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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-03 15:38:52 +08:00
Moved position_estimator_mc, px4io driver and sdlog app to new style build
This commit is contained in:
Lorenz Meier
@@ -14,6 +14,9 @@ MODULES += drivers/px4fmu
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MODULES += drivers/boards/px4fmu
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MODULES += drivers/l3gd20
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MODULES += drivers/ardrone_interface
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MODULES += drivers/px4io
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# sensors app is WIP
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#MODULES += modules/sensors
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#
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# System commands
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@@ -41,7 +44,13 @@ MODULES += modules/mavlink_onboard
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#
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# Estimation modules (EKF / other filters)
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#
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#MODULES += modules/attitude_estimator_ekf
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MODULES += modules/attitude_estimator_ekf
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MODULES += modules/position_estimator_mc
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#
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# Logging
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#
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MODULES += modules/sdlog
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#
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# Transitional support - add commands from the NuttX export archive.
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@@ -73,10 +82,6 @@ BUILTIN_COMMANDS := \
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$(call _B, ms5611, , 2048, ms5611_main ) \
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$(call _B, multirotor_att_control, SCHED_PRIORITY_MAX-15, 2048, multirotor_att_control_main) \
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$(call _B, multirotor_pos_control, SCHED_PRIORITY_MAX-25, 2048, multirotor_pos_control_main) \
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$(call _B, position_estimator, , 4096, position_estimator_main ) \
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$(call _B, px4io, , 2048, px4io_main ) \
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$(call _B, sdlog, SCHED_PRIORITY_MAX-30, 2048, sdlog_main ) \
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$(call _B, sensors, SCHED_PRIORITY_MAX-5, 4096, sensors_main ) \
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$(call _B, sercon, , 2048, sercon_main ) \
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$(call _B, serdis, , 2048, serdis_main ) \
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$(call _B, tone_alarm, , 2048, tone_alarm_main ) \
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@@ -1,6 +1,6 @@
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/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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@@ -32,7 +32,8 @@
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****************************************************************************/
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/**
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* @file Driver for the ST L3GD20 MEMS gyro connected via SPI.
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* @file l3gd20.cpp
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* Driver for the ST L3GD20 MEMS gyro connected via SPI.
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*/
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#include <nuttx/config.h>
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@@ -1,6 +1,6 @@
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############################################################################
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#
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# Copyright (C) 2012 PX4 Development Team. All rights reserved.
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# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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@@ -35,8 +35,7 @@
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# Interface driver for the PX4IO board.
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#
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APPNAME = px4io
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PRIORITY = SCHED_PRIORITY_DEFAULT
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STACKSIZE = 2048
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MODULE_COMMAND = px4io
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include $(APPDIR)/mk/app.mk
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SRCS = px4io.cpp \
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uploader.cpp
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@@ -1,6 +1,6 @@
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/****************************************************************************
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*
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* Copyright (C) 2012,2013 PX4 Development Team. All rights reserved.
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* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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@@ -1,6 +1,6 @@
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/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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@@ -32,7 +32,8 @@
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****************************************************************************/
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/**
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* @file Firmware uploader for PX4IO
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* @file uploader.cpp
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* Firmware uploader for PX4IO
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*/
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#include <nuttx/config.h>
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@@ -1,6 +1,6 @@
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/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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@@ -32,7 +32,8 @@
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****************************************************************************/
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/**
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* @file Firmware uploader for PX4IO
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* @file uploader.h
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* Firmware uploader definitions for PX4IO.
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*/
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#ifndef _PX4IO_UPLOADER_H
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@@ -46,7 +46,6 @@
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#include <stdbool.h>
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#include <poll.h>
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#include <fcntl.h>
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#include <v1.0/common/mavlink.h>
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#include <float.h>
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#include <nuttx/sched.h>
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#include <sys/prctl.h>
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@@ -1,6 +1,6 @@
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############################################################################
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#
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# Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
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# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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@@ -35,10 +35,10 @@
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# Attitude estimator (Extended Kalman Filter)
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#
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MODULE_NAME = attitude_estimator_ekf
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CXXSRCS = attitude_estimator_ekf_main.cpp
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MODULE_COMMAND = attitude_estimator_ekf
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SRCS = attitude_estimator_ekf_params.c \
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SRCS = attitude_estimator_ekf_main.cpp \
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attitude_estimator_ekf_params.c \
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codegen/eye.c \
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codegen/attitudeKalmanfilter.c \
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codegen/mrdivide.c \
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@@ -1,6 +1,6 @@
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############################################################################
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#
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# Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
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# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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@@ -1,6 +1,6 @@
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############################################################################
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#
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# Copyright (C) 2012 PX4 Development Team. All rights reserved.
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# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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@@ -35,11 +35,9 @@
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# Makefile to build the position estimator
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#
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APPNAME = position_estimator_mc
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PRIORITY = SCHED_PRIORITY_DEFAULT
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STACKSIZE = 4096
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MODULE_COMMAND = position_estimator_mc
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CSRCS = position_estimator_mc_main.c \
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SRCS = position_estimator_mc_main.c \
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position_estimator_mc_params.c \
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codegen/positionKalmanFilter1D_initialize.c \
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codegen/positionKalmanFilter1D_terminate.c \
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@@ -60,5 +58,3 @@ CSRCS = position_estimator_mc_main.c \
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codegen/kalman_dlqe3_terminate.c \
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codegen/kalman_dlqe3_data.c \
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codegen/randn.c
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include $(APPDIR)/mk/app.mk
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@@ -1,6 +1,6 @@
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############################################################################
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#
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# Copyright (C) 2012 PX4 Development Team. All rights reserved.
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# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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@@ -35,9 +35,9 @@
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# sdlog Application
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#
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APPNAME = sdlog
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MODULE_COMMAND = sdlog
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# The main thread only buffers to RAM, needs a high priority
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PRIORITY = SCHED_PRIORITY_MAX - 30
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STACKSIZE = 2048
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MODULE_PRIORITY = "SCHED_PRIORITY_MAX-30"
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include $(APPDIR)/mk/app.mk
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SRCS = sdlog.c \
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sdlog_ringbuffer.c
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