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Freek van Tienen
80 lines
3.4 KiB
XML
80 lines
3.4 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="imu_cube" dir="imu" task="sensors">
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<doc>
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<description>
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IMU driver for the sensors inside the cube autopilots
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- IMU1: ICM20948 (non-isolated)
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- IMU2: ICM20602 (isolated)
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- IMU3: ICM20649 (isolated)
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</description>
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</doc>
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<dep>
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<depends>spi_master,imu_common,intermcu_iomcu,imu_heater</depends>
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<provides>imu</provides>
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</dep>
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<header>
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<file name="imu_cube.h"/>
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</header>
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<init fun="imu_cube_init()"/>
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<periodic fun="imu_cube_periodic()"/>
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<event fun="imu_cube_event()"/>
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<makefile target="!sim|nps|fbw">
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<!-- ICM20948 (non-isolated) -->
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<configure name="CUBE_IMU1_SPI_DEV" default="spi1" case="lower|upper"/>
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<configure name="CUBE_IMU1_SPI_SLAVE_IDX" default="SPI_SLAVE2"/>
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<define name="CUBE_IMU1_SPI_DEV" value="$(CUBE_IMU1_SPI_DEV_LOWER)"/>
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<define name="USE_$(CUBE_IMU1_SPI_DEV_UPPER)"/>
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<define name="CUBE_IMU1_SPI_SLAVE_IDX" value="$(CUBE_IMU1_SPI_SLAVE_IDX)"/>
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<define name="USE_$(CUBE_IMU1_SPI_SLAVE_IDX)"/>
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<!-- ICM20602 or ICM45686 (isolated) -->
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<configure name="CUBE_IMU2_SPI_DEV" default="spi4" case="lower|upper"/>
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<configure name="CUBE_IMU2_SPI_SLAVE_IDX" default="SPI_SLAVE3"/> <!-- Overwritten to SPI_SLAVE5 for cube+ -->
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<define name="CUBE_IMU2_SPI_DEV" value="$(CUBE_IMU2_SPI_DEV_LOWER)"/>
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<define name="USE_$(CUBE_IMU2_SPI_DEV_UPPER)"/>
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<define name="CUBE_IMU2_SPI_SLAVE_IDX" value="$(CUBE_IMU2_SPI_SLAVE_IDX)"/>
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<define name="USE_$(CUBE_IMU2_SPI_SLAVE_IDX)"/>
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<!-- ICM20649 (isolated) -->
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<configure name="CUBE_IMU3_SPI_DEV" default="spi4" case="lower|upper"/>
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<configure name="CUBE_IMU3_SPI_SLAVE_IDX" default="SPI_SLAVE8"/>
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<define name="CUBE_IMU3_SPI_DEV" value="$(CUBE_IMU3_SPI_DEV_LOWER)"/>
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<define name="USE_$(CUBE_IMU3_SPI_DEV_UPPER)"/>
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<define name="CUBE_IMU3_SPI_SLAVE_IDX" value="$(CUBE_IMU3_SPI_SLAVE_IDX)"/>
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<define name="USE_$(CUBE_IMU3_SPI_SLAVE_IDX)"/>
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<!-- Configure the heater (ICM20602) -->
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<define name="IMU_HEATER_GYRO_ID" value="IMU_CUBE2_ID"/>
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<define name="IMU_HEATER_TARGET_TEMP" value="45.0"/>
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<define name="IMU_HEATER_P_GAIN" value="50.0"/>
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<define name="IMU_HEATER_I_GAIN" value="0.07"/>
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<!-- Different IMU for the cube+ -->
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<define name="IMU_CUBE_ORANGEPLUS" value="TRUE" cond="ifeq ($(BOARD_VERSION), orange_plus)"/>
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<file name="invensense2.c" dir="peripherals"/>
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<file name="invensense3.c" dir="peripherals" cond="ifeq ($(BOARD_VERSION), orange_plus)"/>
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<file name="mpu60x0.c" dir="peripherals" cond="ifeq ($(BOARD_VERSION), orange)"/>
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<file name="mpu60x0_spi.c" dir="peripherals" cond="ifeq ($(BOARD_VERSION), orange)"/>
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<file name="imu_cube.c"/>
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<test>
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<define name="SPI_MASTER"/>
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<define name="CUBE_IMU1_SPI_DEV" value="spi1"/>
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<define name="CUBE_IMU1_SPI_SLAVE_IDX" value="0"/>
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<define name="CUBE_IMU2_SPI_DEV" value="spi4"/>
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<define name="CUBE_IMU2_SPI_SLAVE_IDX" value="1"/>
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<define name="CUBE_IMU3_SPI_DEV" value="spi4"/>
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<define name="CUBE_IMU3_SPI_SLAVE_IDX" value="2"/>
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<define name="USE_SPI1"/>
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<define name="USE_SPI4"/>
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<define name="USE_SPI_SLAVE0"/>
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<define name="USE_SPI_SLAVE2"/>
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<define name="USE_SPI_SLAVE2"/>
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<define name="PERIODIC_FREQUENCY" value="512"/>
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<define name="IMU_CUBE_PERIODIC_FREQ" value="512"/>
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</test>
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</makefile>
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</module>
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