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https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
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
41 lines
1.3 KiB
XML
41 lines
1.3 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="imu_krooz_sd" dir="imu">
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<doc>
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<description>
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IMU on KroozSD board.
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MPU60x0 and HMC58xx via I2C2.
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</description>
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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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<autoload name="imu_common"/>
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<autoload name="imu_nps"/>
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<header>
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<file name="imu_krooz.h" dir="boards/krooz"/>
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</header>
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<init fun="imu_krooz_init()"/>
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<periodic fun="imu_krooz_periodic()"/>
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<event fun="imu_krooz_event()"/>
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<makefile target="!sim|nps|fbw">
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<define name="IMU_KROOZ_I2C_DEV" value="i2c2"/>
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<define name="USE_I2C2"/>
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<define name="I2C2_CLOCK_SPEED" value="400000"/>
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<define name="IMU_TYPE_H" value="boards/krooz/imu_krooz.h" type="string"/>
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<file name="mpu60x0.c" dir="peripherals"/>
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<file name="mpu60x0_i2c.c" dir="peripherals"/>
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<file name="hmc58xx.c" dir="peripherals"/>
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<file name="imu_krooz.c" dir="boards/krooz"/>
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<file_arch name="imu_krooz_sd_arch.c" dir="subsystems/imu"/>
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</makefile>
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</module>
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