mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-06 07:53:43 +08:00
Gautier Hattenberger
31 lines
935 B
Makefile
31 lines
935 B
Makefile
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IMU_NAVGO_CFLAGS = -DUSE_IMU
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IMU_NAVGO_CFLAGS += -DIMU_TYPE_H=\"boards/navgo/imu_navgo.h\"
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IMU_NAVGO_SRCS = $(SRC_SUBSYSTEMS)/imu.c \
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$(SRC_BOARD)/imu_navgo.c
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IMU_NAVGO_I2C_DEV=i2c1
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IMU_NAVGO_CFLAGS += -DUSE_I2C
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IMU_NAVGO_CFLAGS += -DUSE_I2C1 -DI2C1_SCLL=25 -DI2C1_SCLH=25
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IMU_NAVGO_CFLAGS += -DIMU_NAVGO_I2C_DEV=$(IMU_NAVGO_I2C_DEV)
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IMU_NAVGO_SRCS += peripherals/itg3200.c
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IMU_NAVGO_SRCS += peripherals/adxl345_i2c.c
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IMU_NAVGO_SRCS += peripherals/hmc58xx.c
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# with default NAVGO_GYRO_SMPLRT_DIV (gyro output 500Hz)
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# the AHRS_PROPAGATE_FREQUENCY needs to be adjusted accordingly
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AHRS_PROPAGATE_FREQUENCY ?= 500
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AHRS_CORRECT_FREQUENCY ?= 500
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ap.CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
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ap.CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
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ap.CFLAGS += $(IMU_NAVGO_CFLAGS)
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ap.srcs += $(IMU_NAVGO_SRCS)
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#
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# Simulator
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#
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include $(CFG_SHARED)/imu_nps.makefile
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