mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-02-05 18:51:00 +08:00
00766ee4d5
- old airframe with single imu configuration will continue to work, ABI id is automatically found - mag modules require @imu to guarantee init order, multiple calls of imu_init is no longer needed - ABI_BROADCAST id is used by default and then replaced by correct ID - imu_set_default_config will override user conf if params are not NULL
54 lines
2.6 KiB
XML
54 lines
2.6 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="mag_lis3mdl" dir="sensors" task="sensors">
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<doc>
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<description>
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ST LIS3MDL magnetometer.
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</description>
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<configure name="MAG_LIS3MDL_I2C_DEV" value="i2cX" description="I2C device to use"/>
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<define name="MODULE_LIS3MDL_SYNC_SEND" value="TRUE|FALSE" description="Send IMU_RAW message with each new measurement (default: FALSE)"/>
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<define name="MODULE_LIS3MDL_UPDATE_AHRS" value="TRUE|FALSE" description="Copy measurements to imu and send as ABI message (default: FALSE)"/>
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<define name="LIS3MDL_CHAN_X_SIGN" value="+|-" description="Reverse polarity of x axis (default: +)"/>
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<define name="LIS3MDL_CHAN_Y_SIGN" value="+|-" description="Reverse polarity of y axis (default: +)"/>
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<define name="LIS3MDL_CHAN_Z_SIGN" value="+|-" description="Reverse polarity of z axis (default: +)"/>
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<define name="LIS3MDL_CHAN_X" value="0|1|2" description="Channel id of x axis (default: 0)"/>
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<define name="LIS3MDL_CHAN_Y" value="0|1|2" description="Channel id of y axis (default: 1)"/>
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<define name="LIS3MDL_CHAN_Z" value="0|1|2" description="Channel id of z axis (default: 2)"/>
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<section name="MAG_LIS3MDL" prefix="LIS3MDL_">
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<define name="MAG_TO_IMU_PHI" value="0.0" description="Rotation between sensor frame and IMU frame (phi angle)"/>
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<define name="MAG_TO_IMU_THETA" value="0.0" description="Rotation between sensor frame and IMU frame (theta angle)"/>
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<define name="MAG_TO_IMU_PSI" value="0.0" description="Rotation between sensor frame and IMU frame (psi angle)"/>
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</section>
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</doc>
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<dep>
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<depends>i2c,@imu</depends>
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<provides>mag</provides>
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</dep>
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<header>
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<file name="mag_lis3mdl.h"/>
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</header>
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<init fun="mag_lis3mdl_module_init()"/>
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<periodic fun="mag_lis3mdl_module_periodic()" freq="60"/>
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<periodic fun="mag_lis3mdl_report()" freq="10" autorun="FALSE"/>
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<event fun="mag_lis3mdl_module_event()"/>
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<makefile target="ap">
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<file name="mag_lis3mdl.c"/>
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<file name="lis3mdl.c" dir="peripherals"/>
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<raw>
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ifeq ($(MAG_LIS3MDL_I2C_DEV),)
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$(error mag_lis3mdl module error: please configure MAG_LIS3MDL_I2C_DEV)
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endif
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</raw>
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<configure name="MAG_LIS3MDL_I2C_DEV" case="upper|lower"/>
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<define name="USE_$(MAG_LIS3MDL_I2C_DEV_UPPER)"/>
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<define name="MAG_LIS3MDL_I2C_DEV" value="$(MAG_LIS3MDL_I2C_DEV_LOWER)"/>
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<test>
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<define name="MAG_LIS3MDL_I2C_DEV" value="i2c1"/>
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<define name="USE_I2C1"/>
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<define name="DOWNLINK_TRANSPORT" value="pprz_tp"/>
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<define name="DOWNLINK_DEVICE" value="uart0"/>
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<define name="USE_UART0"/>
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</test>
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</makefile>
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</module>
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