mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
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
77 lines
2.7 KiB
XML
77 lines
2.7 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="imu_b2_common" dir="imu">
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<doc>
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<description>
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Common part for all Booz2 IMUs.
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</description>
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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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<configure name="ADC_GYRO_NB_SAMPLES" value="16"/>
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<configure name="ADC_ACCEL_NB_SAMPLES" value="16"/>
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<section name="IMU" prefix="IMU_">
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<define name="GYRO_X_NEUTRAL" value="33924"/>
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<define name="GYRO_Y_NEUTRAL" value="33417"/>
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<define name="GYRO_Z_NEUTRAL" value="32809"/>
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<define name="GYRO_X_SENS" value="1.01" integer="16"/>
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<define name="GYRO_Y_SENS" value="1.01" integer="16"/>
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<define name="GYRO_Z_SENS" value="1.01" integer="16"/>
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<define name="ACCEL_X_NEUTRAL" value="32081"/>
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<define name="ACCEL_Y_NEUTRAL" value="33738"/>
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<define name="ACCEL_Z_NEUTRAL" value="32441"/>
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<define name="ACCEL_X_SENS" value="2.50411474" integer="16"/>
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<define name="ACCEL_Y_SENS" value="2.48126183" integer="16"/>
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<define name="ACCEL_Z_SENS" value="2.51396167" integer="16"/>
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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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<define name="MAG_45_HACK" value="1"/>
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</section>
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</doc>
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<autoload name="imu_common"/>
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<autoload name="imu_nps"/>
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<header>
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<file name="imu_b2.h" dir="subsystems/imu"/>
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</header>
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<init fun="imu_b2_init()"/>
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<periodic fun="imu_b2_periodic()"/>
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<event fun="imu_b2_event()"/>
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<makefile target="!sim|nps|fbw">
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<define name="IMU_TYPE_H" value="subsystems/imu/imu_b2.h" type="string"/>
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<file name="imu_b2.c" dir="subsystems/imu"/>
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<file name="max1168.c" dir="peripherals"/>
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<file name="max1168_arch.c" dir="$(SRC_ARCH)/peripherals"/>
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<raw>
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include $(CFG_SHARED)/spi_master.makefile
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ifeq ($(ARCH), lpc21)
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$(TARGET).CFLAGS += -DUSE_SPI_SLAVE0
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$(TARGET).CFLAGS += -DUSE_SPI1
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$(TARGET).CFLAGS += -DMAX1168_EOC_VIC_SLOT=11
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else ifeq ($(ARCH), stm32)
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#FIXME: untested
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$(TARGET).CFLAGS += -DUSE_SPI2 -DMAX1168_SPI_DEV=spi2
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$(TARGET).CFLAGS += -DMAX1168_SLAVE_IDX=2
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# Slave select configuration
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# SLAVE2 is on PB12 (NSS) (MAX1168)
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# SLAVE3 is on PC13 (EEPROM)
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$(TARGET).CFLAGS += -DUSE_SPI_SLAVE2 -DUSE_SPI_SLAVE3
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endif
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</raw>
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</makefile>
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</module>
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