<!DOCTYPE module SYSTEM "module.dtd">

<module name="imu_px4fmu_v1.7" dir="imu">
  <doc>
    <description>
      MPU6000 via SPI and HMC5883 via I2C on the PX4FMU v1.7 board
    </description>
    <define name="PX4FMU_LOWPASS_FILTER" value="MPU60X0_DLPF_256HZ" description="DigitalLowPassFilter setting of the MPU"/>
    <define name="PX4FMU_SMPLRT_DIV" value="3" description="sample rate divider setting of the MPU"/>
    <define name="PX4FMU_GYRO_RANGE" value="MPU60X0_GYRO_RANGE_2000" description="gyroscope range setting of the MPU"/>
    <define name="PX4FMU_ACCEL_RANGE" value="MPU60X0_ACCEL_RANGE_16G" description="accelerometer range setting of the MPU"/>
  </doc>
  <autoload name="imu_common"/>
  <autoload name="imu_nps"/>
  <header>
    <file name="imu_px4fmu.h" dir="subsystems/imu"/>
  </header>
  <init fun="imu_px4fmu_init()"/>
  <periodic fun="imu_px4fmu_periodic()"/>
  <event fun="imu_px4fmu_event()"/>
  <makefile target="!sim|nps|fbw">
    <define name="USE_SPI1"/>
    <define name="USE_SPI_SLAVE0"/>
    <define name="USE_SPI_SLAVE1"/>
    <define name="USE_SPI_SLAVE2"/>
    <define name="USE_I2C2"/>

    <define name="IMU_TYPE_H" value="imu/imu_px4fmu.h" type="string"/>

    <file name="mpu60x0.c" dir="peripherals"/>
    <file name="mpu60x0_spi.c" dir="peripherals"/>
    <file name="hmc58xx.c" dir="peripherals"/>
    <file name="imu_px4fmu.c" dir="subsystems/imu"/>
    <raw>
      include $(CFG_SHARED)/spi_master.makefile
    </raw>
  </makefile>
</module>
