<!DOCTYPE module SYSTEM "module.dtd">

<module name="imu_aspirin_i2c_common">
  <doc>
    <description>
      Common functionality of Aspirin IMUs using I2C only.
      - Accelerometer: ADXL345 via I2C
      - Gyroscope: ITG3200 via I2C
      - Magnetometer: HMC58xx via I2C
    </description>
    <configure name="ASPIRIN_I2C_DEV" value="i2c2" description="I2C device to use"/>
    <section name="IMU" prefix="IMU_">
      <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"/>
    </section>
  </doc>
  <autoload name="imu_common"/>
  <autoload name="imu_nps"/>
  <header>
    <file name="imu_aspirin_i2c.h" dir="subsystems/imu"/>
  </header>
  <init fun="imu_aspirin_i2c_init()"/>
  <periodic fun="imu_aspirin_i2c_periodic()"/>
  <event fun="imu_aspirin_i2c_event()"/>
  <makefile target="!sim|nps|fbw">
    <configure name="ASPIRIN_I2C_DEV" default="i2c2" case="lower|upper"/>

    <define name="ASPIRIN_I2C_DEV" value="$(ASPIRIN_I2C_DEV_LOWER)"/>
    <define name="USE_$(ASPIRIN_I2C_DEV_UPPER)"/>

    <define name="IMU_TYPE_H" value="imu/imu_aspirin_i2c.h" type="string"/>

    <file name="adxl345_i2c.c" dir="peripherals"/>
    <file name="itg3200.c" dir="peripherals"/>
    <file name="hmc58xx.c" dir="peripherals"/>
    <file name="imu_aspirin_i2c.c" dir="subsystems/imu"/>
  </makefile>
</module>
