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[imu] Multi IMU support

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Freek van Tienen
2022-05-16 10:16:46 +02:00
parent ad4654b77f
commit 7c7cfbc395
14 changed files with 479 additions and 218 deletions
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conf/modules/imu_cube.xml
+19 -10
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@@ -19,22 +19,31 @@
<periodic fun="imu_cube_periodic()"/>
<event fun="imu_cube_event()"/>
<makefile target="!sim|nps|fbw">
<define name="IMU_TYPE_H" value="modules/imu/imu_cube.h" type="string"/>
<!-- ICM20602 (isolated) -->
<!--configure name="CUBE_IMU1_SPI_DEV" default="spi4" case="lower|upper"/>
<configure name="CUBE_IMU1_SPI_SLAVE_IDX" default="SPI_SLAVE3"/-->
<!-- ICM20649 (isolated) -->
<!--configure name="CUBE_IMU1_SPI_DEV" default="spi4" case="lower|upper"/>
<configure name="CUBE_IMU1_SPI_SLAVE_IDX" default="SPI_SLAVE8"/-->
<!-- ICM20948 (non-isolated) -->
<configure name="CUBE_IMU1_SPI_DEV" default="spi1" case="lower|upper"/>
<configure name="CUBE_IMU1_SPI_SLAVE_IDX" default="SPI_SLAVE2"/>
<configure name="CUBE_IMU1_SPI_DEV" default="spi4" case="lower|upper"/>
<configure name="CUBE_IMU1_SPI_SLAVE_IDX" default="SPI_SLAVE3"/>
<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)"/>
<define name="IMU_TYPE_H" value="modules/imu/imu_cube.h" type="string"/>
<!-- ICM20649 (isolated) -->
<configure name="CUBE_IMU2_SPI_DEV" default="spi4" case="lower|upper"/>
<configure name="CUBE_IMU2_SPI_SLAVE_IDX" default="SPI_SLAVE8"/>
<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"/>
<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="imu_cube.c"/>