mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-25 23:46:04 +08:00
Gautier Hattenberger
53 lines
2.3 KiB
XML
53 lines
2.3 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="imu_icm42688" dir="imu" task="sensors">
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<doc>
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<description>
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Driver module for the Invensense v3 IMU ICM42688.
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</description>
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<configure name="IMU_SPI_DEV" value="spi1" description="SPI device to use for ICM42688"/>
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<configure name="IMU_SPI_SLAVE_IDX" value="SPI_SLAVE0" description="Slave index of the IMU AP_CS pin (12)"/>
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<configure name="IMU_ODR" default="4KHZ" description="Output data rate of ACCEL and GYRO (invensense3.h:95/126)"/>
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<configure name="GYRO_RANGE" default="500DPS" description="Gyro range (invensense3.h:114)"/>
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<configure name="ACCEL_RANGE" default="2G" description="Accel range (invensense3.h:145)"/>
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<configure name="GYRO_AAF" value="977" description="Gyro anti-aliasing filter"/>
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<configure name="ACCEL_AAF" value="213" description="Accel anti-aliasing filter"/>
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</doc>
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<dep>
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<depends>i2c,spi_master,imu_common</depends>
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<provides>imu</provides>
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</dep>
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<header>
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<file name="imu_icm42688.h"/>
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</header>
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<init fun="imu_icm42688_init()"/>
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<periodic fun="imu_icm42688_periodic()" freq="1000"/>
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<event fun="imu_icm42688_event()"/>
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<makefile target="!sim|nps|fbw">
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<configure name="IMU_SPI_DEV" default="spi1" case="lower|upper"/>
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<configure name="IMU_SPI_SLAVE_IDX" default="SPI_SLAVE0"/>
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<configure name="IMU_ODR" default="4KHZ"/>
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<configure name="GYRO_RANGE" default="2000DPS"/>
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<configure name="ACCEL_RANGE" default="8G"/>
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<configure name="GYRO_AAF" default="977"/>
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<configure name="ACCEL_AAF" default="213"/>
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<define name="IMU_SPI_DEV" value="$(IMU_SPI_DEV_LOWER)"/>
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<define name="USE_$(IMU_SPI_DEV_UPPER)"/>
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<define name="IMU_SPI_SLAVE_IDX" value="$(IMU_SPI_SLAVE_IDX)"/>
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<define name="USE_$(IMU_SPI_SLAVE_IDX)"/>
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<define name="INVENSENSE3_GYRO_ODR" value="INVENSENSE3_GYRO_ODR_$(IMU_ODR)"/>
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<define name="INVENSENSE3_ACCEL_ODR" value="INVENSENSE3_ACCEL_ODR_$(IMU_ODR)"/>
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<define name="INVENSENSE3_GYRO_RANGE" value="INVENSENSE3_GYRO_RANGE_$(GYRO_RANGE)"/>
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<define name="INVENSENSE3_ACCEL_RANGE" value="INVENSENSE3_ACCEL_RANGE_$(ACCEL_RANGE)"/>
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<define name="INVENSENSE3_GYRO_AAF" value="$(GYRO_AAF)"/>
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<define name="INVENSENSE3_ACCEL_AAF" value="$(ACCEL_AAF)"/>
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<file name="invensense3.c" dir="peripherals"/>
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<file name="imu_icm42688.c"/>
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</makefile>
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</module>
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