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a07d674c19
* Silent compile warnings in tests * silent warnings in conf_test * fix defines: if OLD -> warn and convert. If new, then use. If no old and no new, use default.
50 lines
2.2 KiB
XML
50 lines
2.2 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="imu_mpu9250_i2c" dir="imu" task="sensors">
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<doc>
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<description>
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IMU with MPU9250 via I2C.
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Also reads the internal AK8963 magnetometer.
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</description>
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<configure name="IMU_MPU9250_I2C_DEV" value="i2c2" description="I2C device to use for MPU9250"/>
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<define name="IMU_MPU9250_GYRO_LOWPASS_FILTER" value="MPU9250_DLPF_GYRO_250HZ" description="gyro DigitalLowPassFilter setting of the MPU"/>
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<define name="IMU_MPU9250_ACCEL_LOWPASS_FILTER" value="MPU9250_DLPF_ACCEL_184HZ" description="accelerometer DigitalLowPassFilter setting of the MPU"/>
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<define name="IMU_MPU9250_SMPLRT_DIV" value="3" description="sample rate divider setting of the MPU"/>
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<define name="IMU_MPU9250_GYRO_RANGE" value="MPU9250_GYRO_RANGE_1000" description="gyroscope range setting of the MPU"/>
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<define name="IMU_MPU9250_ACCEL_RANGE" value="MPU9250_ACCEL_RANGE_8G" description="accelerometer range setting of the MPU"/>
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<define name="IMU_MPU9250_I2C_ADDR" value="MPU9250_ADDR_ALT" description="I2C address of the MPU"/>
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<define name="IMU_MPU9250_CHAN_X" value="0" description="channel index"/>
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<define name="IMU_MPU9250_CHAN_Y" value="1" description="channel index"/>
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<define name="IMU_MPU9250_CHAN_Z" value="2" description="channel index"/>
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</doc>
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<dep>
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<depends>i2c,imu_common</depends>
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<provides>imu,mag</provides>
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</dep>
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<header>
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<file name="imu_mpu9250_i2c.h"/>
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</header>
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<init fun="imu_mpu9250_init()"/>
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<periodic fun="imu_mpu9250_periodic()"/>
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<event fun="imu_mpu9250_event()"/>
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<makefile target="!sim|nps|fbw">
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<configure name="IMU_MPU9250_I2C_DEV" default="i2c2" case="lower|upper"/>
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<define name="IMU_MPU9250_I2C_DEV" value="$(IMU_MPU9250_I2C_DEV_LOWER)"/>
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<define name="USE_$(IMU_MPU9250_I2C_DEV_UPPER)"/>
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<file name="mpu9250.c" dir="peripherals"/>
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<file name="mpu9250_i2c.c" dir="peripherals"/>
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<file name="ak8963.c" dir="peripherals"/>
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<file name="imu_mpu9250_i2c.c"/>
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<test>
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<define name="IMU_MPU9250_I2C_DEV" value="i2c1"/>
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<define name="USE_I2C1"/>
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<define name="PERIODIC_FREQUENCY" value="512"/>
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<define name="IMU_MPU9250_PERIODIC_FREQ" value="512"/>
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</test>
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</makefile>
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</module>
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