mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-04 05:42:49 +08:00
Felix Ruess
50 lines
1.5 KiB
XML
50 lines
1.5 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="ins_xsens700" dir="ins">
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<doc>
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<description>
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XSens IMU
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</description>
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<configure name="XSENS_PORT" value="uart1" description="The (uart) port the XSens is connected to"/>
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<configure name="XSENS_BAUD" value="B115200" description="UART baud rate"/>
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</doc>
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<header>
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<file name="imu_xsens.h"/>
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</header>
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<!-- imu init/periodic/event still called explicitly in main -->
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<makefile target="ap">
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<file name="xsens.c"/>
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<file name="xsens_common.c"/>
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<file name="imu_xsens.c"/>
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<file name="imu.c" dir="subsystems"/>
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<configure name="XSENS_PORT" default="uart1" case="upper|lower"/>
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<configure name="XSENS_BAUD" default="B115200"/>
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<define name="USE_$(XSENS_PORT_UPPER)" value="1"/>
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<define name="XSENS_LINK" value="$(XSENS_PORT_LOWER)"/>
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<define name="$(XSENS_PORT_UPPER)_BAUD" value="$(XSENS_BAUD)"/>
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<!-- TODO: check output mode -->
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<define name="XSENS_OUTPUT_MODE" value="0x1836"/>
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<raw>
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ap.CFLAGS += -DIMU_TYPE_H=\"modules/ins/imu_xsens.h\"
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</raw>
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</makefile>
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<makefile target="sim">
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<file name="ahrs.c" dir="subsystems"/>
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<file name="ahrs_sim.c" dir="subsystems/ahrs"/>
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<define name="USE_AHRS"/>
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<raw>
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sim.CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_sim.h\"
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</raw>
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</makefile>
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<makefile target="nps">
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<define name="USE_IMU"/>
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<file name="imu_nps.c" dir="subsystems/imu"/>
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<raw>
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nps.CFLAGS += -DIMU_TYPE_H=\"subsystems/imu/imu_nps.h\"
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</raw>
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</makefile>
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</module>
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