mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-27 08:55:51 +08:00
Felix Ruess
99 lines
2.8 KiB
Makefile
99 lines
2.8 KiB
Makefile
# Hey Emacs, this is a -*- makefile -*-
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#
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# Analog IMU connected to MCU ADC ports
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#
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# Only add the configure and define lines for the sensors you actually use.
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# E.g. to replace the old gyro_pitch subsystem only add GYRO_P and GYRO_Q
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#
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#
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# <subsystem name="imu" type="analog">
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# <configure name="GYRO_P" value="ADC_0"/>
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# <configure name="GYRO_Q" value="ADC_1"/>
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# <configure name="GYRO_R" value="ADC_2"/>
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# <configure name="ACCEL_X" value="ADC_5"/>
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# <configure name="ACCEL_Y" value="ADC_6"/>
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# <configure name="ACCEL_Z" value="ADC_7"/>
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# </subsystem>
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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_P_NEUTRAL" value="512"/>
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# <define name="GYRO_Q_NEUTRAL" value="512"/>
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# <define name="GYRO_R_NEUTRAL" value="512"/>
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#
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# <define name="GYRO_P_SENS" value="0.017" integer="16"/>
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# <define name="GYRO_Q_SENS" value="0.017" integer="16"/>
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# <define name="GYRO_R_SENS" value="0.017" integer="16"/>
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#
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# <define name="GYRO_P_SIGN" value="1" />
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# <define name="GYRO_Q_SIGN" value="1" />
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# <define name="GYRO_R_SIGN" value="-1" />
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#
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# <define name="ACCEL_X_SENS" value="0.1" integer="16"/>
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# <define name="ACCEL_Y_SENS" value="0.1" integer="16"/>
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# <define name="ACCEL_Z_SENS" value="0.1" integer="16"/>
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#
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# <define name="ACCEL_X_NEUTRAL" value="512"/>
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# <define name="ACCEL_Y_NEUTRAL" value="512"/>
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# <define name="ACCEL_Z_NEUTRAL" value="512"/>
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#
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# <define name="ACCEL_X_SIGN" value="1"/>
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# <define name="ACCEL_Y_SIGN" value="-1"/>
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# <define name="ACCEL_Z_SIGN" value="1"/>
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#
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# </section>
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#
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ifeq ($(ARCH), lpc21)
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imu_CFLAGS += -DIMU_TYPE_H=\"subsystems/imu/imu_analog.h\" -DUSE_IMU
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imu_CFLAGS += -DADC
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imu_CFLAGS += -DADC_CHANNEL_GYRO_NB_SAMPLES=$(ADC_GYRO_NB_SAMPLES)
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ifeq ($(ADC_ACCEL_NB_SAMPLES),)
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ADC_ACCEL_NB_SAMPLES = $(ADC_GYRO_NB_SAMPLES)
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endif
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imu_CFLAGS += -DADC_CHANNEL_ACCEL_NB_SAMPLES=$(ADC_ACCEL_NB_SAMPLES)
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ifneq ($(GYRO_P),)
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imu_CFLAGS += -DADC_CHANNEL_GYRO_P=$(GYRO_P) -DUSE_$(GYRO_P)
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endif
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ifneq ($(GYRO_Q),)
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imu_CFLAGS += -DADC_CHANNEL_GYRO_Q=$(GYRO_Q) -DUSE_$(GYRO_Q)
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endif
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ifneq ($(GYRO_R),)
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imu_CFLAGS += -DADC_CHANNEL_GYRO_R=$(GYRO_R) -DUSE_$(GYRO_R)
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endif
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ifneq ($(ACCEL_X),)
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imu_CFLAGS += -DADC_CHANNEL_ACCEL_X=$(ACCEL_X) -DUSE_$(ACCEL_X)
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endif
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ifneq ($(ACCEL_Y),)
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imu_CFLAGS += -DADC_CHANNEL_ACCEL_Y=$(ACCEL_Y) -DUSE_$(ACCEL_Y)
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endif
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ifneq ($(ACCEL_Z),)
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imu_CFLAGS += -DADC_CHANNEL_ACCEL_Z=$(ACCEL_Z) -DUSE_$(ACCEL_Z)
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endif
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imu_srcs += $(SRC_SUBSYSTEMS)/imu.c
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imu_srcs += $(SRC_SUBSYSTEMS)/imu/imu_analog.c
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else ifeq ($(ARCH), stm32)
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$(error Not implemented for the stm32 yet... should be trivial, just do it...)
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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_CFLAGS)
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ap.srcs += $(imu_srcs)
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