基于树莓派4B和stm32的ros机器人

# Parameters: # instance.parameter=value #(type, mode) default = 'def value' : description : [min..max] #---------------------------------------------------------------------------------------------- cpu0.FPU=0 # (bool , init-time) default = '1' : Set whether the model has VFP support cpu0.DSP=0 # (bool , init-time) default = '1' : Set whether the model has the DSP extension cpu0.semihosting-enable=0 # (bool , init-time) default = '1' : Enable semihosting SVC traps. Applications that do not use semihosting must set this parameter to false. cpu0.MPU_S=0x8 # (int , init-time) default = '0x8' : Number of regions in the Secure MPU. If Security Extentions are absent, this is ignored : [0x0..0x10] cpu0.MPU_NS=0x8 # (int , init-time) default = '0x8' : Number of regions in the Non-Secure MPU. If Security Extentions are absent, this is the total number of MPU regions : [0x0..0x10] cpu0.ITM=0 # (bool , init-time) default = '1' : Level of instrumentation trace supported. false : No ITM trace included, true: ITM trace included cpu0.IRQLVL=0x3 # (int , init-time) default = '0x3' : Number of bits of interrupt priority : [0x3..0x8] cpu0.BIGENDINIT=0 # (bool , init-time) default = '0' : Initialize processor to big endian mode cpu0.INITSVTOR=0x00000000 # (int , init-time) default = '0x10000000' : Secure vector-table offset at reset : [0x0..0xFFFFFF80] cpu0.INITNSVTOR=0x0 # (int , init-time) default = '0x0' : Non-Secure vector-table offset at reset : [0x0..0xFFFFFF80] cpu0.SAU=0x0 # (int , init-time) default = '0x4' : Number of SAU regions (0 => no SAU) : [0x0..0x8] cpu0.SAU_CTRL.ENABLE=0 # (bool , init-time) default = '0' : Enable SAU at reset cpu0.SAU_CTRL.ALLNS=0 # (bool , init-time) default = '0' : At reset, the SAU treats entire memory space as NS when the SAU is disabled if this is set cpu0.NUM_IDAU_REGION=0x0 # (int , init-time) default = '0xA' : cpu0.LOCK_SAU=0 # (bool , init-time) default = '0' : Lock down of SAU registers write cpu0.LOCK_S_MPU=0 # (bool , init-time) default = '0' : Lock down of Secure MPU registers write cpu0.LOCK_NS_MPU=0 # (bool , init-time) default = '0' : Lock down of Non-Secure MPU registers write cpu0.CPIF=1 # (bool , init-time) default = '1' : Specifies whether the external coprocessor interface is included cpu0.SECEXT=0 # (bool , init-time) default = '1' : Whether the ARMv8-M Security Extensions are included fvp_mps2.DISABLE_GATING=1 # (bool , init-time) default = '0' : Disable Memory gating logic fvp_mps2.NUM_IDAU_REGION=0x0 # (int , init-time) default = '0xA' : fvp_mps2.SCC_ID.Variant=0x0 # (int , init-time) default = '0x0' : SCC_ID[23:20], X in the FGPA version 'rXpY' : [0x0..0xF] fvp_mps2.SCC_ID.Revision=0x1 # (int , init-time) default = '0x1' : SCC_ID[3:0], Y in the FGPA version 'rXpY' : [0x0..0xF] fvp_mps2.platform_type=0x0 # (int , init-time) default = '0x0' : 0:MPS2 ; 1:IoT Kit ; 2:Castor : [0x0..0x2] fvp_mps2.extra_psram=0 # (bool , init-time) default = '0' : Increases PSRAM to 32Mb fvp_mps2.UART2.out_file="" # (string, init-time) default = '' : Output file to hold data written by the UART (use '-' to send all output to stdout) fvp_mps2.UART2.in_file="" # (string, init-time) default = '' : Input file for data to be read by the UART fvp_mps2.UART2.unbuffered_output=0 # (bool , init-time) default = '0' : Unbuffered output fvp_mps2.UART2.in_file_escape_sequence="##" # (string, init-time) default = '##' : Input file escape sequence fvp_mps2.UART2.shutdown_on_eot=0 # (bool , init-time) default = '0' : Shutdown simulation when a EOT (ASCII 4) char is transmitted (useful for regression tests when semihosting is not available) fvp_mps2.UART2.shutdown_tag="" # (string, run-time ) default = '' : Shutdown simulation when a string is transmitted fvp_mps2.UART1.out_file="" # (string, init-time) default = '' : Output file to hold data written by the UART (use '-' to send all output to stdout) fvp_mps2.UART1.in_file="" # (string, init-time) default = '' : Input file for data to be read by the UART fvp_mps2.UART1.unbuffered_output=0 # (bool , init-time) default = '0' : Unbuffered output fvp_mps2.UART1.in_file_escape_sequence="##" # (string, init-time) default = '##' : Input file escape sequence fvp_mps2.UART1.shutdown_on_eot=0 # (bool , init-time) default = '0' : Shutdown simulation when a EOT (ASCII 4) char is transmitted (useful for regression tests when semihosting is not available) fvp_mps2.UART1.shutdown_tag="" # (string, run-time ) default = '' : Shutdown simulation when a string is transmitted fvp_mps2.mps2_visualisation.rate_limit-enable=1 # (bool , init-time) default = '1' : Rate limit simulation. fvp_mps2.mps2_visualisation.disable-visualisation=0 # (bool , init-time) default = '0' : Enable/disable visualisation fvp_mps2.mps2_visualisation.window_title="CLCD %cpu%" # (string, init-time) default = 'CLCD %cpu%' : Window title (%cpu% is replaced by cpu_name) fvp_mps2.mps2_visualisation.idler.delay_ms=0x32 # (int , init-time) default = '0x32' : Determines the period, in milliseconds of real time, between gui_callback() calls. fvp_mps2.telnetterminal0.mode="telnet" # (string, init-time) default = 'telnet' : Terminal initialisation mode fvp_mps2.telnetterminal0.start_telnet=1 # (bool , init-time) default = '1' : Start telnet if nothing connected fvp_mps2.telnetterminal0.start_port=0x1388 # (int , init-time) default = '0x1388' : Telnet TCP Port Number : [0x0..0xFFFFFFFF] fvp_mps2.telnetterminal0.quiet=0 # (bool , init-time) default = '0' : Avoid output on stdout/stderr fvp_mps2.telnetterminal0.terminal_command="" # (string, init-time) default = '' : Commandline to launch a terminal application and connect to the opened TCP port. Keywords %port and %title will be replaced with the opened port number and component name respectively. An empty string (default behaviour) will launch xterm (Linux) or telnet.exe (Windows) fvp_mps2.telnetterminal1.mode="telnet" # (string, init-time) default = 'telnet' : Terminal initialisation mode fvp_mps2.telnetterminal1.start_telnet=1 # (bool , init-time) default = '1' : Start telnet if nothing connected fvp_mps2.telnetterminal1.start_port=0x1388 # (int , init-time) default = '0x1388' : Telnet TCP Port Number : [0x0..0xFFFFFFFF] fvp_mps2.telnetterminal1.quiet=0 # (bool , init-time) default = '0' : Avoid output on stdout/stderr fvp_mps2.telnetterminal1.terminal_command="" # (string, init-time) default = '' : Commandline to launch a terminal application and connect to the opened TCP port. Keywords %port a