started adding some sim arch fils for aspirin, still needs some work

conf/autopilot/subsystems/rotorcraft/imu_aspirin.makefile

@@ -60,3 +60,7 @@ imu_CFLAGS += -DUSE_I2C2 -DUSE_EXTI9_5_IRQ
 # see: conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.1.makefile for example
 ap.CFLAGS += $(imu_CFLAGS)
 ap.srcs += $(imu_srcs)
+
+
+sim.CFLAGS += $(imu_CFLAGS)
+sim.srcs += $(imu_srcs)

sw/airborne/arch/sim/peripherals/hmc5843_arch.c

@@ -0,0 +1,26 @@
+/*
+ * Copyright (C) 2011 The Paparazzi Team
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ */
+
+#include "peripherals/hmc5843.h"
+
+void hmc5843_arch_init( void ) {}
+
+void hmc5843_read( void ) {}

sw/airborne/arch/sim/peripherals/hmc5843_arch.h

@@ -0,0 +1,32 @@
+/*
+ * Copyright (C) 2011 The Paparazzi Team
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ */
+
+/*
+ *
+ * simulator plug for hmc5843
+ *
+ */
+
+#ifndef HMC5843_HW_H
+#define HMC5843_HW_H
+
+
+#endif /* HMC5843_HW_H */

sw/airborne/arch/sim/subsystems/imu/imu_aspirin_arch.c

@@ -0,0 +1,58 @@
+/*
+ * $Id$
+ *
+ * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ */
+
+#include "subsystems/imu.h"
+
+#include "generated/airframe.h"
+
+void imu_aspirin_arch_init(void) {
+
+}
+
+void imu_periodic(void) {
+
+}
+
+#include "nps_sensors.h"
+
+void imu_feed_gyro_accel(void) {
+
+  /* do something similar to this, fill imu_aspirin.i2c_trans_gyro and
+   * imu_aspirin.accel_rx_buf
+   */
+  max1168_values[IMU_GYRO_P_CHAN]  = sensors.gyro.value.x;
+  max1168_values[IMU_GYRO_Q_CHAN]  = sensors.gyro.value.y;
+  max1168_values[IMU_GYRO_R_CHAN]  = sensors.gyro.value.z;
+  max1168_values[IMU_ACCEL_X_CHAN] = sensors.accel.value.x;
+  max1168_values[IMU_ACCEL_Y_CHAN] = sensors.accel.value.y;
+  max1168_values[IMU_ACCEL_Z_CHAN] = sensors.accel.value.z;
+  max1168_status = STA_MAX1168_DATA_AVAILABLE;
+}
+
+
+void imu_feed_mag(void) {
+  hmc5843.data.value[IMU_MAG_X_CHAN] = sensors.mag.value.x;
+  hmc5843.data.value[IMU_MAG_Y_CHAN] = sensors.mag.value.y;
+  hmc5843.data.value[IMU_MAG_Z_CHAN] = sensors.mag.value.z;
+  hmc5843.data_available = TRUE;
+}

sw/airborne/arch/sim/subsystems/imu/imu_aspirin_arch.h

@@ -0,0 +1,37 @@
+/*
+ * $Id$
+ *
+ * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ */
+
+/*
+ *
+ * simulator plug for the booz2 v1 imu arch dependant functions
+ *
+ */
+#ifndef IMU_ASPIRIN_ARCH_H
+#define IMU_ASPIRIN_ARCH_H
+
+
+extern void imu_feed_gyro_accel(void);
+extern void imu_feed_mag(void);
+
+
+#endif /* IMU_ASPIRIN_ARCH_H */