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https://github.com/paparazzi/paparazzi.git
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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
42 lines
1.8 KiB
XML
42 lines
1.8 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="imu_mpu6000" dir="imu">
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<doc>
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<description>
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IMU with MPU6000 via SPI.
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</description>
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<configure name="IMU_MPU_SPI_DEV" value="spi1" description="SPI device to use for MPU6000"/>
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<configure name="IMU_MPU_SPI_SLAVE_IDX" value="SPI_SLAVE0" description="slave index of the MPU CS pin"/>
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<define name="IMU_MPU_LOWPASS_FILTER" value="MPU60X0_DLPF_256HZ" description="DigitalLowPassFilter setting of the MPU"/>
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<define name="IMU_MPU_SMPLRT_DIV" value="3" description="sample rate divider setting of the MPU"/>
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<define name="IMU_MPU_GYRO_RANGE" value="MPU60X0_GYRO_RANGE_2000" description="gyroscope range setting of the MPU"/>
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<define name="IMU_MPU_ACCEL_RANGE" value="MPU60X0_ACCEL_RANGE_16G" description="accelerometer range setting of the MPU"/>
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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.h" dir="subsystems/imu"/>
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</header>
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<init fun="imu_mpu_spi_init()"/>
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<periodic fun="imu_mpu_spi_periodic()"/>
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<event fun="imu_mpu_spi_event()"/>
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<makefile target="!sim|nps|fbw">
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<configure name="IMU_MPU_SPI_DEV" default="spi1" case="lower|upper"/>
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<configure name="IMU_MPU_SPI_SLAVE_IDX" default="SPI_SLAVE0"/>
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<define name="IMU_MPU_SPI_DEV" value="$(IMU_MPU_SPI_DEV_LOWER)"/>
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<define name="USE_$(IMU_MPU_SPI_DEV_UPPER)"/>
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<define name="IMU_MPU_SPI_SLAVE_IDX" value="$(IMU_MPU_SPI_SLAVE_IDX)"/>
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<define name="USE_$(IMU_MPU_SPI_SLAVE_IDX)"/>
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<define name="IMU_TYPE_H" value="subsystems/imu/imu_mpu6000.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="imu_mpu6000.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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