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added imu_yai subsystem, deprecated imu_booz subsystem. instead use type yai, b2_v1.0, b2_v1.1 or b2_v1.2 as appropriate

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This commit is contained in:
Felix Ruess
2011-11-23 16:52:03 +01:00
parent 452533384f
commit 0f6fa1b7ec
2 changed files with 88 additions and 84 deletions
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conf/autopilot/subsystems/fixedwing/imu_booz.makefile
+1 -84
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@@ -1,84 +1 @@
# Hey Emacs, this is a -*- makefile -*- $(error The imu_booz subsystem has been removed, please replace <subsystem name="imu" type="booz"/> with e.g. <subsystem name="imu" type="yai"/> or "b2_v1.0", "b2_v1.1", "b2_v1.2" as appropriate.)
#
# Booz2 IMU booz2v1.2
#
#
# required xml:
# <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>
#
#
#
# param: MAX_1168_DRDY_PORT
# imu Booz2 v1.0, v1.1, v1.2, YAI v1.0
imu_CFLAGS += -DIMU_TYPE_H=\"subsystems/imu/imu_b2.h\" -DUSE_IMU
imu_srcs += $(SRC_SUBSYSTEMS)/imu.c
imu_srcs += $(SRC_SUBSYSTEMS)/imu/imu_b2.c
imu_srcs += $(SRC_ARCH)/subsystems/imu/imu_b2_arch.c
imu_srcs += peripherals/max1168.c
imu_srcs += $(SRC_ARCH)/peripherals/max1168_arch.c
#ifeq ($(ARCH), lpc21)
imu_CFLAGS += -DSSP_VIC_SLOT=9
imu_CFLAGS += -DMAX1168_EOC_VIC_SLOT=8
#else ifeq ($(ARCH), stm32)
#imu_CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ -DUSE_SPI2_IRQ
#imu_CFLAGS += -DMAX_1168_DRDY_PORT=$(MAX_1168_DRDY_PORT)
#imu_CFLAGS += -DMAX_1168_DRDY_PORT_SOURCE=$(MAX_1168_DRDY_PORT_SOURCE)
#imu_CFLAGS += -DUSE_I2C2 -DUSE_EXTI9_5_IRQ
#endif
ap.srcs += $(imu_srcs)
ap.CFLAGS += $(imu_CFLAGS)
#
# Simulator
#
sim.CFLAGS += -DIMU_TYPE_H=\"subsystems/imu/imu_b2.h\"
#FIXME, should be HMC5843
sim.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_AMI601
#FIXME, should be verision 1.2
sim.CFLAGS += -DIMU_B2_VERSION_1_1
sim.srcs += $(SRC_SUBSYSTEMS)/imu.c
sim.srcs += $(SRC_SUBSYSTEMS)/imu/imu_b2.c
sim.srcs += $(SRC_ARCH)/subsystems/imu/imu_b2_arch.c
sim.srcs += peripherals/max1168.c
sim.srcs += $(SRC_ARCH)/peripherals/max1168_arch.c
sim.CFLAGS += -DUSE_AMI601
sim.srcs += peripherals/ami601.c
sim.CFLAGS += -DUSE_I2C1
conf/autopilot/subsystems/shared/imu_yai.makefile
+87
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@@ -0,0 +1,87 @@
# Hey Emacs, this is a -*- makefile -*-
#
# Booz2 IMU booz2v1.2
#
#
# required xml:
# <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>
#
#
#
# param: MAX_1168_DRDY_PORT
# imu YAI v1.0
#needed for fixedwing firmware
imu_CFLAGS += -DUSE_IMU
imu_CFLAGS += -DIMU_TYPE_H=\"subsystems/imu/imu_b2.h\"
imu_srcs += $(SRC_SUBSYSTEMS)/imu.c
imu_srcs += $(SRC_SUBSYSTEMS)/imu/imu_b2.c
imu_srcs += $(SRC_ARCH)/subsystems/imu/imu_b2_arch.c
imu_srcs += peripherals/max1168.c
imu_srcs += $(SRC_ARCH)/peripherals/max1168_arch.c
ifeq ($(ARCH), lpc21)
imu_CFLAGS += -DSSP_VIC_SLOT=9
imu_CFLAGS += -DMAX1168_EOC_VIC_SLOT=8
else ifeq ($(ARCH), stm32)
#FIXME: untested!
imu_CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ -DUSE_SPI2_IRQ
imu_CFLAGS += -DMAX_1168_DRDY_PORT=$(MAX_1168_DRDY_PORT)
imu_CFLAGS += -DMAX_1168_DRDY_PORT_SOURCE=$(MAX_1168_DRDY_PORT_SOURCE)
endif
ap.srcs += $(imu_srcs)
ap.CFLAGS += $(imu_CFLAGS)
#
# Simulator
#
sim.CFLAGS += -DIMU_TYPE_H=\"subsystems/imu/imu_b2.h\"
#FIXME, should be HMC5843
sim.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_AMI601
#FIXME, should be verision 1.2
sim.CFLAGS += -DIMU_B2_VERSION_1_1
sim.srcs += $(SRC_SUBSYSTEMS)/imu.c
sim.srcs += $(SRC_SUBSYSTEMS)/imu/imu_b2.c
sim.srcs += $(SRC_ARCH)/subsystems/imu/imu_b2_arch.c
sim.srcs += peripherals/max1168.c
sim.srcs += $(SRC_ARCH)/peripherals/max1168_arch.c
sim.CFLAGS += -DUSE_AMI601
sim.srcs += peripherals/ami601.c
sim.CFLAGS += -DUSE_I2C1