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Freek van Tienen
2a9887a747
* [chibios] Update chibios and add Pixhawk 6X autopilot * [conf] Change rotating wing 25kg * [modules] Fix chibios sdlogger dependency on ADC * [modules] Fix eff scheduling rotating wing warnings * [chibios] Cleanup and fixes
77 lines
3.1 KiB
XML
77 lines
3.1 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="imu_pixhawk6x" dir="imu" task="sensors">
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<doc>
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<description>
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IMU driver for the sensors inside the Pixhawk 6X autopilots
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- IMU1: ICM42670
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- IMU2: ???
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- IMU3: ???
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</description>
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</doc>
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<dep>
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<depends>spi_master,i2c,imu_common,imu_heater</depends>
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<provides>imu</provides>
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</dep>
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<header>
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<file name="imu_pixhawk6x.h"/>
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</header>
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<init fun="imu_pixhawk6x_init()"/>
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<periodic fun="imu_pixhawk6x_periodic()"/>
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<event fun="imu_pixhawk6x_event()"/>
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<makefile target="!sim|nps|fbw">
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<!-- Files -->
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<file name="invensense2.c" dir="peripherals"/>
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<file name="invensense3.c" dir="peripherals"/>
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<file name="imu_pixhawk6x.c"/>
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<!-- IMU1: ICM42670 -->
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<configure name="PIXHAWK6X_IMU1_SPI_DEV" default="spi1" case="lower|upper"/>
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<configure name="PIXHAWK6X_IMU1_SPI_SLAVE_IDX" default="SPI_SLAVE1"/>
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<define name="PIXHAWK6X_IMU1_SPI_DEV" value="$(PIXHAWK6X_IMU1_SPI_DEV_LOWER)"/>
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<define name="USE_$(PIXHAWK6X_IMU1_SPI_DEV_UPPER)"/>
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<define name="PIXHAWK6X_IMU1_SPI_SLAVE_IDX" value="$(PIXHAWK6X_IMU1_SPI_SLAVE_IDX)"/>
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<define name="USE_$(PIXHAWK6X_IMU1_SPI_SLAVE_IDX)"/>
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<!-- IMU2: ICM42688-->
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<configure name="PIXHAWK6X_IMU2_SPI_DEV" default="spi2" case="lower|upper"/>
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<configure name="PIXHAWK6X_IMU2_SPI_SLAVE_IDX" default="SPI_SLAVE2"/>
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<define name="PIXHAWK6X_IMU2_SPI_DEV" value="$(PIXHAWK6X_IMU2_SPI_DEV_LOWER)"/>
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<define name="USE_$(PIXHAWK6X_IMU2_SPI_DEV_UPPER)"/>
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<define name="PIXHAWK6X_IMU2_SPI_SLAVE_IDX" value="$(PIXHAWK6X_IMU2_SPI_SLAVE_IDX)"/>
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<define name="USE_$(PIXHAWK6X_IMU2_SPI_SLAVE_IDX)"/>
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<!-- IMU3: BMI088 / ICM20649 -->
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<configure name="PIXHAWK6X_IMU3_SPI_DEV" default="spi3" case="lower|upper"/>
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<configure name="PIXHAWK6X_IMU3_SPI_SLAVE_IDX" default="SPI_SLAVE3"/>
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<define name="PIXHAWK6X_IMU3_SPI_DEV" value="$(PIXHAWK6X_IMU3_SPI_DEV_LOWER)"/>
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<define name="USE_$(PIXHAWK6X_IMU3_SPI_DEV_UPPER)"/>
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<define name="PIXHAWK6X_IMU3_SPI_SLAVE_IDX" value="$(PIXHAWK6X_IMU3_SPI_SLAVE_IDX)"/>
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<define name="USE_$(PIXHAWK6X_IMU3_SPI_SLAVE_IDX)"/>
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<!-- Configure the heater (ICM42688) -->
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<define name="IMU_HEATER_GYRO_ID" value="IMU_PIXHAWK2_ID"/>
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<define name="IMU_HEATER_TARGET_TEMP" value="45.0"/>
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<define name="IMU_HEATER_P_GAIN" value="50.0"/>
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<define name="IMU_HEATER_I_GAIN" value="0.07"/>
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<test>
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<define name="SPI_MASTER"/>
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<define name="PIXHAWK6X_IMU1_SPI_DEV" value="spi1"/>
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<define name="PIXHAWK6X_IMU1_SPI_SLAVE_IDX" value="1"/>
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<define name="PIXHAWK6X_IMU2_SPI_DEV" value="spi2"/>
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<define name="PIXHAWK6X_IMU2_SPI_SLAVE_IDX" value="2"/>
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<define name="PIXHAWK6X_IMU3_SPI_DEV" value="spi3"/>
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<define name="PIXHAWK6X_IMU3_SPI_SLAVE_IDX" value="3"/>
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<define name="USE_SPI1"/>
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<define name="USE_SPI2"/>
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<define name="USE_SPI3"/>
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<define name="USE_SPI_SLAVE1"/>
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<define name="USE_SPI_SLAVE2"/>
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<define name="USE_SPI_SLAVE3"/>
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<define name="PERIODIC_FREQUENCY" value="512"/>
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<define name="IMU_PIXHAWK6X_PERIODIC_FREQ" value="512"/>
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</test>
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</makefile>
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</module>
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