From 9a557f0d1b43e2919e366da7a23840fcd9e3597c Mon Sep 17 00:00:00 2001
From: Antoine Drouin <poinix@gmail.com>
Date: Sun, 22 Aug 2010 01:45:33 +0000
Subject: [PATCH] making passthrough configurable

---
 .../lisa_passthrough/imu_b2_v1.1.makefile     | 53 +++++++++++++++++++
 1 file changed, 53 insertions(+)
 create mode 100644 conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.1.makefile

diff --git a/conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.1.makefile b/conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.1.makefile
new file mode 100644
index 0000000000..2a53d12aaa
--- /dev/null
+++ b/conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.1.makefile
@@ -0,0 +1,53 @@
+#
+# Booz2 IMU booz2v1.1
+#
+#
+# required xml:
+#  <section name="IMU" prefix="IMU_">
+#
+#    <define name="GYRO_X_NEUTRAL" value="33924"/>
+#    <define name="GYRO_Y_NEUTRAL" value="33417"/>
+#    <define name="GYRO_Z_NEUTRAL" value="32809"/>
+#
+#    <define name="GYRO_X_SENS" value=" 1.01" integer="16"/>
+#    <define name="GYRO_Y_SENS" value="-1.01" integer="16"/>
+#    <define name="GYRO_Z_SENS" value="-1.01" integer="16"/>
+# 
+#    <define name="ACCEL_X_NEUTRAL" value="32081"/>
+#    <define name="ACCEL_Y_NEUTRAL" value="33738"/>
+#    <define name="ACCEL_Z_NEUTRAL" value="32441"/>
+#
+#    <define name="ACCEL_X_SENS" value="-2.50411474" integer="16"/>
+#    <define name="ACCEL_Y_SENS" value="-2.48126183" integer="16"/>
+#    <define name="ACCEL_Z_SENS" value="-2.51396167" integer="16"/>
+#
+#    <define name="MAG_X_NEUTRAL" value="2358"/>
+#    <define name="MAG_Y_NEUTRAL" value="2362"/> 
+#    <define name="MAG_Z_NEUTRAL" value="2119"/>
+#
+#    <define name="MAG_X_SENS" value="-3.4936416" integer="16"/>
+#    <define name="MAG_Y_SENS" value=" 3.607713" integer="16"/>
+#    <define name="MAG_Z_SENS" value="-4.90788848" integer="16"/>
+#    <define name="MAG_45_HACK" value="1"/> 
+#
+#  </section>
+#
+#
+
+# imu Booz2 v1.1
+stm_passthrough.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_b2.h\"
+stm_passthrough.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_MS2001
+stm_passthrough.CFLAGS += -DIMU_B2_VERSION_1_1
+stm_passthrough.srcs += $(SRC_BOOZ)/booz_imu.c                   \
+           $(SRC_BOOZ)/imu/booz_imu_b2.c            \
+           $(SRC_BOOZ_ARCH)/imu/booz_imu_b2_arch.c
+
+stm_passthrough.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c \
+           $(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c
+
+stm_passthrough.srcs += $(SRC_BOOZ)/peripherals/booz_ms2001.c \
+           $(SRC_BOOZ_ARCH)/peripherals/booz_ms2001_arch.c
+
+stm_passthrough.CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ -DUSE_SPI2_IRQ
+
+