mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-04 13:55:40 +08:00
Felix Ruess
29 lines
849 B
Makefile
29 lines
849 B
Makefile
# Hey Emacs, this is a -*- makefile -*-
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#
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# Apogee IMU
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#
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IMU_APOGEE_CFLAGS = -DUSE_IMU
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IMU_APOGEE_CFLAGS += -DIMU_TYPE_H=\"boards/apogee/imu_apogee.h\"
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IMU_APOGEE_SRCS = $(SRC_SUBSYSTEMS)/imu.c \
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$(SRC_BOARD)/imu_apogee.c
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IMU_APOGEE_I2C_DEV=i2c1
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IMU_APOGEE_CFLAGS += -DUSE_I2C -DUSE_I2C1
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IMU_APOGEE_CFLAGS += -DIMU_APOGEE_I2C_DEV=$(IMU_APOGEE_I2C_DEV)
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IMU_APOGEE_SRCS += peripherals/mpu60x0.c
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IMU_APOGEE_SRCS += peripherals/mpu60x0_i2c.c
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# with default APOGEE_SMPLRT_DIV (gyro output 100Hz)
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# the AHRS_PROPAGATE_FREQUENCY needs to be adjusted accordingly
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AHRS_PROPAGATE_FREQUENCY ?= 100
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AHRS_CORRECT_FREQUENCY ?= 100
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ap.CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
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ap.CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
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ap.CFLAGS += $(IMU_APOGEE_CFLAGS)
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ap.srcs += $(IMU_APOGEE_SRCS)
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