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[apogee] add apogee imu based on mpu60x0

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This commit is contained in:
Gautier Hattenberger
2013-04-24 11:45:16 +02:00
parent aaa7c3e575
commit 19196c4030
6 changed files with 331 additions and 20 deletions
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conf/firmwares/subsystems/shared/imu_apogee.makefile
+27
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# 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_i2c.c
# with default APOGEE_SMPLRT_DIV (gyro output 100Hz)
# the AHRS_PROPAGATE_FREQUENCY needs to be adjusted accordingly
AHRS_PROPAGATE_FREQUENCY ?= 100
AHRS_CORRECT_FREQUENCY ?= 100
ap.CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
ap.CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
ap.CFLAGS += $(IMU_APOGEE_CFLAGS)
ap.srcs += $(IMU_APOGEE_SRCS)