IMU with BMI088 via I2C.
No detailed description...
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_bmi088_i2c">
b'<define name="IMU_BMI088_GYRO_RANGE" value="BMI088_GYRO_RANGE_1000" />\n '
b'<define name="IMU_BMI088_GYRO_ODR" value="BMI088_GYRO_ODR_400_BW_47" />\n '
b'<define name="IMU_BMI088_GYRO_I2C_ADDR" value="BMI088_GYRO_ADDR|BMI088_GYRO_ADDR_ALT" />\n '
b'<define name="IMU_BMI088_ACCEL_RANGE" value="BMI088_ACCEL_RANGE_6G" />\n '
b'<define name="IMU_BMI088_ACCEL_ODR" value="BMI088_ACCEL_ODR_400" />\n '
b'<define name="IMU_BMI088_ACCEL_I2C_ADDR" value="BMI088_ACCEL_ADDR|BMI088_ACCEL_ADDR_ALT" />\n '
b'<define name="IMU_BMI088_CHAN_X" value="0" />\n '
b'<define name="IMU_BMI088_CHAN_Y" value="1" />\n '
b'<define name="IMU_BMI088_CHAN_Z" value="2" />\n '
b'<configure name="IMU_BMI088_I2C_DEV" value="i2c3" />\n '
</module>
Module configuration options
Configure Options
- name:
IMU_BMI088_I2C_DEV
value: i2c3
Description: I2C device to use for BMI088
Define Options
- name:
IMU_BMI088_GYRO_RANGE
value: BMI088_GYRO_RANGE_1000
Description: gyroscope range setting
- name:
IMU_BMI088_GYRO_ODR
value: BMI088_GYRO_ODR_400_BW_47
Description: gyroscope output data rate
- name:
IMU_BMI088_GYRO_I2C_ADDR
value: BMI088_GYRO_ADDR|BMI088_GYRO_ADDR_ALT
Description: I2C address of the gyro
- name:
IMU_BMI088_ACCEL_RANGE
value: BMI088_ACCEL_RANGE_6G
Description: accelerometer range setting
- name:
IMU_BMI088_ACCEL_ODR
value: BMI088_ACCEL_ODR_400
Description: accelerometer output data rate
- name:
IMU_BMI088_ACCEL_I2C_ADDR
value: BMI088_ACCEL_ADDR|BMI088_ACCEL_ADDR_ALT
Description: I2C address of the accelerometer
- name:
IMU_BMI088_CHAN_X
value: 0
Description: channel index
- name:
IMU_BMI088_CHAN_Y
value: 1
Description: channel index
- name:
IMU_BMI088_CHAN_Z
value: 2
Description: channel index
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_bmi088_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_bmi088_i2c.xml file:
<!DOCTYPE module SYSTEM "module.dtd">
<module name="imu_bmi088_i2c" dir="imu" task="sensors">
<doc>
<description>
IMU with BMI088 via I2C.
</description>
<configure name="IMU_BMI088_I2C_DEV" value="i2c3" description="I2C device to use for BMI088"/>
<define name="IMU_BMI088_GYRO_RANGE" value="BMI088_GYRO_RANGE_1000" description="gyroscope range setting"/>
<define name="IMU_BMI088_GYRO_ODR" value="BMI088_GYRO_ODR_400_BW_47" description="gyroscope output data rate"/>
<define name="IMU_BMI088_GYRO_I2C_ADDR" value="BMI088_GYRO_ADDR|BMI088_GYRO_ADDR_ALT" description="I2C address of the gyro"/>
<define name="IMU_BMI088_ACCEL_RANGE" value="BMI088_ACCEL_RANGE_6G" description="accelerometer range setting"/>
<define name="IMU_BMI088_ACCEL_ODR" value="BMI088_ACCEL_ODR_400" description="accelerometer output data rate"/>
<define name="IMU_BMI088_ACCEL_I2C_ADDR" value="BMI088_ACCEL_ADDR|BMI088_ACCEL_ADDR_ALT" description="I2C address of the accelerometer"/>
<define name="IMU_BMI088_CHAN_X" value="0" description="channel index"/>
<define name="IMU_BMI088_CHAN_Y" value="1" description="channel index"/>
<define name="IMU_BMI088_CHAN_Z" value="2" description="channel index"/>
</doc>
<dep>
<depends>i2c,imu_common</depends>
<provides>imu</provides>
</dep>
<header>
<file name="imu_bmi088_i2c.h"/>
</header>
<init fun="imu_bmi088_init()"/>
<periodic fun="imu_bmi088_periodic()"/>
<event fun="imu_bmi088_event()"/>
<makefile target="!sim|nps|fbw">
<configure name="IMU_BMI088_I2C_DEV" default="i2c3" case="lower|upper"/>
<define name="IMU_BMI088_I2C_DEV" value="$(IMU_BMI088_I2C_DEV_LOWER)"/>
<define name="USE_$(IMU_BMI088_I2C_DEV_UPPER)"/>
<file name="bmi088.c" dir="peripherals"/>
<file name="bmi088_i2c.c" dir="peripherals"/>
<file name="imu_bmi088_i2c.c"/>
<test>
<define name="USE_I2C1"/>
<define name="IMU_BMI088_I2C_DEV" value="i2c1"/>
<define name="DOWNLINK_TRANSPORT" value="pprz_tp"/>
<define name="DOWNLINK_DEVICE" value="uart0"/>
<define name="USE_UART0"/>
</test>
</makefile>
</module>