<!DOCTYPE module SYSTEM "module.dtd">

<module name="imu_b2_common" dir="imu">
  <doc>
    <description>
      Common part for all Booz2 IMUs.
    </description>
    <configure name="GYRO_P" value="ADC_0"/>
    <configure name="GYRO_Q" value="ADC_1"/>
    <configure name="GYRO_R" value="ADC_2"/>
    <configure name="ACCEL_X" value="ADC_5"/>
    <configure name="ACCEL_Y" value="ADC_6"/>
    <configure name="ACCEL_Z" value="ADC_7"/>
    <configure name="ADC_GYRO_NB_SAMPLES" value="16"/>
    <configure name="ADC_ACCEL_NB_SAMPLES" value="16"/>
    <section name="IMU" prefix="IMU_">
      <define name="GYRO_X_NEUTRAL" value="33924"/>
      <define name="GYRO_Y_NEUTRAL" value="33417"/>
      <define name="GYRO_Z_NEUTRAL" value="32809"/>

      <define name="GYRO_X_SENS" value="1.01" integer="16"/>
      <define name="GYRO_Y_SENS" value="1.01" integer="16"/>
      <define name="GYRO_Z_SENS" value="1.01" integer="16"/>

      <define name="ACCEL_X_NEUTRAL" value="32081"/>
      <define name="ACCEL_Y_NEUTRAL" value="33738"/>
      <define name="ACCEL_Z_NEUTRAL" value="32441"/>

      <define name="ACCEL_X_SENS" value="2.50411474" integer="16"/>
      <define name="ACCEL_Y_SENS" value="2.48126183" integer="16"/>
      <define name="ACCEL_Z_SENS" value="2.51396167" integer="16"/>

      <define name="MAG_X_NEUTRAL" value="2358"/>
      <define name="MAG_Y_NEUTRAL" value="2362"/>
      <define name="MAG_Z_NEUTRAL" value="2119"/>

      <define name="MAG_X_SENS" value="3.4936416" integer="16"/>
      <define name="MAG_Y_SENS" value="3.607713" integer="16"/>
      <define name="MAG_Z_SENS" value="4.90788848" integer="16"/>
      <define name="MAG_45_HACK" value="1"/>
    </section>
  </doc>
  <autoload name="imu_common"/>
  <autoload name="imu_nps"/>
  <header>
    <file name="imu_b2.h" dir="subsystems/imu"/>
  </header>

  <init fun="imu_b2_init()"/>
  <periodic fun="imu_b2_periodic()"/>
  <event fun="imu_b2_event()"/>

  <makefile target="!sim|nps|fbw">
    <define name="IMU_TYPE_H" value="subsystems/imu/imu_b2.h" type="string"/>
    <file name="imu_b2.c" dir="subsystems/imu"/>
    <file name="max1168.c" dir="peripherals"/>
    <file name="max1168_arch.c" dir="$(SRC_ARCH)/peripherals"/>
    <raw>
include $(CFG_SHARED)/spi_master.makefile

ifeq ($(ARCH), lpc21)
$(TARGET).CFLAGS += -DUSE_SPI_SLAVE0
$(TARGET).CFLAGS += -DUSE_SPI1
$(TARGET).CFLAGS += -DMAX1168_EOC_VIC_SLOT=11
else ifeq ($(ARCH), stm32)
#FIXME: untested
$(TARGET).CFLAGS += -DUSE_SPI2 -DMAX1168_SPI_DEV=spi2
$(TARGET).CFLAGS += -DMAX1168_SLAVE_IDX=2
# Slave select configuration
# SLAVE2 is on PB12 (NSS) (MAX1168)
# SLAVE3 is on PC13 (EEPROM)
$(TARGET).CFLAGS += -DUSE_SPI_SLAVE2 -DUSE_SPI_SLAVE3
endif
    </raw>
  </makefile>
</module>
