imu_cube module

IMU driver for the sensors inside the cube autopilots

• IMU1: ICM20948 (non-isolated)
• IMU2: ICM20602 (isolated)
• IMU3: ICM20649 (isolated)

Example for airframe file

Add to your firmware section:

<module name="imu_cube"/>

Module functions

Init Functions

These initialization functions are called once on startup.

• imu_cube_init()

Event Functions

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

• imu_cube_event()

Periodic Functions

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

• imu_cube_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_cube.h

Source Files

• peripherals/invensense2.c
• peripherals/invensense3.c
• peripherals/mpu60x0.c
• peripherals/mpu60x0_spi.c
• modules/imu/imu_cube.c

Raw imu_cube.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="imu_cube" dir="imu" task="sensors">
  <doc>
    <description>
      IMU driver for the sensors inside the cube autopilots
      - IMU1: ICM20948 (non-isolated)
      - IMU2: ICM20602 (isolated)
      - IMU3: ICM20649 (isolated)
    </description>
  </doc>
  <dep>
    <depends>spi_master,i2c,imu_common,intermcu_iomcu,imu_heater</depends>
    <provides>imu</provides>
  </dep>
  <header>
    <file name="imu_cube.h"/>
  </header>
  <init fun="imu_cube_init()"/>
  <periodic fun="imu_cube_periodic()"/>
  <event fun="imu_cube_event()"/>
  <makefile target="!sim|nps|fbw">
    <!-- ICM20948 (non-isolated) -->
    <configure name="CUBE_IMU1_SPI_DEV" default="spi1" case="lower|upper"/>
    <configure name="CUBE_IMU1_SPI_SLAVE_IDX" default="SPI_SLAVE2"/>
    <define name="CUBE_IMU1_SPI_DEV" value="$(CUBE_IMU1_SPI_DEV_LOWER)"/>
    <define name="USE_$(CUBE_IMU1_SPI_DEV_UPPER)"/>
    <define name="CUBE_IMU1_SPI_SLAVE_IDX" value="$(CUBE_IMU1_SPI_SLAVE_IDX)"/>
    <define name="USE_$(CUBE_IMU1_SPI_SLAVE_IDX)"/>
 
    <!-- ICM20602 or ICM45686 (isolated) -->
    <configure name="CUBE_IMU2_SPI_DEV" default="spi4" case="lower|upper"/>
    <configure name="CUBE_IMU2_SPI_SLAVE_IDX" default="SPI_SLAVE3"/> <!-- Overwritten to SPI_SLAVE5 for cube+ -->
    <define name="CUBE_IMU2_SPI_DEV" value="$(CUBE_IMU2_SPI_DEV_LOWER)"/>
    <define name="USE_$(CUBE_IMU2_SPI_DEV_UPPER)"/>
    <define name="CUBE_IMU2_SPI_SLAVE_IDX" value="$(CUBE_IMU2_SPI_SLAVE_IDX)"/>
    <define name="USE_$(CUBE_IMU2_SPI_SLAVE_IDX)"/>
 
    <!-- ICM20649 (isolated) -->
    <configure name="CUBE_IMU3_SPI_DEV" default="spi4" case="lower|upper"/>
    <configure name="CUBE_IMU3_SPI_SLAVE_IDX" default="SPI_SLAVE8"/>
    <define name="CUBE_IMU3_SPI_DEV" value="$(CUBE_IMU3_SPI_DEV_LOWER)"/>
    <define name="USE_$(CUBE_IMU3_SPI_DEV_UPPER)"/>
    <define name="CUBE_IMU3_SPI_SLAVE_IDX" value="$(CUBE_IMU3_SPI_SLAVE_IDX)"/>
    <define name="USE_$(CUBE_IMU3_SPI_SLAVE_IDX)"/>
 
     <!-- Configure the heater (ICM20602) -->
    <define name="IMU_HEATER_GYRO_ID" value="IMU_CUBE2_ID"/>
    <define name="IMU_HEATER_TARGET_TEMP" value="45.0"/>
    <define name="IMU_HEATER_P_GAIN" value="50.0"/>
    <define name="IMU_HEATER_I_GAIN" value="0.07"/>
 
    <!-- Different IMU for the cube+ -->
    <define name="IMU_CUBE_ORANGEPLUS" value="TRUE" cond="ifeq ($(BOARD_VERSION), orange_plus)"/>
 
    <file name="invensense2.c" dir="peripherals"/>
    <file name="invensense3.c" dir="peripherals" cond="ifeq ($(BOARD_VERSION), orange_plus)"/>
    <file name="mpu60x0.c" dir="peripherals" cond="ifeq ($(BOARD_VERSION), orange)"/>
    <file name="mpu60x0_spi.c" dir="peripherals" cond="ifeq ($(BOARD_VERSION), orange)"/>
    <file name="imu_cube.c"/>
 
    <test>
      <define name="SPI_MASTER"/>
      <define name="CUBE_IMU1_SPI_DEV" value="spi1"/>
      <define name="CUBE_IMU1_SPI_SLAVE_IDX" value="0"/>
      <define name="CUBE_IMU2_SPI_DEV" value="spi4"/>
      <define name="CUBE_IMU2_SPI_SLAVE_IDX" value="1"/>
      <define name="CUBE_IMU3_SPI_DEV" value="spi4"/>
      <define name="CUBE_IMU3_SPI_SLAVE_IDX" value="2"/>
      <define name="USE_SPI1"/>
      <define name="USE_SPI4"/>
      <define name="USE_SPI_SLAVE0"/>
      <define name="USE_SPI_SLAVE2"/>
      <define name="USE_SPI_SLAVE2"/>
      <define name="PERIODIC_FREQUENCY" value="512"/>
      <define name="IMU_CUBE_PERIODIC_FREQ" value="512"/>
    </test>
  </makefile>
</module>