renamed imu_aspirin_v2.0 subsystem to imu_aspirin_v2.1 to match the a…

…ctual version number
paparazzi · May 7, 2012 · 94fe9ff · 94fe9ff
1 parent 89295c3
commit 94fe9ff
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Showing 3 changed files with 66 additions and 63 deletions.
diff --git a/conf/autopilot/subsystems/shared/imu_aspirin_v2.0.makefile b/conf/autopilot/subsystems/shared/imu_aspirin_v2.0.makefile
@@ -1,63 +1,3 @@
-# Hey Emacs, this is a -*- makefile -*-
-#
-# Aspirin IMU v2.0
-#
-#
-# 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"/>
-#
-#  </section>
-#
-#
-
-# imu aspirin
-
-IMU_ASPIRIN_CFLAGS  = -DUSE_IMU
-IMU_ASPIRIN_CFLAGS += -DIMU_TYPE_H=\"imu/imu_aspirin2.h\" -DIMU_OVERRIDE_CHANNELS
-IMU_ASPIRIN_SRCS    = $(SRC_SUBSYSTEMS)/imu.c             \
-                      $(SRC_SUBSYSTEMS)/imu/imu_aspirin2.c \
-                      $(SRC_ARCH)/subsystems/imu/imu_aspirin2_arch.c \
-                      $(SRC_ARCH)/mcu_periph/spi_arch.c \
-                      mcu_periph/spi.c
-
-IMU_ASPIRIN_CFLAGS += -DUSE_SPI
-
-ifeq ($(ARCH), lpc21)
-#TODO
-else ifeq ($(ARCH), stm32)
-# IMU_ASPIRIN_CFLAGS += -DUSE_EXTI15_10_IRQ  # Gyro Int on PC14
-IMU_ASPIRIN_CFLAGS += -DUSE_DMA1_C4_IRQ    # SPI2 Rx DMA
-endif
-
-IMU_ASPIRIN_CFLAGS += -DIMU_ASPIRIN_VERSION_2_0
-
-# 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
-
-ap.CFLAGS += $(IMU_ASPIRIN_CFLAGS)
-ap.srcs   += $(IMU_ASPIRIN_SRCS)
+include $(CFG_SHARED)/imu_aspirin_v2.1.makefile
 
+$(warning The imu_aspirin_v2.0 subsystem has been renamed, please replace <subsystem name="imu" type="aspirin_v2.0"/> with <subsystem name="imu" type="aspirin_v2.1"/> in your airframe file.)
diff --git a/conf/autopilot/subsystems/shared/imu_aspirin_v2.1.makefile b/conf/autopilot/subsystems/shared/imu_aspirin_v2.1.makefile
@@ -0,0 +1,63 @@
+# Hey Emacs, this is a -*- makefile -*-
+#
+# Aspirin IMU v2.0
+#
+#
+# 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"/>
+#
+#  </section>
+#
+#
+
+# imu aspirin
+
+IMU_ASPIRIN_CFLAGS  = -DUSE_IMU
+IMU_ASPIRIN_CFLAGS += -DIMU_TYPE_H=\"imu/imu_aspirin2.h\" -DIMU_OVERRIDE_CHANNELS
+IMU_ASPIRIN_SRCS    = $(SRC_SUBSYSTEMS)/imu.c             \
+                      $(SRC_SUBSYSTEMS)/imu/imu_aspirin2.c \
+                      $(SRC_ARCH)/subsystems/imu/imu_aspirin2_arch.c \
+                      $(SRC_ARCH)/mcu_periph/spi_arch.c \
+                      mcu_periph/spi.c
+
+IMU_ASPIRIN_CFLAGS += -DUSE_SPI
+
+ifeq ($(ARCH), lpc21)
+#TODO
+else ifeq ($(ARCH), stm32)
+# IMU_ASPIRIN_CFLAGS += -DUSE_EXTI15_10_IRQ  # Gyro Int on PC14
+IMU_ASPIRIN_CFLAGS += -DUSE_DMA1_C4_IRQ    # SPI2 Rx DMA
+endif
+
+IMU_ASPIRIN_CFLAGS += -DIMU_ASPIRIN_VERSION_2_0
+
+# 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
+
+ap.CFLAGS += $(IMU_ASPIRIN_CFLAGS)
+ap.srcs   += $(IMU_ASPIRIN_SRCS)
+
diff --git a/sw/airborne/subsystems/imu/imu_aspirin2.h b/sw/airborne/subsystems/imu/imu_aspirin2.h
@@ -28,7 +28,7 @@
 #include "subsystems/imu.h"
 
 
-#ifdef IMU_ASPIRIN_VERSION_2_0
+#ifdef IMU_ASPIRIN_VERSION_2_1
 #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