Add to your firmware section: This example contains all possible configuration options, not all of them are mandatory!
These initialization functions are called once on startup.
These event functions are called in each cycle of the module event loop.
These functions are called periodically at the specified frequency from the module periodic loop.
<!DOCTYPE module SYSTEM "module.dtd">
<module name="imu_aspirin_common" dir="imu" task="sensors">
<doc>
<description>
Common functionality of Aspirin IMUs.
- Accelerometer: ADXL345 via SPI
- Gyroscope: ITG3200 via I2C
- Magnetometer: HMC58xx via I2C
</description>
<configure name="ASPIRIN_I2C_DEV" value="i2c2" description="I2C device to use"/>
<configure name="ASPIRIN_SPI_DEV" value="spi2" description="SPI device to use for accel"/>
<configure name="ASPIRIN_SPI_SLAVE_IDX" value="SPI_SLAVE2" description="slave index of the accel CS pin"/>
<section name="IMU" prefix="IMU_">
<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>
</doc>
<dep>
<depends>spi_master,i2c,imu_common</depends>
<provides>imu,mag</provides>
</dep>
<header>
<file name="imu_aspirin.h"/>
</header>
<init fun="imu_aspirin_init()"/>
<periodic fun="imu_aspirin_periodic()"/>
<event fun="imu_aspirin_event()"/>
<makefile target="!sim|nps|fbw">
<configure name="ASPIRIN_I2C_DEV" default="i2c2" case="lower|upper"/>
<configure name="ASPIRIN_SPI_DEV" default="spi2" case="lower|upper"/>
<configure name="ASPIRIN_SPI_SLAVE_IDX" default="SPI_SLAVE2"/>
<define name="ASPIRIN_I2C_DEV" value="$(ASPIRIN_I2C_DEV_LOWER)"/>
<define name="USE_$(ASPIRIN_I2C_DEV_UPPER)"/>
<define name="ASPIRIN_SPI_DEV" value="$(ASPIRIN_SPI_DEV_LOWER)"/>
<define name="USE_$(ASPIRIN_SPI_DEV_UPPER)"/>
<define name="ASPIRIN_SPI_SLAVE_IDX" value="$(ASPIRIN_SPI_SLAVE_IDX)"/>
<define name="USE_$(ASPIRIN_SPI_SLAVE_IDX)"/>
<define name="ASPIRIN_ARCH_INDEP"/>
<file name="adxl345_spi.c" dir="peripherals"/>
<file name="itg3200.c" dir="peripherals"/>
<file name="hmc58xx.c" dir="peripherals"/>
<file name="imu_aspirin.c"/>
</makefile>
</module>