mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Gautier Hattenberger
494e3f3ad9
When adding a test node to a makefile section, with required compilation flags, include and other options, all the files (not arch dependent files) can be compiled with a TAP compatible program, included in the standard tests of the CI servers. Not all module's XML files are converted, but a large part of the most important parts are already covered. More will be added later. The number of tested airframes (full compilation of all targets) have been reduced to speed the CI compile time but still covers the relevant architecture and boards. The main benefit is that the overall coverage is already better than before as previous test aircraft were compiling more or less the same part of the airborne code, while this new mechanism is more efficient to test modules not included in any config.
51 lines
1.7 KiB
XML
51 lines
1.7 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="imu_bebop" dir="imu">
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<doc>
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<description>
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Driver for IMU on the Parrot Bebop drone.
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- Accelerometer/Gyroscope: MPU6000 via I2C2
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- Magnetometer: AK8963 via I2C1
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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_common"/>
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<autoload name="imu_nps"/>
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<autoload name="sonar_bebop"/>
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<header>
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<file name="imu_bebop.h" dir="subsystems/imu"/>
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</header>
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<init fun="imu_bebop_init()"/>
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<periodic fun="imu_bebop_periodic()"/>
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<event fun="imu_bebop_event()"/>
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<makefile target="!sim|nps|fbw">
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<define name="BEBOP_MAG_I2C_DEV" value="i2c1"/>
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<define name="USE_I2C1"/>
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<define name="BEBOP_MPU_I2C_DEV" value="i2c2"/>
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<define name="USE_I2C2"/>
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<define name="IMU_TYPE_H" value="subsystems/imu/imu_bebop.h" type="string"/>
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<file name="mpu60x0.c" dir="peripherals"/>
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<file name="mpu60x0_i2c.c" dir="peripherals"/>
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<file name="ak8963.c" dir="peripherals"/>
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<file name="imu_bebop.c" dir="subsystems/imu"/>
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<test>
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<define name="BEBOP_MAG_I2C_DEV" value="i2c1"/>
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<define name="USE_I2C1"/>
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<define name="BEBOP_MPU_I2C_DEV" value="i2c2"/>
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<define name="USE_I2C2"/>
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<define name="IMU_TYPE_H" value="subsystems/imu/imu_bebop.h" type="string"/>
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<define name="PERIODIC_FREQUENCY" value="512"/>
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</test>
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</makefile>
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</module>
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