Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-06-04 22:05:14 +08:00
Code Issues Actions 29 Packages Projects Releases Wiki Activity

convert imu_xsens to module

Browse Source
This commit is contained in:
Felix Ruess
2016-03-30 22:08:07 +02:00
parent 89d761d8a0
commit 2e04df3807
3 changed files with 54 additions and 74 deletions
Download Patch File Download Diff File Expand all files Collapse all files
conf/modules/imu_xsens.xml
+49
View File
@@ -0,0 +1,49 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="ins_xsens700" dir="ins">
<doc>
<description>
XSens IMU
</description>
<configure name="XSENS_PORT" value="uart1" description="The (uart) port the XSens is connected to"/>
<configure name="XSENS_BAUD" value="B115200" description="UART baud rate"/>
</doc>
<header>
<file name="imu_xsens.h"/>
</header>
<!-- imu init/periodic/event still called explicitly in main -->
<makefile target="ap">
<file name="xsens.c"/>
<file name="xsens_common.c"/>
<file name="imu_xsens.c"/>
<file name="imu.c" dir="subsystems"/>
<configure name="XSENS_PORT" default="uart1" case="upper|lower"/>
<configure name="XSENS_BAUD" default="B115200"/>
<define name="USE_$(XSENS_PORT_UPPER)" value="1"/>
<define name="XSENS_LINK" value="$(XSENS_PORT_LOWER)"/>
<define name="$(XSENS_PORT_UPPER)_BAUD" value="$(XSENS_BAUD)"/>
<!-- TODO: check output mode -->
<define name="XSENS_OUTPUT_MODE" value="0x1836"/>
<raw>
ap.CFLAGS += -DIMU_TYPE_H=\"modules/ins/imu_xsens.h\"
</raw>
</makefile>
<makefile target="sim">
<file name="ahrs.c" dir="subsystems"/>
<file name="ahrs_sim.c" dir="subsystems/ahrs"/>
<define name="USE_AHRS"/>
<raw>
sim.CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_sim.h\"
</raw>
</makefile>
<makefile target="nps">
<define name="USE_IMU"/>
<file name="imu_nps.c" dir="subsystems/imu"/>
<raw>
nps.CFLAGS += -DIMU_TYPE_H=\"subsystems/imu/imu_nps.h\"
</raw>
</makefile>
</module>