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Freek van Tienen
51 lines
2.2 KiB
XML
51 lines
2.2 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="imu_bmi088_i2c" dir="imu" task="sensors">
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<doc>
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<description>
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IMU with BMI088 via I2C.
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</description>
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<configure name="IMU_BMI088_I2C_DEV" value="i2c3" description="I2C device to use for BMI088"/>
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<define name="IMU_BMI088_GYRO_RANGE" value="BMI088_GYRO_RANGE_1000" description="gyroscope range setting"/>
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<define name="IMU_BMI088_GYRO_ODR" value="BMI088_GYRO_ODR_400_BW_47" description="gyroscope output data rate"/>
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<define name="IMU_BMI088_GYRO_I2C_ADDR" value="BMI088_GYRO_ADDR|BMI088_GYRO_ADDR_ALT" description="I2C address of the gyro"/>
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<define name="IMU_BMI088_ACCEL_RANGE" value="BMI088_ACCEL_RANGE_6G" description="accelerometer range setting"/>
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<define name="IMU_BMI088_ACCEL_ODR" value="BMI088_ACCEL_ODR_400" description="accelerometer output data rate"/>
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<define name="IMU_BMI088_ACCEL_I2C_ADDR" value="BMI088_ACCEL_ADDR|BMI088_ACCEL_ADDR_ALT" description="I2C address of the accelerometer"/>
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<define name="IMU_BMI088_CHAN_X" value="0" description="channel index"/>
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<define name="IMU_BMI088_CHAN_Y" value="1" description="channel index"/>
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<define name="IMU_BMI088_CHAN_Z" value="2" description="channel index"/>
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</doc>
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<dep>
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<depends>i2c,imu_common</depends>
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<provides>imu</provides>
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</dep>
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<autoload name="imu_nps"/>
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<autoload name="imu_sim"/>
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<header>
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<file name="imu_bmi088_i2c.h"/>
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</header>
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<init fun="imu_bmi088_init()"/>
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<periodic fun="imu_bmi088_periodic()"/>
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<event fun="imu_bmi088_event()"/>
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<makefile target="!sim|nps|fbw">
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<configure name="IMU_BMI088_I2C_DEV" default="i2c3" case="lower|upper"/>
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<define name="IMU_BMI088_I2C_DEV" value="$(IMU_BMI088_I2C_DEV_LOWER)"/>
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<define name="USE_$(IMU_BMI088_I2C_DEV_UPPER)"/>
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<file name="bmi088.c" dir="peripherals"/>
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<file name="bmi088_i2c.c" dir="peripherals"/>
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<file name="imu_bmi088_i2c.c"/>
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<test>
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<define name="USE_I2C1"/>
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<define name="IMU_BMI088_I2C_DEV" value="i2c1"/>
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<define name="DOWNLINK_TRANSPORT" value="pprz_tp"/>
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<define name="DOWNLINK_DEVICE" value="uart0"/>
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<define name="USE_UART0"/>
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</test>
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</makefile>
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</module>
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