mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-22 04:13:39 +08:00
Freek van Tienen
528f5d5b10
* [imu] Add Invensense V3 driver * [imu] Add samplerate to raw ABI message * [boards] Add support for the CubePilot - Cube Orange+
49 lines
2.2 KiB
XML
49 lines
2.2 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
|
|
|
|
<module name="imu_mpu6000" dir="imu" task="sensors">
|
|
<doc>
|
|
<description>
|
|
IMU with an Invensense MPU6000 connected via the SPI bus to flightcontroller.
|
|
</description>
|
|
<configure name="IMU_MPU_SPI_DEV" value="spi1" 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"/>
|
|
<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_USE_MEDIAN_FILTER" value="FALSE" description="Use ONLY in case the MPU has spikes in the raw output due to various reasons. Default is FALSE"/>
|
|
</doc>
|
|
<dep>
|
|
<depends>spi_master,imu_common</depends>
|
|
<provides>imu</provides>
|
|
</dep>
|
|
<header>
|
|
<file name="imu_mpu6000.h"/>
|
|
</header>
|
|
<init fun="imu_mpu_spi_init()"/>
|
|
<periodic fun="imu_mpu_spi_periodic()"/>
|
|
<event fun="imu_mpu_spi_event()"/>
|
|
<makefile target="!sim|nps|fbw">
|
|
<configure name="IMU_MPU_SPI_DEV" default="spi1" 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)"/>
|
|
|
|
<file name="mpu60x0.c" dir="peripherals"/>
|
|
<file name="mpu60x0_spi.c" dir="peripherals"/>
|
|
<file name="imu_mpu6000.c"/>
|
|
<test>
|
|
<define name="SPI_MASTER"/>
|
|
<define name="IMU_MPU_SPI_DEV" value="spi1"/>
|
|
<define name="USE_SPI1"/>
|
|
<define name="IMU_MPU_SPI_SLAVE_IDX" value="0"/>
|
|
<define name="USE_SPI_SLAVE0"/>
|
|
<define name="PERIODIC_FREQUENCY" value="512"/>
|
|
<define name="IMU_MPU_SPI_PERIODIC_FREQ" value="512"/>
|
|
</test>
|
|
</makefile>
|
|
</module>
|