[paparazzi-commits] [6121] Add lisa_pasthrough imu v1.2 subsystem file

[Allen Ibara]

Revision: 6121
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=6121
Author:   aibara
Date:     2010-10-08 22:45:41 +0000 (Fri, 08 Oct 2010)
Log Message:
-----------
Add lisa_pasthrough imu v1.2 subsystem file

Added Paths:
-----------
    
paparazzi3/trunk/conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.2.makefile

Added: 
paparazzi3/trunk/conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.2.makefile
===================================================================
--- 
paparazzi3/trunk/conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.2.makefile
                            (rev 0)
+++ 
paparazzi3/trunk/conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.2.makefile
    2010-10-08 22:45:41 UTC (rev 6121)
@@ -0,0 +1,95 @@
+#
+# Booz2 IMU booz2v1.1
+#
+#
+# required xml:
+#  <section name="IMU" prefix="IMU_">
+#
+#    <define name="GYRO_X_NEUTRAL" value="33924"/>
+#    <define name="GYRO_Y_NEUTRAL" value="33417"/>
+#    <define name="GYRO_Z_NEUTRAL" value="32809"/>
+#
+#    <define name="GYRO_X_SENS" value=" 1.01" integer="16"/>
+#    <define name="GYRO_Y_SENS" value="-1.01" integer="16"/>
+#    <define name="GYRO_Z_SENS" value="-1.01" integer="16"/>
+#
+#    <define name="ACCEL_X_NEUTRAL" value="32081"/>
+#    <define name="ACCEL_Y_NEUTRAL" value="33738"/>
+#    <define name="ACCEL_Z_NEUTRAL" value="32441"/>
+#
+#    <define name="ACCEL_X_SENS" value="-2.50411474" integer="16"/>
+#    <define name="ACCEL_Y_SENS" value="-2.48126183" integer="16"/>
+#    <define name="ACCEL_Z_SENS" value="-2.51396167" integer="16"/>
+#
+#    <define name="MAG_X_NEUTRAL" value="2358"/>
+#    <define name="MAG_Y_NEUTRAL" value="2362"/>
+#    <define name="MAG_Z_NEUTRAL" value="2119"/>
+#
+#    <define name="MAG_X_SENS" value="-3.4936416" integer="16"/>
+#    <define name="MAG_Y_SENS" value=" 3.607713" integer="16"/>
+#    <define name="MAG_Z_SENS" value="-4.90788848" integer="16"/>
+#    <define name="MAG_45_HACK" value="1"/>
+#
+#  </section>
+#
+#
+
+#
+# param: MAX_1168_DRDY_PORT
+
+
+
+# imu Booz2 v1.1
+
+# add imu arch to include directories
+imu_CFLAGS += -I$(SRC_FIRMWARE)/imu/arch/$(ARCH)
+
+imu_CFLAGS += -DIMU_TYPE_H=\"imu/imu_b2.h\"
+imu_CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_HMC5843
+imu_CFLAGS += -DIMU_B2_VERSION_1_2
+imu_srcs += $(SRC_FIRMWARE)/imu.c                   \
+           $(SRC_FIRMWARE)/imu/imu_b2.c            \
+           $(SRC_FIRMWARE)/imu/arch/$(ARCH)/imu_b2_arch.c
+
+imu_srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c \
+            $(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c
+
+imu_srcs += $(SRC_BOOZ)/peripherals/booz_hmc5843.c \
+            $(SRC_BOOZ_ARCH)/peripherals/hmc5843_arch.c
+
+ifeq ($(ARCH), lpc21)
+imu_CFLAGS += -DSSP_VIC_SLOT=9
+imu_CFLAGS += -DMAX1168_EOC_VIC_SLOT=8
+imu_CFLAGS += -DMS2001_DRDY_VIC_SLOT=11
+else ifeq ($(ARCH), stm32)
+imu_CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ -DUSE_SPI2_IRQ
+imu_CFLAGS += -DMAX_1168_DRDY_PORT=$(MAX_1168_DRDY_PORT)
+imu_CFLAGS += -DMAX_1168_DRDY_PORT_SOURCE=$(MAX_1168_DRDY_PORT_SOURCE)
+imu_CFLAGS += -DUSE_I2C2 -DUSE_EXTI9_5_IRQ
+endif
+
+# Keep CFLAGS/Srcs for imu in separate expression so we can assign it to other 
targets
+# see: conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.1.makefile for 
example
+stm_passthrough.CFLAGS += $(imu_CFLAGS)
+stm_passthrough.srcs += $(imu_srcs)
+
+#
+# Simulator
+#
+
+# add imu arch to include directories
+sim.CFLAGS += -I$(SRC_FIRMWARE)/imu/arch/$(ARCH)
+
+sim.CFLAGS += -DIMU_TYPE_H=\"imu/imu_b2.h\"
+sim.CFLAGS += -DIMU_B2_VERSION_1_1
+sim.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_AMI601
+sim.srcs += $(SRC_FIRMWARE)/imu.c                   \
+            $(SRC_FIRMWARE)/imu/imu_b2.c            \
+            $(SRC_FIRMWARE)/imu/arch/$(ARCH)/imu_b2_arch.c
+
+sim.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c \
+            $(SRC_BOOZ_SIM)/peripherals/booz_max1168_arch.c
+
+sim.CFLAGS += -DUSE_AMI601
+sim.srcs   += $(SRC_BOOZ)/peripherals/booz_ami601.c
+sim.CFLAGS += -DUSE_I2C1