[paparazzi-commits] [6094] more reorg fixes for test_imu_b2_2

[Allen Ibara]

Revision: 6094
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=6094
Author:   aibara
Date:     2010-10-06 23:06:31 +0000 (Wed, 06 Oct 2010)
Log Message:
-----------
more reorg fixes for test_imu_b2_2

Modified Paths:
--------------
    paparazzi3/trunk/conf/autopilot/lisa_l_test_progs.makefile
    paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu/imu_b2.h

Modified: paparazzi3/trunk/conf/autopilot/lisa_l_test_progs.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/lisa_l_test_progs.makefile  2010-10-06 
23:00:49 UTC (rev 6093)
+++ paparazzi3/trunk/conf/autopilot/lisa_l_test_progs.makefile  2010-10-06 
23:06:31 UTC (rev 6094)
@@ -352,7 +352,7 @@
 
 test_imu_b2_2.srcs += math/pprz_trig_int.c
 
-test_imu_b2_2.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/imu_b2.h\"
+test_imu_b2_2.CFLAGS += -DIMU_TYPE_H=\"imu/imu_b2.h\"
 test_imu_b2_2.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_HMC5843 
-DIMU_B2_VERSION_1_2
 test_imu_b2_2.srcs += $(SRC_FIRMWARE)/imu.c
 test_imu_b2_2.CFLAGS += -DMAX_1168_DRDY_PORT=$(MAX_1168_DRDY_PORT)

Modified: paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu/imu_b2.h
===================================================================
--- paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu/imu_b2.h      
2010-10-06 23:00:49 UTC (rev 6093)
+++ paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu/imu_b2.h      
2010-10-06 23:06:31 UTC (rev 6094)
@@ -106,10 +106,43 @@
 #endif
 #endif /* IMU_B2_VERSION_1_1 */
 
+#ifdef IMU_B2_VERSION_1_2
+/* FIXME based on 1.1 for now */
+/* Default IMU b2 sensors connection */
+#if !defined IMU_GYRO_P_CHAN & !defined IMU_GYRO_Q_CHAN & !defined 
IMU_GYRO_R_CHAN
+#define IMU_GYRO_P_CHAN  1
+#define IMU_GYRO_Q_CHAN  0
+#define IMU_GYRO_R_CHAN  2
+#endif
+#if !defined IMU_ACCEL_X_CHAN & !defined IMU_ACCEL_Y_CHAN & !defined 
IMU_ACCEL_Z_CHAN
+#define IMU_ACCEL_X_CHAN 5
+#define IMU_ACCEL_Y_CHAN 3
+#define IMU_ACCEL_Z_CHAN 4
+#endif
+#if !defined IMU_MAG_X_CHAN & !defined IMU_MAG_Y_CHAN & !defined IMU_MAG_Z_CHAN
+#define IMU_MAG_X_CHAN   0
+#define IMU_MAG_Y_CHAN   1
+#define IMU_MAG_Z_CHAN   2
+#endif
 
+#if !defined IMU_GYRO_P_SIGN & !defined IMU_GYRO_Q_SIGN & !defined 
IMU_GYRO_R_SIGN
+#define IMU_GYRO_P_SIGN   1
+#define IMU_GYRO_Q_SIGN  -1
+#define IMU_GYRO_R_SIGN  -1
+#endif
+#if !defined IMU_ACCEL_X_SIGN & !defined IMU_ACCEL_Y_SIGN & !defined 
IMU_ACCEL_Z_SIGN
+#define IMU_ACCEL_X_SIGN -1
+#define IMU_ACCEL_Y_SIGN -1
+#define IMU_ACCEL_Z_SIGN -1
+#endif
+#if !defined IMU_MAG_X_SIGN & !defined IMU_MAG_Y_SIGN & !defined IMU_MAG_Z_SIGN
+#define IMU_MAG_X_SIGN    1
+#define IMU_MAG_Y_SIGN   -1
+#define IMU_MAG_Z_SIGN   -1
+#endif
+#endif /* IMU_B2_VERSION_1_2 */
 
 
-
 #if defined IMU_B2_MAG_TYPE && IMU_B2_MAG_TYPE == IMU_B2_MAG_MS2001
 #include "peripherals/booz_ms2001.h"
 #define ImuMagEvent(_mag_handler) {                                    \