mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-27 08:55:51 +08:00
Gautier Hattenberger
e4d9e10492
- support depends, conflicts and provides nodes, all under a 'dep' node - autoload are kept for now and are not moved yet - modules are updated for new dep format - it is now required that module's name and filename are the same
52 lines
2.9 KiB
XML
52 lines
2.9 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="mag_hmc58xx" dir="sensors">
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<doc>
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<description>
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HMC58xx magnetometer.
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Module for standalone operation/logging of a HMC58xx magnetometer.
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An arbitrary rotation between the sensor frame and the IMU frame can be compensated with a MAG_TO_IMU rotation (defined by three euler angles). The three angles must be defined to enable this correction. Otherwise it is assumed that the axis are aligned.
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</description>
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<configure name="MAG_HMC58XX_I2C_DEV" value="i2c1" description="I2C device to use (e.g. i2c1)"/>
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<define name="MODULE_HMC58XX_SYNC_SEND" value="TRUE|FALSE" description="Send IMU_RAW message with each new measurement (default: FALSE)"/>
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<define name="MODULE_HMC58XX_UPDATE_AHRS" value="TRUE|FALSE" description="Copy measurements to imu and send as ABI message (default: FALSE)"/>
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<define name="HMC58XX_CHAN_X_SIGN" value="+|-" description="Reverse polarity of x axis (default: +)"/>
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<define name="HMC58XX_CHAN_Y_SIGN" value="+|-" description="Reverse polarity of y axis (default: +)"/>
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<define name="HMC58XX_CHAN_Z_SIGN" value="+|-" description="Reverse polarity of z axis (default: +)"/>
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<define name="HMC58XX_CHAN_X" value="0|1|2" description="Channel id of x axis (default: 0)"/>
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<define name="HMC58XX_CHAN_Y" value="0|1|2" description="Channel id of y axis (default: 1)"/>
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<define name="HMC58XX_CHAN_Z" value="0|1|2" description="Channel id of z axis (default: 2)"/>
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<section name="MAG_HMC" prefix="HMC58XX_">
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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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<header>
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<file name="mag_hmc58xx.h"/>
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</header>
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<init fun="mag_hmc58xx_module_init()"/>
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<periodic fun="mag_hmc58xx_module_periodic()" freq="60"/>
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<periodic fun="mag_hmc58xx_report()" freq="10" autorun="FALSE"/>
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<event fun="mag_hmc58xx_module_event()"/>
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<makefile target="ap">
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<file name="mag_hmc58xx.c"/>
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<file name="hmc58xx.c" dir="peripherals"/>
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<raw>
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ifeq ($(MAG_HMC58XX_I2C_DEV),)
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$(error mag_hmc58xx module error: please configure MAG_HMC58XX_I2C_DEV)
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endif
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</raw>
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<configure name="MAG_HMC58XX_I2C_DEV" default="TRUE" case="upper|lower"/>
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<define name="USE_$(MAG_HMC58XX_I2C_DEV_UPPER)"/>
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<define name="MAG_HMC58XX_I2C_DEV" value="$(MAG_HMC58XX_I2C_DEV_LOWER)"/>
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<test>
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<define name="MAG_HMC58XX_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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