Common functionality of Aspirin IMUs using I2C only.
- Accelerometer: ADXL345 via I2C
- Gyroscope: ITG3200 via I2C
- Magnetometer: HMC58xx via I2C
Example for airframe file
Add to your firmware section: This example contains all possible configuration options, not all of them are mandatory!
<module name="imu_aspirin_i2c_common">
b'<configure name="ASPIRIN_I2C_DEV" value="i2c2" />\n '
</module>
Module configuration options
Configure Options
- name:
ASPIRIN_I2C_DEV
value: i2c2
Description: I2C device to use
Airframe file section
- section name:
IMU
prefix: IMU_
- name
MAG_X_NEUTRAL
value: 2358
- name
MAG_Y_NEUTRAL
value: 2362
- name
MAG_Z_NEUTRAL
value: 2119
- name
MAG_X_SENS
value: 3.4936416
- name
MAG_Y_SENS
value: 3.607713
- name
MAG_Z_SENS
value: 4.90788848
Module functions
Init Functions
These initialization functions are called once on startup.
Event Functions
These event functions are called in each cycle of the module event loop.
Periodic Functions
These functions are called periodically at the specified frequency from the module periodic loop.
- imu_aspirin_i2c_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
Source Files
Raw imu_aspirin_i2c_common.xml file:
<!DOCTYPE module SYSTEM "module.dtd">
<module name="imu_aspirin_i2c_common" dir="imu" task="sensors">
<doc>
<description>
Common functionality of Aspirin IMUs using I2C only.
- Accelerometer: ADXL345 via I2C
- Gyroscope: ITG3200 via I2C
- Magnetometer: HMC58xx via I2C
</description>
<configure name="ASPIRIN_I2C_DEV" value="i2c2" description="I2C device to use"/>
<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>i2c,imu_common</depends>
<provides>imu,mag</provides>
</dep>
<header>
<file name="imu_aspirin_i2c.h"/>
</header>
<init fun="imu_aspirin_i2c_init()"/>
<periodic fun="imu_aspirin_i2c_periodic()"/>
<event fun="imu_aspirin_i2c_event()"/>
<makefile target="!sim|nps|fbw">
<configure name="ASPIRIN_I2C_DEV" default="i2c2" case="lower|upper"/>
<define name="ASPIRIN_I2C_DEV" value="$(ASPIRIN_I2C_DEV_LOWER)"/>
<define name="USE_$(ASPIRIN_I2C_DEV_UPPER)"/>
<file name="adxl345_i2c.c" dir="peripherals"/>
<file name="itg3200.c" dir="peripherals"/>
<file name="hmc58xx.c" dir="peripherals"/>
<file name="imu_aspirin_i2c.c"/>
</makefile>
</module>