channel_2:
|
||||
TIM_ITConfig(chan->timer, TIM_IT_CC2 | TIM_IT_Update, state);
|
||||
TIM_SetCompare2(chan->timer, trig);
|
||||
break;
|
||||
case TIM_Channel_3:
|
||||
TIM_ITConfig(chan->timer, TIM_IT_CC3 | TIM_IT_Update, state);
|
||||
TIM_SetCompare3(chan->timer, trig);
|
||||
break;
|
||||
case TIM_Channel_4:
|
||||
TIM_ITConfig(chan->timer, TIM_IT_CC4 | TIM_IT_Update, state);
|
||||
TIM_SetCompare4(chan->timer, trig);
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
static void PIOS_PPM_Out_Supervisor(uint32_t ppm_out_id) {
|
||||
struct pios_ppm_out_dev *ppm_dev = (struct pios_ppm_out_dev *)ppm_out_id;
|
||||
if (!PIOS_PPM_Out_validate(ppm_dev))
|
||||
return;
|
||||
|
||||
// RTC runs at 625Hz so divide down the base rate so that this loop runs at 12.5Hz.
|
||||
if(++(ppm_dev->SupvTimer) < 50) {
|
||||
return;
|
||||
}
|
||||
ppm_dev->SupvTimer = 0;
|
||||
|
||||
// Go into failsafe the channel values haven't been refreshed since the last time through.
|
||||
if (!ppm_dev->Fresh) {
|
||||
ppm_dev->Tracking = FALSE;
|
||||
}
|
||||
|
||||
// Set Fresh to false to test if channel values are being refreshed.
|
||||
ppm_dev->Fresh = FALSE;
|
||||
}
|
||||
|
||||
#endif /* PIOS_INCLUDE_PPM_OUT */
|
||||
|
@ -75,7 +75,7 @@ typedef enum {
|
||||
* 6-7 gcsTelemetryUpdateMode Update mode used by the GCS (UAVObjUpdateMode)
|
||||
*/
|
||||
typedef struct {
|
||||
uint8_t flags; /** Defines flags for update and logging modes and whether an update should be ACK'd (bits defined above) */
|
||||
uint8_t flags; /** Defines flags for update and logging modes and whether an update should be ACK'd (bits defined above) */
|
||||
uint16_t telemetryUpdatePeriod; /** Update period used by the telemetry module (only if telemetry mode is PERIODIC) */
|
||||
uint16_t gcsTelemetryUpdatePeriod; /** Update period used by the GCS (only if telemetry mode is PERIODIC) */
|
||||
uint16_t loggingUpdatePeriod; /** Update period used by the logging module (only if logging mode is PERIODIC) */
|
||||
|
@ -51,11 +51,19 @@ int32_t $(NAME)Initialize();
|
||||
UAVObjHandle $(NAME)Handle();
|
||||
void $(NAME)SetDefaults(UAVObjHandle obj, uint16_t instId);
|
||||
|
||||
// Object data
|
||||
// Packed Object data (unaligned).
|
||||
// Should only be used where 4 byte alignment can be guaranteed
|
||||
// (eg a single instance on the heap)
|
||||
typedef struct {
|
||||
$(DATAFIELDS)
|
||||
} __attribute__((packed)) $(NAME)Data;
|
||||
} __attribute__((packed)) $(NAME)DataPacked;
|
||||
|
||||
// Packed Object data.
|
||||
// Alignment is forced to 4 bytes so as to avoid the potential for CPU usage faults
|
||||
// on Cortex M4F during load/store of float UAVO fields
|
||||
typedef $(NAME)DataPacked __attribute__((aligned(4))) $(NAME)Data;
|
||||
|
||||
|
||||
// Typesafe Object access functions
|
||||
/**
|
||||
* @function $(NAME)Get(dataOut)
|
||||
|
@ -76,10 +76,10 @@ for (struct UAVOData ** _uavo_slot = __start__uavo_handles; \
|
||||
typedef void* InstanceHandle;
|
||||
|
||||
struct ObjectEventEntry {
|
||||
struct ObjectEventEntry * next;
|
||||
xQueueHandle queue;
|
||||
UAVObjEventCallback cb;
|
||||
uint8_t eventMask;
|
||||
struct ObjectEventEntry * next;
|
||||
};
|
||||
|
||||
/*
|
||||
@ -107,7 +107,6 @@ struct UAVOBase {
|
||||
bool isSingle : 1;
|
||||
bool isSettings : 1;
|
||||
} flags;
|
||||
|
||||
} __attribute__((packed));
|
||||
|
||||
/* Augmented type for Meta UAVO */
|
||||
@ -126,7 +125,7 @@ struct UAVOData {
|
||||
*/
|
||||
struct UAVOMeta metaObj;
|
||||
uint16_t instance_size;
|
||||
} __attribute__((packed));
|
||||
} __attribute__((packed, aligned(4)));
|
||||
|
||||
/* Augmented type for Single Instance Data UAVO */
|
||||
struct UAVOSingle {
|
||||
@ -152,9 +151,8 @@ struct UAVOMultiInst {
|
||||
/* Augmented type for Multi Instance Data UAVO */
|
||||
struct UAVOMulti {
|
||||
struct UAVOData uavo;
|
||||
|
||||
uint16_t num_instances;
|
||||
struct UAVOMultiInst instance0;
|
||||
struct UAVOMultiInst instance0 __attribute__((aligned(4)));
|
||||
/*
|
||||
* Additional space will be malloc'd here to hold the
|
||||
* the data for instance 0.
|
||||
@ -319,8 +317,8 @@ static struct UAVOData * UAVObjAllocMulti(uint32_t num_bytes)
|
||||
/* Set up the type-specific part of the UAVO */
|
||||
uavo_multi->num_instances = 1;
|
||||
|
||||
/* Clear the instance data carried in the UAVO */
|
||||
memset (&(uavo_multi->instance0), 0, num_bytes);
|
||||
/* Clear the multi instance data carried in the UAVO */
|
||||
memset (&(uavo_multi->instance0), 0, sizeof(struct UAVOMultiInst) + num_bytes);
|
||||
|
||||
/* Give back the generic UAVO part */
|
||||
return (&(uavo_multi->uavo));
|
||||
@ -1887,10 +1885,11 @@ static InstanceHandle createInstance(struct UAVOData * obj, uint16_t instId)
|
||||
}
|
||||
|
||||
/* Create the actual instance */
|
||||
instEntry = (struct UAVOMultiInst *) pvPortMalloc(sizeof(struct UAVOMultiInst)+obj->instance_size);
|
||||
uint32_t size = sizeof(struct UAVOMultiInst) + obj->instance_size;
|
||||
instEntry = (struct UAVOMultiInst *) pvPortMalloc(size);
|
||||
if (!instEntry)
|
||||
return NULL;
|
||||
memset(InstanceDataOffset(instEntry), 0, obj->instance_size);
|
||||
memset(instEntry, 0, size);
|
||||
LL_APPEND(( (struct UAVOMulti*)obj )->instance0.next, instEntry);
|
||||
|
||||
( (struct UAVOMulti*)obj )->num_instances++;
|
||||
|
@ -53,6 +53,11 @@ static UAVObjHandle handle __attribute__((section("_uavo_handles")));
|
||||
*/
|
||||
int32_t $(NAME)Initialize(void)
|
||||
{
|
||||
// Compile time assertion that the $(NAME)DataPacked and $(NAME)Data structs
|
||||
// have the same size (though instances of $(NAME)Data
|
||||
// should be placed in memory by the linker/compiler on a 4 byte alignment).
|
||||
PIOS_STATIC_ASSERT(sizeof($(NAME)DataPacked) == sizeof($(NAME)Data));
|
||||
|
||||
// Don't set the handle to null if already registered
|
||||
if(UAVObjGetByID($(NAMEUC)_OBJID) != NULL)
|
||||
return -2;
|
||||
|
@ -1,2873 +1,2828 @@
|
||||
<gcs>
|
||||
<General>
|
||||
<AutoConnect>true</AutoConnect>
|
||||
<AutoSelect>true</AutoSelect>
|
||||
<Description>Default configuration</Description>
|
||||
<Details>Default configuration built to work on all screen sizes</Details>
|
||||
<ExpertMode>false</ExpertMode>
|
||||
<LastPreferenceCategory></LastPreferenceCategory>
|
||||
<LastPreferencePage></LastPreferencePage>
|
||||
<SaveSettingsOnExit>true</SaveSettingsOnExit>
|
||||
<SettingsWindowHeight>600</SettingsWindowHeight>
|
||||
<SettingsWindowWidth>800</SettingsWindowWidth>
|
||||
<StyleSheet>default</StyleSheet>
|
||||
<UDPMirror>false</UDPMirror>
|
||||
</General>
|
||||
<IPconnection>
|
||||
<Current>
|
||||
<arr_1>
|
||||
<Port>9000</Port>
|
||||
<UseTCP>0</UseTCP>
|
||||
</arr_1>
|
||||
<size>1</size>
|
||||
</Current>
|
||||
</IPconnection>
|
||||
<KeyBindings>
|
||||
<size>0</size>
|
||||
</KeyBindings>
|
||||
<MainWindow>
|
||||
<Color>#666666</Color>
|
||||
<FullScreen>false</FullScreen>
|
||||
<Maximized>true</Maximized>
|
||||
</MainWindow>
|
||||
<ModePriorities>
|
||||
<Mode1>91</Mode1>
|
||||
<Mode2>90</Mode2>
|
||||
<Mode3>89</Mode3>
|
||||
<Mode4>88</Mode4>
|
||||
<Mode5>87</Mode5>
|
||||
<Mode6>86</Mode6>
|
||||
<Welcome>100</Welcome>
|
||||
</ModePriorities>
|
||||
<Plugins>
|
||||
<SoundNotifyPlugin>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>1.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<Current>
|
||||
<arr_1>
|
||||
<CurrentLanguage>default</CurrentLanguage>
|
||||
<DataObject>FlightStatus</DataObject>
|
||||
<ExpireTimeout>0</ExpireTimeout>
|
||||
<Mute>false</Mute>
|
||||
<ObjectField>Armed</ObjectField>
|
||||
<RangeLimit>0</RangeLimit>
|
||||
<Repeat>0</Repeat>
|
||||
<SayOrder>0</SayOrder>
|
||||
<Sound1>armed</Sound1>
|
||||
<Sound2></Sound2>
|
||||
<Sound3></Sound3>
|
||||
<SoundCollectionPath>%%DATAPATH%%sounds</SoundCollectionPath>
|
||||
<Value1>Armed</Value1>
|
||||
<Value2>0</Value2>
|
||||
</arr_1>
|
||||
<size>1</size>
|
||||
</Current>
|
||||
<EnableSound>true</EnableSound>
|
||||
<listNotifies>
|
||||
<arr_1>
|
||||
<CurrentLanguage>default</CurrentLanguage>
|
||||
<DataObject>FlightStatus</DataObject>
|
||||
<ExpireTimeout>15</ExpireTimeout>
|
||||
<Mute>false</Mute>
|
||||
<ObjectField>Armed</ObjectField>
|
||||
<RangeLimit>0</RangeLimit>
|
||||
<Repeat>0</Repeat>
|
||||
<SayOrder>0</SayOrder>
|
||||
<Sound1>armed</Sound1>
|
||||
<Sound2></Sound2>
|
||||
<Sound3></Sound3>
|
||||
<SoundCollectionPath>%%DATAPATH%%sounds</SoundCollectionPath>
|
||||
<Value1>Armed</Value1>
|
||||
<Value2>0</Value2>
|
||||
</arr_1>
|
||||
<size>1</size>
|
||||
</listNotifies>
|
||||
</data>
|
||||
</SoundNotifyPlugin>
|
||||
</Plugins>
|
||||
<SerialConnection>
|
||||
<speed>57600</speed>
|
||||
</SerialConnection>
|
||||
<UAVGadgetConfigurations>
|
||||
<ConfigGadget>
|
||||
<default>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
</default>
|
||||
</ConfigGadget>
|
||||
<DialGadget>
|
||||
<Attitude>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<beSmooth>false</beSmooth>
|
||||
<dialBackgroundID>background</dialBackgroundID>
|
||||
<dialFile>%%DATAPATH%%dials/default/attitude.svg</dialFile>
|
||||
<dialForegroundID>foreground</dialForegroundID>
|
||||
<dialNeedleID1>needle</dialNeedleID1>
|
||||
<dialNeedleID2>needle</dialNeedleID2>
|
||||
<dialNeedleID3>needle3</dialNeedleID3>
|
||||
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
|
||||
<needle1DataObject>AttitudeActual</needle1DataObject>
|
||||
<needle1Factor>-1</needle1Factor>
|
||||
<needle1MaxValue>360</needle1MaxValue>
|
||||
<needle1MinValue>0</needle1MinValue>
|
||||
<needle1Move>Rotate</needle1Move>
|
||||
<needle1ObjectField>Roll</needle1ObjectField>
|
||||
<needle2DataObject>AttitudeActual</needle2DataObject>
|
||||
<needle2Factor>75</needle2Factor>
|
||||
<needle2MaxValue>20</needle2MaxValue>
|
||||
<needle2MinValue>0</needle2MinValue>
|
||||
<needle2Move>Vertical</needle2Move>
|
||||
<needle2ObjectField>Pitch</needle2ObjectField>
|
||||
<needle3DataObject>AttitudeActual</needle3DataObject>
|
||||
<needle3Factor>-1</needle3Factor>
|
||||
<needle3MaxValue>360</needle3MaxValue>
|
||||
<needle3MinValue>0</needle3MinValue>
|
||||
<needle3Move>Rotate</needle3Move>
|
||||
<needle3ObjectField>Roll</needle3ObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
</data>
|
||||
</Attitude>
|
||||
<Baro__PCT__20Altimeter>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<beSmooth>false</beSmooth>
|
||||
<dialBackgroundID>background</dialBackgroundID>
|
||||
<dialFile>%%DATAPATH%%dials/default/altimeter.svg</dialFile>
|
||||
<dialForegroundID>foreground</dialForegroundID>
|
||||
<dialNeedleID1>needle</dialNeedleID1>
|
||||
<dialNeedleID2>needle2</dialNeedleID2>
|
||||
<dialNeedleID3>needle3</dialNeedleID3>
|
||||
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
|
||||
<needle1DataObject>BaroAltitude</needle1DataObject>
|
||||
<needle1Factor>1</needle1Factor>
|
||||
<needle1MaxValue>10</needle1MaxValue>
|
||||
<needle1MinValue>0</needle1MinValue>
|
||||
<needle1Move>Rotate</needle1Move>
|
||||
<needle1ObjectField>Altitude</needle1ObjectField>
|
||||
<needle2DataObject>BaroAltitude</needle2DataObject>
|
||||
<needle2Factor>1</needle2Factor>
|
||||
<needle2MaxValue>100</needle2MaxValue>
|
||||
<needle2MinValue>0</needle2MinValue>
|
||||
<needle2Move>Rotate</needle2Move>
|
||||
<needle2ObjectField>Altitude</needle2ObjectField>
|
||||
<needle3DataObject>BaroAltitude</needle3DataObject>
|
||||
<needle3Factor>1</needle3Factor>
|
||||
<needle3MaxValue>1000</needle3MaxValue>
|
||||
<needle3MinValue>0</needle3MinValue>
|
||||
<needle3Move>Rotate</needle3Move>
|
||||
<needle3ObjectField>Altitude</needle3ObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
</data>
|
||||
</Baro__PCT__20Altimeter>
|
||||
<Barometer>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<beSmooth>false</beSmooth>
|
||||
<dialBackgroundID>background</dialBackgroundID>
|
||||
<dialFile>%%DATAPATH%%dials/default/barometer.svg</dialFile>
|
||||
<dialNeedleID1>needle</dialNeedleID1>
|
||||
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
|
||||
<needle1DataObject>BaroAltitude</needle1DataObject>
|
||||
<needle1Factor>10</needle1Factor>
|
||||
<needle1MaxValue>1120</needle1MaxValue>
|
||||
<needle1MinValue>1000</needle1MinValue>
|
||||
<needle1Move>Rotate</needle1Move>
|
||||
<needle1ObjectField>Pressure</needle1ObjectField>
|
||||
<needle2DataObject>BaroAltitude</needle2DataObject>
|
||||
<needle2Factor>1</needle2Factor>
|
||||
<needle2MaxValue>100</needle2MaxValue>
|
||||
<needle2MinValue>0</needle2MinValue>
|
||||
<needle2Move>Rotate</needle2Move>
|
||||
<needle2ObjectField>Altitude</needle2ObjectField>
|
||||
<needle3DataObject>BaroAltitude</needle3DataObject>
|
||||
<needle3Factor>1</needle3Factor>
|
||||
<needle3MaxValue>1000</needle3MaxValue>
|
||||
<needle3MinValue>0</needle3MinValue>
|
||||
<needle3Move>Rotate</needle3Move>
|
||||
<needle3ObjectField>Altitude</needle3ObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
</data>
|
||||
</Barometer>
|
||||
<Climbrate>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<beSmooth>false</beSmooth>
|
||||
<dialBackgroundID>background</dialBackgroundID>
|
||||
<dialFile>%%DATAPATH%%dials/default/vsi.svg</dialFile>
|
||||
<dialNeedleID1>needle</dialNeedleID1>
|
||||
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
|
||||
<needle1DataObject>VelocityActual</needle1DataObject>
|
||||
<needle1Factor>0.01</needle1Factor>
|
||||
<needle1MaxValue>12</needle1MaxValue>
|
||||
<needle1MinValue>-12</needle1MinValue>
|
||||
<needle1Move>Rotate</needle1Move>
|
||||
<needle1ObjectField>Down</needle1ObjectField>
|
||||
<needle2DataObject>BaroAltitude</needle2DataObject>
|
||||
<needle2Factor>1</needle2Factor>
|
||||
<needle2MaxValue>100</needle2MaxValue>
|
||||
<needle2MinValue>0</needle2MinValue>
|
||||
<needle2Move>Rotate</needle2Move>
|
||||
<needle2ObjectField>Altitude</needle2ObjectField>
|
||||
<needle3DataObject>BaroAltitude</needle3DataObject>
|
||||
<needle3Factor>1</needle3Factor>
|
||||
<needle3MaxValue>1000</needle3MaxValue>
|
||||
<needle3MinValue>0</needle3MinValue>
|
||||
<needle3Move>Rotate</needle3Move>
|
||||
<needle3ObjectField>Altitude</needle3ObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
</data>
|
||||
</Climbrate>
|
||||
<Compass>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<beSmooth>false</beSmooth>
|
||||
<dialBackgroundID>background</dialBackgroundID>
|
||||
<dialFile>%%DATAPATH%%dials/default/compass.svg</dialFile>
|
||||
<dialForegroundID>foreground</dialForegroundID>
|
||||
<dialNeedleID1>needle</dialNeedleID1>
|
||||
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
|
||||
<needle1DataObject>AttitudeActual</needle1DataObject>
|
||||
<needle1Factor>-1</needle1Factor>
|
||||
<needle1MaxValue>360</needle1MaxValue>
|
||||
<needle1MinValue>0</needle1MinValue>
|
||||
<needle1Move>Rotate</needle1Move>
|
||||
<needle1ObjectField>Yaw</needle1ObjectField>
|
||||
<needle2DataObject>BaroAltitude</needle2DataObject>
|
||||
<needle2Factor>1</needle2Factor>
|
||||
<needle2MaxValue>100</needle2MaxValue>
|
||||
<needle2MinValue>0</needle2MinValue>
|
||||
<needle2Move>Rotate</needle2Move>
|
||||
<needle2ObjectField>Altitude</needle2ObjectField>
|
||||
<needle3DataObject>BaroAltitude</needle3DataObject>
|
||||
<needle3Factor>1</needle3Factor>
|
||||
<needle3MaxValue>1000</needle3MaxValue>
|
||||
<needle3MinValue>0</needle3MinValue>
|
||||
<needle3Move>Rotate</needle3Move>
|
||||
<needle3ObjectField>Altitude</needle3ObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
</data>
|
||||
</Compass>
|
||||
<Deluxe__PCT__20Attitude>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<beSmooth>false</beSmooth>
|
||||
<dialBackgroundID>background</dialBackgroundID>
|
||||
<dialFile>%%DATAPATH%%dials/deluxe/attitude.svg</dialFile>
|
||||
<dialForegroundID>foreground</dialForegroundID>
|
||||
<dialNeedleID1>needle</dialNeedleID1>
|
||||
<dialNeedleID2>needle</dialNeedleID2>
|
||||
<dialNeedleID3>needle3</dialNeedleID3>
|
||||
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
|
||||
<needle1DataObject>AttitudeActual</needle1DataObject>
|
||||
<needle1Factor>-1</needle1Factor>
|
||||
<needle1MaxValue>360</needle1MaxValue>
|
||||
<needle1MinValue>0</needle1MinValue>
|
||||
<needle1Move>Rotate</needle1Move>
|
||||
<needle1ObjectField>Roll</needle1ObjectField>
|
||||
<needle2DataObject>AttitudeActual</needle2DataObject>
|
||||
<needle2Factor>75</needle2Factor>
|
||||
<needle2MaxValue>20</needle2MaxValue>
|
||||
<needle2MinValue>0</needle2MinValue>
|
||||
<needle2Move>Vertical</needle2Move>
|
||||
<needle2ObjectField>Pitch</needle2ObjectField>
|
||||
<needle3DataObject>AttitudeActual</needle3DataObject>
|
||||
<needle3Factor>-1</needle3Factor>
|
||||
<needle3MaxValue>360</needle3MaxValue>
|
||||
<needle3MinValue>0</needle3MinValue>
|
||||
<needle3Move>Rotate</needle3Move>
|
||||
<needle3ObjectField>Roll</needle3ObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
</data>
|
||||
</Deluxe__PCT__20Attitude>
|
||||
<Deluxe__PCT__20Baro__PCT__20Altimeter>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<beSmooth>false</beSmooth>
|
||||
<dialBackgroundID>background</dialBackgroundID>
|
||||
<dialFile>%%DATAPATH%%dials/deluxe/altimeter.svg</dialFile>
|
||||
<dialForegroundID>foreground</dialForegroundID>
|
||||
<dialNeedleID1>needle</dialNeedleID1>
|
||||
<dialNeedleID2>needle2</dialNeedleID2>
|
||||
<dialNeedleID3>needle3</dialNeedleID3>
|
||||
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
|
||||
<needle1DataObject>BaroAltitude</needle1DataObject>
|
||||
<needle1Factor>1</needle1Factor>
|
||||
<needle1MaxValue>10</needle1MaxValue>
|
||||
<needle1MinValue>0</needle1MinValue>
|
||||
<needle1Move>Rotate</needle1Move>
|
||||
<needle1ObjectField>Altitude</needle1ObjectField>
|
||||
<needle2DataObject>BaroAltitude</needle2DataObject>
|
||||
<needle2Factor>1</needle2Factor>
|
||||
<needle2MaxValue>100</needle2MaxValue>
|
||||
<needle2MinValue>0</needle2MinValue>
|
||||
<needle2Move>Rotate</needle2Move>
|
||||
<needle2ObjectField>Altitude</needle2ObjectField>
|
||||
<needle3DataObject>BaroAltitude</needle3DataObject>
|
||||
<needle3Factor>1</needle3Factor>
|
||||
<needle3MaxValue>1000</needle3MaxValue>
|
||||
<needle3MinValue>0</needle3MinValue>
|
||||
<needle3Move>Rotate</needle3Move>
|
||||
<needle3ObjectField>Altitude</needle3ObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
</data>
|
||||
</Deluxe__PCT__20Baro__PCT__20Altimeter>
|
||||
<Deluxe__PCT__20Barometer>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<beSmooth>false</beSmooth>
|
||||
<dialBackgroundID>background</dialBackgroundID>
|
||||
<dialFile>%%DATAPATH%%dials/deluxe/barometer.svg</dialFile>
|
||||
<dialForegroundID>foreground</dialForegroundID>
|
||||
<dialNeedleID1>needle</dialNeedleID1>
|
||||
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
|
||||
<needle1DataObject>BaroAltitude</needle1DataObject>
|
||||
<needle1Factor>10</needle1Factor>
|
||||
<needle1MaxValue>1120</needle1MaxValue>
|
||||
<needle1MinValue>1000</needle1MinValue>
|
||||
<needle1Move>Rotate</needle1Move>
|
||||
<needle1ObjectField>Pressure</needle1ObjectField>
|
||||
<needle2DataObject>BaroAltitude</needle2DataObject>
|
||||
<needle2Factor>1</needle2Factor>
|
||||
<needle2MaxValue>100</needle2MaxValue>
|
||||
<needle2MinValue>0</needle2MinValue>
|
||||
<needle2Move>Rotate</needle2Move>
|
||||
<needle2ObjectField>Altitude</needle2ObjectField>
|
||||
<needle3DataObject>BaroAltitude</needle3DataObject>
|
||||
<needle3Factor>1</needle3Factor>
|
||||
<needle3MaxValue>1000</needle3MaxValue>
|
||||
<needle3MinValue>0</needle3MinValue>
|
||||
<needle3Move>Rotate</needle3Move>
|
||||
<needle3ObjectField>Altitude</needle3ObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
</data>
|
||||
</Deluxe__PCT__20Barometer>
|
||||
<Deluxe__PCT__20Climbrate>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<beSmooth>false</beSmooth>
|
||||
<dialBackgroundID>background</dialBackgroundID>
|
||||
<dialFile>%%DATAPATH%%dials/deluxe/vsi.svg</dialFile>
|
||||
<dialForegroundID>foreground</dialForegroundID>
|
||||
<dialNeedleID1>needle</dialNeedleID1>
|
||||
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
|
||||
<needle1DataObject>VelocityActual</needle1DataObject>
|
||||
<needle1Factor>0.01</needle1Factor>
|
||||
<needle1MaxValue>11.2</needle1MaxValue>
|
||||
<needle1MinValue>-11.2</needle1MinValue>
|
||||
<needle1Move>Rotate</needle1Move>
|
||||
<needle1ObjectField>Down</needle1ObjectField>
|
||||
<needle2DataObject>BaroAltitude</needle2DataObject>
|
||||
<needle2Factor>1</needle2Factor>
|
||||
<needle2MaxValue>100</needle2MaxValue>
|
||||
<needle2MinValue>0</needle2MinValue>
|
||||
<needle2Move>Rotate</needle2Move>
|
||||
<needle2ObjectField>Altitude</needle2ObjectField>
|
||||
<needle3DataObject>BaroAltitude</needle3DataObject>
|
||||
<needle3Factor>1</needle3Factor>
|
||||
<needle3MaxValue>1000</needle3MaxValue>
|
||||
<needle3MinValue>0</needle3MinValue>
|
||||
<needle3Move>Rotate</needle3Move>
|
||||
<needle3ObjectField>Altitude</needle3ObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
</data>
|
||||
</Deluxe__PCT__20Climbrate>
|
||||
<Deluxe__PCT__20Compass>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<beSmooth>false</beSmooth>
|
||||
<dialBackgroundID>background</dialBackgroundID>
|
||||
<dialFile>%%DATAPATH%%dials/deluxe/compass.svg</dialFile>
|
||||
<dialForegroundID>foreground</dialForegroundID>
|
||||
<dialNeedleID1>needle</dialNeedleID1>
|
||||
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
|
||||
<needle1DataObject>AttitudeActual</needle1DataObject>
|
||||
<needle1Factor>-1</needle1Factor>
|
||||
<needle1MaxValue>360</needle1MaxValue>
|
||||
<needle1MinValue>0</needle1MinValue>
|
||||
<needle1Move>Rotate</needle1Move>
|
||||
<needle1ObjectField>Yaw</needle1ObjectField>
|
||||
<needle2DataObject>BaroAltitude</needle2DataObject>
|
||||
<needle2Factor>1</needle2Factor>
|
||||
<needle2MaxValue>100</needle2MaxValue>
|
||||
<needle2MinValue>0</needle2MinValue>
|
||||
<needle2Move>Rotate</needle2Move>
|
||||
<needle2ObjectField>Altitude</needle2ObjectField>
|
||||
<needle3DataObject>BaroAltitude</needle3DataObject>
|
||||
<needle3Factor>1</needle3Factor>
|
||||
<needle3MaxValue>1000</needle3MaxValue>
|
||||
<needle3MinValue>0</needle3MinValue>
|
||||
<needle3Move>Rotate</needle3Move>
|
||||
<needle3ObjectField>Altitude</needle3ObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
</data>
|
||||
</Deluxe__PCT__20Compass>
|
||||
<Deluxe__PCT__20Groundspeed__PCT__20kph>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<beSmooth>false</beSmooth>
|
||||
<dialBackgroundID>background</dialBackgroundID>
|
||||
<dialFile>%%DATAPATH%%dials/deluxe/speed.svg</dialFile>
|
||||
<dialForegroundID>foreground</dialForegroundID>
|
||||
<dialNeedleID1>needle</dialNeedleID1>
|
||||
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
|
||||
<needle1DataObject>GPSPosition</needle1DataObject>
|
||||
<needle1Factor>3.6</needle1Factor>
|
||||
<needle1MaxValue>120</needle1MaxValue>
|
||||
<needle1MinValue>0</needle1MinValue>
|
||||
<needle1Move>Rotate</needle1Move>
|
||||
<needle1ObjectField>Groundspeed</needle1ObjectField>
|
||||
<needle2DataObject>BaroAltitude</needle2DataObject>
|
||||
<needle2Factor>1</needle2Factor>
|
||||
<needle2MaxValue>100</needle2MaxValue>
|
||||
<needle2MinValue>0</needle2MinValue>
|
||||
<needle2Move>Rotate</needle2Move>
|
||||
<needle2ObjectField>Altitude</needle2ObjectField>
|
||||
<needle3DataObject>BaroAltitude</needle3DataObject>
|
||||
<needle3Factor>1</needle3Factor>
|
||||
<needle3MaxValue>1000</needle3MaxValue>
|
||||
<needle3MinValue>0</needle3MinValue>
|
||||
<needle3Move>Rotate</needle3Move>
|
||||
<needle3ObjectField>Altitude</needle3ObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
</data>
|
||||
</Deluxe__PCT__20Groundspeed__PCT__20kph>
|
||||
<Deluxe__PCT__20Temperature>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<beSmooth>false</beSmooth>
|
||||
<dialBackgroundID>background</dialBackgroundID>
|
||||
<dialFile>%%DATAPATH%%dials/deluxe/thermometer.svg</dialFile>
|
||||
<dialForegroundID>foreground</dialForegroundID>
|
||||
<dialNeedleID1>needle</dialNeedleID1>
|
||||
<dialNeedleID2>needle2</dialNeedleID2>
|
||||
<dialNeedleID3>needle3</dialNeedleID3>
|
||||
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
|
||||
<needle1DataObject>BaroAltitude</needle1DataObject>
|
||||
<needle1Factor>1</needle1Factor>
|
||||
<needle1MaxValue>120</needle1MaxValue>
|
||||
<needle1MinValue>0</needle1MinValue>
|
||||
<needle1Move>Rotate</needle1Move>
|
||||
<needle1ObjectField>Temperature</needle1ObjectField>
|
||||
<needle2DataObject>BaroAltitude</needle2DataObject>
|
||||
<needle2Factor>1</needle2Factor>
|
||||
<needle2MaxValue>100</needle2MaxValue>
|
||||
<needle2MinValue>0</needle2MinValue>
|
||||
<needle2Move>Rotate</needle2Move>
|
||||
<needle2ObjectField>Altitude</needle2ObjectField>
|
||||
<needle3DataObject>BaroAltitude</needle3DataObject>
|
||||
<needle3Factor>1</needle3Factor>
|
||||
<needle3MaxValue>1000</needle3MaxValue>
|
||||
<needle3MinValue>0</needle3MinValue>
|
||||
<needle3Move>Rotate</needle3Move>
|
||||
<needle3ObjectField>Altitude</needle3ObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
</data>
|
||||
</Deluxe__PCT__20Temperature>
|
||||
<Deluxe__PCT__20Turn__PCT__20Coordinator>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<beSmooth>false</beSmooth>
|
||||
<dialBackgroundID>background</dialBackgroundID>
|
||||
<dialFile>/home/lafargue/OP/OpenPilot/trunk/artwork/Dials/deluxe/turncoordinator.svg</dialFile>
|
||||
<dialForegroundID>foreground</dialForegroundID>
|
||||
<dialNeedleID1>needle</dialNeedleID1>
|
||||
<dialNeedleID2>needle2</dialNeedleID2>
|
||||
<dialNeedleID3>needle2</dialNeedleID3>
|
||||
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
|
||||
<needle1DataObject>AttitudeActual</needle1DataObject>
|
||||
<needle1Factor>-1</needle1Factor>
|
||||
<needle1MaxValue>360</needle1MaxValue>
|
||||
<needle1MinValue>0</needle1MinValue>
|
||||
<needle1Move>Rotate</needle1Move>
|
||||
<needle1ObjectField>Roll</needle1ObjectField>
|
||||
<needle2DataObject>Accels</needle2DataObject>
|
||||
<needle2Factor>1</needle2Factor>
|
||||
<needle2MaxValue>20</needle2MaxValue>
|
||||
<needle2MinValue>-20</needle2MinValue>
|
||||
<needle2Move>Horizontal</needle2Move>
|
||||
<needle2ObjectField>x</needle2ObjectField>
|
||||
<needle3DataObject>Accels</needle3DataObject>
|
||||
<needle3Factor>-1</needle3Factor>
|
||||
<needle3MaxValue>360</needle3MaxValue>
|
||||
<needle3MinValue>0</needle3MinValue>
|
||||
<needle3Move>Rotate</needle3Move>
|
||||
<needle3ObjectField>x</needle3ObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
</data>
|
||||
</Deluxe__PCT__20Turn__PCT__20Coordinator>
|
||||
<Groundspeed__PCT__20kph>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<beSmooth>false</beSmooth>
|
||||
<dialBackgroundID>background</dialBackgroundID>
|
||||
<dialFile>%%DATAPATH%%dials/default/speed.svg</dialFile>
|
||||
<dialNeedleID1>needle</dialNeedleID1>
|
||||
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
|
||||
<needle1DataObject>GPSPosition</needle1DataObject>
|
||||
<needle1Factor>3.6</needle1Factor>
|
||||
<needle1MaxValue>120</needle1MaxValue>
|
||||
<needle1MinValue>0</needle1MinValue>
|
||||
<needle1Move>Rotate</needle1Move>
|
||||
<needle1ObjectField>Groundspeed</needle1ObjectField>
|
||||
<needle2DataObject>BaroAltitude</needle2DataObject>
|
||||
<needle2Factor>1</needle2Factor>
|
||||
<needle2MaxValue>100</needle2MaxValue>
|
||||
<needle2MinValue>0</needle2MinValue>
|
||||
<needle2Move>Rotate</needle2Move>
|
||||
<needle2ObjectField>Altitude</needle2ObjectField>
|
||||
<needle3DataObject>BaroAltitude</needle3DataObject>
|
||||
<needle3Factor>1</needle3Factor>
|
||||
<needle3MaxValue>1000</needle3MaxValue>
|
||||
<needle3MinValue>0</needle3MinValue>
|
||||
<needle3Move>Rotate</needle3Move>
|
||||
<needle3ObjectField>Altitude</needle3ObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
</data>
|
||||
</Groundspeed__PCT__20kph>
|
||||
<HiContrast__PCT__20Attitude>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<beSmooth>false</beSmooth>
|
||||
<dialBackgroundID>background</dialBackgroundID>
|
||||
<dialFile>%%DATAPATH%%dials/hi-contrast/attitude.svg</dialFile>
|
||||
<dialForegroundID>foreground</dialForegroundID>
|
||||
<dialNeedleID1>needle</dialNeedleID1>
|
||||
<dialNeedleID2>needle</dialNeedleID2>
|
||||
<dialNeedleID3>needle3</dialNeedleID3>
|
||||
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
|
||||
<needle1DataObject>AttitudeActual</needle1DataObject>
|
||||
<needle1Factor>-1</needle1Factor>
|
||||
<needle1MaxValue>360</needle1MaxValue>
|
||||
<needle1MinValue>0</needle1MinValue>
|
||||
<needle1Move>Rotate</needle1Move>
|
||||
<needle1ObjectField>Roll</needle1ObjectField>
|
||||
<needle2DataObject>AttitudeActual</needle2DataObject>
|
||||
<needle2Factor>75</needle2Factor>
|
||||
<needle2MaxValue>20</needle2MaxValue>
|
||||
<needle2MinValue>0</needle2MinValue>
|
||||
<needle2Move>Vertical</needle2Move>
|
||||
<needle2ObjectField>Pitch</needle2ObjectField>
|
||||
<needle3DataObject>AttitudeActual</needle3DataObject>
|
||||
<needle3Factor>-1</needle3Factor>
|
||||
<needle3MaxValue>360</needle3MaxValue>
|
||||
<needle3MinValue>0</needle3MinValue>
|
||||
<needle3Move>Rotate</needle3Move>
|
||||
<needle3ObjectField>Roll</needle3ObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
</data>
|
||||
</HiContrast__PCT__20Attitude>
|
||||
<HiContrast__PCT__20Baro__PCT__20Altimeter>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<beSmooth>false</beSmooth>
|
||||
<dialBackgroundID>background</dialBackgroundID>
|
||||
<dialFile>%%DATAPATH%%dials/hi-contrast/altimeter.svg</dialFile>
|
||||
<dialForegroundID>foreground</dialForegroundID>
|
||||
<dialNeedleID1>needle</dialNeedleID1>
|
||||
<dialNeedleID2>needle2</dialNeedleID2>
|
||||
<dialNeedleID3>needle3</dialNeedleID3>
|
||||
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
|
||||
<needle1DataObject>BaroAltitude</needle1DataObject>
|
||||
<needle1Factor>1</needle1Factor>
|
||||
<needle1MaxValue>10</needle1MaxValue>
|
||||
<needle1MinValue>0</needle1MinValue>
|
||||
<needle1Move>Rotate</needle1Move>
|
||||
<needle1ObjectField>Altitude</needle1ObjectField>
|
||||
<needle2DataObject>BaroAltitude</needle2DataObject>
|
||||
<needle2Factor>1</needle2Factor>
|
||||
<needle2MaxValue>100</needle2MaxValue>
|
||||
<needle2MinValue>0</needle2MinValue>
|
||||
<needle2Move>Rotate</needle2Move>
|
||||
<needle2ObjectField>Altitude</needle2ObjectField>
|
||||
<needle3DataObject>BaroAltitude</needle3DataObject>
|
||||
<needle3Factor>1</needle3Factor>
|
||||
<needle3MaxValue>1000</needle3MaxValue>
|
||||
<needle3MinValue>0</needle3MinValue>
|
||||
<needle3Move>Rotate</needle3Move>
|
||||
<needle3ObjectField>Altitude</needle3ObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
</data>
|
||||
</HiContrast__PCT__20Baro__PCT__20Altimeter>
|
||||
<HiContrast__PCT__20Barometer>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<beSmooth>false</beSmooth>
|
||||
<dialBackgroundID>background</dialBackgroundID>
|
||||
<dialFile>%%DATAPATH%%dials/hi-contrast/barometer.svg</dialFile>
|
||||
<dialNeedleID1>needle</dialNeedleID1>
|
||||
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
|
||||
<needle1DataObject>BaroAltitude</needle1DataObject>
|
||||
<needle1Factor>10</needle1Factor>
|
||||
<needle1MaxValue>1120</needle1MaxValue>
|
||||
<needle1MinValue>1000</needle1MinValue>
|
||||
<needle1Move>Rotate</needle1Move>
|
||||
<needle1ObjectField>Pressure</needle1ObjectField>
|
||||
<needle2DataObject>BaroAltitude</needle2DataObject>
|
||||
<needle2Factor>1</needle2Factor>
|
||||
<needle2MaxValue>100</needle2MaxValue>
|
||||
<needle2MinValue>0</needle2MinValue>
|
||||
<needle2Move>Rotate</needle2Move>
|
||||
<needle2ObjectField>Altitude</needle2ObjectField>
|
||||
<needle3DataObject>BaroAltitude</needle3DataObject>
|
||||
<needle3Factor>1</needle3Factor>
|
||||
<needle3MaxValue>1000</needle3MaxValue>
|
||||
<needle3MinValue>0</needle3MinValue>
|
||||
<needle3Move>Rotate</needle3Move>
|
||||
<needle3ObjectField>Altitude</needle3ObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
</data>
|
||||
</HiContrast__PCT__20Barometer>
|
||||
<HiContrast__PCT__20Climbrate>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<beSmooth>false</beSmooth>
|
||||
<dialBackgroundID>background</dialBackgroundID>
|
||||
<dialFile>%%DATAPATH%%dials/hi-contrast/vsi.svg</dialFile>
|
||||
<dialNeedleID1>needle</dialNeedleID1>
|
||||
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
|
||||
<needle1DataObject>VelocityActual</needle1DataObject>
|
||||
<needle1Factor>0.01</needle1Factor>
|
||||
<needle1MaxValue>12</needle1MaxValue>
|
||||
<needle1MinValue>-12</needle1MinValue>
|
||||
<needle1Move>Rotate</needle1Move>
|
||||
<needle1ObjectField>Down</needle1ObjectField>
|
||||
<needle2DataObject>BaroAltitude</needle2DataObject>
|
||||
<needle2Factor>1</needle2Factor>
|
||||
<needle2MaxValue>100</needle2MaxValue>
|
||||
<needle2MinValue>0</needle2MinValue>
|
||||
<needle2Move>Rotate</needle2Move>
|
||||
<needle2ObjectField>Altitude</needle2ObjectField>
|
||||
<needle3DataObject>BaroAltitude</needle3DataObject>
|
||||
<needle3Factor>1</needle3Factor>
|
||||
<needle3MaxValue>1000</needle3MaxValue>
|
||||
<needle3MinValue>0</needle3MinValue>
|
||||
<needle3Move>Rotate</needle3Move>
|
||||
<needle3ObjectField>Altitude</needle3ObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
</data>
|
||||
</HiContrast__PCT__20Climbrate>
|
||||
<HiContrast__PCT__20Compass>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<beSmooth>false</beSmooth>
|
||||
<dialBackgroundID>background</dialBackgroundID>
|
||||
<dialFile>%%DATAPATH%%dials/hi-contrast/compass.svg</dialFile>
|
||||
<dialForegroundID>foreground</dialForegroundID>
|
||||
<dialNeedleID1>needle</dialNeedleID1>
|
||||
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
|
||||
<needle1DataObject>AttitudeActual</needle1DataObject>
|
||||
<needle1Factor>-1</needle1Factor>
|
||||
<needle1MaxValue>360</needle1MaxValue>
|
||||
<needle1MinValue>0</needle1MinValue>
|
||||
<needle1Move>Rotate</needle1Move>
|
||||
<needle1ObjectField>Yaw</needle1ObjectField>
|
||||
<needle2DataObject>BaroAltitude</needle2DataObject>
|
||||
<needle2Factor>1</needle2Factor>
|
||||
<needle2MaxValue>100</needle2MaxValue>
|
||||
<needle2MinValue>0</needle2MinValue>
|
||||
<needle2Move>Rotate</needle2Move>
|
||||
<needle2ObjectField>Altitude</needle2ObjectField>
|
||||
<needle3DataObject>BaroAltitude</needle3DataObject>
|
||||
<needle3Factor>1</needle3Factor>
|
||||
<needle3MaxValue>1000</needle3MaxValue>
|
||||
<needle3MinValue>0</needle3MinValue>
|
||||
<needle3Move>Rotate</needle3Move>
|
||||
<needle3ObjectField>Altitude</needle3ObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
</data>
|
||||
</HiContrast__PCT__20Compass>
|
||||
<HiContrast__PCT__20Groundspeed__PCT__20kph>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<beSmooth>false</beSmooth>
|
||||
<dialBackgroundID>background</dialBackgroundID>
|
||||
<dialFile>%%DATAPATH%%dials/hi-contrast/speed.svg</dialFile>
|
||||
<dialNeedleID1>needle</dialNeedleID1>
|
||||
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
|
||||
<needle1DataObject>GPSPosition</needle1DataObject>
|
||||
<needle1Factor>3.6</needle1Factor>
|
||||
<needle1MaxValue>120</needle1MaxValue>
|
||||
<needle1MinValue>0</needle1MinValue>
|
||||
<needle1Move>Rotate</needle1Move>
|
||||
<needle1ObjectField>Groundspeed</needle1ObjectField>
|
||||
<needle2DataObject>BaroAltitude</needle2DataObject>
|
||||
<needle2Factor>1</needle2Factor>
|
||||
<needle2MaxValue>100</needle2MaxValue>
|
||||
<needle2MinValue>0</needle2MinValue>
|
||||
<needle2Move>Rotate</needle2Move>
|
||||
<needle2ObjectField>Altitude</needle2ObjectField>
|
||||
<needle3DataObject>BaroAltitude</needle3DataObject>
|
||||
<needle3Factor>1</needle3Factor>
|
||||
<needle3MaxValue>1000</needle3MaxValue>
|
||||
<needle3MinValue>0</needle3MinValue>
|
||||
<needle3Move>Rotate</needle3Move>
|
||||
<needle3ObjectField>Altitude</needle3ObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
</data>
|
||||
</HiContrast__PCT__20Groundspeed__PCT__20kph>
|
||||
<HiContrast__PCT__20Temperature>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<beSmooth>false</beSmooth>
|
||||
<dialBackgroundID>background</dialBackgroundID>
|
||||
<dialFile>%%DATAPATH%%dials/hi-contrast/thermometer.svg</dialFile>
|
||||
<dialNeedleID1>needle</dialNeedleID1>
|
||||
<dialNeedleID2>needle2</dialNeedleID2>
|
||||
<dialNeedleID3>needle3</dialNeedleID3>
|
||||
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
|
||||
<needle1DataObject>BaroAltitude</needle1DataObject>
|
||||
<needle1Factor>1</needle1Factor>
|
||||
<needle1MaxValue>120</needle1MaxValue>
|
||||
<needle1MinValue>0</needle1MinValue>
|
||||
<needle1Move>Rotate</needle1Move>
|
||||
<needle1ObjectField>Temperature</needle1ObjectField>
|
||||
<needle2DataObject>BaroAltitude</needle2DataObject>
|
||||
<needle2Factor>1</needle2Factor>
|
||||
<needle2MaxValue>100</needle2MaxValue>
|
||||
<needle2MinValue>0</needle2MinValue>
|
||||
<needle2Move>Rotate</needle2Move>
|
||||
<needle2ObjectField>Altitude</needle2ObjectField>
|
||||
<needle3DataObject>BaroAltitude</needle3DataObject>
|
||||
<needle3Factor>1</needle3Factor>
|
||||
<needle3MaxValue>1000</needle3MaxValue>
|
||||
<needle3MinValue>0</needle3MinValue>
|
||||
<needle3Move>Rotate</needle3Move>
|
||||
<needle3ObjectField>Altitude</needle3ObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
</data>
|
||||
</HiContrast__PCT__20Temperature>
|
||||
<Servo__PCT__20Channel__PCT__201>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<beSmooth>false</beSmooth>
|
||||
<dialBackgroundID>background</dialBackgroundID>
|
||||
<dialFile>%%DATAPATH%%dials/default/thermometer.svg</dialFile>
|
||||
<dialNeedleID1>needle</dialNeedleID1>
|
||||
<dialNeedleID2>needle2</dialNeedleID2>
|
||||
<dialNeedleID3>needle3</dialNeedleID3>
|
||||
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
|
||||
<needle1DataObject>ManualControlCommand</needle1DataObject>
|
||||
<needle1Factor>1</needle1Factor>
|
||||
<needle1MaxValue>2000</needle1MaxValue>
|
||||
<needle1MinValue>1000</needle1MinValue>
|
||||
<needle1Move>Rotate</needle1Move>
|
||||
<needle1ObjectField>Channel-3</needle1ObjectField>
|
||||
<needle2DataObject>BaroAltitude</needle2DataObject>
|
||||
<needle2Factor>1</needle2Factor>
|
||||
<needle2MaxValue>100</needle2MaxValue>
|
||||
<needle2MinValue>0</needle2MinValue>
|
||||
<needle2Move>Rotate</needle2Move>
|
||||
<needle2ObjectField>Altitude</needle2ObjectField>
|
||||
<needle3DataObject>BaroAltitude</needle3DataObject>
|
||||
<needle3Factor>1</needle3Factor>
|
||||
<needle3MaxValue>1000</needle3MaxValue>
|
||||
<needle3MinValue>0</needle3MinValue>
|
||||
<needle3Move>Rotate</needle3Move>
|
||||
<needle3ObjectField>Altitude</needle3ObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
</data>
|
||||
</Servo__PCT__20Channel__PCT__201>
|
||||
<Temperature>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<beSmooth>false</beSmooth>
|
||||
<dialBackgroundID>background</dialBackgroundID>
|
||||
<dialFile>%%DATAPATH%%dials/default/thermometer.svg</dialFile>
|
||||
<dialNeedleID1>needle</dialNeedleID1>
|
||||
<dialNeedleID2>needle2</dialNeedleID2>
|
||||
<dialNeedleID3>needle3</dialNeedleID3>
|
||||
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
|
||||
<needle1DataObject>BaroAltitude</needle1DataObject>
|
||||
<needle1Factor>1</needle1Factor>
|
||||
<needle1MaxValue>120</needle1MaxValue>
|
||||
<needle1MinValue>0</needle1MinValue>
|
||||
<needle1Move>Rotate</needle1Move>
|
||||
<needle1ObjectField>Temperature</needle1ObjectField>
|
||||
<needle2DataObject>BaroAltitude</needle2DataObject>
|
||||
<needle2Factor>1</needle2Factor>
|
||||
<needle2MaxValue>100</needle2MaxValue>
|
||||
<needle2MinValue>0</needle2MinValue>
|
||||
<needle2Move>Rotate</needle2Move>
|
||||
<needle2ObjectField>Altitude</needle2ObjectField>
|
||||
<needle3DataObject>BaroAltitude</needle3DataObject>
|
||||
<needle3Factor>1</needle3Factor>
|
||||
<needle3MaxValue>1000</needle3MaxValue>
|
||||
<needle3MinValue>0</needle3MinValue>
|
||||
<needle3Move>Rotate</needle3Move>
|
||||
<needle3ObjectField>Altitude</needle3ObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
</data>
|
||||
</Temperature>
|
||||
</DialGadget>
|
||||
<GCSControlGadget>
|
||||
<MS__PCT__20Sidewinder>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<button0Action>0</button0Action>
|
||||
<button0Amount>0</button0Amount>
|
||||
<button0Function>0</button0Function>
|
||||
<button1Action>0</button1Action>
|
||||
<button1Amount>0</button1Amount>
|
||||
<button1Function>0</button1Function>
|
||||
<button2Action>0</button2Action>
|
||||
<button2Amount>0.1</button2Amount>
|
||||
<button2Function>3</button2Function>
|
||||
<button3Action>0</button3Action>
|
||||
<button3Amount>0.1</button3Amount>
|
||||
<button3Function>3</button3Function>
|
||||
<button4Action>0</button4Action>
|
||||
<button4Amount>0</button4Amount>
|
||||
<button4Function>0</button4Function>
|
||||
<button5Action>0</button5Action>
|
||||
<button5Amount>0</button5Amount>
|
||||
<button5Function>0</button5Function>
|
||||
<button6Action>0</button6Action>
|
||||
<button6Amount>0</button6Amount>
|
||||
<button6Function>0</button6Function>
|
||||
<button7Action>0</button7Action>
|
||||
<button7Amount>0</button7Amount>
|
||||
<button7Function>0</button7Function>
|
||||
<channel0Reverse>false</channel0Reverse>
|
||||
<channel1Reverse>false</channel1Reverse>
|
||||
<channel2Reverse>true</channel2Reverse>
|
||||
<channel3Reverse>false</channel3Reverse>
|
||||
<channel4Reverse>false</channel4Reverse>
|
||||
<channel5Reverse>false</channel5Reverse>
|
||||
<channel6Reverse>false</channel6Reverse>
|
||||
<channel7Reverse>false</channel7Reverse>
|
||||
<controlPortUDP>0</controlPortUDP>
|
||||
<controlsMode>2</controlsMode>
|
||||
<pitchChannel>1</pitchChannel>
|
||||
<rollChannel>0</rollChannel>
|
||||
<throttleChannel>2</throttleChannel>
|
||||
<yawChannel>3</yawChannel>
|
||||
</data>
|
||||
</MS__PCT__20Sidewinder>
|
||||
</GCSControlGadget>
|
||||
<GpsDisplayGadget>
|
||||
<Flight__PCT__20GPS>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<connectionMode>Telemetry</connectionMode>
|
||||
<defaultDataBits>3</defaultDataBits>
|
||||
<defaultFlow>0</defaultFlow>
|
||||
<defaultParity>0</defaultParity>
|
||||
<defaultPort>Communications Port (COM1)</defaultPort>
|
||||
<defaultSpeed>11</defaultSpeed>
|
||||
<defaultStopBits>0</defaultStopBits>
|
||||
</data>
|
||||
</Flight__PCT__20GPS>
|
||||
<GPS__PCT__20Mouse>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<connectionMode>Serial</connectionMode>
|
||||
<defaultDataBits>3</defaultDataBits>
|
||||
<defaultFlow>0</defaultFlow>
|
||||
<defaultParity>0</defaultParity>
|
||||
<defaultPort>Communications Port (COM1)</defaultPort>
|
||||
<defaultSpeed>17</defaultSpeed>
|
||||
<defaultStopBits>0</defaultStopBits>
|
||||
</data>
|
||||
</GPS__PCT__20Mouse>
|
||||
</GpsDisplayGadget>
|
||||
<HITL>
|
||||
<AeroSimRC__PCT__20HITL>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<addNoise>false</addNoise>
|
||||
<attActCalc>false</attActCalc>
|
||||
<attActHW>false</attActHW>
|
||||
<attActSim>true</attActSim>
|
||||
<attActualEnabled>true</attActualEnabled>
|
||||
<attRawEnabled>true</attRawEnabled>
|
||||
<attRawRate>20</attRawRate>
|
||||
<baroAltRate>50</baroAltRate>
|
||||
<baroAltitudeEnabled>false</baroAltitudeEnabled>
|
||||
<binPath></binPath>
|
||||
<dataPath></dataPath>
|
||||
<gcsReceiverEnabled>true</gcsReceiverEnabled>
|
||||
<gpsPosRate>100</gpsPosRate>
|
||||
<gpsPositionEnabled>false</gpsPositionEnabled>
|
||||
<groundTruthEnabled>true</groundTruthEnabled>
|
||||
<groundTruthRate>100</groundTruthRate>
|
||||
<hostAddress>0.0.0.0</hostAddress>
|
||||
<inPort>40100</inPort>
|
||||
<inputCommand>true</inputCommand>
|
||||
<latitude></latitude>
|
||||
<longitude></longitude>
|
||||
<manualControlEnabled>false</manualControlEnabled>
|
||||
<manualOutput>false</manualOutput>
|
||||
<minOutputPeriod>40</minOutputPeriod>
|
||||
<outPort>40200</outPort>
|
||||
<remoteAddress>127.0.0.1</remoteAddress>
|
||||
<simulatorId>ASimRC</simulatorId>
|
||||
<startSim>false</startSim>
|
||||
</data>
|
||||
</AeroSimRC__PCT__20HITL>
|
||||
<Flightgear__PCT__20HITL>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<addNoise>false</addNoise>
|
||||
<attActCalc>false</attActCalc>
|
||||
<attActHW>false</attActHW>
|
||||
<attActSim>true</attActSim>
|
||||
<attActualEnabled>true</attActualEnabled>
|
||||
<attRawEnabled>true</attRawEnabled>
|
||||
<attRawRate>20</attRawRate>
|
||||
<baroAltRate>50</baroAltRate>
|
||||
<baroAltitudeEnabled>false</baroAltitudeEnabled>
|
||||
<binPath>\usr\games\fgfs</binPath>
|
||||
<dataPath>\usr\share\games\FlightGear</dataPath>
|
||||
<gcsReceiverEnabled>false</gcsReceiverEnabled>
|
||||
<gpsPosRate>100</gpsPosRate>
|
||||
<gpsPositionEnabled>false</gpsPositionEnabled>
|
||||
<groundTruthEnabled>true</groundTruthEnabled>
|
||||
<groundTruthRate>100</groundTruthRate>
|
||||
<hostAddress>127.0.0.1</hostAddress>
|
||||
<inPort>9009</inPort>
|
||||
<inputCommand>true</inputCommand>
|
||||
<latitude></latitude>
|
||||
<longitude></longitude>
|
||||
<manualControlEnabled>true</manualControlEnabled>
|
||||
<manualOutput>false</manualOutput>
|
||||
<minOutputPeriod>40</minOutputPeriod>
|
||||
<outPort>9010</outPort>
|
||||
<remoteAddress>127.0.0.1</remoteAddress>
|
||||
<simulatorId>FG</simulatorId>
|
||||
<startSim>true</startSim>
|
||||
</data>
|
||||
</Flightgear__PCT__20HITL>
|
||||
<XPlane__PCT__20HITL>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<addNoise>false</addNoise>
|
||||
<attActCalc>false</attActCalc>
|
||||
<attActHW>false</attActHW>
|
||||
<attActSim>true</attActSim>
|
||||
<attActualEnabled>true</attActualEnabled>
|
||||
<attRawEnabled>true</attRawEnabled>
|
||||
<attRawRate>20</attRawRate>
|
||||
<baroAltRate>50</baroAltRate>
|
||||
<baroAltitudeEnabled>false</baroAltitudeEnabled>
|
||||
<binPath></binPath>
|
||||
<dataPath></dataPath>
|
||||
<gcsReceiverEnabled>false</gcsReceiverEnabled>
|
||||
<gpsPosRate>100</gpsPosRate>
|
||||
<gpsPositionEnabled>false</gpsPositionEnabled>
|
||||
<groundTruthEnabled>true</groundTruthEnabled>
|
||||
<groundTruthRate>100</groundTruthRate>
|
||||
<hostAddress>0.0.0.0</hostAddress>
|
||||
<inPort>6756</inPort>
|
||||
<inputCommand>true</inputCommand>
|
||||
<latitude></latitude>
|
||||
<longitude></longitude>
|
||||
<manualControlEnabled>true</manualControlEnabled>
|
||||
<manualOutput>false</manualOutput>
|
||||
<minOutputPeriod>40</minOutputPeriod>
|
||||
<outPort>49000</outPort>
|
||||
<remoteAddress>127.0.0.1</remoteAddress>
|
||||
<simulatorId>X-Plane</simulatorId>
|
||||
<startSim>false</startSim>
|
||||
</data>
|
||||
</XPlane__PCT__20HITL>
|
||||
</HITL>
|
||||
<HITLv2>
|
||||
<default>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<attActCalc>false</attActCalc>
|
||||
<attActHW>false</attActHW>
|
||||
<attActSim>true</attActSim>
|
||||
<attActual>true</attActual>
|
||||
<attRaw>true</attRaw>
|
||||
<attRawRate>20</attRawRate>
|
||||
<gcsReciever>true</gcsReciever>
|
||||
<gpsPosRate>200</gpsPosRate>
|
||||
<gpsPosition>true</gpsPosition>
|
||||
<homeLocRate>0</homeLocRate>
|
||||
<homeLocation>true</homeLocation>
|
||||
<hostAddress>127.0.0.1</hostAddress>
|
||||
<inPort>40100</inPort>
|
||||
<inputCommand>true</inputCommand>
|
||||
<manualControl>false</manualControl>
|
||||
<manualOutput>false</manualOutput>
|
||||
<outPort>40200</outPort>
|
||||
<outputRate>20</outputRate>
|
||||
<remoteAddress>127.0.0.1</remoteAddress>
|
||||
<simulatorId>ASimRC</simulatorId>
|
||||
<sonarAltRate>50</sonarAltRate>
|
||||
<sonarAltitude>false</sonarAltitude>
|
||||
<sonarMaxAlt>@Variant(AAAAh0CgAAA=)</sonarMaxAlt>
|
||||
</data>
|
||||
</default>
|
||||
</HITLv2>
|
||||
<LineardialGadget>
|
||||
<Accel__PCT__20Horizontal__PCT__20X>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<dFile>%%DATAPATH%%dials/deluxe/lineardial-horizontal.svg</dFile>
|
||||
<decimalPlaces>2</decimalPlaces>
|
||||
<factor>1</factor>
|
||||
<font>Andale Mono,8,-1,5,50,0,0,0,0,0</font>
|
||||
<greenMax>-9</greenMax>
|
||||
<greenMin>-10</greenMin>
|
||||
<maxValue>11</maxValue>
|
||||
<minValue>-11</minValue>
|
||||
<redMax>11</redMax>
|
||||
<redMin>-11</redMin>
|
||||
<sourceDataObject>Accels</sourceDataObject>
|
||||
<sourceObjectField>x</sourceObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
<yellowMax>-5</yellowMax>
|
||||
<yellowMin>-11</yellowMin>
|
||||
</data>
|
||||
</Accel__PCT__20Horizontal__PCT__20X>
|
||||
<Accel__PCT__20Horizontal__PCT__20Y>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<dFile>%%DATAPATH%%dials/deluxe/lineardial-horizontal.svg</dFile>
|
||||
<decimalPlaces>2</decimalPlaces>
|
||||
<factor>1</factor>
|
||||
<font>Andale Mono,6,-1,5,50,0,0,0,0,0</font>
|
||||
<greenMax>-9</greenMax>
|
||||
<greenMin>-10</greenMin>
|
||||
<maxValue>11</maxValue>
|
||||
<minValue>-11</minValue>
|
||||
<redMax>11</redMax>
|
||||
<redMin>-11</redMin>
|
||||
<sourceDataObject>Accels</sourceDataObject>
|
||||
<sourceObjectField>y</sourceObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
<yellowMax>-5</yellowMax>
|
||||
<yellowMin>-11</yellowMin>
|
||||
</data>
|
||||
</Accel__PCT__20Horizontal__PCT__20Y>
|
||||
<Accel__PCT__20Horizontal__PCT__20Z>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<dFile>%%DATAPATH%%dials/deluxe/lineardial-horizontal.svg</dFile>
|
||||
<decimalPlaces>2</decimalPlaces>
|
||||
<factor>1</factor>
|
||||
<font>Andale Mono,8,-1,5,50,0,0,0,0,0</font>
|
||||
<greenMax>-9</greenMax>
|
||||
<greenMin>-10</greenMin>
|
||||
<maxValue>11</maxValue>
|
||||
<minValue>-11</minValue>
|
||||
<redMax>11</redMax>
|
||||
<redMin>-11</redMin>
|
||||
<sourceDataObject>Accels</sourceDataObject>
|
||||
<sourceObjectField>z</sourceObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
<yellowMax>-5</yellowMax>
|
||||
<yellowMin>-11</yellowMin>
|
||||
</data>
|
||||
</Accel__PCT__20Horizontal__PCT__20Z>
|
||||
<Arm__PCT__20Status>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<dFile>%%DATAPATH%%dials/default/arm-status.svg</dFile>
|
||||
<decimalPlaces>0</decimalPlaces>
|
||||
<factor>1</factor>
|
||||
<font>,12,-1,5,50,0,0,0,0,0</font>
|
||||
<greenMax>100</greenMax>
|
||||
<greenMin>66</greenMin>
|
||||
<maxValue>100</maxValue>
|
||||
<minValue>0</minValue>
|
||||
<redMax>33</redMax>
|
||||
<redMin>0</redMin>
|
||||
<sourceDataObject>FlightStatus</sourceDataObject>
|
||||
<sourceObjectField>Armed</sourceObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
<yellowMax>66</yellowMax>
|
||||
<yellowMin>33</yellowMin>
|
||||
</data>
|
||||
</Arm__PCT__20Status>
|
||||
<Flight__PCT__20Time>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<dFile>%%DATAPATH%%dials/default/textonly.svg</dFile>
|
||||
<decimalPlaces>0</decimalPlaces>
|
||||
<factor>0.001</factor>
|
||||
<font>,12,-1,5,50,0,0,0,0,0</font>
|
||||
<greenMax>100</greenMax>
|
||||
<greenMin>66</greenMin>
|
||||
<maxValue>100</maxValue>
|
||||
<minValue>0</minValue>
|
||||
<redMax>33</redMax>
|
||||
<redMin>0</redMin>
|
||||
<sourceDataObject>SystemStats</sourceDataObject>
|
||||
<sourceObjectField>FlightTime</sourceObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
<yellowMax>66</yellowMax>
|
||||
<yellowMin>33</yellowMin>
|
||||
</data>
|
||||
</Flight__PCT__20Time>
|
||||
<Flight__PCT__20mode>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<dFile>%%DATAPATH%%dials/default/flightmode-status.svg</dFile>
|
||||
<decimalPlaces>0</decimalPlaces>
|
||||
<factor>1</factor>
|
||||
<font>,12,-1,5,50,0,0,0,0,0</font>
|
||||
<greenMax>100</greenMax>
|
||||
<greenMin>66</greenMin>
|
||||
<maxValue>100</maxValue>
|
||||
<minValue>0</minValue>
|
||||
<redMax>33</redMax>
|
||||
<redMin>0</redMin>
|
||||
<sourceDataObject>FlightStatus</sourceDataObject>
|
||||
<sourceObjectField>FlightMode</sourceObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
<yellowMax>66</yellowMax>
|
||||
<yellowMin>33</yellowMin>
|
||||
</data>
|
||||
</Flight__PCT__20mode>
|
||||
<GPS__PCT__20Sats>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<dFile>%%DATAPATH%%dials/default/gps-signal.svg</dFile>
|
||||
<decimalPlaces>0</decimalPlaces>
|
||||
<factor>1</factor>
|
||||
<font>,12,-1,5,50,0,0,0,0,0</font>
|
||||
<greenMax>0</greenMax>
|
||||
<greenMin>0</greenMin>
|
||||
<maxValue>12</maxValue>
|
||||
<minValue>0</minValue>
|
||||
<redMax>0</redMax>
|
||||
<redMin>0</redMin>
|
||||
<sourceDataObject>GPSPosition</sourceDataObject>
|
||||
<sourceObjectField>Satellites</sourceObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
<yellowMax>0</yellowMax>
|
||||
<yellowMin>0</yellowMin>
|
||||
</data>
|
||||
</GPS__PCT__20Sats>
|
||||
<GPS__PCT__20Status>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<dFile>%%DATAPATH%%dials/default/gps-status.svg</dFile>
|
||||
<decimalPlaces>0</decimalPlaces>
|
||||
<factor>1</factor>
|
||||
<font>,12,-1,5,50,0,0,0,0,0</font>
|
||||
<greenMax>100</greenMax>
|
||||
<greenMin>66</greenMin>
|
||||
<maxValue>100</maxValue>
|
||||
<minValue>0</minValue>
|
||||
<redMax>33</redMax>
|
||||
<redMin>0</redMin>
|
||||
<sourceDataObject>GPSPosition</sourceDataObject>
|
||||
<sourceObjectField>Status</sourceObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
<yellowMax>66</yellowMax>
|
||||
<yellowMin>33</yellowMin>
|
||||
</data>
|
||||
</GPS__PCT__20Status>
|
||||
<Mainboard__PCT__20CPU>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<dFile>%%DATAPATH%%dials/deluxe/lineardial-vertical.svg</dFile>
|
||||
<decimalPlaces>0</decimalPlaces>
|
||||
<factor>1</factor>
|
||||
<font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
|
||||
<greenMax>90</greenMax>
|
||||
<greenMin>0</greenMin>
|
||||
<maxValue>100</maxValue>
|
||||
<minValue>0</minValue>
|
||||
<redMax>100</redMax>
|
||||
<redMin>95</redMin>
|
||||
<sourceDataObject>SystemStats</sourceDataObject>
|
||||
<sourceObjectField>CPULoad</sourceObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
<yellowMax>95</yellowMax>
|
||||
<yellowMin>90</yellowMin>
|
||||
</data>
|
||||
</Mainboard__PCT__20CPU>
|
||||
<Pitch__PCT__20Desired>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<dFile>%%DATAPATH%%dials/deluxe/lineardial-vertical.svg</dFile>
|
||||
<decimalPlaces>2</decimalPlaces>
|
||||
<factor>1</factor>
|
||||
<font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
|
||||
<greenMax>0.5</greenMax>
|
||||
<greenMin>-0.5</greenMin>
|
||||
<maxValue>1</maxValue>
|
||||
<minValue>-1</minValue>
|
||||
<redMax>1</redMax>
|
||||
<redMin>-1</redMin>
|
||||
<sourceDataObject>ActuatorDesired</sourceDataObject>
|
||||
<sourceObjectField>Pitch</sourceObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
<yellowMax>0.8</yellowMax>
|
||||
<yellowMin>-0.8</yellowMin>
|
||||
</data>
|
||||
</Pitch__PCT__20Desired>
|
||||
<Pitch>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<dFile>%%DATAPATH%%dials/deluxe/lineardial-vertical.svg</dFile>
|
||||
<decimalPlaces>2</decimalPlaces>
|
||||
<factor>1</factor>
|
||||
<font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
|
||||
<greenMax>0.5</greenMax>
|
||||
<greenMin>-0.5</greenMin>
|
||||
<maxValue>1</maxValue>
|
||||
<minValue>-1</minValue>
|
||||
<redMax>1</redMax>
|
||||
<redMin>-1</redMin>
|
||||
<sourceDataObject>ManualControlCommand</sourceDataObject>
|
||||
<sourceObjectField>Pitch</sourceObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
<yellowMax>0.8</yellowMax>
|
||||
<yellowMin>-0.8</yellowMin>
|
||||
</data>
|
||||
</Pitch>
|
||||
<PitchActual>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<dFile>%%DATAPATH%%dials/deluxe/lineardial-vertical.svg</dFile>
|
||||
<decimalPlaces>2</decimalPlaces>
|
||||
<factor>1</factor>
|
||||
<font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
|
||||
<greenMax>0.8</greenMax>
|
||||
<greenMin>0.3</greenMin>
|
||||
<maxValue>90</maxValue>
|
||||
<minValue>-90</minValue>
|
||||
<redMax>1</redMax>
|
||||
<redMin>0</redMin>
|
||||
<sourceDataObject>AttitudeActual</sourceDataObject>
|
||||
<sourceObjectField>Pitch</sourceObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
<yellowMax>0.9</yellowMax>
|
||||
<yellowMin>0.1</yellowMin>
|
||||
</data>
|
||||
</PitchActual>
|
||||
<Roll__PCT__20Desired>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<dFile>%%DATAPATH%%dials/deluxe/lineardial-vertical.svg</dFile>
|
||||
<decimalPlaces>2</decimalPlaces>
|
||||
<factor>1</factor>
|
||||
<font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
|
||||
<greenMax>0.5</greenMax>
|
||||
<greenMin>-0.5</greenMin>
|
||||
<maxValue>1</maxValue>
|
||||
<minValue>-1</minValue>
|
||||
<redMax>1</redMax>
|
||||
<redMin>-1</redMin>
|
||||
<sourceDataObject>ActuatorDesired</sourceDataObject>
|
||||
<sourceObjectField>Roll</sourceObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
<yellowMax>0.8</yellowMax>
|
||||
<yellowMin>-0.8</yellowMin>
|
||||
</data>
|
||||
</Roll__PCT__20Desired>
|
||||
<Roll>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<dFile>%%DATAPATH%%dials/deluxe/lineardial-vertical.svg</dFile>
|
||||
<decimalPlaces>2</decimalPlaces>
|
||||
<factor>1</factor>
|
||||
<font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
|
||||
<greenMax>0.5</greenMax>
|
||||
<greenMin>-0.5</greenMin>
|
||||
<maxValue>1</maxValue>
|
||||
<minValue>-1</minValue>
|
||||
<redMax>1</redMax>
|
||||
<redMin>-1</redMin>
|
||||
<sourceDataObject>ManualControlCommand</sourceDataObject>
|
||||
<sourceObjectField>Roll</sourceObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
<yellowMax>0.8</yellowMax>
|
||||
<yellowMin>-0.8</yellowMin>
|
||||
</data>
|
||||
</Roll>
|
||||
<Telemetry__PCT__20RX__PCT__20Rate__PCT__20Horizontal>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<dFile>%%DATAPATH%%dials/deluxe/lineardial-horizontal.svg</dFile>
|
||||
<decimalPlaces>0</decimalPlaces>
|
||||
<factor>1</factor>
|
||||
<font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
|
||||
<greenMax>650</greenMax>
|
||||
<greenMin>0</greenMin>
|
||||
<maxValue>1200</maxValue>
|
||||
<minValue>0</minValue>
|
||||
<redMax>1200</redMax>
|
||||
<redMin>900</redMin>
|
||||
<sourceDataObject>GCSTelemetryStats</sourceDataObject>
|
||||
<sourceObjectField>RxDataRate</sourceObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
<yellowMax>900</yellowMax>
|
||||
<yellowMin>650</yellowMin>
|
||||
</data>
|
||||
</Telemetry__PCT__20RX__PCT__20Rate__PCT__20Horizontal>
|
||||
<Telemetry__PCT__20TX__PCT__20Rate__PCT__20Horizontal>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<dFile>%%DATAPATH%%dials/deluxe/lineardial-horizontal.svg</dFile>
|
||||
<decimalPlaces>0</decimalPlaces>
|
||||
<factor>1</factor>
|
||||
<font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
|
||||
<greenMax>650</greenMax>
|
||||
<greenMin>0</greenMin>
|
||||
<maxValue>1200</maxValue>
|
||||
<minValue>0</minValue>
|
||||
<redMax>1200</redMax>
|
||||
<redMin>900</redMin>
|
||||
<sourceDataObject>GCSTelemetryStats</sourceDataObject>
|
||||
<sourceObjectField>TxDataRate</sourceObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
<yellowMax>900</yellowMax>
|
||||
<yellowMin>650</yellowMin>
|
||||
</data>
|
||||
</Telemetry__PCT__20TX__PCT__20Rate__PCT__20Horizontal>
|
||||
<Throttle>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<dFile>%%DATAPATH%%dials/deluxe/lineardial-vertical.svg</dFile>
|
||||
<decimalPlaces>2</decimalPlaces>
|
||||
<factor>1</factor>
|
||||
<font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
|
||||
<greenMax>0.5</greenMax>
|
||||
<greenMin>0</greenMin>
|
||||
<maxValue>1</maxValue>
|
||||
<minValue>0</minValue>
|
||||
<redMax>1</redMax>
|
||||
<redMin>0.75</redMin>
|
||||
<sourceDataObject>ManualControlCommand</sourceDataObject>
|
||||
<sourceObjectField>Throttle</sourceObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
<yellowMax>0.75</yellowMax>
|
||||
<yellowMin>0.5</yellowMin>
|
||||
</data>
|
||||
</Throttle>
|
||||
<Yaw__PCT__20Desired>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<dFile>%%DATAPATH%%dials/deluxe/lineardial-vertical.svg</dFile>
|
||||
<decimalPlaces>2</decimalPlaces>
|
||||
<factor>1</factor>
|
||||
<font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
|
||||
<greenMax>0.5</greenMax>
|
||||
<greenMin>-0.5</greenMin>
|
||||
<maxValue>1</maxValue>
|
||||
<minValue>-1</minValue>
|
||||
<redMax>1</redMax>
|
||||
<redMin>-1</redMin>
|
||||
<sourceDataObject>ActuatorDesired</sourceDataObject>
|
||||
<sourceObjectField>Yaw</sourceObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
<yellowMax>0.8</yellowMax>
|
||||
<yellowMin>-0.8</yellowMin>
|
||||
</data>
|
||||
</Yaw__PCT__20Desired>
|
||||
<Yaw>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<dFile>%%DATAPATH%%dials/deluxe/lineardial-vertical.svg</dFile>
|
||||
<decimalPlaces>2</decimalPlaces>
|
||||
<factor>1</factor>
|
||||
<font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
|
||||
<greenMax>0.5</greenMax>
|
||||
<greenMin>-0.5</greenMin>
|
||||
<maxValue>1</maxValue>
|
||||
<minValue>-1</minValue>
|
||||
<redMax>1</redMax>
|
||||
<redMin>-1</redMin>
|
||||
<sourceDataObject>ManualControlCommand</sourceDataObject>
|
||||
<sourceObjectField>Yaw</sourceObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
<yellowMax>0.8</yellowMax>
|
||||
<yellowMin>-0.8</yellowMin>
|
||||
</data>
|
||||
</Yaw>
|
||||
</LineardialGadget>
|
||||
<ModelViewGadget>
|
||||
<Aeroquad__PCT__20__PCT__2B>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<acFilename>%%DATAPATH%%models/multi/aeroquad/aeroquad_+.3ds</acFilename>
|
||||
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
|
||||
<enableVbo>false</enableVbo>
|
||||
</data>
|
||||
</Aeroquad__PCT__20__PCT__2B>
|
||||
<CopterControl>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<acFilename>%%DATAPATH%%models/boards/CopterControl/CopterControl.3ds</acFilename>
|
||||
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
|
||||
<enableVbo>false</enableVbo>
|
||||
</data>
|
||||
</CopterControl>
|
||||
<CC3D>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<acFilename>%%DATAPATH%%models/boards/CC3D/CC3D.3ds</acFilename>
|
||||
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
|
||||
<enableVbo>false</enableVbo>
|
||||
</data>
|
||||
</CC3D>
|
||||
<Revolution>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<acFilename>%%DATAPATH%%models/boards/Revolution/revolution.3ds</acFilename>
|
||||
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
|
||||
<enableVbo>false</enableVbo>
|
||||
</data>
|
||||
</Revolution>
|
||||
<Zagi>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<acFilename>%%DATAPATH%%models/planes/zagi/zagi.3ds</acFilename>
|
||||
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
|
||||
<enableVbo>false</enableVbo>
|
||||
</data>
|
||||
</Zagi>
|
||||
<Easyquad__PCT__20X>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<acFilename>%%DATAPATH%%models/multi/easy_quad/easy_quad_X.3ds</acFilename>
|
||||
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
|
||||
<enableVbo>false</enableVbo>
|
||||
</data>
|
||||
</Easyquad__PCT__20X>
|
||||
<Easystar>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<acFilename>%%DATAPATH%%models/planes/Easystar/easystar.3ds</acFilename>
|
||||
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
|
||||
<enableVbo>false</enableVbo>
|
||||
</data>
|
||||
</Easystar>
|
||||
<Firecracker>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<acFilename>%%DATAPATH%%models/planes/firecracker/firecracker.3ds</acFilename>
|
||||
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
|
||||
<enableVbo>false</enableVbo>
|
||||
</data>
|
||||
</Firecracker>
|
||||
<Funjet>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<acFilename>%%DATAPATH%%models/planes/funjet/funjet.3ds</acFilename>
|
||||
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
|
||||
<enableVbo>false</enableVbo>
|
||||
</data>
|
||||
</Funjet>
|
||||
<Gaui__PCT__20330X>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<acFilename>%%DATAPATH%%models/multi/gaui_330x/gaui_330x.3ds</acFilename>
|
||||
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
|
||||
<enableVbo>false</enableVbo>
|
||||
</data>
|
||||
</Gaui__PCT__20330X>
|
||||
<Helicopter__PCT__20-__PCT__20TRex__PCT__20450>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<acFilename>%%DATAPATH%%models/helis/t-rex/t-rex_450_xl.3ds</acFilename>
|
||||
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
|
||||
<enableVbo>false</enableVbo>
|
||||
</data>
|
||||
</Helicopter__PCT__20-__PCT__20TRex__PCT__20450>
|
||||
<Hexacopter>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<acFilename>%%DATAPATH%%models/multi/mikrokopter/MK_Hexa.3ds</acFilename>
|
||||
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
|
||||
<enableVbo>false</enableVbo>
|
||||
</data>
|
||||
</Hexacopter>
|
||||
<Joe__PCT__27s__PCT__2014__PCT__22__PCT__20Quad__PCT__20__PCT__2B>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<acFilename>%%DATAPATH%%models/multi/joes_cnc/J14-Q_+.3DS</acFilename>
|
||||
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
|
||||
<enableVbo>false</enableVbo>
|
||||
</data>
|
||||
</Joe__PCT__27s__PCT__2014__PCT__22__PCT__20Quad__PCT__20__PCT__2B>
|
||||
<Joe__PCT__27s__PCT__2014__PCT__22__PCT__20Quad__PCT__20X__PCT__20>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<acFilename>%%DATAPATH%%models/multi/joes_cnc/J14-Q_X.3DS</acFilename>
|
||||
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
|
||||
<enableVbo>false</enableVbo>
|
||||
</data>
|
||||
</Joe__PCT__27s__PCT__2014__PCT__22__PCT__20Quad__PCT__20X__PCT__20>
|
||||
<Joe__PCT__27s__PCT__2014__PCT__22__PCT__20T__PCT__20Quad__PCT__20__PCT__2B>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<acFilename>%%DATAPATH%%models/multi/joes_cnc/J14-QT_+.3DS</acFilename>
|
||||
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
|
||||
<enableVbo>false</enableVbo>
|
||||
</data>
|
||||
</Joe__PCT__27s__PCT__2014__PCT__22__PCT__20T__PCT__20Quad__PCT__20__PCT__2B>
|
||||
<Joe__PCT__27s__PCT__2014__PCT__22__PCT__20T__PCT__20Quad__PCT__20X>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<acFilename>%%DATAPATH%%models/multi/joes_cnc/J14-QT_X.3DS</acFilename>
|
||||
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
|
||||
<enableVbo>false</enableVbo>
|
||||
</data>
|
||||
</Joe__PCT__27s__PCT__2014__PCT__22__PCT__20T__PCT__20Quad__PCT__20X>
|
||||
<Quadcopter>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<acFilename>%%DATAPATH%%models/multi/mikrokopter/MK_L4-ME.3ds</acFilename>
|
||||
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
|
||||
<enableVbo>false</enableVbo>
|
||||
</data>
|
||||
</Quadcopter>
|
||||
<Ricoo>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<acFilename>%%DATAPATH%%models/multi/ricoo/ricoo.3DS</acFilename>
|
||||
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
|
||||
<enableVbo>false</enableVbo>
|
||||
</data>
|
||||
</Ricoo>
|
||||
<Scorpion__PCT__20Tricopter>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<acFilename>%%DATAPATH%%models/multi/scorpion_tricopter/scorpion_tricopter.3ds</acFilename>
|
||||
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
|
||||
<enableVbo>false</enableVbo>
|
||||
</data>
|
||||
</Scorpion__PCT__20Tricopter>
|
||||
<MattL__PCT__27s__PCT__20Y6>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<acFilename>%%DATAPATH%%models/multi/mattL_Y6/mattL_Y6.3ds</acFilename>
|
||||
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
|
||||
<enableVbo>false</enableVbo>
|
||||
</data>
|
||||
</MattL__PCT__27s__PCT__20Y6>
|
||||
<Test__PCT__20Quad__PCT__20__PCT__2B>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<acFilename>%%DATAPATH%%models/multi/test_quad/test_quad_+.3ds</acFilename>
|
||||
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
|
||||
<enableVbo>false</enableVbo>
|
||||
</data>
|
||||
</Test__PCT__20Quad__PCT__20__PCT__2B>
|
||||
<Test__PCT__20Quad__PCT__20X>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<acFilename>%%DATAPATH%%models/multi/test_quad/test_quad_X.3ds</acFilename>
|
||||
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
|
||||
<enableVbo>false</enableVbo>
|
||||
</data>
|
||||
</Test__PCT__20Quad__PCT__20X>
|
||||
<Danker__PCT__27s__PCT__20Quad>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<acFilename>%%DATAPATH%%models/multi/dankers_quad/dankers_quad.3ds</acFilename>
|
||||
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
|
||||
<enableVbo>false</enableVbo>
|
||||
</data>
|
||||
</Danker__PCT__27s__PCT__20Quad>
|
||||
</ModelViewGadget>
|
||||
<OPMapGadget>
|
||||
<Google__PCT__20Sat>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<accessMode>ServerAndCache</accessMode>
|
||||
<cacheLocation>%%STOREPATH%%mapscache/</cacheLocation>
|
||||
<defaultLatitude>0</defaultLatitude>
|
||||
<defaultLongitude>0</defaultLongitude>
|
||||
<defaultZoom>2</defaultZoom>
|
||||
<mapProvider>GoogleSatellite</mapProvider>
|
||||
<maxUpdateRate>2000</maxUpdateRate>
|
||||
<overlayOpacity>1</overlayOpacity>
|
||||
<showTileGridLines>false</showTileGridLines>
|
||||
<uavSymbol>mapquad.png</uavSymbol>
|
||||
<useMemoryCache>true</useMemoryCache>
|
||||
<useOpenGL>true</useOpenGL>
|
||||
</data>
|
||||
</Google__PCT__20Sat>
|
||||
<Memory__PCT__20Only>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<accessMode>CacheOnly</accessMode>
|
||||
<cacheLocation>%%STOREPATH%%mapscache/</cacheLocation>
|
||||
<defaultLatitude>0</defaultLatitude>
|
||||
<defaultLongitude>0</defaultLongitude>
|
||||
<defaultZoom>2</defaultZoom>
|
||||
<mapProvider>GoogleMap</mapProvider>
|
||||
<maxUpdateRate>2000</maxUpdateRate>
|
||||
<overlayOpacity>1</overlayOpacity>
|
||||
<showTileGridLines>false</showTileGridLines>
|
||||
<uavSymbol>airplanepip.png</uavSymbol>
|
||||
<useMemoryCache>true</useMemoryCache>
|
||||
<useOpenGL>true</useOpenGL>
|
||||
</data>
|
||||
</Memory__PCT__20Only>
|
||||
<default>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<accessMode>ServerAndCache</accessMode>
|
||||
<cacheLocation>%%STOREPATH%%mapscache/</cacheLocation>
|
||||
<defaultLatitude>0</defaultLatitude>
|
||||
<defaultLongitude>0</defaultLongitude>
|
||||
<defaultZoom>2</defaultZoom>
|
||||
<mapProvider>GoogleMap</mapProvider>
|
||||
<maxUpdateRate>2000</maxUpdateRate>
|
||||
<overlayOpacity>1</overlayOpacity>
|
||||
<showTileGridLines>false</showTileGridLines>
|
||||
<uavSymbol>mapquad.png</uavSymbol>
|
||||
<useMemoryCache>true</useMemoryCache>
|
||||
<useOpenGL>true</useOpenGL>
|
||||
</data>
|
||||
</default>
|
||||
</OPMapGadget>
|
||||
<PFDGadget>
|
||||
<raw>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<beSmooth>false</beSmooth>
|
||||
<dialFile>%%DATAPATH%%pfd/default/pfd.svg</dialFile>
|
||||
<hqFonts>false</hqFonts>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
</data>
|
||||
</raw>
|
||||
<smooth>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<beSmooth>true</beSmooth>
|
||||
<dialFile>%%DATAPATH%%pfd/default/pfd.svg</dialFile>
|
||||
<hqFonts>false</hqFonts>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
</data>
|
||||
</smooth>
|
||||
</PFDGadget>
|
||||
<PfdQmlGadget>
|
||||
<NoTerrain>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<actualPositionUsed>false</actualPositionUsed>
|
||||
<altitude>2000</altitude>
|
||||
<cacheOnly>false</cacheOnly>
|
||||
<earthFile>%%DATAPATH%%pfd/default/readymap.earth</earthFile>
|
||||
<latitude>46.6715</latitude>
|
||||
<longitude>10.1589</longitude>
|
||||
<openGLEnabled>true</openGLEnabled>
|
||||
<qmlFile>%%DATAPATH%%pfd/default/Pfd.qml</qmlFile>
|
||||
<terrainEnabled>false</terrainEnabled>
|
||||
</data>
|
||||
</NoTerrain>
|
||||
<Terrain>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<actualPositionUsed>false</actualPositionUsed>
|
||||
<altitude>2000</altitude>
|
||||
<cacheOnly>false</cacheOnly>
|
||||
<earthFile>%%DATAPATH%%pfd/default/readymap.earth</earthFile>
|
||||
<latitude>46.6715</latitude>
|
||||
<longitude>10.1589</longitude>
|
||||
<openGLEnabled>true</openGLEnabled>
|
||||
<qmlFile>%%DATAPATH%%pfd/default/Pfd.qml</qmlFile>
|
||||
<terrainEnabled>false</terrainEnabled>
|
||||
</data>
|
||||
</Terrain>
|
||||
</PfdQmlGadget>
|
||||
<QmlViewGadget>
|
||||
<default>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<dialFile>Unknown</dialFile>
|
||||
<useOpenGLFlag>true</useOpenGLFlag>
|
||||
</data>
|
||||
</default>
|
||||
</QmlViewGadget>
|
||||
<ScopeGadget>
|
||||
<Accel>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<LoggingEnabled>false</LoggingEnabled>
|
||||
<LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
|
||||
<configurationStreamVersion>1000</configurationStreamVersion>
|
||||
<dataSize>60</dataSize>
|
||||
<plotCurve0>
|
||||
<color>4294901760</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>x</uavField>
|
||||
<uavObject>Accels</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve0>
|
||||
<plotCurve1>
|
||||
<color>4283782655</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>y</uavField>
|
||||
<uavObject>Accels</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve1>
|
||||
<plotCurve2>
|
||||
<color>4283804160</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>z</uavField>
|
||||
<uavObject>Accels</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve2>
|
||||
<plotCurveCount>3</plotCurveCount>
|
||||
<plotType>1</plotType>
|
||||
<refreshInterval>100</refreshInterval>
|
||||
</data>
|
||||
</Accel>
|
||||
<Actuators>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<LoggingEnabled>false</LoggingEnabled>
|
||||
<LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
|
||||
<configurationStreamVersion>1000</configurationStreamVersion>
|
||||
<dataSize>20</dataSize>
|
||||
<plotCurve0>
|
||||
<color>4294901760</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>Channel-4</uavField>
|
||||
<uavObject>ActuatorCommand</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve0>
|
||||
<plotCurve1>
|
||||
<color>4294901760</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>Channel-5</uavField>
|
||||
<uavObject>ActuatorCommand</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve1>
|
||||
<plotCurve2>
|
||||
<color>4289374847</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>Channel-6</uavField>
|
||||
<uavObject>ActuatorCommand</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve2>
|
||||
<plotCurve3>
|
||||
<color>4289374847</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>Channel-7</uavField>
|
||||
<uavObject>ActuatorCommand</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve3>
|
||||
<plotCurveCount>4</plotCurveCount>
|
||||
<plotType>1</plotType>
|
||||
<refreshInterval>100</refreshInterval>
|
||||
</data>
|
||||
</Actuators>
|
||||
<Attitude>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<LoggingEnabled>false</LoggingEnabled>
|
||||
<LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
|
||||
<configurationStreamVersion>1000</configurationStreamVersion>
|
||||
<dataSize>60</dataSize>
|
||||
<plotCurve0>
|
||||
<color>4283760895</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>Roll</uavField>
|
||||
<uavObject>AttitudeActual</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve0>
|
||||
<plotCurve1>
|
||||
<color>4278233600</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>Yaw</uavField>
|
||||
<uavObject>AttitudeActual</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve1>
|
||||
<plotCurve2>
|
||||
<color>4294901760</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>Pitch</uavField>
|
||||
<uavObject>AttitudeActual</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve2>
|
||||
<plotCurveCount>3</plotCurveCount>
|
||||
<plotType>1</plotType>
|
||||
<refreshInterval>100</refreshInterval>
|
||||
</data>
|
||||
</Attitude>
|
||||
<Barometer>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<LoggingEnabled>false</LoggingEnabled>
|
||||
<LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
|
||||
<configurationStreamVersion>1000</configurationStreamVersion>
|
||||
<dataSize>60</dataSize>
|
||||
<plotCurve0>
|
||||
<color>4278190080</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>Pressure</uavField>
|
||||
<uavObject>BaroAltitude</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve0>
|
||||
<plotCurveCount>1</plotCurveCount>
|
||||
<plotType>1</plotType>
|
||||
<refreshInterval>1000</refreshInterval>
|
||||
</data>
|
||||
</Barometer>
|
||||
<Inputs>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<LoggingEnabled>false</LoggingEnabled>
|
||||
<LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
|
||||
<configurationStreamVersion>1000</configurationStreamVersion>
|
||||
<dataSize>40</dataSize>
|
||||
<plotCurve0>
|
||||
<color>4278190207</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>Channel-1</uavField>
|
||||
<uavObject>ManualControlCommand</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve0>
|
||||
<plotCurve1>
|
||||
<color>4294901760</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>Channel-4</uavField>
|
||||
<uavObject>ManualControlCommand</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve1>
|
||||
<plotCurve2>
|
||||
<color>4294901760</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>Channel-5</uavField>
|
||||
<uavObject>ManualControlCommand</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve2>
|
||||
<plotCurve3>
|
||||
<color>4294901760</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>Channel-6</uavField>
|
||||
<uavObject>ManualControlCommand</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve3>
|
||||
<plotCurve4>
|
||||
<color>4294901760</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>Channel-7</uavField>
|
||||
<uavObject>ManualControlCommand</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve4>
|
||||
<plotCurve5>
|
||||
<color>4283825920</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>Channel-2</uavField>
|
||||
<uavObject>ManualControlCommand</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve5>
|
||||
<plotCurve6>
|
||||
<color>4294923520</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>Channel-3</uavField>
|
||||
<uavObject>ManualControlCommand</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve6>
|
||||
<plotCurve7>
|
||||
<color>4294967040</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>Channel-0</uavField>
|
||||
<uavObject>ManualControlCommand</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve7>
|
||||
<plotCurveCount>8</plotCurveCount>
|
||||
<plotType>1</plotType>
|
||||
<refreshInterval>200</refreshInterval>
|
||||
</data>
|
||||
</Inputs>
|
||||
<Raw__PCT__20Accels>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<LoggingEnabled>false</LoggingEnabled>
|
||||
<LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
|
||||
<configurationStreamVersion>1000</configurationStreamVersion>
|
||||
<dataSize>60</dataSize>
|
||||
<plotCurve0>
|
||||
<color>4294901760</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>x</uavField>
|
||||
<uavObject>Accels</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve0>
|
||||
<plotCurve1>
|
||||
<color>4283782655</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>y</uavField>
|
||||
<uavObject>Accels</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve1>
|
||||
<plotCurve2>
|
||||
<color>4283804160</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>z</uavField>
|
||||
<uavObject>Accels</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve2>
|
||||
<plotCurveCount>3</plotCurveCount>
|
||||
<plotType>1</plotType>
|
||||
<refreshInterval>500</refreshInterval>
|
||||
</data>
|
||||
</Raw__PCT__20Accels>
|
||||
<Raw__PCT__20Gyros>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<LoggingEnabled>false</LoggingEnabled>
|
||||
<LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
|
||||
<configurationStreamVersion>1000</configurationStreamVersion>
|
||||
<dataSize>60</dataSize>
|
||||
<plotCurve0>
|
||||
<color>4283804160</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>z</uavField>
|
||||
<uavObject>Gyros</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve0>
|
||||
<plotCurve1>
|
||||
<color>4283782655</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>y</uavField>
|
||||
<uavObject>Gyros</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve1>
|
||||
<plotCurve2>
|
||||
<color>4294901760</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>x</uavField>
|
||||
<uavObject>Gyros</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve2>
|
||||
<plotCurveCount>3</plotCurveCount>
|
||||
<plotType>1</plotType>
|
||||
<refreshInterval>500</refreshInterval>
|
||||
</data>
|
||||
</Raw__PCT__20Gyros>
|
||||
<Raw__PCT__20magnetometers>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<LoggingEnabled>false</LoggingEnabled>
|
||||
<LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
|
||||
<configurationStreamVersion>1000</configurationStreamVersion>
|
||||
<dataSize>60</dataSize>
|
||||
<plotCurve0>
|
||||
<color>4294901760</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>x</uavField>
|
||||
<uavObject>Magnetometer</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve0>
|
||||
<plotCurve1>
|
||||
<color>4283782655</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>y</uavField>
|
||||
<uavObject>Magnetometer</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve1>
|
||||
<plotCurve2>
|
||||
<color>4283804160</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>z</uavField>
|
||||
<uavObject>Magnetometer</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve2>
|
||||
<plotCurveCount>3</plotCurveCount>
|
||||
<plotType>1</plotType>
|
||||
<refreshInterval>500</refreshInterval>
|
||||
</data>
|
||||
</Raw__PCT__20magnetometers>
|
||||
<Stacks__PCT__20monitor>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<LoggingEnabled>false</LoggingEnabled>
|
||||
<LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
|
||||
<configurationStreamVersion>1000</configurationStreamVersion>
|
||||
<dataSize>240</dataSize>
|
||||
<plotCurve0>
|
||||
<color>4294945280</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>StackRemaining-System</uavField>
|
||||
<uavObject>TaskInfo</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve0>
|
||||
<plotCurve1>
|
||||
<color>4294945280</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>StackRemaining-Actuator</uavField>
|
||||
<uavObject>TaskInfo</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve1>
|
||||
<plotCurve10>
|
||||
<color>4294945280</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>StackRemaining-Guidance</uavField>
|
||||
<uavObject>TaskInfo</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve10>
|
||||
<plotCurve11>
|
||||
<color>4294945280</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>StackRemaining-Watchdog</uavField>
|
||||
<uavObject>TaskInfo</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve11>
|
||||
<plotCurve2>
|
||||
<color>4294945280</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>StackRemaining-TelemetryTx</uavField>
|
||||
<uavObject>TaskInfo</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve2>
|
||||
<plotCurve3>
|
||||
<color>4294945280</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>StackRemaining-TelemetryTxPri</uavField>
|
||||
<uavObject>TaskInfo</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve3>
|
||||
<plotCurve4>
|
||||
<color>4294945280</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>StackRemaining-TelemetryRx</uavField>
|
||||
<uavObject>TaskInfo</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve4>
|
||||
<plotCurve5>
|
||||
<color>4294945280</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>StackRemaining-GPS</uavField>
|
||||
<uavObject>TaskInfo</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve5>
|
||||
<plotCurve6>
|
||||
<color>4294945280</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>StackRemaining-ManualControl</uavField>
|
||||
<uavObject>TaskInfo</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve6>
|
||||
<plotCurve7>
|
||||
<color>4294945280</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>StackRemaining-Altitude</uavField>
|
||||
<uavObject>TaskInfo</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve7>
|
||||
<plotCurve8>
|
||||
<color>4294945280</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>StackRemaining-AHRSComms</uavField>
|
||||
<uavObject>TaskInfo</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve8>
|
||||
<plotCurve9>
|
||||
<color>4294945280</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>StackRemaining-Stabilization</uavField>
|
||||
<uavObject>TaskInfo</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve9>
|
||||
<plotCurveCount>12</plotCurveCount>
|
||||
<plotType>1</plotType>
|
||||
<refreshInterval>1000</refreshInterval>
|
||||
</data>
|
||||
</Stacks__PCT__20monitor>
|
||||
<Telemetry__PCT__20quality>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<LoggingEnabled>false</LoggingEnabled>
|
||||
<LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
|
||||
<configurationStreamVersion>1000</configurationStreamVersion>
|
||||
<dataSize>20</dataSize>
|
||||
<plotCurve0>
|
||||
<color>4289374847</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>TxFailures</uavField>
|
||||
<uavObject>GCSTelemetryStats</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve0>
|
||||
<plotCurve1>
|
||||
<color>4283782655</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>RxFailures</uavField>
|
||||
<uavObject>GCSTelemetryStats</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve1>
|
||||
<plotCurve2>
|
||||
<color>4294901760</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>TxRetries</uavField>
|
||||
<uavObject>GCSTelemetryStats</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve2>
|
||||
<plotCurveCount>3</plotCurveCount>
|
||||
<plotType>1</plotType>
|
||||
<refreshInterval>100</refreshInterval>
|
||||
</data>
|
||||
</Telemetry__PCT__20quality>
|
||||
<Uptimes>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<LoggingEnabled>false</LoggingEnabled>
|
||||
<LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
|
||||
<configurationStreamVersion>1000</configurationStreamVersion>
|
||||
<dataSize>240</dataSize>
|
||||
<plotCurve0>
|
||||
<color>4294945407</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>FlightTime</uavField>
|
||||
<uavObject>SystemStats</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve0>
|
||||
<plotCurveCount>1</plotCurveCount>
|
||||
<plotType>1</plotType>
|
||||
<refreshInterval>800</refreshInterval>
|
||||
</data>
|
||||
</Uptimes>
|
||||
</ScopeGadget>
|
||||
<SystemHealthGadget>
|
||||
<default>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<diagram>%%DATAPATH%%diagrams/default/system-health.svg</diagram>
|
||||
</data>
|
||||
</default>
|
||||
</SystemHealthGadget>
|
||||
<UAVObjectBrowser>
|
||||
<default>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<CategorizedView>false</CategorizedView>
|
||||
<ScientificView>false</ScientificView>
|
||||
<manuallyChangedColor>#5baa56</manuallyChangedColor>
|
||||
<onlyHilightChangedValues>false</onlyHilightChangedValues>
|
||||
<recentlyUpdatedColor>#ff7957</recentlyUpdatedColor>
|
||||
<recentlyUpdatedTimeout>500</recentlyUpdatedTimeout>
|
||||
<showMetaData>false</showMetaData>
|
||||
</data>
|
||||
</default>
|
||||
</UAVObjectBrowser>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>1.2.0</version>
|
||||
</configInfo>
|
||||
</UAVGadgetConfigurations>
|
||||
<UAVGadgetManager>
|
||||
<Mode1>
|
||||
<showToolbars>false</showToolbars>
|
||||
<splitter>
|
||||
<side0>
|
||||
<side0>
|
||||
<side0>
|
||||
<side0>
|
||||
<classId>LineardialGadget</classId>
|
||||
<gadget>
|
||||
<activeConfiguration>Flight Time</activeConfiguration>
|
||||
</gadget>
|
||||
<type>uavGadget</type>
|
||||
</side0>
|
||||
<side1>
|
||||
<side0>
|
||||
<classId>LineardialGadget</classId>
|
||||
<gadget>
|
||||
<activeConfiguration>Arm Status</activeConfiguration>
|
||||
</gadget>
|
||||
<type>uavGadget</type>
|
||||
</side0>
|
||||
<side1>
|
||||
<classId>LineardialGadget</classId>
|
||||
<gadget>
|
||||
<activeConfiguration>Flight mode</activeConfiguration>
|
||||
</gadget>
|
||||
<type>uavGadget</type>
|
||||
</side1>
|
||||
<splitterOrientation>1</splitterOrientation>
|
||||
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAAAYwAAAAIAAAB7)</splitterSizes>
|
||||
<type>splitter</type>
|
||||
</side1>
|
||||
<splitterOrientation>1</splitterOrientation>
|
||||
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAAAZgAAAAIAAADf)</splitterSizes>
|
||||
<type>splitter</type>
|
||||
</side0>
|
||||
<side1>
|
||||
<classId>PfdQmlGadget</classId>
|
||||
<gadget>
|
||||
<activeConfiguration>NoTerrain</activeConfiguration>
|
||||
</gadget>
|
||||
<type>uavGadget</type>
|
||||
</side1>
|
||||
<splitterOrientation>2</splitterOrientation>
|
||||
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAAAQAAAAAIAAAG4)</splitterSizes>
|
||||
<type>splitter</type>
|
||||
</side0>
|
||||
<side1>
|
||||
<side0>
|
||||
<classId>ModelViewGadget</classId>
|
||||
<gadget>
|
||||
<activeConfiguration>Test Quad X</activeConfiguration>
|
||||
</gadget>
|
||||
<type>uavGadget</type>
|
||||
</side0>
|
||||
<side1>
|
||||
<classId>SystemHealthGadget</classId>
|
||||
<gadget>
|
||||
<activeConfiguration>default</activeConfiguration>
|
||||
</gadget>
|
||||
<type>uavGadget</type>
|
||||
</side1>
|
||||
<splitterOrientation>1</splitterOrientation>
|
||||
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAABIAAAAAIAAAFV)</splitterSizes>
|
||||
<type>splitter</type>
|
||||
</side1>
|
||||
<splitterOrientation>2</splitterOrientation>
|
||||
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAAB7wAAAAIAAAEf)</splitterSizes>
|
||||
<type>splitter</type>
|
||||
</side0>
|
||||
<side1>
|
||||
<classId>OPMapGadget</classId>
|
||||
<gadget>
|
||||
<activeConfiguration>Google Sat</activeConfiguration>
|
||||
</gadget>
|
||||
<type>uavGadget</type>
|
||||
</side1>
|
||||
<splitterOrientation>1</splitterOrientation>
|
||||
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAACdgAAAAIAAAMp)</splitterSizes>
|
||||
<type>splitter</type>
|
||||
</splitter>
|
||||
<version>UAVGadgetManagerV1</version>
|
||||
</Mode1>
|
||||
<Mode2>
|
||||
<showToolbars>false</showToolbars>
|
||||
<splitter>
|
||||
<classId>ConfigGadget</classId>
|
||||
<gadget>
|
||||
<activeConfiguration>default</activeConfiguration>
|
||||
</gadget>
|
||||
<type>uavGadget</type>
|
||||
</splitter>
|
||||
<version>UAVGadgetManagerV1</version>
|
||||
</Mode2>
|
||||
<Mode3>
|
||||
<showToolbars>false</showToolbars>
|
||||
<splitter>
|
||||
<side0>
|
||||
<classId>UAVObjectBrowser</classId>
|
||||
<gadget>
|
||||
<activeConfiguration>default</activeConfiguration>
|
||||
</gadget>
|
||||
<type>uavGadget</type>
|
||||
</side0>
|
||||
<side1>
|
||||
<side0>
|
||||
<classId>LoggingGadget</classId>
|
||||
<type>uavGadget</type>
|
||||
</side0>
|
||||
<side1>
|
||||
<classId>GpsDisplayGadget</classId>
|
||||
<gadget>
|
||||
<activeConfiguration>Flight GPS</activeConfiguration>
|
||||
</gadget>
|
||||
<type>uavGadget</type>
|
||||
</side1>
|
||||
<splitterOrientation>2</splitterOrientation>
|
||||
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAAAVAAAAAIAAAGu)</splitterSizes>
|
||||
<type>splitter</type>
|
||||
</side1>
|
||||
<splitterOrientation>1</splitterOrientation>
|
||||
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAACJgAAAAIAAADo)</splitterSizes>
|
||||
<type>splitter</type>
|
||||
</splitter>
|
||||
<version>UAVGadgetManagerV1</version>
|
||||
</Mode3>
|
||||
<Mode4>
|
||||
<showToolbars>false</showToolbars>
|
||||
<splitter>
|
||||
<side0>
|
||||
<side0>
|
||||
<classId>ScopeGadget</classId>
|
||||
<gadget>
|
||||
<activeConfiguration>Accel</activeConfiguration>
|
||||
</gadget>
|
||||
<type>uavGadget</type>
|
||||
</side0>
|
||||
<side1>
|
||||
<classId>ScopeGadget</classId>
|
||||
<gadget>
|
||||
<activeConfiguration>Raw Gyros</activeConfiguration>
|
||||
</gadget>
|
||||
<type>uavGadget</type>
|
||||
</side1>
|
||||
<splitterOrientation>2</splitterOrientation>
|
||||
<splitterSizes>@Variant(AAAACQAAAAA=)</splitterSizes>
|
||||
<type>splitter</type>
|
||||
</side0>
|
||||
<side1>
|
||||
<side0>
|
||||
<classId>ScopeGadget</classId>
|
||||
<gadget>
|
||||
<activeConfiguration>Attitude</activeConfiguration>
|
||||
</gadget>
|
||||
<type>uavGadget</type>
|
||||
</side0>
|
||||
<side1>
|
||||
<classId>ScopeGadget</classId>
|
||||
<gadget>
|
||||
<activeConfiguration>Uptimes</activeConfiguration>
|
||||
</gadget>
|
||||
<type>uavGadget</type>
|
||||
</side1>
|
||||
<splitterOrientation>2</splitterOrientation>
|
||||
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAABhAAAAAIAAAGE)</splitterSizes>
|
||||
<type>splitter</type>
|
||||
</side1>
|
||||
<splitterOrientation>1</splitterOrientation>
|
||||
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAACjQAAAAIAAAKU)</splitterSizes>
|
||||
<type>splitter</type>
|
||||
</splitter>
|
||||
<version>UAVGadgetManagerV1</version>
|
||||
</Mode4>
|
||||
<Mode5>
|
||||
<showToolbars>false</showToolbars>
|
||||
<splitter>
|
||||
<side0>
|
||||
<side0>
|
||||
<classId>HITL</classId>
|
||||
<gadget>
|
||||
<activeConfiguration>XPlane HITL</activeConfiguration>
|
||||
</gadget>
|
||||
<type>uavGadget</type>
|
||||
</side0>
|
||||
<side1>
|
||||
<classId>HITLv2</classId>
|
||||
<gadget>
|
||||
<activeConfiguration>default</activeConfiguration>
|
||||
</gadget>
|
||||
<type>uavGadget</type>
|
||||
</side1>
|
||||
<splitterOrientation>1</splitterOrientation>
|
||||
<splitterSizes>@Variant(AAAACQAAAAA=)</splitterSizes>
|
||||
<type>splitter</type>
|
||||
</side0>
|
||||
<side1>
|
||||
<side0>
|
||||
<side0>
|
||||
<classId>PfdQmlGadget</classId>
|
||||
<gadget>
|
||||
<activeConfiguration>NoTerrain</activeConfiguration>
|
||||
</gadget>
|
||||
<type>uavGadget</type>
|
||||
</side0>
|
||||
<side1>
|
||||
<classId>MagicWaypointGadget</classId>
|
||||
<type>uavGadget</type>
|
||||
</side1>
|
||||
<splitterOrientation>1</splitterOrientation>
|
||||
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAAB7wAAAAIAAAGU)</splitterSizes>
|
||||
<type>splitter</type>
|
||||
</side0>
|
||||
<side1>
|
||||
<classId>GCSControlGadget</classId>
|
||||
<gadget>
|
||||
<activeConfiguration>MS Sidewinder</activeConfiguration>
|
||||
</gadget>
|
||||
<type>uavGadget</type>
|
||||
</side1>
|
||||
<splitterOrientation>1</splitterOrientation>
|
||||
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAADhAAAAAIAAAIX)</splitterSizes>
|
||||
<type>splitter</type>
|
||||
</side1>
|
||||
<splitterOrientation>2</splitterOrientation>
|
||||
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAADDAAAAAIAAAJJ)</splitterSizes>
|
||||
<type>splitter</type>
|
||||
</splitter>
|
||||
<version>UAVGadgetManagerV1</version>
|
||||
</Mode5>
|
||||
<Mode6>
|
||||
<showToolbars>false</showToolbars>
|
||||
<splitter>
|
||||
<side0>
|
||||
<classId>Uploader</classId>
|
||||
<gadget>
|
||||
<activeConfiguration>default</activeConfiguration>
|
||||
</gadget>
|
||||
<type>uavGadget</type>
|
||||
</side0>
|
||||
<side1>
|
||||
<side0>
|
||||
<side0>
|
||||
<classId>LineardialGadget</classId>
|
||||
<gadget>
|
||||
<activeConfiguration>Flight Time</activeConfiguration>
|
||||
</gadget>
|
||||
<type>uavGadget</type>
|
||||
</side0>
|
||||
<side1>
|
||||
<classId>SystemHealthGadget</classId>
|
||||
<gadget>
|
||||
<activeConfiguration>default</activeConfiguration>
|
||||
</gadget>
|
||||
<type>uavGadget</type>
|
||||
</side1>
|
||||
<splitterOrientation>1</splitterOrientation>
|
||||
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAABQgAAAAIAAAGM)</splitterSizes>
|
||||
<type>splitter</type>
|
||||
</side0>
|
||||
<side1>
|
||||
<classId>PFDGadget</classId>
|
||||
<gadget>
|
||||
<activeConfiguration>raw</activeConfiguration>
|
||||
</gadget>
|
||||
<type>uavGadget</type>
|
||||
</side1>
|
||||
<splitterOrientation>2</splitterOrientation>
|
||||
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAABLwAAAAIAAAHf)</splitterSizes>
|
||||
<type>splitter</type>
|
||||
</side1>
|
||||
<splitterOrientation>1</splitterOrientation>
|
||||
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAADVQAAAAIAAAJK)</splitterSizes>
|
||||
<type>splitter</type>
|
||||
</splitter>
|
||||
<version>UAVGadgetManagerV1</version>
|
||||
</Mode6>
|
||||
</UAVGadgetManager>
|
||||
<Workspace>
|
||||
<AllowTabBarMovement>false</AllowTabBarMovement>
|
||||
<Icon1>:/core/images/ah.png</Icon1>
|
||||
<Icon10>:/core/images/openpilot_logo_64.png</Icon10>
|
||||
<Icon2>:/core/images/config.png</Icon2>
|
||||
<Icon3>:/core/images/cog.png</Icon3>
|
||||
<Icon4>:/core/images/scopes.png</Icon4>
|
||||
<Icon5>:/core/images/joystick.png</Icon5>
|
||||
<Icon6>:/core/images/cpu.png</Icon6>
|
||||
<Icon7>:/core/images/openpilot_logo_64.png</Icon7>
|
||||
<Icon8>:/core/images/openpilot_logo_64.png</Icon8>
|
||||
<Icon9>:/core/images/openpilot_logo_64.png</Icon9>
|
||||
<NumberOfWorkspaces>6</NumberOfWorkspaces>
|
||||
<TabBarPlacementIndex>1</TabBarPlacementIndex>
|
||||
<Workspace1>Flight data</Workspace1>
|
||||
<Workspace10>Workspace10</Workspace10>
|
||||
<Workspace2>Configuration</Workspace2>
|
||||
<Workspace3>System</Workspace3>
|
||||
<Workspace4>Scopes</Workspace4>
|
||||
<Workspace5>HITL</Workspace5>
|
||||
<Workspace6>Firmware</Workspace6>
|
||||
<Workspace7>Workspace7</Workspace7>
|
||||
<Workspace8>Workspace8</Workspace8>
|
||||
<Workspace9>Workspace9</Workspace9>
|
||||
</Workspace>
|
||||
</gcs>
|
||||
<gcs>
|
||||
<General>
|
||||
<AutoConnect>true</AutoConnect>
|
||||
<AutoSelect>true</AutoSelect>
|
||||
<Description>Default configuration</Description>
|
||||
<Details>Default configuration built to work on all screen sizes</Details>
|
||||
<ExpertMode>false</ExpertMode>
|
||||
<LastPreferenceCategory></LastPreferenceCategory>
|
||||
<LastPreferencePage></LastPreferencePage>
|
||||
<SaveSettingsOnExit>true</SaveSettingsOnExit>
|
||||
<SettingsWindowHeight>600</SettingsWindowHeight>
|
||||
<SettingsWindowWidth>800</SettingsWindowWidth>
|
||||
<StyleSheet>default</StyleSheet>
|
||||
<UDPMirror>false</UDPMirror>
|
||||
</General>
|
||||
<IPconnection>
|
||||
<Current>
|
||||
<arr_1>
|
||||
<Port>9000</Port>
|
||||
<UseTCP>0</UseTCP>
|
||||
</arr_1>
|
||||
<size>1</size>
|
||||
</Current>
|
||||
</IPconnection>
|
||||
<KeyBindings>
|
||||
<size>0</size>
|
||||
</KeyBindings>
|
||||
<MainWindow>
|
||||
<Color>#666666</Color>
|
||||
<FullScreen>false</FullScreen>
|
||||
<Maximized>true</Maximized>
|
||||
</MainWindow>
|
||||
<ModePriorities>
|
||||
<Mode1>91</Mode1>
|
||||
<Mode2>90</Mode2>
|
||||
<Mode3>89</Mode3>
|
||||
<Mode4>88</Mode4>
|
||||
<Mode5>87</Mode5>
|
||||
<Mode6>86</Mode6>
|
||||
<Welcome>100</Welcome>
|
||||
</ModePriorities>
|
||||
<Plugins>
|
||||
<SoundNotifyPlugin>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>1.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<Current>
|
||||
<arr_1>
|
||||
<CurrentLanguage>default</CurrentLanguage>
|
||||
<DataObject>FlightStatus</DataObject>
|
||||
<ExpireTimeout>0</ExpireTimeout>
|
||||
<Mute>false</Mute>
|
||||
<ObjectField>Armed</ObjectField>
|
||||
<RangeLimit>0</RangeLimit>
|
||||
<Repeat>0</Repeat>
|
||||
<SayOrder>0</SayOrder>
|
||||
<Sound1>armed</Sound1>
|
||||
<Sound2></Sound2>
|
||||
<Sound3></Sound3>
|
||||
<SoundCollectionPath>%%DATAPATH%%sounds</SoundCollectionPath>
|
||||
<Value1>Armed</Value1>
|
||||
<Value2>0</Value2>
|
||||
</arr_1>
|
||||
<size>1</size>
|
||||
</Current>
|
||||
<EnableSound>true</EnableSound>
|
||||
<listNotifies>
|
||||
<arr_1>
|
||||
<CurrentLanguage>default</CurrentLanguage>
|
||||
<DataObject>FlightStatus</DataObject>
|
||||
<ExpireTimeout>15</ExpireTimeout>
|
||||
<Mute>false</Mute>
|
||||
<ObjectField>Armed</ObjectField>
|
||||
<RangeLimit>0</RangeLimit>
|
||||
<Repeat>0</Repeat>
|
||||
<SayOrder>0</SayOrder>
|
||||
<Sound1>armed</Sound1>
|
||||
<Sound2></Sound2>
|
||||
<Sound3></Sound3>
|
||||
<SoundCollectionPath>%%DATAPATH%%sounds</SoundCollectionPath>
|
||||
<Value1>Armed</Value1>
|
||||
<Value2>0</Value2>
|
||||
</arr_1>
|
||||
<size>1</size>
|
||||
</listNotifies>
|
||||
</data>
|
||||
</SoundNotifyPlugin>
|
||||
</Plugins>
|
||||
<SerialConnection>
|
||||
<speed>57600</speed>
|
||||
</SerialConnection>
|
||||
<UAVGadgetConfigurations>
|
||||
<ConfigGadget>
|
||||
<default>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
</default>
|
||||
</ConfigGadget>
|
||||
<DialGadget>
|
||||
<Attitude>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<beSmooth>false</beSmooth>
|
||||
<dialBackgroundID>background</dialBackgroundID>
|
||||
<dialFile>%%DATAPATH%%dials/default/attitude.svg</dialFile>
|
||||
<dialForegroundID>foreground</dialForegroundID>
|
||||
<dialNeedleID1>needle</dialNeedleID1>
|
||||
<dialNeedleID2>needle</dialNeedleID2>
|
||||
<dialNeedleID3>needle3</dialNeedleID3>
|
||||
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
|
||||
<needle1DataObject>AttitudeActual</needle1DataObject>
|
||||
<needle1Factor>-1</needle1Factor>
|
||||
<needle1MaxValue>360</needle1MaxValue>
|
||||
<needle1MinValue>0</needle1MinValue>
|
||||
<needle1Move>Rotate</needle1Move>
|
||||
<needle1ObjectField>Roll</needle1ObjectField>
|
||||
<needle2DataObject>AttitudeActual</needle2DataObject>
|
||||
<needle2Factor>75</needle2Factor>
|
||||
<needle2MaxValue>20</needle2MaxValue>
|
||||
<needle2MinValue>0</needle2MinValue>
|
||||
<needle2Move>Vertical</needle2Move>
|
||||
<needle2ObjectField>Pitch</needle2ObjectField>
|
||||
<needle3DataObject>AttitudeActual</needle3DataObject>
|
||||
<needle3Factor>-1</needle3Factor>
|
||||
<needle3MaxValue>360</needle3MaxValue>
|
||||
<needle3MinValue>0</needle3MinValue>
|
||||
<needle3Move>Rotate</needle3Move>
|
||||
<needle3ObjectField>Roll</needle3ObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
</data>
|
||||
</Attitude>
|
||||
<Baro__PCT__20Altimeter>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<beSmooth>false</beSmooth>
|
||||
<dialBackgroundID>background</dialBackgroundID>
|
||||
<dialFile>%%DATAPATH%%dials/default/altimeter.svg</dialFile>
|
||||
<dialForegroundID>foreground</dialForegroundID>
|
||||
<dialNeedleID1>needle</dialNeedleID1>
|
||||
<dialNeedleID2>needle2</dialNeedleID2>
|
||||
<dialNeedleID3>needle3</dialNeedleID3>
|
||||
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
|
||||
<needle1DataObject>BaroAltitude</needle1DataObject>
|
||||
<needle1Factor>1</needle1Factor>
|
||||
<needle1MaxValue>10</needle1MaxValue>
|
||||
<needle1MinValue>0</needle1MinValue>
|
||||
<needle1Move>Rotate</needle1Move>
|
||||
<needle1ObjectField>Altitude</needle1ObjectField>
|
||||
<needle2DataObject>BaroAltitude</needle2DataObject>
|
||||
<needle2Factor>1</needle2Factor>
|
||||
<needle2MaxValue>100</needle2MaxValue>
|
||||
<needle2MinValue>0</needle2MinValue>
|
||||
<needle2Move>Rotate</needle2Move>
|
||||
<needle2ObjectField>Altitude</needle2ObjectField>
|
||||
<needle3DataObject>BaroAltitude</needle3DataObject>
|
||||
<needle3Factor>1</needle3Factor>
|
||||
<needle3MaxValue>1000</needle3MaxValue>
|
||||
<needle3MinValue>0</needle3MinValue>
|
||||
<needle3Move>Rotate</needle3Move>
|
||||
<needle3ObjectField>Altitude</needle3ObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
</data>
|
||||
</Baro__PCT__20Altimeter>
|
||||
<Barometer>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<beSmooth>false</beSmooth>
|
||||
<dialBackgroundID>background</dialBackgroundID>
|
||||
<dialFile>%%DATAPATH%%dials/default/barometer.svg</dialFile>
|
||||
<dialNeedleID1>needle</dialNeedleID1>
|
||||
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
|
||||
<needle1DataObject>BaroAltitude</needle1DataObject>
|
||||
<needle1Factor>10</needle1Factor>
|
||||
<needle1MaxValue>1120</needle1MaxValue>
|
||||
<needle1MinValue>1000</needle1MinValue>
|
||||
<needle1Move>Rotate</needle1Move>
|
||||
<needle1ObjectField>Pressure</needle1ObjectField>
|
||||
<needle2DataObject>BaroAltitude</needle2DataObject>
|
||||
<needle2Factor>1</needle2Factor>
|
||||
<needle2MaxValue>100</needle2MaxValue>
|
||||
<needle2MinValue>0</needle2MinValue>
|
||||
<needle2Move>Rotate</needle2Move>
|
||||
<needle2ObjectField>Altitude</needle2ObjectField>
|
||||
<needle3DataObject>BaroAltitude</needle3DataObject>
|
||||
<needle3Factor>1</needle3Factor>
|
||||
<needle3MaxValue>1000</needle3MaxValue>
|
||||
<needle3MinValue>0</needle3MinValue>
|
||||
<needle3Move>Rotate</needle3Move>
|
||||
<needle3ObjectField>Altitude</needle3ObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
</data>
|
||||
</Barometer>
|
||||
<Climbrate>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<beSmooth>false</beSmooth>
|
||||
<dialBackgroundID>background</dialBackgroundID>
|
||||
<dialFile>%%DATAPATH%%dials/default/vsi.svg</dialFile>
|
||||
<dialNeedleID1>needle</dialNeedleID1>
|
||||
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
|
||||
<needle1DataObject>VelocityActual</needle1DataObject>
|
||||
<needle1Factor>0.01</needle1Factor>
|
||||
<needle1MaxValue>12</needle1MaxValue>
|
||||
<needle1MinValue>-12</needle1MinValue>
|
||||
<needle1Move>Rotate</needle1Move>
|
||||
<needle1ObjectField>Down</needle1ObjectField>
|
||||
<needle2DataObject>BaroAltitude</needle2DataObject>
|
||||
<needle2Factor>1</needle2Factor>
|
||||
<needle2MaxValue>100</needle2MaxValue>
|
||||
<needle2MinValue>0</needle2MinValue>
|
||||
<needle2Move>Rotate</needle2Move>
|
||||
<needle2ObjectField>Altitude</needle2ObjectField>
|
||||
<needle3DataObject>BaroAltitude</needle3DataObject>
|
||||
<needle3Factor>1</needle3Factor>
|
||||
<needle3MaxValue>1000</needle3MaxValue>
|
||||
<needle3MinValue>0</needle3MinValue>
|
||||
<needle3Move>Rotate</needle3Move>
|
||||
<needle3ObjectField>Altitude</needle3ObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
</data>
|
||||
</Climbrate>
|
||||
<Compass>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<beSmooth>false</beSmooth>
|
||||
<dialBackgroundID>background</dialBackgroundID>
|
||||
<dialFile>%%DATAPATH%%dials/default/compass.svg</dialFile>
|
||||
<dialForegroundID>foreground</dialForegroundID>
|
||||
<dialNeedleID1>needle</dialNeedleID1>
|
||||
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
|
||||
<needle1DataObject>AttitudeActual</needle1DataObject>
|
||||
<needle1Factor>-1</needle1Factor>
|
||||
<needle1MaxValue>360</needle1MaxValue>
|
||||
<needle1MinValue>0</needle1MinValue>
|
||||
<needle1Move>Rotate</needle1Move>
|
||||
<needle1ObjectField>Yaw</needle1ObjectField>
|
||||
<needle2DataObject>BaroAltitude</needle2DataObject>
|
||||
<needle2Factor>1</needle2Factor>
|
||||
<needle2MaxValue>100</needle2MaxValue>
|
||||
<needle2MinValue>0</needle2MinValue>
|
||||
<needle2Move>Rotate</needle2Move>
|
||||
<needle2ObjectField>Altitude</needle2ObjectField>
|
||||
<needle3DataObject>BaroAltitude</needle3DataObject>
|
||||
<needle3Factor>1</needle3Factor>
|
||||
<needle3MaxValue>1000</needle3MaxValue>
|
||||
<needle3MinValue>0</needle3MinValue>
|
||||
<needle3Move>Rotate</needle3Move>
|
||||
<needle3ObjectField>Altitude</needle3ObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
</data>
|
||||
</Compass>
|
||||
<Deluxe__PCT__20Attitude>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<beSmooth>false</beSmooth>
|
||||
<dialBackgroundID>background</dialBackgroundID>
|
||||
<dialFile>%%DATAPATH%%dials/deluxe/attitude.svg</dialFile>
|
||||
<dialForegroundID>foreground</dialForegroundID>
|
||||
<dialNeedleID1>needle</dialNeedleID1>
|
||||
<dialNeedleID2>needle</dialNeedleID2>
|
||||
<dialNeedleID3>needle3</dialNeedleID3>
|
||||
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
|
||||
<needle1DataObject>AttitudeActual</needle1DataObject>
|
||||
<needle1Factor>-1</needle1Factor>
|
||||
<needle1MaxValue>360</needle1MaxValue>
|
||||
<needle1MinValue>0</needle1MinValue>
|
||||
<needle1Move>Rotate</needle1Move>
|
||||
<needle1ObjectField>Roll</needle1ObjectField>
|
||||
<needle2DataObject>AttitudeActual</needle2DataObject>
|
||||
<needle2Factor>75</needle2Factor>
|
||||
<needle2MaxValue>20</needle2MaxValue>
|
||||
<needle2MinValue>0</needle2MinValue>
|
||||
<needle2Move>Vertical</needle2Move>
|
||||
<needle2ObjectField>Pitch</needle2ObjectField>
|
||||
<needle3DataObject>AttitudeActual</needle3DataObject>
|
||||
<needle3Factor>-1</needle3Factor>
|
||||
<needle3MaxValue>360</needle3MaxValue>
|
||||
<needle3MinValue>0</needle3MinValue>
|
||||
<needle3Move>Rotate</needle3Move>
|
||||
<needle3ObjectField>Roll</needle3ObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
</data>
|
||||
</Deluxe__PCT__20Attitude>
|
||||
<Deluxe__PCT__20Baro__PCT__20Altimeter>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<beSmooth>false</beSmooth>
|
||||
<dialBackgroundID>background</dialBackgroundID>
|
||||
<dialFile>%%DATAPATH%%dials/deluxe/altimeter.svg</dialFile>
|
||||
<dialForegroundID>foreground</dialForegroundID>
|
||||
<dialNeedleID1>needle</dialNeedleID1>
|
||||
<dialNeedleID2>needle2</dialNeedleID2>
|
||||
<dialNeedleID3>needle3</dialNeedleID3>
|
||||
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
|
||||
<needle1DataObject>BaroAltitude</needle1DataObject>
|
||||
<needle1Factor>1</needle1Factor>
|
||||
<needle1MaxValue>10</needle1MaxValue>
|
||||
<needle1MinValue>0</needle1MinValue>
|
||||
<needle1Move>Rotate</needle1Move>
|
||||
<needle1ObjectField>Altitude</needle1ObjectField>
|
||||
<needle2DataObject>BaroAltitude</needle2DataObject>
|
||||
<needle2Factor>1</needle2Factor>
|
||||
<needle2MaxValue>100</needle2MaxValue>
|
||||
<needle2MinValue>0</needle2MinValue>
|
||||
<needle2Move>Rotate</needle2Move>
|
||||
<needle2ObjectField>Altitude</needle2ObjectField>
|
||||
<needle3DataObject>BaroAltitude</needle3DataObject>
|
||||
<needle3Factor>1</needle3Factor>
|
||||
<needle3MaxValue>1000</needle3MaxValue>
|
||||
<needle3MinValue>0</needle3MinValue>
|
||||
<needle3Move>Rotate</needle3Move>
|
||||
<needle3ObjectField>Altitude</needle3ObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
</data>
|
||||
</Deluxe__PCT__20Baro__PCT__20Altimeter>
|
||||
<Deluxe__PCT__20Barometer>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<beSmooth>false</beSmooth>
|
||||
<dialBackgroundID>background</dialBackgroundID>
|
||||
<dialFile>%%DATAPATH%%dials/deluxe/barometer.svg</dialFile>
|
||||
<dialForegroundID>foreground</dialForegroundID>
|
||||
<dialNeedleID1>needle</dialNeedleID1>
|
||||
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
|
||||
<needle1DataObject>BaroAltitude</needle1DataObject>
|
||||
<needle1Factor>10</needle1Factor>
|
||||
<needle1MaxValue>1120</needle1MaxValue>
|
||||
<needle1MinValue>1000</needle1MinValue>
|
||||
<needle1Move>Rotate</needle1Move>
|
||||
<needle1ObjectField>Pressure</needle1ObjectField>
|
||||
<needle2DataObject>BaroAltitude</needle2DataObject>
|
||||
<needle2Factor>1</needle2Factor>
|
||||
<needle2MaxValue>100</needle2MaxValue>
|
||||
<needle2MinValue>0</needle2MinValue>
|
||||
<needle2Move>Rotate</needle2Move>
|
||||
<needle2ObjectField>Altitude</needle2ObjectField>
|
||||
<needle3DataObject>BaroAltitude</needle3DataObject>
|
||||
<needle3Factor>1</needle3Factor>
|
||||
<needle3MaxValue>1000</needle3MaxValue>
|
||||
<needle3MinValue>0</needle3MinValue>
|
||||
<needle3Move>Rotate</needle3Move>
|
||||
<needle3ObjectField>Altitude</needle3ObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
</data>
|
||||
</Deluxe__PCT__20Barometer>
|
||||
<Deluxe__PCT__20Climbrate>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<beSmooth>false</beSmooth>
|
||||
<dialBackgroundID>background</dialBackgroundID>
|
||||
<dialFile>%%DATAPATH%%dials/deluxe/vsi.svg</dialFile>
|
||||
<dialForegroundID>foreground</dialForegroundID>
|
||||
<dialNeedleID1>needle</dialNeedleID1>
|
||||
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
|
||||
<needle1DataObject>VelocityActual</needle1DataObject>
|
||||
<needle1Factor>0.01</needle1Factor>
|
||||
<needle1MaxValue>11.2</needle1MaxValue>
|
||||
<needle1MinValue>-11.2</needle1MinValue>
|
||||
<needle1Move>Rotate</needle1Move>
|
||||
<needle1ObjectField>Down</needle1ObjectField>
|
||||
<needle2DataObject>BaroAltitude</needle2DataObject>
|
||||
<needle2Factor>1</needle2Factor>
|
||||
<needle2MaxValue>100</needle2MaxValue>
|
||||
<needle2MinValue>0</needle2MinValue>
|
||||
<needle2Move>Rotate</needle2Move>
|
||||
<needle2ObjectField>Altitude</needle2ObjectField>
|
||||
<needle3DataObject>BaroAltitude</needle3DataObject>
|
||||
<needle3Factor>1</needle3Factor>
|
||||
<needle3MaxValue>1000</needle3MaxValue>
|
||||
<needle3MinValue>0</needle3MinValue>
|
||||
<needle3Move>Rotate</needle3Move>
|
||||
<needle3ObjectField>Altitude</needle3ObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
</data>
|
||||
</Deluxe__PCT__20Climbrate>
|
||||
<Deluxe__PCT__20Compass>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<beSmooth>false</beSmooth>
|
||||
<dialBackgroundID>background</dialBackgroundID>
|
||||
<dialFile>%%DATAPATH%%dials/deluxe/compass.svg</dialFile>
|
||||
<dialForegroundID>foreground</dialForegroundID>
|
||||
<dialNeedleID1>needle</dialNeedleID1>
|
||||
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
|
||||
<needle1DataObject>AttitudeActual</needle1DataObject>
|
||||
<needle1Factor>-1</needle1Factor>
|
||||
<needle1MaxValue>360</needle1MaxValue>
|
||||
<needle1MinValue>0</needle1MinValue>
|
||||
<needle1Move>Rotate</needle1Move>
|
||||
<needle1ObjectField>Yaw</needle1ObjectField>
|
||||
<needle2DataObject>BaroAltitude</needle2DataObject>
|
||||
<needle2Factor>1</needle2Factor>
|
||||
<needle2MaxValue>100</needle2MaxValue>
|
||||
<needle2MinValue>0</needle2MinValue>
|
||||
<needle2Move>Rotate</needle2Move>
|
||||
<needle2ObjectField>Altitude</needle2ObjectField>
|
||||
<needle3DataObject>BaroAltitude</needle3DataObject>
|
||||
<needle3Factor>1</needle3Factor>
|
||||
<needle3MaxValue>1000</needle3MaxValue>
|
||||
<needle3MinValue>0</needle3MinValue>
|
||||
<needle3Move>Rotate</needle3Move>
|
||||
<needle3ObjectField>Altitude</needle3ObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
</data>
|
||||
</Deluxe__PCT__20Compass>
|
||||
<Deluxe__PCT__20Groundspeed__PCT__20kph>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<beSmooth>false</beSmooth>
|
||||
<dialBackgroundID>background</dialBackgroundID>
|
||||
<dialFile>%%DATAPATH%%dials/deluxe/speed.svg</dialFile>
|
||||
<dialForegroundID>foreground</dialForegroundID>
|
||||
<dialNeedleID1>needle</dialNeedleID1>
|
||||
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
|
||||
<needle1DataObject>GPSPosition</needle1DataObject>
|
||||
<needle1Factor>3.6</needle1Factor>
|
||||
<needle1MaxValue>120</needle1MaxValue>
|
||||
<needle1MinValue>0</needle1MinValue>
|
||||
<needle1Move>Rotate</needle1Move>
|
||||
<needle1ObjectField>Groundspeed</needle1ObjectField>
|
||||
<needle2DataObject>BaroAltitude</needle2DataObject>
|
||||
<needle2Factor>1</needle2Factor>
|
||||
<needle2MaxValue>100</needle2MaxValue>
|
||||
<needle2MinValue>0</needle2MinValue>
|
||||
<needle2Move>Rotate</needle2Move>
|
||||
<needle2ObjectField>Altitude</needle2ObjectField>
|
||||
<needle3DataObject>BaroAltitude</needle3DataObject>
|
||||
<needle3Factor>1</needle3Factor>
|
||||
<needle3MaxValue>1000</needle3MaxValue>
|
||||
<needle3MinValue>0</needle3MinValue>
|
||||
<needle3Move>Rotate</needle3Move>
|
||||
<needle3ObjectField>Altitude</needle3ObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
</data>
|
||||
</Deluxe__PCT__20Groundspeed__PCT__20kph>
|
||||
<Deluxe__PCT__20Temperature>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<beSmooth>false</beSmooth>
|
||||
<dialBackgroundID>background</dialBackgroundID>
|
||||
<dialFile>%%DATAPATH%%dials/deluxe/thermometer.svg</dialFile>
|
||||
<dialForegroundID>foreground</dialForegroundID>
|
||||
<dialNeedleID1>needle</dialNeedleID1>
|
||||
<dialNeedleID2>needle2</dialNeedleID2>
|
||||
<dialNeedleID3>needle3</dialNeedleID3>
|
||||
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
|
||||
<needle1DataObject>BaroAltitude</needle1DataObject>
|
||||
<needle1Factor>1</needle1Factor>
|
||||
<needle1MaxValue>120</needle1MaxValue>
|
||||
<needle1MinValue>0</needle1MinValue>
|
||||
<needle1Move>Rotate</needle1Move>
|
||||
<needle1ObjectField>Temperature</needle1ObjectField>
|
||||
<needle2DataObject>BaroAltitude</needle2DataObject>
|
||||
<needle2Factor>1</needle2Factor>
|
||||
<needle2MaxValue>100</needle2MaxValue>
|
||||
<needle2MinValue>0</needle2MinValue>
|
||||
<needle2Move>Rotate</needle2Move>
|
||||
<needle2ObjectField>Altitude</needle2ObjectField>
|
||||
<needle3DataObject>BaroAltitude</needle3DataObject>
|
||||
<needle3Factor>1</needle3Factor>
|
||||
<needle3MaxValue>1000</needle3MaxValue>
|
||||
<needle3MinValue>0</needle3MinValue>
|
||||
<needle3Move>Rotate</needle3Move>
|
||||
<needle3ObjectField>Altitude</needle3ObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
</data>
|
||||
</Deluxe__PCT__20Temperature>
|
||||
<Deluxe__PCT__20Turn__PCT__20Coordinator>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<beSmooth>false</beSmooth>
|
||||
<dialBackgroundID>background</dialBackgroundID>
|
||||
<dialFile>/home/lafargue/OP/OpenPilot/trunk/artwork/Dials/deluxe/turncoordinator.svg</dialFile>
|
||||
<dialForegroundID>foreground</dialForegroundID>
|
||||
<dialNeedleID1>needle</dialNeedleID1>
|
||||
<dialNeedleID2>needle2</dialNeedleID2>
|
||||
<dialNeedleID3>needle2</dialNeedleID3>
|
||||
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
|
||||
<needle1DataObject>AttitudeActual</needle1DataObject>
|
||||
<needle1Factor>-1</needle1Factor>
|
||||
<needle1MaxValue>360</needle1MaxValue>
|
||||
<needle1MinValue>0</needle1MinValue>
|
||||
<needle1Move>Rotate</needle1Move>
|
||||
<needle1ObjectField>Roll</needle1ObjectField>
|
||||
<needle2DataObject>Accels</needle2DataObject>
|
||||
<needle2Factor>1</needle2Factor>
|
||||
<needle2MaxValue>20</needle2MaxValue>
|
||||
<needle2MinValue>-20</needle2MinValue>
|
||||
<needle2Move>Horizontal</needle2Move>
|
||||
<needle2ObjectField>x</needle2ObjectField>
|
||||
<needle3DataObject>Accels</needle3DataObject>
|
||||
<needle3Factor>-1</needle3Factor>
|
||||
<needle3MaxValue>360</needle3MaxValue>
|
||||
<needle3MinValue>0</needle3MinValue>
|
||||
<needle3Move>Rotate</needle3Move>
|
||||
<needle3ObjectField>x</needle3ObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
</data>
|
||||
</Deluxe__PCT__20Turn__PCT__20Coordinator>
|
||||
<Groundspeed__PCT__20kph>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<beSmooth>false</beSmooth>
|
||||
<dialBackgroundID>background</dialBackgroundID>
|
||||
<dialFile>%%DATAPATH%%dials/default/speed.svg</dialFile>
|
||||
<dialNeedleID1>needle</dialNeedleID1>
|
||||
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
|
||||
<needle1DataObject>GPSPosition</needle1DataObject>
|
||||
<needle1Factor>3.6</needle1Factor>
|
||||
<needle1MaxValue>120</needle1MaxValue>
|
||||
<needle1MinValue>0</needle1MinValue>
|
||||
<needle1Move>Rotate</needle1Move>
|
||||
<needle1ObjectField>Groundspeed</needle1ObjectField>
|
||||
<needle2DataObject>BaroAltitude</needle2DataObject>
|
||||
<needle2Factor>1</needle2Factor>
|
||||
<needle2MaxValue>100</needle2MaxValue>
|
||||
<needle2MinValue>0</needle2MinValue>
|
||||
<needle2Move>Rotate</needle2Move>
|
||||
<needle2ObjectField>Altitude</needle2ObjectField>
|
||||
<needle3DataObject>BaroAltitude</needle3DataObject>
|
||||
<needle3Factor>1</needle3Factor>
|
||||
<needle3MaxValue>1000</needle3MaxValue>
|
||||
<needle3MinValue>0</needle3MinValue>
|
||||
<needle3Move>Rotate</needle3Move>
|
||||
<needle3ObjectField>Altitude</needle3ObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
</data>
|
||||
</Groundspeed__PCT__20kph>
|
||||
<HiContrast__PCT__20Attitude>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<beSmooth>false</beSmooth>
|
||||
<dialBackgroundID>background</dialBackgroundID>
|
||||
<dialFile>%%DATAPATH%%dials/hi-contrast/attitude.svg</dialFile>
|
||||
<dialForegroundID>foreground</dialForegroundID>
|
||||
<dialNeedleID1>needle</dialNeedleID1>
|
||||
<dialNeedleID2>needle</dialNeedleID2>
|
||||
<dialNeedleID3>needle3</dialNeedleID3>
|
||||
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
|
||||
<needle1DataObject>AttitudeActual</needle1DataObject>
|
||||
<needle1Factor>-1</needle1Factor>
|
||||
<needle1MaxValue>360</needle1MaxValue>
|
||||
<needle1MinValue>0</needle1MinValue>
|
||||
<needle1Move>Rotate</needle1Move>
|
||||
<needle1ObjectField>Roll</needle1ObjectField>
|
||||
<needle2DataObject>AttitudeActual</needle2DataObject>
|
||||
<needle2Factor>75</needle2Factor>
|
||||
<needle2MaxValue>20</needle2MaxValue>
|
||||
<needle2MinValue>0</needle2MinValue>
|
||||
<needle2Move>Vertical</needle2Move>
|
||||
<needle2ObjectField>Pitch</needle2ObjectField>
|
||||
<needle3DataObject>AttitudeActual</needle3DataObject>
|
||||
<needle3Factor>-1</needle3Factor>
|
||||
<needle3MaxValue>360</needle3MaxValue>
|
||||
<needle3MinValue>0</needle3MinValue>
|
||||
<needle3Move>Rotate</needle3Move>
|
||||
<needle3ObjectField>Roll</needle3ObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
</data>
|
||||
</HiContrast__PCT__20Attitude>
|
||||
<HiContrast__PCT__20Baro__PCT__20Altimeter>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<beSmooth>false</beSmooth>
|
||||
<dialBackgroundID>background</dialBackgroundID>
|
||||
<dialFile>%%DATAPATH%%dials/hi-contrast/altimeter.svg</dialFile>
|
||||
<dialForegroundID>foreground</dialForegroundID>
|
||||
<dialNeedleID1>needle</dialNeedleID1>
|
||||
<dialNeedleID2>needle2</dialNeedleID2>
|
||||
<dialNeedleID3>needle3</dialNeedleID3>
|
||||
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
|
||||
<needle1DataObject>BaroAltitude</needle1DataObject>
|
||||
<needle1Factor>1</needle1Factor>
|
||||
<needle1MaxValue>10</needle1MaxValue>
|
||||
<needle1MinValue>0</needle1MinValue>
|
||||
<needle1Move>Rotate</needle1Move>
|
||||
<needle1ObjectField>Altitude</needle1ObjectField>
|
||||
<needle2DataObject>BaroAltitude</needle2DataObject>
|
||||
<needle2Factor>1</needle2Factor>
|
||||
<needle2MaxValue>100</needle2MaxValue>
|
||||
<needle2MinValue>0</needle2MinValue>
|
||||
<needle2Move>Rotate</needle2Move>
|
||||
<needle2ObjectField>Altitude</needle2ObjectField>
|
||||
<needle3DataObject>BaroAltitude</needle3DataObject>
|
||||
<needle3Factor>1</needle3Factor>
|
||||
<needle3MaxValue>1000</needle3MaxValue>
|
||||
<needle3MinValue>0</needle3MinValue>
|
||||
<needle3Move>Rotate</needle3Move>
|
||||
<needle3ObjectField>Altitude</needle3ObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
</data>
|
||||
</HiContrast__PCT__20Baro__PCT__20Altimeter>
|
||||
<HiContrast__PCT__20Barometer>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<beSmooth>false</beSmooth>
|
||||
<dialBackgroundID>background</dialBackgroundID>
|
||||
<dialFile>%%DATAPATH%%dials/hi-contrast/barometer.svg</dialFile>
|
||||
<dialNeedleID1>needle</dialNeedleID1>
|
||||
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
|
||||
<needle1DataObject>BaroAltitude</needle1DataObject>
|
||||
<needle1Factor>10</needle1Factor>
|
||||
<needle1MaxValue>1120</needle1MaxValue>
|
||||
<needle1MinValue>1000</needle1MinValue>
|
||||
<needle1Move>Rotate</needle1Move>
|
||||
<needle1ObjectField>Pressure</needle1ObjectField>
|
||||
<needle2DataObject>BaroAltitude</needle2DataObject>
|
||||
<needle2Factor>1</needle2Factor>
|
||||
<needle2MaxValue>100</needle2MaxValue>
|
||||
<needle2MinValue>0</needle2MinValue>
|
||||
<needle2Move>Rotate</needle2Move>
|
||||
<needle2ObjectField>Altitude</needle2ObjectField>
|
||||
<needle3DataObject>BaroAltitude</needle3DataObject>
|
||||
<needle3Factor>1</needle3Factor>
|
||||
<needle3MaxValue>1000</needle3MaxValue>
|
||||
<needle3MinValue>0</needle3MinValue>
|
||||
<needle3Move>Rotate</needle3Move>
|
||||
<needle3ObjectField>Altitude</needle3ObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
</data>
|
||||
</HiContrast__PCT__20Barometer>
|
||||
<HiContrast__PCT__20Climbrate>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<beSmooth>false</beSmooth>
|
||||
<dialBackgroundID>background</dialBackgroundID>
|
||||
<dialFile>%%DATAPATH%%dials/hi-contrast/vsi.svg</dialFile>
|
||||
<dialNeedleID1>needle</dialNeedleID1>
|
||||
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
|
||||
<needle1DataObject>VelocityActual</needle1DataObject>
|
||||
<needle1Factor>0.01</needle1Factor>
|
||||
<needle1MaxValue>12</needle1MaxValue>
|
||||
<needle1MinValue>-12</needle1MinValue>
|
||||
<needle1Move>Rotate</needle1Move>
|
||||
<needle1ObjectField>Down</needle1ObjectField>
|
||||
<needle2DataObject>BaroAltitude</needle2DataObject>
|
||||
<needle2Factor>1</needle2Factor>
|
||||
<needle2MaxValue>100</needle2MaxValue>
|
||||
<needle2MinValue>0</needle2MinValue>
|
||||
<needle2Move>Rotate</needle2Move>
|
||||
<needle2ObjectField>Altitude</needle2ObjectField>
|
||||
<needle3DataObject>BaroAltitude</needle3DataObject>
|
||||
<needle3Factor>1</needle3Factor>
|
||||
<needle3MaxValue>1000</needle3MaxValue>
|
||||
<needle3MinValue>0</needle3MinValue>
|
||||
<needle3Move>Rotate</needle3Move>
|
||||
<needle3ObjectField>Altitude</needle3ObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
</data>
|
||||
</HiContrast__PCT__20Climbrate>
|
||||
<HiContrast__PCT__20Compass>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<beSmooth>false</beSmooth>
|
||||
<dialBackgroundID>background</dialBackgroundID>
|
||||
<dialFile>%%DATAPATH%%dials/hi-contrast/compass.svg</dialFile>
|
||||
<dialForegroundID>foreground</dialForegroundID>
|
||||
<dialNeedleID1>needle</dialNeedleID1>
|
||||
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
|
||||
<needle1DataObject>AttitudeActual</needle1DataObject>
|
||||
<needle1Factor>-1</needle1Factor>
|
||||
<needle1MaxValue>360</needle1MaxValue>
|
||||
<needle1MinValue>0</needle1MinValue>
|
||||
<needle1Move>Rotate</needle1Move>
|
||||
<needle1ObjectField>Yaw</needle1ObjectField>
|
||||
<needle2DataObject>BaroAltitude</needle2DataObject>
|
||||
<needle2Factor>1</needle2Factor>
|
||||
<needle2MaxValue>100</needle2MaxValue>
|
||||
<needle2MinValue>0</needle2MinValue>
|
||||
<needle2Move>Rotate</needle2Move>
|
||||
<needle2ObjectField>Altitude</needle2ObjectField>
|
||||
<needle3DataObject>BaroAltitude</needle3DataObject>
|
||||
<needle3Factor>1</needle3Factor>
|
||||
<needle3MaxValue>1000</needle3MaxValue>
|
||||
<needle3MinValue>0</needle3MinValue>
|
||||
<needle3Move>Rotate</needle3Move>
|
||||
<needle3ObjectField>Altitude</needle3ObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
</data>
|
||||
</HiContrast__PCT__20Compass>
|
||||
<HiContrast__PCT__20Groundspeed__PCT__20kph>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<beSmooth>false</beSmooth>
|
||||
<dialBackgroundID>background</dialBackgroundID>
|
||||
<dialFile>%%DATAPATH%%dials/hi-contrast/speed.svg</dialFile>
|
||||
<dialNeedleID1>needle</dialNeedleID1>
|
||||
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
|
||||
<needle1DataObject>GPSPosition</needle1DataObject>
|
||||
<needle1Factor>3.6</needle1Factor>
|
||||
<needle1MaxValue>120</needle1MaxValue>
|
||||
<needle1MinValue>0</needle1MinValue>
|
||||
<needle1Move>Rotate</needle1Move>
|
||||
<needle1ObjectField>Groundspeed</needle1ObjectField>
|
||||
<needle2DataObject>BaroAltitude</needle2DataObject>
|
||||
<needle2Factor>1</needle2Factor>
|
||||
<needle2MaxValue>100</needle2MaxValue>
|
||||
<needle2MinValue>0</needle2MinValue>
|
||||
<needle2Move>Rotate</needle2Move>
|
||||
<needle2ObjectField>Altitude</needle2ObjectField>
|
||||
<needle3DataObject>BaroAltitude</needle3DataObject>
|
||||
<needle3Factor>1</needle3Factor>
|
||||
<needle3MaxValue>1000</needle3MaxValue>
|
||||
<needle3MinValue>0</needle3MinValue>
|
||||
<needle3Move>Rotate</needle3Move>
|
||||
<needle3ObjectField>Altitude</needle3ObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
</data>
|
||||
</HiContrast__PCT__20Groundspeed__PCT__20kph>
|
||||
<HiContrast__PCT__20Temperature>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<beSmooth>false</beSmooth>
|
||||
<dialBackgroundID>background</dialBackgroundID>
|
||||
<dialFile>%%DATAPATH%%dials/hi-contrast/thermometer.svg</dialFile>
|
||||
<dialNeedleID1>needle</dialNeedleID1>
|
||||
<dialNeedleID2>needle2</dialNeedleID2>
|
||||
<dialNeedleID3>needle3</dialNeedleID3>
|
||||
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
|
||||
<needle1DataObject>BaroAltitude</needle1DataObject>
|
||||
<needle1Factor>1</needle1Factor>
|
||||
<needle1MaxValue>120</needle1MaxValue>
|
||||
<needle1MinValue>0</needle1MinValue>
|
||||
<needle1Move>Rotate</needle1Move>
|
||||
<needle1ObjectField>Temperature</needle1ObjectField>
|
||||
<needle2DataObject>BaroAltitude</needle2DataObject>
|
||||
<needle2Factor>1</needle2Factor>
|
||||
<needle2MaxValue>100</needle2MaxValue>
|
||||
<needle2MinValue>0</needle2MinValue>
|
||||
<needle2Move>Rotate</needle2Move>
|
||||
<needle2ObjectField>Altitude</needle2ObjectField>
|
||||
<needle3DataObject>BaroAltitude</needle3DataObject>
|
||||
<needle3Factor>1</needle3Factor>
|
||||
<needle3MaxValue>1000</needle3MaxValue>
|
||||
<needle3MinValue>0</needle3MinValue>
|
||||
<needle3Move>Rotate</needle3Move>
|
||||
<needle3ObjectField>Altitude</needle3ObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
</data>
|
||||
</HiContrast__PCT__20Temperature>
|
||||
<Servo__PCT__20Channel__PCT__201>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<beSmooth>false</beSmooth>
|
||||
<dialBackgroundID>background</dialBackgroundID>
|
||||
<dialFile>%%DATAPATH%%dials/default/thermometer.svg</dialFile>
|
||||
<dialNeedleID1>needle</dialNeedleID1>
|
||||
<dialNeedleID2>needle2</dialNeedleID2>
|
||||
<dialNeedleID3>needle3</dialNeedleID3>
|
||||
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
|
||||
<needle1DataObject>ManualControlCommand</needle1DataObject>
|
||||
<needle1Factor>1</needle1Factor>
|
||||
<needle1MaxValue>2000</needle1MaxValue>
|
||||
<needle1MinValue>1000</needle1MinValue>
|
||||
<needle1Move>Rotate</needle1Move>
|
||||
<needle1ObjectField>Channel-3</needle1ObjectField>
|
||||
<needle2DataObject>BaroAltitude</needle2DataObject>
|
||||
<needle2Factor>1</needle2Factor>
|
||||
<needle2MaxValue>100</needle2MaxValue>
|
||||
<needle2MinValue>0</needle2MinValue>
|
||||
<needle2Move>Rotate</needle2Move>
|
||||
<needle2ObjectField>Altitude</needle2ObjectField>
|
||||
<needle3DataObject>BaroAltitude</needle3DataObject>
|
||||
<needle3Factor>1</needle3Factor>
|
||||
<needle3MaxValue>1000</needle3MaxValue>
|
||||
<needle3MinValue>0</needle3MinValue>
|
||||
<needle3Move>Rotate</needle3Move>
|
||||
<needle3ObjectField>Altitude</needle3ObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
</data>
|
||||
</Servo__PCT__20Channel__PCT__201>
|
||||
<Temperature>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<beSmooth>false</beSmooth>
|
||||
<dialBackgroundID>background</dialBackgroundID>
|
||||
<dialFile>%%DATAPATH%%dials/default/thermometer.svg</dialFile>
|
||||
<dialNeedleID1>needle</dialNeedleID1>
|
||||
<dialNeedleID2>needle2</dialNeedleID2>
|
||||
<dialNeedleID3>needle3</dialNeedleID3>
|
||||
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
|
||||
<needle1DataObject>BaroAltitude</needle1DataObject>
|
||||
<needle1Factor>1</needle1Factor>
|
||||
<needle1MaxValue>120</needle1MaxValue>
|
||||
<needle1MinValue>0</needle1MinValue>
|
||||
<needle1Move>Rotate</needle1Move>
|
||||
<needle1ObjectField>Temperature</needle1ObjectField>
|
||||
<needle2DataObject>BaroAltitude</needle2DataObject>
|
||||
<needle2Factor>1</needle2Factor>
|
||||
<needle2MaxValue>100</needle2MaxValue>
|
||||
<needle2MinValue>0</needle2MinValue>
|
||||
<needle2Move>Rotate</needle2Move>
|
||||
<needle2ObjectField>Altitude</needle2ObjectField>
|
||||
<needle3DataObject>BaroAltitude</needle3DataObject>
|
||||
<needle3Factor>1</needle3Factor>
|
||||
<needle3MaxValue>1000</needle3MaxValue>
|
||||
<needle3MinValue>0</needle3MinValue>
|
||||
<needle3Move>Rotate</needle3Move>
|
||||
<needle3ObjectField>Altitude</needle3ObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
</data>
|
||||
</Temperature>
|
||||
</DialGadget>
|
||||
<GCSControlGadget>
|
||||
<MS__PCT__20Sidewinder>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<button0Action>0</button0Action>
|
||||
<button0Amount>0</button0Amount>
|
||||
<button0Function>0</button0Function>
|
||||
<button1Action>0</button1Action>
|
||||
<button1Amount>0</button1Amount>
|
||||
<button1Function>0</button1Function>
|
||||
<button2Action>0</button2Action>
|
||||
<button2Amount>0.1</button2Amount>
|
||||
<button2Function>3</button2Function>
|
||||
<button3Action>0</button3Action>
|
||||
<button3Amount>0.1</button3Amount>
|
||||
<button3Function>3</button3Function>
|
||||
<button4Action>0</button4Action>
|
||||
<button4Amount>0</button4Amount>
|
||||
<button4Function>0</button4Function>
|
||||
<button5Action>0</button5Action>
|
||||
<button5Amount>0</button5Amount>
|
||||
<button5Function>0</button5Function>
|
||||
<button6Action>0</button6Action>
|
||||
<button6Amount>0</button6Amount>
|
||||
<button6Function>0</button6Function>
|
||||
<button7Action>0</button7Action>
|
||||
<button7Amount>0</button7Amount>
|
||||
<button7Function>0</button7Function>
|
||||
<channel0Reverse>false</channel0Reverse>
|
||||
<channel1Reverse>false</channel1Reverse>
|
||||
<channel2Reverse>true</channel2Reverse>
|
||||
<channel3Reverse>false</channel3Reverse>
|
||||
<channel4Reverse>false</channel4Reverse>
|
||||
<channel5Reverse>false</channel5Reverse>
|
||||
<channel6Reverse>false</channel6Reverse>
|
||||
<channel7Reverse>false</channel7Reverse>
|
||||
<controlPortUDP>0</controlPortUDP>
|
||||
<controlsMode>2</controlsMode>
|
||||
<pitchChannel>1</pitchChannel>
|
||||
<rollChannel>0</rollChannel>
|
||||
<throttleChannel>2</throttleChannel>
|
||||
<yawChannel>3</yawChannel>
|
||||
</data>
|
||||
</MS__PCT__20Sidewinder>
|
||||
</GCSControlGadget>
|
||||
<GpsDisplayGadget>
|
||||
<Flight__PCT__20GPS>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<connectionMode>Telemetry</connectionMode>
|
||||
<defaultDataBits>3</defaultDataBits>
|
||||
<defaultFlow>0</defaultFlow>
|
||||
<defaultParity>0</defaultParity>
|
||||
<defaultPort>Communications Port (COM1)</defaultPort>
|
||||
<defaultSpeed>11</defaultSpeed>
|
||||
<defaultStopBits>0</defaultStopBits>
|
||||
</data>
|
||||
</Flight__PCT__20GPS>
|
||||
<GPS__PCT__20Mouse>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<connectionMode>Serial</connectionMode>
|
||||
<defaultDataBits>3</defaultDataBits>
|
||||
<defaultFlow>0</defaultFlow>
|
||||
<defaultParity>0</defaultParity>
|
||||
<defaultPort>Communications Port (COM1)</defaultPort>
|
||||
<defaultSpeed>17</defaultSpeed>
|
||||
<defaultStopBits>0</defaultStopBits>
|
||||
</data>
|
||||
</GPS__PCT__20Mouse>
|
||||
</GpsDisplayGadget>
|
||||
<HITL>
|
||||
<AeroSimRC__PCT__20HITL>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<addNoise>false</addNoise>
|
||||
<attActCalc>false</attActCalc>
|
||||
<attActHW>false</attActHW>
|
||||
<attActSim>true</attActSim>
|
||||
<attActualEnabled>true</attActualEnabled>
|
||||
<attRawEnabled>true</attRawEnabled>
|
||||
<attRawRate>20</attRawRate>
|
||||
<baroAltRate>50</baroAltRate>
|
||||
<baroAltitudeEnabled>false</baroAltitudeEnabled>
|
||||
<binPath></binPath>
|
||||
<dataPath></dataPath>
|
||||
<gcsReceiverEnabled>true</gcsReceiverEnabled>
|
||||
<gpsPosRate>100</gpsPosRate>
|
||||
<gpsPositionEnabled>false</gpsPositionEnabled>
|
||||
<groundTruthEnabled>true</groundTruthEnabled>
|
||||
<groundTruthRate>100</groundTruthRate>
|
||||
<hostAddress>0.0.0.0</hostAddress>
|
||||
<inPort>40100</inPort>
|
||||
<inputCommand>true</inputCommand>
|
||||
<latitude></latitude>
|
||||
<longitude></longitude>
|
||||
<manualControlEnabled>false</manualControlEnabled>
|
||||
<manualOutput>false</manualOutput>
|
||||
<minOutputPeriod>40</minOutputPeriod>
|
||||
<outPort>40200</outPort>
|
||||
<remoteAddress>127.0.0.1</remoteAddress>
|
||||
<simulatorId>ASimRC</simulatorId>
|
||||
<startSim>false</startSim>
|
||||
</data>
|
||||
</AeroSimRC__PCT__20HITL>
|
||||
<Flightgear__PCT__20HITL>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<addNoise>false</addNoise>
|
||||
<attActCalc>false</attActCalc>
|
||||
<attActHW>false</attActHW>
|
||||
<attActSim>true</attActSim>
|
||||
<attActualEnabled>true</attActualEnabled>
|
||||
<attRawEnabled>true</attRawEnabled>
|
||||
<attRawRate>20</attRawRate>
|
||||
<baroAltRate>50</baroAltRate>
|
||||
<baroAltitudeEnabled>false</baroAltitudeEnabled>
|
||||
<binPath>\usr\games\fgfs</binPath>
|
||||
<dataPath>\usr\share\games\FlightGear</dataPath>
|
||||
<gcsReceiverEnabled>false</gcsReceiverEnabled>
|
||||
<gpsPosRate>100</gpsPosRate>
|
||||
<gpsPositionEnabled>false</gpsPositionEnabled>
|
||||
<groundTruthEnabled>true</groundTruthEnabled>
|
||||
<groundTruthRate>100</groundTruthRate>
|
||||
<hostAddress>127.0.0.1</hostAddress>
|
||||
<inPort>9009</inPort>
|
||||
<inputCommand>true</inputCommand>
|
||||
<latitude></latitude>
|
||||
<longitude></longitude>
|
||||
<manualControlEnabled>true</manualControlEnabled>
|
||||
<manualOutput>false</manualOutput>
|
||||
<minOutputPeriod>40</minOutputPeriod>
|
||||
<outPort>9010</outPort>
|
||||
<remoteAddress>127.0.0.1</remoteAddress>
|
||||
<simulatorId>FG</simulatorId>
|
||||
<startSim>true</startSim>
|
||||
</data>
|
||||
</Flightgear__PCT__20HITL>
|
||||
<XPlane__PCT__20HITL>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<addNoise>false</addNoise>
|
||||
<attActCalc>false</attActCalc>
|
||||
<attActHW>false</attActHW>
|
||||
<attActSim>true</attActSim>
|
||||
<attActualEnabled>true</attActualEnabled>
|
||||
<attRawEnabled>true</attRawEnabled>
|
||||
<attRawRate>20</attRawRate>
|
||||
<baroAltRate>50</baroAltRate>
|
||||
<baroAltitudeEnabled>false</baroAltitudeEnabled>
|
||||
<binPath></binPath>
|
||||
<dataPath></dataPath>
|
||||
<gcsReceiverEnabled>false</gcsReceiverEnabled>
|
||||
<gpsPosRate>100</gpsPosRate>
|
||||
<gpsPositionEnabled>false</gpsPositionEnabled>
|
||||
<groundTruthEnabled>true</groundTruthEnabled>
|
||||
<groundTruthRate>100</groundTruthRate>
|
||||
<hostAddress>0.0.0.0</hostAddress>
|
||||
<inPort>6756</inPort>
|
||||
<inputCommand>true</inputCommand>
|
||||
<latitude></latitude>
|
||||
<longitude></longitude>
|
||||
<manualControlEnabled>true</manualControlEnabled>
|
||||
<manualOutput>false</manualOutput>
|
||||
<minOutputPeriod>40</minOutputPeriod>
|
||||
<outPort>49000</outPort>
|
||||
<remoteAddress>127.0.0.1</remoteAddress>
|
||||
<simulatorId>X-Plane</simulatorId>
|
||||
<startSim>false</startSim>
|
||||
</data>
|
||||
</XPlane__PCT__20HITL>
|
||||
</HITL>
|
||||
<LineardialGadget>
|
||||
<Accel__PCT__20Horizontal__PCT__20X>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<dFile>%%DATAPATH%%dials/deluxe/lineardial-horizontal.svg</dFile>
|
||||
<decimalPlaces>2</decimalPlaces>
|
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<factor>1</factor>
|
||||
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|
||||
<greenMax>-9</greenMax>
|
||||
<greenMin>-10</greenMin>
|
||||
<maxValue>11</maxValue>
|
||||
<minValue>-11</minValue>
|
||||
<redMax>11</redMax>
|
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<redMin>-11</redMin>
|
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<sourceDataObject>Accels</sourceDataObject>
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<sourceObjectField>x</sourceObjectField>
|
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|
||||
<yellowMax>-5</yellowMax>
|
||||
<yellowMin>-11</yellowMin>
|
||||
</data>
|
||||
</Accel__PCT__20Horizontal__PCT__20X>
|
||||
<Accel__PCT__20Horizontal__PCT__20Y>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<dFile>%%DATAPATH%%dials/deluxe/lineardial-horizontal.svg</dFile>
|
||||
<decimalPlaces>2</decimalPlaces>
|
||||
<factor>1</factor>
|
||||
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|
||||
<greenMax>-9</greenMax>
|
||||
<greenMin>-10</greenMin>
|
||||
<maxValue>11</maxValue>
|
||||
<minValue>-11</minValue>
|
||||
<redMax>11</redMax>
|
||||
<redMin>-11</redMin>
|
||||
<sourceDataObject>Accels</sourceDataObject>
|
||||
<sourceObjectField>y</sourceObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
<yellowMax>-5</yellowMax>
|
||||
<yellowMin>-11</yellowMin>
|
||||
</data>
|
||||
</Accel__PCT__20Horizontal__PCT__20Y>
|
||||
<Accel__PCT__20Horizontal__PCT__20Z>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<dFile>%%DATAPATH%%dials/deluxe/lineardial-horizontal.svg</dFile>
|
||||
<decimalPlaces>2</decimalPlaces>
|
||||
<factor>1</factor>
|
||||
<font>Andale Mono,8,-1,5,50,0,0,0,0,0</font>
|
||||
<greenMax>-9</greenMax>
|
||||
<greenMin>-10</greenMin>
|
||||
<maxValue>11</maxValue>
|
||||
<minValue>-11</minValue>
|
||||
<redMax>11</redMax>
|
||||
<redMin>-11</redMin>
|
||||
<sourceDataObject>Accels</sourceDataObject>
|
||||
<sourceObjectField>z</sourceObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
<yellowMax>-5</yellowMax>
|
||||
<yellowMin>-11</yellowMin>
|
||||
</data>
|
||||
</Accel__PCT__20Horizontal__PCT__20Z>
|
||||
<Arm__PCT__20Status>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<dFile>%%DATAPATH%%dials/default/arm-status.svg</dFile>
|
||||
<decimalPlaces>0</decimalPlaces>
|
||||
<factor>1</factor>
|
||||
<font>,12,-1,5,50,0,0,0,0,0</font>
|
||||
<greenMax>100</greenMax>
|
||||
<greenMin>66</greenMin>
|
||||
<maxValue>100</maxValue>
|
||||
<minValue>0</minValue>
|
||||
<redMax>33</redMax>
|
||||
<redMin>0</redMin>
|
||||
<sourceDataObject>FlightStatus</sourceDataObject>
|
||||
<sourceObjectField>Armed</sourceObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
<yellowMax>66</yellowMax>
|
||||
<yellowMin>33</yellowMin>
|
||||
</data>
|
||||
</Arm__PCT__20Status>
|
||||
<Flight__PCT__20Time>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<dFile>%%DATAPATH%%dials/default/textonly.svg</dFile>
|
||||
<decimalPlaces>0</decimalPlaces>
|
||||
<factor>0.001</factor>
|
||||
<font>,12,-1,5,50,0,0,0,0,0</font>
|
||||
<greenMax>100</greenMax>
|
||||
<greenMin>66</greenMin>
|
||||
<maxValue>100</maxValue>
|
||||
<minValue>0</minValue>
|
||||
<redMax>33</redMax>
|
||||
<redMin>0</redMin>
|
||||
<sourceDataObject>SystemStats</sourceDataObject>
|
||||
<sourceObjectField>FlightTime</sourceObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
<yellowMax>66</yellowMax>
|
||||
<yellowMin>33</yellowMin>
|
||||
</data>
|
||||
</Flight__PCT__20Time>
|
||||
<Flight__PCT__20mode>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<dFile>%%DATAPATH%%dials/default/flightmode-status.svg</dFile>
|
||||
<decimalPlaces>0</decimalPlaces>
|
||||
<factor>1</factor>
|
||||
<font>,12,-1,5,50,0,0,0,0,0</font>
|
||||
<greenMax>100</greenMax>
|
||||
<greenMin>66</greenMin>
|
||||
<maxValue>100</maxValue>
|
||||
<minValue>0</minValue>
|
||||
<redMax>33</redMax>
|
||||
<redMin>0</redMin>
|
||||
<sourceDataObject>FlightStatus</sourceDataObject>
|
||||
<sourceObjectField>FlightMode</sourceObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
<yellowMax>66</yellowMax>
|
||||
<yellowMin>33</yellowMin>
|
||||
</data>
|
||||
</Flight__PCT__20mode>
|
||||
<GPS__PCT__20Sats>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<dFile>%%DATAPATH%%dials/default/gps-signal.svg</dFile>
|
||||
<decimalPlaces>0</decimalPlaces>
|
||||
<factor>1</factor>
|
||||
<font>,12,-1,5,50,0,0,0,0,0</font>
|
||||
<greenMax>0</greenMax>
|
||||
<greenMin>0</greenMin>
|
||||
<maxValue>12</maxValue>
|
||||
<minValue>0</minValue>
|
||||
<redMax>0</redMax>
|
||||
<redMin>0</redMin>
|
||||
<sourceDataObject>GPSPosition</sourceDataObject>
|
||||
<sourceObjectField>Satellites</sourceObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
<yellowMax>0</yellowMax>
|
||||
<yellowMin>0</yellowMin>
|
||||
</data>
|
||||
</GPS__PCT__20Sats>
|
||||
<GPS__PCT__20Status>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<dFile>%%DATAPATH%%dials/default/gps-status.svg</dFile>
|
||||
<decimalPlaces>0</decimalPlaces>
|
||||
<factor>1</factor>
|
||||
<font>,12,-1,5,50,0,0,0,0,0</font>
|
||||
<greenMax>100</greenMax>
|
||||
<greenMin>66</greenMin>
|
||||
<maxValue>100</maxValue>
|
||||
<minValue>0</minValue>
|
||||
<redMax>33</redMax>
|
||||
<redMin>0</redMin>
|
||||
<sourceDataObject>GPSPosition</sourceDataObject>
|
||||
<sourceObjectField>Status</sourceObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
<yellowMax>66</yellowMax>
|
||||
<yellowMin>33</yellowMin>
|
||||
</data>
|
||||
</GPS__PCT__20Status>
|
||||
<Mainboard__PCT__20CPU>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<dFile>%%DATAPATH%%dials/deluxe/lineardial-vertical.svg</dFile>
|
||||
<decimalPlaces>0</decimalPlaces>
|
||||
<factor>1</factor>
|
||||
<font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
|
||||
<greenMax>90</greenMax>
|
||||
<greenMin>0</greenMin>
|
||||
<maxValue>100</maxValue>
|
||||
<minValue>0</minValue>
|
||||
<redMax>100</redMax>
|
||||
<redMin>95</redMin>
|
||||
<sourceDataObject>SystemStats</sourceDataObject>
|
||||
<sourceObjectField>CPULoad</sourceObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
<yellowMax>95</yellowMax>
|
||||
<yellowMin>90</yellowMin>
|
||||
</data>
|
||||
</Mainboard__PCT__20CPU>
|
||||
<Pitch__PCT__20Desired>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<dFile>%%DATAPATH%%dials/deluxe/lineardial-vertical.svg</dFile>
|
||||
<decimalPlaces>2</decimalPlaces>
|
||||
<factor>1</factor>
|
||||
<font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
|
||||
<greenMax>0.5</greenMax>
|
||||
<greenMin>-0.5</greenMin>
|
||||
<maxValue>1</maxValue>
|
||||
<minValue>-1</minValue>
|
||||
<redMax>1</redMax>
|
||||
<redMin>-1</redMin>
|
||||
<sourceDataObject>ActuatorDesired</sourceDataObject>
|
||||
<sourceObjectField>Pitch</sourceObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
<yellowMax>0.8</yellowMax>
|
||||
<yellowMin>-0.8</yellowMin>
|
||||
</data>
|
||||
</Pitch__PCT__20Desired>
|
||||
<Pitch>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<dFile>%%DATAPATH%%dials/deluxe/lineardial-vertical.svg</dFile>
|
||||
<decimalPlaces>2</decimalPlaces>
|
||||
<factor>1</factor>
|
||||
<font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
|
||||
<greenMax>0.5</greenMax>
|
||||
<greenMin>-0.5</greenMin>
|
||||
<maxValue>1</maxValue>
|
||||
<minValue>-1</minValue>
|
||||
<redMax>1</redMax>
|
||||
<redMin>-1</redMin>
|
||||
<sourceDataObject>ManualControlCommand</sourceDataObject>
|
||||
<sourceObjectField>Pitch</sourceObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
<yellowMax>0.8</yellowMax>
|
||||
<yellowMin>-0.8</yellowMin>
|
||||
</data>
|
||||
</Pitch>
|
||||
<PitchActual>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<dFile>%%DATAPATH%%dials/deluxe/lineardial-vertical.svg</dFile>
|
||||
<decimalPlaces>2</decimalPlaces>
|
||||
<factor>1</factor>
|
||||
<font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
|
||||
<greenMax>0.8</greenMax>
|
||||
<greenMin>0.3</greenMin>
|
||||
<maxValue>90</maxValue>
|
||||
<minValue>-90</minValue>
|
||||
<redMax>1</redMax>
|
||||
<redMin>0</redMin>
|
||||
<sourceDataObject>AttitudeActual</sourceDataObject>
|
||||
<sourceObjectField>Pitch</sourceObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
<yellowMax>0.9</yellowMax>
|
||||
<yellowMin>0.1</yellowMin>
|
||||
</data>
|
||||
</PitchActual>
|
||||
<Roll__PCT__20Desired>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<dFile>%%DATAPATH%%dials/deluxe/lineardial-vertical.svg</dFile>
|
||||
<decimalPlaces>2</decimalPlaces>
|
||||
<factor>1</factor>
|
||||
<font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
|
||||
<greenMax>0.5</greenMax>
|
||||
<greenMin>-0.5</greenMin>
|
||||
<maxValue>1</maxValue>
|
||||
<minValue>-1</minValue>
|
||||
<redMax>1</redMax>
|
||||
<redMin>-1</redMin>
|
||||
<sourceDataObject>ActuatorDesired</sourceDataObject>
|
||||
<sourceObjectField>Roll</sourceObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
<yellowMax>0.8</yellowMax>
|
||||
<yellowMin>-0.8</yellowMin>
|
||||
</data>
|
||||
</Roll__PCT__20Desired>
|
||||
<Roll>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<dFile>%%DATAPATH%%dials/deluxe/lineardial-vertical.svg</dFile>
|
||||
<decimalPlaces>2</decimalPlaces>
|
||||
<factor>1</factor>
|
||||
<font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
|
||||
<greenMax>0.5</greenMax>
|
||||
<greenMin>-0.5</greenMin>
|
||||
<maxValue>1</maxValue>
|
||||
<minValue>-1</minValue>
|
||||
<redMax>1</redMax>
|
||||
<redMin>-1</redMin>
|
||||
<sourceDataObject>ManualControlCommand</sourceDataObject>
|
||||
<sourceObjectField>Roll</sourceObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
<yellowMax>0.8</yellowMax>
|
||||
<yellowMin>-0.8</yellowMin>
|
||||
</data>
|
||||
</Roll>
|
||||
<Telemetry__PCT__20RX__PCT__20Rate__PCT__20Horizontal>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<dFile>%%DATAPATH%%dials/deluxe/lineardial-horizontal.svg</dFile>
|
||||
<decimalPlaces>0</decimalPlaces>
|
||||
<factor>1</factor>
|
||||
<font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
|
||||
<greenMax>650</greenMax>
|
||||
<greenMin>0</greenMin>
|
||||
<maxValue>1200</maxValue>
|
||||
<minValue>0</minValue>
|
||||
<redMax>1200</redMax>
|
||||
<redMin>900</redMin>
|
||||
<sourceDataObject>GCSTelemetryStats</sourceDataObject>
|
||||
<sourceObjectField>RxDataRate</sourceObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
<yellowMax>900</yellowMax>
|
||||
<yellowMin>650</yellowMin>
|
||||
</data>
|
||||
</Telemetry__PCT__20RX__PCT__20Rate__PCT__20Horizontal>
|
||||
<Telemetry__PCT__20TX__PCT__20Rate__PCT__20Horizontal>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<dFile>%%DATAPATH%%dials/deluxe/lineardial-horizontal.svg</dFile>
|
||||
<decimalPlaces>0</decimalPlaces>
|
||||
<factor>1</factor>
|
||||
<font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
|
||||
<greenMax>650</greenMax>
|
||||
<greenMin>0</greenMin>
|
||||
<maxValue>1200</maxValue>
|
||||
<minValue>0</minValue>
|
||||
<redMax>1200</redMax>
|
||||
<redMin>900</redMin>
|
||||
<sourceDataObject>GCSTelemetryStats</sourceDataObject>
|
||||
<sourceObjectField>TxDataRate</sourceObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
<yellowMax>900</yellowMax>
|
||||
<yellowMin>650</yellowMin>
|
||||
</data>
|
||||
</Telemetry__PCT__20TX__PCT__20Rate__PCT__20Horizontal>
|
||||
<Throttle>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<dFile>%%DATAPATH%%dials/deluxe/lineardial-vertical.svg</dFile>
|
||||
<decimalPlaces>2</decimalPlaces>
|
||||
<factor>1</factor>
|
||||
<font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
|
||||
<greenMax>0.5</greenMax>
|
||||
<greenMin>0</greenMin>
|
||||
<maxValue>1</maxValue>
|
||||
<minValue>0</minValue>
|
||||
<redMax>1</redMax>
|
||||
<redMin>0.75</redMin>
|
||||
<sourceDataObject>ManualControlCommand</sourceDataObject>
|
||||
<sourceObjectField>Throttle</sourceObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
<yellowMax>0.75</yellowMax>
|
||||
<yellowMin>0.5</yellowMin>
|
||||
</data>
|
||||
</Throttle>
|
||||
<Yaw__PCT__20Desired>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<dFile>%%DATAPATH%%dials/deluxe/lineardial-vertical.svg</dFile>
|
||||
<decimalPlaces>2</decimalPlaces>
|
||||
<factor>1</factor>
|
||||
<font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
|
||||
<greenMax>0.5</greenMax>
|
||||
<greenMin>-0.5</greenMin>
|
||||
<maxValue>1</maxValue>
|
||||
<minValue>-1</minValue>
|
||||
<redMax>1</redMax>
|
||||
<redMin>-1</redMin>
|
||||
<sourceDataObject>ActuatorDesired</sourceDataObject>
|
||||
<sourceObjectField>Yaw</sourceObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
<yellowMax>0.8</yellowMax>
|
||||
<yellowMin>-0.8</yellowMin>
|
||||
</data>
|
||||
</Yaw__PCT__20Desired>
|
||||
<Yaw>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<dFile>%%DATAPATH%%dials/deluxe/lineardial-vertical.svg</dFile>
|
||||
<decimalPlaces>2</decimalPlaces>
|
||||
<factor>1</factor>
|
||||
<font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
|
||||
<greenMax>0.5</greenMax>
|
||||
<greenMin>-0.5</greenMin>
|
||||
<maxValue>1</maxValue>
|
||||
<minValue>-1</minValue>
|
||||
<redMax>1</redMax>
|
||||
<redMin>-1</redMin>
|
||||
<sourceDataObject>ManualControlCommand</sourceDataObject>
|
||||
<sourceObjectField>Yaw</sourceObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
<yellowMax>0.8</yellowMax>
|
||||
<yellowMin>-0.8</yellowMin>
|
||||
</data>
|
||||
</Yaw>
|
||||
</LineardialGadget>
|
||||
<ModelViewGadget>
|
||||
<Aeroquad__PCT__20__PCT__2B>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<acFilename>%%DATAPATH%%models/multi/aeroquad/aeroquad_+.3ds</acFilename>
|
||||
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
|
||||
<enableVbo>false</enableVbo>
|
||||
</data>
|
||||
</Aeroquad__PCT__20__PCT__2B>
|
||||
<CopterControl>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<acFilename>%%DATAPATH%%models/boards/CopterControl/CopterControl.3ds</acFilename>
|
||||
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
|
||||
<enableVbo>false</enableVbo>
|
||||
</data>
|
||||
</CopterControl>
|
||||
<CC3D>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<acFilename>%%DATAPATH%%models/boards/CC3D/CC3D.3ds</acFilename>
|
||||
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
|
||||
<enableVbo>false</enableVbo>
|
||||
</data>
|
||||
</CC3D>
|
||||
<Revolution>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<acFilename>%%DATAPATH%%models/boards/Revolution/revolution.3ds</acFilename>
|
||||
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
|
||||
<enableVbo>false</enableVbo>
|
||||
</data>
|
||||
</Revolution>
|
||||
<Zagi>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<acFilename>%%DATAPATH%%models/planes/zagi/zagi.3ds</acFilename>
|
||||
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
|
||||
<enableVbo>false</enableVbo>
|
||||
</data>
|
||||
</Zagi>
|
||||
<Easyquad__PCT__20X>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<acFilename>%%DATAPATH%%models/multi/easy_quad/easy_quad_X.3ds</acFilename>
|
||||
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
|
||||
<enableVbo>false</enableVbo>
|
||||
</data>
|
||||
</Easyquad__PCT__20X>
|
||||
<Easystar>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<acFilename>%%DATAPATH%%models/planes/Easystar/easystar.3ds</acFilename>
|
||||
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
|
||||
<enableVbo>false</enableVbo>
|
||||
</data>
|
||||
</Easystar>
|
||||
<Firecracker>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<acFilename>%%DATAPATH%%models/planes/firecracker/firecracker.3ds</acFilename>
|
||||
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
|
||||
<enableVbo>false</enableVbo>
|
||||
</data>
|
||||
</Firecracker>
|
||||
<Funjet>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<acFilename>%%DATAPATH%%models/planes/funjet/funjet.3ds</acFilename>
|
||||
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
|
||||
<enableVbo>false</enableVbo>
|
||||
</data>
|
||||
</Funjet>
|
||||
<Gaui__PCT__20330X>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<acFilename>%%DATAPATH%%models/multi/gaui_330x/gaui_330x.3ds</acFilename>
|
||||
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
|
||||
<enableVbo>false</enableVbo>
|
||||
</data>
|
||||
</Gaui__PCT__20330X>
|
||||
<Helicopter__PCT__20-__PCT__20TRex__PCT__20450>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<acFilename>%%DATAPATH%%models/helis/t-rex/t-rex_450_xl.3ds</acFilename>
|
||||
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
|
||||
<enableVbo>false</enableVbo>
|
||||
</data>
|
||||
</Helicopter__PCT__20-__PCT__20TRex__PCT__20450>
|
||||
<Hexacopter>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<acFilename>%%DATAPATH%%models/multi/mikrokopter/MK_Hexa.3ds</acFilename>
|
||||
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
|
||||
<enableVbo>false</enableVbo>
|
||||
</data>
|
||||
</Hexacopter>
|
||||
<Joe__PCT__27s__PCT__2014__PCT__22__PCT__20Quad__PCT__20__PCT__2B>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<acFilename>%%DATAPATH%%models/multi/joes_cnc/J14-Q_+.3DS</acFilename>
|
||||
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
|
||||
<enableVbo>false</enableVbo>
|
||||
</data>
|
||||
</Joe__PCT__27s__PCT__2014__PCT__22__PCT__20Quad__PCT__20__PCT__2B>
|
||||
<Joe__PCT__27s__PCT__2014__PCT__22__PCT__20Quad__PCT__20X__PCT__20>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<acFilename>%%DATAPATH%%models/multi/joes_cnc/J14-Q_X.3DS</acFilename>
|
||||
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
|
||||
<enableVbo>false</enableVbo>
|
||||
</data>
|
||||
</Joe__PCT__27s__PCT__2014__PCT__22__PCT__20Quad__PCT__20X__PCT__20>
|
||||
<Joe__PCT__27s__PCT__2014__PCT__22__PCT__20T__PCT__20Quad__PCT__20__PCT__2B>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<acFilename>%%DATAPATH%%models/multi/joes_cnc/J14-QT_+.3DS</acFilename>
|
||||
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
|
||||
<enableVbo>false</enableVbo>
|
||||
</data>
|
||||
</Joe__PCT__27s__PCT__2014__PCT__22__PCT__20T__PCT__20Quad__PCT__20__PCT__2B>
|
||||
<Joe__PCT__27s__PCT__2014__PCT__22__PCT__20T__PCT__20Quad__PCT__20X>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<acFilename>%%DATAPATH%%models/multi/joes_cnc/J14-QT_X.3DS</acFilename>
|
||||
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
|
||||
<enableVbo>false</enableVbo>
|
||||
</data>
|
||||
</Joe__PCT__27s__PCT__2014__PCT__22__PCT__20T__PCT__20Quad__PCT__20X>
|
||||
<Quadcopter>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<acFilename>%%DATAPATH%%models/multi/mikrokopter/MK_L4-ME.3ds</acFilename>
|
||||
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
|
||||
<enableVbo>false</enableVbo>
|
||||
</data>
|
||||
</Quadcopter>
|
||||
<Ricoo>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<acFilename>%%DATAPATH%%models/multi/ricoo/ricoo.3DS</acFilename>
|
||||
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
|
||||
<enableVbo>false</enableVbo>
|
||||
</data>
|
||||
</Ricoo>
|
||||
<Scorpion__PCT__20Tricopter>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<acFilename>%%DATAPATH%%models/multi/scorpion_tricopter/scorpion_tricopter.3ds</acFilename>
|
||||
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
|
||||
<enableVbo>false</enableVbo>
|
||||
</data>
|
||||
</Scorpion__PCT__20Tricopter>
|
||||
<MattL__PCT__27s__PCT__20Y6>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<acFilename>%%DATAPATH%%models/multi/mattL_Y6/mattL_Y6.3ds</acFilename>
|
||||
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
|
||||
<enableVbo>false</enableVbo>
|
||||
</data>
|
||||
</MattL__PCT__27s__PCT__20Y6>
|
||||
<Test__PCT__20Quad__PCT__20__PCT__2B>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<acFilename>%%DATAPATH%%models/multi/test_quad/test_quad_+.3ds</acFilename>
|
||||
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
|
||||
<enableVbo>false</enableVbo>
|
||||
</data>
|
||||
</Test__PCT__20Quad__PCT__20__PCT__2B>
|
||||
<Test__PCT__20Quad__PCT__20X>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<acFilename>%%DATAPATH%%models/multi/test_quad/test_quad_X.3ds</acFilename>
|
||||
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
|
||||
<enableVbo>false</enableVbo>
|
||||
</data>
|
||||
</Test__PCT__20Quad__PCT__20X>
|
||||
<Danker__PCT__27s__PCT__20Quad>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<acFilename>%%DATAPATH%%models/multi/dankers_quad/dankers_quad.3ds</acFilename>
|
||||
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
|
||||
<enableVbo>false</enableVbo>
|
||||
</data>
|
||||
</Danker__PCT__27s__PCT__20Quad>
|
||||
</ModelViewGadget>
|
||||
<OPMapGadget>
|
||||
<Google__PCT__20Sat>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<accessMode>ServerAndCache</accessMode>
|
||||
<cacheLocation>%%STOREPATH%%mapscache/</cacheLocation>
|
||||
<defaultLatitude>0</defaultLatitude>
|
||||
<defaultLongitude>0</defaultLongitude>
|
||||
<defaultZoom>2</defaultZoom>
|
||||
<mapProvider>GoogleSatellite</mapProvider>
|
||||
<maxUpdateRate>2000</maxUpdateRate>
|
||||
<overlayOpacity>1</overlayOpacity>
|
||||
<showTileGridLines>false</showTileGridLines>
|
||||
<uavSymbol>mapquad.png</uavSymbol>
|
||||
<useMemoryCache>true</useMemoryCache>
|
||||
<useOpenGL>true</useOpenGL>
|
||||
</data>
|
||||
</Google__PCT__20Sat>
|
||||
<Memory__PCT__20Only>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<accessMode>CacheOnly</accessMode>
|
||||
<cacheLocation>%%STOREPATH%%mapscache/</cacheLocation>
|
||||
<defaultLatitude>0</defaultLatitude>
|
||||
<defaultLongitude>0</defaultLongitude>
|
||||
<defaultZoom>2</defaultZoom>
|
||||
<mapProvider>GoogleMap</mapProvider>
|
||||
<maxUpdateRate>2000</maxUpdateRate>
|
||||
<overlayOpacity>1</overlayOpacity>
|
||||
<showTileGridLines>false</showTileGridLines>
|
||||
<uavSymbol>airplanepip.png</uavSymbol>
|
||||
<useMemoryCache>true</useMemoryCache>
|
||||
<useOpenGL>true</useOpenGL>
|
||||
</data>
|
||||
</Memory__PCT__20Only>
|
||||
<default>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<accessMode>ServerAndCache</accessMode>
|
||||
<cacheLocation>%%STOREPATH%%mapscache/</cacheLocation>
|
||||
<defaultLatitude>0</defaultLatitude>
|
||||
<defaultLongitude>0</defaultLongitude>
|
||||
<defaultZoom>2</defaultZoom>
|
||||
<mapProvider>GoogleMap</mapProvider>
|
||||
<maxUpdateRate>2000</maxUpdateRate>
|
||||
<overlayOpacity>1</overlayOpacity>
|
||||
<showTileGridLines>false</showTileGridLines>
|
||||
<uavSymbol>mapquad.png</uavSymbol>
|
||||
<useMemoryCache>true</useMemoryCache>
|
||||
<useOpenGL>true</useOpenGL>
|
||||
</data>
|
||||
</default>
|
||||
</OPMapGadget>
|
||||
<PFDGadget>
|
||||
<raw>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<beSmooth>false</beSmooth>
|
||||
<dialFile>%%DATAPATH%%pfd/default/pfd.svg</dialFile>
|
||||
<hqFonts>false</hqFonts>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
</data>
|
||||
</raw>
|
||||
<smooth>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<beSmooth>true</beSmooth>
|
||||
<dialFile>%%DATAPATH%%pfd/default/pfd.svg</dialFile>
|
||||
<hqFonts>false</hqFonts>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
</data>
|
||||
</smooth>
|
||||
</PFDGadget>
|
||||
<PfdQmlGadget>
|
||||
<NoTerrain>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<actualPositionUsed>false</actualPositionUsed>
|
||||
<altitude>2000</altitude>
|
||||
<cacheOnly>false</cacheOnly>
|
||||
<earthFile>%%DATAPATH%%pfd/default/readymap.earth</earthFile>
|
||||
<latitude>46.6715</latitude>
|
||||
<longitude>10.1589</longitude>
|
||||
<openGLEnabled>true</openGLEnabled>
|
||||
<qmlFile>%%DATAPATH%%pfd/default/Pfd.qml</qmlFile>
|
||||
<terrainEnabled>false</terrainEnabled>
|
||||
</data>
|
||||
</NoTerrain>
|
||||
<Terrain>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<actualPositionUsed>false</actualPositionUsed>
|
||||
<altitude>2000</altitude>
|
||||
<cacheOnly>false</cacheOnly>
|
||||
<earthFile>%%DATAPATH%%pfd/default/readymap.earth</earthFile>
|
||||
<latitude>46.6715</latitude>
|
||||
<longitude>10.1589</longitude>
|
||||
<openGLEnabled>true</openGLEnabled>
|
||||
<qmlFile>%%DATAPATH%%pfd/default/Pfd.qml</qmlFile>
|
||||
<terrainEnabled>false</terrainEnabled>
|
||||
</data>
|
||||
</Terrain>
|
||||
</PfdQmlGadget>
|
||||
<QmlViewGadget>
|
||||
<default>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<dialFile>Unknown</dialFile>
|
||||
<useOpenGLFlag>true</useOpenGLFlag>
|
||||
</data>
|
||||
</default>
|
||||
</QmlViewGadget>
|
||||
<ScopeGadget>
|
||||
<Accel>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<LoggingEnabled>false</LoggingEnabled>
|
||||
<LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
|
||||
<configurationStreamVersion>1000</configurationStreamVersion>
|
||||
<dataSize>60</dataSize>
|
||||
<plotCurve0>
|
||||
<color>4294901760</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>x</uavField>
|
||||
<uavObject>Accels</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve0>
|
||||
<plotCurve1>
|
||||
<color>4283782655</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>y</uavField>
|
||||
<uavObject>Accels</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve1>
|
||||
<plotCurve2>
|
||||
<color>4283804160</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>z</uavField>
|
||||
<uavObject>Accels</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve2>
|
||||
<plotCurveCount>3</plotCurveCount>
|
||||
<plotType>1</plotType>
|
||||
<refreshInterval>100</refreshInterval>
|
||||
</data>
|
||||
</Accel>
|
||||
<Actuators>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<LoggingEnabled>false</LoggingEnabled>
|
||||
<LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
|
||||
<configurationStreamVersion>1000</configurationStreamVersion>
|
||||
<dataSize>20</dataSize>
|
||||
<plotCurve0>
|
||||
<color>4294901760</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>Channel-4</uavField>
|
||||
<uavObject>ActuatorCommand</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve0>
|
||||
<plotCurve1>
|
||||
<color>4294901760</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>Channel-5</uavField>
|
||||
<uavObject>ActuatorCommand</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve1>
|
||||
<plotCurve2>
|
||||
<color>4289374847</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>Channel-6</uavField>
|
||||
<uavObject>ActuatorCommand</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve2>
|
||||
<plotCurve3>
|
||||
<color>4289374847</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>Channel-7</uavField>
|
||||
<uavObject>ActuatorCommand</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve3>
|
||||
<plotCurveCount>4</plotCurveCount>
|
||||
<plotType>1</plotType>
|
||||
<refreshInterval>100</refreshInterval>
|
||||
</data>
|
||||
</Actuators>
|
||||
<Attitude>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<LoggingEnabled>false</LoggingEnabled>
|
||||
<LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
|
||||
<configurationStreamVersion>1000</configurationStreamVersion>
|
||||
<dataSize>60</dataSize>
|
||||
<plotCurve0>
|
||||
<color>4283760895</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>Roll</uavField>
|
||||
<uavObject>AttitudeActual</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve0>
|
||||
<plotCurve1>
|
||||
<color>4278233600</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>Yaw</uavField>
|
||||
<uavObject>AttitudeActual</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve1>
|
||||
<plotCurve2>
|
||||
<color>4294901760</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>Pitch</uavField>
|
||||
<uavObject>AttitudeActual</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve2>
|
||||
<plotCurveCount>3</plotCurveCount>
|
||||
<plotType>1</plotType>
|
||||
<refreshInterval>100</refreshInterval>
|
||||
</data>
|
||||
</Attitude>
|
||||
<Barometer>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<LoggingEnabled>false</LoggingEnabled>
|
||||
<LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
|
||||
<configurationStreamVersion>1000</configurationStreamVersion>
|
||||
<dataSize>60</dataSize>
|
||||
<plotCurve0>
|
||||
<color>4278190080</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>Pressure</uavField>
|
||||
<uavObject>BaroAltitude</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve0>
|
||||
<plotCurveCount>1</plotCurveCount>
|
||||
<plotType>1</plotType>
|
||||
<refreshInterval>1000</refreshInterval>
|
||||
</data>
|
||||
</Barometer>
|
||||
<Inputs>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<LoggingEnabled>false</LoggingEnabled>
|
||||
<LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
|
||||
<configurationStreamVersion>1000</configurationStreamVersion>
|
||||
<dataSize>40</dataSize>
|
||||
<plotCurve0>
|
||||
<color>4278190207</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>Channel-1</uavField>
|
||||
<uavObject>ManualControlCommand</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve0>
|
||||
<plotCurve1>
|
||||
<color>4294901760</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>Channel-4</uavField>
|
||||
<uavObject>ManualControlCommand</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve1>
|
||||
<plotCurve2>
|
||||
<color>4294901760</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>Channel-5</uavField>
|
||||
<uavObject>ManualControlCommand</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve2>
|
||||
<plotCurve3>
|
||||
<color>4294901760</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>Channel-6</uavField>
|
||||
<uavObject>ManualControlCommand</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve3>
|
||||
<plotCurve4>
|
||||
<color>4294901760</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>Channel-7</uavField>
|
||||
<uavObject>ManualControlCommand</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve4>
|
||||
<plotCurve5>
|
||||
<color>4283825920</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>Channel-2</uavField>
|
||||
<uavObject>ManualControlCommand</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve5>
|
||||
<plotCurve6>
|
||||
<color>4294923520</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>Channel-3</uavField>
|
||||
<uavObject>ManualControlCommand</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve6>
|
||||
<plotCurve7>
|
||||
<color>4294967040</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>Channel-0</uavField>
|
||||
<uavObject>ManualControlCommand</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve7>
|
||||
<plotCurveCount>8</plotCurveCount>
|
||||
<plotType>1</plotType>
|
||||
<refreshInterval>200</refreshInterval>
|
||||
</data>
|
||||
</Inputs>
|
||||
<Raw__PCT__20Accels>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<LoggingEnabled>false</LoggingEnabled>
|
||||
<LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
|
||||
<configurationStreamVersion>1000</configurationStreamVersion>
|
||||
<dataSize>60</dataSize>
|
||||
<plotCurve0>
|
||||
<color>4294901760</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>x</uavField>
|
||||
<uavObject>Accels</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve0>
|
||||
<plotCurve1>
|
||||
<color>4283782655</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>y</uavField>
|
||||
<uavObject>Accels</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve1>
|
||||
<plotCurve2>
|
||||
<color>4283804160</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>z</uavField>
|
||||
<uavObject>Accels</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve2>
|
||||
<plotCurveCount>3</plotCurveCount>
|
||||
<plotType>1</plotType>
|
||||
<refreshInterval>500</refreshInterval>
|
||||
</data>
|
||||
</Raw__PCT__20Accels>
|
||||
<Raw__PCT__20Gyros>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<LoggingEnabled>false</LoggingEnabled>
|
||||
<LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
|
||||
<configurationStreamVersion>1000</configurationStreamVersion>
|
||||
<dataSize>60</dataSize>
|
||||
<plotCurve0>
|
||||
<color>4283804160</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>z</uavField>
|
||||
<uavObject>Gyros</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve0>
|
||||
<plotCurve1>
|
||||
<color>4283782655</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>y</uavField>
|
||||
<uavObject>Gyros</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve1>
|
||||
<plotCurve2>
|
||||
<color>4294901760</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>x</uavField>
|
||||
<uavObject>Gyros</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve2>
|
||||
<plotCurveCount>3</plotCurveCount>
|
||||
<plotType>1</plotType>
|
||||
<refreshInterval>500</refreshInterval>
|
||||
</data>
|
||||
</Raw__PCT__20Gyros>
|
||||
<Raw__PCT__20magnetometers>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<LoggingEnabled>false</LoggingEnabled>
|
||||
<LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
|
||||
<configurationStreamVersion>1000</configurationStreamVersion>
|
||||
<dataSize>60</dataSize>
|
||||
<plotCurve0>
|
||||
<color>4294901760</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>x</uavField>
|
||||
<uavObject>Magnetometer</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve0>
|
||||
<plotCurve1>
|
||||
<color>4283782655</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>y</uavField>
|
||||
<uavObject>Magnetometer</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve1>
|
||||
<plotCurve2>
|
||||
<color>4283804160</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>z</uavField>
|
||||
<uavObject>Magnetometer</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve2>
|
||||
<plotCurveCount>3</plotCurveCount>
|
||||
<plotType>1</plotType>
|
||||
<refreshInterval>500</refreshInterval>
|
||||
</data>
|
||||
</Raw__PCT__20magnetometers>
|
||||
<Stacks__PCT__20monitor>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<LoggingEnabled>false</LoggingEnabled>
|
||||
<LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
|
||||
<configurationStreamVersion>1000</configurationStreamVersion>
|
||||
<dataSize>240</dataSize>
|
||||
<plotCurve0>
|
||||
<color>4294945280</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>StackRemaining-System</uavField>
|
||||
<uavObject>TaskInfo</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve0>
|
||||
<plotCurve1>
|
||||
<color>4294945280</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>StackRemaining-Actuator</uavField>
|
||||
<uavObject>TaskInfo</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve1>
|
||||
<plotCurve10>
|
||||
<color>4294945280</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>StackRemaining-Guidance</uavField>
|
||||
<uavObject>TaskInfo</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve10>
|
||||
<plotCurve11>
|
||||
<color>4294945280</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>StackRemaining-Watchdog</uavField>
|
||||
<uavObject>TaskInfo</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve11>
|
||||
<plotCurve2>
|
||||
<color>4294945280</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>StackRemaining-TelemetryTx</uavField>
|
||||
<uavObject>TaskInfo</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve2>
|
||||
<plotCurve3>
|
||||
<color>4294945280</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>StackRemaining-TelemetryTxPri</uavField>
|
||||
<uavObject>TaskInfo</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve3>
|
||||
<plotCurve4>
|
||||
<color>4294945280</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>StackRemaining-TelemetryRx</uavField>
|
||||
<uavObject>TaskInfo</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve4>
|
||||
<plotCurve5>
|
||||
<color>4294945280</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>StackRemaining-GPS</uavField>
|
||||
<uavObject>TaskInfo</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve5>
|
||||
<plotCurve6>
|
||||
<color>4294945280</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>StackRemaining-ManualControl</uavField>
|
||||
<uavObject>TaskInfo</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve6>
|
||||
<plotCurve7>
|
||||
<color>4294945280</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>StackRemaining-Altitude</uavField>
|
||||
<uavObject>TaskInfo</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve7>
|
||||
<plotCurve8>
|
||||
<color>4294945280</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>StackRemaining-AHRSComms</uavField>
|
||||
<uavObject>TaskInfo</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve8>
|
||||
<plotCurve9>
|
||||
<color>4294945280</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>StackRemaining-Stabilization</uavField>
|
||||
<uavObject>TaskInfo</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve9>
|
||||
<plotCurveCount>12</plotCurveCount>
|
||||
<plotType>1</plotType>
|
||||
<refreshInterval>1000</refreshInterval>
|
||||
</data>
|
||||
</Stacks__PCT__20monitor>
|
||||
<Telemetry__PCT__20quality>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<LoggingEnabled>false</LoggingEnabled>
|
||||
<LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
|
||||
<configurationStreamVersion>1000</configurationStreamVersion>
|
||||
<dataSize>20</dataSize>
|
||||
<plotCurve0>
|
||||
<color>4289374847</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>TxFailures</uavField>
|
||||
<uavObject>GCSTelemetryStats</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve0>
|
||||
<plotCurve1>
|
||||
<color>4283782655</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>RxFailures</uavField>
|
||||
<uavObject>GCSTelemetryStats</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve1>
|
||||
<plotCurve2>
|
||||
<color>4294901760</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>TxRetries</uavField>
|
||||
<uavObject>GCSTelemetryStats</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve2>
|
||||
<plotCurveCount>3</plotCurveCount>
|
||||
<plotType>1</plotType>
|
||||
<refreshInterval>100</refreshInterval>
|
||||
</data>
|
||||
</Telemetry__PCT__20quality>
|
||||
<Uptimes>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<LoggingEnabled>false</LoggingEnabled>
|
||||
<LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
|
||||
<configurationStreamVersion>1000</configurationStreamVersion>
|
||||
<dataSize>240</dataSize>
|
||||
<plotCurve0>
|
||||
<color>4294945407</color>
|
||||
<mathFunction>None</mathFunction>
|
||||
<uavField>FlightTime</uavField>
|
||||
<uavObject>SystemStats</uavObject>
|
||||
<yMaximum>0</yMaximum>
|
||||
<yMeanSamples>1</yMeanSamples>
|
||||
<yMinimum>0</yMinimum>
|
||||
<yScalePower>0</yScalePower>
|
||||
</plotCurve0>
|
||||
<plotCurveCount>1</plotCurveCount>
|
||||
<plotType>1</plotType>
|
||||
<refreshInterval>800</refreshInterval>
|
||||
</data>
|
||||
</Uptimes>
|
||||
</ScopeGadget>
|
||||
<SystemHealthGadget>
|
||||
<default>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<diagram>%%DATAPATH%%diagrams/default/system-health.svg</diagram>
|
||||
</data>
|
||||
</default>
|
||||
</SystemHealthGadget>
|
||||
<UAVObjectBrowser>
|
||||
<default>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>0.0.0</version>
|
||||
</configInfo>
|
||||
<data>
|
||||
<CategorizedView>false</CategorizedView>
|
||||
<ScientificView>false</ScientificView>
|
||||
<manuallyChangedColor>#5baa56</manuallyChangedColor>
|
||||
<onlyHilightChangedValues>false</onlyHilightChangedValues>
|
||||
<recentlyUpdatedColor>#ff7957</recentlyUpdatedColor>
|
||||
<recentlyUpdatedTimeout>500</recentlyUpdatedTimeout>
|
||||
<showMetaData>false</showMetaData>
|
||||
</data>
|
||||
</default>
|
||||
</UAVObjectBrowser>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
<version>1.2.0</version>
|
||||
</configInfo>
|
||||
</UAVGadgetConfigurations>
|
||||
<UAVGadgetManager>
|
||||
<Mode1>
|
||||
<showToolbars>false</showToolbars>
|
||||
<splitter>
|
||||
<side0>
|
||||
<side0>
|
||||
<side0>
|
||||
<side0>
|
||||
<classId>LineardialGadget</classId>
|
||||
<gadget>
|
||||
<activeConfiguration>Flight Time</activeConfiguration>
|
||||
</gadget>
|
||||
<type>uavGadget</type>
|
||||
</side0>
|
||||
<side1>
|
||||
<side0>
|
||||
<classId>LineardialGadget</classId>
|
||||
<gadget>
|
||||
<activeConfiguration>Arm Status</activeConfiguration>
|
||||
</gadget>
|
||||
<type>uavGadget</type>
|
||||
</side0>
|
||||
<side1>
|
||||
<classId>LineardialGadget</classId>
|
||||
<gadget>
|
||||
<activeConfiguration>Flight mode</activeConfiguration>
|
||||
</gadget>
|
||||
<type>uavGadget</type>
|
||||
</side1>
|
||||
<splitterOrientation>1</splitterOrientation>
|
||||
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAAAYwAAAAIAAAB7)</splitterSizes>
|
||||
<type>splitter</type>
|
||||
</side1>
|
||||
<splitterOrientation>1</splitterOrientation>
|
||||
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAAAZgAAAAIAAADf)</splitterSizes>
|
||||
<type>splitter</type>
|
||||
</side0>
|
||||
<side1>
|
||||
<classId>PfdQmlGadget</classId>
|
||||
<gadget>
|
||||
<activeConfiguration>NoTerrain</activeConfiguration>
|
||||
</gadget>
|
||||
<type>uavGadget</type>
|
||||
</side1>
|
||||
<splitterOrientation>2</splitterOrientation>
|
||||
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAAAQAAAAAIAAAG4)</splitterSizes>
|
||||
<type>splitter</type>
|
||||
</side0>
|
||||
<side1>
|
||||
<side0>
|
||||
<classId>ModelViewGadget</classId>
|
||||
<gadget>
|
||||
<activeConfiguration>Test Quad X</activeConfiguration>
|
||||
</gadget>
|
||||
<type>uavGadget</type>
|
||||
</side0>
|
||||
<side1>
|
||||
<classId>SystemHealthGadget</classId>
|
||||
<gadget>
|
||||
<activeConfiguration>default</activeConfiguration>
|
||||
</gadget>
|
||||
<type>uavGadget</type>
|
||||
</side1>
|
||||
<splitterOrientation>1</splitterOrientation>
|
||||
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAABIAAAAAIAAAFV)</splitterSizes>
|
||||
<type>splitter</type>
|
||||
</side1>
|
||||
<splitterOrientation>2</splitterOrientation>
|
||||
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAAB7wAAAAIAAAEf)</splitterSizes>
|
||||
<type>splitter</type>
|
||||
</side0>
|
||||
<side1>
|
||||
<classId>OPMapGadget</classId>
|
||||
<gadget>
|
||||
<activeConfiguration>Google Sat</activeConfiguration>
|
||||
</gadget>
|
||||
<type>uavGadget</type>
|
||||
</side1>
|
||||
<splitterOrientation>1</splitterOrientation>
|
||||
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAACdgAAAAIAAAMp)</splitterSizes>
|
||||
<type>splitter</type>
|
||||
</splitter>
|
||||
<version>UAVGadgetManagerV1</version>
|
||||
</Mode1>
|
||||
<Mode2>
|
||||
<showToolbars>false</showToolbars>
|
||||
<splitter>
|
||||
<classId>ConfigGadget</classId>
|
||||
<gadget>
|
||||
<activeConfiguration>default</activeConfiguration>
|
||||
</gadget>
|
||||
<type>uavGadget</type>
|
||||
</splitter>
|
||||
<version>UAVGadgetManagerV1</version>
|
||||
</Mode2>
|
||||
<Mode3>
|
||||
<showToolbars>false</showToolbars>
|
||||
<splitter>
|
||||
<side0>
|
||||
<classId>UAVObjectBrowser</classId>
|
||||
<gadget>
|
||||
<activeConfiguration>default</activeConfiguration>
|
||||
</gadget>
|
||||
<type>uavGadget</type>
|
||||
</side0>
|
||||
<side1>
|
||||
<side0>
|
||||
<classId>LoggingGadget</classId>
|
||||
<type>uavGadget</type>
|
||||
</side0>
|
||||
<side1>
|
||||
<classId>GpsDisplayGadget</classId>
|
||||
<gadget>
|
||||
<activeConfiguration>Flight GPS</activeConfiguration>
|
||||
</gadget>
|
||||
<type>uavGadget</type>
|
||||
</side1>
|
||||
<splitterOrientation>2</splitterOrientation>
|
||||
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAAAVAAAAAIAAAGu)</splitterSizes>
|
||||
<type>splitter</type>
|
||||
</side1>
|
||||
<splitterOrientation>1</splitterOrientation>
|
||||
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAACJgAAAAIAAADo)</splitterSizes>
|
||||
<type>splitter</type>
|
||||
</splitter>
|
||||
<version>UAVGadgetManagerV1</version>
|
||||
</Mode3>
|
||||
<Mode4>
|
||||
<showToolbars>false</showToolbars>
|
||||
<splitter>
|
||||
<side0>
|
||||
<side0>
|
||||
<classId>ScopeGadget</classId>
|
||||
<gadget>
|
||||
<activeConfiguration>Accel</activeConfiguration>
|
||||
</gadget>
|
||||
<type>uavGadget</type>
|
||||
</side0>
|
||||
<side1>
|
||||
<classId>ScopeGadget</classId>
|
||||
<gadget>
|
||||
<activeConfiguration>Raw Gyros</activeConfiguration>
|
||||
</gadget>
|
||||
<type>uavGadget</type>
|
||||
</side1>
|
||||
<splitterOrientation>2</splitterOrientation>
|
||||
<splitterSizes>@Variant(AAAACQAAAAA=)</splitterSizes>
|
||||
<type>splitter</type>
|
||||
</side0>
|
||||
<side1>
|
||||
<side0>
|
||||
<classId>ScopeGadget</classId>
|
||||
<gadget>
|
||||
<activeConfiguration>Attitude</activeConfiguration>
|
||||
</gadget>
|
||||
<type>uavGadget</type>
|
||||
</side0>
|
||||
<side1>
|
||||
<classId>ScopeGadget</classId>
|
||||
<gadget>
|
||||
<activeConfiguration>Uptimes</activeConfiguration>
|
||||
</gadget>
|
||||
<type>uavGadget</type>
|
||||
</side1>
|
||||
<splitterOrientation>2</splitterOrientation>
|
||||
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAABhAAAAAIAAAGE)</splitterSizes>
|
||||
<type>splitter</type>
|
||||
</side1>
|
||||
<splitterOrientation>1</splitterOrientation>
|
||||
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAACjQAAAAIAAAKU)</splitterSizes>
|
||||
<type>splitter</type>
|
||||
</splitter>
|
||||
<version>UAVGadgetManagerV1</version>
|
||||
</Mode4>
|
||||
<Mode5>
|
||||
<showToolbars>false</showToolbars>
|
||||
<splitter>
|
||||
<side0>
|
||||
<classId>HITL</classId>
|
||||
<gadget>
|
||||
<activeConfiguration>XPlane HITL</activeConfiguration>
|
||||
</gadget>
|
||||
<type>uavGadget</type>
|
||||
</side0>
|
||||
<side1>
|
||||
<side0>
|
||||
<side0>
|
||||
<classId>PfdQmlGadget</classId>
|
||||
<gadget>
|
||||
<activeConfiguration>NoTerrain</activeConfiguration>
|
||||
</gadget>
|
||||
<type>uavGadget</type>
|
||||
</side0>
|
||||
<side1>
|
||||
<classId>MagicWaypointGadget</classId>
|
||||
<type>uavGadget</type>
|
||||
</side1>
|
||||
<splitterOrientation>1</splitterOrientation>
|
||||
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAAB7wAAAAIAAAGU)</splitterSizes>
|
||||
<type>splitter</type>
|
||||
</side0>
|
||||
<side1>
|
||||
<classId>GCSControlGadget</classId>
|
||||
<gadget>
|
||||
<activeConfiguration>MS Sidewinder</activeConfiguration>
|
||||
</gadget>
|
||||
<type>uavGadget</type>
|
||||
</side1>
|
||||
<splitterOrientation>1</splitterOrientation>
|
||||
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAADhAAAAAIAAAIX)</splitterSizes>
|
||||
<type>splitter</type>
|
||||
</side1>
|
||||
<splitterOrientation>2</splitterOrientation>
|
||||
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAADDAAAAAIAAAJJ)</splitterSizes>
|
||||
<type>splitter</type>
|
||||
</splitter>
|
||||
<version>UAVGadgetManagerV1</version>
|
||||
</Mode5>
|
||||
<Mode6>
|
||||
<showToolbars>false</showToolbars>
|
||||
<splitter>
|
||||
<side0>
|
||||
<classId>Uploader</classId>
|
||||
<gadget>
|
||||
<activeConfiguration>default</activeConfiguration>
|
||||
</gadget>
|
||||
<type>uavGadget</type>
|
||||
</side0>
|
||||
<side1>
|
||||
<side0>
|
||||
<side0>
|
||||
<classId>LineardialGadget</classId>
|
||||
<gadget>
|
||||
<activeConfiguration>Flight Time</activeConfiguration>
|
||||
</gadget>
|
||||
<type>uavGadget</type>
|
||||
</side0>
|
||||
<side1>
|
||||
<classId>SystemHealthGadget</classId>
|
||||
<gadget>
|
||||
<activeConfiguration>default</activeConfiguration>
|
||||
</gadget>
|
||||
<type>uavGadget</type>
|
||||
</side1>
|
||||
<splitterOrientation>1</splitterOrientation>
|
||||
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAABQgAAAAIAAAGM)</splitterSizes>
|
||||
<type>splitter</type>
|
||||
</side0>
|
||||
<side1>
|
||||
<classId>PFDGadget</classId>
|
||||
<gadget>
|
||||
<activeConfiguration>raw</activeConfiguration>
|
||||
</gadget>
|
||||
<type>uavGadget</type>
|
||||
</side1>
|
||||
<splitterOrientation>2</splitterOrientation>
|
||||
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAABLwAAAAIAAAHf)</splitterSizes>
|
||||
<type>splitter</type>
|
||||
</side1>
|
||||
<splitterOrientation>1</splitterOrientation>
|
||||
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAADVQAAAAIAAAJK)</splitterSizes>
|
||||
<type>splitter</type>
|
||||
</splitter>
|
||||
<version>UAVGadgetManagerV1</version>
|
||||
</Mode6>
|
||||
</UAVGadgetManager>
|
||||
<Workspace>
|
||||
<AllowTabBarMovement>false</AllowTabBarMovement>
|
||||
<Icon1>:/core/images/ah.png</Icon1>
|
||||
<Icon10>:/core/images/openpilot_logo_64.png</Icon10>
|
||||
<Icon2>:/core/images/config.png</Icon2>
|
||||
<Icon3>:/core/images/cog.png</Icon3>
|
||||
<Icon4>:/core/images/scopes.png</Icon4>
|
||||
<Icon5>:/core/images/joystick.png</Icon5>
|
||||
<Icon6>:/core/images/cpu.png</Icon6>
|
||||
<Icon7>:/core/images/openpilot_logo_64.png</Icon7>
|
||||
<Icon8>:/core/images/openpilot_logo_64.png</Icon8>
|
||||
<Icon9>:/core/images/openpilot_logo_64.png</Icon9>
|
||||
<NumberOfWorkspaces>6</NumberOfWorkspaces>
|
||||
<TabBarPlacementIndex>1</TabBarPlacementIndex>
|
||||
<Workspace1>Flight data</Workspace1>
|
||||
<Workspace10>Workspace10</Workspace10>
|
||||
<Workspace2>Configuration</Workspace2>
|
||||
<Workspace3>System</Workspace3>
|
||||
<Workspace4>Scopes</Workspace4>
|
||||
<Workspace5>HITL</Workspace5>
|
||||
<Workspace6>Firmware</Workspace6>
|
||||
<Workspace7>Workspace7</Workspace7>
|
||||
<Workspace8>Workspace8</Workspace8>
|
||||
<Workspace9>Workspace9</Workspace9>
|
||||
</Workspace>
|
||||
</gcs>
|
||||
|
@ -165,7 +165,7 @@ void ConfigGadgetWidget::resizeEvent(QResizeEvent *event)
|
||||
}
|
||||
|
||||
void ConfigGadgetWidget::onAutopilotDisconnect() {
|
||||
ftw->setCurrentIndex(ConfigGadgetWidget::hardware);
|
||||
int selectedIndex = ftw->currentIndex();
|
||||
|
||||
QIcon *icon = new QIcon();
|
||||
icon->addFile(":/configgadget/images/ins_normal.png", QSize(), QIcon::Normal, QIcon::Off);
|
||||
@ -181,7 +181,7 @@ void ConfigGadgetWidget::onAutopilotDisconnect() {
|
||||
ftw->removeTab(ConfigGadgetWidget::hardware);
|
||||
ftw->insertTab(ConfigGadgetWidget::hardware, qwd, *icon, QString("Hardware"));
|
||||
|
||||
ftw->setCurrentIndex(ConfigGadgetWidget::hardware);
|
||||
ftw->setCurrentIndex(selectedIndex);
|
||||
|
||||
emit autopilotDisconnected();
|
||||
}
|
||||
@ -194,6 +194,7 @@ void ConfigGadgetWidget::onAutopilotConnect() {
|
||||
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
|
||||
UAVObjectUtilManager* utilMngr = pm->getObject<UAVObjectUtilManager>();
|
||||
if (utilMngr) {
|
||||
int selectedIndex = ftw->currentIndex();
|
||||
int board = utilMngr->getBoardModel();
|
||||
if ((board & 0xff00) == 1024) {
|
||||
// CopterControl family
|
||||
@ -212,7 +213,6 @@ void ConfigGadgetWidget::onAutopilotConnect() {
|
||||
ftw->removeTab(ConfigGadgetWidget::hardware);
|
||||
ftw->insertTab(ConfigGadgetWidget::hardware, qwd, *icon, QString("Hardware"));
|
||||
|
||||
ftw->setCurrentIndex(ConfigGadgetWidget::hardware);
|
||||
} else if ((board & 0xff00) == 0x0900) {
|
||||
// Revolution family
|
||||
|
||||
@ -230,11 +230,11 @@ void ConfigGadgetWidget::onAutopilotConnect() {
|
||||
ftw->removeTab(ConfigGadgetWidget::hardware);
|
||||
ftw->insertTab(ConfigGadgetWidget::hardware, qwd, *icon, QString("Hardware"));
|
||||
|
||||
ftw->setCurrentIndex(ConfigGadgetWidget::hardware);
|
||||
} else {
|
||||
//Unknown board
|
||||
qDebug() << "Unknown board " << board;
|
||||
}
|
||||
ftw->setCurrentIndex(selectedIndex);
|
||||
}
|
||||
emit autopilotConnected();
|
||||
}
|
||||
|
@ -51,7 +51,7 @@
|
||||
</font>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>#1: Magnetometer calibrtion</string>
|
||||
<string>#1: Magnetometer calibration</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
|
@ -1,11 +1,11 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
*
|
||||
* @file cccalibrationutil.cpp
|
||||
* @file biascalibrationutil.cpp
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
|
||||
* @addtogroup
|
||||
* @{
|
||||
* @addtogroup CCCalibrationUtil
|
||||
* @addtogroup BiasCalibrationUtil
|
||||
* @{
|
||||
* @brief
|
||||
*****************************************************************************/
|
||||
@ -25,28 +25,29 @@
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
#include "cccalibrationutil.h"
|
||||
#include "biascalibrationutil.h"
|
||||
#include "extensionsystem/pluginmanager.h"
|
||||
#include "uavobjectmanager.h"
|
||||
#include "attitudesettings.h"
|
||||
#include "accels.h"
|
||||
#include "gyros.h"
|
||||
#include "qdebug.h"
|
||||
|
||||
|
||||
CCCalibrationUtil::CCCalibrationUtil(long measurementCount, long measurementRate) : QObject(),
|
||||
BiasCalibrationUtil::BiasCalibrationUtil(long measurementCount, long measurementRate) : QObject(),
|
||||
m_isMeasuring(false), m_accelMeasurementCount(measurementCount), m_gyroMeasurementCount(measurementCount),
|
||||
m_accelMeasurementRate(measurementRate), m_gyroMeasurementRate(measurementRate)
|
||||
{
|
||||
}
|
||||
|
||||
CCCalibrationUtil::CCCalibrationUtil(long accelMeasurementCount, long accelMeasurementRate,
|
||||
BiasCalibrationUtil::BiasCalibrationUtil(long accelMeasurementCount, long accelMeasurementRate,
|
||||
long gyroMeasurementCount, long gyroMeasurementRate) : QObject(),
|
||||
m_isMeasuring(false), m_accelMeasurementCount(accelMeasurementCount), m_gyroMeasurementCount(gyroMeasurementCount),
|
||||
m_accelMeasurementRate(accelMeasurementRate), m_gyroMeasurementRate(gyroMeasurementRate)
|
||||
{
|
||||
}
|
||||
|
||||
void CCCalibrationUtil::start()
|
||||
void BiasCalibrationUtil::start()
|
||||
{
|
||||
if(!m_isMeasuring) {
|
||||
startMeasurement();
|
||||
@ -58,17 +59,16 @@ void CCCalibrationUtil::start()
|
||||
}
|
||||
}
|
||||
|
||||
void CCCalibrationUtil::abort()
|
||||
void BiasCalibrationUtil::abort()
|
||||
{
|
||||
if(m_isMeasuring) {
|
||||
stopMeasurement();
|
||||
}
|
||||
}
|
||||
|
||||
void CCCalibrationUtil::gyroMeasurementsUpdated(UAVObject *obj)
|
||||
void BiasCalibrationUtil::gyroMeasurementsUpdated(UAVObject *obj)
|
||||
{
|
||||
Q_UNUSED(obj);
|
||||
QMutexLocker locker(&m_measurementMutex);
|
||||
|
||||
if(m_receivedGyroUpdates < m_gyroMeasurementCount) {
|
||||
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
|
||||
@ -88,14 +88,12 @@ void CCCalibrationUtil::gyroMeasurementsUpdated(UAVObject *obj)
|
||||
else if (m_receivedAccelUpdates >= m_accelMeasurementCount &&
|
||||
m_receivedGyroUpdates >= m_gyroMeasurementCount && m_isMeasuring) {
|
||||
stopMeasurement();
|
||||
emit done(calculateLevellingData());
|
||||
}
|
||||
}
|
||||
|
||||
void CCCalibrationUtil::accelMeasurementsUpdated(UAVObject *obj)
|
||||
void BiasCalibrationUtil::accelMeasurementsUpdated(UAVObject *obj)
|
||||
{
|
||||
Q_UNUSED(obj);
|
||||
QMutexLocker locker(&m_measurementMutex);
|
||||
|
||||
if(m_receivedAccelUpdates < m_accelMeasurementCount) {
|
||||
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
|
||||
@ -115,22 +113,17 @@ void CCCalibrationUtil::accelMeasurementsUpdated(UAVObject *obj)
|
||||
else if (m_receivedAccelUpdates >= m_accelMeasurementCount &&
|
||||
m_receivedGyroUpdates >= m_gyroMeasurementCount && m_isMeasuring) {
|
||||
stopMeasurement();
|
||||
emit done(calculateLevellingData());
|
||||
}
|
||||
}
|
||||
|
||||
void CCCalibrationUtil::timeout()
|
||||
void BiasCalibrationUtil::timeout()
|
||||
{
|
||||
QMutexLocker locker(&m_measurementMutex);
|
||||
|
||||
stopMeasurement();
|
||||
emit timeout(tr("Calibration timed out before receiving required updates."));
|
||||
}
|
||||
|
||||
void CCCalibrationUtil::startMeasurement()
|
||||
void BiasCalibrationUtil::startMeasurement()
|
||||
{
|
||||
QMutexLocker locker(&m_measurementMutex);
|
||||
|
||||
m_isMeasuring = true;
|
||||
|
||||
// Reset variables
|
||||
@ -176,8 +169,10 @@ void CCCalibrationUtil::startMeasurement()
|
||||
uavObject->setMetadata(newMetaData);
|
||||
}
|
||||
|
||||
void CCCalibrationUtil::stopMeasurement()
|
||||
void BiasCalibrationUtil::stopMeasurement()
|
||||
{
|
||||
qDebug() << "Sampling done, G =" << m_receivedGyroUpdates << "A =" << m_receivedAccelUpdates;
|
||||
|
||||
m_isMeasuring = false;
|
||||
|
||||
//Stop timeout timer
|
||||
@ -202,18 +197,16 @@ void CCCalibrationUtil::stopMeasurement()
|
||||
AttitudeSettings::DataFields attitudeSettingsData = AttitudeSettings::GetInstance(uavObjectManager)->getData();
|
||||
attitudeSettingsData.BiasCorrectGyro = AttitudeSettings::BIASCORRECTGYRO_TRUE;
|
||||
AttitudeSettings::GetInstance(uavObjectManager)->setData(attitudeSettingsData);
|
||||
}
|
||||
|
||||
accelGyroBias CCCalibrationUtil::calculateLevellingData()
|
||||
{
|
||||
accelGyroBias bias;
|
||||
bias.m_accelerometerXBias = m_accelerometerX / (double)m_receivedAccelUpdates / ACCELERATION_SCALE;
|
||||
bias.m_accelerometerYBias = m_accelerometerY / (double)m_receivedAccelUpdates / ACCELERATION_SCALE;
|
||||
bias.m_accelerometerZBias = (m_accelerometerZ / (double)m_receivedAccelUpdates + G) / ACCELERATION_SCALE;
|
||||
bias.m_accelerometerXBias = m_accelerometerX / (double)m_receivedAccelUpdates;
|
||||
bias.m_accelerometerYBias = m_accelerometerY / (double)m_receivedAccelUpdates;
|
||||
bias.m_accelerometerZBias = m_accelerometerZ / (double)m_receivedAccelUpdates;
|
||||
|
||||
bias.m_gyroXBias = m_gyroX / (double)m_receivedGyroUpdates * 100.0;
|
||||
bias.m_gyroYBias = m_gyroY / (double)m_receivedGyroUpdates * 100.0;
|
||||
bias.m_gyroZBias = m_gyroZ / (double)m_receivedGyroUpdates * 100.0;
|
||||
return bias;
|
||||
bias.m_gyroXBias = m_gyroX / (double)m_receivedGyroUpdates;
|
||||
bias.m_gyroYBias = m_gyroY / (double)m_receivedGyroUpdates;
|
||||
bias.m_gyroZBias = m_gyroZ / (double)m_receivedGyroUpdates;
|
||||
|
||||
qDebug() << "Bias calculations finished";
|
||||
emit done(bias);
|
||||
}
|
||||
|
@ -1,11 +1,11 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
*
|
||||
* @file cccalibrationutil.h
|
||||
* @file biascalibrationutil.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
|
||||
* @addtogroup
|
||||
* @{
|
||||
* @addtogroup CCCalibrationUtil
|
||||
* @addtogroup BiasCalibrationUtil
|
||||
* @{
|
||||
* @brief
|
||||
*****************************************************************************/
|
||||
@ -25,22 +25,21 @@
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
#ifndef CCCALIBRATIONUTIL_H
|
||||
#define CCCALIBRATIONUTIL_H
|
||||
#ifndef BIASCALIBRATIONUTIL_H
|
||||
#define BIASCALIBRATIONUTIL_H
|
||||
|
||||
#include <QObject>
|
||||
#include <QTimer>
|
||||
#include <QMutex>
|
||||
|
||||
#include "uavobject.h"
|
||||
#include "vehicleconfigurationsource.h"
|
||||
|
||||
class CCCalibrationUtil : public QObject
|
||||
class BiasCalibrationUtil : public QObject
|
||||
{
|
||||
Q_OBJECT
|
||||
public:
|
||||
explicit CCCalibrationUtil(long measurementCount, long measurementRate);
|
||||
explicit CCCalibrationUtil(long accelMeasurementCount, long accelMeasurementRate,
|
||||
explicit BiasCalibrationUtil(long measurementCount, long measurementRate);
|
||||
explicit BiasCalibrationUtil(long accelMeasurementCount, long accelMeasurementRate,
|
||||
long gyroMeasurementCount, long gyroMeasurementRate);
|
||||
|
||||
signals:
|
||||
@ -58,10 +57,6 @@ private slots:
|
||||
void timeout();
|
||||
|
||||
private:
|
||||
static const float G = 9.81f;
|
||||
static const float ACCELERATION_SCALE = 0.004f * 9.81f;
|
||||
|
||||
QMutex m_measurementMutex;
|
||||
QTimer m_timeoutTimer;
|
||||
|
||||
bool m_isMeasuring;
|
||||
@ -86,7 +81,6 @@ private:
|
||||
void stop();
|
||||
void startMeasurement();
|
||||
void stopMeasurement();
|
||||
accelGyroBias calculateLevellingData();
|
||||
};
|
||||
|
||||
#endif // CCCALIBRATIONUTIL_H
|
||||
#endif // BIASCALIBRATIONUTIL_H
|
@ -81,10 +81,14 @@ void ConnectionDiagram::setupGraphicsScene()
|
||||
{
|
||||
case VehicleConfigurationSource::CONTROLLER_CC:
|
||||
case VehicleConfigurationSource::CONTROLLER_CC3D:
|
||||
elementsToShow << "controller-cc";
|
||||
break;
|
||||
case VehicleConfigurationSource::CONTROLLER_REVO:
|
||||
elementsToShow << "controller-revo";
|
||||
break;
|
||||
case VehicleConfigurationSource::CONTROLLER_OPLINK:
|
||||
default:
|
||||
elementsToShow << "controller";
|
||||
elementsToShow << "controller-cc";
|
||||
break;
|
||||
}
|
||||
|
||||
|
@ -1,11 +1,11 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
*
|
||||
* @file cccalibrationpage.cpp
|
||||
* @file biascalibrationpage.cpp
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
|
||||
* @addtogroup
|
||||
* @{
|
||||
* @addtogroup CCCalibrationPage
|
||||
* @addtogroup BiasCalibrationPage
|
||||
* @{
|
||||
* @brief
|
||||
*****************************************************************************/
|
||||
@ -27,19 +27,19 @@
|
||||
|
||||
#include <QMessageBox>
|
||||
#include <QDebug>
|
||||
#include "cccalibrationpage.h"
|
||||
#include "ui_cccalibrationpage.h"
|
||||
#include "biascalibrationpage.h"
|
||||
#include "ui_biascalibrationpage.h"
|
||||
#include "setupwizard.h"
|
||||
|
||||
CCCalibrationPage::CCCalibrationPage(SetupWizard *wizard, QWidget *parent) :
|
||||
BiasCalibrationPage::BiasCalibrationPage(SetupWizard *wizard, QWidget *parent) :
|
||||
AbstractWizardPage(wizard, parent),
|
||||
ui(new Ui::CCCalibrationPage), m_calibrationUtil(0)
|
||||
ui(new Ui::BiasCalibrationPage), m_calibrationUtil(0)
|
||||
{
|
||||
ui->setupUi(this);
|
||||
connect(ui->levelButton, SIGNAL(clicked()), this, SLOT(performCalibration()));
|
||||
}
|
||||
|
||||
CCCalibrationPage::~CCCalibrationPage()
|
||||
BiasCalibrationPage::~BiasCalibrationPage()
|
||||
{
|
||||
if(m_calibrationUtil) {
|
||||
delete m_calibrationUtil;
|
||||
@ -47,17 +47,17 @@ CCCalibrationPage::~CCCalibrationPage()
|
||||
delete ui;
|
||||
}
|
||||
|
||||
bool CCCalibrationPage::validatePage()
|
||||
bool BiasCalibrationPage::validatePage()
|
||||
{
|
||||
return true;
|
||||
}
|
||||
|
||||
bool CCCalibrationPage::isComplete() const
|
||||
bool BiasCalibrationPage::isComplete() const
|
||||
{
|
||||
return ui->levelButton->isEnabled();
|
||||
}
|
||||
|
||||
void CCCalibrationPage::enableButtons(bool enable)
|
||||
void BiasCalibrationPage::enableButtons(bool enable)
|
||||
{
|
||||
ui->levelButton->setEnabled(enable);
|
||||
getWizard()->button(QWizard::NextButton)->setEnabled(enable);
|
||||
@ -67,7 +67,7 @@ void CCCalibrationPage::enableButtons(bool enable)
|
||||
QApplication::processEvents();
|
||||
}
|
||||
|
||||
void CCCalibrationPage::performCalibration()
|
||||
void BiasCalibrationPage::performCalibration()
|
||||
{
|
||||
if(!getWizard()->getConnectionManager()->isConnected()) {
|
||||
QMessageBox msgBox;
|
||||
@ -85,7 +85,7 @@ void CCCalibrationPage::performCalibration()
|
||||
|
||||
if(!m_calibrationUtil)
|
||||
{
|
||||
m_calibrationUtil = new CCCalibrationUtil(BIAS_CYCLES, BIAS_RATE);
|
||||
m_calibrationUtil = new BiasCalibrationUtil(BIAS_CYCLES, BIAS_RATE);
|
||||
}
|
||||
|
||||
connect(m_calibrationUtil, SIGNAL(progress(long,long)), this, SLOT(calibrationProgress(long,long)));
|
||||
@ -95,7 +95,7 @@ void CCCalibrationPage::performCalibration()
|
||||
m_calibrationUtil->start();
|
||||
}
|
||||
|
||||
void CCCalibrationPage::calibrationProgress(long current, long total)
|
||||
void BiasCalibrationPage::calibrationProgress(long current, long total)
|
||||
{
|
||||
if(ui->levellinProgressBar->maximum() != (int)total) {
|
||||
ui->levellinProgressBar->setMaximum((int)total);
|
||||
@ -105,14 +105,14 @@ void CCCalibrationPage::calibrationProgress(long current, long total)
|
||||
}
|
||||
}
|
||||
|
||||
void CCCalibrationPage::calibrationDone(accelGyroBias bias)
|
||||
void BiasCalibrationPage::calibrationDone(accelGyroBias bias)
|
||||
{
|
||||
stopCalibration();
|
||||
getWizard()->setLevellingBias(bias);
|
||||
emit completeChanged();
|
||||
}
|
||||
|
||||
void CCCalibrationPage::calibrationTimeout(QString message)
|
||||
void BiasCalibrationPage::calibrationTimeout(QString message)
|
||||
{
|
||||
stopCalibration();
|
||||
|
||||
@ -123,7 +123,7 @@ void CCCalibrationPage::calibrationTimeout(QString message)
|
||||
msgBox.exec();
|
||||
}
|
||||
|
||||
void CCCalibrationPage::stopCalibration()
|
||||
void BiasCalibrationPage::stopCalibration()
|
||||
{
|
||||
if(m_calibrationUtil)
|
||||
{
|
@ -1,11 +1,11 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
*
|
||||
* @file cccalibrationpage.h
|
||||
* @file biascalibrationpage.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
|
||||
* @addtogroup
|
||||
* @{
|
||||
* @addtogroup CCCalibrationPage
|
||||
* @addtogroup BiasCalibrationPage
|
||||
* @{
|
||||
* @brief
|
||||
*****************************************************************************/
|
||||
@ -25,23 +25,23 @@
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
#ifndef CCCALIBRATIONPAGE_H
|
||||
#define CCCALIBRATIONPAGE_H
|
||||
#ifndef BIASCALIBRATIONPAGE_H
|
||||
#define BIASCALIBRATIONPAGE_H
|
||||
|
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#include "abstractwizardpage.h"
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||||
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namespace Ui {
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class CCCalibrationPage;
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class BiasCalibrationPage;
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}
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class CCCalibrationPage : public AbstractWizardPage
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Q_OBJECT
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explicit CCCalibrationPage(SetupWizard *wizard, QWidget *parent = 0);
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~CCCalibrationPage();
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~BiasCalibrationPage();
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bool validatePage();
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bool isComplete() const;
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private:
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CCCalibrationUtil *m_calibrationUtil;
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Ui::BiasCalibrationPage *ui;
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BiasCalibrationUtil *m_calibrationUtil;
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void stopCalibration();
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void enableButtons(bool enable);
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|
||||
style="fill:none;stroke:#dab452;stroke-width:1.5;stroke-linecap:square"
|
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sodipodi:ry="4.9549999"
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sodipodi:rx="4.9549999"
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sodipodi:cy="105.712"
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sodipodi:cx="205.63"
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id="circle8748"
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r="4.9549999"
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cy="105.712"
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cx="205.63" />
|
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</g>
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<g
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id="g8750">
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<circle
|
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d="m 195.585,120.712 c 0,2.73657 -2.21842,4.955 -4.955,4.955 -2.73657,0 -4.955,-2.21843 -4.955,-4.955 0,-2.73657 2.21843,-4.955 4.955,-4.955 2.73658,0 4.955,2.21843 4.955,4.955 z"
|
||||
style="fill:none;stroke:#dab452;stroke-width:1.5;stroke-linecap:square"
|
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sodipodi:ry="4.9549999"
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sodipodi:rx="4.9549999"
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sodipodi:cy="120.712"
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sodipodi:cx="190.63"
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id="circle8752"
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||||
r="4.9549999"
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cy="120.712"
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cx="190.63" />
|
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</g>
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|
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id="g8754">
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<circle
|
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sodipodi:ry="4.9549999"
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sodipodi:rx="4.9549999"
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sodipodi:cy="120.712"
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sodipodi:cx="205.63"
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cy="120.712"
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cx="205.63" />
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</g>
|
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</g>
|
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</g>
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<g
|
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transform="matrix(0.4,0,0,0.4,-39.771291,-134.65788)"
|
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id="quad-x">
|
||||
|
Before Width: | Height: | Size: 360 KiB After Width: | Height: | Size: 483 KiB |
@ -36,7 +36,7 @@
|
||||
#include "pages/surfacepage.h"
|
||||
#include "pages/inputpage.h"
|
||||
#include "pages/outputpage.h"
|
||||
#include "pages/cccalibrationpage.h"
|
||||
#include "pages/biascalibrationpage.h"
|
||||
#include "pages/summarypage.h"
|
||||
#include "pages/savepage.h"
|
||||
#include "pages/notyetimplementedpage.h"
|
||||
@ -118,10 +118,10 @@ int SetupWizard::nextId() const
|
||||
return PAGE_VEHICLES;
|
||||
case PAGE_OUTPUT:
|
||||
return PAGE_SUMMARY;
|
||||
case PAGE_CC_CALIBRATION:
|
||||
return PAGE_OUTPUT_CALIBRATION;
|
||||
case PAGE_REVO_CALIBRATION:
|
||||
case PAGE_BIAS_CALIBRATION:
|
||||
return PAGE_OUTPUT_CALIBRATION;
|
||||
//case PAGE_REVO_CALIBRATION:
|
||||
// return PAGE_OUTPUT_CALIBRATION;
|
||||
case PAGE_OUTPUT_CALIBRATION:
|
||||
return PAGE_SAVE;
|
||||
case PAGE_SUMMARY:
|
||||
@ -130,9 +130,8 @@ int SetupWizard::nextId() const
|
||||
{
|
||||
case CONTROLLER_CC:
|
||||
case CONTROLLER_CC3D:
|
||||
return PAGE_CC_CALIBRATION;
|
||||
case CONTROLLER_REVO:
|
||||
return PAGE_REVO_CALIBRATION;
|
||||
return PAGE_BIAS_CALIBRATION;
|
||||
default:
|
||||
return PAGE_NOTYETIMPLEMENTED;
|
||||
}
|
||||
@ -289,8 +288,8 @@ void SetupWizard::createPages()
|
||||
setPage(PAGE_SURFACE, new SurfacePage(this));
|
||||
setPage(PAGE_INPUT, new InputPage(this));
|
||||
setPage(PAGE_OUTPUT, new OutputPage(this));
|
||||
setPage(PAGE_CC_CALIBRATION, new CCCalibrationPage(this));
|
||||
setPage(PAGE_REVO_CALIBRATION, new RevoCalibrationPage(this));
|
||||
setPage(PAGE_BIAS_CALIBRATION, new BiasCalibrationPage(this));
|
||||
//setPage(PAGE_REVO_CALIBRATION, new RevoCalibrationPage(this));
|
||||
setPage(PAGE_OUTPUT_CALIBRATION, new OutputCalibrationPage(this));
|
||||
setPage(PAGE_SUMMARY, new SummaryPage(this));
|
||||
setPage(PAGE_SAVE, new SavePage(this));
|
||||
|
@ -29,7 +29,7 @@
|
||||
#define SETUPWIZARD_H
|
||||
|
||||
#include <QWizard>
|
||||
#include "cccalibrationutil.h"
|
||||
#include "biascalibrationutil.h"
|
||||
#include <coreplugin/icore.h>
|
||||
#include <coreplugin/connectionmanager.h>
|
||||
#include "vehicleconfigurationsource.h"
|
||||
@ -90,7 +90,7 @@ private slots:
|
||||
void pageChanged(int currId);
|
||||
private:
|
||||
enum {PAGE_START, PAGE_CONTROLLER, PAGE_VEHICLES, PAGE_MULTI, PAGE_FIXEDWING,
|
||||
PAGE_HELI, PAGE_SURFACE, PAGE_INPUT, PAGE_OUTPUT, PAGE_CC_CALIBRATION,
|
||||
PAGE_HELI, PAGE_SURFACE, PAGE_INPUT, PAGE_OUTPUT, PAGE_BIAS_CALIBRATION,
|
||||
PAGE_REVO_CALIBRATION, PAGE_OUTPUT_CALIBRATION, PAGE_SAVE, PAGE_SUMMARY,
|
||||
PAGE_NOTYETIMPLEMENTED, PAGE_REBOOT, PAGE_END, PAGE_UPDATE};
|
||||
void createPages();
|
||||
|
@ -33,9 +33,9 @@ HEADERS += setupwizardplugin.h \
|
||||
pages/rebootpage.h \
|
||||
pages/savepage.h \
|
||||
pages/autoupdatepage.h \
|
||||
pages/cccalibrationpage.h \
|
||||
cccalibrationutil.h \
|
||||
pages/revocalibrationpage.h
|
||||
pages/revocalibrationpage.h \
|
||||
biascalibrationutil.h \
|
||||
pages/biascalibrationpage.h
|
||||
|
||||
SOURCES += setupwizardplugin.cpp \
|
||||
setupwizard.cpp \
|
||||
@ -60,9 +60,9 @@ SOURCES += setupwizardplugin.cpp \
|
||||
pages/rebootpage.cpp \
|
||||
pages/savepage.cpp \
|
||||
pages/autoupdatepage.cpp \
|
||||
pages/cccalibrationpage.cpp \
|
||||
cccalibrationutil.cpp \
|
||||
pages/revocalibrationpage.cpp
|
||||
pages/revocalibrationpage.cpp \
|
||||
biascalibrationutil.cpp \
|
||||
pages/biascalibrationpage.cpp
|
||||
|
||||
OTHER_FILES += SetupWizard.pluginspec
|
||||
|
||||
@ -84,8 +84,8 @@ FORMS += \
|
||||
pages/rebootpage.ui \
|
||||
pages/savepage.ui \
|
||||
pages/autoupdatepage.ui \
|
||||
pages/cccalibrationpage.ui \
|
||||
pages/revocalibrationpage.ui
|
||||
pages/revocalibrationpage.ui \
|
||||
pages/biascalibrationpage.ui
|
||||
|
||||
RESOURCES += \
|
||||
wizardResources.qrc
|
||||
|
@ -34,6 +34,7 @@
|
||||
#include "systemsettings.h"
|
||||
#include "manualcontrolsettings.h"
|
||||
#include "stabilizationsettings.h"
|
||||
#include "revocalibration.h"
|
||||
|
||||
const qint16 VehicleConfigurationHelper::LEGACY_ESC_FREQUENCE = 50;
|
||||
const qint16 VehicleConfigurationHelper::RAPID_ESC_FREQUENCE = 400;
|
||||
@ -64,7 +65,11 @@ bool VehicleConfigurationHelper::setupVehicle(bool save)
|
||||
applyVehicleConfiguration();
|
||||
applyActuatorConfiguration();
|
||||
applyFlighModeConfiguration();
|
||||
applyLevellingConfiguration();
|
||||
|
||||
if(save) {
|
||||
applySensorBiasConfiguration();
|
||||
}
|
||||
|
||||
applyStabilizationConfiguration();
|
||||
applyManualControlDefaults();
|
||||
|
||||
@ -327,25 +332,63 @@ void VehicleConfigurationHelper::applyFlighModeConfiguration()
|
||||
addModifiedObject(controlSettings, tr("Writing flight mode settings"));
|
||||
}
|
||||
|
||||
void VehicleConfigurationHelper::applyLevellingConfiguration()
|
||||
void VehicleConfigurationHelper::applySensorBiasConfiguration()
|
||||
{
|
||||
AttitudeSettings* attitudeSettings = AttitudeSettings::GetInstance(m_uavoManager);
|
||||
Q_ASSERT(attitudeSettings);
|
||||
AttitudeSettings::DataFields data = attitudeSettings->getData();
|
||||
if(m_configSource->isCalibrationPerformed())
|
||||
{
|
||||
accelGyroBias bias = m_configSource->getCalibrationBias();
|
||||
float G = 9.81f;
|
||||
|
||||
data.AccelBias[0] += bias.m_accelerometerXBias;
|
||||
data.AccelBias[1] += bias.m_accelerometerYBias;
|
||||
data.AccelBias[2] += bias.m_accelerometerZBias;
|
||||
data.GyroBias[0] = -bias.m_gyroXBias;
|
||||
data.GyroBias[1] = -bias.m_gyroYBias;
|
||||
data.GyroBias[2] = -bias.m_gyroZBias;
|
||||
switch(m_configSource->getControllerType()) {
|
||||
case VehicleConfigurationSource::CONTROLLER_CC:
|
||||
case VehicleConfigurationSource::CONTROLLER_CC3D:
|
||||
{
|
||||
const float ACCELERATION_SCALE = 0.004f * G;
|
||||
const float GYRO_SCALE = 100.0f;
|
||||
|
||||
AttitudeSettings* copterControlCalibration = AttitudeSettings::GetInstance(m_uavoManager);
|
||||
Q_ASSERT(copterControlCalibration);
|
||||
AttitudeSettings::DataFields data = copterControlCalibration->getData();
|
||||
|
||||
data.AccelTau = DEFAULT_ENABLED_ACCEL_TAU;
|
||||
|
||||
data.AccelBias[AttitudeSettings::ACCELBIAS_X] += bias.m_accelerometerXBias / ACCELERATION_SCALE;
|
||||
data.AccelBias[AttitudeSettings::ACCELBIAS_Y] += bias.m_accelerometerYBias / ACCELERATION_SCALE;
|
||||
data.AccelBias[AttitudeSettings::ACCELBIAS_Z] += (bias.m_accelerometerZBias + G) / ACCELERATION_SCALE;
|
||||
|
||||
data.GyroBias[AttitudeSettings::GYROBIAS_X] = -(bias.m_gyroXBias * GYRO_SCALE);
|
||||
data.GyroBias[AttitudeSettings::GYROBIAS_Y] = -(bias.m_gyroYBias * GYRO_SCALE);
|
||||
data.GyroBias[AttitudeSettings::GYROBIAS_Z] = -(bias.m_gyroZBias * GYRO_SCALE);
|
||||
|
||||
copterControlCalibration->setData(data);
|
||||
addModifiedObject(copterControlCalibration, tr("Writing gyro and accelerometer bias settings"));
|
||||
break;
|
||||
}
|
||||
case VehicleConfigurationSource::CONTROLLER_REVO:
|
||||
{
|
||||
RevoCalibration* revolutionCalibration = RevoCalibration::GetInstance(m_uavoManager);
|
||||
Q_ASSERT(revolutionCalibration);
|
||||
RevoCalibration::DataFields data = revolutionCalibration->getData();
|
||||
|
||||
data.BiasCorrectedRaw = RevoCalibration::BIASCORRECTEDRAW_TRUE;
|
||||
|
||||
data.accel_bias[RevoCalibration::ACCEL_BIAS_X] += bias.m_accelerometerXBias;
|
||||
data.accel_bias[RevoCalibration::ACCEL_BIAS_Y] += bias.m_accelerometerYBias;
|
||||
data.accel_bias[RevoCalibration::ACCEL_BIAS_Z] += bias.m_accelerometerZBias + G;
|
||||
|
||||
data.gyro_bias[RevoCalibration::GYRO_BIAS_X] = bias.m_gyroXBias;
|
||||
data.gyro_bias[RevoCalibration::GYRO_BIAS_Y] = bias.m_gyroYBias;
|
||||
data.gyro_bias[RevoCalibration::GYRO_BIAS_Z] = bias.m_gyroZBias;
|
||||
|
||||
revolutionCalibration->setData(data);
|
||||
addModifiedObject(revolutionCalibration, tr("Writing gyro and accelerometer bias settings"));
|
||||
break;
|
||||
}
|
||||
default:
|
||||
//Something went terribly wrong.
|
||||
break;
|
||||
}
|
||||
}
|
||||
data.AccelTau = DEFAULT_ENABLED_ACCEL_TAU;
|
||||
attitudeSettings->setData(data);
|
||||
addModifiedObject(attitudeSettings, tr("Writing gyro and accelerometer bias settings"));
|
||||
}
|
||||
|
||||
void VehicleConfigurationHelper::applyStabilizationConfiguration()
|
||||
|
@ -81,7 +81,7 @@ private:
|
||||
void applyVehicleConfiguration();
|
||||
void applyActuatorConfiguration();
|
||||
void applyFlighModeConfiguration();
|
||||
void applyLevellingConfiguration();
|
||||
void applySensorBiasConfiguration();
|
||||
void applyStabilizationConfiguration();
|
||||
void applyManualControlDefaults();
|
||||
|
||||
|
@ -153,7 +153,7 @@ ASFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(base
|
||||
# -Map: create map file
|
||||
# --cref: add cross reference to map file
|
||||
LDFLAGS += -nostartfiles
|
||||
LDFLAGS += -Wl,--warn-common,--fatal-warnings,--gc-sections
|
||||
LDFLAGS += -Wl,--warn-common,--fatal-warnings,--sort-common,--sort-section=alignment,--gc-sections
|
||||
LDFLAGS += -Wl,-Map=$(OUTDIR)/$(TARGET).map,--cref
|
||||
LDFLAGS += $(patsubst %,-L%,$(EXTRA_LIBDIRS))
|
||||
LDFLAGS += $(patsubst %,-l%,$(EXTRA_LIBS))
|
||||
|
@ -1,14 +1,14 @@
|
||||
# Doxyfile 1.6.2
|
||||
# Doxyfile 1.8.3.1
|
||||
|
||||
# This file describes the settings to be used by the documentation system
|
||||
# doxygen (www.doxygen.org) for a project
|
||||
# doxygen (www.doxygen.org) for a project.
|
||||
#
|
||||
# All text after a hash (#) is considered a comment and will be ignored
|
||||
# All text after a hash (#) is considered a comment and will be ignored.
|
||||
# The format is:
|
||||
# TAG = value [value, ...]
|
||||
# For lists items can also be appended using:
|
||||
# TAG += value [value, ...]
|
||||
# Values that contain spaces should be placed between quotes (" ")
|
||||
# Values that contain spaces should be placed between quotes (" ").
|
||||
|
||||
#---------------------------------------------------------------------------
|
||||
# Project related configuration options
|
||||
@ -22,10 +22,11 @@
|
||||
|
||||
DOXYFILE_ENCODING = UTF-8
|
||||
|
||||
# The PROJECT_NAME tag is a single word (or a sequence of words surrounded
|
||||
# by quotes) that should identify the project.
|
||||
# The PROJECT_NAME tag is a single word (or sequence of words) that should
|
||||
# identify the project. Note that if you do not use Doxywizard you need
|
||||
# to put quotes around the project name if it contains spaces.
|
||||
|
||||
PROJECT_NAME = OpenPilot
|
||||
PROJECT_NAME = "The OpenPilot Project"
|
||||
|
||||
# The PROJECT_NUMBER tag can be used to enter a project or revision number.
|
||||
# This could be handy for archiving the generated documentation or
|
||||
@ -33,12 +34,25 @@ PROJECT_NAME = OpenPilot
|
||||
|
||||
PROJECT_NUMBER =
|
||||
|
||||
# Using the PROJECT_BRIEF tag one can provide an optional one line description
|
||||
# for a project that appears at the top of each page and should give viewer
|
||||
# a quick idea about the purpose of the project. Keep the description short.
|
||||
|
||||
PROJECT_BRIEF = "Firmware source code documentation"
|
||||
|
||||
# With the PROJECT_LOGO tag one can specify an logo or icon that is
|
||||
# included in the documentation. The maximum height of the logo should not
|
||||
# exceed 55 pixels and the maximum width should not exceed 200 pixels.
|
||||
# Doxygen will copy the logo to the output directory.
|
||||
|
||||
PROJECT_LOGO =
|
||||
|
||||
# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute)
|
||||
# base path where the generated documentation will be put.
|
||||
# If a relative path is entered, it will be relative to the location
|
||||
# where doxygen was started. If left blank the current directory will be used.
|
||||
|
||||
OUTPUT_DIRECTORY = build/docs/
|
||||
OUTPUT_DIRECTORY = build/docs/flight/
|
||||
|
||||
# If the CREATE_SUBDIRS tag is set to YES, then doxygen will create
|
||||
# 4096 sub-directories (in 2 levels) under the output directory of each output
|
||||
@ -57,7 +71,7 @@ CREATE_SUBDIRS = NO
|
||||
# Croatian, Czech, Danish, Dutch, Esperanto, Farsi, Finnish, French, German,
|
||||
# Greek, Hungarian, Italian, Japanese, Japanese-en (Japanese with English
|
||||
# messages), Korean, Korean-en, Lithuanian, Norwegian, Macedonian, Persian,
|
||||
# Polish, Portuguese, Romanian, Russian, Serbian, Serbian-Cyrilic, Slovak,
|
||||
# Polish, Portuguese, Romanian, Russian, Serbian, Serbian-Cyrillic, Slovak,
|
||||
# Slovene, Spanish, Swedish, Ukrainian, and Vietnamese.
|
||||
|
||||
OUTPUT_LANGUAGE = English
|
||||
@ -112,7 +126,9 @@ FULL_PATH_NAMES = YES
|
||||
# only done if one of the specified strings matches the left-hand part of
|
||||
# the path. The tag can be used to show relative paths in the file list.
|
||||
# If left blank the directory from which doxygen is run is used as the
|
||||
# path to strip.
|
||||
# path to strip. Note that you specify absolute paths here, but also
|
||||
# relative paths, which will be relative from the directory where doxygen is
|
||||
# started.
|
||||
|
||||
STRIP_FROM_PATH =
|
||||
|
||||
@ -126,7 +142,7 @@ STRIP_FROM_PATH =
|
||||
STRIP_FROM_INC_PATH =
|
||||
|
||||
# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter
|
||||
# (but less readable) file names. This can be useful is your file systems
|
||||
# (but less readable) file names. This can be useful if your file system
|
||||
# doesn't support long names like on DOS, Mac, or CD-ROM.
|
||||
|
||||
SHORT_NAMES = NO
|
||||
@ -181,6 +197,13 @@ TAB_SIZE = 8
|
||||
|
||||
ALIASES =
|
||||
|
||||
# This tag can be used to specify a number of word-keyword mappings (TCL only).
|
||||
# A mapping has the form "name=value". For example adding
|
||||
# "class=itcl::class" will allow you to use the command class in the
|
||||
# itcl::class meaning.
|
||||
|
||||
TCL_SUBST =
|
||||
|
||||
# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C
|
||||
# sources only. Doxygen will then generate output that is more tailored for C.
|
||||
# For instance, some of the names that are used will be different. The list
|
||||
@ -207,22 +230,40 @@ OPTIMIZE_FOR_FORTRAN = NO
|
||||
|
||||
OPTIMIZE_OUTPUT_VHDL = NO
|
||||
|
||||
# Doxygen selects the parser to use depending on the extension of the files it parses.
|
||||
# With this tag you can assign which parser to use for a given extension.
|
||||
# Doxygen has a built-in mapping, but you can override or extend it using this tag.
|
||||
# The format is ext=language, where ext is a file extension, and language is one of
|
||||
# the parsers supported by doxygen: IDL, Java, Javascript, C#, C, C++, D, PHP,
|
||||
# Objective-C, Python, Fortran, VHDL, C, C++. For instance to make doxygen treat
|
||||
# .inc files as Fortran files (default is PHP), and .f files as C (default is Fortran),
|
||||
# use: inc=Fortran f=C. Note that for custom extensions you also need to set FILE_PATTERNS otherwise the files are not read by doxygen.
|
||||
# Doxygen selects the parser to use depending on the extension of the files it
|
||||
# parses. With this tag you can assign which parser to use for a given
|
||||
# extension. Doxygen has a built-in mapping, but you can override or extend it
|
||||
# using this tag. The format is ext=language, where ext is a file extension,
|
||||
# and language is one of the parsers supported by doxygen: IDL, Java,
|
||||
# Javascript, CSharp, C, C++, D, PHP, Objective-C, Python, Fortran, VHDL, C,
|
||||
# C++. For instance to make doxygen treat .inc files as Fortran files (default
|
||||
# is PHP), and .f files as C (default is Fortran), use: inc=Fortran f=C. Note
|
||||
# that for custom extensions you also need to set FILE_PATTERNS otherwise the
|
||||
# files are not read by doxygen.
|
||||
|
||||
EXTENSION_MAPPING =
|
||||
|
||||
# If MARKDOWN_SUPPORT is enabled (the default) then doxygen pre-processes all
|
||||
# comments according to the Markdown format, which allows for more readable
|
||||
# documentation. See http://daringfireball.net/projects/markdown/ for details.
|
||||
# The output of markdown processing is further processed by doxygen, so you
|
||||
# can mix doxygen, HTML, and XML commands with Markdown formatting.
|
||||
# Disable only in case of backward compatibilities issues.
|
||||
|
||||
MARKDOWN_SUPPORT = YES
|
||||
|
||||
# When enabled doxygen tries to link words that correspond to documented classes,
|
||||
# or namespaces to their corresponding documentation. Such a link can be
|
||||
# prevented in individual cases by by putting a % sign in front of the word or
|
||||
# globally by setting AUTOLINK_SUPPORT to NO.
|
||||
|
||||
AUTOLINK_SUPPORT = YES
|
||||
|
||||
# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want
|
||||
# to include (a tag file for) the STL sources as input, then you should
|
||||
# set this tag to YES in order to let doxygen match functions declarations and
|
||||
# definitions whose arguments contain STL classes (e.g. func(std::string); v.s.
|
||||
# func(std::string) {}). This also make the inheritance and collaboration
|
||||
# func(std::string) {}). This also makes the inheritance and collaboration
|
||||
# diagrams that involve STL classes more complete and accurate.
|
||||
|
||||
BUILTIN_STL_SUPPORT = NO
|
||||
@ -238,10 +279,10 @@ CPP_CLI_SUPPORT = NO
|
||||
|
||||
SIP_SUPPORT = NO
|
||||
|
||||
# For Microsoft's IDL there are propget and propput attributes to indicate getter
|
||||
# and setter methods for a property. Setting this option to YES (the default)
|
||||
# will make doxygen to replace the get and set methods by a property in the
|
||||
# documentation. This will only work if the methods are indeed getting or
|
||||
# For Microsoft's IDL there are propget and propput attributes to indicate
|
||||
# getter and setter methods for a property. Setting this option to YES (the
|
||||
# default) will make doxygen replace the get and set methods by a property in
|
||||
# the documentation. This will only work if the methods are indeed getting or
|
||||
# setting a simple type. If this is not the case, or you want to show the
|
||||
# methods anyway, you should set this option to NO.
|
||||
|
||||
@ -262,6 +303,22 @@ DISTRIBUTE_GROUP_DOC = NO
|
||||
|
||||
SUBGROUPING = YES
|
||||
|
||||
# When the INLINE_GROUPED_CLASSES tag is set to YES, classes, structs and
|
||||
# unions are shown inside the group in which they are included (e.g. using
|
||||
# @ingroup) instead of on a separate page (for HTML and Man pages) or
|
||||
# section (for LaTeX and RTF).
|
||||
|
||||
INLINE_GROUPED_CLASSES = NO
|
||||
|
||||
# When the INLINE_SIMPLE_STRUCTS tag is set to YES, structs, classes, and
|
||||
# unions with only public data fields will be shown inline in the documentation
|
||||
# of the scope in which they are defined (i.e. file, namespace, or group
|
||||
# documentation), provided this scope is documented. If set to NO (the default),
|
||||
# structs, classes, and unions are shown on a separate page (for HTML and Man
|
||||
# pages) or section (for LaTeX and RTF).
|
||||
|
||||
INLINE_SIMPLE_STRUCTS = NO
|
||||
|
||||
# When TYPEDEF_HIDES_STRUCT is enabled, a typedef of a struct, union, or enum
|
||||
# is documented as struct, union, or enum with the name of the typedef. So
|
||||
# typedef struct TypeS {} TypeT, will appear in the documentation as a struct
|
||||
@ -278,16 +335,27 @@ TYPEDEF_HIDES_STRUCT = NO
|
||||
# For small to medium size projects (<1000 input files) the default value is
|
||||
# probably good enough. For larger projects a too small cache size can cause
|
||||
# doxygen to be busy swapping symbols to and from disk most of the time
|
||||
# causing a significant performance penality.
|
||||
# causing a significant performance penalty.
|
||||
# If the system has enough physical memory increasing the cache will improve the
|
||||
# performance by keeping more symbols in memory. Note that the value works on
|
||||
# a logarithmic scale so increasing the size by one will rougly double the
|
||||
# a logarithmic scale so increasing the size by one will roughly double the
|
||||
# memory usage. The cache size is given by this formula:
|
||||
# 2^(16+SYMBOL_CACHE_SIZE). The valid range is 0..9, the default is 0,
|
||||
# corresponding to a cache size of 2^16 = 65536 symbols
|
||||
# corresponding to a cache size of 2^16 = 65536 symbols.
|
||||
|
||||
SYMBOL_CACHE_SIZE = 0
|
||||
|
||||
# Similar to the SYMBOL_CACHE_SIZE the size of the symbol lookup cache can be
|
||||
# set using LOOKUP_CACHE_SIZE. This cache is used to resolve symbols given
|
||||
# their name and scope. Since this can be an expensive process and often the
|
||||
# same symbol appear multiple times in the code, doxygen keeps a cache of
|
||||
# pre-resolved symbols. If the cache is too small doxygen will become slower.
|
||||
# If the cache is too large, memory is wasted. The cache size is given by this
|
||||
# formula: 2^(16+LOOKUP_CACHE_SIZE). The valid range is 0..9, the default is 0,
|
||||
# corresponding to a cache size of 2^16 = 65536 symbols.
|
||||
|
||||
LOOKUP_CACHE_SIZE = 0
|
||||
|
||||
#---------------------------------------------------------------------------
|
||||
# Build related configuration options
|
||||
#---------------------------------------------------------------------------
|
||||
@ -304,6 +372,11 @@ EXTRACT_ALL = NO
|
||||
|
||||
EXTRACT_PRIVATE = NO
|
||||
|
||||
# If the EXTRACT_PACKAGE tag is set to YES all members with package or internal
|
||||
# scope will be included in the documentation.
|
||||
|
||||
EXTRACT_PACKAGE = NO
|
||||
|
||||
# If the EXTRACT_STATIC tag is set to YES all static members of a file
|
||||
# will be included in the documentation.
|
||||
|
||||
@ -326,7 +399,7 @@ EXTRACT_LOCAL_METHODS = NO
|
||||
# extracted and appear in the documentation as a namespace called
|
||||
# 'anonymous_namespace{file}', where file will be replaced with the base
|
||||
# name of the file that contains the anonymous namespace. By default
|
||||
# anonymous namespace are hidden.
|
||||
# anonymous namespaces are hidden.
|
||||
|
||||
EXTRACT_ANON_NSPACES = NO
|
||||
|
||||
@ -411,7 +484,13 @@ SORT_MEMBER_DOCS = YES
|
||||
|
||||
SORT_BRIEF_DOCS = NO
|
||||
|
||||
# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen will sort the (brief and detailed) documentation of class members so that constructors and destructors are listed first. If set to NO (the default) the constructors will appear in the respective orders defined by SORT_MEMBER_DOCS and SORT_BRIEF_DOCS. This tag will be ignored for brief docs if SORT_BRIEF_DOCS is set to NO and ignored for detailed docs if SORT_MEMBER_DOCS is set to NO.
|
||||
# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen
|
||||
# will sort the (brief and detailed) documentation of class members so that
|
||||
# constructors and destructors are listed first. If set to NO (the default)
|
||||
# the constructors will appear in the respective orders defined by
|
||||
# SORT_MEMBER_DOCS and SORT_BRIEF_DOCS.
|
||||
# This tag will be ignored for brief docs if SORT_BRIEF_DOCS is set to NO
|
||||
# and ignored for detailed docs if SORT_MEMBER_DOCS is set to NO.
|
||||
|
||||
SORT_MEMBERS_CTORS_1ST = NO
|
||||
|
||||
@ -431,6 +510,15 @@ SORT_GROUP_NAMES = NO
|
||||
|
||||
SORT_BY_SCOPE_NAME = NO
|
||||
|
||||
# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to
|
||||
# do proper type resolution of all parameters of a function it will reject a
|
||||
# match between the prototype and the implementation of a member function even
|
||||
# if there is only one candidate or it is obvious which candidate to choose
|
||||
# by doing a simple string match. By disabling STRICT_PROTO_MATCHING doxygen
|
||||
# will still accept a match between prototype and implementation in such cases.
|
||||
|
||||
STRICT_PROTO_MATCHING = NO
|
||||
|
||||
# The GENERATE_TODOLIST tag can be used to enable (YES) or
|
||||
# disable (NO) the todo list. This list is created by putting \todo
|
||||
# commands in the documentation.
|
||||
@ -456,15 +544,16 @@ GENERATE_BUGLIST = YES
|
||||
GENERATE_DEPRECATEDLIST= YES
|
||||
|
||||
# The ENABLED_SECTIONS tag can be used to enable conditional
|
||||
# documentation sections, marked by \if sectionname ... \endif.
|
||||
# documentation sections, marked by \if section-label ... \endif
|
||||
# and \cond section-label ... \endcond blocks.
|
||||
|
||||
ENABLED_SECTIONS =
|
||||
|
||||
# The MAX_INITIALIZER_LINES tag determines the maximum number of lines
|
||||
# the initial value of a variable or define consists of for it to appear in
|
||||
# the initial value of a variable or macro consists of for it to appear in
|
||||
# the documentation. If the initializer consists of more lines than specified
|
||||
# here it will be hidden. Use a value of 0 to hide initializers completely.
|
||||
# The appearance of the initializer of individual variables and defines in the
|
||||
# The appearance of the initializer of individual variables and macros in the
|
||||
# documentation can be controlled using \showinitializer or \hideinitializer
|
||||
# command in the documentation regardless of this setting.
|
||||
|
||||
@ -476,12 +565,6 @@ MAX_INITIALIZER_LINES = 30
|
||||
|
||||
SHOW_USED_FILES = YES
|
||||
|
||||
# If the sources in your project are distributed over multiple directories
|
||||
# then setting the SHOW_DIRECTORIES tag to YES will show the directory hierarchy
|
||||
# in the documentation. The default is NO.
|
||||
|
||||
SHOW_DIRECTORIES = NO
|
||||
|
||||
# Set the SHOW_FILES tag to NO to disable the generation of the Files page.
|
||||
# This will remove the Files entry from the Quick Index and from the
|
||||
# Folder Tree View (if specified). The default is YES.
|
||||
@ -505,15 +588,26 @@ SHOW_NAMESPACES = YES
|
||||
|
||||
FILE_VERSION_FILTER =
|
||||
|
||||
# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed by
|
||||
# doxygen. The layout file controls the global structure of the generated output files
|
||||
# in an output format independent way. The create the layout file that represents
|
||||
# doxygen's defaults, run doxygen with the -l option. You can optionally specify a
|
||||
# file name after the option, if omitted DoxygenLayout.xml will be used as the name
|
||||
# of the layout file.
|
||||
# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed
|
||||
# by doxygen. The layout file controls the global structure of the generated
|
||||
# output files in an output format independent way. To create the layout file
|
||||
# that represents doxygen's defaults, run doxygen with the -l option.
|
||||
# You can optionally specify a file name after the option, if omitted
|
||||
# DoxygenLayout.xml will be used as the name of the layout file.
|
||||
|
||||
LAYOUT_FILE =
|
||||
|
||||
# The CITE_BIB_FILES tag can be used to specify one or more bib files
|
||||
# containing the references data. This must be a list of .bib files. The
|
||||
# .bib extension is automatically appended if omitted. Using this command
|
||||
# requires the bibtex tool to be installed. See also
|
||||
# http://en.wikipedia.org/wiki/BibTeX for more info. For LaTeX the style
|
||||
# of the bibliography can be controlled using LATEX_BIB_STYLE. To use this
|
||||
# feature you need bibtex and perl available in the search path. Do not use
|
||||
# file names with spaces, bibtex cannot handle them.
|
||||
|
||||
CITE_BIB_FILES =
|
||||
|
||||
#---------------------------------------------------------------------------
|
||||
# configuration options related to warning and progress messages
|
||||
#---------------------------------------------------------------------------
|
||||
@ -542,7 +636,7 @@ WARN_IF_UNDOCUMENTED = YES
|
||||
|
||||
WARN_IF_DOC_ERROR = YES
|
||||
|
||||
# This WARN_NO_PARAMDOC option can be abled to get warnings for
|
||||
# The WARN_NO_PARAMDOC option can be enabled to get warnings for
|
||||
# functions that are documented, but have no documentation for their parameters
|
||||
# or return value. If set to NO (the default) doxygen will only warn about
|
||||
# wrong or incomplete parameter documentation, but not about the absence of
|
||||
@ -574,7 +668,7 @@ WARN_LOGFILE =
|
||||
# directories like "/usr/src/myproject". Separate the files or directories
|
||||
# with spaces.
|
||||
|
||||
INPUT = flight ground
|
||||
INPUT = flight
|
||||
|
||||
# This tag can be used to specify the character encoding of the source files
|
||||
# that doxygen parses. Internally doxygen uses the UTF-8 encoding, which is
|
||||
@ -588,8 +682,9 @@ INPUT_ENCODING = UTF-8
|
||||
# FILE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp
|
||||
# and *.h) to filter out the source-files in the directories. If left
|
||||
# blank the following patterns are tested:
|
||||
# *.c *.cc *.cxx *.cpp *.c++ *.java *.ii *.ixx *.ipp *.i++ *.inl *.h *.hh *.hxx
|
||||
# *.hpp *.h++ *.idl *.odl *.cs *.php *.php3 *.inc *.m *.mm *.py *.f90
|
||||
# *.c *.cc *.cxx *.cpp *.c++ *.d *.java *.ii *.ixx *.ipp *.i++ *.inl *.h *.hh
|
||||
# *.hxx *.hpp *.h++ *.idl *.odl *.cs *.php *.php3 *.inc *.m *.mm *.dox *.py
|
||||
# *.f90 *.f *.for *.vhd *.vhdl
|
||||
|
||||
FILE_PATTERNS =
|
||||
|
||||
@ -599,14 +694,16 @@ FILE_PATTERNS =
|
||||
|
||||
RECURSIVE = YES
|
||||
|
||||
# The EXCLUDE tag can be used to specify files and/or directories that should
|
||||
# The EXCLUDE tag can be used to specify files and/or directories that should be
|
||||
# excluded from the INPUT source files. This way you can easily exclude a
|
||||
# subdirectory from a directory tree whose root is specified with the INPUT tag.
|
||||
# Note that relative paths are relative to the directory from which doxygen is
|
||||
# run.
|
||||
|
||||
EXCLUDE = .svn
|
||||
EXCLUDE =
|
||||
|
||||
# The EXCLUDE_SYMLINKS tag can be used select whether or not files or
|
||||
# directories that are symbolic links (a Unix filesystem feature) are excluded
|
||||
# The EXCLUDE_SYMLINKS tag can be used to select whether or not files or
|
||||
# directories that are symbolic links (a Unix file system feature) are excluded
|
||||
# from the input.
|
||||
|
||||
EXCLUDE_SYMLINKS = NO
|
||||
@ -670,8 +767,8 @@ INPUT_FILTER =
|
||||
# filter if there is a match.
|
||||
# The filters are a list of the form:
|
||||
# pattern=filter (like *.cpp=my_cpp_filter). See INPUT_FILTER for further
|
||||
# info on how filters are used. If FILTER_PATTERNS is empty, INPUT_FILTER
|
||||
# is applied to all files.
|
||||
# info on how filters are used. If FILTER_PATTERNS is empty or if
|
||||
# non of the patterns match the file name, INPUT_FILTER is applied.
|
||||
|
||||
FILTER_PATTERNS =
|
||||
|
||||
@ -681,6 +778,21 @@ FILTER_PATTERNS =
|
||||
|
||||
FILTER_SOURCE_FILES = NO
|
||||
|
||||
# The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file
|
||||
# pattern. A pattern will override the setting for FILTER_PATTERN (if any)
|
||||
# and it is also possible to disable source filtering for a specific pattern
|
||||
# using *.ext= (so without naming a filter). This option only has effect when
|
||||
# FILTER_SOURCE_FILES is enabled.
|
||||
|
||||
FILTER_SOURCE_PATTERNS =
|
||||
|
||||
# If the USE_MD_FILE_AS_MAINPAGE tag refers to the name of a markdown file that
|
||||
# is part of the input, its contents will be placed on the main page (index.html).
|
||||
# This can be useful if you have a project on for instance GitHub and want reuse
|
||||
# the introduction page also for the doxygen output.
|
||||
|
||||
USE_MDFILE_AS_MAINPAGE =
|
||||
|
||||
#---------------------------------------------------------------------------
|
||||
# configuration options related to source browsing
|
||||
#---------------------------------------------------------------------------
|
||||
@ -690,7 +802,7 @@ FILTER_SOURCE_FILES = NO
|
||||
# Note: To get rid of all source code in the generated output, make sure also
|
||||
# VERBATIM_HEADERS is set to NO.
|
||||
|
||||
SOURCE_BROWSER = NO
|
||||
SOURCE_BROWSER = YES
|
||||
|
||||
# Setting the INLINE_SOURCES tag to YES will include the body
|
||||
# of functions and classes directly in the documentation.
|
||||
@ -699,7 +811,7 @@ INLINE_SOURCES = NO
|
||||
|
||||
# Setting the STRIP_CODE_COMMENTS tag to YES (the default) will instruct
|
||||
# doxygen to hide any special comment blocks from generated source code
|
||||
# fragments. Normal C and C++ comments will always remain visible.
|
||||
# fragments. Normal C, C++ and Fortran comments will always remain visible.
|
||||
|
||||
STRIP_CODE_COMMENTS = YES
|
||||
|
||||
@ -745,7 +857,7 @@ VERBATIM_HEADERS = YES
|
||||
# of all compounds will be generated. Enable this if the project
|
||||
# contains a lot of classes, structs, unions or interfaces.
|
||||
|
||||
ALPHABETICAL_INDEX = NO
|
||||
ALPHABETICAL_INDEX = YES
|
||||
|
||||
# If the alphabetical index is enabled (see ALPHABETICAL_INDEX) then
|
||||
# the COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns
|
||||
@ -783,7 +895,14 @@ HTML_FILE_EXTENSION = .html
|
||||
|
||||
# The HTML_HEADER tag can be used to specify a personal HTML header for
|
||||
# each generated HTML page. If it is left blank doxygen will generate a
|
||||
# standard header.
|
||||
# standard header. Note that when using a custom header you are responsible
|
||||
# for the proper inclusion of any scripts and style sheets that doxygen
|
||||
# needs, which is dependent on the configuration options used.
|
||||
# It is advised to generate a default header using "doxygen -w html
|
||||
# header.html footer.html stylesheet.css YourConfigFile" and then modify
|
||||
# that header. Note that the header is subject to change so you typically
|
||||
# have to redo this when upgrading to a newer version of doxygen or when
|
||||
# changing the value of configuration settings such as GENERATE_TREEVIEW!
|
||||
|
||||
HTML_HEADER =
|
||||
|
||||
@ -795,33 +914,80 @@ HTML_FOOTER =
|
||||
|
||||
# The HTML_STYLESHEET tag can be used to specify a user-defined cascading
|
||||
# style sheet that is used by each HTML page. It can be used to
|
||||
# fine-tune the look of the HTML output. If the tag is left blank doxygen
|
||||
# will generate a default style sheet. Note that doxygen will try to copy
|
||||
# the style sheet file to the HTML output directory, so don't put your own
|
||||
# stylesheet in the HTML output directory as well, or it will be erased!
|
||||
# fine-tune the look of the HTML output. If left blank doxygen will
|
||||
# generate a default style sheet. Note that it is recommended to use
|
||||
# HTML_EXTRA_STYLESHEET instead of this one, as it is more robust and this
|
||||
# tag will in the future become obsolete.
|
||||
|
||||
HTML_STYLESHEET =
|
||||
|
||||
# The HTML_EXTRA_STYLESHEET tag can be used to specify an additional
|
||||
# user-defined cascading style sheet that is included after the standard
|
||||
# style sheets created by doxygen. Using this option one can overrule
|
||||
# certain style aspects. This is preferred over using HTML_STYLESHEET
|
||||
# since it does not replace the standard style sheet and is therefor more
|
||||
# robust against future updates. Doxygen will copy the style sheet file to
|
||||
# the output directory.
|
||||
|
||||
HTML_EXTRA_STYLESHEET =
|
||||
|
||||
# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or
|
||||
# other source files which should be copied to the HTML output directory. Note
|
||||
# that these files will be copied to the base HTML output directory. Use the
|
||||
# $relpath$ marker in the HTML_HEADER and/or HTML_FOOTER files to load these
|
||||
# files. In the HTML_STYLESHEET file, use the file name only. Also note that
|
||||
# the files will be copied as-is; there are no commands or markers available.
|
||||
|
||||
HTML_EXTRA_FILES =
|
||||
|
||||
# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output.
|
||||
# Doxygen will adjust the colors in the style sheet and background images
|
||||
# according to this color. Hue is specified as an angle on a colorwheel,
|
||||
# see http://en.wikipedia.org/wiki/Hue for more information.
|
||||
# For instance the value 0 represents red, 60 is yellow, 120 is green,
|
||||
# 180 is cyan, 240 is blue, 300 purple, and 360 is red again.
|
||||
# The allowed range is 0 to 359.
|
||||
|
||||
HTML_COLORSTYLE_HUE = 220
|
||||
|
||||
# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of
|
||||
# the colors in the HTML output. For a value of 0 the output will use
|
||||
# grayscales only. A value of 255 will produce the most vivid colors.
|
||||
|
||||
HTML_COLORSTYLE_SAT = 100
|
||||
|
||||
# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to
|
||||
# the luminance component of the colors in the HTML output. Values below
|
||||
# 100 gradually make the output lighter, whereas values above 100 make
|
||||
# the output darker. The value divided by 100 is the actual gamma applied,
|
||||
# so 80 represents a gamma of 0.8, The value 220 represents a gamma of 2.2,
|
||||
# and 100 does not change the gamma.
|
||||
|
||||
HTML_COLORSTYLE_GAMMA = 80
|
||||
|
||||
# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML
|
||||
# page will contain the date and time when the page was generated. Setting
|
||||
# this to NO can help when comparing the output of multiple runs.
|
||||
|
||||
HTML_TIMESTAMP = NO
|
||||
|
||||
# If the HTML_ALIGN_MEMBERS tag is set to YES, the members of classes,
|
||||
# files or namespaces will be aligned in HTML using tables. If set to
|
||||
# NO a bullet list will be used.
|
||||
|
||||
HTML_ALIGN_MEMBERS = YES
|
||||
HTML_TIMESTAMP = YES
|
||||
|
||||
# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML
|
||||
# documentation will contain sections that can be hidden and shown after the
|
||||
# page has loaded. For this to work a browser that supports
|
||||
# JavaScript and DHTML is required (for instance Mozilla 1.0+, Firefox
|
||||
# Netscape 6.0+, Internet explorer 5.0+, Konqueror, or Safari).
|
||||
# page has loaded.
|
||||
|
||||
HTML_DYNAMIC_SECTIONS = NO
|
||||
|
||||
# With HTML_INDEX_NUM_ENTRIES one can control the preferred number of
|
||||
# entries shown in the various tree structured indices initially; the user
|
||||
# can expand and collapse entries dynamically later on. Doxygen will expand
|
||||
# the tree to such a level that at most the specified number of entries are
|
||||
# visible (unless a fully collapsed tree already exceeds this amount).
|
||||
# So setting the number of entries 1 will produce a full collapsed tree by
|
||||
# default. 0 is a special value representing an infinite number of entries
|
||||
# and will result in a full expanded tree by default.
|
||||
|
||||
HTML_INDEX_NUM_ENTRIES = 100
|
||||
|
||||
# If the GENERATE_DOCSET tag is set to YES, additional index files
|
||||
# will be generated that can be used as input for Apple's Xcode 3
|
||||
# integrated development environment, introduced with OSX 10.5 (Leopard).
|
||||
@ -830,7 +996,8 @@ HTML_DYNAMIC_SECTIONS = NO
|
||||
# directory and running "make install" will install the docset in
|
||||
# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find
|
||||
# it at startup.
|
||||
# See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html for more information.
|
||||
# See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html
|
||||
# for more information.
|
||||
|
||||
GENERATE_DOCSET = NO
|
||||
|
||||
@ -839,14 +1006,24 @@ GENERATE_DOCSET = NO
|
||||
# documentation sets from a single provider (such as a company or product suite)
|
||||
# can be grouped.
|
||||
|
||||
DOCSET_FEEDNAME = "Doxygen generated docs"
|
||||
DOCSET_FEEDNAME = "The OpenPilot project documentation"
|
||||
|
||||
# When GENERATE_DOCSET tag is set to YES, this tag specifies a string that
|
||||
# should uniquely identify the documentation set bundle. This should be a
|
||||
# reverse domain-name style string, e.g. com.mycompany.MyDocSet. Doxygen
|
||||
# will append .docset to the name.
|
||||
|
||||
DOCSET_BUNDLE_ID = org.doxygen.Project
|
||||
DOCSET_BUNDLE_ID = org.openpilot.project
|
||||
|
||||
# When GENERATE_PUBLISHER_ID tag specifies a string that should uniquely
|
||||
# identify the documentation publisher. This should be a reverse domain-name
|
||||
# style string, e.g. com.mycompany.MyDocSet.documentation.
|
||||
|
||||
DOCSET_PUBLISHER_ID = org.doxygen.publisher
|
||||
|
||||
# The GENERATE_PUBLISHER_NAME tag identifies the documentation publisher.
|
||||
|
||||
DOCSET_PUBLISHER_NAME = OpenPilot
|
||||
|
||||
# If the GENERATE_HTMLHELP tag is set to YES, additional index files
|
||||
# will be generated that can be used as input for tools like the
|
||||
@ -892,10 +1069,10 @@ BINARY_TOC = NO
|
||||
|
||||
TOC_EXPAND = NO
|
||||
|
||||
# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and QHP_VIRTUAL_FOLDER
|
||||
# are set, an additional index file will be generated that can be used as input for
|
||||
# Qt's qhelpgenerator to generate a Qt Compressed Help (.qch) of the generated
|
||||
# HTML documentation.
|
||||
# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and
|
||||
# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated
|
||||
# that can be used as input for Qt's qhelpgenerator to generate a
|
||||
# Qt Compressed Help (.qch) of the generated HTML documentation.
|
||||
|
||||
GENERATE_QHP = NO
|
||||
|
||||
@ -917,20 +1094,24 @@ QHP_NAMESPACE = org.doxygen.Project
|
||||
|
||||
QHP_VIRTUAL_FOLDER = doc
|
||||
|
||||
# If QHP_CUST_FILTER_NAME is set, it specifies the name of a custom filter to add.
|
||||
# For more information please see
|
||||
# If QHP_CUST_FILTER_NAME is set, it specifies the name of a custom filter to
|
||||
# add. For more information please see
|
||||
# http://doc.trolltech.com/qthelpproject.html#custom-filters
|
||||
|
||||
QHP_CUST_FILTER_NAME =
|
||||
|
||||
# The QHP_CUST_FILT_ATTRS tag specifies the list of the attributes of the custom filter to add.For more information please see
|
||||
# <a href="http://doc.trolltech.com/qthelpproject.html#custom-filters">Qt Help Project / Custom Filters</a>.
|
||||
# The QHP_CUST_FILT_ATTRS tag specifies the list of the attributes of the
|
||||
# custom filter to add. For more information please see
|
||||
# <a href="http://doc.trolltech.com/qthelpproject.html#custom-filters">
|
||||
# Qt Help Project / Custom Filters</a>.
|
||||
|
||||
QHP_CUST_FILTER_ATTRS =
|
||||
|
||||
# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this project's
|
||||
# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this
|
||||
# project's
|
||||
# filter section matches.
|
||||
# <a href="http://doc.trolltech.com/qthelpproject.html#filter-attributes">Qt Help Project / Filter Attributes</a>.
|
||||
# <a href="http://doc.trolltech.com/qthelpproject.html#filter-attributes">
|
||||
# Qt Help Project / Filter Attributes</a>.
|
||||
|
||||
QHP_SECT_FILTER_ATTRS =
|
||||
|
||||
@ -943,11 +1124,12 @@ QHG_LOCATION =
|
||||
|
||||
# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files
|
||||
# will be generated, which together with the HTML files, form an Eclipse help
|
||||
# plugin. To install this plugin and make it available under the help contents
|
||||
# plugin. To install this plugin and make it available under the help contents
|
||||
# menu in Eclipse, the contents of the directory containing the HTML and XML
|
||||
# files needs to be copied into the plugins directory of eclipse. The name of
|
||||
# the directory within the plugins directory should be the same as
|
||||
# the ECLIPSE_DOC_ID value. After copying Eclipse needs to be restarted before the help appears.
|
||||
# the ECLIPSE_DOC_ID value. After copying Eclipse needs to be restarted before
|
||||
# the help appears.
|
||||
|
||||
GENERATE_ECLIPSEHELP = NO
|
||||
|
||||
@ -957,17 +1139,14 @@ GENERATE_ECLIPSEHELP = NO
|
||||
|
||||
ECLIPSE_DOC_ID = org.doxygen.Project
|
||||
|
||||
# The DISABLE_INDEX tag can be used to turn on/off the condensed index at
|
||||
# top of each HTML page. The value NO (the default) enables the index and
|
||||
# the value YES disables it.
|
||||
# The DISABLE_INDEX tag can be used to turn on/off the condensed index (tabs)
|
||||
# at top of each HTML page. The value NO (the default) enables the index and
|
||||
# the value YES disables it. Since the tabs have the same information as the
|
||||
# navigation tree you can set this option to NO if you already set
|
||||
# GENERATE_TREEVIEW to YES.
|
||||
|
||||
DISABLE_INDEX = NO
|
||||
|
||||
# This tag can be used to set the number of enum values (range [1..20])
|
||||
# that doxygen will group on one line in the generated HTML documentation.
|
||||
|
||||
ENUM_VALUES_PER_LINE = 4
|
||||
|
||||
# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index
|
||||
# structure should be generated to display hierarchical information.
|
||||
# If the tag value is set to YES, a side panel will be generated
|
||||
@ -975,13 +1154,17 @@ ENUM_VALUES_PER_LINE = 4
|
||||
# is generated for HTML Help). For this to work a browser that supports
|
||||
# JavaScript, DHTML, CSS and frames is required (i.e. any modern browser).
|
||||
# Windows users are probably better off using the HTML help feature.
|
||||
# Since the tree basically has the same information as the tab index you
|
||||
# could consider to set DISABLE_INDEX to NO when enabling this option.
|
||||
|
||||
GENERATE_TREEVIEW = YES
|
||||
|
||||
# By enabling USE_INLINE_TREES, doxygen will generate the Groups, Directories,
|
||||
# and Class Hierarchy pages using a tree view instead of an ordered list.
|
||||
# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values
|
||||
# (range [0,1..20]) that doxygen will group on one line in the generated HTML
|
||||
# documentation. Note that a value of 0 will completely suppress the enum
|
||||
# values from appearing in the overview section.
|
||||
|
||||
USE_INLINE_TREES = NO
|
||||
ENUM_VALUES_PER_LINE = 4
|
||||
|
||||
# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be
|
||||
# used to set the initial width (in pixels) of the frame in which the tree
|
||||
@ -989,6 +1172,11 @@ USE_INLINE_TREES = NO
|
||||
|
||||
TREEVIEW_WIDTH = 250
|
||||
|
||||
# When the EXT_LINKS_IN_WINDOW option is set to YES doxygen will open
|
||||
# links to external symbols imported via tag files in a separate window.
|
||||
|
||||
EXT_LINKS_IN_WINDOW = NO
|
||||
|
||||
# Use this tag to change the font size of Latex formulas included
|
||||
# as images in the HTML documentation. The default is 10. Note that
|
||||
# when you change the font size after a successful doxygen run you need
|
||||
@ -997,19 +1185,107 @@ TREEVIEW_WIDTH = 250
|
||||
|
||||
FORMULA_FONTSIZE = 10
|
||||
|
||||
# When the SEARCHENGINE tag is enabled doxygen will generate a search box for the HTML output. The underlying search engine uses javascript
|
||||
# and DHTML and should work on any modern browser. Note that when using HTML help (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets (GENERATE_DOCSET) there is already a search function so this one should
|
||||
# Use the FORMULA_TRANPARENT tag to determine whether or not the images
|
||||
# generated for formulas are transparent PNGs. Transparent PNGs are
|
||||
# not supported properly for IE 6.0, but are supported on all modern browsers.
|
||||
# Note that when changing this option you need to delete any form_*.png files
|
||||
# in the HTML output before the changes have effect.
|
||||
|
||||
FORMULA_TRANSPARENT = YES
|
||||
|
||||
# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax
|
||||
# (see http://www.mathjax.org) which uses client side Javascript for the
|
||||
# rendering instead of using prerendered bitmaps. Use this if you do not
|
||||
# have LaTeX installed or if you want to formulas look prettier in the HTML
|
||||
# output. When enabled you may also need to install MathJax separately and
|
||||
# configure the path to it using the MATHJAX_RELPATH option.
|
||||
|
||||
USE_MATHJAX = NO
|
||||
|
||||
# When MathJax is enabled you can set the default output format to be used for
|
||||
# thA MathJax output. Supported types are HTML-CSS, NativeMML (i.e. MathML) and
|
||||
# SVG. The default value is HTML-CSS, which is slower, but has the best
|
||||
# compatibility.
|
||||
|
||||
MATHJAX_FORMAT = HTML-CSS
|
||||
|
||||
# When MathJax is enabled you need to specify the location relative to the
|
||||
# HTML output directory using the MATHJAX_RELPATH option. The destination
|
||||
# directory should contain the MathJax.js script. For instance, if the mathjax
|
||||
# directory is located at the same level as the HTML output directory, then
|
||||
# MATHJAX_RELPATH should be ../mathjax. The default value points to
|
||||
# the MathJax Content Delivery Network so you can quickly see the result without
|
||||
# installing MathJax.
|
||||
# However, it is strongly recommended to install a local
|
||||
# copy of MathJax from http://www.mathjax.org before deployment.
|
||||
|
||||
MATHJAX_RELPATH = http://cdn.mathjax.org/mathjax/latest
|
||||
|
||||
# The MATHJAX_EXTENSIONS tag can be used to specify one or MathJax extension
|
||||
# names that should be enabled during MathJax rendering.
|
||||
|
||||
MATHJAX_EXTENSIONS =
|
||||
|
||||
# When the SEARCHENGINE tag is enabled doxygen will generate a search box
|
||||
# for the HTML output. The underlying search engine uses javascript
|
||||
# and DHTML and should work on any modern browser. Note that when using
|
||||
# HTML help (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets
|
||||
# (GENERATE_DOCSET) there is already a search function so this one should
|
||||
# typically be disabled. For large projects the javascript based search engine
|
||||
# can be slow, then enabling SERVER_BASED_SEARCH may provide a better solution.
|
||||
|
||||
SEARCHENGINE = YES
|
||||
|
||||
# When the SERVER_BASED_SEARCH tag is enabled the search engine will be implemented using a PHP enabled web server instead of at the web client using Javascript. Doxygen will generate the search PHP script and index
|
||||
# file to put on the web server. The advantage of the server based approach is that it scales better to large projects and allows full text search. The disadvances is that it is more difficult to setup
|
||||
# and does not have live searching capabilities.
|
||||
# When the SERVER_BASED_SEARCH tag is enabled the search engine will be
|
||||
# implemented using a web server instead of a web client using Javascript.
|
||||
# There are two flavours of web server based search depending on the
|
||||
# EXTERNAL_SEARCH setting. When disabled, doxygen will generate a PHP script for
|
||||
# searching and an index file used by the script. When EXTERNAL_SEARCH is
|
||||
# enabled the indexing and searching needs to be provided by external tools.
|
||||
# See the manual for details.
|
||||
|
||||
SERVER_BASED_SEARCH = NO
|
||||
|
||||
# When EXTERNAL_SEARCH is enabled doxygen will no longer generate the PHP
|
||||
# script for searching. Instead the search results are written to an XML file
|
||||
# which needs to be processed by an external indexer. Doxygen will invoke an
|
||||
# external search engine pointed to by the SEARCHENGINE_URL option to obtain
|
||||
# the search results. Doxygen ships with an example indexer (doxyindexer) and
|
||||
# search engine (doxysearch.cgi) which are based on the open source search engine
|
||||
# library Xapian. See the manual for configuration details.
|
||||
|
||||
EXTERNAL_SEARCH = NO
|
||||
|
||||
# The SEARCHENGINE_URL should point to a search engine hosted by a web server
|
||||
# which will returned the search results when EXTERNAL_SEARCH is enabled.
|
||||
# Doxygen ships with an example search engine (doxysearch) which is based on
|
||||
# the open source search engine library Xapian. See the manual for configuration
|
||||
# details.
|
||||
|
||||
SEARCHENGINE_URL =
|
||||
|
||||
# When SERVER_BASED_SEARCH and EXTERNAL_SEARCH are both enabled the unindexed
|
||||
# search data is written to a file for indexing by an external tool. With the
|
||||
# SEARCHDATA_FILE tag the name of this file can be specified.
|
||||
|
||||
SEARCHDATA_FILE = searchdata.xml
|
||||
|
||||
# When SERVER_BASED_SEARCH AND EXTERNAL_SEARCH are both enabled the
|
||||
# EXTERNAL_SEARCH_ID tag can be used as an identifier for the project. This is
|
||||
# useful in combination with EXTRA_SEARCH_MAPPINGS to search through multiple
|
||||
# projects and redirect the results back to the right project.
|
||||
|
||||
EXTERNAL_SEARCH_ID =
|
||||
|
||||
# The EXTRA_SEARCH_MAPPINGS tag can be used to enable searching through doxygen
|
||||
# projects other than the one defined by this configuration file, but that are
|
||||
# all added to the same external search index. Each project needs to have a
|
||||
# unique id set via EXTERNAL_SEARCH_ID. The search mapping then maps the id
|
||||
# of to a relative location where the documentation can be found.
|
||||
# The format is: EXTRA_SEARCH_MAPPINGS = id1=loc1 id2=loc2 ...
|
||||
|
||||
EXTRA_SEARCH_MAPPINGS =
|
||||
|
||||
#---------------------------------------------------------------------------
|
||||
# configuration options related to the LaTeX output
|
||||
#---------------------------------------------------------------------------
|
||||
@ -1017,7 +1293,7 @@ SERVER_BASED_SEARCH = NO
|
||||
# If the GENERATE_LATEX tag is set to YES (the default) Doxygen will
|
||||
# generate Latex output.
|
||||
|
||||
GENERATE_LATEX = YES
|
||||
GENERATE_LATEX = NO
|
||||
|
||||
# The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put.
|
||||
# If a relative path is entered the value of OUTPUT_DIRECTORY will be
|
||||
@ -1046,10 +1322,10 @@ MAKEINDEX_CMD_NAME = makeindex
|
||||
COMPACT_LATEX = NO
|
||||
|
||||
# The PAPER_TYPE tag can be used to set the paper type that is used
|
||||
# by the printer. Possible values are: a4, a4wide, letter, legal and
|
||||
# by the printer. Possible values are: a4, letter, legal and
|
||||
# executive. If left blank a4wide will be used.
|
||||
|
||||
PAPER_TYPE = a4wide
|
||||
PAPER_TYPE = a4
|
||||
|
||||
# The EXTRA_PACKAGES tag can be to specify one or more names of LaTeX
|
||||
# packages that should be included in the LaTeX output.
|
||||
@ -1063,6 +1339,13 @@ EXTRA_PACKAGES =
|
||||
|
||||
LATEX_HEADER =
|
||||
|
||||
# The LATEX_FOOTER tag can be used to specify a personal LaTeX footer for
|
||||
# the generated latex document. The footer should contain everything after
|
||||
# the last chapter. If it is left blank doxygen will generate a
|
||||
# standard footer. Notice: only use this tag if you know what you are doing!
|
||||
|
||||
LATEX_FOOTER =
|
||||
|
||||
# If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated
|
||||
# is prepared for conversion to pdf (using ps2pdf). The pdf file will
|
||||
# contain links (just like the HTML output) instead of page references
|
||||
@ -1089,10 +1372,19 @@ LATEX_BATCHMODE = NO
|
||||
|
||||
LATEX_HIDE_INDICES = NO
|
||||
|
||||
# If LATEX_SOURCE_CODE is set to YES then doxygen will include source code with syntax highlighting in the LaTeX output. Note that which sources are shown also depends on other settings such as SOURCE_BROWSER.
|
||||
# If LATEX_SOURCE_CODE is set to YES then doxygen will include
|
||||
# source code with syntax highlighting in the LaTeX output.
|
||||
# Note that which sources are shown also depends on other settings
|
||||
# such as SOURCE_BROWSER.
|
||||
|
||||
LATEX_SOURCE_CODE = NO
|
||||
|
||||
# The LATEX_BIB_STYLE tag can be used to specify the style to use for the
|
||||
# bibliography, e.g. plainnat, or ieeetr. The default style is "plain". See
|
||||
# http://en.wikipedia.org/wiki/BibTeX for more info.
|
||||
|
||||
LATEX_BIB_STYLE = plain
|
||||
|
||||
#---------------------------------------------------------------------------
|
||||
# configuration options related to the RTF output
|
||||
#---------------------------------------------------------------------------
|
||||
@ -1124,7 +1416,7 @@ COMPACT_RTF = NO
|
||||
|
||||
RTF_HYPERLINKS = NO
|
||||
|
||||
# Load stylesheet definitions from file. Syntax is similar to doxygen's
|
||||
# Load style sheet definitions from file. Syntax is similar to doxygen's
|
||||
# config file, i.e. a series of assignments. You only have to provide
|
||||
# replacements, missing definitions are set to their default value.
|
||||
|
||||
@ -1253,7 +1545,7 @@ PERLMOD_MAKEVAR_PREFIX =
|
||||
# evaluate all C-preprocessor directives found in the sources and include
|
||||
# files.
|
||||
|
||||
ENABLE_PREPROCESSING = NO
|
||||
ENABLE_PREPROCESSING = YES
|
||||
|
||||
# If the MACRO_EXPANSION tag is set to YES Doxygen will expand all macro
|
||||
# names in the source code. If set to NO (the default) only conditional
|
||||
@ -1269,7 +1561,7 @@ MACRO_EXPANSION = NO
|
||||
EXPAND_ONLY_PREDEF = NO
|
||||
|
||||
# If the SEARCH_INCLUDES tag is set to YES (the default) the includes files
|
||||
# in the INCLUDE_PATH (see below) will be search if a #include is found.
|
||||
# pointed to by INCLUDE_PATH will be searched when a #include is found.
|
||||
|
||||
SEARCH_INCLUDES = YES
|
||||
|
||||
@ -1299,15 +1591,15 @@ PREDEFINED =
|
||||
# If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then
|
||||
# this tag can be used to specify a list of macro names that should be expanded.
|
||||
# The macro definition that is found in the sources will be used.
|
||||
# Use the PREDEFINED tag if you want to use a different macro definition.
|
||||
# Use the PREDEFINED tag if you want to use a different macro definition that
|
||||
# overrules the definition found in the source code.
|
||||
|
||||
EXPAND_AS_DEFINED =
|
||||
|
||||
# If the SKIP_FUNCTION_MACROS tag is set to YES (the default) then
|
||||
# doxygen's preprocessor will remove all function-like macros that are alone
|
||||
# on a line, have an all uppercase name, and do not end with a semicolon. Such
|
||||
# function macros are typically used for boiler-plate code, and will confuse
|
||||
# the parser if not removed.
|
||||
# doxygen's preprocessor will remove all references to function-like macros
|
||||
# that are alone on a line, have an all uppercase name, and do not end with a
|
||||
# semicolon, because these will confuse the parser if not removed.
|
||||
|
||||
SKIP_FUNCTION_MACROS = YES
|
||||
|
||||
@ -1315,22 +1607,18 @@ SKIP_FUNCTION_MACROS = YES
|
||||
# Configuration::additions related to external references
|
||||
#---------------------------------------------------------------------------
|
||||
|
||||
# The TAGFILES option can be used to specify one or more tagfiles.
|
||||
# Optionally an initial location of the external documentation
|
||||
# can be added for each tagfile. The format of a tag file without
|
||||
# this location is as follows:
|
||||
# The TAGFILES option can be used to specify one or more tagfiles. For each
|
||||
# tag file the location of the external documentation should be added. The
|
||||
# format of a tag file without this location is as follows:
|
||||
#
|
||||
# TAGFILES = file1 file2 ...
|
||||
# Adding location for the tag files is done as follows:
|
||||
#
|
||||
# TAGFILES = file1=loc1 "file2 = loc2" ...
|
||||
# where "loc1" and "loc2" can be relative or absolute paths or
|
||||
# URLs. If a location is present for each tag, the installdox tool
|
||||
# does not have to be run to correct the links.
|
||||
# Note that each tag file must have a unique name
|
||||
# (where the name does NOT include the path)
|
||||
# If a tag file is not located in the directory in which doxygen
|
||||
# is run, you must also specify the path to the tagfile here.
|
||||
# where "loc1" and "loc2" can be relative or absolute paths
|
||||
# or URLs. Note that each tag file must have a unique name (where the name does
|
||||
# NOT include the path). If a tag file is not located in the directory in which
|
||||
# doxygen is run, you must also specify the path to the tagfile here.
|
||||
|
||||
TAGFILES =
|
||||
|
||||
@ -1363,9 +1651,8 @@ PERL_PATH = /usr/bin/perl
|
||||
# If the CLASS_DIAGRAMS tag is set to YES (the default) Doxygen will
|
||||
# generate a inheritance diagram (in HTML, RTF and LaTeX) for classes with base
|
||||
# or super classes. Setting the tag to NO turns the diagrams off. Note that
|
||||
# this option is superseded by the HAVE_DOT option below. This is only a
|
||||
# fallback. It is recommended to install and use dot, since it yields more
|
||||
# powerful graphs.
|
||||
# this option also works with HAVE_DOT disabled, but it is recommended to
|
||||
# install and use dot, since it yields more powerful graphs.
|
||||
|
||||
CLASS_DIAGRAMS = YES
|
||||
|
||||
@ -1391,33 +1678,38 @@ HIDE_UNDOC_RELATIONS = YES
|
||||
|
||||
HAVE_DOT = NO
|
||||
|
||||
# By default doxygen will write a font called FreeSans.ttf to the output
|
||||
# directory and reference it in all dot files that doxygen generates. This
|
||||
# font does not include all possible unicode characters however, so when you need
|
||||
# these (or just want a differently looking font) you can specify the font name
|
||||
# using DOT_FONTNAME. You need need to make sure dot is able to find the font,
|
||||
# which can be done by putting it in a standard location or by setting the
|
||||
# DOTFONTPATH environment variable or by setting DOT_FONTPATH to the directory
|
||||
# containing the font.
|
||||
# The DOT_NUM_THREADS specifies the number of dot invocations doxygen is
|
||||
# allowed to run in parallel. When set to 0 (the default) doxygen will
|
||||
# base this on the number of processors available in the system. You can set it
|
||||
# explicitly to a value larger than 0 to get control over the balance
|
||||
# between CPU load and processing speed.
|
||||
|
||||
DOT_FONTNAME = FreeSans
|
||||
DOT_NUM_THREADS = 0
|
||||
|
||||
# By default doxygen will use the Helvetica font for all dot files that
|
||||
# doxygen generates. When you want a differently looking font you can specify
|
||||
# the font name using DOT_FONTNAME. You need to make sure dot is able to find
|
||||
# the font, which can be done by putting it in a standard location or by setting
|
||||
# the DOTFONTPATH environment variable or by setting DOT_FONTPATH to the
|
||||
# directory containing the font.
|
||||
|
||||
DOT_FONTNAME = Helvetica
|
||||
|
||||
# The DOT_FONTSIZE tag can be used to set the size of the font of dot graphs.
|
||||
# The default size is 10pt.
|
||||
|
||||
DOT_FONTSIZE = 10
|
||||
|
||||
# By default doxygen will tell dot to use the output directory to look for the
|
||||
# FreeSans.ttf font (which doxygen will put there itself). If you specify a
|
||||
# different font using DOT_FONTNAME you can set the path where dot
|
||||
# can find it using this tag.
|
||||
# By default doxygen will tell dot to use the Helvetica font.
|
||||
# If you specify a different font using DOT_FONTNAME you can use DOT_FONTPATH to
|
||||
# set the path where dot can find it.
|
||||
|
||||
DOT_FONTPATH =
|
||||
|
||||
# If the CLASS_GRAPH and HAVE_DOT tags are set to YES then doxygen
|
||||
# will generate a graph for each documented class showing the direct and
|
||||
# indirect inheritance relations. Setting this tag to YES will force the
|
||||
# the CLASS_DIAGRAMS tag to NO.
|
||||
# CLASS_DIAGRAMS tag to NO.
|
||||
|
||||
CLASS_GRAPH = YES
|
||||
|
||||
@ -1439,6 +1731,15 @@ GROUP_GRAPHS = YES
|
||||
|
||||
UML_LOOK = NO
|
||||
|
||||
# If the UML_LOOK tag is enabled, the fields and methods are shown inside
|
||||
# the class node. If there are many fields or methods and many nodes the
|
||||
# graph may become too big to be useful. The UML_LIMIT_NUM_FIELDS
|
||||
# threshold limits the number of items for each type to make the size more
|
||||
# managable. Set this to 0 for no limit. Note that the threshold may be
|
||||
# exceeded by 50% before the limit is enforced.
|
||||
|
||||
UML_LIMIT_NUM_FIELDS = 10
|
||||
|
||||
# If set to YES, the inheritance and collaboration graphs will show the
|
||||
# relations between templates and their instances.
|
||||
|
||||
@ -1475,11 +1776,11 @@ CALL_GRAPH = NO
|
||||
CALLER_GRAPH = NO
|
||||
|
||||
# If the GRAPHICAL_HIERARCHY and HAVE_DOT tags are set to YES then doxygen
|
||||
# will graphical hierarchy of all classes instead of a textual one.
|
||||
# will generate a graphical hierarchy of all classes instead of a textual one.
|
||||
|
||||
GRAPHICAL_HIERARCHY = YES
|
||||
|
||||
# If the DIRECTORY_GRAPH, SHOW_DIRECTORIES and HAVE_DOT tags are set to YES
|
||||
# If the DIRECTORY_GRAPH and HAVE_DOT tags are set to YES
|
||||
# then doxygen will show the dependencies a directory has on other directories
|
||||
# in a graphical way. The dependency relations are determined by the #include
|
||||
# relations between the files in the directories.
|
||||
@ -1487,11 +1788,22 @@ GRAPHICAL_HIERARCHY = YES
|
||||
DIRECTORY_GRAPH = YES
|
||||
|
||||
# The DOT_IMAGE_FORMAT tag can be used to set the image format of the images
|
||||
# generated by dot. Possible values are png, jpg, or gif
|
||||
# If left blank png will be used.
|
||||
# generated by dot. Possible values are svg, png, jpg, or gif.
|
||||
# If left blank png will be used. If you choose svg you need to set
|
||||
# HTML_FILE_EXTENSION to xhtml in order to make the SVG files
|
||||
# visible in IE 9+ (other browsers do not have this requirement).
|
||||
|
||||
DOT_IMAGE_FORMAT = png
|
||||
|
||||
# If DOT_IMAGE_FORMAT is set to svg, then this option can be set to YES to
|
||||
# enable generation of interactive SVG images that allow zooming and panning.
|
||||
# Note that this requires a modern browser other than Internet Explorer.
|
||||
# Tested and working are Firefox, Chrome, Safari, and Opera. For IE 9+ you
|
||||
# need to set HTML_FILE_EXTENSION to xhtml in order to make the SVG files
|
||||
# visible. Older versions of IE do not have SVG support.
|
||||
|
||||
INTERACTIVE_SVG = NO
|
||||
|
||||
# The tag DOT_PATH can be used to specify the path where the dot tool can be
|
||||
# found. If left blank, it is assumed the dot tool can be found in the path.
|
||||
|
||||
@ -1503,6 +1815,12 @@ DOT_PATH =
|
||||
|
||||
DOTFILE_DIRS =
|
||||
|
||||
# The MSCFILE_DIRS tag can be used to specify one or more directories that
|
||||
# contain msc files that are included in the documentation (see the
|
||||
# \mscfile command).
|
||||
|
||||
MSCFILE_DIRS =
|
||||
|
||||
# The DOT_GRAPH_MAX_NODES tag can be used to set the maximum number of
|
||||
# nodes that will be shown in the graph. If the number of nodes in a graph
|
||||
# becomes larger than this value, doxygen will truncate the graph, which is
|
1869
make/doxygen/Doxyfile.ground
Normal file
1869
make/doxygen/Doxyfile.ground
Normal file
@ -0,0 +1,1869 @@
|
||||
# Doxyfile 1.8.3.1
|
||||
|
||||
# This file describes the settings to be used by the documentation system
|
||||
# doxygen (www.doxygen.org) for a project.
|
||||
#
|
||||
# All text after a hash (#) is considered a comment and will be ignored.
|
||||
# The format is:
|
||||
# TAG = value [value, ...]
|
||||
# For lists items can also be appended using:
|
||||
# TAG += value [value, ...]
|
||||
# Values that contain spaces should be placed between quotes (" ").
|
||||
|
||||
#---------------------------------------------------------------------------
|
||||
# Project related configuration options
|
||||
#---------------------------------------------------------------------------
|
||||
|
||||
# This tag specifies the encoding used for all characters in the config file
|
||||
# that follow. The default is UTF-8 which is also the encoding used for all
|
||||
# text before the first occurrence of this tag. Doxygen uses libiconv (or the
|
||||
# iconv built into libc) for the transcoding. See
|
||||
# http://www.gnu.org/software/libiconv for the list of possible encodings.
|
||||
|
||||
DOXYFILE_ENCODING = UTF-8
|
||||
|
||||
# The PROJECT_NAME tag is a single word (or sequence of words) that should
|
||||
# identify the project. Note that if you do not use Doxywizard you need
|
||||
# to put quotes around the project name if it contains spaces.
|
||||
|
||||
PROJECT_NAME = "The OpenPilot Project"
|
||||
|
||||
# The PROJECT_NUMBER tag can be used to enter a project or revision number.
|
||||
# This could be handy for archiving the generated documentation or
|
||||
# if some version control system is used.
|
||||
|
||||
PROJECT_NUMBER =
|
||||
|
||||
# Using the PROJECT_BRIEF tag one can provide an optional one line description
|
||||
# for a project that appears at the top of each page and should give viewer
|
||||
# a quick idea about the purpose of the project. Keep the description short.
|
||||
|
||||
PROJECT_BRIEF = "Ground Control Station source code documentation"
|
||||
|
||||
# With the PROJECT_LOGO tag one can specify an logo or icon that is
|
||||
# included in the documentation. The maximum height of the logo should not
|
||||
# exceed 55 pixels and the maximum width should not exceed 200 pixels.
|
||||
# Doxygen will copy the logo to the output directory.
|
||||
|
||||
PROJECT_LOGO =
|
||||
|
||||
# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute)
|
||||
# base path where the generated documentation will be put.
|
||||
# If a relative path is entered, it will be relative to the location
|
||||
# where doxygen was started. If left blank the current directory will be used.
|
||||
|
||||
OUTPUT_DIRECTORY = build/docs/ground/
|
||||
|
||||
# If the CREATE_SUBDIRS tag is set to YES, then doxygen will create
|
||||
# 4096 sub-directories (in 2 levels) under the output directory of each output
|
||||
# format and will distribute the generated files over these directories.
|
||||
# Enabling this option can be useful when feeding doxygen a huge amount of
|
||||
# source files, where putting all generated files in the same directory would
|
||||
# otherwise cause performance problems for the file system.
|
||||
|
||||
CREATE_SUBDIRS = NO
|
||||
|
||||
# The OUTPUT_LANGUAGE tag is used to specify the language in which all
|
||||
# documentation generated by doxygen is written. Doxygen will use this
|
||||
# information to generate all constant output in the proper language.
|
||||
# The default language is English, other supported languages are:
|
||||
# Afrikaans, Arabic, Brazilian, Catalan, Chinese, Chinese-Traditional,
|
||||
# Croatian, Czech, Danish, Dutch, Esperanto, Farsi, Finnish, French, German,
|
||||
# Greek, Hungarian, Italian, Japanese, Japanese-en (Japanese with English
|
||||
# messages), Korean, Korean-en, Lithuanian, Norwegian, Macedonian, Persian,
|
||||
# Polish, Portuguese, Romanian, Russian, Serbian, Serbian-Cyrillic, Slovak,
|
||||
# Slovene, Spanish, Swedish, Ukrainian, and Vietnamese.
|
||||
|
||||
OUTPUT_LANGUAGE = English
|
||||
|
||||
# If the BRIEF_MEMBER_DESC tag is set to YES (the default) Doxygen will
|
||||
# include brief member descriptions after the members that are listed in
|
||||
# the file and class documentation (similar to JavaDoc).
|
||||
# Set to NO to disable this.
|
||||
|
||||
BRIEF_MEMBER_DESC = YES
|
||||
|
||||
# If the REPEAT_BRIEF tag is set to YES (the default) Doxygen will prepend
|
||||
# the brief description of a member or function before the detailed description.
|
||||
# Note: if both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the
|
||||
# brief descriptions will be completely suppressed.
|
||||
|
||||
REPEAT_BRIEF = YES
|
||||
|
||||
# This tag implements a quasi-intelligent brief description abbreviator
|
||||
# that is used to form the text in various listings. Each string
|
||||
# in this list, if found as the leading text of the brief description, will be
|
||||
# stripped from the text and the result after processing the whole list, is
|
||||
# used as the annotated text. Otherwise, the brief description is used as-is.
|
||||
# If left blank, the following values are used ("$name" is automatically
|
||||
# replaced with the name of the entity): "The $name class" "The $name widget"
|
||||
# "The $name file" "is" "provides" "specifies" "contains"
|
||||
# "represents" "a" "an" "the"
|
||||
|
||||
ABBREVIATE_BRIEF =
|
||||
|
||||
# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then
|
||||
# Doxygen will generate a detailed section even if there is only a brief
|
||||
# description.
|
||||
|
||||
ALWAYS_DETAILED_SEC = NO
|
||||
|
||||
# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all
|
||||
# inherited members of a class in the documentation of that class as if those
|
||||
# members were ordinary class members. Constructors, destructors and assignment
|
||||
# operators of the base classes will not be shown.
|
||||
|
||||
INLINE_INHERITED_MEMB = NO
|
||||
|
||||
# If the FULL_PATH_NAMES tag is set to YES then Doxygen will prepend the full
|
||||
# path before files name in the file list and in the header files. If set
|
||||
# to NO the shortest path that makes the file name unique will be used.
|
||||
|
||||
FULL_PATH_NAMES = YES
|
||||
|
||||
# If the FULL_PATH_NAMES tag is set to YES then the STRIP_FROM_PATH tag
|
||||
# can be used to strip a user-defined part of the path. Stripping is
|
||||
# only done if one of the specified strings matches the left-hand part of
|
||||
# the path. The tag can be used to show relative paths in the file list.
|
||||
# If left blank the directory from which doxygen is run is used as the
|
||||
# path to strip. Note that you specify absolute paths here, but also
|
||||
# relative paths, which will be relative from the directory where doxygen is
|
||||
# started.
|
||||
|
||||
STRIP_FROM_PATH =
|
||||
|
||||
# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of
|
||||
# the path mentioned in the documentation of a class, which tells
|
||||
# the reader which header file to include in order to use a class.
|
||||
# If left blank only the name of the header file containing the class
|
||||
# definition is used. Otherwise one should specify the include paths that
|
||||
# are normally passed to the compiler using the -I flag.
|
||||
|
||||
STRIP_FROM_INC_PATH =
|
||||
|
||||
# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter
|
||||
# (but less readable) file names. This can be useful if your file system
|
||||
# doesn't support long names like on DOS, Mac, or CD-ROM.
|
||||
|
||||
SHORT_NAMES = NO
|
||||
|
||||
# If the JAVADOC_AUTOBRIEF tag is set to YES then Doxygen
|
||||
# will interpret the first line (until the first dot) of a JavaDoc-style
|
||||
# comment as the brief description. If set to NO, the JavaDoc
|
||||
# comments will behave just like regular Qt-style comments
|
||||
# (thus requiring an explicit @brief command for a brief description.)
|
||||
|
||||
JAVADOC_AUTOBRIEF = NO
|
||||
|
||||
# If the QT_AUTOBRIEF tag is set to YES then Doxygen will
|
||||
# interpret the first line (until the first dot) of a Qt-style
|
||||
# comment as the brief description. If set to NO, the comments
|
||||
# will behave just like regular Qt-style comments (thus requiring
|
||||
# an explicit \brief command for a brief description.)
|
||||
|
||||
QT_AUTOBRIEF = NO
|
||||
|
||||
# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make Doxygen
|
||||
# treat a multi-line C++ special comment block (i.e. a block of //! or ///
|
||||
# comments) as a brief description. This used to be the default behaviour.
|
||||
# The new default is to treat a multi-line C++ comment block as a detailed
|
||||
# description. Set this tag to YES if you prefer the old behaviour instead.
|
||||
|
||||
MULTILINE_CPP_IS_BRIEF = NO
|
||||
|
||||
# If the INHERIT_DOCS tag is set to YES (the default) then an undocumented
|
||||
# member inherits the documentation from any documented member that it
|
||||
# re-implements.
|
||||
|
||||
INHERIT_DOCS = YES
|
||||
|
||||
# If the SEPARATE_MEMBER_PAGES tag is set to YES, then doxygen will produce
|
||||
# a new page for each member. If set to NO, the documentation of a member will
|
||||
# be part of the file/class/namespace that contains it.
|
||||
|
||||
SEPARATE_MEMBER_PAGES = NO
|
||||
|
||||
# The TAB_SIZE tag can be used to set the number of spaces in a tab.
|
||||
# Doxygen uses this value to replace tabs by spaces in code fragments.
|
||||
|
||||
TAB_SIZE = 8
|
||||
|
||||
# This tag can be used to specify a number of aliases that acts
|
||||
# as commands in the documentation. An alias has the form "name=value".
|
||||
# For example adding "sideeffect=\par Side Effects:\n" will allow you to
|
||||
# put the command \sideeffect (or @sideeffect) in the documentation, which
|
||||
# will result in a user-defined paragraph with heading "Side Effects:".
|
||||
# You can put \n's in the value part of an alias to insert newlines.
|
||||
|
||||
ALIASES =
|
||||
|
||||
# This tag can be used to specify a number of word-keyword mappings (TCL only).
|
||||
# A mapping has the form "name=value". For example adding
|
||||
# "class=itcl::class" will allow you to use the command class in the
|
||||
# itcl::class meaning.
|
||||
|
||||
TCL_SUBST =
|
||||
|
||||
# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C
|
||||
# sources only. Doxygen will then generate output that is more tailored for C.
|
||||
# For instance, some of the names that are used will be different. The list
|
||||
# of all members will be omitted, etc.
|
||||
|
||||
OPTIMIZE_OUTPUT_FOR_C = NO
|
||||
|
||||
# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java
|
||||
# sources only. Doxygen will then generate output that is more tailored for
|
||||
# Java. For instance, namespaces will be presented as packages, qualified
|
||||
# scopes will look different, etc.
|
||||
|
||||
OPTIMIZE_OUTPUT_JAVA = NO
|
||||
|
||||
# Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran
|
||||
# sources only. Doxygen will then generate output that is more tailored for
|
||||
# Fortran.
|
||||
|
||||
OPTIMIZE_FOR_FORTRAN = NO
|
||||
|
||||
# Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL
|
||||
# sources. Doxygen will then generate output that is tailored for
|
||||
# VHDL.
|
||||
|
||||
OPTIMIZE_OUTPUT_VHDL = NO
|
||||
|
||||
# Doxygen selects the parser to use depending on the extension of the files it
|
||||
# parses. With this tag you can assign which parser to use for a given
|
||||
# extension. Doxygen has a built-in mapping, but you can override or extend it
|
||||
# using this tag. The format is ext=language, where ext is a file extension,
|
||||
# and language is one of the parsers supported by doxygen: IDL, Java,
|
||||
# Javascript, CSharp, C, C++, D, PHP, Objective-C, Python, Fortran, VHDL, C,
|
||||
# C++. For instance to make doxygen treat .inc files as Fortran files (default
|
||||
# is PHP), and .f files as C (default is Fortran), use: inc=Fortran f=C. Note
|
||||
# that for custom extensions you also need to set FILE_PATTERNS otherwise the
|
||||
# files are not read by doxygen.
|
||||
|
||||
EXTENSION_MAPPING =
|
||||
|
||||
# If MARKDOWN_SUPPORT is enabled (the default) then doxygen pre-processes all
|
||||
# comments according to the Markdown format, which allows for more readable
|
||||
# documentation. See http://daringfireball.net/projects/markdown/ for details.
|
||||
# The output of markdown processing is further processed by doxygen, so you
|
||||
# can mix doxygen, HTML, and XML commands with Markdown formatting.
|
||||
# Disable only in case of backward compatibilities issues.
|
||||
|
||||
MARKDOWN_SUPPORT = YES
|
||||
|
||||
# When enabled doxygen tries to link words that correspond to documented classes,
|
||||
# or namespaces to their corresponding documentation. Such a link can be
|
||||
# prevented in individual cases by by putting a % sign in front of the word or
|
||||
# globally by setting AUTOLINK_SUPPORT to NO.
|
||||
|
||||
AUTOLINK_SUPPORT = YES
|
||||
|
||||
# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want
|
||||
# to include (a tag file for) the STL sources as input, then you should
|
||||
# set this tag to YES in order to let doxygen match functions declarations and
|
||||
# definitions whose arguments contain STL classes (e.g. func(std::string); v.s.
|
||||
# func(std::string) {}). This also makes the inheritance and collaboration
|
||||
# diagrams that involve STL classes more complete and accurate.
|
||||
|
||||
BUILTIN_STL_SUPPORT = NO
|
||||
|
||||
# If you use Microsoft's C++/CLI language, you should set this option to YES to
|
||||
# enable parsing support.
|
||||
|
||||
CPP_CLI_SUPPORT = NO
|
||||
|
||||
# Set the SIP_SUPPORT tag to YES if your project consists of sip sources only.
|
||||
# Doxygen will parse them like normal C++ but will assume all classes use public
|
||||
# instead of private inheritance when no explicit protection keyword is present.
|
||||
|
||||
SIP_SUPPORT = NO
|
||||
|
||||
# For Microsoft's IDL there are propget and propput attributes to indicate
|
||||
# getter and setter methods for a property. Setting this option to YES (the
|
||||
# default) will make doxygen replace the get and set methods by a property in
|
||||
# the documentation. This will only work if the methods are indeed getting or
|
||||
# setting a simple type. If this is not the case, or you want to show the
|
||||
# methods anyway, you should set this option to NO.
|
||||
|
||||
IDL_PROPERTY_SUPPORT = YES
|
||||
|
||||
# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC
|
||||
# tag is set to YES, then doxygen will reuse the documentation of the first
|
||||
# member in the group (if any) for the other members of the group. By default
|
||||
# all members of a group must be documented explicitly.
|
||||
|
||||
DISTRIBUTE_GROUP_DOC = NO
|
||||
|
||||
# Set the SUBGROUPING tag to YES (the default) to allow class member groups of
|
||||
# the same type (for instance a group of public functions) to be put as a
|
||||
# subgroup of that type (e.g. under the Public Functions section). Set it to
|
||||
# NO to prevent subgrouping. Alternatively, this can be done per class using
|
||||
# the \nosubgrouping command.
|
||||
|
||||
SUBGROUPING = YES
|
||||
|
||||
# When the INLINE_GROUPED_CLASSES tag is set to YES, classes, structs and
|
||||
# unions are shown inside the group in which they are included (e.g. using
|
||||
# @ingroup) instead of on a separate page (for HTML and Man pages) or
|
||||
# section (for LaTeX and RTF).
|
||||
|
||||
INLINE_GROUPED_CLASSES = NO
|
||||
|
||||
# When the INLINE_SIMPLE_STRUCTS tag is set to YES, structs, classes, and
|
||||
# unions with only public data fields will be shown inline in the documentation
|
||||
# of the scope in which they are defined (i.e. file, namespace, or group
|
||||
# documentation), provided this scope is documented. If set to NO (the default),
|
||||
# structs, classes, and unions are shown on a separate page (for HTML and Man
|
||||
# pages) or section (for LaTeX and RTF).
|
||||
|
||||
INLINE_SIMPLE_STRUCTS = NO
|
||||
|
||||
# When TYPEDEF_HIDES_STRUCT is enabled, a typedef of a struct, union, or enum
|
||||
# is documented as struct, union, or enum with the name of the typedef. So
|
||||
# typedef struct TypeS {} TypeT, will appear in the documentation as a struct
|
||||
# with name TypeT. When disabled the typedef will appear as a member of a file,
|
||||
# namespace, or class. And the struct will be named TypeS. This can typically
|
||||
# be useful for C code in case the coding convention dictates that all compound
|
||||
# types are typedef'ed and only the typedef is referenced, never the tag name.
|
||||
|
||||
TYPEDEF_HIDES_STRUCT = NO
|
||||
|
||||
# The SYMBOL_CACHE_SIZE determines the size of the internal cache use to
|
||||
# determine which symbols to keep in memory and which to flush to disk.
|
||||
# When the cache is full, less often used symbols will be written to disk.
|
||||
# For small to medium size projects (<1000 input files) the default value is
|
||||
# probably good enough. For larger projects a too small cache size can cause
|
||||
# doxygen to be busy swapping symbols to and from disk most of the time
|
||||
# causing a significant performance penalty.
|
||||
# If the system has enough physical memory increasing the cache will improve the
|
||||
# performance by keeping more symbols in memory. Note that the value works on
|
||||
# a logarithmic scale so increasing the size by one will roughly double the
|
||||
# memory usage. The cache size is given by this formula:
|
||||
# 2^(16+SYMBOL_CACHE_SIZE). The valid range is 0..9, the default is 0,
|
||||
# corresponding to a cache size of 2^16 = 65536 symbols.
|
||||
|
||||
SYMBOL_CACHE_SIZE = 0
|
||||
|
||||
# Similar to the SYMBOL_CACHE_SIZE the size of the symbol lookup cache can be
|
||||
# set using LOOKUP_CACHE_SIZE. This cache is used to resolve symbols given
|
||||
# their name and scope. Since this can be an expensive process and often the
|
||||
# same symbol appear multiple times in the code, doxygen keeps a cache of
|
||||
# pre-resolved symbols. If the cache is too small doxygen will become slower.
|
||||
# If the cache is too large, memory is wasted. The cache size is given by this
|
||||
# formula: 2^(16+LOOKUP_CACHE_SIZE). The valid range is 0..9, the default is 0,
|
||||
# corresponding to a cache size of 2^16 = 65536 symbols.
|
||||
|
||||
LOOKUP_CACHE_SIZE = 0
|
||||
|
||||
#---------------------------------------------------------------------------
|
||||
# Build related configuration options
|
||||
#---------------------------------------------------------------------------
|
||||
|
||||
# If the EXTRACT_ALL tag is set to YES doxygen will assume all entities in
|
||||
# documentation are documented, even if no documentation was available.
|
||||
# Private class members and static file members will be hidden unless
|
||||
# the EXTRACT_PRIVATE and EXTRACT_STATIC tags are set to YES
|
||||
|
||||
EXTRACT_ALL = NO
|
||||
|
||||
# If the EXTRACT_PRIVATE tag is set to YES all private members of a class
|
||||
# will be included in the documentation.
|
||||
|
||||
EXTRACT_PRIVATE = NO
|
||||
|
||||
# If the EXTRACT_PACKAGE tag is set to YES all members with package or internal
|
||||
# scope will be included in the documentation.
|
||||
|
||||
EXTRACT_PACKAGE = NO
|
||||
|
||||
# If the EXTRACT_STATIC tag is set to YES all static members of a file
|
||||
# will be included in the documentation.
|
||||
|
||||
EXTRACT_STATIC = NO
|
||||
|
||||
# If the EXTRACT_LOCAL_CLASSES tag is set to YES classes (and structs)
|
||||
# defined locally in source files will be included in the documentation.
|
||||
# If set to NO only classes defined in header files are included.
|
||||
|
||||
EXTRACT_LOCAL_CLASSES = YES
|
||||
|
||||
# This flag is only useful for Objective-C code. When set to YES local
|
||||
# methods, which are defined in the implementation section but not in
|
||||
# the interface are included in the documentation.
|
||||
# If set to NO (the default) only methods in the interface are included.
|
||||
|
||||
EXTRACT_LOCAL_METHODS = NO
|
||||
|
||||
# If this flag is set to YES, the members of anonymous namespaces will be
|
||||
# extracted and appear in the documentation as a namespace called
|
||||
# 'anonymous_namespace{file}', where file will be replaced with the base
|
||||
# name of the file that contains the anonymous namespace. By default
|
||||
# anonymous namespaces are hidden.
|
||||
|
||||
EXTRACT_ANON_NSPACES = NO
|
||||
|
||||
# If the HIDE_UNDOC_MEMBERS tag is set to YES, Doxygen will hide all
|
||||
# undocumented members of documented classes, files or namespaces.
|
||||
# If set to NO (the default) these members will be included in the
|
||||
# various overviews, but no documentation section is generated.
|
||||
# This option has no effect if EXTRACT_ALL is enabled.
|
||||
|
||||
HIDE_UNDOC_MEMBERS = NO
|
||||
|
||||
# If the HIDE_UNDOC_CLASSES tag is set to YES, Doxygen will hide all
|
||||
# undocumented classes that are normally visible in the class hierarchy.
|
||||
# If set to NO (the default) these classes will be included in the various
|
||||
# overviews. This option has no effect if EXTRACT_ALL is enabled.
|
||||
|
||||
HIDE_UNDOC_CLASSES = NO
|
||||
|
||||
# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, Doxygen will hide all
|
||||
# friend (class|struct|union) declarations.
|
||||
# If set to NO (the default) these declarations will be included in the
|
||||
# documentation.
|
||||
|
||||
HIDE_FRIEND_COMPOUNDS = NO
|
||||
|
||||
# If the HIDE_IN_BODY_DOCS tag is set to YES, Doxygen will hide any
|
||||
# documentation blocks found inside the body of a function.
|
||||
# If set to NO (the default) these blocks will be appended to the
|
||||
# function's detailed documentation block.
|
||||
|
||||
HIDE_IN_BODY_DOCS = NO
|
||||
|
||||
# The INTERNAL_DOCS tag determines if documentation
|
||||
# that is typed after a \internal command is included. If the tag is set
|
||||
# to NO (the default) then the documentation will be excluded.
|
||||
# Set it to YES to include the internal documentation.
|
||||
|
||||
INTERNAL_DOCS = NO
|
||||
|
||||
# If the CASE_SENSE_NAMES tag is set to NO then Doxygen will only generate
|
||||
# file names in lower-case letters. If set to YES upper-case letters are also
|
||||
# allowed. This is useful if you have classes or files whose names only differ
|
||||
# in case and if your file system supports case sensitive file names. Windows
|
||||
# and Mac users are advised to set this option to NO.
|
||||
|
||||
CASE_SENSE_NAMES = NO
|
||||
|
||||
# If the HIDE_SCOPE_NAMES tag is set to NO (the default) then Doxygen
|
||||
# will show members with their full class and namespace scopes in the
|
||||
# documentation. If set to YES the scope will be hidden.
|
||||
|
||||
HIDE_SCOPE_NAMES = NO
|
||||
|
||||
# If the SHOW_INCLUDE_FILES tag is set to YES (the default) then Doxygen
|
||||
# will put a list of the files that are included by a file in the documentation
|
||||
# of that file.
|
||||
|
||||
SHOW_INCLUDE_FILES = YES
|
||||
|
||||
# If the FORCE_LOCAL_INCLUDES tag is set to YES then Doxygen
|
||||
# will list include files with double quotes in the documentation
|
||||
# rather than with sharp brackets.
|
||||
|
||||
FORCE_LOCAL_INCLUDES = NO
|
||||
|
||||
# If the INLINE_INFO tag is set to YES (the default) then a tag [inline]
|
||||
# is inserted in the documentation for inline members.
|
||||
|
||||
INLINE_INFO = YES
|
||||
|
||||
# If the SORT_MEMBER_DOCS tag is set to YES (the default) then doxygen
|
||||
# will sort the (detailed) documentation of file and class members
|
||||
# alphabetically by member name. If set to NO the members will appear in
|
||||
# declaration order.
|
||||
|
||||
SORT_MEMBER_DOCS = YES
|
||||
|
||||
# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the
|
||||
# brief documentation of file, namespace and class members alphabetically
|
||||
# by member name. If set to NO (the default) the members will appear in
|
||||
# declaration order.
|
||||
|
||||
SORT_BRIEF_DOCS = NO
|
||||
|
||||
# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen
|
||||
# will sort the (brief and detailed) documentation of class members so that
|
||||
# constructors and destructors are listed first. If set to NO (the default)
|
||||
# the constructors will appear in the respective orders defined by
|
||||
# SORT_MEMBER_DOCS and SORT_BRIEF_DOCS.
|
||||
# This tag will be ignored for brief docs if SORT_BRIEF_DOCS is set to NO
|
||||
# and ignored for detailed docs if SORT_MEMBER_DOCS is set to NO.
|
||||
|
||||
SORT_MEMBERS_CTORS_1ST = NO
|
||||
|
||||
# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the
|
||||
# hierarchy of group names into alphabetical order. If set to NO (the default)
|
||||
# the group names will appear in their defined order.
|
||||
|
||||
SORT_GROUP_NAMES = NO
|
||||
|
||||
# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be
|
||||
# sorted by fully-qualified names, including namespaces. If set to
|
||||
# NO (the default), the class list will be sorted only by class name,
|
||||
# not including the namespace part.
|
||||
# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES.
|
||||
# Note: This option applies only to the class list, not to the
|
||||
# alphabetical list.
|
||||
|
||||
SORT_BY_SCOPE_NAME = NO
|
||||
|
||||
# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to
|
||||
# do proper type resolution of all parameters of a function it will reject a
|
||||
# match between the prototype and the implementation of a member function even
|
||||
# if there is only one candidate or it is obvious which candidate to choose
|
||||
# by doing a simple string match. By disabling STRICT_PROTO_MATCHING doxygen
|
||||
# will still accept a match between prototype and implementation in such cases.
|
||||
|
||||
STRICT_PROTO_MATCHING = NO
|
||||
|
||||
# The GENERATE_TODOLIST tag can be used to enable (YES) or
|
||||
# disable (NO) the todo list. This list is created by putting \todo
|
||||
# commands in the documentation.
|
||||
|
||||
GENERATE_TODOLIST = YES
|
||||
|
||||
# The GENERATE_TESTLIST tag can be used to enable (YES) or
|
||||
# disable (NO) the test list. This list is created by putting \test
|
||||
# commands in the documentation.
|
||||
|
||||
GENERATE_TESTLIST = YES
|
||||
|
||||
# The GENERATE_BUGLIST tag can be used to enable (YES) or
|
||||
# disable (NO) the bug list. This list is created by putting \bug
|
||||
# commands in the documentation.
|
||||
|
||||
GENERATE_BUGLIST = YES
|
||||
|
||||
# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or
|
||||
# disable (NO) the deprecated list. This list is created by putting
|
||||
# \deprecated commands in the documentation.
|
||||
|
||||
GENERATE_DEPRECATEDLIST= YES
|
||||
|
||||
# The ENABLED_SECTIONS tag can be used to enable conditional
|
||||
# documentation sections, marked by \if section-label ... \endif
|
||||
# and \cond section-label ... \endcond blocks.
|
||||
|
||||
ENABLED_SECTIONS =
|
||||
|
||||
# The MAX_INITIALIZER_LINES tag determines the maximum number of lines
|
||||
# the initial value of a variable or macro consists of for it to appear in
|
||||
# the documentation. If the initializer consists of more lines than specified
|
||||
# here it will be hidden. Use a value of 0 to hide initializers completely.
|
||||
# The appearance of the initializer of individual variables and macros in the
|
||||
# documentation can be controlled using \showinitializer or \hideinitializer
|
||||
# command in the documentation regardless of this setting.
|
||||
|
||||
MAX_INITIALIZER_LINES = 30
|
||||
|
||||
# Set the SHOW_USED_FILES tag to NO to disable the list of files generated
|
||||
# at the bottom of the documentation of classes and structs. If set to YES the
|
||||
# list will mention the files that were used to generate the documentation.
|
||||
|
||||
SHOW_USED_FILES = YES
|
||||
|
||||
# Set the SHOW_FILES tag to NO to disable the generation of the Files page.
|
||||
# This will remove the Files entry from the Quick Index and from the
|
||||
# Folder Tree View (if specified). The default is YES.
|
||||
|
||||
SHOW_FILES = YES
|
||||
|
||||
# Set the SHOW_NAMESPACES tag to NO to disable the generation of the
|
||||
# Namespaces page.
|
||||
# This will remove the Namespaces entry from the Quick Index
|
||||
# and from the Folder Tree View (if specified). The default is YES.
|
||||
|
||||
SHOW_NAMESPACES = YES
|
||||
|
||||
# The FILE_VERSION_FILTER tag can be used to specify a program or script that
|
||||
# doxygen should invoke to get the current version for each file (typically from
|
||||
# the version control system). Doxygen will invoke the program by executing (via
|
||||
# popen()) the command <command> <input-file>, where <command> is the value of
|
||||
# the FILE_VERSION_FILTER tag, and <input-file> is the name of an input file
|
||||
# provided by doxygen. Whatever the program writes to standard output
|
||||
# is used as the file version. See the manual for examples.
|
||||
|
||||
FILE_VERSION_FILTER =
|
||||
|
||||
# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed
|
||||
# by doxygen. The layout file controls the global structure of the generated
|
||||
# output files in an output format independent way. To create the layout file
|
||||
# that represents doxygen's defaults, run doxygen with the -l option.
|
||||
# You can optionally specify a file name after the option, if omitted
|
||||
# DoxygenLayout.xml will be used as the name of the layout file.
|
||||
|
||||
LAYOUT_FILE =
|
||||
|
||||
# The CITE_BIB_FILES tag can be used to specify one or more bib files
|
||||
# containing the references data. This must be a list of .bib files. The
|
||||
# .bib extension is automatically appended if omitted. Using this command
|
||||
# requires the bibtex tool to be installed. See also
|
||||
# http://en.wikipedia.org/wiki/BibTeX for more info. For LaTeX the style
|
||||
# of the bibliography can be controlled using LATEX_BIB_STYLE. To use this
|
||||
# feature you need bibtex and perl available in the search path. Do not use
|
||||
# file names with spaces, bibtex cannot handle them.
|
||||
|
||||
CITE_BIB_FILES =
|
||||
|
||||
#---------------------------------------------------------------------------
|
||||
# configuration options related to warning and progress messages
|
||||
#---------------------------------------------------------------------------
|
||||
|
||||
# The QUIET tag can be used to turn on/off the messages that are generated
|
||||
# by doxygen. Possible values are YES and NO. If left blank NO is used.
|
||||
|
||||
QUIET = NO
|
||||
|
||||
# The WARNINGS tag can be used to turn on/off the warning messages that are
|
||||
# generated by doxygen. Possible values are YES and NO. If left blank
|
||||
# NO is used.
|
||||
|
||||
WARNINGS = YES
|
||||
|
||||
# If WARN_IF_UNDOCUMENTED is set to YES, then doxygen will generate warnings
|
||||
# for undocumented members. If EXTRACT_ALL is set to YES then this flag will
|
||||
# automatically be disabled.
|
||||
|
||||
WARN_IF_UNDOCUMENTED = YES
|
||||
|
||||
# If WARN_IF_DOC_ERROR is set to YES, doxygen will generate warnings for
|
||||
# potential errors in the documentation, such as not documenting some
|
||||
# parameters in a documented function, or documenting parameters that
|
||||
# don't exist or using markup commands wrongly.
|
||||
|
||||
WARN_IF_DOC_ERROR = YES
|
||||
|
||||
# The WARN_NO_PARAMDOC option can be enabled to get warnings for
|
||||
# functions that are documented, but have no documentation for their parameters
|
||||
# or return value. If set to NO (the default) doxygen will only warn about
|
||||
# wrong or incomplete parameter documentation, but not about the absence of
|
||||
# documentation.
|
||||
|
||||
WARN_NO_PARAMDOC = NO
|
||||
|
||||
# The WARN_FORMAT tag determines the format of the warning messages that
|
||||
# doxygen can produce. The string should contain the $file, $line, and $text
|
||||
# tags, which will be replaced by the file and line number from which the
|
||||
# warning originated and the warning text. Optionally the format may contain
|
||||
# $version, which will be replaced by the version of the file (if it could
|
||||
# be obtained via FILE_VERSION_FILTER)
|
||||
|
||||
WARN_FORMAT = "$file:$line: $text"
|
||||
|
||||
# The WARN_LOGFILE tag can be used to specify a file to which warning
|
||||
# and error messages should be written. If left blank the output is written
|
||||
# to stderr.
|
||||
|
||||
WARN_LOGFILE =
|
||||
|
||||
#---------------------------------------------------------------------------
|
||||
# configuration options related to the input files
|
||||
#---------------------------------------------------------------------------
|
||||
|
||||
# The INPUT tag can be used to specify the files and/or directories that contain
|
||||
# documented source files. You may enter file names like "myfile.cpp" or
|
||||
# directories like "/usr/src/myproject". Separate the files or directories
|
||||
# with spaces.
|
||||
|
||||
INPUT = ground
|
||||
|
||||
# This tag can be used to specify the character encoding of the source files
|
||||
# that doxygen parses. Internally doxygen uses the UTF-8 encoding, which is
|
||||
# also the default input encoding. Doxygen uses libiconv (or the iconv built
|
||||
# into libc) for the transcoding. See http://www.gnu.org/software/libiconv for
|
||||
# the list of possible encodings.
|
||||
|
||||
INPUT_ENCODING = UTF-8
|
||||
|
||||
# If the value of the INPUT tag contains directories, you can use the
|
||||
# FILE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp
|
||||
# and *.h) to filter out the source-files in the directories. If left
|
||||
# blank the following patterns are tested:
|
||||
# *.c *.cc *.cxx *.cpp *.c++ *.d *.java *.ii *.ixx *.ipp *.i++ *.inl *.h *.hh
|
||||
# *.hxx *.hpp *.h++ *.idl *.odl *.cs *.php *.php3 *.inc *.m *.mm *.dox *.py
|
||||
# *.f90 *.f *.for *.vhd *.vhdl
|
||||
|
||||
FILE_PATTERNS =
|
||||
|
||||
# The RECURSIVE tag can be used to turn specify whether or not subdirectories
|
||||
# should be searched for input files as well. Possible values are YES and NO.
|
||||
# If left blank NO is used.
|
||||
|
||||
RECURSIVE = YES
|
||||
|
||||
# The EXCLUDE tag can be used to specify files and/or directories that should be
|
||||
# excluded from the INPUT source files. This way you can easily exclude a
|
||||
# subdirectory from a directory tree whose root is specified with the INPUT tag.
|
||||
# Note that relative paths are relative to the directory from which doxygen is
|
||||
# run.
|
||||
|
||||
EXCLUDE =
|
||||
|
||||
# The EXCLUDE_SYMLINKS tag can be used to select whether or not files or
|
||||
# directories that are symbolic links (a Unix file system feature) are excluded
|
||||
# from the input.
|
||||
|
||||
EXCLUDE_SYMLINKS = NO
|
||||
|
||||
# If the value of the INPUT tag contains directories, you can use the
|
||||
# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude
|
||||
# certain files from those directories. Note that the wildcards are matched
|
||||
# against the file with absolute path, so to exclude all test directories
|
||||
# for example use the pattern */test/*
|
||||
|
||||
EXCLUDE_PATTERNS =
|
||||
|
||||
# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names
|
||||
# (namespaces, classes, functions, etc.) that should be excluded from the
|
||||
# output. The symbol name can be a fully qualified name, a word, or if the
|
||||
# wildcard * is used, a substring. Examples: ANamespace, AClass,
|
||||
# AClass::ANamespace, ANamespace::*Test
|
||||
|
||||
EXCLUDE_SYMBOLS =
|
||||
|
||||
# The EXAMPLE_PATH tag can be used to specify one or more files or
|
||||
# directories that contain example code fragments that are included (see
|
||||
# the \include command).
|
||||
|
||||
EXAMPLE_PATH =
|
||||
|
||||
# If the value of the EXAMPLE_PATH tag contains directories, you can use the
|
||||
# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp
|
||||
# and *.h) to filter out the source-files in the directories. If left
|
||||
# blank all files are included.
|
||||
|
||||
EXAMPLE_PATTERNS =
|
||||
|
||||
# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be
|
||||
# searched for input files to be used with the \include or \dontinclude
|
||||
# commands irrespective of the value of the RECURSIVE tag.
|
||||
# Possible values are YES and NO. If left blank NO is used.
|
||||
|
||||
EXAMPLE_RECURSIVE = NO
|
||||
|
||||
# The IMAGE_PATH tag can be used to specify one or more files or
|
||||
# directories that contain image that are included in the documentation (see
|
||||
# the \image command).
|
||||
|
||||
IMAGE_PATH =
|
||||
|
||||
# The INPUT_FILTER tag can be used to specify a program that doxygen should
|
||||
# invoke to filter for each input file. Doxygen will invoke the filter program
|
||||
# by executing (via popen()) the command <filter> <input-file>, where <filter>
|
||||
# is the value of the INPUT_FILTER tag, and <input-file> is the name of an
|
||||
# input file. Doxygen will then use the output that the filter program writes
|
||||
# to standard output.
|
||||
# If FILTER_PATTERNS is specified, this tag will be
|
||||
# ignored.
|
||||
|
||||
INPUT_FILTER =
|
||||
|
||||
# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern
|
||||
# basis.
|
||||
# Doxygen will compare the file name with each pattern and apply the
|
||||
# filter if there is a match.
|
||||
# The filters are a list of the form:
|
||||
# pattern=filter (like *.cpp=my_cpp_filter). See INPUT_FILTER for further
|
||||
# info on how filters are used. If FILTER_PATTERNS is empty or if
|
||||
# non of the patterns match the file name, INPUT_FILTER is applied.
|
||||
|
||||
FILTER_PATTERNS =
|
||||
|
||||
# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using
|
||||
# INPUT_FILTER) will be used to filter the input files when producing source
|
||||
# files to browse (i.e. when SOURCE_BROWSER is set to YES).
|
||||
|
||||
FILTER_SOURCE_FILES = NO
|
||||
|
||||
# The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file
|
||||
# pattern. A pattern will override the setting for FILTER_PATTERN (if any)
|
||||
# and it is also possible to disable source filtering for a specific pattern
|
||||
# using *.ext= (so without naming a filter). This option only has effect when
|
||||
# FILTER_SOURCE_FILES is enabled.
|
||||
|
||||
FILTER_SOURCE_PATTERNS =
|
||||
|
||||
# If the USE_MD_FILE_AS_MAINPAGE tag refers to the name of a markdown file that
|
||||
# is part of the input, its contents will be placed on the main page (index.html).
|
||||
# This can be useful if you have a project on for instance GitHub and want reuse
|
||||
# the introduction page also for the doxygen output.
|
||||
|
||||
USE_MDFILE_AS_MAINPAGE =
|
||||
|
||||
#---------------------------------------------------------------------------
|
||||
# configuration options related to source browsing
|
||||
#---------------------------------------------------------------------------
|
||||
|
||||
# If the SOURCE_BROWSER tag is set to YES then a list of source files will
|
||||
# be generated. Documented entities will be cross-referenced with these sources.
|
||||
# Note: To get rid of all source code in the generated output, make sure also
|
||||
# VERBATIM_HEADERS is set to NO.
|
||||
|
||||
SOURCE_BROWSER = YES
|
||||
|
||||
# Setting the INLINE_SOURCES tag to YES will include the body
|
||||
# of functions and classes directly in the documentation.
|
||||
|
||||
INLINE_SOURCES = NO
|
||||
|
||||
# Setting the STRIP_CODE_COMMENTS tag to YES (the default) will instruct
|
||||
# doxygen to hide any special comment blocks from generated source code
|
||||
# fragments. Normal C, C++ and Fortran comments will always remain visible.
|
||||
|
||||
STRIP_CODE_COMMENTS = YES
|
||||
|
||||
# If the REFERENCED_BY_RELATION tag is set to YES
|
||||
# then for each documented function all documented
|
||||
# functions referencing it will be listed.
|
||||
|
||||
REFERENCED_BY_RELATION = NO
|
||||
|
||||
# If the REFERENCES_RELATION tag is set to YES
|
||||
# then for each documented function all documented entities
|
||||
# called/used by that function will be listed.
|
||||
|
||||
REFERENCES_RELATION = NO
|
||||
|
||||
# If the REFERENCES_LINK_SOURCE tag is set to YES (the default)
|
||||
# and SOURCE_BROWSER tag is set to YES, then the hyperlinks from
|
||||
# functions in REFERENCES_RELATION and REFERENCED_BY_RELATION lists will
|
||||
# link to the source code.
|
||||
# Otherwise they will link to the documentation.
|
||||
|
||||
REFERENCES_LINK_SOURCE = YES
|
||||
|
||||
# If the USE_HTAGS tag is set to YES then the references to source code
|
||||
# will point to the HTML generated by the htags(1) tool instead of doxygen
|
||||
# built-in source browser. The htags tool is part of GNU's global source
|
||||
# tagging system (see http://www.gnu.org/software/global/global.html). You
|
||||
# will need version 4.8.6 or higher.
|
||||
|
||||
USE_HTAGS = NO
|
||||
|
||||
# If the VERBATIM_HEADERS tag is set to YES (the default) then Doxygen
|
||||
# will generate a verbatim copy of the header file for each class for
|
||||
# which an include is specified. Set to NO to disable this.
|
||||
|
||||
VERBATIM_HEADERS = YES
|
||||
|
||||
#---------------------------------------------------------------------------
|
||||
# configuration options related to the alphabetical class index
|
||||
#---------------------------------------------------------------------------
|
||||
|
||||
# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index
|
||||
# of all compounds will be generated. Enable this if the project
|
||||
# contains a lot of classes, structs, unions or interfaces.
|
||||
|
||||
ALPHABETICAL_INDEX = YES
|
||||
|
||||
# If the alphabetical index is enabled (see ALPHABETICAL_INDEX) then
|
||||
# the COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns
|
||||
# in which this list will be split (can be a number in the range [1..20])
|
||||
|
||||
COLS_IN_ALPHA_INDEX = 5
|
||||
|
||||
# In case all classes in a project start with a common prefix, all
|
||||
# classes will be put under the same header in the alphabetical index.
|
||||
# The IGNORE_PREFIX tag can be used to specify one or more prefixes that
|
||||
# should be ignored while generating the index headers.
|
||||
|
||||
IGNORE_PREFIX =
|
||||
|
||||
#---------------------------------------------------------------------------
|
||||
# configuration options related to the HTML output
|
||||
#---------------------------------------------------------------------------
|
||||
|
||||
# If the GENERATE_HTML tag is set to YES (the default) Doxygen will
|
||||
# generate HTML output.
|
||||
|
||||
GENERATE_HTML = YES
|
||||
|
||||
# The HTML_OUTPUT tag is used to specify where the HTML docs will be put.
|
||||
# If a relative path is entered the value of OUTPUT_DIRECTORY will be
|
||||
# put in front of it. If left blank `html' will be used as the default path.
|
||||
|
||||
HTML_OUTPUT = html
|
||||
|
||||
# The HTML_FILE_EXTENSION tag can be used to specify the file extension for
|
||||
# each generated HTML page (for example: .htm,.php,.asp). If it is left blank
|
||||
# doxygen will generate files with .html extension.
|
||||
|
||||
HTML_FILE_EXTENSION = .html
|
||||
|
||||
# The HTML_HEADER tag can be used to specify a personal HTML header for
|
||||
# each generated HTML page. If it is left blank doxygen will generate a
|
||||
# standard header. Note that when using a custom header you are responsible
|
||||
# for the proper inclusion of any scripts and style sheets that doxygen
|
||||
# needs, which is dependent on the configuration options used.
|
||||
# It is advised to generate a default header using "doxygen -w html
|
||||
# header.html footer.html stylesheet.css YourConfigFile" and then modify
|
||||
# that header. Note that the header is subject to change so you typically
|
||||
# have to redo this when upgrading to a newer version of doxygen or when
|
||||
# changing the value of configuration settings such as GENERATE_TREEVIEW!
|
||||
|
||||
HTML_HEADER =
|
||||
|
||||
# The HTML_FOOTER tag can be used to specify a personal HTML footer for
|
||||
# each generated HTML page. If it is left blank doxygen will generate a
|
||||
# standard footer.
|
||||
|
||||
HTML_FOOTER =
|
||||
|
||||
# The HTML_STYLESHEET tag can be used to specify a user-defined cascading
|
||||
# style sheet that is used by each HTML page. It can be used to
|
||||
# fine-tune the look of the HTML output. If left blank doxygen will
|
||||
# generate a default style sheet. Note that it is recommended to use
|
||||
# HTML_EXTRA_STYLESHEET instead of this one, as it is more robust and this
|
||||
# tag will in the future become obsolete.
|
||||
|
||||
HTML_STYLESHEET =
|
||||
|
||||
# The HTML_EXTRA_STYLESHEET tag can be used to specify an additional
|
||||
# user-defined cascading style sheet that is included after the standard
|
||||
# style sheets created by doxygen. Using this option one can overrule
|
||||
# certain style aspects. This is preferred over using HTML_STYLESHEET
|
||||
# since it does not replace the standard style sheet and is therefor more
|
||||
# robust against future updates. Doxygen will copy the style sheet file to
|
||||
# the output directory.
|
||||
|
||||
HTML_EXTRA_STYLESHEET =
|
||||
|
||||
# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or
|
||||
# other source files which should be copied to the HTML output directory. Note
|
||||
# that these files will be copied to the base HTML output directory. Use the
|
||||
# $relpath$ marker in the HTML_HEADER and/or HTML_FOOTER files to load these
|
||||
# files. In the HTML_STYLESHEET file, use the file name only. Also note that
|
||||
# the files will be copied as-is; there are no commands or markers available.
|
||||
|
||||
HTML_EXTRA_FILES =
|
||||
|
||||
# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output.
|
||||
# Doxygen will adjust the colors in the style sheet and background images
|
||||
# according to this color. Hue is specified as an angle on a colorwheel,
|
||||
# see http://en.wikipedia.org/wiki/Hue for more information.
|
||||
# For instance the value 0 represents red, 60 is yellow, 120 is green,
|
||||
# 180 is cyan, 240 is blue, 300 purple, and 360 is red again.
|
||||
# The allowed range is 0 to 359.
|
||||
|
||||
HTML_COLORSTYLE_HUE = 220
|
||||
|
||||
# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of
|
||||
# the colors in the HTML output. For a value of 0 the output will use
|
||||
# grayscales only. A value of 255 will produce the most vivid colors.
|
||||
|
||||
HTML_COLORSTYLE_SAT = 100
|
||||
|
||||
# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to
|
||||
# the luminance component of the colors in the HTML output. Values below
|
||||
# 100 gradually make the output lighter, whereas values above 100 make
|
||||
# the output darker. The value divided by 100 is the actual gamma applied,
|
||||
# so 80 represents a gamma of 0.8, The value 220 represents a gamma of 2.2,
|
||||
# and 100 does not change the gamma.
|
||||
|
||||
HTML_COLORSTYLE_GAMMA = 80
|
||||
|
||||
# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML
|
||||
# page will contain the date and time when the page was generated. Setting
|
||||
# this to NO can help when comparing the output of multiple runs.
|
||||
|
||||
HTML_TIMESTAMP = YES
|
||||
|
||||
# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML
|
||||
# documentation will contain sections that can be hidden and shown after the
|
||||
# page has loaded.
|
||||
|
||||
HTML_DYNAMIC_SECTIONS = NO
|
||||
|
||||
# With HTML_INDEX_NUM_ENTRIES one can control the preferred number of
|
||||
# entries shown in the various tree structured indices initially; the user
|
||||
# can expand and collapse entries dynamically later on. Doxygen will expand
|
||||
# the tree to such a level that at most the specified number of entries are
|
||||
# visible (unless a fully collapsed tree already exceeds this amount).
|
||||
# So setting the number of entries 1 will produce a full collapsed tree by
|
||||
# default. 0 is a special value representing an infinite number of entries
|
||||
# and will result in a full expanded tree by default.
|
||||
|
||||
HTML_INDEX_NUM_ENTRIES = 100
|
||||
|
||||
# If the GENERATE_DOCSET tag is set to YES, additional index files
|
||||
# will be generated that can be used as input for Apple's Xcode 3
|
||||
# integrated development environment, introduced with OSX 10.5 (Leopard).
|
||||
# To create a documentation set, doxygen will generate a Makefile in the
|
||||
# HTML output directory. Running make will produce the docset in that
|
||||
# directory and running "make install" will install the docset in
|
||||
# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find
|
||||
# it at startup.
|
||||
# See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html
|
||||
# for more information.
|
||||
|
||||
GENERATE_DOCSET = NO
|
||||
|
||||
# When GENERATE_DOCSET tag is set to YES, this tag determines the name of the
|
||||
# feed. A documentation feed provides an umbrella under which multiple
|
||||
# documentation sets from a single provider (such as a company or product suite)
|
||||
# can be grouped.
|
||||
|
||||
DOCSET_FEEDNAME = "The OpenPilot project documentation"
|
||||
|
||||
# When GENERATE_DOCSET tag is set to YES, this tag specifies a string that
|
||||
# should uniquely identify the documentation set bundle. This should be a
|
||||
# reverse domain-name style string, e.g. com.mycompany.MyDocSet. Doxygen
|
||||
# will append .docset to the name.
|
||||
|
||||
DOCSET_BUNDLE_ID = org.openpilot.project
|
||||
|
||||
# When GENERATE_PUBLISHER_ID tag specifies a string that should uniquely
|
||||
# identify the documentation publisher. This should be a reverse domain-name
|
||||
# style string, e.g. com.mycompany.MyDocSet.documentation.
|
||||
|
||||
DOCSET_PUBLISHER_ID = org.doxygen.publisher
|
||||
|
||||
# The GENERATE_PUBLISHER_NAME tag identifies the documentation publisher.
|
||||
|
||||
DOCSET_PUBLISHER_NAME = OpenPilot
|
||||
|
||||
# If the GENERATE_HTMLHELP tag is set to YES, additional index files
|
||||
# will be generated that can be used as input for tools like the
|
||||
# Microsoft HTML help workshop to generate a compiled HTML help file (.chm)
|
||||
# of the generated HTML documentation.
|
||||
|
||||
GENERATE_HTMLHELP = NO
|
||||
|
||||
# If the GENERATE_HTMLHELP tag is set to YES, the CHM_FILE tag can
|
||||
# be used to specify the file name of the resulting .chm file. You
|
||||
# can add a path in front of the file if the result should not be
|
||||
# written to the html output directory.
|
||||
|
||||
CHM_FILE =
|
||||
|
||||
# If the GENERATE_HTMLHELP tag is set to YES, the HHC_LOCATION tag can
|
||||
# be used to specify the location (absolute path including file name) of
|
||||
# the HTML help compiler (hhc.exe). If non-empty doxygen will try to run
|
||||
# the HTML help compiler on the generated index.hhp.
|
||||
|
||||
HHC_LOCATION =
|
||||
|
||||
# If the GENERATE_HTMLHELP tag is set to YES, the GENERATE_CHI flag
|
||||
# controls if a separate .chi index file is generated (YES) or that
|
||||
# it should be included in the master .chm file (NO).
|
||||
|
||||
GENERATE_CHI = NO
|
||||
|
||||
# If the GENERATE_HTMLHELP tag is set to YES, the CHM_INDEX_ENCODING
|
||||
# is used to encode HtmlHelp index (hhk), content (hhc) and project file
|
||||
# content.
|
||||
|
||||
CHM_INDEX_ENCODING =
|
||||
|
||||
# If the GENERATE_HTMLHELP tag is set to YES, the BINARY_TOC flag
|
||||
# controls whether a binary table of contents is generated (YES) or a
|
||||
# normal table of contents (NO) in the .chm file.
|
||||
|
||||
BINARY_TOC = NO
|
||||
|
||||
# The TOC_EXPAND flag can be set to YES to add extra items for group members
|
||||
# to the contents of the HTML help documentation and to the tree view.
|
||||
|
||||
TOC_EXPAND = NO
|
||||
|
||||
# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and
|
||||
# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated
|
||||
# that can be used as input for Qt's qhelpgenerator to generate a
|
||||
# Qt Compressed Help (.qch) of the generated HTML documentation.
|
||||
|
||||
GENERATE_QHP = NO
|
||||
|
||||
# If the QHG_LOCATION tag is specified, the QCH_FILE tag can
|
||||
# be used to specify the file name of the resulting .qch file.
|
||||
# The path specified is relative to the HTML output folder.
|
||||
|
||||
QCH_FILE =
|
||||
|
||||
# The QHP_NAMESPACE tag specifies the namespace to use when generating
|
||||
# Qt Help Project output. For more information please see
|
||||
# http://doc.trolltech.com/qthelpproject.html#namespace
|
||||
|
||||
QHP_NAMESPACE = org.doxygen.Project
|
||||
|
||||
# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating
|
||||
# Qt Help Project output. For more information please see
|
||||
# http://doc.trolltech.com/qthelpproject.html#virtual-folders
|
||||
|
||||
QHP_VIRTUAL_FOLDER = doc
|
||||
|
||||
# If QHP_CUST_FILTER_NAME is set, it specifies the name of a custom filter to
|
||||
# add. For more information please see
|
||||
# http://doc.trolltech.com/qthelpproject.html#custom-filters
|
||||
|
||||
QHP_CUST_FILTER_NAME =
|
||||
|
||||
# The QHP_CUST_FILT_ATTRS tag specifies the list of the attributes of the
|
||||
# custom filter to add. For more information please see
|
||||
# <a href="http://doc.trolltech.com/qthelpproject.html#custom-filters">
|
||||
# Qt Help Project / Custom Filters</a>.
|
||||
|
||||
QHP_CUST_FILTER_ATTRS =
|
||||
|
||||
# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this
|
||||
# project's
|
||||
# filter section matches.
|
||||
# <a href="http://doc.trolltech.com/qthelpproject.html#filter-attributes">
|
||||
# Qt Help Project / Filter Attributes</a>.
|
||||
|
||||
QHP_SECT_FILTER_ATTRS =
|
||||
|
||||
# If the GENERATE_QHP tag is set to YES, the QHG_LOCATION tag can
|
||||
# be used to specify the location of Qt's qhelpgenerator.
|
||||
# If non-empty doxygen will try to run qhelpgenerator on the generated
|
||||
# .qhp file.
|
||||
|
||||
QHG_LOCATION =
|
||||
|
||||
# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files
|
||||
# will be generated, which together with the HTML files, form an Eclipse help
|
||||
# plugin. To install this plugin and make it available under the help contents
|
||||
# menu in Eclipse, the contents of the directory containing the HTML and XML
|
||||
# files needs to be copied into the plugins directory of eclipse. The name of
|
||||
# the directory within the plugins directory should be the same as
|
||||
# the ECLIPSE_DOC_ID value. After copying Eclipse needs to be restarted before
|
||||
# the help appears.
|
||||
|
||||
GENERATE_ECLIPSEHELP = NO
|
||||
|
||||
# A unique identifier for the eclipse help plugin. When installing the plugin
|
||||
# the directory name containing the HTML and XML files should also have
|
||||
# this name.
|
||||
|
||||
ECLIPSE_DOC_ID = org.doxygen.Project
|
||||
|
||||
# The DISABLE_INDEX tag can be used to turn on/off the condensed index (tabs)
|
||||
# at top of each HTML page. The value NO (the default) enables the index and
|
||||
# the value YES disables it. Since the tabs have the same information as the
|
||||
# navigation tree you can set this option to NO if you already set
|
||||
# GENERATE_TREEVIEW to YES.
|
||||
|
||||
DISABLE_INDEX = NO
|
||||
|
||||
# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index
|
||||
# structure should be generated to display hierarchical information.
|
||||
# If the tag value is set to YES, a side panel will be generated
|
||||
# containing a tree-like index structure (just like the one that
|
||||
# is generated for HTML Help). For this to work a browser that supports
|
||||
# JavaScript, DHTML, CSS and frames is required (i.e. any modern browser).
|
||||
# Windows users are probably better off using the HTML help feature.
|
||||
# Since the tree basically has the same information as the tab index you
|
||||
# could consider to set DISABLE_INDEX to NO when enabling this option.
|
||||
|
||||
GENERATE_TREEVIEW = YES
|
||||
|
||||
# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values
|
||||
# (range [0,1..20]) that doxygen will group on one line in the generated HTML
|
||||
# documentation. Note that a value of 0 will completely suppress the enum
|
||||
# values from appearing in the overview section.
|
||||
|
||||
ENUM_VALUES_PER_LINE = 4
|
||||
|
||||
# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be
|
||||
# used to set the initial width (in pixels) of the frame in which the tree
|
||||
# is shown.
|
||||
|
||||
TREEVIEW_WIDTH = 250
|
||||
|
||||
# When the EXT_LINKS_IN_WINDOW option is set to YES doxygen will open
|
||||
# links to external symbols imported via tag files in a separate window.
|
||||
|
||||
EXT_LINKS_IN_WINDOW = NO
|
||||
|
||||
# Use this tag to change the font size of Latex formulas included
|
||||
# as images in the HTML documentation. The default is 10. Note that
|
||||
# when you change the font size after a successful doxygen run you need
|
||||
# to manually remove any form_*.png images from the HTML output directory
|
||||
# to force them to be regenerated.
|
||||
|
||||
FORMULA_FONTSIZE = 10
|
||||
|
||||
# Use the FORMULA_TRANPARENT tag to determine whether or not the images
|
||||
# generated for formulas are transparent PNGs. Transparent PNGs are
|
||||
# not supported properly for IE 6.0, but are supported on all modern browsers.
|
||||
# Note that when changing this option you need to delete any form_*.png files
|
||||
# in the HTML output before the changes have effect.
|
||||
|
||||
FORMULA_TRANSPARENT = YES
|
||||
|
||||
# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax
|
||||
# (see http://www.mathjax.org) which uses client side Javascript for the
|
||||
# rendering instead of using prerendered bitmaps. Use this if you do not
|
||||
# have LaTeX installed or if you want to formulas look prettier in the HTML
|
||||
# output. When enabled you may also need to install MathJax separately and
|
||||
# configure the path to it using the MATHJAX_RELPATH option.
|
||||
|
||||
USE_MATHJAX = NO
|
||||
|
||||
# When MathJax is enabled you can set the default output format to be used for
|
||||
# thA MathJax output. Supported types are HTML-CSS, NativeMML (i.e. MathML) and
|
||||
# SVG. The default value is HTML-CSS, which is slower, but has the best
|
||||
# compatibility.
|
||||
|
||||
MATHJAX_FORMAT = HTML-CSS
|
||||
|
||||
# When MathJax is enabled you need to specify the location relative to the
|
||||
# HTML output directory using the MATHJAX_RELPATH option. The destination
|
||||
# directory should contain the MathJax.js script. For instance, if the mathjax
|
||||
# directory is located at the same level as the HTML output directory, then
|
||||
# MATHJAX_RELPATH should be ../mathjax. The default value points to
|
||||
# the MathJax Content Delivery Network so you can quickly see the result without
|
||||
# installing MathJax.
|
||||
# However, it is strongly recommended to install a local
|
||||
# copy of MathJax from http://www.mathjax.org before deployment.
|
||||
|
||||
MATHJAX_RELPATH = http://cdn.mathjax.org/mathjax/latest
|
||||
|
||||
# The MATHJAX_EXTENSIONS tag can be used to specify one or MathJax extension
|
||||
# names that should be enabled during MathJax rendering.
|
||||
|
||||
MATHJAX_EXTENSIONS =
|
||||
|
||||
# When the SEARCHENGINE tag is enabled doxygen will generate a search box
|
||||
# for the HTML output. The underlying search engine uses javascript
|
||||
# and DHTML and should work on any modern browser. Note that when using
|
||||
# HTML help (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets
|
||||
# (GENERATE_DOCSET) there is already a search function so this one should
|
||||
# typically be disabled. For large projects the javascript based search engine
|
||||
# can be slow, then enabling SERVER_BASED_SEARCH may provide a better solution.
|
||||
|
||||
SEARCHENGINE = YES
|
||||
|
||||
# When the SERVER_BASED_SEARCH tag is enabled the search engine will be
|
||||
# implemented using a web server instead of a web client using Javascript.
|
||||
# There are two flavours of web server based search depending on the
|
||||
# EXTERNAL_SEARCH setting. When disabled, doxygen will generate a PHP script for
|
||||
# searching and an index file used by the script. When EXTERNAL_SEARCH is
|
||||
# enabled the indexing and searching needs to be provided by external tools.
|
||||
# See the manual for details.
|
||||
|
||||
SERVER_BASED_SEARCH = NO
|
||||
|
||||
# When EXTERNAL_SEARCH is enabled doxygen will no longer generate the PHP
|
||||
# script for searching. Instead the search results are written to an XML file
|
||||
# which needs to be processed by an external indexer. Doxygen will invoke an
|
||||
# external search engine pointed to by the SEARCHENGINE_URL option to obtain
|
||||
# the search results. Doxygen ships with an example indexer (doxyindexer) and
|
||||
# search engine (doxysearch.cgi) which are based on the open source search engine
|
||||
# library Xapian. See the manual for configuration details.
|
||||
|
||||
EXTERNAL_SEARCH = NO
|
||||
|
||||
# The SEARCHENGINE_URL should point to a search engine hosted by a web server
|
||||
# which will returned the search results when EXTERNAL_SEARCH is enabled.
|
||||
# Doxygen ships with an example search engine (doxysearch) which is based on
|
||||
# the open source search engine library Xapian. See the manual for configuration
|
||||
# details.
|
||||
|
||||
SEARCHENGINE_URL =
|
||||
|
||||
# When SERVER_BASED_SEARCH and EXTERNAL_SEARCH are both enabled the unindexed
|
||||
# search data is written to a file for indexing by an external tool. With the
|
||||
# SEARCHDATA_FILE tag the name of this file can be specified.
|
||||
|
||||
SEARCHDATA_FILE = searchdata.xml
|
||||
|
||||
# When SERVER_BASED_SEARCH AND EXTERNAL_SEARCH are both enabled the
|
||||
# EXTERNAL_SEARCH_ID tag can be used as an identifier for the project. This is
|
||||
# useful in combination with EXTRA_SEARCH_MAPPINGS to search through multiple
|
||||
# projects and redirect the results back to the right project.
|
||||
|
||||
EXTERNAL_SEARCH_ID =
|
||||
|
||||
# The EXTRA_SEARCH_MAPPINGS tag can be used to enable searching through doxygen
|
||||
# projects other than the one defined by this configuration file, but that are
|
||||
# all added to the same external search index. Each project needs to have a
|
||||
# unique id set via EXTERNAL_SEARCH_ID. The search mapping then maps the id
|
||||
# of to a relative location where the documentation can be found.
|
||||
# The format is: EXTRA_SEARCH_MAPPINGS = id1=loc1 id2=loc2 ...
|
||||
|
||||
EXTRA_SEARCH_MAPPINGS =
|
||||
|
||||
#---------------------------------------------------------------------------
|
||||
# configuration options related to the LaTeX output
|
||||
#---------------------------------------------------------------------------
|
||||
|
||||
# If the GENERATE_LATEX tag is set to YES (the default) Doxygen will
|
||||
# generate Latex output.
|
||||
|
||||
GENERATE_LATEX = NO
|
||||
|
||||
# The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put.
|
||||
# If a relative path is entered the value of OUTPUT_DIRECTORY will be
|
||||
# put in front of it. If left blank `latex' will be used as the default path.
|
||||
|
||||
LATEX_OUTPUT = latex
|
||||
|
||||
# The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be
|
||||
# invoked. If left blank `latex' will be used as the default command name.
|
||||
# Note that when enabling USE_PDFLATEX this option is only used for
|
||||
# generating bitmaps for formulas in the HTML output, but not in the
|
||||
# Makefile that is written to the output directory.
|
||||
|
||||
LATEX_CMD_NAME = latex
|
||||
|
||||
# The MAKEINDEX_CMD_NAME tag can be used to specify the command name to
|
||||
# generate index for LaTeX. If left blank `makeindex' will be used as the
|
||||
# default command name.
|
||||
|
||||
MAKEINDEX_CMD_NAME = makeindex
|
||||
|
||||
# If the COMPACT_LATEX tag is set to YES Doxygen generates more compact
|
||||
# LaTeX documents. This may be useful for small projects and may help to
|
||||
# save some trees in general.
|
||||
|
||||
COMPACT_LATEX = NO
|
||||
|
||||
# The PAPER_TYPE tag can be used to set the paper type that is used
|
||||
# by the printer. Possible values are: a4, letter, legal and
|
||||
# executive. If left blank a4wide will be used.
|
||||
|
||||
PAPER_TYPE = a4
|
||||
|
||||
# The EXTRA_PACKAGES tag can be to specify one or more names of LaTeX
|
||||
# packages that should be included in the LaTeX output.
|
||||
|
||||
EXTRA_PACKAGES =
|
||||
|
||||
# The LATEX_HEADER tag can be used to specify a personal LaTeX header for
|
||||
# the generated latex document. The header should contain everything until
|
||||
# the first chapter. If it is left blank doxygen will generate a
|
||||
# standard header. Notice: only use this tag if you know what you are doing!
|
||||
|
||||
LATEX_HEADER =
|
||||
|
||||
# The LATEX_FOOTER tag can be used to specify a personal LaTeX footer for
|
||||
# the generated latex document. The footer should contain everything after
|
||||
# the last chapter. If it is left blank doxygen will generate a
|
||||
# standard footer. Notice: only use this tag if you know what you are doing!
|
||||
|
||||
LATEX_FOOTER =
|
||||
|
||||
# If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated
|
||||
# is prepared for conversion to pdf (using ps2pdf). The pdf file will
|
||||
# contain links (just like the HTML output) instead of page references
|
||||
# This makes the output suitable for online browsing using a pdf viewer.
|
||||
|
||||
PDF_HYPERLINKS = YES
|
||||
|
||||
# If the USE_PDFLATEX tag is set to YES, pdflatex will be used instead of
|
||||
# plain latex in the generated Makefile. Set this option to YES to get a
|
||||
# higher quality PDF documentation.
|
||||
|
||||
USE_PDFLATEX = YES
|
||||
|
||||
# If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \\batchmode.
|
||||
# command to the generated LaTeX files. This will instruct LaTeX to keep
|
||||
# running if errors occur, instead of asking the user for help.
|
||||
# This option is also used when generating formulas in HTML.
|
||||
|
||||
LATEX_BATCHMODE = NO
|
||||
|
||||
# If LATEX_HIDE_INDICES is set to YES then doxygen will not
|
||||
# include the index chapters (such as File Index, Compound Index, etc.)
|
||||
# in the output.
|
||||
|
||||
LATEX_HIDE_INDICES = NO
|
||||
|
||||
# If LATEX_SOURCE_CODE is set to YES then doxygen will include
|
||||
# source code with syntax highlighting in the LaTeX output.
|
||||
# Note that which sources are shown also depends on other settings
|
||||
# such as SOURCE_BROWSER.
|
||||
|
||||
LATEX_SOURCE_CODE = NO
|
||||
|
||||
# The LATEX_BIB_STYLE tag can be used to specify the style to use for the
|
||||
# bibliography, e.g. plainnat, or ieeetr. The default style is "plain". See
|
||||
# http://en.wikipedia.org/wiki/BibTeX for more info.
|
||||
|
||||
LATEX_BIB_STYLE = plain
|
||||
|
||||
#---------------------------------------------------------------------------
|
||||
# configuration options related to the RTF output
|
||||
#---------------------------------------------------------------------------
|
||||
|
||||
# If the GENERATE_RTF tag is set to YES Doxygen will generate RTF output
|
||||
# The RTF output is optimized for Word 97 and may not look very pretty with
|
||||
# other RTF readers or editors.
|
||||
|
||||
GENERATE_RTF = NO
|
||||
|
||||
# The RTF_OUTPUT tag is used to specify where the RTF docs will be put.
|
||||
# If a relative path is entered the value of OUTPUT_DIRECTORY will be
|
||||
# put in front of it. If left blank `rtf' will be used as the default path.
|
||||
|
||||
RTF_OUTPUT = rtf
|
||||
|
||||
# If the COMPACT_RTF tag is set to YES Doxygen generates more compact
|
||||
# RTF documents. This may be useful for small projects and may help to
|
||||
# save some trees in general.
|
||||
|
||||
COMPACT_RTF = NO
|
||||
|
||||
# If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated
|
||||
# will contain hyperlink fields. The RTF file will
|
||||
# contain links (just like the HTML output) instead of page references.
|
||||
# This makes the output suitable for online browsing using WORD or other
|
||||
# programs which support those fields.
|
||||
# Note: wordpad (write) and others do not support links.
|
||||
|
||||
RTF_HYPERLINKS = NO
|
||||
|
||||
# Load style sheet definitions from file. Syntax is similar to doxygen's
|
||||
# config file, i.e. a series of assignments. You only have to provide
|
||||
# replacements, missing definitions are set to their default value.
|
||||
|
||||
RTF_STYLESHEET_FILE =
|
||||
|
||||
# Set optional variables used in the generation of an rtf document.
|
||||
# Syntax is similar to doxygen's config file.
|
||||
|
||||
RTF_EXTENSIONS_FILE =
|
||||
|
||||
#---------------------------------------------------------------------------
|
||||
# configuration options related to the man page output
|
||||
#---------------------------------------------------------------------------
|
||||
|
||||
# If the GENERATE_MAN tag is set to YES (the default) Doxygen will
|
||||
# generate man pages
|
||||
|
||||
GENERATE_MAN = NO
|
||||
|
||||
# The MAN_OUTPUT tag is used to specify where the man pages will be put.
|
||||
# If a relative path is entered the value of OUTPUT_DIRECTORY will be
|
||||
# put in front of it. If left blank `man' will be used as the default path.
|
||||
|
||||
MAN_OUTPUT = man
|
||||
|
||||
# The MAN_EXTENSION tag determines the extension that is added to
|
||||
# the generated man pages (default is the subroutine's section .3)
|
||||
|
||||
MAN_EXTENSION = .3
|
||||
|
||||
# If the MAN_LINKS tag is set to YES and Doxygen generates man output,
|
||||
# then it will generate one additional man file for each entity
|
||||
# documented in the real man page(s). These additional files
|
||||
# only source the real man page, but without them the man command
|
||||
# would be unable to find the correct page. The default is NO.
|
||||
|
||||
MAN_LINKS = NO
|
||||
|
||||
#---------------------------------------------------------------------------
|
||||
# configuration options related to the XML output
|
||||
#---------------------------------------------------------------------------
|
||||
|
||||
# If the GENERATE_XML tag is set to YES Doxygen will
|
||||
# generate an XML file that captures the structure of
|
||||
# the code including all documentation.
|
||||
|
||||
GENERATE_XML = NO
|
||||
|
||||
# The XML_OUTPUT tag is used to specify where the XML pages will be put.
|
||||
# If a relative path is entered the value of OUTPUT_DIRECTORY will be
|
||||
# put in front of it. If left blank `xml' will be used as the default path.
|
||||
|
||||
XML_OUTPUT = xml
|
||||
|
||||
# The XML_SCHEMA tag can be used to specify an XML schema,
|
||||
# which can be used by a validating XML parser to check the
|
||||
# syntax of the XML files.
|
||||
|
||||
XML_SCHEMA =
|
||||
|
||||
# The XML_DTD tag can be used to specify an XML DTD,
|
||||
# which can be used by a validating XML parser to check the
|
||||
# syntax of the XML files.
|
||||
|
||||
XML_DTD =
|
||||
|
||||
# If the XML_PROGRAMLISTING tag is set to YES Doxygen will
|
||||
# dump the program listings (including syntax highlighting
|
||||
# and cross-referencing information) to the XML output. Note that
|
||||
# enabling this will significantly increase the size of the XML output.
|
||||
|
||||
XML_PROGRAMLISTING = YES
|
||||
|
||||
#---------------------------------------------------------------------------
|
||||
# configuration options for the AutoGen Definitions output
|
||||
#---------------------------------------------------------------------------
|
||||
|
||||
# If the GENERATE_AUTOGEN_DEF tag is set to YES Doxygen will
|
||||
# generate an AutoGen Definitions (see autogen.sf.net) file
|
||||
# that captures the structure of the code including all
|
||||
# documentation. Note that this feature is still experimental
|
||||
# and incomplete at the moment.
|
||||
|
||||
GENERATE_AUTOGEN_DEF = NO
|
||||
|
||||
#---------------------------------------------------------------------------
|
||||
# configuration options related to the Perl module output
|
||||
#---------------------------------------------------------------------------
|
||||
|
||||
# If the GENERATE_PERLMOD tag is set to YES Doxygen will
|
||||
# generate a Perl module file that captures the structure of
|
||||
# the code including all documentation. Note that this
|
||||
# feature is still experimental and incomplete at the
|
||||
# moment.
|
||||
|
||||
GENERATE_PERLMOD = NO
|
||||
|
||||
# If the PERLMOD_LATEX tag is set to YES Doxygen will generate
|
||||
# the necessary Makefile rules, Perl scripts and LaTeX code to be able
|
||||
# to generate PDF and DVI output from the Perl module output.
|
||||
|
||||
PERLMOD_LATEX = NO
|
||||
|
||||
# If the PERLMOD_PRETTY tag is set to YES the Perl module output will be
|
||||
# nicely formatted so it can be parsed by a human reader.
|
||||
# This is useful
|
||||
# if you want to understand what is going on.
|
||||
# On the other hand, if this
|
||||
# tag is set to NO the size of the Perl module output will be much smaller
|
||||
# and Perl will parse it just the same.
|
||||
|
||||
PERLMOD_PRETTY = YES
|
||||
|
||||
# The names of the make variables in the generated doxyrules.make file
|
||||
# are prefixed with the string contained in PERLMOD_MAKEVAR_PREFIX.
|
||||
# This is useful so different doxyrules.make files included by the same
|
||||
# Makefile don't overwrite each other's variables.
|
||||
|
||||
PERLMOD_MAKEVAR_PREFIX =
|
||||
|
||||
#---------------------------------------------------------------------------
|
||||
# Configuration options related to the preprocessor
|
||||
#---------------------------------------------------------------------------
|
||||
|
||||
# If the ENABLE_PREPROCESSING tag is set to YES (the default) Doxygen will
|
||||
# evaluate all C-preprocessor directives found in the sources and include
|
||||
# files.
|
||||
|
||||
ENABLE_PREPROCESSING = YES
|
||||
|
||||
# If the MACRO_EXPANSION tag is set to YES Doxygen will expand all macro
|
||||
# names in the source code. If set to NO (the default) only conditional
|
||||
# compilation will be performed. Macro expansion can be done in a controlled
|
||||
# way by setting EXPAND_ONLY_PREDEF to YES.
|
||||
|
||||
MACRO_EXPANSION = NO
|
||||
|
||||
# If the EXPAND_ONLY_PREDEF and MACRO_EXPANSION tags are both set to YES
|
||||
# then the macro expansion is limited to the macros specified with the
|
||||
# PREDEFINED and EXPAND_AS_DEFINED tags.
|
||||
|
||||
EXPAND_ONLY_PREDEF = NO
|
||||
|
||||
# If the SEARCH_INCLUDES tag is set to YES (the default) the includes files
|
||||
# pointed to by INCLUDE_PATH will be searched when a #include is found.
|
||||
|
||||
SEARCH_INCLUDES = YES
|
||||
|
||||
# The INCLUDE_PATH tag can be used to specify one or more directories that
|
||||
# contain include files that are not input files but should be processed by
|
||||
# the preprocessor.
|
||||
|
||||
INCLUDE_PATH =
|
||||
|
||||
# You can use the INCLUDE_FILE_PATTERNS tag to specify one or more wildcard
|
||||
# patterns (like *.h and *.hpp) to filter out the header-files in the
|
||||
# directories. If left blank, the patterns specified with FILE_PATTERNS will
|
||||
# be used.
|
||||
|
||||
INCLUDE_FILE_PATTERNS =
|
||||
|
||||
# The PREDEFINED tag can be used to specify one or more macro names that
|
||||
# are defined before the preprocessor is started (similar to the -D option of
|
||||
# gcc). The argument of the tag is a list of macros of the form: name
|
||||
# or name=definition (no spaces). If the definition and the = are
|
||||
# omitted =1 is assumed. To prevent a macro definition from being
|
||||
# undefined via #undef or recursively expanded use the := operator
|
||||
# instead of the = operator.
|
||||
|
||||
PREDEFINED =
|
||||
|
||||
# If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then
|
||||
# this tag can be used to specify a list of macro names that should be expanded.
|
||||
# The macro definition that is found in the sources will be used.
|
||||
# Use the PREDEFINED tag if you want to use a different macro definition that
|
||||
# overrules the definition found in the source code.
|
||||
|
||||
EXPAND_AS_DEFINED =
|
||||
|
||||
# If the SKIP_FUNCTION_MACROS tag is set to YES (the default) then
|
||||
# doxygen's preprocessor will remove all references to function-like macros
|
||||
# that are alone on a line, have an all uppercase name, and do not end with a
|
||||
# semicolon, because these will confuse the parser if not removed.
|
||||
|
||||
SKIP_FUNCTION_MACROS = YES
|
||||
|
||||
#---------------------------------------------------------------------------
|
||||
# Configuration::additions related to external references
|
||||
#---------------------------------------------------------------------------
|
||||
|
||||
# The TAGFILES option can be used to specify one or more tagfiles. For each
|
||||
# tag file the location of the external documentation should be added. The
|
||||
# format of a tag file without this location is as follows:
|
||||
#
|
||||
# TAGFILES = file1 file2 ...
|
||||
# Adding location for the tag files is done as follows:
|
||||
#
|
||||
# TAGFILES = file1=loc1 "file2 = loc2" ...
|
||||
# where "loc1" and "loc2" can be relative or absolute paths
|
||||
# or URLs. Note that each tag file must have a unique name (where the name does
|
||||
# NOT include the path). If a tag file is not located in the directory in which
|
||||
# doxygen is run, you must also specify the path to the tagfile here.
|
||||
|
||||
TAGFILES =
|
||||
|
||||
# When a file name is specified after GENERATE_TAGFILE, doxygen will create
|
||||
# a tag file that is based on the input files it reads.
|
||||
|
||||
GENERATE_TAGFILE =
|
||||
|
||||
# If the ALLEXTERNALS tag is set to YES all external classes will be listed
|
||||
# in the class index. If set to NO only the inherited external classes
|
||||
# will be listed.
|
||||
|
||||
ALLEXTERNALS = NO
|
||||
|
||||
# If the EXTERNAL_GROUPS tag is set to YES all external groups will be listed
|
||||
# in the modules index. If set to NO, only the current project's groups will
|
||||
# be listed.
|
||||
|
||||
EXTERNAL_GROUPS = YES
|
||||
|
||||
# The PERL_PATH should be the absolute path and name of the perl script
|
||||
# interpreter (i.e. the result of `which perl').
|
||||
|
||||
PERL_PATH = /usr/bin/perl
|
||||
|
||||
#---------------------------------------------------------------------------
|
||||
# Configuration options related to the dot tool
|
||||
#---------------------------------------------------------------------------
|
||||
|
||||
# If the CLASS_DIAGRAMS tag is set to YES (the default) Doxygen will
|
||||
# generate a inheritance diagram (in HTML, RTF and LaTeX) for classes with base
|
||||
# or super classes. Setting the tag to NO turns the diagrams off. Note that
|
||||
# this option also works with HAVE_DOT disabled, but it is recommended to
|
||||
# install and use dot, since it yields more powerful graphs.
|
||||
|
||||
CLASS_DIAGRAMS = YES
|
||||
|
||||
# You can define message sequence charts within doxygen comments using the \msc
|
||||
# command. Doxygen will then run the mscgen tool (see
|
||||
# http://www.mcternan.me.uk/mscgen/) to produce the chart and insert it in the
|
||||
# documentation. The MSCGEN_PATH tag allows you to specify the directory where
|
||||
# the mscgen tool resides. If left empty the tool is assumed to be found in the
|
||||
# default search path.
|
||||
|
||||
MSCGEN_PATH =
|
||||
|
||||
# If set to YES, the inheritance and collaboration graphs will hide
|
||||
# inheritance and usage relations if the target is undocumented
|
||||
# or is not a class.
|
||||
|
||||
HIDE_UNDOC_RELATIONS = YES
|
||||
|
||||
# If you set the HAVE_DOT tag to YES then doxygen will assume the dot tool is
|
||||
# available from the path. This tool is part of Graphviz, a graph visualization
|
||||
# toolkit from AT&T and Lucent Bell Labs. The other options in this section
|
||||
# have no effect if this option is set to NO (the default)
|
||||
|
||||
HAVE_DOT = NO
|
||||
|
||||
# The DOT_NUM_THREADS specifies the number of dot invocations doxygen is
|
||||
# allowed to run in parallel. When set to 0 (the default) doxygen will
|
||||
# base this on the number of processors available in the system. You can set it
|
||||
# explicitly to a value larger than 0 to get control over the balance
|
||||
# between CPU load and processing speed.
|
||||
|
||||
DOT_NUM_THREADS = 0
|
||||
|
||||
# By default doxygen will use the Helvetica font for all dot files that
|
||||
# doxygen generates. When you want a differently looking font you can specify
|
||||
# the font name using DOT_FONTNAME. You need to make sure dot is able to find
|
||||
# the font, which can be done by putting it in a standard location or by setting
|
||||
# the DOTFONTPATH environment variable or by setting DOT_FONTPATH to the
|
||||
# directory containing the font.
|
||||
|
||||
DOT_FONTNAME = Helvetica
|
||||
|
||||
# The DOT_FONTSIZE tag can be used to set the size of the font of dot graphs.
|
||||
# The default size is 10pt.
|
||||
|
||||
DOT_FONTSIZE = 10
|
||||
|
||||
# By default doxygen will tell dot to use the Helvetica font.
|
||||
# If you specify a different font using DOT_FONTNAME you can use DOT_FONTPATH to
|
||||
# set the path where dot can find it.
|
||||
|
||||
DOT_FONTPATH =
|
||||
|
||||
# If the CLASS_GRAPH and HAVE_DOT tags are set to YES then doxygen
|
||||
# will generate a graph for each documented class showing the direct and
|
||||
# indirect inheritance relations. Setting this tag to YES will force the
|
||||
# CLASS_DIAGRAMS tag to NO.
|
||||
|
||||
CLASS_GRAPH = YES
|
||||
|
||||
# If the COLLABORATION_GRAPH and HAVE_DOT tags are set to YES then doxygen
|
||||
# will generate a graph for each documented class showing the direct and
|
||||
# indirect implementation dependencies (inheritance, containment, and
|
||||
# class references variables) of the class with other documented classes.
|
||||
|
||||
COLLABORATION_GRAPH = YES
|
||||
|
||||
# If the GROUP_GRAPHS and HAVE_DOT tags are set to YES then doxygen
|
||||
# will generate a graph for groups, showing the direct groups dependencies
|
||||
|
||||
GROUP_GRAPHS = YES
|
||||
|
||||
# If the UML_LOOK tag is set to YES doxygen will generate inheritance and
|
||||
# collaboration diagrams in a style similar to the OMG's Unified Modeling
|
||||
# Language.
|
||||
|
||||
UML_LOOK = NO
|
||||
|
||||
# If the UML_LOOK tag is enabled, the fields and methods are shown inside
|
||||
# the class node. If there are many fields or methods and many nodes the
|
||||
# graph may become too big to be useful. The UML_LIMIT_NUM_FIELDS
|
||||
# threshold limits the number of items for each type to make the size more
|
||||
# managable. Set this to 0 for no limit. Note that the threshold may be
|
||||
# exceeded by 50% before the limit is enforced.
|
||||
|
||||
UML_LIMIT_NUM_FIELDS = 10
|
||||
|
||||
# If set to YES, the inheritance and collaboration graphs will show the
|
||||
# relations between templates and their instances.
|
||||
|
||||
TEMPLATE_RELATIONS = NO
|
||||
|
||||
# If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDE_GRAPH, and HAVE_DOT
|
||||
# tags are set to YES then doxygen will generate a graph for each documented
|
||||
# file showing the direct and indirect include dependencies of the file with
|
||||
# other documented files.
|
||||
|
||||
INCLUDE_GRAPH = YES
|
||||
|
||||
# If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDED_BY_GRAPH, and
|
||||
# HAVE_DOT tags are set to YES then doxygen will generate a graph for each
|
||||
# documented header file showing the documented files that directly or
|
||||
# indirectly include this file.
|
||||
|
||||
INCLUDED_BY_GRAPH = YES
|
||||
|
||||
# If the CALL_GRAPH and HAVE_DOT options are set to YES then
|
||||
# doxygen will generate a call dependency graph for every global function
|
||||
# or class method. Note that enabling this option will significantly increase
|
||||
# the time of a run. So in most cases it will be better to enable call graphs
|
||||
# for selected functions only using the \callgraph command.
|
||||
|
||||
CALL_GRAPH = NO
|
||||
|
||||
# If the CALLER_GRAPH and HAVE_DOT tags are set to YES then
|
||||
# doxygen will generate a caller dependency graph for every global function
|
||||
# or class method. Note that enabling this option will significantly increase
|
||||
# the time of a run. So in most cases it will be better to enable caller
|
||||
# graphs for selected functions only using the \callergraph command.
|
||||
|
||||
CALLER_GRAPH = NO
|
||||
|
||||
# If the GRAPHICAL_HIERARCHY and HAVE_DOT tags are set to YES then doxygen
|
||||
# will generate a graphical hierarchy of all classes instead of a textual one.
|
||||
|
||||
GRAPHICAL_HIERARCHY = YES
|
||||
|
||||
# If the DIRECTORY_GRAPH and HAVE_DOT tags are set to YES
|
||||
# then doxygen will show the dependencies a directory has on other directories
|
||||
# in a graphical way. The dependency relations are determined by the #include
|
||||
# relations between the files in the directories.
|
||||
|
||||
DIRECTORY_GRAPH = YES
|
||||
|
||||
# The DOT_IMAGE_FORMAT tag can be used to set the image format of the images
|
||||
# generated by dot. Possible values are svg, png, jpg, or gif.
|
||||
# If left blank png will be used. If you choose svg you need to set
|
||||
# HTML_FILE_EXTENSION to xhtml in order to make the SVG files
|
||||
# visible in IE 9+ (other browsers do not have this requirement).
|
||||
|
||||
DOT_IMAGE_FORMAT = png
|
||||
|
||||
# If DOT_IMAGE_FORMAT is set to svg, then this option can be set to YES to
|
||||
# enable generation of interactive SVG images that allow zooming and panning.
|
||||
# Note that this requires a modern browser other than Internet Explorer.
|
||||
# Tested and working are Firefox, Chrome, Safari, and Opera. For IE 9+ you
|
||||
# need to set HTML_FILE_EXTENSION to xhtml in order to make the SVG files
|
||||
# visible. Older versions of IE do not have SVG support.
|
||||
|
||||
INTERACTIVE_SVG = NO
|
||||
|
||||
# The tag DOT_PATH can be used to specify the path where the dot tool can be
|
||||
# found. If left blank, it is assumed the dot tool can be found in the path.
|
||||
|
||||
DOT_PATH =
|
||||
|
||||
# The DOTFILE_DIRS tag can be used to specify one or more directories that
|
||||
# contain dot files that are included in the documentation (see the
|
||||
# \dotfile command).
|
||||
|
||||
DOTFILE_DIRS =
|
||||
|
||||
# The MSCFILE_DIRS tag can be used to specify one or more directories that
|
||||
# contain msc files that are included in the documentation (see the
|
||||
# \mscfile command).
|
||||
|
||||
MSCFILE_DIRS =
|
||||
|
||||
# The DOT_GRAPH_MAX_NODES tag can be used to set the maximum number of
|
||||
# nodes that will be shown in the graph. If the number of nodes in a graph
|
||||
# becomes larger than this value, doxygen will truncate the graph, which is
|
||||
# visualized by representing a node as a red box. Note that doxygen if the
|
||||
# number of direct children of the root node in a graph is already larger than
|
||||
# DOT_GRAPH_MAX_NODES then the graph will not be shown at all. Also note
|
||||
# that the size of a graph can be further restricted by MAX_DOT_GRAPH_DEPTH.
|
||||
|
||||
DOT_GRAPH_MAX_NODES = 50
|
||||
|
||||
# The MAX_DOT_GRAPH_DEPTH tag can be used to set the maximum depth of the
|
||||
# graphs generated by dot. A depth value of 3 means that only nodes reachable
|
||||
# from the root by following a path via at most 3 edges will be shown. Nodes
|
||||
# that lay further from the root node will be omitted. Note that setting this
|
||||
# option to 1 or 2 may greatly reduce the computation time needed for large
|
||||
# code bases. Also note that the size of a graph can be further restricted by
|
||||
# DOT_GRAPH_MAX_NODES. Using a depth of 0 means no depth restriction.
|
||||
|
||||
MAX_DOT_GRAPH_DEPTH = 0
|
||||
|
||||
# Set the DOT_TRANSPARENT tag to YES to generate images with a transparent
|
||||
# background. This is disabled by default, because dot on Windows does not
|
||||
# seem to support this out of the box. Warning: Depending on the platform used,
|
||||
# enabling this option may lead to badly anti-aliased labels on the edges of
|
||||
# a graph (i.e. they become hard to read).
|
||||
|
||||
DOT_TRANSPARENT = NO
|
||||
|
||||
# Set the DOT_MULTI_TARGETS tag to YES allow dot to generate multiple output
|
||||
# files in one run (i.e. multiple -o and -T options on the command line). This
|
||||
# makes dot run faster, but since only newer versions of dot (>1.8.10)
|
||||
# support this, this feature is disabled by default.
|
||||
|
||||
DOT_MULTI_TARGETS = NO
|
||||
|
||||
# If the GENERATE_LEGEND tag is set to YES (the default) Doxygen will
|
||||
# generate a legend page explaining the meaning of the various boxes and
|
||||
# arrows in the dot generated graphs.
|
||||
|
||||
GENERATE_LEGEND = YES
|
||||
|
||||
# If the DOT_CLEANUP tag is set to YES (the default) Doxygen will
|
||||
# remove the intermediate dot files that are used to generate
|
||||
# the various graphs.
|
||||
|
||||
DOT_CLEANUP = YES
|
1869
make/doxygen/Doxyfile.uavobjects
Normal file
1869
make/doxygen/Doxyfile.uavobjects
Normal file
@ -0,0 +1,1869 @@
|
||||
# Doxyfile 1.8.3.1
|
||||
|
||||
# This file describes the settings to be used by the documentation system
|
||||
# doxygen (www.doxygen.org) for a project.
|
||||
#
|
||||
# All text after a hash (#) is considered a comment and will be ignored.
|
||||
# The format is:
|
||||
# TAG = value [value, ...]
|
||||
# For lists items can also be appended using:
|
||||
# TAG += value [value, ...]
|
||||
# Values that contain spaces should be placed between quotes (" ").
|
||||
|
||||
#---------------------------------------------------------------------------
|
||||
# Project related configuration options
|
||||
#---------------------------------------------------------------------------
|
||||
|
||||
# This tag specifies the encoding used for all characters in the config file
|
||||
# that follow. The default is UTF-8 which is also the encoding used for all
|
||||
# text before the first occurrence of this tag. Doxygen uses libiconv (or the
|
||||
# iconv built into libc) for the transcoding. See
|
||||
# http://www.gnu.org/software/libiconv for the list of possible encodings.
|
||||
|
||||
DOXYFILE_ENCODING = UTF-8
|
||||
|
||||
# The PROJECT_NAME tag is a single word (or sequence of words) that should
|
||||
# identify the project. Note that if you do not use Doxywizard you need
|
||||
# to put quotes around the project name if it contains spaces.
|
||||
|
||||
PROJECT_NAME = "The OpenPilot project"
|
||||
|
||||
# The PROJECT_NUMBER tag can be used to enter a project or revision number.
|
||||
# This could be handy for archiving the generated documentation or
|
||||
# if some version control system is used.
|
||||
|
||||
PROJECT_NUMBER =
|
||||
|
||||
# Using the PROJECT_BRIEF tag one can provide an optional one line description
|
||||
# for a project that appears at the top of each page and should give viewer
|
||||
# a quick idea about the purpose of the project. Keep the description short.
|
||||
|
||||
PROJECT_BRIEF = "UAVObjects reference"
|
||||
|
||||
# With the PROJECT_LOGO tag one can specify an logo or icon that is
|
||||
# included in the documentation. The maximum height of the logo should not
|
||||
# exceed 55 pixels and the maximum width should not exceed 200 pixels.
|
||||
# Doxygen will copy the logo to the output directory.
|
||||
|
||||
PROJECT_LOGO =
|
||||
|
||||
# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute)
|
||||
# base path where the generated documentation will be put.
|
||||
# If a relative path is entered, it will be relative to the location
|
||||
# where doxygen was started. If left blank the current directory will be used.
|
||||
|
||||
OUTPUT_DIRECTORY = build/docs/uavobjects/
|
||||
|
||||
# If the CREATE_SUBDIRS tag is set to YES, then doxygen will create
|
||||
# 4096 sub-directories (in 2 levels) under the output directory of each output
|
||||
# format and will distribute the generated files over these directories.
|
||||
# Enabling this option can be useful when feeding doxygen a huge amount of
|
||||
# source files, where putting all generated files in the same directory would
|
||||
# otherwise cause performance problems for the file system.
|
||||
|
||||
CREATE_SUBDIRS = NO
|
||||
|
||||
# The OUTPUT_LANGUAGE tag is used to specify the language in which all
|
||||
# documentation generated by doxygen is written. Doxygen will use this
|
||||
# information to generate all constant output in the proper language.
|
||||
# The default language is English, other supported languages are:
|
||||
# Afrikaans, Arabic, Brazilian, Catalan, Chinese, Chinese-Traditional,
|
||||
# Croatian, Czech, Danish, Dutch, Esperanto, Farsi, Finnish, French, German,
|
||||
# Greek, Hungarian, Italian, Japanese, Japanese-en (Japanese with English
|
||||
# messages), Korean, Korean-en, Lithuanian, Norwegian, Macedonian, Persian,
|
||||
# Polish, Portuguese, Romanian, Russian, Serbian, Serbian-Cyrillic, Slovak,
|
||||
# Slovene, Spanish, Swedish, Ukrainian, and Vietnamese.
|
||||
|
||||
OUTPUT_LANGUAGE = English
|
||||
|
||||
# If the BRIEF_MEMBER_DESC tag is set to YES (the default) Doxygen will
|
||||
# include brief member descriptions after the members that are listed in
|
||||
# the file and class documentation (similar to JavaDoc).
|
||||
# Set to NO to disable this.
|
||||
|
||||
BRIEF_MEMBER_DESC = YES
|
||||
|
||||
# If the REPEAT_BRIEF tag is set to YES (the default) Doxygen will prepend
|
||||
# the brief description of a member or function before the detailed description.
|
||||
# Note: if both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the
|
||||
# brief descriptions will be completely suppressed.
|
||||
|
||||
REPEAT_BRIEF = YES
|
||||
|
||||
# This tag implements a quasi-intelligent brief description abbreviator
|
||||
# that is used to form the text in various listings. Each string
|
||||
# in this list, if found as the leading text of the brief description, will be
|
||||
# stripped from the text and the result after processing the whole list, is
|
||||
# used as the annotated text. Otherwise, the brief description is used as-is.
|
||||
# If left blank, the following values are used ("$name" is automatically
|
||||
# replaced with the name of the entity): "The $name class" "The $name widget"
|
||||
# "The $name file" "is" "provides" "specifies" "contains"
|
||||
# "represents" "a" "an" "the"
|
||||
|
||||
ABBREVIATE_BRIEF =
|
||||
|
||||
# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then
|
||||
# Doxygen will generate a detailed section even if there is only a brief
|
||||
# description.
|
||||
|
||||
ALWAYS_DETAILED_SEC = NO
|
||||
|
||||
# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all
|
||||
# inherited members of a class in the documentation of that class as if those
|
||||
# members were ordinary class members. Constructors, destructors and assignment
|
||||
# operators of the base classes will not be shown.
|
||||
|
||||
INLINE_INHERITED_MEMB = NO
|
||||
|
||||
# If the FULL_PATH_NAMES tag is set to YES then Doxygen will prepend the full
|
||||
# path before files name in the file list and in the header files. If set
|
||||
# to NO the shortest path that makes the file name unique will be used.
|
||||
|
||||
FULL_PATH_NAMES = NO
|
||||
|
||||
# If the FULL_PATH_NAMES tag is set to YES then the STRIP_FROM_PATH tag
|
||||
# can be used to strip a user-defined part of the path. Stripping is
|
||||
# only done if one of the specified strings matches the left-hand part of
|
||||
# the path. The tag can be used to show relative paths in the file list.
|
||||
# If left blank the directory from which doxygen is run is used as the
|
||||
# path to strip. Note that you specify absolute paths here, but also
|
||||
# relative paths, which will be relative from the directory where doxygen is
|
||||
# started.
|
||||
|
||||
STRIP_FROM_PATH =
|
||||
|
||||
# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of
|
||||
# the path mentioned in the documentation of a class, which tells
|
||||
# the reader which header file to include in order to use a class.
|
||||
# If left blank only the name of the header file containing the class
|
||||
# definition is used. Otherwise one should specify the include paths that
|
||||
# are normally passed to the compiler using the -I flag.
|
||||
|
||||
STRIP_FROM_INC_PATH =
|
||||
|
||||
# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter
|
||||
# (but less readable) file names. This can be useful if your file system
|
||||
# doesn't support long names like on DOS, Mac, or CD-ROM.
|
||||
|
||||
SHORT_NAMES = NO
|
||||
|
||||
# If the JAVADOC_AUTOBRIEF tag is set to YES then Doxygen
|
||||
# will interpret the first line (until the first dot) of a JavaDoc-style
|
||||
# comment as the brief description. If set to NO, the JavaDoc
|
||||
# comments will behave just like regular Qt-style comments
|
||||
# (thus requiring an explicit @brief command for a brief description.)
|
||||
|
||||
JAVADOC_AUTOBRIEF = NO
|
||||
|
||||
# If the QT_AUTOBRIEF tag is set to YES then Doxygen will
|
||||
# interpret the first line (until the first dot) of a Qt-style
|
||||
# comment as the brief description. If set to NO, the comments
|
||||
# will behave just like regular Qt-style comments (thus requiring
|
||||
# an explicit \brief command for a brief description.)
|
||||
|
||||
QT_AUTOBRIEF = NO
|
||||
|
||||
# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make Doxygen
|
||||
# treat a multi-line C++ special comment block (i.e. a block of //! or ///
|
||||
# comments) as a brief description. This used to be the default behaviour.
|
||||
# The new default is to treat a multi-line C++ comment block as a detailed
|
||||
# description. Set this tag to YES if you prefer the old behaviour instead.
|
||||
|
||||
MULTILINE_CPP_IS_BRIEF = NO
|
||||
|
||||
# If the INHERIT_DOCS tag is set to YES (the default) then an undocumented
|
||||
# member inherits the documentation from any documented member that it
|
||||
# re-implements.
|
||||
|
||||
INHERIT_DOCS = YES
|
||||
|
||||
# If the SEPARATE_MEMBER_PAGES tag is set to YES, then doxygen will produce
|
||||
# a new page for each member. If set to NO, the documentation of a member will
|
||||
# be part of the file/class/namespace that contains it.
|
||||
|
||||
SEPARATE_MEMBER_PAGES = NO
|
||||
|
||||
# The TAB_SIZE tag can be used to set the number of spaces in a tab.
|
||||
# Doxygen uses this value to replace tabs by spaces in code fragments.
|
||||
|
||||
TAB_SIZE = 8
|
||||
|
||||
# This tag can be used to specify a number of aliases that acts
|
||||
# as commands in the documentation. An alias has the form "name=value".
|
||||
# For example adding "sideeffect=\par Side Effects:\n" will allow you to
|
||||
# put the command \sideeffect (or @sideeffect) in the documentation, which
|
||||
# will result in a user-defined paragraph with heading "Side Effects:".
|
||||
# You can put \n's in the value part of an alias to insert newlines.
|
||||
|
||||
ALIASES =
|
||||
|
||||
# This tag can be used to specify a number of word-keyword mappings (TCL only).
|
||||
# A mapping has the form "name=value". For example adding
|
||||
# "class=itcl::class" will allow you to use the command class in the
|
||||
# itcl::class meaning.
|
||||
|
||||
TCL_SUBST =
|
||||
|
||||
# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C
|
||||
# sources only. Doxygen will then generate output that is more tailored for C.
|
||||
# For instance, some of the names that are used will be different. The list
|
||||
# of all members will be omitted, etc.
|
||||
|
||||
OPTIMIZE_OUTPUT_FOR_C = NO
|
||||
|
||||
# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java
|
||||
# sources only. Doxygen will then generate output that is more tailored for
|
||||
# Java. For instance, namespaces will be presented as packages, qualified
|
||||
# scopes will look different, etc.
|
||||
|
||||
OPTIMIZE_OUTPUT_JAVA = NO
|
||||
|
||||
# Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran
|
||||
# sources only. Doxygen will then generate output that is more tailored for
|
||||
# Fortran.
|
||||
|
||||
OPTIMIZE_FOR_FORTRAN = NO
|
||||
|
||||
# Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL
|
||||
# sources. Doxygen will then generate output that is tailored for
|
||||
# VHDL.
|
||||
|
||||
OPTIMIZE_OUTPUT_VHDL = NO
|
||||
|
||||
# Doxygen selects the parser to use depending on the extension of the files it
|
||||
# parses. With this tag you can assign which parser to use for a given
|
||||
# extension. Doxygen has a built-in mapping, but you can override or extend it
|
||||
# using this tag. The format is ext=language, where ext is a file extension,
|
||||
# and language is one of the parsers supported by doxygen: IDL, Java,
|
||||
# Javascript, CSharp, C, C++, D, PHP, Objective-C, Python, Fortran, VHDL, C,
|
||||
# C++. For instance to make doxygen treat .inc files as Fortran files (default
|
||||
# is PHP), and .f files as C (default is Fortran), use: inc=Fortran f=C. Note
|
||||
# that for custom extensions you also need to set FILE_PATTERNS otherwise the
|
||||
# files are not read by doxygen.
|
||||
|
||||
EXTENSION_MAPPING =
|
||||
|
||||
# If MARKDOWN_SUPPORT is enabled (the default) then doxygen pre-processes all
|
||||
# comments according to the Markdown format, which allows for more readable
|
||||
# documentation. See http://daringfireball.net/projects/markdown/ for details.
|
||||
# The output of markdown processing is further processed by doxygen, so you
|
||||
# can mix doxygen, HTML, and XML commands with Markdown formatting.
|
||||
# Disable only in case of backward compatibilities issues.
|
||||
|
||||
MARKDOWN_SUPPORT = YES
|
||||
|
||||
# When enabled doxygen tries to link words that correspond to documented classes,
|
||||
# or namespaces to their corresponding documentation. Such a link can be
|
||||
# prevented in individual cases by by putting a % sign in front of the word or
|
||||
# globally by setting AUTOLINK_SUPPORT to NO.
|
||||
|
||||
AUTOLINK_SUPPORT = YES
|
||||
|
||||
# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want
|
||||
# to include (a tag file for) the STL sources as input, then you should
|
||||
# set this tag to YES in order to let doxygen match functions declarations and
|
||||
# definitions whose arguments contain STL classes (e.g. func(std::string); v.s.
|
||||
# func(std::string) {}). This also makes the inheritance and collaboration
|
||||
# diagrams that involve STL classes more complete and accurate.
|
||||
|
||||
BUILTIN_STL_SUPPORT = NO
|
||||
|
||||
# If you use Microsoft's C++/CLI language, you should set this option to YES to
|
||||
# enable parsing support.
|
||||
|
||||
CPP_CLI_SUPPORT = NO
|
||||
|
||||
# Set the SIP_SUPPORT tag to YES if your project consists of sip sources only.
|
||||
# Doxygen will parse them like normal C++ but will assume all classes use public
|
||||
# instead of private inheritance when no explicit protection keyword is present.
|
||||
|
||||
SIP_SUPPORT = NO
|
||||
|
||||
# For Microsoft's IDL there are propget and propput attributes to indicate
|
||||
# getter and setter methods for a property. Setting this option to YES (the
|
||||
# default) will make doxygen replace the get and set methods by a property in
|
||||
# the documentation. This will only work if the methods are indeed getting or
|
||||
# setting a simple type. If this is not the case, or you want to show the
|
||||
# methods anyway, you should set this option to NO.
|
||||
|
||||
IDL_PROPERTY_SUPPORT = YES
|
||||
|
||||
# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC
|
||||
# tag is set to YES, then doxygen will reuse the documentation of the first
|
||||
# member in the group (if any) for the other members of the group. By default
|
||||
# all members of a group must be documented explicitly.
|
||||
|
||||
DISTRIBUTE_GROUP_DOC = NO
|
||||
|
||||
# Set the SUBGROUPING tag to YES (the default) to allow class member groups of
|
||||
# the same type (for instance a group of public functions) to be put as a
|
||||
# subgroup of that type (e.g. under the Public Functions section). Set it to
|
||||
# NO to prevent subgrouping. Alternatively, this can be done per class using
|
||||
# the \nosubgrouping command.
|
||||
|
||||
SUBGROUPING = YES
|
||||
|
||||
# When the INLINE_GROUPED_CLASSES tag is set to YES, classes, structs and
|
||||
# unions are shown inside the group in which they are included (e.g. using
|
||||
# @ingroup) instead of on a separate page (for HTML and Man pages) or
|
||||
# section (for LaTeX and RTF).
|
||||
|
||||
INLINE_GROUPED_CLASSES = NO
|
||||
|
||||
# When the INLINE_SIMPLE_STRUCTS tag is set to YES, structs, classes, and
|
||||
# unions with only public data fields will be shown inline in the documentation
|
||||
# of the scope in which they are defined (i.e. file, namespace, or group
|
||||
# documentation), provided this scope is documented. If set to NO (the default),
|
||||
# structs, classes, and unions are shown on a separate page (for HTML and Man
|
||||
# pages) or section (for LaTeX and RTF).
|
||||
|
||||
INLINE_SIMPLE_STRUCTS = NO
|
||||
|
||||
# When TYPEDEF_HIDES_STRUCT is enabled, a typedef of a struct, union, or enum
|
||||
# is documented as struct, union, or enum with the name of the typedef. So
|
||||
# typedef struct TypeS {} TypeT, will appear in the documentation as a struct
|
||||
# with name TypeT. When disabled the typedef will appear as a member of a file,
|
||||
# namespace, or class. And the struct will be named TypeS. This can typically
|
||||
# be useful for C code in case the coding convention dictates that all compound
|
||||
# types are typedef'ed and only the typedef is referenced, never the tag name.
|
||||
|
||||
TYPEDEF_HIDES_STRUCT = NO
|
||||
|
||||
# The SYMBOL_CACHE_SIZE determines the size of the internal cache use to
|
||||
# determine which symbols to keep in memory and which to flush to disk.
|
||||
# When the cache is full, less often used symbols will be written to disk.
|
||||
# For small to medium size projects (<1000 input files) the default value is
|
||||
# probably good enough. For larger projects a too small cache size can cause
|
||||
# doxygen to be busy swapping symbols to and from disk most of the time
|
||||
# causing a significant performance penalty.
|
||||
# If the system has enough physical memory increasing the cache will improve the
|
||||
# performance by keeping more symbols in memory. Note that the value works on
|
||||
# a logarithmic scale so increasing the size by one will roughly double the
|
||||
# memory usage. The cache size is given by this formula:
|
||||
# 2^(16+SYMBOL_CACHE_SIZE). The valid range is 0..9, the default is 0,
|
||||
# corresponding to a cache size of 2^16 = 65536 symbols.
|
||||
|
||||
SYMBOL_CACHE_SIZE = 0
|
||||
|
||||
# Similar to the SYMBOL_CACHE_SIZE the size of the symbol lookup cache can be
|
||||
# set using LOOKUP_CACHE_SIZE. This cache is used to resolve symbols given
|
||||
# their name and scope. Since this can be an expensive process and often the
|
||||
# same symbol appear multiple times in the code, doxygen keeps a cache of
|
||||
# pre-resolved symbols. If the cache is too small doxygen will become slower.
|
||||
# If the cache is too large, memory is wasted. The cache size is given by this
|
||||
# formula: 2^(16+LOOKUP_CACHE_SIZE). The valid range is 0..9, the default is 0,
|
||||
# corresponding to a cache size of 2^16 = 65536 symbols.
|
||||
|
||||
LOOKUP_CACHE_SIZE = 0
|
||||
|
||||
#---------------------------------------------------------------------------
|
||||
# Build related configuration options
|
||||
#---------------------------------------------------------------------------
|
||||
|
||||
# If the EXTRACT_ALL tag is set to YES doxygen will assume all entities in
|
||||
# documentation are documented, even if no documentation was available.
|
||||
# Private class members and static file members will be hidden unless
|
||||
# the EXTRACT_PRIVATE and EXTRACT_STATIC tags are set to YES
|
||||
|
||||
EXTRACT_ALL = NO
|
||||
|
||||
# If the EXTRACT_PRIVATE tag is set to YES all private members of a class
|
||||
# will be included in the documentation.
|
||||
|
||||
EXTRACT_PRIVATE = NO
|
||||
|
||||
# If the EXTRACT_PACKAGE tag is set to YES all members with package or internal
|
||||
# scope will be included in the documentation.
|
||||
|
||||
EXTRACT_PACKAGE = NO
|
||||
|
||||
# If the EXTRACT_STATIC tag is set to YES all static members of a file
|
||||
# will be included in the documentation.
|
||||
|
||||
EXTRACT_STATIC = NO
|
||||
|
||||
# If the EXTRACT_LOCAL_CLASSES tag is set to YES classes (and structs)
|
||||
# defined locally in source files will be included in the documentation.
|
||||
# If set to NO only classes defined in header files are included.
|
||||
|
||||
EXTRACT_LOCAL_CLASSES = YES
|
||||
|
||||
# This flag is only useful for Objective-C code. When set to YES local
|
||||
# methods, which are defined in the implementation section but not in
|
||||
# the interface are included in the documentation.
|
||||
# If set to NO (the default) only methods in the interface are included.
|
||||
|
||||
EXTRACT_LOCAL_METHODS = NO
|
||||
|
||||
# If this flag is set to YES, the members of anonymous namespaces will be
|
||||
# extracted and appear in the documentation as a namespace called
|
||||
# 'anonymous_namespace{file}', where file will be replaced with the base
|
||||
# name of the file that contains the anonymous namespace. By default
|
||||
# anonymous namespaces are hidden.
|
||||
|
||||
EXTRACT_ANON_NSPACES = NO
|
||||
|
||||
# If the HIDE_UNDOC_MEMBERS tag is set to YES, Doxygen will hide all
|
||||
# undocumented members of documented classes, files or namespaces.
|
||||
# If set to NO (the default) these members will be included in the
|
||||
# various overviews, but no documentation section is generated.
|
||||
# This option has no effect if EXTRACT_ALL is enabled.
|
||||
|
||||
HIDE_UNDOC_MEMBERS = NO
|
||||
|
||||
# If the HIDE_UNDOC_CLASSES tag is set to YES, Doxygen will hide all
|
||||
# undocumented classes that are normally visible in the class hierarchy.
|
||||
# If set to NO (the default) these classes will be included in the various
|
||||
# overviews. This option has no effect if EXTRACT_ALL is enabled.
|
||||
|
||||
HIDE_UNDOC_CLASSES = NO
|
||||
|
||||
# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, Doxygen will hide all
|
||||
# friend (class|struct|union) declarations.
|
||||
# If set to NO (the default) these declarations will be included in the
|
||||
# documentation.
|
||||
|
||||
HIDE_FRIEND_COMPOUNDS = NO
|
||||
|
||||
# If the HIDE_IN_BODY_DOCS tag is set to YES, Doxygen will hide any
|
||||
# documentation blocks found inside the body of a function.
|
||||
# If set to NO (the default) these blocks will be appended to the
|
||||
# function's detailed documentation block.
|
||||
|
||||
HIDE_IN_BODY_DOCS = NO
|
||||
|
||||
# The INTERNAL_DOCS tag determines if documentation
|
||||
# that is typed after a \internal command is included. If the tag is set
|
||||
# to NO (the default) then the documentation will be excluded.
|
||||
# Set it to YES to include the internal documentation.
|
||||
|
||||
INTERNAL_DOCS = NO
|
||||
|
||||
# If the CASE_SENSE_NAMES tag is set to NO then Doxygen will only generate
|
||||
# file names in lower-case letters. If set to YES upper-case letters are also
|
||||
# allowed. This is useful if you have classes or files whose names only differ
|
||||
# in case and if your file system supports case sensitive file names. Windows
|
||||
# and Mac users are advised to set this option to NO.
|
||||
|
||||
CASE_SENSE_NAMES = NO
|
||||
|
||||
# If the HIDE_SCOPE_NAMES tag is set to NO (the default) then Doxygen
|
||||
# will show members with their full class and namespace scopes in the
|
||||
# documentation. If set to YES the scope will be hidden.
|
||||
|
||||
HIDE_SCOPE_NAMES = NO
|
||||
|
||||
# If the SHOW_INCLUDE_FILES tag is set to YES (the default) then Doxygen
|
||||
# will put a list of the files that are included by a file in the documentation
|
||||
# of that file.
|
||||
|
||||
SHOW_INCLUDE_FILES = YES
|
||||
|
||||
# If the FORCE_LOCAL_INCLUDES tag is set to YES then Doxygen
|
||||
# will list include files with double quotes in the documentation
|
||||
# rather than with sharp brackets.
|
||||
|
||||
FORCE_LOCAL_INCLUDES = NO
|
||||
|
||||
# If the INLINE_INFO tag is set to YES (the default) then a tag [inline]
|
||||
# is inserted in the documentation for inline members.
|
||||
|
||||
INLINE_INFO = YES
|
||||
|
||||
# If the SORT_MEMBER_DOCS tag is set to YES (the default) then doxygen
|
||||
# will sort the (detailed) documentation of file and class members
|
||||
# alphabetically by member name. If set to NO the members will appear in
|
||||
# declaration order.
|
||||
|
||||
SORT_MEMBER_DOCS = YES
|
||||
|
||||
# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the
|
||||
# brief documentation of file, namespace and class members alphabetically
|
||||
# by member name. If set to NO (the default) the members will appear in
|
||||
# declaration order.
|
||||
|
||||
SORT_BRIEF_DOCS = NO
|
||||
|
||||
# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen
|
||||
# will sort the (brief and detailed) documentation of class members so that
|
||||
# constructors and destructors are listed first. If set to NO (the default)
|
||||
# the constructors will appear in the respective orders defined by
|
||||
# SORT_MEMBER_DOCS and SORT_BRIEF_DOCS.
|
||||
# This tag will be ignored for brief docs if SORT_BRIEF_DOCS is set to NO
|
||||
# and ignored for detailed docs if SORT_MEMBER_DOCS is set to NO.
|
||||
|
||||
SORT_MEMBERS_CTORS_1ST = NO
|
||||
|
||||
# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the
|
||||
# hierarchy of group names into alphabetical order. If set to NO (the default)
|
||||
# the group names will appear in their defined order.
|
||||
|
||||
SORT_GROUP_NAMES = NO
|
||||
|
||||
# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be
|
||||
# sorted by fully-qualified names, including namespaces. If set to
|
||||
# NO (the default), the class list will be sorted only by class name,
|
||||
# not including the namespace part.
|
||||
# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES.
|
||||
# Note: This option applies only to the class list, not to the
|
||||
# alphabetical list.
|
||||
|
||||
SORT_BY_SCOPE_NAME = NO
|
||||
|
||||
# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to
|
||||
# do proper type resolution of all parameters of a function it will reject a
|
||||
# match between the prototype and the implementation of a member function even
|
||||
# if there is only one candidate or it is obvious which candidate to choose
|
||||
# by doing a simple string match. By disabling STRICT_PROTO_MATCHING doxygen
|
||||
# will still accept a match between prototype and implementation in such cases.
|
||||
|
||||
STRICT_PROTO_MATCHING = NO
|
||||
|
||||
# The GENERATE_TODOLIST tag can be used to enable (YES) or
|
||||
# disable (NO) the todo list. This list is created by putting \todo
|
||||
# commands in the documentation.
|
||||
|
||||
GENERATE_TODOLIST = YES
|
||||
|
||||
# The GENERATE_TESTLIST tag can be used to enable (YES) or
|
||||
# disable (NO) the test list. This list is created by putting \test
|
||||
# commands in the documentation.
|
||||
|
||||
GENERATE_TESTLIST = YES
|
||||
|
||||
# The GENERATE_BUGLIST tag can be used to enable (YES) or
|
||||
# disable (NO) the bug list. This list is created by putting \bug
|
||||
# commands in the documentation.
|
||||
|
||||
GENERATE_BUGLIST = YES
|
||||
|
||||
# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or
|
||||
# disable (NO) the deprecated list. This list is created by putting
|
||||
# \deprecated commands in the documentation.
|
||||
|
||||
GENERATE_DEPRECATEDLIST= YES
|
||||
|
||||
# The ENABLED_SECTIONS tag can be used to enable conditional
|
||||
# documentation sections, marked by \if section-label ... \endif
|
||||
# and \cond section-label ... \endcond blocks.
|
||||
|
||||
ENABLED_SECTIONS =
|
||||
|
||||
# The MAX_INITIALIZER_LINES tag determines the maximum number of lines
|
||||
# the initial value of a variable or macro consists of for it to appear in
|
||||
# the documentation. If the initializer consists of more lines than specified
|
||||
# here it will be hidden. Use a value of 0 to hide initializers completely.
|
||||
# The appearance of the initializer of individual variables and macros in the
|
||||
# documentation can be controlled using \showinitializer or \hideinitializer
|
||||
# command in the documentation regardless of this setting.
|
||||
|
||||
MAX_INITIALIZER_LINES = 30
|
||||
|
||||
# Set the SHOW_USED_FILES tag to NO to disable the list of files generated
|
||||
# at the bottom of the documentation of classes and structs. If set to YES the
|
||||
# list will mention the files that were used to generate the documentation.
|
||||
|
||||
SHOW_USED_FILES = YES
|
||||
|
||||
# Set the SHOW_FILES tag to NO to disable the generation of the Files page.
|
||||
# This will remove the Files entry from the Quick Index and from the
|
||||
# Folder Tree View (if specified). The default is YES.
|
||||
|
||||
SHOW_FILES = YES
|
||||
|
||||
# Set the SHOW_NAMESPACES tag to NO to disable the generation of the
|
||||
# Namespaces page.
|
||||
# This will remove the Namespaces entry from the Quick Index
|
||||
# and from the Folder Tree View (if specified). The default is YES.
|
||||
|
||||
SHOW_NAMESPACES = YES
|
||||
|
||||
# The FILE_VERSION_FILTER tag can be used to specify a program or script that
|
||||
# doxygen should invoke to get the current version for each file (typically from
|
||||
# the version control system). Doxygen will invoke the program by executing (via
|
||||
# popen()) the command <command> <input-file>, where <command> is the value of
|
||||
# the FILE_VERSION_FILTER tag, and <input-file> is the name of an input file
|
||||
# provided by doxygen. Whatever the program writes to standard output
|
||||
# is used as the file version. See the manual for examples.
|
||||
|
||||
FILE_VERSION_FILTER =
|
||||
|
||||
# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed
|
||||
# by doxygen. The layout file controls the global structure of the generated
|
||||
# output files in an output format independent way. To create the layout file
|
||||
# that represents doxygen's defaults, run doxygen with the -l option.
|
||||
# You can optionally specify a file name after the option, if omitted
|
||||
# DoxygenLayout.xml will be used as the name of the layout file.
|
||||
|
||||
LAYOUT_FILE =
|
||||
|
||||
# The CITE_BIB_FILES tag can be used to specify one or more bib files
|
||||
# containing the references data. This must be a list of .bib files. The
|
||||
# .bib extension is automatically appended if omitted. Using this command
|
||||
# requires the bibtex tool to be installed. See also
|
||||
# http://en.wikipedia.org/wiki/BibTeX for more info. For LaTeX the style
|
||||
# of the bibliography can be controlled using LATEX_BIB_STYLE. To use this
|
||||
# feature you need bibtex and perl available in the search path. Do not use
|
||||
# file names with spaces, bibtex cannot handle them.
|
||||
|
||||
CITE_BIB_FILES =
|
||||
|
||||
#---------------------------------------------------------------------------
|
||||
# configuration options related to warning and progress messages
|
||||
#---------------------------------------------------------------------------
|
||||
|
||||
# The QUIET tag can be used to turn on/off the messages that are generated
|
||||
# by doxygen. Possible values are YES and NO. If left blank NO is used.
|
||||
|
||||
QUIET = NO
|
||||
|
||||
# The WARNINGS tag can be used to turn on/off the warning messages that are
|
||||
# generated by doxygen. Possible values are YES and NO. If left blank
|
||||
# NO is used.
|
||||
|
||||
WARNINGS = YES
|
||||
|
||||
# If WARN_IF_UNDOCUMENTED is set to YES, then doxygen will generate warnings
|
||||
# for undocumented members. If EXTRACT_ALL is set to YES then this flag will
|
||||
# automatically be disabled.
|
||||
|
||||
WARN_IF_UNDOCUMENTED = YES
|
||||
|
||||
# If WARN_IF_DOC_ERROR is set to YES, doxygen will generate warnings for
|
||||
# potential errors in the documentation, such as not documenting some
|
||||
# parameters in a documented function, or documenting parameters that
|
||||
# don't exist or using markup commands wrongly.
|
||||
|
||||
WARN_IF_DOC_ERROR = YES
|
||||
|
||||
# The WARN_NO_PARAMDOC option can be enabled to get warnings for
|
||||
# functions that are documented, but have no documentation for their parameters
|
||||
# or return value. If set to NO (the default) doxygen will only warn about
|
||||
# wrong or incomplete parameter documentation, but not about the absence of
|
||||
# documentation.
|
||||
|
||||
WARN_NO_PARAMDOC = NO
|
||||
|
||||
# The WARN_FORMAT tag determines the format of the warning messages that
|
||||
# doxygen can produce. The string should contain the $file, $line, and $text
|
||||
# tags, which will be replaced by the file and line number from which the
|
||||
# warning originated and the warning text. Optionally the format may contain
|
||||
# $version, which will be replaced by the version of the file (if it could
|
||||
# be obtained via FILE_VERSION_FILTER)
|
||||
|
||||
WARN_FORMAT = "$file:$line: $text"
|
||||
|
||||
# The WARN_LOGFILE tag can be used to specify a file to which warning
|
||||
# and error messages should be written. If left blank the output is written
|
||||
# to stderr.
|
||||
|
||||
WARN_LOGFILE =
|
||||
|
||||
#---------------------------------------------------------------------------
|
||||
# configuration options related to the input files
|
||||
#---------------------------------------------------------------------------
|
||||
|
||||
# The INPUT tag can be used to specify the files and/or directories that contain
|
||||
# documented source files. You may enter file names like "myfile.cpp" or
|
||||
# directories like "/usr/src/myproject". Separate the files or directories
|
||||
# with spaces.
|
||||
|
||||
INPUT = shared/uavobjectdefinition
|
||||
|
||||
# This tag can be used to specify the character encoding of the source files
|
||||
# that doxygen parses. Internally doxygen uses the UTF-8 encoding, which is
|
||||
# also the default input encoding. Doxygen uses libiconv (or the iconv built
|
||||
# into libc) for the transcoding. See http://www.gnu.org/software/libiconv for
|
||||
# the list of possible encodings.
|
||||
|
||||
INPUT_ENCODING = UTF-8
|
||||
|
||||
# If the value of the INPUT tag contains directories, you can use the
|
||||
# FILE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp
|
||||
# and *.h) to filter out the source-files in the directories. If left
|
||||
# blank the following patterns are tested:
|
||||
# *.c *.cc *.cxx *.cpp *.c++ *.d *.java *.ii *.ixx *.ipp *.i++ *.inl *.h *.hh
|
||||
# *.hxx *.hpp *.h++ *.idl *.odl *.cs *.php *.php3 *.inc *.m *.mm *.dox *.py
|
||||
# *.f90 *.f *.for *.vhd *.vhdl
|
||||
|
||||
FILE_PATTERNS = *.xml
|
||||
|
||||
# The RECURSIVE tag can be used to turn specify whether or not subdirectories
|
||||
# should be searched for input files as well. Possible values are YES and NO.
|
||||
# If left blank NO is used.
|
||||
|
||||
RECURSIVE = YES
|
||||
|
||||
# The EXCLUDE tag can be used to specify files and/or directories that should be
|
||||
# excluded from the INPUT source files. This way you can easily exclude a
|
||||
# subdirectory from a directory tree whose root is specified with the INPUT tag.
|
||||
# Note that relative paths are relative to the directory from which doxygen is
|
||||
# run.
|
||||
|
||||
EXCLUDE =
|
||||
|
||||
# The EXCLUDE_SYMLINKS tag can be used to select whether or not files or
|
||||
# directories that are symbolic links (a Unix file system feature) are excluded
|
||||
# from the input.
|
||||
|
||||
EXCLUDE_SYMLINKS = NO
|
||||
|
||||
# If the value of the INPUT tag contains directories, you can use the
|
||||
# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude
|
||||
# certain files from those directories. Note that the wildcards are matched
|
||||
# against the file with absolute path, so to exclude all test directories
|
||||
# for example use the pattern */test/*
|
||||
|
||||
EXCLUDE_PATTERNS =
|
||||
|
||||
# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names
|
||||
# (namespaces, classes, functions, etc.) that should be excluded from the
|
||||
# output. The symbol name can be a fully qualified name, a word, or if the
|
||||
# wildcard * is used, a substring. Examples: ANamespace, AClass,
|
||||
# AClass::ANamespace, ANamespace::*Test
|
||||
|
||||
EXCLUDE_SYMBOLS =
|
||||
|
||||
# The EXAMPLE_PATH tag can be used to specify one or more files or
|
||||
# directories that contain example code fragments that are included (see
|
||||
# the \include command).
|
||||
|
||||
EXAMPLE_PATH =
|
||||
|
||||
# If the value of the EXAMPLE_PATH tag contains directories, you can use the
|
||||
# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp
|
||||
# and *.h) to filter out the source-files in the directories. If left
|
||||
# blank all files are included.
|
||||
|
||||
EXAMPLE_PATTERNS =
|
||||
|
||||
# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be
|
||||
# searched for input files to be used with the \include or \dontinclude
|
||||
# commands irrespective of the value of the RECURSIVE tag.
|
||||
# Possible values are YES and NO. If left blank NO is used.
|
||||
|
||||
EXAMPLE_RECURSIVE = NO
|
||||
|
||||
# The IMAGE_PATH tag can be used to specify one or more files or
|
||||
# directories that contain image that are included in the documentation (see
|
||||
# the \image command).
|
||||
|
||||
IMAGE_PATH =
|
||||
|
||||
# The INPUT_FILTER tag can be used to specify a program that doxygen should
|
||||
# invoke to filter for each input file. Doxygen will invoke the filter program
|
||||
# by executing (via popen()) the command <filter> <input-file>, where <filter>
|
||||
# is the value of the INPUT_FILTER tag, and <input-file> is the name of an
|
||||
# input file. Doxygen will then use the output that the filter program writes
|
||||
# to standard output.
|
||||
# If FILTER_PATTERNS is specified, this tag will be
|
||||
# ignored.
|
||||
|
||||
INPUT_FILTER =
|
||||
|
||||
# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern
|
||||
# basis.
|
||||
# Doxygen will compare the file name with each pattern and apply the
|
||||
# filter if there is a match.
|
||||
# The filters are a list of the form:
|
||||
# pattern=filter (like *.cpp=my_cpp_filter). See INPUT_FILTER for further
|
||||
# info on how filters are used. If FILTER_PATTERNS is empty or if
|
||||
# non of the patterns match the file name, INPUT_FILTER is applied.
|
||||
|
||||
FILTER_PATTERNS =
|
||||
|
||||
# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using
|
||||
# INPUT_FILTER) will be used to filter the input files when producing source
|
||||
# files to browse (i.e. when SOURCE_BROWSER is set to YES).
|
||||
|
||||
FILTER_SOURCE_FILES = NO
|
||||
|
||||
# The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file
|
||||
# pattern. A pattern will override the setting for FILTER_PATTERN (if any)
|
||||
# and it is also possible to disable source filtering for a specific pattern
|
||||
# using *.ext= (so without naming a filter). This option only has effect when
|
||||
# FILTER_SOURCE_FILES is enabled.
|
||||
|
||||
FILTER_SOURCE_PATTERNS =
|
||||
|
||||
# If the USE_MD_FILE_AS_MAINPAGE tag refers to the name of a markdown file that
|
||||
# is part of the input, its contents will be placed on the main page (index.html).
|
||||
# This can be useful if you have a project on for instance GitHub and want reuse
|
||||
# the introduction page also for the doxygen output.
|
||||
|
||||
USE_MDFILE_AS_MAINPAGE =
|
||||
|
||||
#---------------------------------------------------------------------------
|
||||
# configuration options related to source browsing
|
||||
#---------------------------------------------------------------------------
|
||||
|
||||
# If the SOURCE_BROWSER tag is set to YES then a list of source files will
|
||||
# be generated. Documented entities will be cross-referenced with these sources.
|
||||
# Note: To get rid of all source code in the generated output, make sure also
|
||||
# VERBATIM_HEADERS is set to NO.
|
||||
|
||||
SOURCE_BROWSER = YES
|
||||
|
||||
# Setting the INLINE_SOURCES tag to YES will include the body
|
||||
# of functions and classes directly in the documentation.
|
||||
|
||||
INLINE_SOURCES = NO
|
||||
|
||||
# Setting the STRIP_CODE_COMMENTS tag to YES (the default) will instruct
|
||||
# doxygen to hide any special comment blocks from generated source code
|
||||
# fragments. Normal C, C++ and Fortran comments will always remain visible.
|
||||
|
||||
STRIP_CODE_COMMENTS = YES
|
||||
|
||||
# If the REFERENCED_BY_RELATION tag is set to YES
|
||||
# then for each documented function all documented
|
||||
# functions referencing it will be listed.
|
||||
|
||||
REFERENCED_BY_RELATION = NO
|
||||
|
||||
# If the REFERENCES_RELATION tag is set to YES
|
||||
# then for each documented function all documented entities
|
||||
# called/used by that function will be listed.
|
||||
|
||||
REFERENCES_RELATION = NO
|
||||
|
||||
# If the REFERENCES_LINK_SOURCE tag is set to YES (the default)
|
||||
# and SOURCE_BROWSER tag is set to YES, then the hyperlinks from
|
||||
# functions in REFERENCES_RELATION and REFERENCED_BY_RELATION lists will
|
||||
# link to the source code.
|
||||
# Otherwise they will link to the documentation.
|
||||
|
||||
REFERENCES_LINK_SOURCE = YES
|
||||
|
||||
# If the USE_HTAGS tag is set to YES then the references to source code
|
||||
# will point to the HTML generated by the htags(1) tool instead of doxygen
|
||||
# built-in source browser. The htags tool is part of GNU's global source
|
||||
# tagging system (see http://www.gnu.org/software/global/global.html). You
|
||||
# will need version 4.8.6 or higher.
|
||||
|
||||
USE_HTAGS = NO
|
||||
|
||||
# If the VERBATIM_HEADERS tag is set to YES (the default) then Doxygen
|
||||
# will generate a verbatim copy of the header file for each class for
|
||||
# which an include is specified. Set to NO to disable this.
|
||||
|
||||
VERBATIM_HEADERS = YES
|
||||
|
||||
#---------------------------------------------------------------------------
|
||||
# configuration options related to the alphabetical class index
|
||||
#---------------------------------------------------------------------------
|
||||
|
||||
# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index
|
||||
# of all compounds will be generated. Enable this if the project
|
||||
# contains a lot of classes, structs, unions or interfaces.
|
||||
|
||||
ALPHABETICAL_INDEX = YES
|
||||
|
||||
# If the alphabetical index is enabled (see ALPHABETICAL_INDEX) then
|
||||
# the COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns
|
||||
# in which this list will be split (can be a number in the range [1..20])
|
||||
|
||||
COLS_IN_ALPHA_INDEX = 5
|
||||
|
||||
# In case all classes in a project start with a common prefix, all
|
||||
# classes will be put under the same header in the alphabetical index.
|
||||
# The IGNORE_PREFIX tag can be used to specify one or more prefixes that
|
||||
# should be ignored while generating the index headers.
|
||||
|
||||
IGNORE_PREFIX =
|
||||
|
||||
#---------------------------------------------------------------------------
|
||||
# configuration options related to the HTML output
|
||||
#---------------------------------------------------------------------------
|
||||
|
||||
# If the GENERATE_HTML tag is set to YES (the default) Doxygen will
|
||||
# generate HTML output.
|
||||
|
||||
GENERATE_HTML = YES
|
||||
|
||||
# The HTML_OUTPUT tag is used to specify where the HTML docs will be put.
|
||||
# If a relative path is entered the value of OUTPUT_DIRECTORY will be
|
||||
# put in front of it. If left blank `html' will be used as the default path.
|
||||
|
||||
HTML_OUTPUT = html
|
||||
|
||||
# The HTML_FILE_EXTENSION tag can be used to specify the file extension for
|
||||
# each generated HTML page (for example: .htm,.php,.asp). If it is left blank
|
||||
# doxygen will generate files with .html extension.
|
||||
|
||||
HTML_FILE_EXTENSION = .html
|
||||
|
||||
# The HTML_HEADER tag can be used to specify a personal HTML header for
|
||||
# each generated HTML page. If it is left blank doxygen will generate a
|
||||
# standard header. Note that when using a custom header you are responsible
|
||||
# for the proper inclusion of any scripts and style sheets that doxygen
|
||||
# needs, which is dependent on the configuration options used.
|
||||
# It is advised to generate a default header using "doxygen -w html
|
||||
# header.html footer.html stylesheet.css YourConfigFile" and then modify
|
||||
# that header. Note that the header is subject to change so you typically
|
||||
# have to redo this when upgrading to a newer version of doxygen or when
|
||||
# changing the value of configuration settings such as GENERATE_TREEVIEW!
|
||||
|
||||
HTML_HEADER =
|
||||
|
||||
# The HTML_FOOTER tag can be used to specify a personal HTML footer for
|
||||
# each generated HTML page. If it is left blank doxygen will generate a
|
||||
# standard footer.
|
||||
|
||||
HTML_FOOTER =
|
||||
|
||||
# The HTML_STYLESHEET tag can be used to specify a user-defined cascading
|
||||
# style sheet that is used by each HTML page. It can be used to
|
||||
# fine-tune the look of the HTML output. If left blank doxygen will
|
||||
# generate a default style sheet. Note that it is recommended to use
|
||||
# HTML_EXTRA_STYLESHEET instead of this one, as it is more robust and this
|
||||
# tag will in the future become obsolete.
|
||||
|
||||
HTML_STYLESHEET =
|
||||
|
||||
# The HTML_EXTRA_STYLESHEET tag can be used to specify an additional
|
||||
# user-defined cascading style sheet that is included after the standard
|
||||
# style sheets created by doxygen. Using this option one can overrule
|
||||
# certain style aspects. This is preferred over using HTML_STYLESHEET
|
||||
# since it does not replace the standard style sheet and is therefor more
|
||||
# robust against future updates. Doxygen will copy the style sheet file to
|
||||
# the output directory.
|
||||
|
||||
HTML_EXTRA_STYLESHEET =
|
||||
|
||||
# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or
|
||||
# other source files which should be copied to the HTML output directory. Note
|
||||
# that these files will be copied to the base HTML output directory. Use the
|
||||
# $relpath$ marker in the HTML_HEADER and/or HTML_FOOTER files to load these
|
||||
# files. In the HTML_STYLESHEET file, use the file name only. Also note that
|
||||
# the files will be copied as-is; there are no commands or markers available.
|
||||
|
||||
HTML_EXTRA_FILES =
|
||||
|
||||
# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output.
|
||||
# Doxygen will adjust the colors in the style sheet and background images
|
||||
# according to this color. Hue is specified as an angle on a colorwheel,
|
||||
# see http://en.wikipedia.org/wiki/Hue for more information.
|
||||
# For instance the value 0 represents red, 60 is yellow, 120 is green,
|
||||
# 180 is cyan, 240 is blue, 300 purple, and 360 is red again.
|
||||
# The allowed range is 0 to 359.
|
||||
|
||||
HTML_COLORSTYLE_HUE = 220
|
||||
|
||||
# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of
|
||||
# the colors in the HTML output. For a value of 0 the output will use
|
||||
# grayscales only. A value of 255 will produce the most vivid colors.
|
||||
|
||||
HTML_COLORSTYLE_SAT = 100
|
||||
|
||||
# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to
|
||||
# the luminance component of the colors in the HTML output. Values below
|
||||
# 100 gradually make the output lighter, whereas values above 100 make
|
||||
# the output darker. The value divided by 100 is the actual gamma applied,
|
||||
# so 80 represents a gamma of 0.8, The value 220 represents a gamma of 2.2,
|
||||
# and 100 does not change the gamma.
|
||||
|
||||
HTML_COLORSTYLE_GAMMA = 80
|
||||
|
||||
# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML
|
||||
# page will contain the date and time when the page was generated. Setting
|
||||
# this to NO can help when comparing the output of multiple runs.
|
||||
|
||||
HTML_TIMESTAMP = YES
|
||||
|
||||
# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML
|
||||
# documentation will contain sections that can be hidden and shown after the
|
||||
# page has loaded.
|
||||
|
||||
HTML_DYNAMIC_SECTIONS = NO
|
||||
|
||||
# With HTML_INDEX_NUM_ENTRIES one can control the preferred number of
|
||||
# entries shown in the various tree structured indices initially; the user
|
||||
# can expand and collapse entries dynamically later on. Doxygen will expand
|
||||
# the tree to such a level that at most the specified number of entries are
|
||||
# visible (unless a fully collapsed tree already exceeds this amount).
|
||||
# So setting the number of entries 1 will produce a full collapsed tree by
|
||||
# default. 0 is a special value representing an infinite number of entries
|
||||
# and will result in a full expanded tree by default.
|
||||
|
||||
HTML_INDEX_NUM_ENTRIES = 100
|
||||
|
||||
# If the GENERATE_DOCSET tag is set to YES, additional index files
|
||||
# will be generated that can be used as input for Apple's Xcode 3
|
||||
# integrated development environment, introduced with OSX 10.5 (Leopard).
|
||||
# To create a documentation set, doxygen will generate a Makefile in the
|
||||
# HTML output directory. Running make will produce the docset in that
|
||||
# directory and running "make install" will install the docset in
|
||||
# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find
|
||||
# it at startup.
|
||||
# See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html
|
||||
# for more information.
|
||||
|
||||
GENERATE_DOCSET = NO
|
||||
|
||||
# When GENERATE_DOCSET tag is set to YES, this tag determines the name of the
|
||||
# feed. A documentation feed provides an umbrella under which multiple
|
||||
# documentation sets from a single provider (such as a company or product suite)
|
||||
# can be grouped.
|
||||
|
||||
DOCSET_FEEDNAME = "The OpenPilot project documentation"
|
||||
|
||||
# When GENERATE_DOCSET tag is set to YES, this tag specifies a string that
|
||||
# should uniquely identify the documentation set bundle. This should be a
|
||||
# reverse domain-name style string, e.g. com.mycompany.MyDocSet. Doxygen
|
||||
# will append .docset to the name.
|
||||
|
||||
DOCSET_BUNDLE_ID = org.openpilot.project
|
||||
|
||||
# When GENERATE_PUBLISHER_ID tag specifies a string that should uniquely
|
||||
# identify the documentation publisher. This should be a reverse domain-name
|
||||
# style string, e.g. com.mycompany.MyDocSet.documentation.
|
||||
|
||||
DOCSET_PUBLISHER_ID = org.doxygen.publisher
|
||||
|
||||
# The GENERATE_PUBLISHER_NAME tag identifies the documentation publisher.
|
||||
|
||||
DOCSET_PUBLISHER_NAME = OpenPilot
|
||||
|
||||
# If the GENERATE_HTMLHELP tag is set to YES, additional index files
|
||||
# will be generated that can be used as input for tools like the
|
||||
# Microsoft HTML help workshop to generate a compiled HTML help file (.chm)
|
||||
# of the generated HTML documentation.
|
||||
|
||||
GENERATE_HTMLHELP = NO
|
||||
|
||||
# If the GENERATE_HTMLHELP tag is set to YES, the CHM_FILE tag can
|
||||
# be used to specify the file name of the resulting .chm file. You
|
||||
# can add a path in front of the file if the result should not be
|
||||
# written to the html output directory.
|
||||
|
||||
CHM_FILE =
|
||||
|
||||
# If the GENERATE_HTMLHELP tag is set to YES, the HHC_LOCATION tag can
|
||||
# be used to specify the location (absolute path including file name) of
|
||||
# the HTML help compiler (hhc.exe). If non-empty doxygen will try to run
|
||||
# the HTML help compiler on the generated index.hhp.
|
||||
|
||||
HHC_LOCATION =
|
||||
|
||||
# If the GENERATE_HTMLHELP tag is set to YES, the GENERATE_CHI flag
|
||||
# controls if a separate .chi index file is generated (YES) or that
|
||||
# it should be included in the master .chm file (NO).
|
||||
|
||||
GENERATE_CHI = NO
|
||||
|
||||
# If the GENERATE_HTMLHELP tag is set to YES, the CHM_INDEX_ENCODING
|
||||
# is used to encode HtmlHelp index (hhk), content (hhc) and project file
|
||||
# content.
|
||||
|
||||
CHM_INDEX_ENCODING =
|
||||
|
||||
# If the GENERATE_HTMLHELP tag is set to YES, the BINARY_TOC flag
|
||||
# controls whether a binary table of contents is generated (YES) or a
|
||||
# normal table of contents (NO) in the .chm file.
|
||||
|
||||
BINARY_TOC = NO
|
||||
|
||||
# The TOC_EXPAND flag can be set to YES to add extra items for group members
|
||||
# to the contents of the HTML help documentation and to the tree view.
|
||||
|
||||
TOC_EXPAND = NO
|
||||
|
||||
# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and
|
||||
# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated
|
||||
# that can be used as input for Qt's qhelpgenerator to generate a
|
||||
# Qt Compressed Help (.qch) of the generated HTML documentation.
|
||||
|
||||
GENERATE_QHP = NO
|
||||
|
||||
# If the QHG_LOCATION tag is specified, the QCH_FILE tag can
|
||||
# be used to specify the file name of the resulting .qch file.
|
||||
# The path specified is relative to the HTML output folder.
|
||||
|
||||
QCH_FILE =
|
||||
|
||||
# The QHP_NAMESPACE tag specifies the namespace to use when generating
|
||||
# Qt Help Project output. For more information please see
|
||||
# http://doc.trolltech.com/qthelpproject.html#namespace
|
||||
|
||||
QHP_NAMESPACE = org.doxygen.Project
|
||||
|
||||
# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating
|
||||
# Qt Help Project output. For more information please see
|
||||
# http://doc.trolltech.com/qthelpproject.html#virtual-folders
|
||||
|
||||
QHP_VIRTUAL_FOLDER = doc
|
||||
|
||||
# If QHP_CUST_FILTER_NAME is set, it specifies the name of a custom filter to
|
||||
# add. For more information please see
|
||||
# http://doc.trolltech.com/qthelpproject.html#custom-filters
|
||||
|
||||
QHP_CUST_FILTER_NAME =
|
||||
|
||||
# The QHP_CUST_FILT_ATTRS tag specifies the list of the attributes of the
|
||||
# custom filter to add. For more information please see
|
||||
# <a href="http://doc.trolltech.com/qthelpproject.html#custom-filters">
|
||||
# Qt Help Project / Custom Filters</a>.
|
||||
|
||||
QHP_CUST_FILTER_ATTRS =
|
||||
|
||||
# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this
|
||||
# project's
|
||||
# filter section matches.
|
||||
# <a href="http://doc.trolltech.com/qthelpproject.html#filter-attributes">
|
||||
# Qt Help Project / Filter Attributes</a>.
|
||||
|
||||
QHP_SECT_FILTER_ATTRS =
|
||||
|
||||
# If the GENERATE_QHP tag is set to YES, the QHG_LOCATION tag can
|
||||
# be used to specify the location of Qt's qhelpgenerator.
|
||||
# If non-empty doxygen will try to run qhelpgenerator on the generated
|
||||
# .qhp file.
|
||||
|
||||
QHG_LOCATION =
|
||||
|
||||
# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files
|
||||
# will be generated, which together with the HTML files, form an Eclipse help
|
||||
# plugin. To install this plugin and make it available under the help contents
|
||||
# menu in Eclipse, the contents of the directory containing the HTML and XML
|
||||
# files needs to be copied into the plugins directory of eclipse. The name of
|
||||
# the directory within the plugins directory should be the same as
|
||||
# the ECLIPSE_DOC_ID value. After copying Eclipse needs to be restarted before
|
||||
# the help appears.
|
||||
|
||||
GENERATE_ECLIPSEHELP = NO
|
||||
|
||||
# A unique identifier for the eclipse help plugin. When installing the plugin
|
||||
# the directory name containing the HTML and XML files should also have
|
||||
# this name.
|
||||
|
||||
ECLIPSE_DOC_ID = org.doxygen.Project
|
||||
|
||||
# The DISABLE_INDEX tag can be used to turn on/off the condensed index (tabs)
|
||||
# at top of each HTML page. The value NO (the default) enables the index and
|
||||
# the value YES disables it. Since the tabs have the same information as the
|
||||
# navigation tree you can set this option to NO if you already set
|
||||
# GENERATE_TREEVIEW to YES.
|
||||
|
||||
DISABLE_INDEX = NO
|
||||
|
||||
# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index
|
||||
# structure should be generated to display hierarchical information.
|
||||
# If the tag value is set to YES, a side panel will be generated
|
||||
# containing a tree-like index structure (just like the one that
|
||||
# is generated for HTML Help). For this to work a browser that supports
|
||||
# JavaScript, DHTML, CSS and frames is required (i.e. any modern browser).
|
||||
# Windows users are probably better off using the HTML help feature.
|
||||
# Since the tree basically has the same information as the tab index you
|
||||
# could consider to set DISABLE_INDEX to NO when enabling this option.
|
||||
|
||||
GENERATE_TREEVIEW = YES
|
||||
|
||||
# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values
|
||||
# (range [0,1..20]) that doxygen will group on one line in the generated HTML
|
||||
# documentation. Note that a value of 0 will completely suppress the enum
|
||||
# values from appearing in the overview section.
|
||||
|
||||
ENUM_VALUES_PER_LINE = 4
|
||||
|
||||
# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be
|
||||
# used to set the initial width (in pixels) of the frame in which the tree
|
||||
# is shown.
|
||||
|
||||
TREEVIEW_WIDTH = 250
|
||||
|
||||
# When the EXT_LINKS_IN_WINDOW option is set to YES doxygen will open
|
||||
# links to external symbols imported via tag files in a separate window.
|
||||
|
||||
EXT_LINKS_IN_WINDOW = NO
|
||||
|
||||
# Use this tag to change the font size of Latex formulas included
|
||||
# as images in the HTML documentation. The default is 10. Note that
|
||||
# when you change the font size after a successful doxygen run you need
|
||||
# to manually remove any form_*.png images from the HTML output directory
|
||||
# to force them to be regenerated.
|
||||
|
||||
FORMULA_FONTSIZE = 10
|
||||
|
||||
# Use the FORMULA_TRANPARENT tag to determine whether or not the images
|
||||
# generated for formulas are transparent PNGs. Transparent PNGs are
|
||||
# not supported properly for IE 6.0, but are supported on all modern browsers.
|
||||
# Note that when changing this option you need to delete any form_*.png files
|
||||
# in the HTML output before the changes have effect.
|
||||
|
||||
FORMULA_TRANSPARENT = YES
|
||||
|
||||
# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax
|
||||
# (see http://www.mathjax.org) which uses client side Javascript for the
|
||||
# rendering instead of using prerendered bitmaps. Use this if you do not
|
||||
# have LaTeX installed or if you want to formulas look prettier in the HTML
|
||||
# output. When enabled you may also need to install MathJax separately and
|
||||
# configure the path to it using the MATHJAX_RELPATH option.
|
||||
|
||||
USE_MATHJAX = NO
|
||||
|
||||
# When MathJax is enabled you can set the default output format to be used for
|
||||
# thA MathJax output. Supported types are HTML-CSS, NativeMML (i.e. MathML) and
|
||||
# SVG. The default value is HTML-CSS, which is slower, but has the best
|
||||
# compatibility.
|
||||
|
||||
MATHJAX_FORMAT = HTML-CSS
|
||||
|
||||
# When MathJax is enabled you need to specify the location relative to the
|
||||
# HTML output directory using the MATHJAX_RELPATH option. The destination
|
||||
# directory should contain the MathJax.js script. For instance, if the mathjax
|
||||
# directory is located at the same level as the HTML output directory, then
|
||||
# MATHJAX_RELPATH should be ../mathjax. The default value points to
|
||||
# the MathJax Content Delivery Network so you can quickly see the result without
|
||||
# installing MathJax.
|
||||
# However, it is strongly recommended to install a local
|
||||
# copy of MathJax from http://www.mathjax.org before deployment.
|
||||
|
||||
MATHJAX_RELPATH = http://cdn.mathjax.org/mathjax/latest
|
||||
|
||||
# The MATHJAX_EXTENSIONS tag can be used to specify one or MathJax extension
|
||||
# names that should be enabled during MathJax rendering.
|
||||
|
||||
MATHJAX_EXTENSIONS =
|
||||
|
||||
# When the SEARCHENGINE tag is enabled doxygen will generate a search box
|
||||
# for the HTML output. The underlying search engine uses javascript
|
||||
# and DHTML and should work on any modern browser. Note that when using
|
||||
# HTML help (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets
|
||||
# (GENERATE_DOCSET) there is already a search function so this one should
|
||||
# typically be disabled. For large projects the javascript based search engine
|
||||
# can be slow, then enabling SERVER_BASED_SEARCH may provide a better solution.
|
||||
|
||||
SEARCHENGINE = YES
|
||||
|
||||
# When the SERVER_BASED_SEARCH tag is enabled the search engine will be
|
||||
# implemented using a web server instead of a web client using Javascript.
|
||||
# There are two flavours of web server based search depending on the
|
||||
# EXTERNAL_SEARCH setting. When disabled, doxygen will generate a PHP script for
|
||||
# searching and an index file used by the script. When EXTERNAL_SEARCH is
|
||||
# enabled the indexing and searching needs to be provided by external tools.
|
||||
# See the manual for details.
|
||||
|
||||
SERVER_BASED_SEARCH = NO
|
||||
|
||||
# When EXTERNAL_SEARCH is enabled doxygen will no longer generate the PHP
|
||||
# script for searching. Instead the search results are written to an XML file
|
||||
# which needs to be processed by an external indexer. Doxygen will invoke an
|
||||
# external search engine pointed to by the SEARCHENGINE_URL option to obtain
|
||||
# the search results. Doxygen ships with an example indexer (doxyindexer) and
|
||||
# search engine (doxysearch.cgi) which are based on the open source search engine
|
||||
# library Xapian. See the manual for configuration details.
|
||||
|
||||
EXTERNAL_SEARCH = NO
|
||||
|
||||
# The SEARCHENGINE_URL should point to a search engine hosted by a web server
|
||||
# which will returned the search results when EXTERNAL_SEARCH is enabled.
|
||||
# Doxygen ships with an example search engine (doxysearch) which is based on
|
||||
# the open source search engine library Xapian. See the manual for configuration
|
||||
# details.
|
||||
|
||||
SEARCHENGINE_URL =
|
||||
|
||||
# When SERVER_BASED_SEARCH and EXTERNAL_SEARCH are both enabled the unindexed
|
||||
# search data is written to a file for indexing by an external tool. With the
|
||||
# SEARCHDATA_FILE tag the name of this file can be specified.
|
||||
|
||||
SEARCHDATA_FILE = searchdata.xml
|
||||
|
||||
# When SERVER_BASED_SEARCH AND EXTERNAL_SEARCH are both enabled the
|
||||
# EXTERNAL_SEARCH_ID tag can be used as an identifier for the project. This is
|
||||
# useful in combination with EXTRA_SEARCH_MAPPINGS to search through multiple
|
||||
# projects and redirect the results back to the right project.
|
||||
|
||||
EXTERNAL_SEARCH_ID =
|
||||
|
||||
# The EXTRA_SEARCH_MAPPINGS tag can be used to enable searching through doxygen
|
||||
# projects other than the one defined by this configuration file, but that are
|
||||
# all added to the same external search index. Each project needs to have a
|
||||
# unique id set via EXTERNAL_SEARCH_ID. The search mapping then maps the id
|
||||
# of to a relative location where the documentation can be found.
|
||||
# The format is: EXTRA_SEARCH_MAPPINGS = id1=loc1 id2=loc2 ...
|
||||
|
||||
EXTRA_SEARCH_MAPPINGS =
|
||||
|
||||
#---------------------------------------------------------------------------
|
||||
# configuration options related to the LaTeX output
|
||||
#---------------------------------------------------------------------------
|
||||
|
||||
# If the GENERATE_LATEX tag is set to YES (the default) Doxygen will
|
||||
# generate Latex output.
|
||||
|
||||
GENERATE_LATEX = NO
|
||||
|
||||
# The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put.
|
||||
# If a relative path is entered the value of OUTPUT_DIRECTORY will be
|
||||
# put in front of it. If left blank `latex' will be used as the default path.
|
||||
|
||||
LATEX_OUTPUT = latex
|
||||
|
||||
# The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be
|
||||
# invoked. If left blank `latex' will be used as the default command name.
|
||||
# Note that when enabling USE_PDFLATEX this option is only used for
|
||||
# generating bitmaps for formulas in the HTML output, but not in the
|
||||
# Makefile that is written to the output directory.
|
||||
|
||||
LATEX_CMD_NAME = latex
|
||||
|
||||
# The MAKEINDEX_CMD_NAME tag can be used to specify the command name to
|
||||
# generate index for LaTeX. If left blank `makeindex' will be used as the
|
||||
# default command name.
|
||||
|
||||
MAKEINDEX_CMD_NAME = makeindex
|
||||
|
||||
# If the COMPACT_LATEX tag is set to YES Doxygen generates more compact
|
||||
# LaTeX documents. This may be useful for small projects and may help to
|
||||
# save some trees in general.
|
||||
|
||||
COMPACT_LATEX = NO
|
||||
|
||||
# The PAPER_TYPE tag can be used to set the paper type that is used
|
||||
# by the printer. Possible values are: a4, letter, legal and
|
||||
# executive. If left blank a4wide will be used.
|
||||
|
||||
PAPER_TYPE = a4
|
||||
|
||||
# The EXTRA_PACKAGES tag can be to specify one or more names of LaTeX
|
||||
# packages that should be included in the LaTeX output.
|
||||
|
||||
EXTRA_PACKAGES =
|
||||
|
||||
# The LATEX_HEADER tag can be used to specify a personal LaTeX header for
|
||||
# the generated latex document. The header should contain everything until
|
||||
# the first chapter. If it is left blank doxygen will generate a
|
||||
# standard header. Notice: only use this tag if you know what you are doing!
|
||||
|
||||
LATEX_HEADER =
|
||||
|
||||
# The LATEX_FOOTER tag can be used to specify a personal LaTeX footer for
|
||||
# the generated latex document. The footer should contain everything after
|
||||
# the last chapter. If it is left blank doxygen will generate a
|
||||
# standard footer. Notice: only use this tag if you know what you are doing!
|
||||
|
||||
LATEX_FOOTER =
|
||||
|
||||
# If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated
|
||||
# is prepared for conversion to pdf (using ps2pdf). The pdf file will
|
||||
# contain links (just like the HTML output) instead of page references
|
||||
# This makes the output suitable for online browsing using a pdf viewer.
|
||||
|
||||
PDF_HYPERLINKS = YES
|
||||
|
||||
# If the USE_PDFLATEX tag is set to YES, pdflatex will be used instead of
|
||||
# plain latex in the generated Makefile. Set this option to YES to get a
|
||||
# higher quality PDF documentation.
|
||||
|
||||
USE_PDFLATEX = YES
|
||||
|
||||
# If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \\batchmode.
|
||||
# command to the generated LaTeX files. This will instruct LaTeX to keep
|
||||
# running if errors occur, instead of asking the user for help.
|
||||
# This option is also used when generating formulas in HTML.
|
||||
|
||||
LATEX_BATCHMODE = NO
|
||||
|
||||
# If LATEX_HIDE_INDICES is set to YES then doxygen will not
|
||||
# include the index chapters (such as File Index, Compound Index, etc.)
|
||||
# in the output.
|
||||
|
||||
LATEX_HIDE_INDICES = NO
|
||||
|
||||
# If LATEX_SOURCE_CODE is set to YES then doxygen will include
|
||||
# source code with syntax highlighting in the LaTeX output.
|
||||
# Note that which sources are shown also depends on other settings
|
||||
# such as SOURCE_BROWSER.
|
||||
|
||||
LATEX_SOURCE_CODE = NO
|
||||
|
||||
# The LATEX_BIB_STYLE tag can be used to specify the style to use for the
|
||||
# bibliography, e.g. plainnat, or ieeetr. The default style is "plain". See
|
||||
# http://en.wikipedia.org/wiki/BibTeX for more info.
|
||||
|
||||
LATEX_BIB_STYLE = plain
|
||||
|
||||
#---------------------------------------------------------------------------
|
||||
# configuration options related to the RTF output
|
||||
#---------------------------------------------------------------------------
|
||||
|
||||
# If the GENERATE_RTF tag is set to YES Doxygen will generate RTF output
|
||||
# The RTF output is optimized for Word 97 and may not look very pretty with
|
||||
# other RTF readers or editors.
|
||||
|
||||
GENERATE_RTF = NO
|
||||
|
||||
# The RTF_OUTPUT tag is used to specify where the RTF docs will be put.
|
||||
# If a relative path is entered the value of OUTPUT_DIRECTORY will be
|
||||
# put in front of it. If left blank `rtf' will be used as the default path.
|
||||
|
||||
RTF_OUTPUT = rtf
|
||||
|
||||
# If the COMPACT_RTF tag is set to YES Doxygen generates more compact
|
||||
# RTF documents. This may be useful for small projects and may help to
|
||||
# save some trees in general.
|
||||
|
||||
COMPACT_RTF = NO
|
||||
|
||||
# If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated
|
||||
# will contain hyperlink fields. The RTF file will
|
||||
# contain links (just like the HTML output) instead of page references.
|
||||
# This makes the output suitable for online browsing using WORD or other
|
||||
# programs which support those fields.
|
||||
# Note: wordpad (write) and others do not support links.
|
||||
|
||||
RTF_HYPERLINKS = NO
|
||||
|
||||
# Load style sheet definitions from file. Syntax is similar to doxygen's
|
||||
# config file, i.e. a series of assignments. You only have to provide
|
||||
# replacements, missing definitions are set to their default value.
|
||||
|
||||
RTF_STYLESHEET_FILE =
|
||||
|
||||
# Set optional variables used in the generation of an rtf document.
|
||||
# Syntax is similar to doxygen's config file.
|
||||
|
||||
RTF_EXTENSIONS_FILE =
|
||||
|
||||
#---------------------------------------------------------------------------
|
||||
# configuration options related to the man page output
|
||||
#---------------------------------------------------------------------------
|
||||
|
||||
# If the GENERATE_MAN tag is set to YES (the default) Doxygen will
|
||||
# generate man pages
|
||||
|
||||
GENERATE_MAN = NO
|
||||
|
||||
# The MAN_OUTPUT tag is used to specify where the man pages will be put.
|
||||
# If a relative path is entered the value of OUTPUT_DIRECTORY will be
|
||||
# put in front of it. If left blank `man' will be used as the default path.
|
||||
|
||||
MAN_OUTPUT = man
|
||||
|
||||
# The MAN_EXTENSION tag determines the extension that is added to
|
||||
# the generated man pages (default is the subroutine's section .3)
|
||||
|
||||
MAN_EXTENSION = .3
|
||||
|
||||
# If the MAN_LINKS tag is set to YES and Doxygen generates man output,
|
||||
# then it will generate one additional man file for each entity
|
||||
# documented in the real man page(s). These additional files
|
||||
# only source the real man page, but without them the man command
|
||||
# would be unable to find the correct page. The default is NO.
|
||||
|
||||
MAN_LINKS = NO
|
||||
|
||||
#---------------------------------------------------------------------------
|
||||
# configuration options related to the XML output
|
||||
#---------------------------------------------------------------------------
|
||||
|
||||
# If the GENERATE_XML tag is set to YES Doxygen will
|
||||
# generate an XML file that captures the structure of
|
||||
# the code including all documentation.
|
||||
|
||||
GENERATE_XML = NO
|
||||
|
||||
# The XML_OUTPUT tag is used to specify where the XML pages will be put.
|
||||
# If a relative path is entered the value of OUTPUT_DIRECTORY will be
|
||||
# put in front of it. If left blank `xml' will be used as the default path.
|
||||
|
||||
XML_OUTPUT = xml
|
||||
|
||||
# The XML_SCHEMA tag can be used to specify an XML schema,
|
||||
# which can be used by a validating XML parser to check the
|
||||
# syntax of the XML files.
|
||||
|
||||
XML_SCHEMA =
|
||||
|
||||
# The XML_DTD tag can be used to specify an XML DTD,
|
||||
# which can be used by a validating XML parser to check the
|
||||
# syntax of the XML files.
|
||||
|
||||
XML_DTD =
|
||||
|
||||
# If the XML_PROGRAMLISTING tag is set to YES Doxygen will
|
||||
# dump the program listings (including syntax highlighting
|
||||
# and cross-referencing information) to the XML output. Note that
|
||||
# enabling this will significantly increase the size of the XML output.
|
||||
|
||||
XML_PROGRAMLISTING = YES
|
||||
|
||||
#---------------------------------------------------------------------------
|
||||
# configuration options for the AutoGen Definitions output
|
||||
#---------------------------------------------------------------------------
|
||||
|
||||
# If the GENERATE_AUTOGEN_DEF tag is set to YES Doxygen will
|
||||
# generate an AutoGen Definitions (see autogen.sf.net) file
|
||||
# that captures the structure of the code including all
|
||||
# documentation. Note that this feature is still experimental
|
||||
# and incomplete at the moment.
|
||||
|
||||
GENERATE_AUTOGEN_DEF = NO
|
||||
|
||||
#---------------------------------------------------------------------------
|
||||
# configuration options related to the Perl module output
|
||||
#---------------------------------------------------------------------------
|
||||
|
||||
# If the GENERATE_PERLMOD tag is set to YES Doxygen will
|
||||
# generate a Perl module file that captures the structure of
|
||||
# the code including all documentation. Note that this
|
||||
# feature is still experimental and incomplete at the
|
||||
# moment.
|
||||
|
||||
GENERATE_PERLMOD = NO
|
||||
|
||||
# If the PERLMOD_LATEX tag is set to YES Doxygen will generate
|
||||
# the necessary Makefile rules, Perl scripts and LaTeX code to be able
|
||||
# to generate PDF and DVI output from the Perl module output.
|
||||
|
||||
PERLMOD_LATEX = NO
|
||||
|
||||
# If the PERLMOD_PRETTY tag is set to YES the Perl module output will be
|
||||
# nicely formatted so it can be parsed by a human reader.
|
||||
# This is useful
|
||||
# if you want to understand what is going on.
|
||||
# On the other hand, if this
|
||||
# tag is set to NO the size of the Perl module output will be much smaller
|
||||
# and Perl will parse it just the same.
|
||||
|
||||
PERLMOD_PRETTY = YES
|
||||
|
||||
# The names of the make variables in the generated doxyrules.make file
|
||||
# are prefixed with the string contained in PERLMOD_MAKEVAR_PREFIX.
|
||||
# This is useful so different doxyrules.make files included by the same
|
||||
# Makefile don't overwrite each other's variables.
|
||||
|
||||
PERLMOD_MAKEVAR_PREFIX =
|
||||
|
||||
#---------------------------------------------------------------------------
|
||||
# Configuration options related to the preprocessor
|
||||
#---------------------------------------------------------------------------
|
||||
|
||||
# If the ENABLE_PREPROCESSING tag is set to YES (the default) Doxygen will
|
||||
# evaluate all C-preprocessor directives found in the sources and include
|
||||
# files.
|
||||
|
||||
ENABLE_PREPROCESSING = YES
|
||||
|
||||
# If the MACRO_EXPANSION tag is set to YES Doxygen will expand all macro
|
||||
# names in the source code. If set to NO (the default) only conditional
|
||||
# compilation will be performed. Macro expansion can be done in a controlled
|
||||
# way by setting EXPAND_ONLY_PREDEF to YES.
|
||||
|
||||
MACRO_EXPANSION = NO
|
||||
|
||||
# If the EXPAND_ONLY_PREDEF and MACRO_EXPANSION tags are both set to YES
|
||||
# then the macro expansion is limited to the macros specified with the
|
||||
# PREDEFINED and EXPAND_AS_DEFINED tags.
|
||||
|
||||
EXPAND_ONLY_PREDEF = NO
|
||||
|
||||
# If the SEARCH_INCLUDES tag is set to YES (the default) the includes files
|
||||
# pointed to by INCLUDE_PATH will be searched when a #include is found.
|
||||
|
||||
SEARCH_INCLUDES = YES
|
||||
|
||||
# The INCLUDE_PATH tag can be used to specify one or more directories that
|
||||
# contain include files that are not input files but should be processed by
|
||||
# the preprocessor.
|
||||
|
||||
INCLUDE_PATH =
|
||||
|
||||
# You can use the INCLUDE_FILE_PATTERNS tag to specify one or more wildcard
|
||||
# patterns (like *.h and *.hpp) to filter out the header-files in the
|
||||
# directories. If left blank, the patterns specified with FILE_PATTERNS will
|
||||
# be used.
|
||||
|
||||
INCLUDE_FILE_PATTERNS =
|
||||
|
||||
# The PREDEFINED tag can be used to specify one or more macro names that
|
||||
# are defined before the preprocessor is started (similar to the -D option of
|
||||
# gcc). The argument of the tag is a list of macros of the form: name
|
||||
# or name=definition (no spaces). If the definition and the = are
|
||||
# omitted =1 is assumed. To prevent a macro definition from being
|
||||
# undefined via #undef or recursively expanded use the := operator
|
||||
# instead of the = operator.
|
||||
|
||||
PREDEFINED =
|
||||
|
||||
# If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then
|
||||
# this tag can be used to specify a list of macro names that should be expanded.
|
||||
# The macro definition that is found in the sources will be used.
|
||||
# Use the PREDEFINED tag if you want to use a different macro definition that
|
||||
# overrules the definition found in the source code.
|
||||
|
||||
EXPAND_AS_DEFINED =
|
||||
|
||||
# If the SKIP_FUNCTION_MACROS tag is set to YES (the default) then
|
||||
# doxygen's preprocessor will remove all references to function-like macros
|
||||
# that are alone on a line, have an all uppercase name, and do not end with a
|
||||
# semicolon, because these will confuse the parser if not removed.
|
||||
|
||||
SKIP_FUNCTION_MACROS = YES
|
||||
|
||||
#---------------------------------------------------------------------------
|
||||
# Configuration::additions related to external references
|
||||
#---------------------------------------------------------------------------
|
||||
|
||||
# The TAGFILES option can be used to specify one or more tagfiles. For each
|
||||
# tag file the location of the external documentation should be added. The
|
||||
# format of a tag file without this location is as follows:
|
||||
#
|
||||
# TAGFILES = file1 file2 ...
|
||||
# Adding location for the tag files is done as follows:
|
||||
#
|
||||
# TAGFILES = file1=loc1 "file2 = loc2" ...
|
||||
# where "loc1" and "loc2" can be relative or absolute paths
|
||||
# or URLs. Note that each tag file must have a unique name (where the name does
|
||||
# NOT include the path). If a tag file is not located in the directory in which
|
||||
# doxygen is run, you must also specify the path to the tagfile here.
|
||||
|
||||
TAGFILES =
|
||||
|
||||
# When a file name is specified after GENERATE_TAGFILE, doxygen will create
|
||||
# a tag file that is based on the input files it reads.
|
||||
|
||||
GENERATE_TAGFILE =
|
||||
|
||||
# If the ALLEXTERNALS tag is set to YES all external classes will be listed
|
||||
# in the class index. If set to NO only the inherited external classes
|
||||
# will be listed.
|
||||
|
||||
ALLEXTERNALS = NO
|
||||
|
||||
# If the EXTERNAL_GROUPS tag is set to YES all external groups will be listed
|
||||
# in the modules index. If set to NO, only the current project's groups will
|
||||
# be listed.
|
||||
|
||||
EXTERNAL_GROUPS = YES
|
||||
|
||||
# The PERL_PATH should be the absolute path and name of the perl script
|
||||
# interpreter (i.e. the result of `which perl').
|
||||
|
||||
PERL_PATH = /usr/bin/perl
|
||||
|
||||
#---------------------------------------------------------------------------
|
||||
# Configuration options related to the dot tool
|
||||
#---------------------------------------------------------------------------
|
||||
|
||||
# If the CLASS_DIAGRAMS tag is set to YES (the default) Doxygen will
|
||||
# generate a inheritance diagram (in HTML, RTF and LaTeX) for classes with base
|
||||
# or super classes. Setting the tag to NO turns the diagrams off. Note that
|
||||
# this option also works with HAVE_DOT disabled, but it is recommended to
|
||||
# install and use dot, since it yields more powerful graphs.
|
||||
|
||||
CLASS_DIAGRAMS = YES
|
||||
|
||||
# You can define message sequence charts within doxygen comments using the \msc
|
||||
# command. Doxygen will then run the mscgen tool (see
|
||||
# http://www.mcternan.me.uk/mscgen/) to produce the chart and insert it in the
|
||||
# documentation. The MSCGEN_PATH tag allows you to specify the directory where
|
||||
# the mscgen tool resides. If left empty the tool is assumed to be found in the
|
||||
# default search path.
|
||||
|
||||
MSCGEN_PATH =
|
||||
|
||||
# If set to YES, the inheritance and collaboration graphs will hide
|
||||
# inheritance and usage relations if the target is undocumented
|
||||
# or is not a class.
|
||||
|
||||
HIDE_UNDOC_RELATIONS = YES
|
||||
|
||||
# If you set the HAVE_DOT tag to YES then doxygen will assume the dot tool is
|
||||
# available from the path. This tool is part of Graphviz, a graph visualization
|
||||
# toolkit from AT&T and Lucent Bell Labs. The other options in this section
|
||||
# have no effect if this option is set to NO (the default)
|
||||
|
||||
HAVE_DOT = NO
|
||||
|
||||
# The DOT_NUM_THREADS specifies the number of dot invocations doxygen is
|
||||
# allowed to run in parallel. When set to 0 (the default) doxygen will
|
||||
# base this on the number of processors available in the system. You can set it
|
||||
# explicitly to a value larger than 0 to get control over the balance
|
||||
# between CPU load and processing speed.
|
||||
|
||||
DOT_NUM_THREADS = 0
|
||||
|
||||
# By default doxygen will use the Helvetica font for all dot files that
|
||||
# doxygen generates. When you want a differently looking font you can specify
|
||||
# the font name using DOT_FONTNAME. You need to make sure dot is able to find
|
||||
# the font, which can be done by putting it in a standard location or by setting
|
||||
# the DOTFONTPATH environment variable or by setting DOT_FONTPATH to the
|
||||
# directory containing the font.
|
||||
|
||||
DOT_FONTNAME = Helvetica
|
||||
|
||||
# The DOT_FONTSIZE tag can be used to set the size of the font of dot graphs.
|
||||
# The default size is 10pt.
|
||||
|
||||
DOT_FONTSIZE = 10
|
||||
|
||||
# By default doxygen will tell dot to use the Helvetica font.
|
||||
# If you specify a different font using DOT_FONTNAME you can use DOT_FONTPATH to
|
||||
# set the path where dot can find it.
|
||||
|
||||
DOT_FONTPATH =
|
||||
|
||||
# If the CLASS_GRAPH and HAVE_DOT tags are set to YES then doxygen
|
||||
# will generate a graph for each documented class showing the direct and
|
||||
# indirect inheritance relations. Setting this tag to YES will force the
|
||||
# CLASS_DIAGRAMS tag to NO.
|
||||
|
||||
CLASS_GRAPH = YES
|
||||
|
||||
# If the COLLABORATION_GRAPH and HAVE_DOT tags are set to YES then doxygen
|
||||
# will generate a graph for each documented class showing the direct and
|
||||
# indirect implementation dependencies (inheritance, containment, and
|
||||
# class references variables) of the class with other documented classes.
|
||||
|
||||
COLLABORATION_GRAPH = YES
|
||||
|
||||
# If the GROUP_GRAPHS and HAVE_DOT tags are set to YES then doxygen
|
||||
# will generate a graph for groups, showing the direct groups dependencies
|
||||
|
||||
GROUP_GRAPHS = YES
|
||||
|
||||
# If the UML_LOOK tag is set to YES doxygen will generate inheritance and
|
||||
# collaboration diagrams in a style similar to the OMG's Unified Modeling
|
||||
# Language.
|
||||
|
||||
UML_LOOK = NO
|
||||
|
||||
# If the UML_LOOK tag is enabled, the fields and methods are shown inside
|
||||
# the class node. If there are many fields or methods and many nodes the
|
||||
# graph may become too big to be useful. The UML_LIMIT_NUM_FIELDS
|
||||
# threshold limits the number of items for each type to make the size more
|
||||
# managable. Set this to 0 for no limit. Note that the threshold may be
|
||||
# exceeded by 50% before the limit is enforced.
|
||||
|
||||
UML_LIMIT_NUM_FIELDS = 10
|
||||
|
||||
# If set to YES, the inheritance and collaboration graphs will show the
|
||||
# relations between templates and their instances.
|
||||
|
||||
TEMPLATE_RELATIONS = NO
|
||||
|
||||
# If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDE_GRAPH, and HAVE_DOT
|
||||
# tags are set to YES then doxygen will generate a graph for each documented
|
||||
# file showing the direct and indirect include dependencies of the file with
|
||||
# other documented files.
|
||||
|
||||
INCLUDE_GRAPH = YES
|
||||
|
||||
# If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDED_BY_GRAPH, and
|
||||
# HAVE_DOT tags are set to YES then doxygen will generate a graph for each
|
||||
# documented header file showing the documented files that directly or
|
||||
# indirectly include this file.
|
||||
|
||||
INCLUDED_BY_GRAPH = YES
|
||||
|
||||
# If the CALL_GRAPH and HAVE_DOT options are set to YES then
|
||||
# doxygen will generate a call dependency graph for every global function
|
||||
# or class method. Note that enabling this option will significantly increase
|
||||
# the time of a run. So in most cases it will be better to enable call graphs
|
||||
# for selected functions only using the \callgraph command.
|
||||
|
||||
CALL_GRAPH = NO
|
||||
|
||||
# If the CALLER_GRAPH and HAVE_DOT tags are set to YES then
|
||||
# doxygen will generate a caller dependency graph for every global function
|
||||
# or class method. Note that enabling this option will significantly increase
|
||||
# the time of a run. So in most cases it will be better to enable caller
|
||||
# graphs for selected functions only using the \callergraph command.
|
||||
|
||||
CALLER_GRAPH = NO
|
||||
|
||||
# If the GRAPHICAL_HIERARCHY and HAVE_DOT tags are set to YES then doxygen
|
||||
# will generate a graphical hierarchy of all classes instead of a textual one.
|
||||
|
||||
GRAPHICAL_HIERARCHY = YES
|
||||
|
||||
# If the DIRECTORY_GRAPH and HAVE_DOT tags are set to YES
|
||||
# then doxygen will show the dependencies a directory has on other directories
|
||||
# in a graphical way. The dependency relations are determined by the #include
|
||||
# relations between the files in the directories.
|
||||
|
||||
DIRECTORY_GRAPH = YES
|
||||
|
||||
# The DOT_IMAGE_FORMAT tag can be used to set the image format of the images
|
||||
# generated by dot. Possible values are svg, png, jpg, or gif.
|
||||
# If left blank png will be used. If you choose svg you need to set
|
||||
# HTML_FILE_EXTENSION to xhtml in order to make the SVG files
|
||||
# visible in IE 9+ (other browsers do not have this requirement).
|
||||
|
||||
DOT_IMAGE_FORMAT = png
|
||||
|
||||
# If DOT_IMAGE_FORMAT is set to svg, then this option can be set to YES to
|
||||
# enable generation of interactive SVG images that allow zooming and panning.
|
||||
# Note that this requires a modern browser other than Internet Explorer.
|
||||
# Tested and working are Firefox, Chrome, Safari, and Opera. For IE 9+ you
|
||||
# need to set HTML_FILE_EXTENSION to xhtml in order to make the SVG files
|
||||
# visible. Older versions of IE do not have SVG support.
|
||||
|
||||
INTERACTIVE_SVG = NO
|
||||
|
||||
# The tag DOT_PATH can be used to specify the path where the dot tool can be
|
||||
# found. If left blank, it is assumed the dot tool can be found in the path.
|
||||
|
||||
DOT_PATH =
|
||||
|
||||
# The DOTFILE_DIRS tag can be used to specify one or more directories that
|
||||
# contain dot files that are included in the documentation (see the
|
||||
# \dotfile command).
|
||||
|
||||
DOTFILE_DIRS =
|
||||
|
||||
# The MSCFILE_DIRS tag can be used to specify one or more directories that
|
||||
# contain msc files that are included in the documentation (see the
|
||||
# \mscfile command).
|
||||
|
||||
MSCFILE_DIRS =
|
||||
|
||||
# The DOT_GRAPH_MAX_NODES tag can be used to set the maximum number of
|
||||
# nodes that will be shown in the graph. If the number of nodes in a graph
|
||||
# becomes larger than this value, doxygen will truncate the graph, which is
|
||||
# visualized by representing a node as a red box. Note that doxygen if the
|
||||
# number of direct children of the root node in a graph is already larger than
|
||||
# DOT_GRAPH_MAX_NODES then the graph will not be shown at all. Also note
|
||||
# that the size of a graph can be further restricted by MAX_DOT_GRAPH_DEPTH.
|
||||
|
||||
DOT_GRAPH_MAX_NODES = 50
|
||||
|
||||
# The MAX_DOT_GRAPH_DEPTH tag can be used to set the maximum depth of the
|
||||
# graphs generated by dot. A depth value of 3 means that only nodes reachable
|
||||
# from the root by following a path via at most 3 edges will be shown. Nodes
|
||||
# that lay further from the root node will be omitted. Note that setting this
|
||||
# option to 1 or 2 may greatly reduce the computation time needed for large
|
||||
# code bases. Also note that the size of a graph can be further restricted by
|
||||
# DOT_GRAPH_MAX_NODES. Using a depth of 0 means no depth restriction.
|
||||
|
||||
MAX_DOT_GRAPH_DEPTH = 0
|
||||
|
||||
# Set the DOT_TRANSPARENT tag to YES to generate images with a transparent
|
||||
# background. This is disabled by default, because dot on Windows does not
|
||||
# seem to support this out of the box. Warning: Depending on the platform used,
|
||||
# enabling this option may lead to badly anti-aliased labels on the edges of
|
||||
# a graph (i.e. they become hard to read).
|
||||
|
||||
DOT_TRANSPARENT = NO
|
||||
|
||||
# Set the DOT_MULTI_TARGETS tag to YES allow dot to generate multiple output
|
||||
# files in one run (i.e. multiple -o and -T options on the command line). This
|
||||
# makes dot run faster, but since only newer versions of dot (>1.8.10)
|
||||
# support this, this feature is disabled by default.
|
||||
|
||||
DOT_MULTI_TARGETS = NO
|
||||
|
||||
# If the GENERATE_LEGEND tag is set to YES (the default) Doxygen will
|
||||
# generate a legend page explaining the meaning of the various boxes and
|
||||
# arrows in the dot generated graphs.
|
||||
|
||||
GENERATE_LEGEND = YES
|
||||
|
||||
# If the DOT_CLEANUP tag is set to YES (the default) Doxygen will
|
||||
# remove the intermediate dot files that are used to generate
|
||||
# the various graphs.
|
||||
|
||||
DOT_CLEANUP = YES
|
@ -12,6 +12,7 @@
|
||||
# mingw_install (Windows only)
|
||||
# python_install (Windows only)
|
||||
# uncrustify_install
|
||||
# doxygen_install
|
||||
#
|
||||
# TODO:
|
||||
# openocd_install
|
||||
@ -61,16 +62,19 @@ ifeq ($(UNAME), Linux)
|
||||
QT_SDK_URL := "Please install native Qt 4.8.x SDK using package manager"
|
||||
endif
|
||||
UNCRUSTIFY_URL := http://wiki.openpilot.org/download/attachments/18612236/uncrustify-0.60.tar.gz
|
||||
DOXYGEN_URL := http://wiki.openpilot.org/download/attachments/18612236/doxygen-1.8.3.1.src.tar.gz
|
||||
else ifeq ($(UNAME), Darwin)
|
||||
ARM_SDK_URL := http://wiki.openpilot.org/download/attachments/18612236/gcc-arm-none-eabi-4_7-2013q1-20130313-mac.tar.bz2
|
||||
QT_SDK_URL := "Please install native Qt 4.8.x SDK using package manager"
|
||||
UNCRUSTIFY_URL := http://wiki.openpilot.org/download/attachments/18612236/uncrustify-0.60.tar.gz
|
||||
DOXYGEN_URL := http://wiki.openpilot.org/download/attachments/18612236/doxygen-1.8.3.1.src.tar.gz
|
||||
else ifeq ($(UNAME), Windows)
|
||||
ARM_SDK_URL := http://wiki.openpilot.org/download/attachments/18612236/gcc-arm-none-eabi-4_7-2013q1-20130313-windows.tar.bz2
|
||||
QT_SDK_URL := http://wiki.openpilot.org/download/attachments/18612236/qt-4.8.4-windows.tar.bz2
|
||||
MINGW_URL := http://wiki.openpilot.org/download/attachments/18612236/mingw-4.4.0.tar.bz2
|
||||
PYTHON_URL := http://wiki.openpilot.org/download/attachments/18612236/python-2.7.4-windows.tar.bz2
|
||||
UNCRUSTIFY_URL := http://wiki.openpilot.org/download/attachments/18612236/uncrustify-0.60-windows.tar.bz2
|
||||
DOXYGEN_URL := http://wiki.openpilot.org/download/attachments/18612236/doxygen-1.8.3.1-windows.tar.bz2
|
||||
endif
|
||||
|
||||
# Changing PYTHON_DIR, also update it in ground\openpilotgcs\src\app\gcsversioninfo.pri
|
||||
@ -79,6 +83,7 @@ QT_SDK_DIR := $(TOOLS_DIR)/qt-4.8.4
|
||||
MINGW_DIR := $(TOOLS_DIR)/mingw-4.4.0
|
||||
PYTHON_DIR := $(TOOLS_DIR)/python-2.7.4
|
||||
UNCRUSTIFY_DIR := $(TOOLS_DIR)/uncrustify-0.60
|
||||
DOXYGEN_DIR := $(TOOLS_DIR)/doxygen-1.8.3.1
|
||||
|
||||
##############################
|
||||
#
|
||||
@ -86,10 +91,11 @@ UNCRUSTIFY_DIR := $(TOOLS_DIR)/uncrustify-0.60
|
||||
#
|
||||
##############################
|
||||
|
||||
ALL_SDK_TARGETS := arm_sdk qt_sdk uncrustify
|
||||
ALL_SDK_TARGETS := arm_sdk qt_sdk
|
||||
ifeq ($(UNAME), Windows)
|
||||
ALL_SDK_TARGETS += mingw python
|
||||
endif
|
||||
ALL_SDK_TARGETS += uncrustify doxygen
|
||||
|
||||
.PHONY: all_sdk_install all_sdk_clean all_sdk_distclean all_sdk_version
|
||||
all_sdk_install: $(addsuffix _install,$(ALL_SDK_TARGETS))
|
||||
@ -163,8 +169,10 @@ MSG_NOTICE = $(QUOTE) NOTE $(QUOTE)
|
||||
# Verbosity level
|
||||
ifeq ($(V), 1)
|
||||
CURL_OPTIONS :=
|
||||
MAKE_SILENT :=
|
||||
else
|
||||
CURL_OPTIONS := --silent
|
||||
MAKE_SILENT := --silent
|
||||
endif
|
||||
|
||||
# MSYS tar workaround
|
||||
@ -412,9 +420,9 @@ define UNCRUSTIFY_BUILD_TEMPLATE
|
||||
cd $(UNCRUSTIFY_BUILD_DIR) && \
|
||||
./configure --prefix="$(UNCRUSTIFY_DIR)" && \
|
||||
$(ECHO) $(MSG_BUILDING) $(call toprel, $(UNCRUSTIFY_BUILD_DIR)) && \
|
||||
$(MAKE) --silent && \
|
||||
$(MAKE) $(MAKE_SILENT) && \
|
||||
$(ECHO) $(MSG_INSTALLING) $(call toprel, $(UNCRUSTIFY_DIR)) && \
|
||||
$(MAKE) --silent install-strip \
|
||||
$(MAKE) $(MAKE_SILENT) install-strip \
|
||||
)
|
||||
@$(ECHO) $(MSG_CLEANING) $(call toprel, $(UNCRUSTIFY_BUILD_DIR))
|
||||
-$(V1) [ ! -d "$(UNCRUSTIFY_BUILD_DIR)" ] || $(RM) -rf "$(UNCRUSTIFY_BUILD_DIR)"
|
||||
@ -440,6 +448,56 @@ endif
|
||||
uncrustify_version:
|
||||
-$(V1) $(UNCRUSTIFY) --version
|
||||
|
||||
##############################
|
||||
#
|
||||
# Doxygen
|
||||
#
|
||||
##############################
|
||||
|
||||
ifeq ($(UNAME), Windows)
|
||||
|
||||
$(eval $(call TOOL_INSTALL_TEMPLATE,doxygen,$(DOXYGEN_DIR),$(DOXYGEN_URL),$(notdir $(DOXYGEN_URL))))
|
||||
|
||||
else # Linux or Mac
|
||||
|
||||
DOXYGEN_BUILD_DIR := $(BUILD_DIR)/$(notdir $(DOXYGEN_DIR))
|
||||
|
||||
define DOXYGEN_BUILD_TEMPLATE
|
||||
$(V1) ( \
|
||||
$(ECHO) $(MSG_CONFIGURING) $(call toprel, $(DOXYGEN_BUILD_DIR)) && \
|
||||
cd $(DOXYGEN_BUILD_DIR) && \
|
||||
./configure --prefix "$(DOXYGEN_DIR)" --english-only && \
|
||||
$(ECHO) $(MSG_BUILDING) $(call toprel, $(DOXYGEN_BUILD_DIR)) && \
|
||||
$(MAKE) $(MAKE_SILENT) && \
|
||||
$(ECHO) $(MSG_INSTALLING) $(call toprel, $(DOXYGEN_DIR)) && \
|
||||
$(MAKE) $(MAKE_SILENT) install \
|
||||
)
|
||||
@$(ECHO) $(MSG_CLEANING) $(call toprel, $(DOXYGEN_BUILD_DIR))
|
||||
-$(V1) [ ! -d "$(DOXYGEN_BUILD_DIR)" ] || $(RM) -rf "$(DOXYGEN_BUILD_DIR)"
|
||||
endef
|
||||
|
||||
define DOXYGEN_CLEAN_TEMPLATE
|
||||
-$(V1) [ ! -d "$(DOXYGEN_DIR)" ] || $(RM) -rf "$(DOXYGEN_DIR)"
|
||||
endef
|
||||
|
||||
$(eval $(call TOOL_INSTALL_TEMPLATE,doxygen,$(DOXYGEN_BUILD_DIR),$(DOXYGEN_URL),$(notdir $(DOXYGEN_URL)),$(DOXYGEN_BUILD_TEMPLATE),$(DOXYGEN_CLEAN_TEMPLATE)))
|
||||
|
||||
endif
|
||||
|
||||
ifeq ($(shell [ -d "$(DOXYGEN_DIR)" ] && $(ECHO) "exists"), exists)
|
||||
export DOXYGEN := $(DOXYGEN_DIR)/bin/doxygen
|
||||
else
|
||||
# not installed, hope it's in the path...
|
||||
# $(info $(EMPTY) WARNING $(call toprel, $(DOXYGEN_DIR)) not found (make doxygen_install), using system PATH)
|
||||
export DOXYGEN := doxygen
|
||||
endif
|
||||
|
||||
.PHONY: doxygen_version
|
||||
doxygen_version:
|
||||
-$(V1) $(ECHO) "Doxygen `$(DOXYGEN) --version`"
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
@ -20,11 +20,11 @@ NSIS_HEADER := $(OPGCSSYNTHDIR)/openpilotgcs.nsh
|
||||
package:
|
||||
$(V1) mkdir -p "$(dir $(NSIS_HEADER))"
|
||||
$(VERSION_CMD) \
|
||||
--template="$(NSIS_TEMPLATE)" \
|
||||
--outfile="$(NSIS_HEADER)" \
|
||||
PACKAGE_LBL="$(PACKAGE_LBL)" \
|
||||
PACKAGE_NAME="$(PACKAGE_NAME)" \
|
||||
PACKAGE_SEP="$(PACKAGE_SEP)"
|
||||
--template='$(NSIS_TEMPLATE)' \
|
||||
--outfile='$(NSIS_HEADER)' \
|
||||
PACKAGE_LBL='$(PACKAGE_LBL)' \
|
||||
PACKAGE_NAME='$(PACKAGE_NAME)' \
|
||||
PACKAGE_SEP='$(PACKAGE_SEP)'
|
||||
$(V1) echo "Building Windows installer, please wait..."
|
||||
$(V1) echo "If you have a script error in line 1 - use Unicode NSIS 2.46+"
|
||||
$(V1) echo " http://www.scratchpaper.com"
|
||||
|
@ -1,10 +1,10 @@
|
||||
<xml>
|
||||
<object name="StabilizationSettings" singleinstance="true" settings="true">
|
||||
<description>PID settings used by the Stabilization module to combine the @ref AttitudeActual and @ref AttitudeDesired to compute @ref ActuatorDesired</description>
|
||||
<field name="RollMax" units="degrees" type="uint8" elements="1" defaultvalue="60" limits="%BE:0:180"/>
|
||||
<field name="PitchMax" units="degrees" type="uint8" elements="1" defaultvalue="60" limits="%BE:0:180"/>
|
||||
<field name="YawMax" units="degrees" type="uint8" elements="1" defaultvalue="60" limits="%BE:0:180"/>
|
||||
<field name="ManualRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="200,200,200" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
|
||||
<field name="RollMax" units="degrees" type="uint8" elements="1" defaultvalue="40" limits="%BE:0:180"/>
|
||||
<field name="PitchMax" units="degrees" type="uint8" elements="1" defaultvalue="40" limits="%BE:0:180"/>
|
||||
<field name="YawMax" units="degrees" type="uint8" elements="1" defaultvalue="40" limits="%BE:0:180"/>
|
||||
<field name="ManualRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="150,150,175" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
|
||||
<field name="MaximumRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="300,300,300" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
|
||||
|
||||
<field name="RollRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.003,0.003,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; "/>
|
||||
|
Loading…
x
Reference in New Issue
Block a user