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* [imu] Add Invensense V3 driver * [imu] Add samplerate to raw ABI message * [boards] Add support for the CubePilot - Cube Orange+
74 lines
3.4 KiB
XML
74 lines
3.4 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="imu_mpu6000_hmc5883" dir="imu" task="sensors">
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<doc>
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<description>
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IMU with MPU6000 and HMC5883.
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MPU6000 via SPI and HMC5883 via I2C.
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Mag by default rotated by 90deg around z axis relative to MPU.
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E.g. for Aspirin 2.1
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</description>
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<configure name="IMU_MPU_SPI_DEV" value="spi2" 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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<configure name="IMU_HMC_I2C_DEV" value="i2c2" description="I2C device to use for HMC5883"/>
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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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<define name="IMU_MPU_CHAN_X" value="0" description="channel index"/>
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<define name="IMU_MPU_CHAN_Y" value="1" description="channel index"/>
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<define name="IMU_MPU_CHAN_Z" value="2" description="channel index"/>
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<define name="IMU_MPU_X_SIGN" value="1" description="axis sign"/>
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<define name="IMU_MPU_Y_SIGN" value="1" description="axis sign"/>
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<define name="IMU_MPU_Z_SIGN" value="1" description="axis sign"/>
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<define name="IMU_HMC_CHAN_X" value="1" description="channel index"/>
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<define name="IMU_HMC_CHAN_Y" value="0" description="channel index"/>
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<define name="IMU_HMC_CHAN_Z" value="2" description="channel index"/>
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<define name="IMU_HMC_X_SIGN" value="1" description="axis sign"/>
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<define name="IMU_HMC_Y_SIGN" value="-1" description="axis sign"/>
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<define name="IMU_HMC_Z_SIGN" value="1" description="axis sign"/>
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</doc>
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<dep>
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<depends>spi_master,i2c,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_mpu6000_hmc5883.h"/>
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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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<configure name="IMU_MPU_SPI_DEV" default="spi2" 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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<configure name="IMU_HMC_I2C_DEV" default="i2c2" case="lower|upper"/>
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<define name="IMU_HMC_I2C_DEV" value="$(IMU_HMC_I2C_DEV_LOWER)"/>
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<define name="USE_$(IMU_HMC_I2C_DEV_UPPER)"/>
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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"/>
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<test>
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<define name="SPI_MASTER"/>
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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="0"/>
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<define name="USE_SPI_SLAVE0"/>
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<define name="IMU_HMC_I2C_DEV" value="i2c2"/>
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<define name="USE_I2C2"/>
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<define name="PERIODIC_FREQUENCY" value="512"/>
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<define name="IMU_MPU_HMC_PERIODIC_FREQ" value="512"/>
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</test>
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</makefile>
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</module>
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