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_v2_common">
  b'<define name="ASPIRIN_2_DISABLE_MAG" value="FALSE" />\n    '
  b'<configure name="ASPIRIN_2_SPI_DEV" value="spi2" />\n    '
  b'<configure name="ASPIRIN_2_SPI_SLAVE_IDX" value="SPI_SLAVE2" />\n    '
</module>

Module configuration options

Configure Options

name: ASPIRIN_2_SPI_DEV value: spi2
Description: SPI device to use for accel
name: ASPIRIN_2_SPI_SLAVE_IDX value: SPI_SLAVE2
Description: slave index of the accel CS pin

Define Options

name: ASPIRIN_2_DISABLE_MAG value: FALSE
Description: set to TRUE to disable the mag on Aspirin

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.

imu_aspirin2_init()

Event Functions

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

imu_aspirin2_event()

Periodic Functions

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

imu_aspirin2_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_aspirin_2_spi.h

Source Files

Raw imu_aspirin_v2_common.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="imu_aspirin_v2_common" dir="imu" task="sensors">
  <doc>
    <description>
      Common functionality of Aspirin v2 IMUs.
      - Accelerometer/Gyroscope: MPU6000 via SPI
      - Magnetometer: HMC5883 as I2C slave of MPU
    </description>
    <configure name="ASPIRIN_2_SPI_DEV" value="spi2" description="SPI device to use for accel"/>
    <configure name="ASPIRIN_2_SPI_SLAVE_IDX" value="SPI_SLAVE2" description="slave index of the accel CS pin"/>
    <define name="ASPIRIN_2_DISABLE_MAG" value="FALSE" description="set to TRUE to disable the mag on Aspirin"/>
    <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,imu_common</depends>
    <provides>imu,mag</provides>
  </dep>
  <header>
    <file name="imu_aspirin_2_spi.h"/>
  </header>
  <init fun="imu_aspirin2_init()"/>
  <periodic fun="imu_aspirin2_periodic()"/>
  <event fun="imu_aspirin2_event()"/>
  <makefile target="!sim|nps|fbw">
    <configure name="ASPIRIN_2_SPI_DEV" default="spi2" case="lower|upper"/>
    <configure name="ASPIRIN_2_SPI_SLAVE_IDX" default="SPI_SLAVE2"/>
 
    <define name="ASPIRIN_2_SPI_DEV" value="$(ASPIRIN_2_SPI_DEV_LOWER)"/>
    <define name="USE_$(ASPIRIN_2_SPI_DEV_UPPER)"/>
    <define name="ASPIRIN_2_SPI_SLAVE_IDX" value="$(ASPIRIN_2_SPI_SLAVE_IDX)"/>
    <define name="USE_$(ASPIRIN_2_SPI_SLAVE_IDX)"/>
 
    <file name="mpu60x0.c" dir="peripherals"/>
    <file name="mpu60x0_spi.c" dir="peripherals"/>
    <file name="imu_aspirin_2_spi.c"/>
  </makefile>
</module>