latest/module__board_tawaki_2_0.html

<!DOCTYPE module SYSTEM "module.dtd">


<module name="board_tawaki_2.0" dir="boards">

  <doc>

    <description>

      Autoload several onboard sensors for the Tawaki board with proper configuration

      - IMU (ICM42688)

      - Baro (BMP390)

      - Mag (LIS3MDL)

      Normal front of the board is on USB connector side

      Normal up of the board is on the Molex connector side

    </description>

  </doc>

  <dep>

    <depends>baro_bmp3,mag_lis3mdl,imu_icm42688</depends>

  </dep>

  <makefile target="!sim|nps|fbw">

    <configure name="IMU_SPI_DEV" value="spi6" case="upper|lower"/>

    <configure name="IMU_SPI_SLAVE_IDX" value="SPI_SLAVE5"/>

    <configure name="BMP3_I2C_DEV" value="i2c4" case="upper|lower"/>

    <define name="BMP3_SLAVE_ADDR" value="BMP3_I2C_ADDR_ALT"/>

    <define name="TAWAKIV2_IMU_ROT" value=".body_to_sensor={{0,-16383,0,16383,0,0,0,0,16382}}"/>

    <define name="TAWAKIV2_MAG_ROT" value=".body_to_sensor={{2,16382,0,-16382,2,0,0,0,16382}}"/>

    <configure name="MAG_LIS3MDL_I2C_DEV" default="i2c4" case="upper|lower"/>

    <define name="MODULE_LIS3MDL_UPDATE_AHRS"/>

  </makefile>

</module>