mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Felix Ruess
17d32772c0
* [imu] convert imu subsystems to modules Also - get rid of explicit imu init|event|periodic calls in main - each imu implementation has their own imu_x_init/event/periodic * [imu] fix some imu modules * [imu] fix bad paths * [imu] add imu_common module that every implementation autoloads and put body_to_imu settings in imu_common module * [imu] fix imu_ardrone2 * [conf] add imu_common settings module in conf_example and conf_tests
44 lines
1.7 KiB
XML
44 lines
1.7 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="imu_navstik" dir="imu">
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<doc>
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<description>
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Navstik IMU: MPU60x0 and HMC5883 via I2C.
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</description>
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<configure name="NAVSTIK_MAG_I2C_DEV" value="i2c3" description="I2C device to use for MAG"/>
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<configure name="NAVSTIK_MPU_I2C_DEV" value="i2c1" description="I2C device to use for MPU"/>
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<section name="IMU" prefix="IMU_">
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<define name="MAG_X_NEUTRAL" value="2358"/>
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<define name="MAG_Y_NEUTRAL" value="2362"/>
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<define name="MAG_Z_NEUTRAL" value="2119"/>
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<define name="MAG_X_SENS" value="3.4936416" integer="16"/>
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<define name="MAG_Y_SENS" value="3.607713" integer="16"/>
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<define name="MAG_Z_SENS" value="4.90788848" integer="16"/>
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</section>
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</doc>
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<autoload name="imu_common"/>
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<autoload name="imu_nps"/>
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<header>
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<file name="imu_navstik.h" dir="subsystems/imu"/>
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</header>
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<init fun="imu_navstik_init()"/>
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<periodic fun="imu_navstik_periodic()"/>
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<event fun="imu_navstik_event()"/>
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<makefile target="!sim|nps|fbw">
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<configure name="NAVSTIK_MAG_I2C_DEV" default="i2c3" case="lower|upper"/>
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<define name="NAVSTIK_MAG_I2C_DEV" value="$(NAVSTIK_MAG_I2C_DEV_LOWER)"/>
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<define name="USE_$(NAVSTIK_MAG_I2C_DEV_UPPER)"/>
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<configure name="NAVSTIK_MPU_I2C_DEV" default="i2c1" case="lower|upper"/>
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<define name="NAVSTIK_MPU_I2C_DEV" value="$(NAVSTIK_MPU_I2C_DEV_LOWER)"/>
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<define name="USE_$(NAVSTIK_MPU_I2C_DEV_UPPER)"/>
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<define name="IMU_TYPE_H" value="subsystems/imu/imu_navstik.h" type="string"/>
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<file name="mpu60x0.c" dir="peripherals"/>
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<file name="mpu60x0_i2c.c" dir="peripherals"/>
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<file name="hmc58xx.c" dir="peripherals"/>
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<file name="imu_navstik.c" dir="subsystems/imu"/>
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</makefile>
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</module>
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