mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-25 23:46:04 +08:00
Gautier Hattenberger
31 lines
1.0 KiB
XML
31 lines
1.0 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
|
|
|
|
<module name="imu_lisa_s_v1.0" dir="imu">
|
|
<doc>
|
|
<description>
|
|
IMU on LisaS board.
|
|
MPU60x0 via SPI1. HMC5883 as I2C slave of MPU.
|
|
</description>
|
|
<section name="IMU" prefix="IMU_">
|
|
<define name="MAG_X_NEUTRAL" value="2358"/>
|
|
<define name="MAG_Y_NEUTRAL" value="2362"/>
|
|
<define name="MAG_Z_NEUTRAL" value="2119"/>
|
|
|
|
<define name="MAG_X_SENS" value="3.4936416" integer="16"/>
|
|
<define name="MAG_Y_SENS" value="3.607713" integer="16"/>
|
|
<define name="MAG_Z_SENS" value="4.90788848" integer="16"/>
|
|
</section>
|
|
</doc>
|
|
<autoload name="imu_aspirin_v2_common"/>
|
|
<makefile target="!sim|nps|fbw">
|
|
<configure name="ASPIRIN_2_SPI_DEV" value="spi1" case="lower|upper"/>
|
|
<configure name="ASPIRIN_2_SPI_SLAVE_IDX" value="SPI_SLAVE0"/>
|
|
<!-- SLAVE0 is on PA4 (NSS) (MPU600 CS) -->
|
|
<define name="USE_SPI_SLAVE0"/>
|
|
<!-- SLAVE1 is on PC4, which is the baro CS -->
|
|
<define name="USE_SPI_SLAVE1"/>
|
|
|
|
<define name="LISA_S"/>
|
|
</makefile>
|
|
</module>
|