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[imu] convert imu subsystems to modules (#1788)

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* [imu] convert imu subsystems to modules

Also
- get rid of explicit imu init|event|periodic calls in main
- each imu implementation has their own imu_x_init/event/periodic

* [imu] fix some imu modules

* [imu] fix bad paths

* [imu] add imu_common module that every implementation autoloads

and put body_to_imu settings in imu_common module

* [imu] fix imu_ardrone2

* [conf] add imu_common settings module in conf_example and conf_tests
This commit is contained in:
Felix Ruess
2016-08-12 12:02:38 +02:00
committed by GitHub
parent 1a53c4471a
commit 17d32772c0
169 changed files with 1896 additions and 2778 deletions
Download Patch File Download Diff File Expand all files Collapse all files
conf/airframes/ENAC/conf_enac.xml
+2 -2
View File
@@ -72,7 +72,7 @@
radio="radios/T10CG_SBUS.xml"
telemetry="telemetry/fixedwing_flight_recorder.xml"
flight_plan="flight_plans/basic.xml"
settings="settings/fixedwing_basic.xml settings/control/ctl_new.xml settings/estimation/body_to_imu.xml"
settings="settings/fixedwing_basic.xml settings/control/ctl_new.xml"
settings_modules=""
gui_color="#0000fffff0ed"
/>
@@ -94,7 +94,7 @@
radio="radios/R617FS_5ch_neg.xml"
telemetry="telemetry/default_fixedwing_imu.xml"
flight_plan="flight_plans/basic.xml"
settings="settings/fixedwing_basic.xml settings/estimation/ins_float_invariant.xml settings/control/ctl_new.xml [settings/nps.xml] settings/estimation/body_to_imu.xml"
settings="settings/fixedwing_basic.xml settings/estimation/ins_float_invariant.xml settings/control/ctl_new.xml [settings/nps.xml]"
settings_modules="modules/airspeed_adc.xml [modules/gps_ubx_ucenter.xml]"
gui_color="#ffff7d7d0000"
/>
conf/airframes/FLIXR/flixr_conf.xml
+4 -4
View File
@@ -28,7 +28,7 @@
radio="radios/cockpitSX.xml"
telemetry="telemetry/demo.xml"
flight_plan="flight_plans/dummy.xml"
settings="settings/estimation/ahrs_int_cmpl_quat.xml settings/estimation/body_to_imu.xml settings/test_actuators_pwm.xml"
settings="settings/estimation/ahrs_int_cmpl_quat.xml settings/test_actuators_pwm.xml"
settings_modules=""
gui_color="blue"
/>
@@ -83,7 +83,7 @@
radio="radios/dummy.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/dummy.xml"
settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/estimation/body_to_imu.xml"
settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/estimation/ahrs_int_cmpl_quat.xml"
settings_modules=""
gui_color="blue"
/>
@@ -94,7 +94,7 @@
radio="radios/TGY9x_jeti.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/estimation/body_to_imu.xml"
settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_int_cmpl_quat.xml"
settings_modules="modules/gps.xml modules/gps_ubx_ucenter.xml"
gui_color="blue"
/>
@@ -116,7 +116,7 @@
radio="radios/dummy.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int_quat.xml settings/estimation/ahrs_float_mlkf.xml settings/estimation/body_to_imu.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int_quat.xml settings/estimation/ahrs_float_mlkf.xml"
settings_modules="modules/gps.xml modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml"
gui_color="blue"
/>
conf/airframes/OPENUAS/openuas_conf.xml
+1 -1
View File
@@ -50,7 +50,7 @@
radio="radios/dummy.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/estimation/body_to_imu.xml settings/control/stabilization_indi.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/control/stabilization_indi.xml"
settings_modules="modules/gps.xml modules/gps_ubx_ucenter.xml modules/air_data.xml"
gui_color="#fffffe72b9fd"
/>
conf/airframes/TUDELFT/tudelft_KM_conf.xml
+2 -2
View File
@@ -6,7 +6,7 @@
radio="radios/dummy.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int_quat.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/estimation/body_to_imu.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int_quat.xml settings/estimation/ahrs_int_cmpl_quat.xml"
settings_modules="modules/gps_ubx_ucenter.xml modules/video_thread.xml modules/cv_opticflow.xml"
gui_color="red"
/>
@@ -17,7 +17,7 @@
radio="radios/dummy.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_indi.xml settings/control/rotorcraft_speed.xml settings/estimation/body_to_imu.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_indi.xml settings/control/rotorcraft_speed.xml"
settings_modules="modules/gps.xml modules/geo_mag.xml modules/air_data.xml modules/cv_opticflow.xml modules/video_capture.xml"
gui_color="blue"
/>
conf/airframes/TUDELFT/tudelft_conf.xml
+6 -6
View File
@@ -6,7 +6,7 @@
radio="radios/dummy.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int_quat.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/estimation/body_to_imu.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int_quat.xml settings/estimation/ahrs_int_cmpl_quat.xml"
settings_modules="modules/gps.xml modules/gps_ubx_ucenter.xml modules/air_data.xml modules/geo_mag.xml modules/video_rtp_stream.xml"
gui_color="#ffffd633d633"
/>
@@ -17,7 +17,7 @@
radio="radios/dummy.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/estimation/body_to_imu.xml settings/control/stabilization_indi.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/control/stabilization_indi.xml"
settings_modules="modules/gps.xml modules/air_data.xml"
gui_color="#ffffcd49cd49"
/>
@@ -28,7 +28,7 @@
radio="radios/dummy.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/estimation/body_to_imu.xml settings/control/stabilization_indi.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/control/stabilization_indi.xml"
settings_modules="modules/gps.xml modules/gps_ubx_ucenter.xml modules/air_data.xml"
gui_color="#ffffc457c457"
/>
@@ -39,7 +39,7 @@
radio="radios/dummy.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int_quat.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/estimation/body_to_imu.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int_quat.xml settings/estimation/ahrs_int_cmpl_quat.xml"
settings_modules="modules/gps.xml modules/gps_ubx_ucenter.xml modules/cv_opticflow.xml modules/video_capture.xml"
gui_color="#ffffccc2ccc2"
/>
@@ -50,7 +50,7 @@
radio="radios/dummy.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_optitrack.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/estimation/body_to_imu.xml settings/control/stabilization_indi.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/control/stabilization_indi.xml"
settings_modules="modules/gps.xml"
gui_color="#fffff996b847"
/>
@@ -171,7 +171,7 @@
radio="radios/FrSky3dr.xml"
telemetry="telemetry/default_rotorcraft_slow.xml"
flight_plan="flight_plans/TUDELFT/tudelft_delft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml [settings/control/stabilization_att_int_quat.xml] settings/control/stabilization_indi.xml settings/estimation/body_to_imu.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml [settings/control/stabilization_att_int_quat.xml] settings/control/stabilization_indi.xml"
settings_modules="modules/gps.xml modules/geo_mag.xml [modules/air_data.xml] modules/gps_ubx_ucenter.xml"
gui_color="#ffffcccaccca"
/>
conf/airframes/TUDELFT/tudelft_guido_conf.xml
+1 -1
View File
@@ -6,7 +6,7 @@
radio="radios/dummy.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_guido_optitrack.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/estimation/body_to_imu.xml settings/control/stabilization_indi.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/control/stabilization_indi.xml"
settings_modules="modules/gps.xml modules/cv_opticflow.xml modules/optical_flow_landing.xml"
gui_color="#fffff996b847"
/>
conf/airframes/examples/microjet_twog_aspirin.xml
+5 -1
View File
@@ -26,7 +26,11 @@
<define name="AHRS_TRIGGERED_ATTITUDE_LOOP"/>
<module name="imu" type="aspirin_v1.5"/>
<module name="imu" type="aspirin_v1.5">
<configure name="ASPIRIN_I2C_DEV" value="i2c0"/>
<configure name="ASPIRIN_SPI_DEV" value="spi1"/>
<configure name="ASPIRIN_SPI_SLAVE_IDX" value="SPI_SLAVE0"/>
</module>
<module name="ahrs" type="float_dcm"/>
<module name="ins" type="alt_float"/>
<module name="gps" type="ublox"/>
conf/conf_example.xml
+25 -25
View File
@@ -18,7 +18,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/dummy.xml"
settings="settings/rotorcraft_basic.xml"
settings_modules="modules/gps.xml"
settings_modules="modules/imu_common.xml modules/gps.xml"
gui_color="white"
/>
<aircraft
@@ -29,7 +29,7 @@
telemetry="telemetry/default_fixedwing_imu.xml"
flight_plan="flight_plans/versatile.xml"
settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml settings/nps.xml"
settings_modules="modules/gps.xml"
settings_modules="modules/imu_common.xml modules/gps.xml"
gui_color="blue"
/>
<aircraft
@@ -40,7 +40,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/nps.xml"
settings_modules="modules/gps.xml modules/gps_ubx_ucenter.xml"
settings_modules="modules/imu_common.xml modules/gps.xml modules/gps_ubx_ucenter.xml"
gui_color="white"
/>
<aircraft
@@ -51,7 +51,7 @@
telemetry="telemetry/default_fixedwing_imu.xml"
flight_plan="flight_plans/basic.xml"
settings="settings/fixedwing_basic.xml"
settings_modules="modules/gps.xml modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml"
settings_modules="modules/imu_common.xml modules/gps.xml modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml"
gui_color="red"
/>
<aircraft
@@ -62,7 +62,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/dummy.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
settings_modules="modules/gps.xml"
settings_modules="modules/imu_common.xml modules/gps.xml"
gui_color="white"
/>
<aircraft
@@ -73,7 +73,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/superbitrf.xml settings/nps.xml"
settings_modules="modules/gps_ubx_ucenter.xml modules/gps.xml"
settings_modules="modules/gps_ubx_ucenter.xml modules/imu_common.xml modules/gps.xml"
gui_color="white"
/>
<aircraft
@@ -84,7 +84,7 @@
telemetry="telemetry/default_fixedwing_imu_9k6.xml"
flight_plan="flight_plans/versatile_airspeed.xml"
settings="settings/fixedwing_basic.xml settings/control/ctl_energy.xml settings/estimation/ac_char.xml"
settings_modules="modules/gps.xml modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/light.xml modules/digital_cam.xml"
settings_modules="modules/imu_common.xml modules/gps.xml modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/light.xml modules/digital_cam.xml"
gui_color="#ffffffffffff"
/>
<aircraft
@@ -95,7 +95,7 @@
telemetry="telemetry/default_fixedwing.xml"
flight_plan="flight_plans/basic.xml"
settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml"
settings_modules="modules/tune_airspeed.xml modules/gps.xml modules/infrared_adc.xml modules/nav_smooth.xml modules/nav_survey_poly_osam.xml"
settings_modules="modules/tune_airspeed.xml modules/imu_common.xml modules/gps.xml modules/infrared_adc.xml modules/nav_smooth.xml modules/nav_survey_poly_osam.xml"
gui_color="#6293ba"
/>
<aircraft
@@ -106,7 +106,7 @@
telemetry="telemetry/default_fixedwing_imu.xml"
flight_plan="flight_plans/nav_modules.xml"
settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml settings/control/ctl_dash_loiter_trim.xml settings/nps.xml"
settings_modules="modules/gps.xml modules/air_data.xml modules/nav_smooth.xml modules/nav_survey_poly_osam.xml"
settings_modules="modules/imu_common.xml modules/gps.xml modules/air_data.xml modules/nav_smooth.xml modules/nav_survey_poly_osam.xml"
gui_color="blue"
/>
<aircraft
@@ -128,7 +128,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/estimation/ahrs_float_mlkf.xml settings/nps.xml"
settings_modules="modules/gps.xml modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml"
settings_modules="modules/imu_common.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml"
gui_color="white"
/>
<aircraft
@@ -139,7 +139,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/estimation/ahrs_float_mlkf.xml settings/nps.xml"
settings_modules="modules/gps.xml modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml"
settings_modules="modules/imu_common.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml"
gui_color="blue"
/>
<aircraft
@@ -150,7 +150,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/nps.xml"
settings_modules="modules/gps.xml modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml"
settings_modules="modules/imu_common.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml"
gui_color="white"
/>
<aircraft
@@ -161,7 +161,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/superbitrf.xml settings/nps.xml"
settings_modules="modules/gps_ubx_ucenter.xml modules/gps.xml"
settings_modules="modules/gps_ubx_ucenter.xml modules/imu_common.xml modules/gps.xml"
gui_color="white"
/>
<aircraft
@@ -172,7 +172,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/nps.xml"
settings_modules="modules/servo_switch.xml modules/rotorcraft_cam.xml modules/digital_cam.xml modules/nav_survey_rectangle_rotorcraft.xml modules/gps.xml"
settings_modules="modules/servo_switch.xml modules/rotorcraft_cam.xml modules/digital_cam.xml modules/nav_survey_rectangle_rotorcraft.xml modules/imu_common.xml modules/gps.xml"
gui_color="white"
/>
<aircraft
@@ -183,7 +183,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml [settings/control/stabilization_rate.xml] settings/estimation/ahrs_int_cmpl_quat.xml settings/control/stabilization_indi.xml settings/nps.xml"
settings_modules="modules/gps.xml modules/gps_ubx_ucenter.xml"
settings_modules="modules/imu_common.xml modules/gps.xml modules/gps_ubx_ucenter.xml"
gui_color="#710080"
/>
<aircraft
@@ -194,7 +194,7 @@
telemetry="telemetry/default_fixedwing.xml"
flight_plan="flight_plans/versatile.xml"
settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml"
settings_modules="modules/gps.xml modules/infrared_adc.xml"
settings_modules="modules/imu_common.xml modules/gps.xml modules/infrared_adc.xml"
gui_color="#ba6293"
/>
<aircraft
@@ -205,7 +205,7 @@
telemetry="telemetry/default_fixedwing_imu.xml"
flight_plan="flight_plans/basic.xml"
settings="settings/fixedwing_basic.xml settings/control/ctl_energyadaptive.xml"
settings_modules="modules/gps.xml modules/air_data.xml modules/digital_cam.xml"
settings_modules="modules/gps.xml modules/imu_common.xml modules/air_data.xml modules/digital_cam.xml"
gui_color="blue"
/>
<aircraft
@@ -216,7 +216,7 @@
telemetry="telemetry/default_fixedwing_imu.xml"
flight_plan="flight_plans/versatile.xml"
settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml"
settings_modules="modules/gps.xml"
settings_modules="modules/imu_common.xml modules/gps.xml"
gui_color="blue"
/>
<aircraft
@@ -227,7 +227,7 @@
telemetry="telemetry/default_fixedwing_imu.xml"
flight_plan="flight_plans/basic.xml"
settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml"
settings_modules="modules/gps.xml"
settings_modules="modules/imu_common.xml modules/gps.xml"
gui_color="blue"
/>
<aircraft
@@ -237,8 +237,8 @@
radio="radios/dummy.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int_quat.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/estimation/body_to_imu.xml settings/nps.xml"
settings_modules="modules/gps.xml modules/gps_ubx_ucenter.xml modules/air_data.xml modules/geo_mag.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int_quat.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/nps.xml"
settings_modules="modules/imu_common.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/air_data.xml modules/geo_mag.xml modules/video_rtp_stream.xml"
gui_color="red"
/>
<aircraft
@@ -249,7 +249,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_float_mlkf.xml settings/control/stabilization_att_int_quat.xml settings/nps.xml"
settings_modules="modules/gps.xml modules/geo_mag.xml modules/air_data.xml"
settings_modules="modules/imu_common.xml modules/gps.xml modules/geo_mag.xml modules/air_data.xml modules/video_rtp_stream.xml"
gui_color="red"
/>
<aircraft
@@ -260,7 +260,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_indi.xml settings/control/rotorcraft_speed.xml"
settings_modules="modules/gps.xml [modules/geo_mag.xml] modules/air_data.xml modules/gps_ubx_ucenter.xml"
settings_modules="modules/imu_common.xml modules/gps.xml [modules/geo_mag.xml] modules/air_data.xml modules/gps_ubx_ucenter.xml"
gui_color="red"
/>
<aircraft
@@ -271,7 +271,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/control/stabilization_att_int.xml"
settings_modules="modules/gps.xml modules/gps_ubx_ucenter.xml modules/geo_mag.xml"
settings_modules="modules/imu_common.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/geo_mag.xml"
gui_color="blue"
/>
<aircraft
@@ -282,7 +282,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_indi.xml"
settings_modules="modules/gps_ubx_ucenter.xml modules/gps.xml"
settings_modules="modules/gps_ubx_ucenter.xml modules/imu_common.xml modules/gps.xml"
gui_color="blue"
/>
<aircraft
conf/conf_tests.xml
+36 -36
View File
@@ -18,7 +18,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/dummy.xml"
settings="settings/rotorcraft_basic.xml"
settings_modules="modules/gps.xml"
settings_modules="modules/imu_common.xml modules/gps.xml"
gui_color="white"
/>
<aircraft
@@ -29,7 +29,7 @@
telemetry="telemetry/default_fixedwing_imu.xml"
flight_plan="flight_plans/versatile.xml"
settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml settings/nps.xml"
settings_modules="modules/gps.xml"
settings_modules="modules/imu_common.xml modules/gps.xml"
gui_color="blue"
/>
<aircraft
@@ -40,7 +40,7 @@
telemetry="telemetry/default_fixedwing_imu.xml"
flight_plan="flight_plans/versatile.xml"
settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml"
settings_modules="modules/gps_ubx_ucenter.xml modules/light.xml modules/digital_cam.xml modules/nav_catapult.xml modules/air_data.xml modules/gps.xml"
settings_modules="modules/gps_ubx_ucenter.xml modules/light.xml modules/digital_cam.xml modules/nav_catapult.xml modules/air_data.xml modules/imu_common.xml modules/gps.xml"
gui_color="blue"
/>
<aircraft
@@ -51,7 +51,7 @@
telemetry="telemetry/default_fixedwing.xml"
flight_plan="flight_plans/basic.xml"
settings="settings/fixedwing_basic.xml"
settings_modules="modules/gps.xml modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml"
settings_modules="modules/imu_common.xml modules/gps.xml modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml"
gui_color="red"
/>
<aircraft
@@ -62,7 +62,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/dummy.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
settings_modules="modules/gps.xml"
settings_modules="modules/imu_common.xml modules/gps.xml"
gui_color="white"
/>
<aircraft
@@ -73,7 +73,7 @@
telemetry="telemetry/default_fixedwing_imu.xml"
flight_plan="flight_plans/basic.xml"
settings="settings/fixedwing_basic.xml settings/control/ctl_new.xml"
settings_modules="modules/airspeed_adc.xml modules/gps.xml modules/gps_ubx_ucenter.xml"
settings_modules="modules/imu_common.xml modules/airspeed_adc.xml modules/gps.xml modules/gps_ubx_ucenter.xml"
gui_color="#ffff7d7d0000"
/>
<aircraft
@@ -84,7 +84,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/superbitrf.xml settings/nps.xml"
settings_modules="modules/gps_ubx_ucenter.xml modules/gps.xml"
settings_modules="modules/gps_ubx_ucenter.xml modules/imu_common.xml modules/gps.xml"
gui_color="white"
/>
<aircraft
@@ -95,7 +95,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
settings_modules="modules/gps_ubx_ucenter.xml modules/gps.xml"
settings_modules="modules/gps_ubx_ucenter.xml modules/imu_common.xml modules/gps.xml"
gui_color="white"
/>
<aircraft
@@ -106,7 +106,7 @@
telemetry="telemetry/default_fixedwing.xml"
flight_plan="flight_plans/dummy.xml"
settings="settings/fixedwing_basic.xml"
settings_modules="modules/gps.xml"
settings_modules="modules/imu_common.xml modules/gps.xml"
gui_color="blue"
/>
<aircraft
@@ -117,7 +117,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/dummy.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
settings_modules="modules/gps.xml"
settings_modules="modules/imu_common.xml modules/gps.xml"
gui_color="white"
/>
<aircraft
@@ -128,7 +128,7 @@
telemetry="telemetry/default_fixedwing.xml"
flight_plan="flight_plans/dummy.xml"
settings="settings/fixedwing_basic.xml"
settings_modules="modules/gps.xml"
settings_modules="modules/imu_common.xml modules/gps.xml"
gui_color="blue"
/>
<aircraft
@@ -139,7 +139,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/dummy.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
settings_modules="modules/gps.xml"
settings_modules="modules/imu_common.xml modules/gps.xml"
gui_color="white"
/>
<aircraft
@@ -150,7 +150,7 @@
telemetry="telemetry/default_fixedwing_imu_9k6.xml"
flight_plan="flight_plans/versatile_airspeed.xml"
settings="settings/fixedwing_basic.xml settings/control/ctl_energy.xml settings/estimation/ac_char.xml"
settings_modules="modules/gps.xml modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/light.xml modules/digital_cam.xml"
settings_modules="modules/imu_common.xml modules/gps.xml modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/light.xml modules/digital_cam.xml"
gui_color="#ffffffffffff"
/>
<aircraft
@@ -161,7 +161,7 @@
telemetry="telemetry/default_fixedwing.xml"
flight_plan="flight_plans/basic.xml"
settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml"
settings_modules="modules/tune_airspeed.xml modules/gps.xml modules/infrared_adc.xml modules/nav_smooth.xml modules/nav_survey_poly_osam.xml"
settings_modules="modules/tune_airspeed.xml modules/imu_common.xml modules/gps.xml modules/infrared_adc.xml modules/nav_smooth.xml modules/nav_survey_poly_osam.xml"
gui_color="#6293ba"
/>
<aircraft
@@ -172,7 +172,7 @@
telemetry="telemetry/default_fixedwing_imu.xml"
flight_plan="flight_plans/nav_modules.xml"
settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml settings/control/ctl_dash_loiter_trim.xml settings/nps.xml"
settings_modules="modules/gps.xml modules/air_data.xml modules/nav_smooth.xml modules/nav_survey_poly_osam.xml"
settings_modules="modules/imu_common.xml modules/gps.xml modules/air_data.xml modules/nav_smooth.xml modules/nav_survey_poly_osam.xml"
gui_color="blue"
/>
<aircraft
@@ -183,7 +183,7 @@
telemetry="telemetry/default_fixedwing_imu.xml"
flight_plan="flight_plans/basic.xml"
settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml"
settings_modules="modules/gps.xml"
settings_modules="modules/imu_common.xml modules/gps.xml"
gui_color="blue"
/>
<aircraft
@@ -194,7 +194,7 @@
telemetry="telemetry/default_fixedwing_imu.xml"
flight_plan="flight_plans/basic.xml"
settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml"
settings_modules="modules/gps.xml"
settings_modules="modules/imu_common.xml modules/gps.xml"
gui_color="blue"
/>
<aircraft
@@ -227,7 +227,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/estimation/ahrs_float_mlkf.xml settings/nps.xml"
settings_modules="modules/gps.xml modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml"
settings_modules="modules/imu_common.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml"
gui_color="white"
/>
<aircraft
@@ -238,7 +238,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
settings_modules="modules/gps.xml modules/gps_ubx_ucenter.xml"
settings_modules="modules/imu_common.xml modules/gps.xml modules/gps_ubx_ucenter.xml"
gui_color="white"
/>
<aircraft
@@ -249,7 +249,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/estimation/ahrs_float_mlkf.xml settings/nps.xml"
settings_modules="modules/gps.xml modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml"
settings_modules="modules/imu_common.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml"
gui_color="blue"
/>
<aircraft
@@ -260,7 +260,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/nps.xml"
settings_modules="modules/gps.xml modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml"
settings_modules="modules/imu_common.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml"
gui_color="white"
/>
<aircraft
@@ -271,7 +271,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/nps.xml"
settings_modules="modules/servo_switch.xml modules/rotorcraft_cam.xml modules/digital_cam.xml modules/nav_survey_rectangle_rotorcraft.xml modules/gps.xml"
settings_modules="modules/servo_switch.xml modules/rotorcraft_cam.xml modules/digital_cam.xml modules/nav_survey_rectangle_rotorcraft.xml modules/imu_common.xml modules/gps.xml"
gui_color="white"
/>
<aircraft
@@ -282,7 +282,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/nps.xml settings/control/stabilization_indi.xml"
settings_modules="modules/gps.xml modules/gps_ubx_ucenter.xml"
settings_modules="modules/imu_common.xml modules/gps.xml modules/gps_ubx_ucenter.xml"
gui_color="#710080"
/>
<aircraft
@@ -293,7 +293,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int_quat.xml settings/nps.xml"
settings_modules="modules/gps.xml modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml"
settings_modules="modules/imu_common.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml"
gui_color="blue"
/>
<aircraft
@@ -304,7 +304,7 @@
telemetry="telemetry/default_fixedwing.xml"
flight_plan="flight_plans/versatile.xml"
settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml"
settings_modules="modules/gps.xml modules/infrared_adc.xml"
settings_modules="modules/imu_common.xml modules/gps.xml modules/infrared_adc.xml"
gui_color="#ba6293"
/>
<aircraft
@@ -315,7 +315,7 @@
telemetry="telemetry/default_fixedwing_imu.xml"
flight_plan="flight_plans/basic.xml"
settings="settings/fixedwing_basic.xml settings/control/ctl_energyadaptive.xml"
settings_modules="modules/gps.xml modules/air_data.xml modules/digital_cam.xml"
settings_modules="modules/gps.xml modules/imu_common.xml modules/air_data.xml modules/digital_cam.xml"
gui_color="blue"
/>
<aircraft
@@ -326,7 +326,7 @@
telemetry="telemetry/default_fixedwing_imu.xml"
flight_plan="flight_plans/versatile.xml"
settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml"
settings_modules="modules/gps.xml"
settings_modules="modules/imu_common.xml modules/gps.xml"
gui_color="blue"
/>
<aircraft
@@ -337,7 +337,7 @@
telemetry="telemetry/default_fixedwing_imu.xml"
flight_plan="flight_plans/basic.xml"
settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml"
settings_modules="modules/gps.xml"
settings_modules="modules/imu_common.xml modules/gps.xml"
gui_color="blue"
/>
<aircraft
@@ -359,7 +359,7 @@
telemetry="telemetry/fixedwing_flight_recorder.xml"
flight_plan="flight_plans/basic.xml"
settings="settings/fixedwing_basic.xml"
settings_modules="modules/gps.xml"
settings_modules="modules/imu_common.xml modules/gps.xml"
gui_color="blue"
/>
<aircraft
@@ -369,8 +369,8 @@
radio="radios/dummy.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int_quat.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/estimation/body_to_imu.xml settings/nps.xml"
settings_modules="modules/gps.xml modules/gps_ubx_ucenter.xml modules/air_data.xml modules/geo_mag.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int_quat.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/nps.xml"
settings_modules="modules/imu_common.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/air_data.xml modules/geo_mag.xml modules/video_rtp_stream.xml"
gui_color="red"
/>
<aircraft
@@ -381,7 +381,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
settings_modules="modules/gps.xml modules/gps_ubx_ucenter.xml modules/cv_opticflow.xml modules/opticflow_hover.xml"
settings_modules="modules/imu_common.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/cv_opticflow.xml modules/opticflow_hover.xml"
gui_color="blue"
/>
<aircraft
@@ -392,7 +392,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_float_mlkf.xml settings/control/stabilization_att_int_quat.xml settings/nps.xml"
settings_modules="modules/gps.xml modules/geo_mag.xml modules/air_data.xml"
settings_modules="modules/imu_common.xml modules/gps.xml modules/geo_mag.xml modules/air_data.xml modules/video_rtp_stream.xml"
gui_color="red"
/>
<aircraft
@@ -403,7 +403,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/control/stabilization_att_int.xml"
settings_modules="modules/gps.xml modules/gps_ubx_ucenter.xml modules/geo_mag.xml"
settings_modules="modules/imu_common.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/geo_mag.xml"
gui_color="blue"
/>
<aircraft
@@ -425,7 +425,7 @@
telemetry="telemetry/default_rotorcraft_mavlink.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/estimation/ahrs_float_mlkf.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int_quat.xml settings/estimation/ahrs_secondary.xml settings/estimation/ahrs_int_cmpl_quat.xml"
settings_modules="modules/gps.xml modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml"
settings_modules="modules/imu_common.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml"
gui_color="blue"
/>
<aircraft
@@ -436,7 +436,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_indi.xml"
settings_modules="modules/gps_ubx_ucenter.xml modules/gps.xml"
settings_modules="modules/gps_ubx_ucenter.xml modules/imu_common.xml modules/gps.xml"
gui_color="blue"
/>
<aircraft
conf/firmwares/subsystems/shared/imu_analog.makefile
-102
View File
@@ -1,102 +0,0 @@
# Hey Emacs, this is a -*- makefile -*-
#
# Analog IMU connected to MCU ADC ports
#
# Only add the configure and define lines for the sensors you actually use.
# E.g. to replace the old gyro_pitch subsystem only add GYRO_P and GYRO_Q
#
#
# <subsystem name="imu" type="analog">
# <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"/>
# </subsystem>
#
# required xml:
# <section name="IMU" prefix="IMU_">
#
# <define name="GYRO_P_NEUTRAL" value="512"/>
# <define name="GYRO_Q_NEUTRAL" value="512"/>
# <define name="GYRO_R_NEUTRAL" value="512"/>
#
# <define name="GYRO_P_SENS" value="0.017" integer="16"/>
# <define name="GYRO_Q_SENS" value="0.017" integer="16"/>
# <define name="GYRO_R_SENS" value="0.017" integer="16"/>
#
# <define name="GYRO_P_SIGN" value="1" />
# <define name="GYRO_Q_SIGN" value="1" />
# <define name="GYRO_R_SIGN" value="-1" />
#
# <define name="ACCEL_X_SENS" value="0.1" integer="16"/>
# <define name="ACCEL_Y_SENS" value="0.1" integer="16"/>
# <define name="ACCEL_Z_SENS" value="0.1" integer="16"/>
#
# <define name="ACCEL_X_NEUTRAL" value="512"/>
# <define name="ACCEL_Y_NEUTRAL" value="512"/>
# <define name="ACCEL_Z_NEUTRAL" value="512"/>
#
# <define name="ACCEL_X_SIGN" value="1"/>
# <define name="ACCEL_Y_SIGN" value="-1"/>
# <define name="ACCEL_Z_SIGN" value="1"/>
#
# </section>
#
ADC_GYRO_NB_SAMPLES ?= 16
ADC_ACCEL_NB_SAMPLES ?= $(ADC_GYRO_NB_SAMPLES)
ifeq ($(ARCH), lpc21)
imu_CFLAGS += -DIMU_TYPE_H=\"subsystems/imu/imu_analog.h\" -DUSE_IMU
imu_CFLAGS += -DADC_CHANNEL_GYRO_NB_SAMPLES=$(ADC_GYRO_NB_SAMPLES)
imu_CFLAGS += -DADC_CHANNEL_ACCEL_NB_SAMPLES=$(ADC_ACCEL_NB_SAMPLES)
ifneq ($(GYRO_P),)
imu_CFLAGS += -DADC_CHANNEL_GYRO_P=$(GYRO_P) -DUSE_$(GYRO_P)
endif
ifneq ($(GYRO_Q),)
imu_CFLAGS += -DADC_CHANNEL_GYRO_Q=$(GYRO_Q) -DUSE_$(GYRO_Q)
endif
ifneq ($(GYRO_R),)
imu_CFLAGS += -DADC_CHANNEL_GYRO_R=$(GYRO_R) -DUSE_$(GYRO_R)
endif
ifneq ($(ACCEL_X),)
imu_CFLAGS += -DADC_CHANNEL_ACCEL_X=$(ACCEL_X) -DUSE_$(ACCEL_X)
endif
ifneq ($(ACCEL_Y),)
imu_CFLAGS += -DADC_CHANNEL_ACCEL_Y=$(ACCEL_Y) -DUSE_$(ACCEL_Y)
endif
ifneq ($(ACCEL_Z),)
imu_CFLAGS += -DADC_CHANNEL_ACCEL_Z=$(ACCEL_Z) -DUSE_$(ACCEL_Z)
endif
imu_srcs += $(SRC_SUBSYSTEMS)/imu.c
imu_srcs += $(SRC_SUBSYSTEMS)/imu/imu_analog.c
else ifeq ($(ARCH), stm32)
$(error Not implemented for the stm32 yet... should be trivial, just do it...)
endif
# add it for all targets except sim, fbw and nps
ifeq (,$(findstring $(TARGET),sim fbw nps))
$(TARGET).CFLAGS += $(imu_CFLAGS)
$(TARGET).srcs += $(imu_srcs)
endif
#
# NPS simulator
#
include $(CFG_SHARED)/imu_nps.makefile
conf/firmwares/subsystems/shared/imu_apogee.makefile
-29
View File
@@ -1,29 +0,0 @@
# Hey Emacs, this is a -*- makefile -*-
#
# Apogee IMU
#
IMU_APOGEE_CFLAGS = -DUSE_IMU
IMU_APOGEE_CFLAGS += -DIMU_TYPE_H=\"boards/apogee/imu_apogee.h\"
IMU_APOGEE_SRCS = $(SRC_SUBSYSTEMS)/imu.c \
$(SRC_BOARD)/imu_apogee.c
IMU_APOGEE_I2C_DEV=i2c1
IMU_APOGEE_CFLAGS += -DUSE_I2C -DUSE_I2C1
IMU_APOGEE_CFLAGS += -DIMU_APOGEE_I2C_DEV=$(IMU_APOGEE_I2C_DEV)
IMU_APOGEE_SRCS += peripherals/mpu60x0.c
IMU_APOGEE_SRCS += peripherals/mpu60x0_i2c.c
# add it for all targets except sim, fbw and nps
ifeq (,$(findstring $(TARGET),sim fbw nps))
$(TARGET).CFLAGS += $(IMU_APOGEE_CFLAGS)
$(TARGET).srcs += $(IMU_APOGEE_SRCS)
endif
#
# Simulator
#
include $(CFG_SHARED)/imu_nps.makefile
conf/firmwares/subsystems/shared/imu_apogee_mpu9150.makefile
-16
View File
@@ -1,16 +0,0 @@
# Hey Emacs, this is a -*- makefile -*-
#
# Apogee IMU
#
include $(CFG_SHARED)/imu_apogee.makefile
IMU_APOGEE_MPU9150_CFLAGS = -DAPOGEE_USE_MPU9150
IMU_APOGEE_MPU9150_SRCS = peripherals/ak8975.c
# add it for all targets except sim, fbw and nps
ifeq (,$(findstring $(TARGET),sim fbw nps))
$(TARGET).CFLAGS += $(IMU_APOGEE_MPU9150_CFLAGS)
$(TARGET).srcs += $(IMU_APOGEE_MPU9150_SRCS)
endif
conf/firmwares/subsystems/shared/imu_ardrone2.makefile
-25
View File
@@ -1,25 +0,0 @@
# imu AR.Drone2
imu_CFLAGS += -DIMU_TYPE_H=\"subsystems/imu/imu_ardrone2.h\" -DUSE_IMU
imu_srcs += $(SRC_SUBSYSTEMS)/imu.c
imu_srcs += $(SRC_SUBSYSTEMS)/imu/imu_ardrone2.c
imu_srcs += $(SRC_BOARD)/navdata.c
# add it for all targets except sim, fbw and nps
ifeq (,$(findstring $(TARGET),sim fbw nps))
$(TARGET).CFLAGS += $(imu_CFLAGS)
$(TARGET).srcs += $(imu_srcs)
endif
# Set the AHRS propegation frequencies
AHRS_PROPAGATE_FREQUENCY ?= 200
AHRS_CORRECT_FREQUENCY ?= 200
ap.CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
ap.CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
#
# Simulator
#
include $(CFG_SHARED)/imu_nps.makefile
conf/firmwares/subsystems/shared/imu_aspirin.makefile
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@@ -1 +0,0 @@
$(error The imu_aspirin subsystem has been split up into different versions, please replace <subsystem name="imu" type="aspirin"/> with <subsystem name="imu" type="aspirin_v1.0"/> (or aspirin_v1.5) in your airframe file.)
conf/firmwares/subsystems/shared/imu_aspirin2_i2c.makefile
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@@ -1,40 +0,0 @@
# Hey Emacs, this is a -*- makefile -*-
IMU_ASPIRIN2_CFLAGS = -DUSE_IMU
IMU_ASPIRIN2_CFLAGS += -DIMU_TYPE_H=\"modules/sensors/imu_aspirin2.h\"
IMU_ASPIRIN2_SRCS = $(SRC_SUBSYSTEMS)/imu.c \
$(SRC_MODULES)/sensors/imu_aspirin2.c
# set default i2c bus
ifeq ($(ARCH), lpc21)
IMU_ASPIRIN2_I2C_DEV ?= i2c0
else ifeq ($(ARCH), stm32)
IMU_ASPIRIN2_I2C_DEV ?= i2c2
endif
ifeq ($(TARGET), ap)
ifndef IMU_ASPIRIN2_I2C_DEV
$(error Error: IMU_ASPIRIN2_I2C_DEV not configured!)
endif
endif
# convert i2cx to upper/lower case
IMU_ASPIRIN2_I2C_DEV_UPPER=$(shell echo $(IMU_ASPIRIN2_I2C_DEV) | tr a-z A-Z)
IMU_ASPIRIN2_I2C_DEV_LOWER=$(shell echo $(IMU_ASPIRIN2_I2C_DEV) | tr A-Z a-z)
IMU_ASPIRIN2_CFLAGS += -DIMU_ASPIRIN2_I2C_DEV=$(IMU_ASPIRIN2_I2C_DEV_LOWER)
IMU_ASPIRIN2_CFLAGS += -DUSE_$(IMU_ASPIRIN2_I2C_DEV_UPPER)
# add it for all targets except sim, fbw and nps
ifeq (,$(findstring $(TARGET),sim fbw nps))
$(TARGET).CFLAGS += $(IMU_ASPIRIN2_CFLAGS)
$(TARGET).srcs += $(IMU_ASPIRIN2_SRCS)
endif
#
# NPS simulator
#
include $(CFG_SHARED)/imu_nps.makefile
conf/firmwares/subsystems/shared/imu_aspirin_common.makefile
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@@ -1,102 +0,0 @@
# Hey Emacs, this is a -*- makefile -*-
#
# Common part for all Aspirin IMUs
#
# if ACCEL and GYRO SENS/NEUTRAL are not defined,
# the defaults from the datasheet will be used
#
# required xml:
# <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>
#
#
IMU_ASPIRIN_CFLAGS = -DIMU_TYPE_H=\"imu/imu_aspirin.h\"
IMU_ASPIRIN_SRCS = $(SRC_SUBSYSTEMS)/imu.c
IMU_ASPIRIN_SRCS += $(SRC_SUBSYSTEMS)/imu/imu_aspirin.c
#IMU_ASPIRIN_SRCS += $(SRC_ARCH)/subsystems/imu/imu_aspirin_arch.c
IMU_ASPIRIN_CFLAGS += -DASPIRIN_ARCH_INDEP
include $(CFG_SHARED)/spi_master.makefile
# for fixedwing firmware and ap only
ifeq ($(TARGET), ap)
IMU_ASPIRIN_CFLAGS += -DUSE_IMU
endif
# Accelerometer
IMU_ASPIRIN_SRCS += peripherals/adxl345_spi.c
# Gyro
IMU_ASPIRIN_SRCS += peripherals/itg3200.c
# Magnetometer
#IMU_ASPIRIN_SRCS += peripherals/hmc5843.c $(SRC_ARCH)/peripherals/hmc5843_arch.c
IMU_ASPIRIN_SRCS += peripherals/hmc58xx.c
# set default i2c bus
ifeq ($(ARCH), lpc21)
ASPIRIN_I2C_DEV ?= i2c0
else ifeq ($(ARCH), stm32)
ASPIRIN_I2C_DEV ?= i2c2
endif
ifeq ($(TARGET), ap)
ifndef ASPIRIN_I2C_DEV
$(error Error: ASPIRIN_I2C_DEV not configured!)
endif
endif
# convert i2cx to upper/lower case
ASPIRIN_I2C_DEV_UPPER=$(shell echo $(ASPIRIN_I2C_DEV) | tr a-z A-Z)
ASPIRIN_I2C_DEV_LOWER=$(shell echo $(ASPIRIN_I2C_DEV) | tr A-Z a-z)
IMU_ASPIRIN_CFLAGS += -DASPIRIN_I2C_DEV=$(ASPIRIN_I2C_DEV_LOWER)
IMU_ASPIRIN_CFLAGS += -DUSE_$(ASPIRIN_I2C_DEV_UPPER)
# set default SPI device and slave index
ifeq ($(ARCH), lpc21)
ASPIRIN_SPI_DEV ?= spi1
ASPIRIN_SPI_SLAVE_IDX ?= SPI_SLAVE0
else ifeq ($(ARCH), stm32)
ASPIRIN_SPI_DEV ?= spi2
# Slave select configuration
# SLAVE2 is on PB12 (NSS) (ADXL345 CS)
ASPIRIN_SPI_SLAVE_IDX ?= SPI_SLAVE2
endif
ifeq ($(TARGET), ap)
ifndef ASPIRIN_SPI_DEV
$(error Error: ASPIRIN_SPI_DEV not configured!)
endif
ifndef ASPIRIN_SPI_SLAVE_IDX
$(error Error: ASPIRIN_SPI_SLAVE_IDX not configured!)
endif
endif
# convert spix to upper/lower case
ASPIRIN_SPI_DEV_UPPER=$(shell echo $(ASPIRIN_SPI_DEV) | tr a-z A-Z)
ASPIRIN_SPI_DEV_LOWER=$(shell echo $(ASPIRIN_SPI_DEV) | tr A-Z a-z)
IMU_ASPIRIN_CFLAGS += -DASPIRIN_SPI_DEV=$(ASPIRIN_SPI_DEV_LOWER)
IMU_ASPIRIN_CFLAGS += -DUSE_$(ASPIRIN_SPI_DEV_UPPER)
IMU_ASPIRIN_CFLAGS += -DASPIRIN_SPI_SLAVE_IDX=$(ASPIRIN_SPI_SLAVE_IDX)
IMU_ASPIRIN_CFLAGS += -DUSE_$(ASPIRIN_SPI_SLAVE_IDX)
#
# NPS simulator
#
include $(CFG_SHARED)/imu_nps.makefile
conf/firmwares/subsystems/shared/imu_aspirin_i2c.makefile
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@@ -1,3 +0,0 @@
$(error The imu aspirin_i2c subsystem was rewritten, please replace <subsystem name="imu" type="aspirin_i2c"/> with type="aspirin_i2c_v1.0" or type="aspirin_i2c_v1.5" in your airframe file.)
conf/firmwares/subsystems/shared/imu_aspirin_i2c_common.makefile
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@@ -1,63 +0,0 @@
# Hey Emacs, this is a -*- makefile -*-
#
# Common part for all Aspirin IMUs using I2C only
#
# if ACCEL and GYRO SENS/NEUTRAL are not defined,
# the defaults from the datasheet will be used
#
# required xml:
# <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>
#
#
IMU_ASPIRIN_CFLAGS = -DIMU_TYPE_H=\"imu/imu_aspirin_i2c.h\"
IMU_ASPIRIN_SRCS = $(SRC_SUBSYSTEMS)/imu.c
IMU_ASPIRIN_SRCS += $(SRC_SUBSYSTEMS)/imu/imu_aspirin_i2c.c
# for fixedwing firmware and ap only
ifeq ($(TARGET), ap)
IMU_ASPIRIN_CFLAGS += -DUSE_IMU
endif
# Accelerometer via I2C
IMU_ASPIRIN_SRCS += peripherals/adxl345_i2c.c
# Gyro
IMU_ASPIRIN_SRCS += peripherals/itg3200.c
# Magnetometer
IMU_ASPIRIN_SRCS += peripherals/hmc58xx.c
# set default i2c bus
ifeq ($(ARCH), lpc21)
ASPIRIN_I2C_DEV ?= i2c0
else ifeq ($(ARCH), stm32)
ASPIRIN_I2C_DEV ?= i2c2
endif
ifeq ($(TARGET), ap)
ifndef ASPIRIN_I2C_DEV
$(error Error: ASPIRIN_I2C_DEV not configured!)
endif
endif
# convert i2cx to upper/lower case
ASPIRIN_I2C_DEV_UPPER=$(shell echo $(ASPIRIN_I2C_DEV) | tr a-z A-Z)
ASPIRIN_I2C_DEV_LOWER=$(shell echo $(ASPIRIN_I2C_DEV) | tr A-Z a-z)
IMU_ASPIRIN_CFLAGS += -DASPIRIN_I2C_DEV=$(ASPIRIN_I2C_DEV_LOWER)
IMU_ASPIRIN_CFLAGS += -DUSE_$(ASPIRIN_I2C_DEV_UPPER)
include $(CFG_SHARED)/imu_nps.makefile
conf/firmwares/subsystems/shared/imu_aspirin_i2c_v1.0.makefile
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@@ -1,31 +0,0 @@
# Hey Emacs, this is a -*- makefile -*-
#
# Aspirin IMU v1.5 via I2C only
#
#
# if ACCEL and GYRO SENS/NEUTRAL are not defined,
# the defaults from the datasheet will be used
#
# required xml:
# <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>
#
include $(CFG_SHARED)/imu_aspirin_i2c_common.makefile
IMU_ASPIRIN_CFLAGS += -DIMU_ASPIRIN_VERSION_1_0
# add it for all targets except sim, fbw and nps
ifeq (,$(findstring $(TARGET),sim fbw nps))
$(TARGET).CFLAGS += $(IMU_ASPIRIN_CFLAGS)
$(TARGET).srcs += $(IMU_ASPIRIN_SRCS)
endif
conf/firmwares/subsystems/shared/imu_aspirin_i2c_v1.5.makefile
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@@ -1,31 +0,0 @@
# Hey Emacs, this is a -*- makefile -*-
#
# Aspirin IMU v1.5 via I2C only
#
#
# if ACCEL and GYRO SENS/NEUTRAL are not defined,
# the defaults from the datasheet will be used
#
# required xml:
# <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>
#
include $(CFG_SHARED)/imu_aspirin_i2c_common.makefile
IMU_ASPIRIN_CFLAGS += -DIMU_ASPIRIN_VERSION_1_5
# add it for all targets except sim, fbw and nps
ifeq (,$(findstring $(TARGET),sim fbw nps))
$(TARGET).CFLAGS += $(IMU_ASPIRIN_CFLAGS)
$(TARGET).srcs += $(IMU_ASPIRIN_SRCS)
endif
conf/firmwares/subsystems/shared/imu_aspirin_v1.0.makefile
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@@ -1,31 +0,0 @@
# Hey Emacs, this is a -*- makefile -*-
#
# Aspirin IMU v1.0
#
#
# if ACCEL and GYRO SENS/NEUTRAL are not defined,
# the defaults from the datasheet will be used
#
# required xml:
# <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>
#
include $(CFG_SHARED)/imu_aspirin_common.makefile
IMU_ASPIRIN_CFLAGS += -DIMU_ASPIRIN_VERSION_1_0
# add it for all targets except sim, fbw and nps
ifeq (,$(findstring $(TARGET),sim fbw nps))
$(TARGET).CFLAGS += $(IMU_ASPIRIN_CFLAGS)
$(TARGET).srcs += $(IMU_ASPIRIN_SRCS)
endif
conf/firmwares/subsystems/shared/imu_aspirin_v1.5.makefile
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@@ -1,31 +0,0 @@
# Hey Emacs, this is a -*- makefile -*-
#
# Aspirin IMU v1.5
#
#
# if ACCEL and GYRO SENS/NEUTRAL are not defined,
# the defaults from the datasheet will be used
#
# required xml:
# <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>
#
include $(CFG_SHARED)/imu_aspirin_common.makefile
IMU_ASPIRIN_CFLAGS += -DIMU_ASPIRIN_VERSION_1_5
# add it for all targets except sim, fbw and nps
ifeq (,$(findstring $(TARGET),sim fbw nps))
$(TARGET).CFLAGS += $(IMU_ASPIRIN_CFLAGS)
$(TARGET).srcs += $(IMU_ASPIRIN_SRCS)
endif
conf/firmwares/subsystems/shared/imu_aspirin_v2.0.makefile
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@@ -1 +0,0 @@
$(error The imu_aspirin_v2.0 subsystem has been renamed, please replace <subsystem name="imu" type="aspirin_v2.0"/> with <subsystem name="imu" type="aspirin_v2.1"/> in your airframe file.)
conf/firmwares/subsystems/shared/imu_aspirin_v2.1.makefile
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@@ -1,45 +0,0 @@
# Hey Emacs, this is a -*- makefile -*-
#
# Aspirin IMU v2.1
#
#
# required xml:
# <section name="IMU" prefix="IMU_">
#
# <!-- these gyro and accel calib values are the defaults for aspirin2.1 -->
# <define name="GYRO_X_NEUTRAL" value="0"/>
# <define name="GYRO_Y_NEUTRAL" value="0"/>
# <define name="GYRO_Z_NEUTRAL" value="0"/>
#
# <define name="GYRO_X_SENS" value="4.359" integer="16"/>
# <define name="GYRO_Y_SENS" value="4.359" integer="16"/>
# <define name="GYRO_Z_SENS" value="4.359" integer="16"/>
#
# <define name="ACCEL_X_NEUTRAL" value="0"/>
# <define name="ACCEL_Y_NEUTRAL" value="0"/>
# <define name="ACCEL_Z_NEUTRAL" value="0"/>
#
# <define name="ACCEL_X_SENS" value="4.905" integer="16"/>
# <define name="ACCEL_Y_SENS" value="4.905" integer="16"/>
# <define name="ACCEL_Z_SENS" value="4.905" integer="16"/>
#
# <!-- replace the mag calibration with your own-->
# <define name="MAG_X_NEUTRAL" value="-45"/>
# <define name="MAG_Y_NEUTRAL" value="334"/>
# <define name="MAG_Z_NEUTRAL" value="7"/>
#
# <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>
#
#
include $(CFG_SHARED)/imu_aspirin_v2_common.makefile
# add it for all targets except sim, fbw and nps
ifeq (,$(findstring $(TARGET),sim fbw nps))
$(TARGET).CFLAGS += $(IMU_ASPIRIN_2_CFLAGS)
$(TARGET).srcs += $(IMU_ASPIRIN_2_SRCS)
endif
conf/firmwares/subsystems/shared/imu_aspirin_v2.2.makefile
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@@ -1,60 +0,0 @@
# Hey Emacs, this is a -*- makefile -*-
#
# Aspirin IMU v2.2
#
# nearly identical with v2.1, only has the MS5611 baro on SPI.
# The Baro CS line is
#
#
# required xml:
# <section name="IMU" prefix="IMU_">
#
# <!-- these gyro and accel calib values are the defaults for aspirin2.1/2.2 -->
# <define name="GYRO_X_NEUTRAL" value="0"/>
# <define name="GYRO_Y_NEUTRAL" value="0"/>
# <define name="GYRO_Z_NEUTRAL" value="0"/>
#
# <define name="GYRO_X_SENS" value="4.359" integer="16"/>
# <define name="GYRO_Y_SENS" value="4.359" integer="16"/>
# <define name="GYRO_Z_SENS" value="4.359" integer="16"/>
#
# <define name="ACCEL_X_NEUTRAL" value="0"/>
# <define name="ACCEL_Y_NEUTRAL" value="0"/>
# <define name="ACCEL_Z_NEUTRAL" value="0"/>
#
# <define name="ACCEL_X_SENS" value="4.905" integer="16"/>
# <define name="ACCEL_Y_SENS" value="4.905" integer="16"/>
# <define name="ACCEL_Z_SENS" value="4.905" integer="16"/>
#
# <!-- replace the mag calibration with your own-->
# <define name="MAG_X_NEUTRAL" value="-45"/>
# <define name="MAG_Y_NEUTRAL" value="334"/>
# <define name="MAG_Z_NEUTRAL" value="7"/>
#
# <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>
#
#
include $(CFG_SHARED)/imu_aspirin_v2_common.makefile
#
# Baro is connected via SPI, so additionally specify the slave select line for it,
# so that it will be unselected at init (baro CS line high)
#
ifeq ($(ARCH), lpc21)
#IMU_ASPIRIN_2_CFLAGS += -DUSE_SPI_SLAVE1
else ifeq ($(ARCH), stm32)
# SLAVE3 is on PC13, which is the baro CS
IMU_ASPIRIN_2_CFLAGS += -DUSE_SPI_SLAVE3
endif
# add it for all targets except sim, fbw and nps
ifeq (,$(findstring $(TARGET),sim fbw nps))
$(TARGET).CFLAGS += $(IMU_ASPIRIN_2_CFLAGS)
$(TARGET).srcs += $(IMU_ASPIRIN_2_SRCS)
endif
conf/firmwares/subsystems/shared/imu_aspirin_v2_common.makefile
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@@ -1,93 +0,0 @@
# Hey Emacs, this is a -*- makefile -*-
#
# Common part for Aspirin IMU v2.1 and v2.2
#
# Use <define name="ASPIRIN_2_DISABLE_MAG value="TRUE"/> to disable the mag.
#
# required xml:
# <section name="IMU" prefix="IMU_">
#
# <!-- these gyro and accel calib values are the defaults for aspirin2.1/2.2 -->
# <define name="GYRO_X_NEUTRAL" value="0"/>
# <define name="GYRO_Y_NEUTRAL" value="0"/>
# <define name="GYRO_Z_NEUTRAL" value="0"/>
#
# <define name="GYRO_X_SENS" value="4.359" integer="16"/>
# <define name="GYRO_Y_SENS" value="4.359" integer="16"/>
# <define name="GYRO_Z_SENS" value="4.359" integer="16"/>
#
# <define name="ACCEL_X_NEUTRAL" value="0"/>
# <define name="ACCEL_Y_NEUTRAL" value="0"/>
# <define name="ACCEL_Z_NEUTRAL" value="0"/>
#
# <define name="ACCEL_X_SENS" value="4.905" integer="16"/>
# <define name="ACCEL_Y_SENS" value="4.905" integer="16"/>
# <define name="ACCEL_Z_SENS" value="4.905" integer="16"/>
#
# <!-- replace the mag calibration with your own-->
# <define name="MAG_X_NEUTRAL" value="-45"/>
# <define name="MAG_Y_NEUTRAL" value="334"/>
# <define name="MAG_Z_NEUTRAL" value="7"/>
#
# <define name="MAG_X_SENS" value="3.4936416" integer="16"/>
# <define name="MAG_Y_SENS" value="3.607713" integer="16"/>
# <define name="MAG_Z_SENS" value="4.90788848" integer="16"/>
#
# </section>
#
#
# for fixedwing firmware and ap only
ifeq ($(TARGET), ap)
IMU_ASPIRIN_2_CFLAGS = -DUSE_IMU
endif
IMU_ASPIRIN_2_CFLAGS += -DIMU_TYPE_H=\"imu/imu_aspirin_2_spi.h\"
IMU_ASPIRIN_2_SRCS = $(SRC_SUBSYSTEMS)/imu.c
IMU_ASPIRIN_2_SRCS += $(SRC_SUBSYSTEMS)/imu/imu_aspirin_2_spi.c
IMU_ASPIRIN_2_SRCS += peripherals/mpu60x0.c
IMU_ASPIRIN_2_SRCS += peripherals/mpu60x0_spi.c
include $(CFG_SHARED)/spi_master.makefile
#
# SPI device and slave select defaults
#
ifeq ($(ARCH), lpc21)
ASPIRIN_2_SPI_DEV ?= spi1
ASPIRIN_2_SPI_SLAVE_IDX ?= SPI_SLAVE0
#else ifeq ($(ARCH), stm32)
else ifeq ($(ARCH),$(filter $(ARCH),stm32 chibios))
# Slave select configuration
# SLAVE2 is on PB12 (NSS) (MPU600 CS)
ASPIRIN_2_SPI_DEV ?= spi2
ASPIRIN_2_SPI_SLAVE_IDX ?= SPI_SLAVE2
endif
ifeq ($(TARGET), ap)
ifndef ASPIRIN_2_SPI_DEV
$(error Error: ASPIRIN_2_SPI_DEV not configured!)
endif
ifndef ASPIRIN_2_SPI_SLAVE_IDX
$(error Error: ASPIRIN_2_SPI_SLAVE_IDX not configured!)
endif
endif
ASPIRIN_2_SPI_DEV_UPPER=$(shell echo $(ASPIRIN_2_SPI_DEV) | tr a-z A-Z)
ASPIRIN_2_SPI_DEV_LOWER=$(shell echo $(ASPIRIN_2_SPI_DEV) | tr A-Z a-z)
IMU_ASPIRIN_2_CFLAGS += -DUSE_$(ASPIRIN_2_SPI_DEV_UPPER)
IMU_ASPIRIN_2_CFLAGS += -DASPIRIN_2_SPI_DEV=$(ASPIRIN_2_SPI_DEV_LOWER)
IMU_ASPIRIN_2_CFLAGS += -DUSE_$(ASPIRIN_2_SPI_SLAVE_IDX)
IMU_ASPIRIN_2_CFLAGS += -DASPIRIN_2_SPI_SLAVE_IDX=$(ASPIRIN_2_SPI_SLAVE_IDX)
# Keep CFLAGS/Srcs for imu in separate expression so we can assign it to other targets
# and re-use that in the imu_aspirin_v2.1 and imu_aspirin_v2.2 makefiles
#
# NPS simulator
#
include $(CFG_SHARED)/imu_nps.makefile
conf/firmwares/subsystems/shared/imu_b2_common.makefile
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@@ -1,81 +0,0 @@
# Hey Emacs, this is a -*- makefile -*-
#
# Common part for all Booz2 IMUs
#
#
# 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>
#
#
# 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 += peripherals/max1168.c
imu_srcs += $(SRC_ARCH)/peripherals/max1168_arch.c
include $(CFG_SHARED)/spi_master.makefile
ifeq ($(ARCH), lpc21)
imu_CFLAGS += -DUSE_SPI_SLAVE0
imu_CFLAGS += -DUSE_SPI1
imu_CFLAGS += -DMAX1168_EOC_VIC_SLOT=11
else ifeq ($(ARCH), stm32)
#FIXME: untested
imu_CFLAGS += -DUSE_SPI2 -DMAX1168_SPI_DEV=spi2
imu_CFLAGS += -DMAX1168_SLAVE_IDX=2
# Slave select configuration
# SLAVE2 is on PB12 (NSS) (MAX1168)
# SLAVE3 is on PC13 (EEPROM)
imu_CFLAGS += -DUSE_SPI_SLAVE2 -DUSE_SPI_SLAVE3
endif
#
# Simulator
#
include $(CFG_SHARED)/imu_nps.makefile
#sim.CFLAGS += -DIMU_TYPE_H=\"subsystems/imu/imu_b2.h\"
#sim.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_AMI601
#sim.CFLAGS += -DIMU_B2_VERSION_1_0
#sim.srcs += $(SRC_SUBSYSTEMS)/imu.c
#sim.srcs += $(SRC_SUBSYSTEMS)/imu/imu_b2.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/firmwares/subsystems/shared/imu_b2_v1.0.makefile
-64
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@@ -1,64 +0,0 @@
# Hey Emacs, this is a -*- makefile -*-
#
# Booz2 IMU booz2v1.0
#
#
# 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>
#
#
# common Booz2 IMU files
include $(CFG_SHARED)/imu_b2_common.makefile
# imu Booz2 v1.0
imu_CFLAGS += -DIMU_B2_VERSION_1_0
# Magnetometer
ifndef NO_MAG
imu_CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_AMI601
imu_CFLAGS += -DUSE_AMI601
imu_srcs += peripherals/ami601.c
ifeq ($(ARCH), lpc21)
imu_CFLAGS += -DUSE_I2C1 -DI2C1_SCLL=150 -DI2C1_SCLH=150
else ifeq ($(ARCH), stm32)
#FIXME: untested
imu_CFLAGS += -DUSE_I2C2
endif
endif #NO_MAG
# add it for all targets except sim, fbw and nps
ifeq (,$(findstring $(TARGET),sim fbw nps))
$(TARGET).CFLAGS += $(imu_CFLAGS)
$(TARGET).srcs += $(imu_srcs)
endif
conf/firmwares/subsystems/shared/imu_b2_v1.1.makefile
-64
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@@ -1,64 +0,0 @@
# Hey Emacs, this is a -*- makefile -*-
#
# Booz2 IMU booz2v1.1
#
#
# 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>
#
#
# common Booz2 IMU files
include $(CFG_SHARED)/imu_b2_common.makefile
# imu Booz2 v1.1
imu_CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_MS2100
imu_CFLAGS += -DIMU_B2_VERSION_1_1
# Magnetometer
imu_srcs += peripherals/ms2100.c
imu_srcs += $(SRC_ARCH)/peripherals/ms2100_arch.c
ifeq ($(ARCH), lpc21)
imu_CFLAGS += -DUSE_SPI_SLAVE1
imu_CFLAGS += -DMS2100_SLAVE_IDX=1
imu_CFLAGS += -DMS2100_SPI_DEV=spi1
imu_CFLAGS += -DMS2100_DRDY_VIC_SLOT=12
else ifeq ($(ARCH), stm32)
imu_CFLAGS += -DUSE_SPI_SLAVE4
imu_CFLAGS += -DMS2100_SLAVE_IDX=4
imu_CFLAGS += -DMS2100_SPI_DEV=spi2
endif
# add it for all targets except sim, fbw and nps
ifeq (,$(findstring $(TARGET),sim fbw nps))
$(TARGET).CFLAGS += $(imu_CFLAGS)
$(TARGET).srcs += $(imu_srcs)
endif
conf/firmwares/subsystems/shared/imu_b2_v1.2.makefile
-57
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@@ -1,57 +0,0 @@
# 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>
#
#
# common Booz2 IMU files
include $(CFG_SHARED)/imu_b2_common.makefile
# imu Booz2 v1.2
imu_CFLAGS += -DIMU_B2_VERSION_1_2
imu_CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_HMC58XX
imu_srcs += peripherals/hmc58xx.c
ifeq ($(ARCH), lpc21)
imu_CFLAGS += -DIMU_B2_I2C_DEV=i2c1 -DUSE_I2C1
else ifeq ($(ARCH), stm32)
imu_CFLAGS += -DIMU_B2_I2C_DEV=i2c2 -DUSE_I2C2
endif
# add it for all targets except sim, fbw and nps
ifeq (,$(findstring $(TARGET),sim fbw nps))
$(TARGET).CFLAGS += $(imu_CFLAGS)
$(TARGET).srcs += $(imu_srcs)
endif
conf/firmwares/subsystems/shared/imu_bebop.makefile
-49
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@@ -1,49 +0,0 @@
# Hey Emacs, this is a -*- makefile -*-
#
# Bebop onboard IMU
#
#
# if ACCEL and GYRO SENS/NEUTRAL are not defined,
# the defaults from the datasheet will be used
#
# required xml:
# <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>
#
IMU_CFLAGS = -DUSE_IMU -DIMU_BEBOP -DIMU_TYPE_H=\"imu/imu_bebop.h\"
IMU_SRCS = $(SRC_SUBSYSTEMS)/imu.c $(SRC_SUBSYSTEMS)/imu/imu_bebop.c
IMU_SRCS += peripherals/mpu60x0.c peripherals/mpu60x0_i2c.c
IMU_SRCS += peripherals/ak8963.c
BEBOP_MAG_I2C_DEV ?= i2c1
BEBOP_MPU_I2C_DEV ?= i2c2
BEBOP_MAG_I2C_DEV_UPPER=$(shell echo $(BEBOP_MAG_I2C_DEV) | tr a-z A-Z)
BEBOP_MAG_I2C_DEV_LOWER=$(shell echo $(BEBOP_MAG_I2C_DEV) | tr A-Z a-z)
BEBOP_MPU_I2C_DEV_UPPER=$(shell echo $(BEBOP_MPU_I2C_DEV) | tr a-z A-Z)
BEBOP_MPU_I2C_DEV_LOWER=$(shell echo $(BEBOP_MPU_I2C_DEV) | tr A-Z a-z)
IMU_CFLAGS += -DBEBOP_MAG_I2C_DEV=$(BEBOP_MAG_I2C_DEV_LOWER) -DBEBOP_MPU_I2C_DEV=$(BEBOP_MPU_I2C_DEV_LOWER)
IMU_CFLAGS += -DUSE_$(BEBOP_MAG_I2C_DEV_UPPER)=1 -DUSE_$(BEBOP_MPU_I2C_DEV_UPPER)=1
# add it for all targets except sim, fbw and nps
ifeq (,$(findstring $(TARGET),sim fbw nps))
$(TARGET).CFLAGS += $(IMU_CFLAGS)
$(TARGET).srcs += $(IMU_SRCS)
endif
#
# NPS simulator
#
include $(CFG_SHARED)/imu_nps.makefile
conf/firmwares/subsystems/shared/imu_drotek_10dof_v2.makefile
-85
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@@ -1,85 +0,0 @@
# Hey Emacs, this is a -*- makefile -*-
#
# Drotek 10DOF V2 IMU via I2C
#
#
# required xml:
# <section name="IMU" prefix="IMU_">
#
# <!-- these gyro and accel calib values are the defaults for aspirin2.1 -->
# <define name="GYRO_X_NEUTRAL" value="0"/>
# <define name="GYRO_Y_NEUTRAL" value="0"/>
# <define name="GYRO_Z_NEUTRAL" value="0"/>
#
# <define name="GYRO_X_SENS" value="4.359" integer="16"/>
# <define name="GYRO_Y_SENS" value="4.359" integer="16"/>
# <define name="GYRO_Z_SENS" value="4.359" integer="16"/>
#
# <define name="ACCEL_X_NEUTRAL" value="0"/>
# <define name="ACCEL_Y_NEUTRAL" value="0"/>
# <define name="ACCEL_Z_NEUTRAL" value="0"/>
#
# <define name="ACCEL_X_SENS" value="4.905" integer="16"/>
# <define name="ACCEL_Y_SENS" value="4.905" integer="16"/>
# <define name="ACCEL_Z_SENS" value="4.905" integer="16"/>
#
# <!-- replace the mag calibration with your own-->
# <define name="MAG_X_NEUTRAL" value="-45"/>
# <define name="MAG_Y_NEUTRAL" value="334"/>
# <define name="MAG_Z_NEUTRAL" value="7"/>
#
# <define name="MAG_X_SENS" value="3.4936416" integer="16"/>
# <define name="MAG_Y_SENS" value="3.607713" integer="16"/>
# <define name="MAG_Z_SENS" value="4.90788848" integer="16"/>
#
# </section>
#
#
# for fixedwing firmware and ap only
ifeq ($(TARGET), ap)
IMU_DROTEK_2_CFLAGS = -DUSE_IMU
endif
IMU_DROTEK_2_CFLAGS += -DIMU_TYPE_H=\"imu/imu_drotek_10dof_v2.h\"
IMU_DROTEK_2_SRCS = $(SRC_SUBSYSTEMS)/imu.c
IMU_DROTEK_2_SRCS += $(SRC_SUBSYSTEMS)/imu/imu_drotek_10dof_v2.c
IMU_DROTEK_2_SRCS += peripherals/mpu60x0.c
IMU_DROTEK_2_SRCS += peripherals/mpu60x0_i2c.c
# Magnetometer
IMU_DROTEK_2_SRCS += peripherals/hmc58xx.c
# set default i2c bus
ifeq ($(ARCH), lpc21)
DROTEK_2_I2C_DEV ?= i2c0
else ifeq ($(ARCH), stm32)
DROTEK_2_I2C_DEV ?= i2c2
endif
ifeq ($(TARGET), ap)
ifndef DROTEK_2_I2C_DEV
$(error Error: DROTEK_2_I2C_DEV not configured!)
endif
endif
# convert i2cx to upper/lower case
DROTEK_2_I2C_DEV_UPPER=$(shell echo $(DROTEK_2_I2C_DEV) | tr a-z A-Z)
DROTEK_2_I2C_DEV_LOWER=$(shell echo $(DROTEK_2_I2C_DEV) | tr A-Z a-z)
IMU_DROTEK_2_CFLAGS += -DDROTEK_2_I2C_DEV=$(DROTEK_2_I2C_DEV_LOWER)
IMU_DROTEK_2_CFLAGS += -DUSE_$(DROTEK_2_I2C_DEV_UPPER)
# add it for all targets except sim, fbw and nps
ifeq (,$(findstring $(TARGET),sim fbw nps))
$(TARGET).CFLAGS += $(IMU_DROTEK_2_CFLAGS)
$(TARGET).srcs += $(IMU_DROTEK_2_SRCS)
endif
#
# NPS simulator
#
include $(CFG_SHARED)/imu_nps.makefile
conf/firmwares/subsystems/shared/imu_elle0.makefile
-15
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@@ -1,15 +0,0 @@
# Hey Emacs, this is a -*- makefile -*-
#
# MPU9250 IMU via SPI
# Basically the same as conf/firmwares/subsystems/shared/imu_mpu9250_spi.makefile
# Only changed axes assignment for Elle0
#
include $(CFG_SHARED)/imu_mpu9250_spi.makefile
# define the axes for Elle0
# add it for all targets except sim, fbw and nps
ifeq (,$(findstring $(TARGET),sim fbw nps))
$(TARGET).CFLAGS += -DIMU_MPU9250_CHAN_X=1 -DIMU_MPU9250_CHAN_Y=0 -DIMU_MPU9250_CHAN_Z=2
$(TARGET).CFLAGS += -DIMU_MPU9250_X_SIGN=-1 -DIMU_MPU9250_Y_SIGN=-1 -DIMU_MPU9250_Z_SIGN=-1
endif
conf/firmwares/subsystems/shared/imu_gl1.makefile
-53
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@@ -1,53 +0,0 @@
# Hey Emacs, this is a -*- makefile -*-
#
# IMU from Goodluckbuy
#
IMU_GL1_CFLAGS = -DIMU_TYPE_H=\"imu/imu_gl1.h\"
IMU_GL1_SRCS = $(SRC_SUBSYSTEMS)/imu.c
IMU_GL1_SRCS += $(SRC_SUBSYSTEMS)/imu/imu_gl1.c
# for fixedwing firmware and ap only
ifeq ($(TARGET), ap)
IMU_GL1_CFLAGS += -DUSE_IMU
endif
# Accelerometer
IMU_GL1_SRCS += peripherals/adxl345_i2c.c
# Gyro
IMU_GL1_SRCS += peripherals/l3g4200.c
# Magnetometer
IMU_GL1_SRCS += peripherals/hmc58xx.c
ifeq ($(ARCH), lpc21)
GL1_I2C_DEV ?= i2c0
else ifeq ($(ARCH), stm32)
GL1_I2C_DEV ?= i2c2
endif
ifeq ($(TARGET), ap)
ifndef GL1_I2C_DEV
$(error Error: GL1_I2C_DEV not configured!)
endif
endif
# convert i2cx to upper/lower case
GL1_I2C_DEV_UPPER=$(shell echo $(GL1_I2C_DEV) | tr a-z A-Z)
GL1_I2C_DEV_LOWER=$(shell echo $(GL1_I2C_DEV) | tr A-Z a-z)
IMU_GL1_CFLAGS += -DGL1_I2C_DEV=$(GL1_I2C_DEV_LOWER)
IMU_GL1_CFLAGS += -DUSE_$(GL1_I2C_DEV_UPPER)
# add it for all targets except sim, fbw and nps
ifeq (,$(findstring $(TARGET),sim fbw nps))
$(TARGET).CFLAGS += $(IMU_GL1_CFLAGS)
$(TARGET).srcs += $(IMU_GL1_SRCS)
endif
#
# NPS simulator
#
include $(CFG_SHARED)/imu_nps.makefile
conf/firmwares/subsystems/shared/imu_hbmini.makefile
-36
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@@ -1,36 +0,0 @@
IMU_HBMINI_CFLAGS = -DUSE_IMU
IMU_HBMINI_CFLAGS += -DIMU_TYPE_H=\"boards/hbmini/imu_hbmini.h\"
IMU_HBMINI_SRCS = $(SRC_SUBSYSTEMS)/imu.c \
$(SRC_BOARD)/imu_hbmini.c
IMU_HBMINI_I2C_DEV ?= i2c1
IMU_HBMINI_CFLAGS += -DUSE_I2C
IMU_HBMINI_CFLAGS += -DUSE_I2C1 -DI2C1_SCLL=25 -DI2C1_SCLH=25
IMU_HBMINI_CFLAGS += -DIMU_HBMINI_I2C_DEV=$(IMU_HBMINI_I2C_DEV)
IMU_HBMINI_SRCS += peripherals/hmc58xx.c
include $(CFG_SHARED)/spi_master.makefile
IMU_HBMINI_CFLAGS += -DUSE_SPI_SLAVE0
IMU_HBMINI_CFLAGS += -DUSE_SPI1
IMU_HBMINI_CFLAGS += -DMAX1168_EOC_VIC_SLOT=11
IMU_HBMINI_SRCS += peripherals/max1168.c
IMU_HBMINI_SRCS += $(SRC_ARCH)/peripherals/max1168_arch.c
# add it for all targets except sim, fbw and nps
ifeq (,$(findstring $(TARGET),sim fbw nps))
$(TARGET).CFLAGS += $(IMU_HBMINI_CFLAGS)
$(TARGET).srcs += $(IMU_HBMINI_SRCS)
endif
#
# Simulator
#
include $(CFG_SHARED)/imu_nps.makefile
conf/firmwares/subsystems/shared/imu_krooz_sd.makefile
-30
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@@ -1,30 +0,0 @@
# Hey Emacs, this is a -*- makefile -*-
#
# KroozSD IMU
#
IMU_KROOZ_CFLAGS = -DUSE_IMU
IMU_KROOZ_CFLAGS += -DIMU_TYPE_H=\"boards/krooz/imu_krooz.h\"
IMU_KROOZ_SRCS = $(SRC_SUBSYSTEMS)/imu.c \
$(SRC_BOARD)/imu_krooz.c \
$(SRC_ARCH)/subsystems/imu/imu_krooz_sd_arch.c
IMU_KROOZ_I2C_DEV=i2c2
IMU_KROOZ_CFLAGS += -DUSE_I2C -DUSE_I2C2 -DI2C2_CLOCK_SPEED=400000
IMU_KROOZ_CFLAGS += -DIMU_KROOZ_I2C_DEV=$(IMU_KROOZ_I2C_DEV)
IMU_KROOZ_SRCS += peripherals/mpu60x0.c
IMU_KROOZ_SRCS += peripherals/mpu60x0_i2c.c
IMU_KROOZ_SRCS += peripherals/hmc58xx.c
# add it for all targets except sim, fbw and nps
ifeq (,$(findstring $(TARGET),sim fbw nps))
$(TARGET).CFLAGS += $(IMU_KROOZ_CFLAGS)
$(TARGET).srcs += $(IMU_KROOZ_SRCS)
endif
#
# NPS simulator
#
include $(CFG_SHARED)/imu_nps.makefile
conf/firmwares/subsystems/shared/imu_krooz_sd_memsic.makefile
-35
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@@ -1,35 +0,0 @@
# Hey Emacs, this is a -*- makefile -*-
#
# KroozSD IMU
#
include $(CFG_SHARED)/spi_master.makefile
IMU_KROOZ_CFLAGS = -DUSE_IMU
IMU_KROOZ_CFLAGS += -DIMU_TYPE_H=\"boards/krooz/imu_krooz.h\"
IMU_KROOZ_SRCS = $(SRC_SUBSYSTEMS)/imu.c \
$(SRC_BOARD)/imu_krooz_memsic.c \
$(SRC_ARCH)/subsystems/imu/imu_krooz_sd_arch.c
IMU_KROOZ_I2C_DEV=i2c2
IMU_KROOZ_SPI_DEV=spi2
IMU_KROOZ_CFLAGS += -DUSE_I2C -DUSE_I2C2 -DI2C2_CLOCK_SPEED=400000
IMU_KROOZ_CFLAGS += -DUSE_SPI -DUSE_SPI2 -DUSE_SPI_SLAVE1 -DUSE_SPI_SLAVE2 -DIMU_KROOZ_SPI_SLAVE_IDX=1
IMU_KROOZ_CFLAGS += -DIMU_KROOZ_I2C_DEV=$(IMU_KROOZ_I2C_DEV)
IMU_KROOZ_CFLAGS += -DIMU_KROOZ_SPI_DEV=$(IMU_KROOZ_SPI_DEV)
IMU_KROOZ_SRCS += peripherals/mpu60x0.c
IMU_KROOZ_SRCS += peripherals/mpu60x0_i2c.c
IMU_KROOZ_SRCS += peripherals/hmc58xx.c
# add it for all targets except sim, fbw and nps
ifeq (,$(findstring $(TARGET),sim fbw nps))
$(TARGET).CFLAGS += $(IMU_KROOZ_CFLAGS)
$(TARGET).srcs += $(IMU_KROOZ_SRCS)
endif
#
# NPS simulator
#
include $(CFG_SHARED)/imu_nps.makefile
conf/firmwares/subsystems/shared/imu_lisa_m_or_mx_v2.1.makefile
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@@ -1,77 +0,0 @@
# Hey Emacs, this is a -*- makefile -*-
#
# The IMU system integrated into Lisa/MX V2.1 based on Aspirin V2.2. Major
# difference is that the orientation of the chips is bit different and we need
# to compensate for that.
#
# Use <define name="ASPIRIN_2_DISABLE_MAG value="TRUE"/> to disable the mag.
#
# required xml:
# <section name="IMU" prefix="IMU_">
#
# <!-- these gyro and accel calib values are the defaults for aspirin2.1/2.2 -->
# <define name="GYRO_X_NEUTRAL" value="0"/>
# <define name="GYRO_Y_NEUTRAL" value="0"/>
# <define name="GYRO_Z_NEUTRAL" value="0"/>
#
# <define name="GYRO_X_SENS" value="4.359" integer="16"/>
# <define name="GYRO_Y_SENS" value="4.359" integer="16"/>
# <define name="GYRO_Z_SENS" value="4.359" integer="16"/>
#
# <define name="ACCEL_X_NEUTRAL" value="0"/>
# <define name="ACCEL_Y_NEUTRAL" value="0"/>
# <define name="ACCEL_Z_NEUTRAL" value="0"/>
#
# <define name="ACCEL_X_SENS" value="4.905" integer="16"/>
# <define name="ACCEL_Y_SENS" value="4.905" integer="16"/>
# <define name="ACCEL_Z_SENS" value="4.905" integer="16"/>
#
# <!-- replace the mag calibration with your own-->
# <define name="MAG_X_NEUTRAL" value="-45"/>
# <define name="MAG_Y_NEUTRAL" value="334"/>
# <define name="MAG_Z_NEUTRAL" value="7"/>
#
# <define name="MAG_X_SENS" value="3.4936416" integer="16"/>
# <define name="MAG_Y_SENS" value="3.607713" integer="16"/>
# <define name="MAG_Z_SENS" value="4.90788848" integer="16"/>
#
# </section>
#
#
# for fixedwing firmware and ap only
ifeq ($(TARGET), ap)
IMU_ASPIRIN_2_CFLAGS = -DUSE_IMU
endif
IMU_ASPIRIN_2_CFLAGS += -DIMU_TYPE_H=\"imu/imu_aspirin_2_spi.h\"
IMU_ASPIRIN_2_SRCS = $(SRC_SUBSYSTEMS)/imu.c
IMU_ASPIRIN_2_SRCS += $(SRC_SUBSYSTEMS)/imu/imu_aspirin_2_spi.c
IMU_ASPIRIN_2_SRCS += peripherals/mpu60x0.c
IMU_ASPIRIN_2_SRCS += peripherals/mpu60x0_spi.c
include $(CFG_SHARED)/spi_master.makefile
IMU_ASPIRIN_2_CFLAGS += -DASPIRIN_2_SPI_SLAVE_IDX=SPI_SLAVE2
IMU_ASPIRIN_2_CFLAGS += -DASPIRIN_2_SPI_DEV=spi2
IMU_ASPIRIN_2_CFLAGS += -DUSE_SPI2 -DLISA_M_OR_MX_21
# Slave select configuration
# SLAVE2 is on PB12 (NSS) (MPU600 CS)
IMU_ASPIRIN_2_CFLAGS += -DUSE_SPI_SLAVE2
# SLAVE3 is on PC13, which is the baro CS
IMU_ASPIRIN_2_CFLAGS += -DUSE_SPI_SLAVE3
# add it for all targets except sim, fbw and nps
ifeq (,$(findstring $(TARGET),sim fbw nps))
$(TARGET).CFLAGS += $(IMU_ASPIRIN_2_CFLAGS)
$(TARGET).srcs += $(IMU_ASPIRIN_2_SRCS)
endif
#
# NPS simulator
#
include $(CFG_SHARED)/imu_nps.makefile
conf/firmwares/subsystems/shared/imu_lisa_m_v2.1.makefile
-6
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@@ -1,6 +0,0 @@
# Hey Emacs, this is a -*- makefile -*-
#
# As Lisa/M and Lisa/MX have the same configuration of the IMU this file
# serves as an alias to make the airframe file look consistant.
include $(CFG_SHARED)/imu_lisa_m_or_mx_v2.1.makefile
conf/firmwares/subsystems/shared/imu_lisa_mx_v2.1.makefile
-6
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@@ -1,6 +0,0 @@
# Hey Emacs, this is a -*- makefile -*-
#
# As Lisa/M and Lisa/MX have the same configuration of the IMU this file
# serves as an alias to make the airframe file look consistant.
include $(CFG_SHARED)/imu_lisa_m_or_mx_v2.1.makefile
conf/firmwares/subsystems/shared/imu_lisa_s_v1.0.makefile
-73
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@@ -1,73 +0,0 @@
# Hey Emacs, this is a -*- makefile -*-
#
# Common part for Aspirin IMU v2.1 and v2.2
#
#
# required xml:
# <section name="IMU" prefix="IMU_">
#
# <!-- these gyro and accel calib values are the defaults for aspirin2.1/2.2 -->
# <define name="GYRO_X_NEUTRAL" value="0"/>
# <define name="GYRO_Y_NEUTRAL" value="0"/>
# <define name="GYRO_Z_NEUTRAL" value="0"/>
#
# <define name="GYRO_X_SENS" value="4.359" integer="16"/>
# <define name="GYRO_Y_SENS" value="4.359" integer="16"/>
# <define name="GYRO_Z_SENS" value="4.359" integer="16"/>
#
# <define name="ACCEL_X_NEUTRAL" value="0"/>
# <define name="ACCEL_Y_NEUTRAL" value="0"/>
# <define name="ACCEL_Z_NEUTRAL" value="0"/>
#
# <define name="ACCEL_X_SENS" value="4.905" integer="16"/>
# <define name="ACCEL_Y_SENS" value="4.905" integer="16"/>
# <define name="ACCEL_Z_SENS" value="4.905" integer="16"/>
#
# <!-- replace the mag calibration with your own-->
# <define name="MAG_X_NEUTRAL" value="-45"/>
# <define name="MAG_Y_NEUTRAL" value="334"/>
# <define name="MAG_Z_NEUTRAL" value="7"/>
#
# <define name="MAG_X_SENS" value="3.4936416" integer="16"/>
# <define name="MAG_Y_SENS" value="3.607713" integer="16"/>
# <define name="MAG_Z_SENS" value="4.90788848" integer="16"/>
#
# </section>
#
#
# for fixedwing firmware and ap only
ifeq ($(TARGET), ap)
IMU_ASPIRIN_2_CFLAGS = -DUSE_IMU
endif
IMU_ASPIRIN_2_CFLAGS += -DIMU_TYPE_H=\"imu/imu_aspirin_2_spi.h\"
IMU_ASPIRIN_2_SRCS = $(SRC_SUBSYSTEMS)/imu.c
IMU_ASPIRIN_2_SRCS += $(SRC_SUBSYSTEMS)/imu/imu_aspirin_2_spi.c
IMU_ASPIRIN_2_SRCS += peripherals/mpu60x0.c
IMU_ASPIRIN_2_SRCS += peripherals/mpu60x0_spi.c
include $(CFG_SHARED)/spi_master.makefile
IMU_ASPIRIN_2_CFLAGS += -DASPIRIN_2_SPI_SLAVE_IDX=SPI_SLAVE0
IMU_ASPIRIN_2_CFLAGS += -DASPIRIN_2_SPI_DEV=spi1
IMU_ASPIRIN_2_CFLAGS += -DUSE_SPI1 -DLISA_S
# Slave select configuration
# SLAVE0 is on PA4 (NSS) (MPU600 CS)
IMU_ASPIRIN_2_CFLAGS += -DUSE_SPI_SLAVE0
# SLAVE1 is on PC4, which is the baro CS
IMU_ASPIRIN_2_CFLAGS += -DUSE_SPI_SLAVE1
# add it for all targets except sim, fbw and nps
ifeq (,$(findstring $(TARGET),sim fbw nps))
$(TARGET).CFLAGS += $(IMU_ASPIRIN_2_CFLAGS)
$(TARGET).srcs += $(IMU_ASPIRIN_2_SRCS)
endif
#
# NPS simulator
#
include $(CFG_SHARED)/imu_nps.makefile
conf/firmwares/subsystems/shared/imu_mpu6000.makefile
-49
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@@ -1,49 +0,0 @@
# Hey Emacs, this is a -*- makefile -*-
#
# IMU with MPU6000 via SPI.
#
# if ACCEL and GYRO SENS/NEUTRAL are not defined,
# the defaults from the datasheet will be used
#
include $(CFG_SHARED)/spi_master.makefile
IMU_CFLAGS = -DIMU_TYPE_H=\"imu/imu_mpu6000.h\"
IMU_SRCS = $(SRC_SUBSYSTEMS)/imu.c
IMU_SRCS += $(SRC_SUBSYSTEMS)/imu/imu_mpu6000.c
# MPU
IMU_SRCS += peripherals/mpu60x0.c
IMU_SRCS += peripherals/mpu60x0_spi.c
# for fixedwing firmware and ap only
ifeq ($(TARGET), ap)
IMU_CFLAGS += -DUSE_IMU
endif
# set default SPI device and slave index
IMU_MPU_SPI_DEV ?= spi1
IMU_MPU_SPI_SLAVE_IDX ?= SPI_SLAVE0
# convert spix to upper/lower case
IMU_MPU_SPI_DEV_UPPER=$(shell echo $(IMU_MPU_SPI_DEV) | tr a-z A-Z)
IMU_MPU_SPI_DEV_LOWER=$(shell echo $(IMU_MPU_SPI_DEV) | tr A-Z a-z)
IMU_CFLAGS += -DIMU_MPU_SPI_DEV=$(IMU_MPU_SPI_DEV_LOWER)
IMU_CFLAGS += -DUSE_$(IMU_MPU_SPI_DEV_UPPER)
IMU_CFLAGS += -DIMU_MPU_SPI_SLAVE_IDX=$(IMU_MPU_SPI_SLAVE_IDX)
IMU_CFLAGS += -DUSE_$(IMU_MPU_SPI_SLAVE_IDX)
# add it for all targets except sim, fbw and nps
ifeq (,$(findstring $(TARGET),sim fbw nps))
$(TARGET).CFLAGS += $(IMU_CFLAGS)
$(TARGET).srcs += $(IMU_SRCS)
endif
#
# NPS simulator
#
include $(CFG_SHARED)/imu_nps.makefile
conf/firmwares/subsystems/shared/imu_mpu6000_hmc5883.makefile
-101
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@@ -1,101 +0,0 @@
# Hey Emacs, this is a -*- makefile -*-
#
# IMU with MPU6000 via SPI and HMC5883 via I2c.
#
# if ACCEL and GYRO SENS/NEUTRAL are not defined,
# the defaults from the datasheet will be used
#
# required xml:
# <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>
#
#
include $(CFG_SHARED)/spi_master.makefile
IMU_CFLAGS = -DIMU_TYPE_H=\"imu/imu_mpu6000_hmc5883.h\"
IMU_SRCS = $(SRC_SUBSYSTEMS)/imu.c
IMU_SRCS += $(SRC_SUBSYSTEMS)/imu/imu_mpu6000_hmc5883.c
# MPU
IMU_SRCS += peripherals/mpu60x0.c
IMU_SRCS += peripherals/mpu60x0_spi.c
# Magnetometer
IMU_SRCS += peripherals/hmc58xx.c
# for fixedwing firmware and ap only
ifeq ($(TARGET), ap)
IMU_CFLAGS += -DUSE_IMU
endif
# set default i2c bus
ifeq ($(ARCH), lpc21)
IMU_HMC_I2C_DEV ?= i2c0
else ifeq ($(ARCH), stm32)
IMU_HMC_I2C_DEV ?= i2c2
endif
ifeq ($(TARGET), ap)
ifndef IMU_HMC_I2C_DEV
$(error Error: IMU_HMC_I2C_DEV not configured!)
endif
endif
# convert i2cx to upper/lower case
IMU_HMC_I2C_DEV_UPPER=$(shell echo $(IMU_HMC_I2C_DEV) | tr a-z A-Z)
IMU_HMC_I2C_DEV_LOWER=$(shell echo $(IMU_HMC_I2C_DEV) | tr A-Z a-z)
IMU_CFLAGS += -DIMU_HMC_I2C_DEV=$(IMU_HMC_I2C_DEV_LOWER)
IMU_CFLAGS += -DUSE_$(IMU_HMC_I2C_DEV_UPPER)
# set default SPI device and slave index
ifeq ($(ARCH), lpc21)
IMU_MPU_SPI_DEV ?= spi1
IMU_MPU_SPI_SLAVE_IDX ?= SPI_SLAVE0
else ifeq ($(ARCH), stm32)
IMU_MPU_SPI_DEV ?= spi2
IMU_MPU_SPI_SLAVE_IDX ?= SPI_SLAVE2
endif
ifeq ($(TARGET), ap)
ifndef IMU_MPU_SPI_DEV
$(error Error: IMU_MPU_SPI_DEV not configured!)
endif
ifndef IMU_MPU_SPI_SLAVE_IDX
$(error Error: IMU_MPU_SPI_SLAVE_IDX not configured!)
endif
endif
# convert spix to upper/lower case
IMU_MPU_SPI_DEV_UPPER=$(shell echo $(IMU_MPU_SPI_DEV) | tr a-z A-Z)
IMU_MPU_SPI_DEV_LOWER=$(shell echo $(IMU_MPU_SPI_DEV) | tr A-Z a-z)
IMU_CFLAGS += -DIMU_MPU_SPI_DEV=$(IMU_MPU_SPI_DEV_LOWER)
IMU_CFLAGS += -DUSE_$(IMU_MPU_SPI_DEV_UPPER)
IMU_CFLAGS += -DIMU_MPU_SPI_SLAVE_IDX=$(IMU_MPU_SPI_SLAVE_IDX)
IMU_CFLAGS += -DUSE_$(IMU_MPU_SPI_SLAVE_IDX)
# add it for all targets except sim, fbw and nps
ifeq (,$(findstring $(TARGET),sim fbw nps))
$(TARGET).CFLAGS += $(IMU_CFLAGS)
$(TARGET).srcs += $(IMU_SRCS)
endif
#
# NPS simulator
#
include $(CFG_SHARED)/imu_nps.makefile
conf/firmwares/subsystems/shared/imu_mpu60x0_i2c.makefile
-41
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@@ -1,41 +0,0 @@
# Hey Emacs, this is a -*- makefile -*-
#
# MPU60X0 IMU via I2C
#
# for fixedwing firmware and ap only
ifeq ($(TARGET), ap)
IMU_MPU60X0_CFLAGS = -DUSE_IMU
endif
IMU_MPU60X0_CFLAGS += -DIMU_TYPE_H=\"imu/imu_mpu60x0_i2c.h\"
IMU_MPU60X0_SRCS = $(SRC_SUBSYSTEMS)/imu.c
IMU_MPU60X0_SRCS += $(SRC_SUBSYSTEMS)/imu/imu_mpu60x0_i2c.c
IMU_MPU60X0_SRCS += peripherals/mpu60x0.c
IMU_MPU60X0_SRCS += peripherals/mpu60x0_i2c.c
# convert i2cx to upper/lower case
IMU_MPU60X0_I2C_DEV_UPPER=$(shell echo $(IMU_MPU60X0_I2C_DEV) | tr a-z A-Z)
IMU_MPU60X0_I2C_DEV_LOWER=$(shell echo $(IMU_MPU60X0_I2C_DEV) | tr A-Z a-z)
IMU_MPU60X0_CFLAGS += -DIMU_MPU60X0_I2C_DEV=$(IMU_MPU60X0_I2C_DEV_LOWER)
IMU_MPU60X0_CFLAGS += -DUSE_$(IMU_MPU60X0_I2C_DEV_UPPER)
# add it for all targets except sim, fbw and nps
ifeq (,$(findstring $(TARGET),sim fbw nps))
ifndef IMU_MPU60X0_I2C_DEV
$(error Error: IMU_MPU60X0_I2C_DEV not configured!)
endif
$(TARGET).CFLAGS += $(IMU_MPU60X0_CFLAGS)
$(TARGET).srcs += $(IMU_MPU60X0_SRCS)
endif
#
# NPS simulator
#
include $(CFG_SHARED)/imu_nps.makefile
conf/firmwares/subsystems/shared/imu_mpu9250_i2c.makefile
-52
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@@ -1,52 +0,0 @@
# Hey Emacs, this is a -*- makefile -*-
#
# MPU9250 IMU via I2C
#
# for fixedwing firmware and ap only
ifeq ($(TARGET), ap)
IMU_MPU9250_CFLAGS = -DUSE_IMU
endif
IMU_MPU9250_CFLAGS += -DIMU_TYPE_H=\"imu/imu_mpu9250_i2c.h\"
IMU_MPU9250_SRCS = $(SRC_SUBSYSTEMS)/imu.c
IMU_MPU9250_SRCS += $(SRC_SUBSYSTEMS)/imu/imu_mpu9250_i2c.c
IMU_MPU9250_SRCS += peripherals/mpu9250.c
IMU_MPU9250_SRCS += peripherals/mpu9250_i2c.c
# Magnetometer
IMU_MPU9250_SRCS += peripherals/ak8963.c
# set default i2c bus
ifeq ($(ARCH), lpc21)
MPU9250_I2C_DEV ?= i2c0
else ifeq ($(ARCH), stm32)
MPU9250_I2C_DEV ?= i2c2
endif
ifeq ($(TARGET), ap)
ifndef MPU9250_I2C_DEV
$(error Error: MPU9250_I2C_DEV not configured!)
endif
endif
# convert i2cx to upper/lower case
MPU9250_I2C_DEV_UPPER=$(shell echo $(MPU9250_I2C_DEV) | tr a-z A-Z)
MPU9250_I2C_DEV_LOWER=$(shell echo $(MPU9250_I2C_DEV) | tr A-Z a-z)
IMU_MPU9250_CFLAGS += -DIMU_MPU9250_I2C_DEV=$(MPU9250_I2C_DEV_LOWER)
IMU_MPU9250_CFLAGS += -DUSE_$(MPU9250_I2C_DEV_UPPER)
# add it for all targets except sim, fbw and nps
ifeq (,$(findstring $(TARGET),sim fbw nps))
$(TARGET).CFLAGS += $(IMU_MPU9250_CFLAGS)
$(TARGET).srcs += $(IMU_MPU9250_SRCS)
endif
#
# NPS simulator
#
include $(CFG_SHARED)/imu_nps.makefile
conf/firmwares/subsystems/shared/imu_mpu9250_spi.makefile
-59
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@@ -1,59 +0,0 @@
# Hey Emacs, this is a -*- makefile -*-
#
# MPU9250 IMU via SPI
# Should @ conf/firmwares/subsystems/shared/imu_mpu9250_spi.makefile
#
include $(CFG_SHARED)/spi_master.makefile
# for fixedwing firmware and ap only
ifeq ($(TARGET), ap)
IMU_MPU9250_CFLAGS = -DUSE_IMU
endif
IMU_MPU9250_CFLAGS += -DIMU_TYPE_H=\"imu/imu_mpu9250_spi.h\"
IMU_MPU9250_SRCS = $(SRC_SUBSYSTEMS)/imu.c
IMU_MPU9250_SRCS += $(SRC_SUBSYSTEMS)/imu/imu_mpu9250_spi.c
IMU_MPU9250_SRCS += peripherals/mpu9250.c
IMU_MPU9250_SRCS += peripherals/mpu9250_spi.c
# set default SPI device and slave index
ifeq ($(ARCH), lpc21)
IMU_MPU9250_SPI_DEV ?= spi1
IMU_MPU9250_SPI_SLAVE_IDX ?= SPI_SLAVE0
else ifeq ($(ARCH), stm32)
IMU_MPU9250_SPI_DEV ?= spi2
IMU_MPU9250_SPI_SLAVE_IDX ?= SPI_SLAVE2
endif
ifeq ($(TARGET), ap)
ifndef IMU_MPU9250_SPI_DEV
$(error Error: IMU_MPU9250_SPI_DEV not configured!)
endif
ifndef IMU_MPU9250_SPI_SLAVE_IDX
$(error Error: IMU_MPU9250_SPI_SLAVE_IDX not configured!)
endif
endif
# convert spix to upper/lower case
IMU_MPU9250_SPI_DEV_UPPER=$(shell echo $(IMU_MPU9250_SPI_DEV) | tr a-z A-Z)
IMU_MPU9250_SPI_DEV_LOWER=$(shell echo $(IMU_MPU9250_SPI_DEV) | tr A-Z a-z)
IMU_MPU9250_CFLAGS += -DIMU_MPU9250_SPI_DEV=$(IMU_MPU9250_SPI_DEV_LOWER)
IMU_MPU9250_CFLAGS += -DUSE_$(IMU_MPU9250_SPI_DEV_UPPER)
IMU_MPU9250_CFLAGS += -DIMU_MPU9250_SPI_SLAVE_IDX=$(IMU_MPU9250_SPI_SLAVE_IDX)
IMU_MPU9250_CFLAGS += -DUSE_$(IMU_MPU9250_SPI_SLAVE_IDX)
# add it for all targets except sim, fbw and nps
ifeq (,$(findstring $(TARGET),sim fbw nps))
$(TARGET).CFLAGS += $(IMU_MPU9250_CFLAGS)
$(TARGET).srcs += $(IMU_MPU9250_SRCS)
endif
#
# NPS simulator
#
include $(CFG_SHARED)/imu_nps.makefile
conf/firmwares/subsystems/shared/imu_navgo.makefile
-26
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@@ -1,26 +0,0 @@
IMU_NAVGO_CFLAGS = -DUSE_IMU
IMU_NAVGO_CFLAGS += -DIMU_TYPE_H=\"boards/navgo/imu_navgo.h\"
IMU_NAVGO_SRCS = $(SRC_SUBSYSTEMS)/imu.c \
$(SRC_BOARD)/imu_navgo.c
IMU_NAVGO_I2C_DEV=i2c1
IMU_NAVGO_CFLAGS += -DUSE_I2C
IMU_NAVGO_CFLAGS += -DUSE_I2C1 -DI2C1_SCLL=25 -DI2C1_SCLH=25
IMU_NAVGO_CFLAGS += -DIMU_NAVGO_I2C_DEV=$(IMU_NAVGO_I2C_DEV)
IMU_NAVGO_SRCS += peripherals/itg3200.c
IMU_NAVGO_SRCS += peripherals/adxl345_i2c.c
IMU_NAVGO_SRCS += peripherals/hmc58xx.c
# add it for all targets except sim, fbw and nps
ifeq (,$(findstring $(TARGET),sim fbw nps))
$(TARGET).CFLAGS += $(IMU_NAVGO_CFLAGS)
$(TARGET).srcs += $(IMU_NAVGO_SRCS)
endif
#
# Simulator
#
include $(CFG_SHARED)/imu_nps.makefile
conf/firmwares/subsystems/shared/imu_navstik.makefile
-50
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@@ -1,50 +0,0 @@
# Hey Emacs, this is a -*- makefile -*-
#
# Navstik onboard IMU
#
#
# if ACCEL and GYRO SENS/NEUTRAL are not defined,
# the defaults from the datasheet will be used
#
# required xml:
# <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>
#
IMU_CFLAGS = -DUSE_IMU -DIMU_NAVSTIK -DIMU_TYPE_H=\"imu/imu_navstik.h\"
IMU_SRCS = $(SRC_SUBSYSTEMS)/imu.c $(SRC_SUBSYSTEMS)/imu/imu_navstik.c
IMU_SRCS += peripherals/hmc58xx.c
IMU_SRCS += peripherals/mpu60x0.c peripherals/mpu60x0_i2c.c
NAVSTIK_MAG_I2C_DEV ?= i2c3
NAVSTIK_MPU_I2C_DEV ?= i2c1
NAVSTIK_MAG_I2C_DEV_UPPER=$(shell echo $(NAVSTIK_MAG_I2C_DEV) | tr a-z A-Z)
NAVSTIK_MAG_I2C_DEV_LOWER=$(shell echo $(NAVSTIK_MAG_I2C_DEV) | tr A-Z a-z)
NAVSTIK_MPU_I2C_DEV_UPPER=$(shell echo $(NAVSTIK_MPU_I2C_DEV) | tr a-z A-Z)
NAVSTIK_MPU_I2C_DEV_LOWER=$(shell echo $(NAVSTIK_MPU_I2C_DEV) | tr A-Z a-z)
IMU_CFLAGS += -DNAVSTIK_MAG_I2C_DEV=$(NAVSTIK_MAG_I2C_DEV_LOWER) -DNAVSTIK_MPU_I2C_DEV=$(NAVSTIK_MPU_I2C_DEV_LOWER)
IMU_CFLAGS += -DUSE_$(NAVSTIK_MAG_I2C_DEV_UPPER)=1 -DUSE_$(NAVSTIK_MPU_I2C_DEV_UPPER)=1
# add it for all targets except sim, fbw and nps
ifeq (,$(findstring $(TARGET),sim fbw nps))
$(TARGET).CFLAGS += $(IMU_CFLAGS)
$(TARGET).srcs += $(IMU_SRCS)
endif
#
# NPS simulator
#
include $(CFG_SHARED)/imu_nps.makefile
conf/firmwares/subsystems/shared/imu_nps.makefile
-24
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@@ -1,24 +0,0 @@
# Hey Emacs, this is a -*- makefile -*-
#
# simulated IMU for NPS (NewPaparazziSim)
#
# If ACCEL and GYRO SENS/NEUTRAL are not defined,
# the defaults of aspirin v1.5 are used.
# This fits the nps_sensors_params_default.h
#
# required xml:
# <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>
#
nps.CFLAGS += -DIMU_TYPE_H=\"imu/imu_nps.h\" -DUSE_IMU
nps.srcs += $(SRC_SUBSYSTEMS)/imu.c $(SRC_SUBSYSTEMS)/imu/imu_nps.c
conf/firmwares/subsystems/shared/imu_openpilot_revo.makefile
-85
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@@ -1,85 +0,0 @@
# Hey Emacs, this is a -*- makefile -*-
#
# IMU with MPU6000 via SPI and HMC5883 via I2c on the OpenPilot Revolution board.
# The IMU positive X-axis is as inidcated with arrows on the board,
# Z-axis is negative towards the side of the MPU and LEDs (that side is up)
#
# if ACCEL and GYRO SENS/NEUTRAL are not defined,
# the defaults from the datasheet will be used
#
# required xml:
# <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>
#
#
include $(CFG_SHARED)/spi_master.makefile
IMU_CFLAGS = -DIMU_TYPE_H=\"imu/imu_mpu6000_hmc5883.h\"
IMU_SRCS = $(SRC_SUBSYSTEMS)/imu.c
IMU_SRCS += $(SRC_SUBSYSTEMS)/imu/imu_mpu6000_hmc5883.c
# MPU
IMU_SRCS += peripherals/mpu60x0.c
IMU_SRCS += peripherals/mpu60x0_spi.c
# Magnetometer
IMU_SRCS += peripherals/hmc58xx.c
# for fixedwing firmware and ap only
ifeq ($(TARGET), ap)
IMU_CFLAGS += -DUSE_IMU
endif
# HMC is on I2C1 on OpenPilot Revolution
IMU_HMC_I2C_DEV = i2c1
# convert i2cx to upper/lower case
IMU_HMC_I2C_DEV_UPPER=$(shell echo $(IMU_HMC_I2C_DEV) | tr a-z A-Z)
IMU_HMC_I2C_DEV_LOWER=$(shell echo $(IMU_HMC_I2C_DEV) | tr A-Z a-z)
IMU_CFLAGS += -DIMU_HMC_I2C_DEV=$(IMU_HMC_I2C_DEV_LOWER)
IMU_CFLAGS += -DUSE_$(IMU_HMC_I2C_DEV_UPPER)
# MPU600 is on SPI1 using SPI_SLAVE_2 as defined in openpilot_revo_1.0.h
IMU_MPU_SPI_DEV = spi1
IMU_MPU_SPI_SLAVE_IDX = SPI_SLAVE2
# convert spix to upper/lower case
IMU_MPU_SPI_DEV_UPPER=$(shell echo $(IMU_MPU_SPI_DEV) | tr a-z A-Z)
IMU_MPU_SPI_DEV_LOWER=$(shell echo $(IMU_MPU_SPI_DEV) | tr A-Z a-z)
IMU_CFLAGS += -DIMU_MPU_SPI_DEV=$(IMU_MPU_SPI_DEV_LOWER)
IMU_CFLAGS += -DUSE_$(IMU_MPU_SPI_DEV_UPPER)
IMU_CFLAGS += -DIMU_MPU_SPI_SLAVE_IDX=$(IMU_MPU_SPI_SLAVE_IDX)
IMU_CFLAGS += -DUSE_$(IMU_MPU_SPI_SLAVE_IDX)
# set channels and signs so that positive x-axis is indicated by arrows on board
# and the side with MPU and LEDs is up (negative z-axis)
IMU_CFLAGS += -DIMU_MPU_CHAN_X=1 -DIMU_MPU_CHAN_Y=0 -DIMU_MPU_CHAN_Z=2
IMU_CFLAGS += -DIMU_MPU_X_SIGN=-1 -DIMU_MPU_Y_SIGN=-1 -DIMU_MPU_Z_SIGN=-1
IMU_CFLAGS += -DIMU_HMC_CHAN_X=1 -DIMU_HMC_CHAN_Y=0 -DIMU_HMC_CHAN_Z=2
IMU_CFLAGS += -DIMU_HMC_X_SIGN=1 -DIMU_HMC_Y_SIGN=1 -DIMU_HMC_Z_SIGN=-1
# add it for all targets except sim, fbw and nps
ifeq (,$(findstring $(TARGET),sim fbw nps))
$(TARGET).CFLAGS += $(IMU_CFLAGS)
$(TARGET).srcs += $(IMU_SRCS)
endif
#
# NPS simulator
#
include $(CFG_SHARED)/imu_nps.makefile

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