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_bebop" dir="imu" task="sensors">
<doc>
<description>
Driver for IMU on the Parrot Bebop drone.
- Accelerometer/Gyroscope: MPU6000 via I2C2
- Magnetometer: AK8963 via I2C1
</description>
<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_bebop.h"/>
</header>
<init fun="imu_bebop_init()"/>
<periodic fun="imu_bebop_periodic()"/>
<event fun="imu_bebop_event()"/>
<makefile target="!sim|nps|fbw">
<define name="BEBOP_MAG_I2C_DEV" value="i2c1"/>
<define name="USE_I2C1"/>
<define name="BEBOP_MPU_I2C_DEV" value="i2c2"/>
<define name="USE_I2C2"/>
<file name="mpu60x0.c" dir="peripherals"/>
<file name="mpu60x0_i2c.c" dir="peripherals"/>
<file name="ak8963.c" dir="peripherals"/>
<file name="imu_bebop.c"/>
<test>
<define name="BEBOP_MAG_I2C_DEV" value="i2c1"/>
<define name="USE_I2C1"/>
<define name="BEBOP_MPU_I2C_DEV" value="i2c2"/>
<define name="USE_I2C2"/>
<define name="PERIODIC_FREQUENCY" value="512"/>
<define name="IMU_BEBOP_PERIODIC_FREQ" value="512"/>
</test>
</makefile>
</module>