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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
94 lines
3.1 KiB
XML
94 lines
3.1 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="imu_analog" dir="imu">
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<doc>
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<description>
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Analog IMU connected to MCU ADC ports.
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Only add the configure and define lines for the sensors you actually use.
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E.g. to replace the old gyro_pitch subsystem only add GYRO_P and GYRO_Q
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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_P_NEUTRAL" value="512"/>
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<define name="GYRO_Q_NEUTRAL" value="512"/>
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<define name="GYRO_R_NEUTRAL" value="512"/>
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<define name="GYRO_P_SENS" value="0.017" integer="16"/>
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<define name="GYRO_Q_SENS" value="0.017" integer="16"/>
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<define name="GYRO_R_SENS" value="0.017" integer="16"/>
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<define name="GYRO_P_SIGN" value="1" />
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<define name="GYRO_Q_SIGN" value="1" />
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<define name="GYRO_R_SIGN" value="-1" />
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<define name="ACCEL_X_SENS" value="0.1" integer="16"/>
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<define name="ACCEL_Y_SENS" value="0.1" integer="16"/>
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<define name="ACCEL_Z_SENS" value="0.1" integer="16"/>
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<define name="ACCEL_X_NEUTRAL" value="512"/>
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<define name="ACCEL_Y_NEUTRAL" value="512"/>
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<define name="ACCEL_Z_NEUTRAL" value="512"/>
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<define name="ACCEL_X_SIGN" value="1"/>
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<define name="ACCEL_Y_SIGN" value="-1"/>
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<define name="ACCEL_Z_SIGN" 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_analog.h" dir="subsystems/imu"/>
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</header>
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<init fun="imu_analog_init()"/>
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<periodic fun="imu_analog_periodic()"/>
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<makefile target="!sim|nps|fbw">
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<configure name="ADC_GYRO_NB_SAMPLES" default="16"/>
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<configure name="ADC_ACCEL_NB_SAMPLES" default="16"/>
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<define name="ADC_CHANNEL_GYRO_NB_SAMPLES" value="$(ADC_GYRO_NB_SAMPLES)"/>
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<define name="ADC_CHANNEL_ACCEL_NB_SAMPLES" value="$(ADC_ACCEL_NB_SAMPLES)"/>
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<define name="IMU_TYPE_H" value="subsystems/imu/imu_analog.h" type="string"/>
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<file name="imu_analog.c" dir="subsystems/imu"/>
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<raw>
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ifeq ($(ARCH), lpc21)
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ifneq ($(GYRO_P),)
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$(TARGET).CFLAGS += -DADC_CHANNEL_GYRO_P=$(GYRO_P) -DUSE_$(GYRO_P)
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endif
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ifneq ($(GYRO_Q),)
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$(TARGET).CFLAGS += -DADC_CHANNEL_GYRO_Q=$(GYRO_Q) -DUSE_$(GYRO_Q)
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endif
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ifneq ($(GYRO_R),)
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$(TARGET).CFLAGS += -DADC_CHANNEL_GYRO_R=$(GYRO_R) -DUSE_$(GYRO_R)
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endif
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ifneq ($(ACCEL_X),)
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$(TARGET).CFLAGS += -DADC_CHANNEL_ACCEL_X=$(ACCEL_X) -DUSE_$(ACCEL_X)
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endif
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ifneq ($(ACCEL_Y),)
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$(TARGET).CFLAGS += -DADC_CHANNEL_ACCEL_Y=$(ACCEL_Y) -DUSE_$(ACCEL_Y)
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endif
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ifneq ($(ACCEL_Z),)
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$(TARGET).CFLAGS += -DADC_CHANNEL_ACCEL_Z=$(ACCEL_Z) -DUSE_$(ACCEL_Z)
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endif
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else ifeq ($(ARCH), stm32)
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$(error Not implemented for the stm32 yet... should be trivial, just do it...)
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endif
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</raw>
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</makefile>
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</module>
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