board_tawaki module

Autoload several onboard sensors for the Tawaki board with proper configuration

• IMU (icm206xx) (auto-detected from MPU6000 driver)
• Baro (BMP3)
• Mag (LIS3MDL) Normal front of the board is on USB connector side Normal up of the board is on the Molex connector side

Example for airframe file

Add to your firmware section: This example contains all possible configuration options, not all of them are mandatory!

<module name="board_tawaki">
  b'<configure name="BOARD_TAWAKI_ROTATED" value="FALSE|TRUE" />\n  '
</module>

Module configuration options

Configure Options

• name: BOARD_TAWAKI_ROTATED value: FALSE|TRUE
  Description: if TRUE, the board is not using is default orientation and axis can be redefined by hand

Files

Raw board_tawaki.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="board_tawaki" dir="boards">
  <doc>
    <description>
      Autoload several onboard sensors for the Tawaki board with proper configuration
      - IMU (icm206xx) (auto-detected from MPU6000 driver)
      - Baro (BMP3)
      - Mag (LIS3MDL)
      Normal front of the board is on USB connector side
      Normal up of the board is on the Molex connector side
    </description>
    <configure name="BOARD_TAWAKI_ROTATED" value="FALSE|TRUE" description="if TRUE, the board is not using is default orientation and axis can be redefined by hand"/>
  </doc>
  <dep>
    <depends>baro_bmp3,mag_lis3mdl,imu_mpu6000</depends>
  </dep>
  <makefile target="!sim|nps|fbw">
    <define name="IMU_MPU_GYRO_RANGE" value="MPU60X0_GYRO_RANGE_1000"/>
    <define name="IMU_MPU_ACCEL_RANGE" value="MPU60X0_ACCEL_RANGE_8G"/>
    <configure name="IMU_MPU_SPI_DEV" value="spi4" case="upper|lower"/>
    <configure name="IMU_MPU_SPI_SLAVE_IDX" value="SPI_SLAVE5"/>
    <define name="IMU_MPU_CHAN_X" value="1" cond="ifeq (,$(findstring $(BOARD_TAWAKI_ROTATED),1 TRUE))"/>
    <define name="IMU_MPU_CHAN_Y" value="0" cond="ifeq (,$(findstring $(BOARD_TAWAKI_ROTATED),1 TRUE))"/>
    <define name="IMU_MPU_Y_SIGN" value="-1" cond="ifeq (,$(findstring $(BOARD_TAWAKI_ROTATED),1 TRUE))"/>
    <configure name="BMP3_I2C_DEV" value="i2c4" case="upper|lower"/>
    <define name="BMP3_SLAVE_ADDR" value="BMP3_I2C_ADDR_ALT"/>
    <configure name="MAG_LIS3MDL_I2C_DEV" default="i2c4" case="upper|lower"/>
    <define name="MODULE_LIS3MDL_UPDATE_AHRS"/>
    <define name="LIS3MDL_CHAN_X" value="1" cond="ifeq (,$(findstring $(BOARD_TAWAKI_ROTATED),1 TRUE))"/>
    <define name="LIS3MDL_CHAN_Y" value="0" cond="ifeq (,$(findstring $(BOARD_TAWAKI_ROTATED),1 TRUE))"/>
    <define name="LIS3MDL_CHAN_X_SIGN" value="-" cond="ifeq (,$(findstring $(BOARD_TAWAKI_ROTATED),1 TRUE))"/>
  </makefile>
</module>