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https://github.com/paparazzi/paparazzi.git
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62646d68de
Add two new items in module's dependency: - recommends: a recommended module tells the sorting algo that if the module is found, it should be sorted accordingly. It is useful for optional dependencies, like shell or mission in some modules - suggests: if a functionality is not provided by the user, a module can suggest a list of modules that can provide them. It is a convenient way to have "default" modules. As a result the former autoload node is removed and replaced by suggested modules.
35 lines
1.9 KiB
XML
35 lines
1.9 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="board_tawaki" dir="boards">
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<doc>
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<description>
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Autoload several onboard sensors for the Tawaki board with proper configuration
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- IMU (icm206xx) (auto-detected from MPU6000 driver)
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- Baro (BMP3)
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- Mag (LIS3MDL)
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Normal front of the board is on USB connector side
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Normal up of the board is on the Molex connector side
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</description>
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<configure name="BOARD_TAWAKI_ROTATED" value="FALSE|TRUE" description="if TRUE, the board is not using is default orientation and axis can be redefined by hand"/>
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</doc>
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<dep>
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<depends>baro_bmp3,mag_lis3mdl,imu_mpu6000</depends>
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</dep>
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<makefile target="!sim|nps|fbw">
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<define name="IMU_MPU_GYRO_RANGE" value="MPU60X0_GYRO_RANGE_1000"/>
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<define name="IMU_MPU_ACCEL_RANGE" value="MPU60X0_ACCEL_RANGE_8G"/>
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<configure name="IMU_MPU_SPI_DEV" value="spi4" case="upper|lower"/>
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<configure name="IMU_MPU_SPI_SLAVE_IDX" value="SPI_SLAVE5"/>
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<define name="IMU_MPU_CHAN_X" value="1" cond="ifeq (,$(findstring $(BOARD_TAWAKI_ROTATED),1 TRUE))"/>
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<define name="IMU_MPU_CHAN_Y" value="0" cond="ifeq (,$(findstring $(BOARD_TAWAKI_ROTATED),1 TRUE))"/>
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<define name="IMU_MPU_Y_SIGN" value="-1" cond="ifeq (,$(findstring $(BOARD_TAWAKI_ROTATED),1 TRUE))"/>
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<configure name="BMP3_I2C_DEV" value="i2c4" case="upper|lower"/>
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<define name="BMP3_SLAVE_ADDR" value="BMP3_I2C_ADDR_ALT"/>
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<configure name="MAG_LIS3MDL_I2C_DEV" default="i2c4" case="upper|lower"/>
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<define name="MODULE_LIS3MDL_UPDATE_AHRS"/>
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<define name="LIS3MDL_CHAN_X" value="1" cond="ifeq (,$(findstring $(BOARD_TAWAKI_ROTATED),1 TRUE))"/>
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<define name="LIS3MDL_CHAN_Y" value="0" cond="ifeq (,$(findstring $(BOARD_TAWAKI_ROTATED),1 TRUE))"/>
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<define name="LIS3MDL_CHAN_X_SIGN" value="-" cond="ifeq (,$(findstring $(BOARD_TAWAKI_ROTATED),1 TRUE))"/>
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</makefile>
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</module>
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