imu_apogee module

Driver for IMU on Apogee board.

• Accelerometer/Gyroscope: MPU60x0 via I2C1

Example for airframe file

Add to your firmware section:

<module name="imu_apogee"/>

Module functions

Init Functions

These initialization functions are called once on startup.

• imu_apogee_init()

Event Functions

These event functions are called in each cycle of the module event loop.

• imu_apogee_event()

Periodic Functions

These functions are called periodically at the specified frequency from the module periodic loop.

• imu_apogee_periodic()
  • Running at maximum module frequency.
  • Autorun: LOCK
    Periodic function automatically starts after init and can't be stopped.

Files

Header Files

The following headers are automatically included in modules.h

• imu_apogee.h

Source Files

• peripherals/mpu60x0.c
• peripherals/mpu60x0_i2c.c
• boards/apogee/imu_apogee.c

Raw imu_apogee.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="imu_apogee" dir="imu" task="sensors">
  <doc>
    <description>
      Driver for IMU on Apogee board.
      - Accelerometer/Gyroscope: MPU60x0 via I2C1
    </description>
  </doc>
  <dep>
    <depends>i2c,imu_common</depends>
    <provides>imu</provides>
  </dep>
  <header>
    <file name="imu_apogee.h" dir="boards/apogee"/>
  </header>
 
  <init fun="imu_apogee_init()"/>
  <periodic fun="imu_apogee_periodic()"/>
  <event fun="imu_apogee_event()"/>
 
  <makefile target="!sim|nps|fbw">
    <!-- MPU is on I2C1 on Apogee -->
    <define name="IMU_APOGEE_I2C_DEV" value="i2c1"/>
    <define name="USE_I2C1"/>
 
    <file name="mpu60x0.c" dir="peripherals"/>
    <file name="mpu60x0_i2c.c" dir="peripherals"/>
    <file name="imu_apogee.c" dir="boards/apogee"/>
    <test>
      <define name="USE_I2C1"/>
      <define name="IMU_APOGEE_I2C_DEV" value="i2c1"/>
      <define name="DOWNLINK_TRANSPORT" value="pprz_tp"/>
      <define name="DOWNLINK_DEVICE" value="uart0"/>
      <define name="USE_UART0"/>
      <define name="IMU_APOGEE_PERIODIC_FREQ" value="512"/>
    </test>
  </makefile>
</module>