mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-05 06:54:49 +08:00
added subsystem makefiles for aspirin v1.0 and v1.5
See github issue #96 and plese report other channel/sign problems with other aspirin versions. Please replace <subsystem name="imu" type="aspirin"/> with <subsystem name="imu" type="aspirin_v1.0"/> (or aspirin_v1.5) in your airframe file.
This commit is contained in:
Felix Ruess
@@ -1,66 +1,3 @@
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#
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# Aspirin IMU
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#
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#
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# required xml:
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# <section name="IMU" prefix="IMU_">
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#
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# <define name="GYRO_X_NEUTRAL" value="33924"/>
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# <define name="GYRO_Y_NEUTRAL" value="33417"/>
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# <define name="GYRO_Z_NEUTRAL" value="32809"/>
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#
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# <define name="GYRO_X_SENS" value="1.01" integer="16"/>
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# <define name="GYRO_Y_SENS" value="1.01" integer="16"/>
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# <define name="GYRO_Z_SENS" value="1.01" integer="16"/>
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#
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# <define name="ACCEL_X_NEUTRAL" value="32081"/>
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# <define name="ACCEL_Y_NEUTRAL" value="33738"/>
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# <define name="ACCEL_Z_NEUTRAL" value="32441"/>
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#
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# <define name="ACCEL_X_SENS" value="2.50411474" integer="16"/>
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# <define name="ACCEL_Y_SENS" value="2.48126183" integer="16"/>
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# <define name="ACCEL_Z_SENS" value="2.51396167" integer="16"/>
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#
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# <define name="MAG_X_NEUTRAL" value="2358"/>
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# <define name="MAG_Y_NEUTRAL" value="2362"/>
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# <define name="MAG_Z_NEUTRAL" value="2119"/>
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#
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# <define name="MAG_X_SENS" value="3.4936416" integer="16"/>
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# <define name="MAG_Y_SENS" value="3.607713" integer="16"/>
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# <define name="MAG_Z_SENS" value="4.90788848" integer="16"/>
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#
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# </section>
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#
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#
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include $(CFG_SHARED)/imu_aspirin_v1.0.makefile
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# imu aspirin
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IMU_ASPIRIN_CFLAGS = -DUSE_IMU
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IMU_ASPIRIN_CFLAGS += -DIMU_TYPE_H=\"imu/imu_aspirin.h\" -DIMU_OVERRIDE_CHANNELS
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IMU_ASPIRIN_SRCS = $(SRC_SUBSYSTEMS)/imu.c \
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$(SRC_SUBSYSTEMS)/imu/imu_aspirin.c \
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$(SRC_ARCH)/subsystems/imu/imu_aspirin_arch.c
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# Magnetometer
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IMU_ASPIRIN_SRCS += peripherals/hmc5843.c $(SRC_ARCH)/peripherals/hmc5843_arch.c
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IMU_ASPIRIN_CFLAGS += -DUSE_I2C2
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ifeq ($(ARCH), lpc21)
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#TODO
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else ifeq ($(ARCH), stm32)
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IMU_ASPIRIN_CFLAGS += -DUSE_EXTI15_10_IRQ # Gyro Int on PC14
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IMU_ASPIRIN_CFLAGS += -DUSE_EXTI9_5_IRQ # Mag Int on PB5
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IMU_ASPIRIN_CFLAGS += -DUSE_EXTI2_IRQ # Accel Int on PD2
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IMU_ASPIRIN_CFLAGS += -DUSE_DMA1_C4_IRQ # SPI2 Rx DMA
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endif
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# Keep CFLAGS/Srcs for imu in separate expression so we can assign it to other targets
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# see: conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.1.makefile for example
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ap.CFLAGS += $(IMU_ASPIRIN_CFLAGS)
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ap.srcs += $(IMU_ASPIRIN_SRCS)
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# sim not done yet
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#sim.CFLAGS += $(IMU_ASPIRIN_CFLAGS)
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#sim.srcs += $(IMU_ASPIRIN_SRCS)
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$(warning The imu_aspirin subsystem has been split up into different versions, please replace <subsystem name="imu" type="aspirin"/> with <subsystem name="imu" type="aspirin_v1.0"/> (or aspirin_v1.5) in your airframe file.)
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@@ -0,0 +1,58 @@
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# Hey Emacs, this is a -*- makefile -*-
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#
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# Common part for all Aspirin IMUs
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#
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#
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# required xml:
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# <section name="IMU" prefix="IMU_">
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#
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# <define name="GYRO_X_NEUTRAL" value="33924"/>
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# <define name="GYRO_Y_NEUTRAL" value="33417"/>
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# <define name="GYRO_Z_NEUTRAL" value="32809"/>
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#
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# <define name="GYRO_X_SENS" value="1.01" integer="16"/>
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# <define name="GYRO_Y_SENS" value="1.01" integer="16"/>
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# <define name="GYRO_Z_SENS" value="1.01" integer="16"/>
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#
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# <define name="ACCEL_X_NEUTRAL" value="32081"/>
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# <define name="ACCEL_Y_NEUTRAL" value="33738"/>
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# <define name="ACCEL_Z_NEUTRAL" value="32441"/>
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#
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# <define name="ACCEL_X_SENS" value="2.50411474" integer="16"/>
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# <define name="ACCEL_Y_SENS" value="2.48126183" integer="16"/>
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# <define name="ACCEL_Z_SENS" value="2.51396167" integer="16"/>
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#
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# <define name="MAG_X_NEUTRAL" value="2358"/>
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# <define name="MAG_Y_NEUTRAL" value="2362"/>
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# <define name="MAG_Z_NEUTRAL" value="2119"/>
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#
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# <define name="MAG_X_SENS" value="3.4936416" integer="16"/>
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# <define name="MAG_Y_SENS" value="3.607713" integer="16"/>
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# <define name="MAG_Z_SENS" value="4.90788848" integer="16"/>
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#
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# </section>
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#
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#
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# imu aspirin
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IMU_ASPIRIN_CFLAGS = -DUSE_IMU
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IMU_ASPIRIN_CFLAGS += -DIMU_TYPE_H=\"imu/imu_aspirin.h\" -DIMU_OVERRIDE_CHANNELS
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IMU_ASPIRIN_SRCS = $(SRC_SUBSYSTEMS)/imu.c \
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$(SRC_SUBSYSTEMS)/imu/imu_aspirin.c \
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$(SRC_ARCH)/subsystems/imu/imu_aspirin_arch.c
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# Magnetometer
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IMU_ASPIRIN_SRCS += peripherals/hmc5843.c $(SRC_ARCH)/peripherals/hmc5843_arch.c
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IMU_ASPIRIN_CFLAGS += -DUSE_I2C2
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ifeq ($(ARCH), lpc21)
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#TODO
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else ifeq ($(ARCH), stm32)
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IMU_ASPIRIN_CFLAGS += -DUSE_EXTI15_10_IRQ # Gyro Int on PC14
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IMU_ASPIRIN_CFLAGS += -DUSE_EXTI9_5_IRQ # Mag Int on PB5
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IMU_ASPIRIN_CFLAGS += -DUSE_EXTI2_IRQ # Accel Int on PD2
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IMU_ASPIRIN_CFLAGS += -DUSE_DMA1_C4_IRQ # SPI2 Rx DMA
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endif
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@@ -0,0 +1,46 @@
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# Hey Emacs, this is a -*- makefile -*-
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#
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# Aspirin IMU v1.0
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#
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#
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# required xml:
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# <section name="IMU" prefix="IMU_">
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#
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# <define name="GYRO_X_NEUTRAL" value="33924"/>
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# <define name="GYRO_Y_NEUTRAL" value="33417"/>
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# <define name="GYRO_Z_NEUTRAL" value="32809"/>
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#
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# <define name="GYRO_X_SENS" value="1.01" integer="16"/>
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# <define name="GYRO_Y_SENS" value="1.01" integer="16"/>
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# <define name="GYRO_Z_SENS" value="1.01" integer="16"/>
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#
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# <define name="ACCEL_X_NEUTRAL" value="32081"/>
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# <define name="ACCEL_Y_NEUTRAL" value="33738"/>
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# <define name="ACCEL_Z_NEUTRAL" value="32441"/>
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#
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# <define name="ACCEL_X_SENS" value="2.50411474" integer="16"/>
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# <define name="ACCEL_Y_SENS" value="2.48126183" integer="16"/>
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# <define name="ACCEL_Z_SENS" value="2.51396167" integer="16"/>
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#
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# <define name="MAG_X_NEUTRAL" value="2358"/>
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# <define name="MAG_Y_NEUTRAL" value="2362"/>
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# <define name="MAG_Z_NEUTRAL" value="2119"/>
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#
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# <define name="MAG_X_SENS" value="3.4936416" integer="16"/>
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# <define name="MAG_Y_SENS" value="3.607713" integer="16"/>
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# <define name="MAG_Z_SENS" value="4.90788848" integer="16"/>
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#
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# </section>
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#
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#
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# imu aspirin
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include $(CFG_SHARED)/imu_aspirin_common.makefile
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IMU_ASPIRIN_CFLAGS += -DIMU_ASPIRIN_VERSION_1_0
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# Keep CFLAGS/Srcs for imu in separate expression so we can assign it to other targets
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# see: conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.1.makefile for example
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ap.CFLAGS += $(IMU_ASPIRIN_CFLAGS)
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ap.srcs += $(IMU_ASPIRIN_SRCS)
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@@ -0,0 +1,46 @@
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# Hey Emacs, this is a -*- makefile -*-
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#
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# Aspirin IMU v1.5
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#
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#
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# required xml:
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# <section name="IMU" prefix="IMU_">
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#
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# <define name="GYRO_X_NEUTRAL" value="33924"/>
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# <define name="GYRO_Y_NEUTRAL" value="33417"/>
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# <define name="GYRO_Z_NEUTRAL" value="32809"/>
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#
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# <define name="GYRO_X_SENS" value="1.01" integer="16"/>
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# <define name="GYRO_Y_SENS" value="1.01" integer="16"/>
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# <define name="GYRO_Z_SENS" value="1.01" integer="16"/>
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#
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# <define name="ACCEL_X_NEUTRAL" value="32081"/>
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# <define name="ACCEL_Y_NEUTRAL" value="33738"/>
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# <define name="ACCEL_Z_NEUTRAL" value="32441"/>
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#
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# <define name="ACCEL_X_SENS" value="2.50411474" integer="16"/>
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# <define name="ACCEL_Y_SENS" value="2.48126183" integer="16"/>
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# <define name="ACCEL_Z_SENS" value="2.51396167" integer="16"/>
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#
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# <define name="MAG_X_NEUTRAL" value="2358"/>
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# <define name="MAG_Y_NEUTRAL" value="2362"/>
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# <define name="MAG_Z_NEUTRAL" value="2119"/>
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#
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# <define name="MAG_X_SENS" value="3.4936416" integer="16"/>
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# <define name="MAG_Y_SENS" value="3.607713" integer="16"/>
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# <define name="MAG_Z_SENS" value="4.90788848" integer="16"/>
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#
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# </section>
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#
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#
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# imu aspirin
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include $(CFG_SHARED)/imu_aspirin_common.makefile
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IMU_ASPIRIN_CFLAGS += -DIMU_ASPIRIN_VERSION_1_5
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# Keep CFLAGS/Srcs for imu in separate expression so we can assign it to other targets
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# see: conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.1.makefile for example
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ap.CFLAGS += $(IMU_ASPIRIN_CFLAGS)
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ap.srcs += $(IMU_ASPIRIN_SRCS)
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@@ -32,9 +32,27 @@
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#include "peripherals/hmc5843.h"
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#include "peripherals/adxl345.h"
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#ifdef IMU_ASPIRIN_VERSION_1_0
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#define IMU_MAG_X_CHAN 0
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#define IMU_MAG_Y_CHAN 1
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#define IMU_MAG_Z_CHAN 2
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#if !defined IMU_MAG_X_SIGN & !defined IMU_MAG_Y_SIGN & !defined IMU_MAG_Z_SIGN
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#define IMU_MAG_X_SIGN 1
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#define IMU_MAG_Y_SIGN 1
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#define IMU_MAG_Z_SIGN 1
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#endif
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#endif
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#ifdef IMU_ASPIRIN_VERSION_1_5
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#define IMU_MAG_X_CHAN 2
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#define IMU_MAG_Y_CHAN 0
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#define IMU_MAG_Z_CHAN 1
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#if !defined IMU_MAG_X_SIGN & !defined IMU_MAG_Y_SIGN & !defined IMU_MAG_Z_SIGN
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#define IMU_MAG_X_SIGN 1
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#define IMU_MAG_Y_SIGN -1
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#define IMU_MAG_Z_SIGN 1
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#endif
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#endif
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#if !defined IMU_GYRO_P_SIGN & !defined IMU_GYRO_Q_SIGN & !defined IMU_GYRO_R_SIGN
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#define IMU_GYRO_P_SIGN 1
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@@ -46,11 +64,6 @@
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#define IMU_ACCEL_Y_SIGN 1
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#define IMU_ACCEL_Z_SIGN 1
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#endif
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#if !defined IMU_MAG_X_SIGN & !defined IMU_MAG_Y_SIGN & !defined IMU_MAG_Z_SIGN
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#define IMU_MAG_X_SIGN 1
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#define IMU_MAG_Y_SIGN 1
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#define IMU_MAG_Z_SIGN 1
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#endif
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enum AspirinStatus
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{ AspirinStatusUninit,
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