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https://github.com/paparazzi/paparazzi.git
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Felix Ruess
17d32772c0
* [imu] convert imu subsystems to modules Also - get rid of explicit imu init|event|periodic calls in main - each imu implementation has their own imu_x_init/event/periodic * [imu] fix some imu modules * [imu] fix bad paths * [imu] add imu_common module that every implementation autoloads and put body_to_imu settings in imu_common module * [imu] fix imu_ardrone2 * [conf] add imu_common settings module in conf_example and conf_tests
31 lines
1.1 KiB
XML
31 lines
1.1 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="imu_lisa_m_v2.1" dir="imu">
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<doc>
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<description>
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IMU on Lisa/M and MX v2.1 boards.
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MPU60x0 via SPI2. HMC5883 as I2C slave of MPU.
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</description>
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<section name="IMU" prefix="IMU_">
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<define name="MAG_X_NEUTRAL" value="2358"/>
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<define name="MAG_Y_NEUTRAL" value="2362"/>
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<define name="MAG_Z_NEUTRAL" value="2119"/>
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<define name="MAG_X_SENS" value="3.4936416" integer="16"/>
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<define name="MAG_Y_SENS" value="3.607713" integer="16"/>
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<define name="MAG_Z_SENS" value="4.90788848" integer="16"/>
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</section>
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</doc>
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<autoload name="imu_aspirin_v2_common"/>
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<makefile target="!sim|nps|fbw">
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<define name="ASPIRIN_2_SPI_DEV" value="spi2"/>
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<define name="ASPIRIN_2_SPI_SLAVE_IDX" value="SPI_SLAVE2"/>
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<!-- SLAVE2 is on PB12 (NSS) (MPU600 CS) -->
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<define name="USE_SPI_SLAVE2"/>
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<!-- SLAVE3 is on PC13, which is the baro CS -->
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<define name="USE_SPI_SLAVE3"/>
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<define name="USE_SPI1"/>
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<define name="LISA_M_OR_MX_21"/>
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</makefile>
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</module>
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