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OpenUAS
59 lines
3.1 KiB
XML
59 lines
3.1 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="mag_rm3100" dir="sensors" task="sensors">
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<doc>
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<description>
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PNI RM3100 3-axis magnetometer sensor.
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I2C interface.
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</description>
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<configure name="MAG_RM3100_I2C_DEV" value="i2cX" description="I2C device to use"/>
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<define name="RM3100_ADDR" value="RM3100_ADDR3" description="To set the address of the sensor to one of four possible values (default: RM3100_ADDR0)"/>
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<define name="RM3100_DATA_RATE" value="RM3100_RATE_150" description="Continuous conversion data rate"/>
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<define name="MODULE_RM3100_SYNC_SEND" value="TRUE|FALSE" description="Send IMU_RAW message with each new measurement (default: FALSE)"/>
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<define name="MODULE_RM3100_UPDATE_AHRS" value="TRUE|FALSE" description="Copy measurements to imu and send as ABI message (default: FALSE)"/>
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<define name="RM3100_CHAN_X_SIGN" value="+|-" description="Reverse polarity of x axis (default: +)"/>
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<define name="RM3100_CHAN_Y_SIGN" value="+|-" description="Reverse polarity of y axis (default: +)"/>
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<define name="RM3100_CHAN_Z_SIGN" value="+|-" description="Reverse polarity of z axis (default: +)"/>
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<define name="RM3100_CHAN_X" value="0|1|2" description="Channel id of x axis (default: 0)"/>
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<define name="RM3100_CHAN_Y" value="0|1|2" description="Channel id of y axis (default: 1)"/>
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<define name="RM3100_CHAN_Z" value="0|1|2" description="Channel id of z axis (default: 2)"/>
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<section name="MAG_RM3100" prefix="RM3100_">
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<define name="MAG_TO_IMU_PHI" value="0.0" description="Rotation between sensor frame and IMU frame (phi angle)"/>
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<define name="MAG_TO_IMU_THETA" value="0.0" description="Rotation between sensor frame and IMU frame (theta angle)"/>
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<define name="MAG_TO_IMU_PSI" value="0.0" description="Rotation between sensor frame and IMU frame (psi angle)"/>
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</section>
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</doc>
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<dep>
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<depends>i2c,@imu</depends>
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<provides>mag</provides>
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</dep>
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<header>
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<file name="mag_rm3100.h"/>
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</header>
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<init fun="mag_rm3100_module_init()"/>
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<periodic fun="mag_rm3100_module_periodic()" freq="MAG_RM3100_PERIODIC_FREQUENCY"/>
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<periodic fun="mag_rm3100_report()" freq="10" autorun="FALSE"/>
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<event fun="mag_rm3100_module_event()"/>
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<makefile target="ap">
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<file name="mag_rm3100.c"/>
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<file name="rm3100.c" dir="peripherals"/>
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<raw>
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ifeq ($(MAG_RM3100_I2C_DEV),)
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$(error mag_rm3100 module error: please configure MAG_RM3100_I2C_DEV)
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endif
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</raw>
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<configure name="MAG_RM3100_PERIODIC_FREQUENCY" default="60"/>
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<configure name="MAG_RM3100_I2C_DEV" case="upper|lower"/>
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<define name="MAG_RM3100_PERIODIC_FREQUENCY" value="$(MAG_RM3100_PERIODIC_FREQUENCY)"/>
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<define name="USE_$(MAG_RM3100_I2C_DEV_UPPER)"/>
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<define name="MAG_RM3100_I2C_DEV" value="$(MAG_RM3100_I2C_DEV_LOWER)"/>
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<test>
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<define name="MAG_RM3100_I2C_DEV" value="i2c1"/>
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<define name="USE_I2C1"/>
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<define name="DOWNLINK_TRANSPORT" value="pprz_tp"/>
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<define name="DOWNLINK_DEVICE" value="uart1"/>
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<define name="USE_UART1"/>
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</test>
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</makefile>
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</module>
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