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
67 lines
2.7 KiB
XML
67 lines
2.7 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="imu_openpilot_revo" dir="imu">
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<doc>
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<description>
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Driver for IMU on OpenPilot Revo board.
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- Accelerometer/Gyroscope: MPU6000 via SPI1
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- Magnetometer: HMC58xx via I2C1
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The IMU positive X-axis is as inidcated with arrows on the board,
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Z-axis is negative towards the side of the MPU and LEDs (that side is up).
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If ACCEL and GYRO SENS/NEUTRAL are not defined, the defaults from the datasheet will be used.
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</description>
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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_mpu6000_hmc5883.h" dir="subsystems/imu"/>
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</header>
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<init fun="imu_mpu_hmc_init()"/>
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<periodic fun="imu_mpu_hmc_periodic()"/>
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<event fun="imu_mpu_hmc_event()"/>
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<makefile target="!sim|nps|fbw">
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<!-- HMC is on I2C1 on OpenPilot Revolution -->
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<define name="IMU_HMC_I2C_DEV" value="i2c1"/>
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<define name="USE_I2C1"/>
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<!-- MPU600 is on SPI1 using SPI_SLAVE_2 as defined in openpilot_revo_1.0.h -->
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<define name="IMU_MPU_SPI_DEV" value="spi1"/>
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<define name="USE_SPI1"/>
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<define name="IMU_MPU_SPI_SLAVE_IDX" value="SPI_SLAVE2"/>
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<define name="USE_SPI_SLAVE2"/>
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<!-- set channels and signs so that positive x-axis is indicated by arrows on board
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and the side with MPU and LEDs is up (negative z-axis)-->
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<define name="IMU_MPU_CHAN_X" value="1"/>
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<define name="IMU_MPU_CHAN_Y" value="0"/>
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<define name="IMU_MPU_CHAN_Z" value="2"/>
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<define name="IMU_MPU_X_SIGN" value="-1"/>
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<define name="IMU_MPU_Y_SIGN" value="-1"/>
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<define name="IMU_MPU_Z_SIGN" value="-1"/>
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<define name="IMU_HMC_CHAN_X" value="1"/>
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<define name="IMU_HMC_CHAN_Y" value="0"/>
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<define name="IMU_HMC_CHAN_Z" value="2"/>
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<define name="IMU_HMC_X_SIGN" value="1"/>
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<define name="IMU_HMC_Y_SIGN" value="1"/>
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<define name="IMU_HMC_Z_SIGN" value="-1"/>
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<define name="IMU_TYPE_H" value="subsystems/imu/imu_mpu6000_hmc5883.h" type="string"/>
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<file name="mpu60x0.c" dir="peripherals"/>
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<file name="mpu60x0_spi.c" dir="peripherals"/>
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<file name="hmc58xx.c" dir="peripherals"/>
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<file name="imu_mpu6000_hmc5883.c" dir="subsystems/imu"/>
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<raw>
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include $(CFG_SHARED)/spi_master.makefile
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</raw>
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</makefile>
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</module>
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