mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Gautier Hattenberger
4ae40567ed
- old way (based on ins_vectornav) is not supported anymore - directly send sensor data and receive commands with a dedicated link - examples with USB link for better results - update sphinx documentation - compilation in a single build
47 lines
1.9 KiB
XML
47 lines
1.9 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="imu_aspirin_v2_common" dir="imu" task="sensors">
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<doc>
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<description>
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Common functionality of Aspirin v2 IMUs.
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- Accelerometer/Gyroscope: MPU6000 via SPI
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- Magnetometer: HMC5883 as I2C slave of MPU
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</description>
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<configure name="ASPIRIN_2_SPI_DEV" value="spi2" description="SPI device to use for accel"/>
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<configure name="ASPIRIN_2_SPI_SLAVE_IDX" value="SPI_SLAVE2" description="slave index of the accel CS pin"/>
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<define name="ASPIRIN_2_DISABLE_MAG" value="FALSE" description="set to TRUE to disable the mag on Aspirin"/>
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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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<dep>
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<depends>spi_master,imu_common</depends>
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<provides>imu,mag</provides>
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</dep>
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<header>
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<file name="imu_aspirin_2_spi.h"/>
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</header>
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<init fun="imu_aspirin2_init()"/>
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<periodic fun="imu_aspirin2_periodic()"/>
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<event fun="imu_aspirin2_event()"/>
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<makefile target="!sim|nps|fbw">
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<configure name="ASPIRIN_2_SPI_DEV" default="spi2" case="lower|upper"/>
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<configure name="ASPIRIN_2_SPI_SLAVE_IDX" default="SPI_SLAVE2"/>
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<define name="ASPIRIN_2_SPI_DEV" value="$(ASPIRIN_2_SPI_DEV_LOWER)"/>
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<define name="USE_$(ASPIRIN_2_SPI_DEV_UPPER)"/>
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<define name="ASPIRIN_2_SPI_SLAVE_IDX" value="$(ASPIRIN_2_SPI_SLAVE_IDX)"/>
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<define name="USE_$(ASPIRIN_2_SPI_SLAVE_IDX)"/>
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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_aspirin_2_spi.c"/>
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</makefile>
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</module>
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