ppzuav-imu as a <subsystem name=imu type=ppzuav>

conf/airframes/PPZUAV/fixed-wing/ppzimu_tiny.xml

@@ -202,7 +202,7 @@
     -->
     <!--    <load name="digital_cam_i2c.xml"/>  -->
 
-    <load name="ins_ppzuavimu.xml" />
+ <!--    <load name="ins_ppzuavimu.xml" /> -->
 
 <!--
     <load name="digital_cam.xml" >
@@ -233,9 +233,9 @@
 
     <!-- Sensors -->
     <!--
-    <subsystem name="imu" type="booz"/>
     <subsystem name="attitude" type="dcm"/>
     -->
+    <subsystem name="imu" type="ppzuav"/>
     <subsystem name="ahrs" type="ic"/>
 
 
@@ -256,15 +256,5 @@
 
 </firmware>
 
- <makefile>
-   ap.srcs +=  $(SRC_SUBSYSTEMS)/imu.c
-
-ap.CFLAGS +=    -DAHRS_H_X=0.51562740288882 -DAHRS_H_Y=-0.05707735220832 -DAHRS_H_Z=0.85490967783446
-ap.CFLAGS +=    -DIMU_TYPE_H=\"modules/ins/ins_ppzuavimu.h\"
-
-# Test attitude using accelerometers only:
-# ap.CFLAGS +=   -DOUTPUTMODE=2
-# ap.CFLAGS +=   -DASPIRIN_IMU
- </makefile>
 
 </airframe>

conf/airframes/TU_Delft/yapa_xsens.xml

@@ -180,18 +180,18 @@
     <load name="ins_xsens_MTiG_fixedwing.xml">
       <configure name="XSENS_UART_NR" value="0"/>
     </load>
-<!--
+
     <load name="light.xml">
       <define name="LIGHT_LED_STROBE" value="3"/>
       <define name="LIGHT_LED_NAV" value="2"/>
       <define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
       <define name="NAV_LIGHT_MODE_DEFAULT" value="4"/>
     </load>
-    -->
-    <!--    <load name="digital_cam_i2c.xml"/>  -->
-    <load name="mag_hmc5843.xml" />
+
+<!--    <load name="digital_cam_i2c.xml"/>  -->
+  <!--    <load name="ins_ppzuavimu.xml"/>  -->
     <load name="digital_cam.xml" >
-      <define name="DC_SHUTTER_LED" value="3"/>
+      <define name="DC_SHUTTER_LED" value="2"/>
     </load>
 
   </modules>

conf/autopilot/fixedwing.makefile

@@ -15,6 +15,7 @@ SRC_FIXEDWING_TEST=$(SRC_FIXEDWING)/
 
 SRC_FIRMWARE=firmwares/fixedwing
 SRC_SUBSYSTEMS=subsystems
+SRC_MODULES=modules
 
 FIXEDWING_INC = -I$(SRC_FIRMWARE) -I$(SRC_FIXEDWING)
 

conf/autopilot/subsystems/shared/imu_ppzuav.makefile

@@ -0,0 +1,20 @@
+
+IMU_PPZUAVIMU_CFLAGS  = -DUSE_IMU
+IMU_PPZUAVIMU_CFLAGS += -DIMU_TYPE_H=\"modules/ins/ins_ppzuavimu.h\"
+
+IMU_PPZUAVIMU_SRCS    = $(SRC_SUBSYSTEMS)/imu.c             \
+                      $(SRC_MODULES)/ins/ins_ppzuavimu.c
+
+
+IMU_PPZUAVIMU_CFLAGS += -DUSE_I2C
+ifdef STM32
+	IMU_PPZUAVIMU_CFLAGS += -DUSE_I2C2
+	IMU_PPZUAVIMU_CFLAGS += -DPPZUAVIMU_I2C_DEVICE=i2c2
+else
+	IMU_PPZUAVIMU_CFLAGS += -DUSE_I2C0
+	IMU_PPZUAVIMU_CFLAGS += -DPPZUAVIMU_I2C_DEVICE=i2c0
+endif
+
+ap.CFLAGS += $(IMU_PPZUAVIMU_CFLAGS)
+ap.srcs   += $(IMU_PPZUAVIMU_SRCS)
+

conf/modules/ins_aspirin_via_i2c.xml

@@ -0,0 +1,25 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="ins_aspirin_via_i2c" dir="ins">
+  <!-- <depend conflict="ins" -->
+  <header>
+    <file name="ins_ppzuavimu.h"/>
+  </header>
+
+  <!-- default imu stuff -->
+  <init fun="imu_impl_init()"/>
+  <periodic fun="imu_periodic()" freq="60"/>
+  <!-- ImuEvent called directly from main_ap -->
+
+  <!-- extras to become a usefull module -->
+  <periodic fun="ppzuavimu_module_downlink_raw()" freq="5"/>
+  <event fun="ppzuavimu_module_event()"/>
+
+  <makefile>
+    <file name="ins_ppzuavimu.c"/>
+    <define name="PPZUAVIMU_I2C_DEVICE" value="i2c0" />
+    <define name="USE_I2C" />
+    <define name="USE_I2C0" />
+    <define name="ASPIRIN_IMU" />
+  </makefile>
+</module>

conf/modules/ins_ppzuavimu.xml

@@ -6,8 +6,12 @@
     <file name="ins_ppzuavimu.h"/>
   </header>
 
-  <init fun="ppzuavimu_module_init()"/>
-  <periodic fun="ppzuavimu_module_periodic()" freq="60"/>
+  <!-- default imu stuff -->
+  <init fun="imu_impl_init()"/>
+  <periodic fun="imu_periodic()" freq="60"/>
+  <!-- ImuEvent called directly from main_ap -->
+
+  <!-- extras to become a usefull module -->
   <periodic fun="ppzuavimu_module_downlink_raw()" freq="5"/>
   <event fun="ppzuavimu_module_event()"/>
 

sw/airborne/modules/ins/ins_ppzuavimu.c

@@ -19,7 +19,7 @@
  */
 
 #include <math.h>
-#include "estimator.h"
+#include "ins_ppzuavimu.h"
 #include "mcu_periph/i2c.h"
 
 // Downlink
@@ -53,7 +53,7 @@ struct i2c_transaction ppzuavimu_adxl345;
 struct Imu imu;
 #endif
 
-void ppzuavimu_module_init( void )
+void imu_impl_init(void)
 {
   /////////////////////////////////////////////////////////////////////
   // ITG3200
@@ -138,7 +138,7 @@ void ppzuavimu_module_init( void )
 
 }
 
-void ppzuavimu_module_periodic( void )
+void imu_periodic( void )
 {
   // Start reading the latest gyroscope data
   ppzuavimu_itg3200.type = I2CTransTxRx;

sw/airborne/modules/ins/ins_ppzuavimu.h

@@ -28,14 +28,13 @@ extern volatile bool_t gyr_valid;
 extern volatile bool_t acc_valid;
 extern volatile bool_t mag_valid;
 
-
-extern void ppzuavimu_module_init( void );
-extern void ppzuavimu_module_periodic( void );
-extern void ppzuavimu_module_event( void );
-extern void ppzuavimu_module_downlink_raw( void );
-
+/* must be defined in order to be IMU code: declared in imu.h
+extern void imu_impl_init(void);
+extern void imu_periodic(void);
+*/
 
 #define ImuEvent(_gyro_handler, _accel_handler, _mag_handler) {   \
+    ppzuavimu_module_event();                \
     if (gyr_valid) {                         \
       gyr_valid = FALSE;                     \
       _gyro_handler();                                  \
@@ -50,5 +49,9 @@ extern void ppzuavimu_module_downlink_raw( void );
     }                                                   \
 }
 
+/* Own Extra Functions */
+extern void ppzuavimu_module_event( void );
+extern void ppzuavimu_module_downlink_raw( void );
+
 
 #endif // PPZUAVIMU_H