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[imu] Enable IMU integration and fix small mistakes

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This commit is contained in:
Freek van Tienen
2022-09-20 13:51:28 +02:00
parent affcc2c2d9
commit 3e473e72a6
11 changed files with 226 additions and 180 deletions
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conf/modules/imu_cube.xml
+13 -8
View File
@@ -4,6 +4,9 @@
<doc>
<description>
IMU driver for the sensors inside the cube autopilots
- IMU1: ICM20948 (non-isolated)
- IMU2: ICM20602 (isolated)
- IMU3: ICM20649 (isolated)
</description>
</doc>
<dep>
@@ -19,31 +22,33 @@
<periodic fun="imu_cube_periodic()"/>
<event fun="imu_cube_event()"/>
<makefile target="!sim|nps|fbw">
<!-- ICM20602 (isolated) -->
<configure name="CUBE_IMU1_SPI_DEV" default="spi4" case="lower|upper"/>
<configure name="CUBE_IMU1_SPI_SLAVE_IDX" default="SPI_SLAVE3"/>
<!-- ICM20948 (non-isolated) -->
<configure name="CUBE_IMU1_SPI_DEV" default="spi1" case="lower|upper"/>
<configure name="CUBE_IMU1_SPI_SLAVE_IDX" default="SPI_SLAVE2"/>
<define name="CUBE_IMU1_SPI_DEV" value="$(CUBE_IMU1_SPI_DEV_LOWER)"/>
<define name="USE_$(CUBE_IMU1_SPI_DEV_UPPER)"/>
<define name="CUBE_IMU1_SPI_SLAVE_IDX" value="$(CUBE_IMU1_SPI_SLAVE_IDX)"/>
<define name="USE_$(CUBE_IMU1_SPI_SLAVE_IDX)"/>
<!-- ICM20649 (isolated) -->
<!-- ICM20602 (isolated) -->
<configure name="CUBE_IMU2_SPI_DEV" default="spi4" case="lower|upper"/>
<configure name="CUBE_IMU2_SPI_SLAVE_IDX" default="SPI_SLAVE8"/>
<configure name="CUBE_IMU2_SPI_SLAVE_IDX" default="SPI_SLAVE3"/>
<define name="CUBE_IMU2_SPI_DEV" value="$(CUBE_IMU2_SPI_DEV_LOWER)"/>
<define name="USE_$(CUBE_IMU2_SPI_DEV_UPPER)"/>
<define name="CUBE_IMU2_SPI_SLAVE_IDX" value="$(CUBE_IMU2_SPI_SLAVE_IDX)"/>
<define name="USE_$(CUBE_IMU2_SPI_SLAVE_IDX)"/>
<!-- ICM20948 (non-isolated) -->
<configure name="CUBE_IMU3_SPI_DEV" default="spi1" case="lower|upper"/>
<configure name="CUBE_IMU3_SPI_SLAVE_IDX" default="SPI_SLAVE2"/>
<!-- ICM20649 (isolated) -->
<configure name="CUBE_IMU3_SPI_DEV" default="spi4" case="lower|upper"/>
<configure name="CUBE_IMU3_SPI_SLAVE_IDX" default="SPI_SLAVE8"/>
<define name="CUBE_IMU3_SPI_DEV" value="$(CUBE_IMU3_SPI_DEV_LOWER)"/>
<define name="USE_$(CUBE_IMU3_SPI_DEV_UPPER)"/>
<define name="CUBE_IMU3_SPI_SLAVE_IDX" value="$(CUBE_IMU3_SPI_SLAVE_IDX)"/>
<define name="USE_$(CUBE_IMU3_SPI_SLAVE_IDX)"/>
<file name="invensense2.c" dir="peripherals"/>
<file name="mpu60x0.c" dir="peripherals"/>
<file name="mpu60x0_spi.c" dir="peripherals"/>
<file name="imu_cube.c"/>
</makefile>
</module>
conf/modules/ins_ekf2.xml
+1 -1
View File
@@ -79,7 +79,7 @@
<include name="$(PAPARAZZI_SRC)/sw/ext/matrix/"/>
<define name="__PAPARAZZI" value="TRUE"/>
<define name="ECL_STANDALONE" value="TRUE"/>
<define name="USE_MAGNETOMETER" value="TRUE"/> <!-- Needed for IMU to get scaled version -->
<define name="IMU_INTEGRATION" value="TRUE"/> <!-- Needed to enable IMU integration -->
<!-- Compile needed ecl files -->
<file name="geo.cpp" dir="ecl/geo"/>