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
66 lines
3.2 KiB
XML
66 lines
3.2 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
|
|
|
|
<module name="imu_mpu6000_hmc5883" dir="imu">
|
|
<doc>
|
|
<description>
|
|
IMU with MPU6000 and HMC5883.
|
|
MPU6000 via SPI and HMC5883 via I2C.
|
|
Mag by default rotated by 90deg around z axis relative to MPU.
|
|
E.g. for Aspirin 2.1
|
|
</description>
|
|
<configure name="IMU_MPU_SPI_DEV" value="spi2" description="SPI device to use for MPU6000"/>
|
|
<configure name="IMU_MPU_SPI_SLAVE_IDX" value="SPI_SLAVE0" description="slave index of the MPU CS pin"/>
|
|
<configure name="IMU_HMC_I2C_DEV" value="i2c2" description="I2C device to use for HMC5883"/>
|
|
<define name="IMU_MPU_LOWPASS_FILTER" value="MPU60X0_DLPF_256HZ" description="DigitalLowPassFilter setting of the MPU"/>
|
|
<define name="IMU_MPU_SMPLRT_DIV" value="3" description="sample rate divider setting of the MPU"/>
|
|
<define name="IMU_MPU_GYRO_RANGE" value="MPU60X0_GYRO_RANGE_2000" description="gyroscope range setting of the MPU"/>
|
|
<define name="IMU_MPU_ACCEL_RANGE" value="MPU60X0_ACCEL_RANGE_16G" description="accelerometer range setting of the MPU"/>
|
|
<define name="IMU_MPU_CHAN_X" value="0" description="channel index"/>
|
|
<define name="IMU_MPU_CHAN_Y" value="1" description="channel index"/>
|
|
<define name="IMU_MPU_CHAN_Z" value="2" description="channel index"/>
|
|
<define name="IMU_MPU_X_SIGN" value="1" description="axis sign"/>
|
|
<define name="IMU_MPU_Y_SIGN" value="1" description="axis sign"/>
|
|
<define name="IMU_MPU_Z_SIGN" value="1" description="axis sign"/>
|
|
|
|
<define name="IMU_HMC_CHAN_X" value="1" description="channel index"/>
|
|
<define name="IMU_HMC_CHAN_Y" value="0" description="channel index"/>
|
|
<define name="IMU_HMC_CHAN_Z" value="2" description="channel index"/>
|
|
<define name="IMU_HMC_X_SIGN" value="1" description="axis sign"/>
|
|
<define name="IMU_HMC_Y_SIGN" value="-1" description="axis sign"/>
|
|
<define name="IMU_HMC_Z_SIGN" value="1" description="axis sign"/>
|
|
</doc>
|
|
<autoload name="imu_common"/>
|
|
<autoload name="imu_nps"/>
|
|
<header>
|
|
<file name="imu_mpu6000_hmc5883.h" dir="subsystems/imu"/>
|
|
</header>
|
|
|
|
<init fun="imu_mpu_hmc_init()"/>
|
|
<periodic fun="imu_mpu_hmc_periodic()"/>
|
|
<event fun="imu_mpu_hmc_event()"/>
|
|
|
|
<makefile target="!sim|nps|fbw">
|
|
<configure name="IMU_MPU_SPI_DEV" default="spi2" case="lower|upper"/>
|
|
<configure name="IMU_MPU_SPI_SLAVE_IDX" default="SPI_SLAVE0"/>
|
|
|
|
<define name="IMU_MPU_SPI_DEV" value="$(IMU_MPU_SPI_DEV_LOWER)"/>
|
|
<define name="USE_$(IMU_MPU_SPI_DEV_UPPER)"/>
|
|
<define name="IMU_MPU_SPI_SLAVE_IDX" value="$(IMU_MPU_SPI_SLAVE_IDX)"/>
|
|
<define name="USE_$(IMU_MPU_SPI_SLAVE_IDX)"/>
|
|
|
|
<configure name="IMU_HMC_I2C_DEV" default="i2c2" case="lower|upper"/>
|
|
<define name="IMU_HMC_I2C_DEV" value="$(IMU_HMC_I2C_DEV_LOWER)"/>
|
|
<define name="USE_$(IMU_HMC_I2C_DEV_UPPER)"/>
|
|
|
|
<define name="IMU_TYPE_H" value="subsystems/imu/imu_mpu6000_hmc5883.h" type="string"/>
|
|
|
|
<file name="mpu60x0.c" dir="peripherals"/>
|
|
<file name="mpu60x0_spi.c" dir="peripherals"/>
|
|
<file name="hmc58xx.c" dir="peripherals"/>
|
|
<file name="imu_mpu6000_hmc5883.c" dir="subsystems/imu"/>
|
|
<raw>
|
|
include $(CFG_SHARED)/spi_master.makefile
|
|
</raw>
|
|
</makefile>
|
|
</module>
|