mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-20 02:53:15 +08:00
Gautier Hattenberger
58 lines
2.9 KiB
XML
58 lines
2.9 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
|
|
|
|
<module name="mag_rm3100" dir="sensors" task="sensors">
|
|
<doc>
|
|
<description>
|
|
PNI RM3100 magnetometer.
|
|
I2C interface.
|
|
</description>
|
|
<configure name="MAG_RM3100_I2C_DEV" value="i2cX" description="I2C device to use"/>
|
|
<define name="MODULE_RM3100_SYNC_SEND" value="TRUE|FALSE" description="Send IMU_RAW message with each new measurement (default: FALSE)"/>
|
|
<define name="MODULE_RM3100_UPDATE_AHRS" value="TRUE|FALSE" description="Copy measurements to imu and send as ABI message (default: FALSE)"/>
|
|
<define name="RM3100_CHAN_X_SIGN" value="+|-" description="Reverse polarity of x axis (default: +)"/>
|
|
<define name="RM3100_CHAN_Y_SIGN" value="+|-" description="Reverse polarity of y axis (default: +)"/>
|
|
<define name="RM3100_CHAN_Z_SIGN" value="+|-" description="Reverse polarity of z axis (default: +)"/>
|
|
<define name="RM3100_CHAN_X" value="0|1|2" description="Channel id of x axis (default: 0)"/>
|
|
<define name="RM3100_CHAN_Y" value="0|1|2" description="Channel id of y axis (default: 1)"/>
|
|
<define name="RM3100_CHAN_Z" value="0|1|2" description="Channel id of z axis (default: 2)"/>
|
|
<section name="MAG_RM3100" prefix="RM3100_">
|
|
<define name="MAG_TO_IMU_PHI" value="0.0" description="Rotation between sensor frame and IMU frame (phi angle)"/>
|
|
<define name="MAG_TO_IMU_THETA" value="0.0" description="Rotation between sensor frame and IMU frame (theta angle)"/>
|
|
<define name="MAG_TO_IMU_PSI" value="0.0" description="Rotation between sensor frame and IMU frame (psi angle)"/>
|
|
<define name="DATA_RATE" value="RM3100_RATE_150" description="Continuous conversion data rate"/>
|
|
</section>
|
|
</doc>
|
|
<dep>
|
|
<depends>i2c,@imu</depends>
|
|
<provides>mag</provides>
|
|
</dep>
|
|
<header>
|
|
<file name="mag_rm3100.h"/>
|
|
</header>
|
|
<init fun="mag_rm3100_module_init()"/>
|
|
<periodic fun="mag_rm3100_module_periodic()" freq="MAG_RM3100_PERIODIC_FREQUENCY"/>
|
|
<periodic fun="mag_rm3100_report()" freq="10" autorun="FALSE"/>
|
|
<event fun="mag_rm3100_module_event()"/>
|
|
<makefile target="ap">
|
|
<file name="mag_rm3100.c"/>
|
|
<file name="rm3100.c" dir="peripherals"/>
|
|
<raw>
|
|
ifeq ($(MAG_RM3100_I2C_DEV),)
|
|
$(error mag_rm3100 module error: please configure MAG_RM3100_I2C_DEV)
|
|
endif
|
|
</raw>
|
|
<configure name="MAG_RM3100_PERIODIC_FREQUENCY" default="60"/>
|
|
<configure name="MAG_RM3100_I2C_DEV" case="upper|lower"/>
|
|
<define name="MAG_RM3100_PERIODIC_FREQUENCY" value="$(MAG_RM3100_PERIODIC_FREQUENCY)"/>
|
|
<define name="USE_$(MAG_RM3100_I2C_DEV_UPPER)"/>
|
|
<define name="MAG_RM3100_I2C_DEV" value="$(MAG_RM3100_I2C_DEV_LOWER)"/>
|
|
<test>
|
|
<define name="MAG_RM3100_I2C_DEV" value="i2c1"/>
|
|
<define name="USE_I2C1"/>
|
|
<define name="DOWNLINK_TRANSPORT" value="pprz_tp"/>
|
|
<define name="DOWNLINK_DEVICE" value="uart1"/>
|
|
<define name="USE_UART1"/>
|
|
</test>
|
|
</makefile>
|
|
</module>
|