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_icm42688">
  b'<configure name="IMU_SPI_DEV" value="spi1" />\n    '
  b'<configure name="IMU_SPI_SLAVE_IDX" value="SPI_SLAVE0" />\n    '
  b'<configure name="IMU_ODR" default="4KHZ" />\n    '
  b'<configure name="GYRO_RANGE" default="500DPS" />\n    '
  b'<configure name="ACCEL_RANGE" default="2G" />\n    '
  b'<configure name="GYRO_AAF" value="977" />\n    '
  b'<configure name="ACCEL_AAF" value="213" />\n  '
</module>

Module configuration options

Configure Options

name: IMU_SPI_DEV value: spi1
Description: SPI device to use for ICM42688
name: IMU_SPI_SLAVE_IDX value: SPI_SLAVE0
Description: Slave index of the IMU AP_CS pin (12)
name: IMU_ODR value: None
Description: Output data rate of ACCEL and GYRO (invensense3.h:95/126)
name: GYRO_RANGE value: None
Description: Gyro range (invensense3.h:114)
name: ACCEL_RANGE value: None
Description: Accel range (invensense3.h:145)
name: GYRO_AAF value: 977
Description: Gyro anti-aliasing filter
name: ACCEL_AAF value: 213
Description: Accel anti-aliasing filter

Module functions

Init Functions

These initialization functions are called once on startup.

imu_icm42688_init()

Event Functions

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

imu_icm42688_event()

Periodic Functions

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

imu_icm42688_periodic()
- Frequency in Hz: 1000
- 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_icm42688.h

Source Files

Raw imu_icm42688.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="imu_icm42688" dir="imu" task="sensors">
  <doc>
    <description>
      Driver module for the Invensense v3 IMU ICM42688.
    </description>
    <configure name="IMU_SPI_DEV" value="spi1" description="SPI device to use for ICM42688"/>
    <configure name="IMU_SPI_SLAVE_IDX" value="SPI_SLAVE0" description="Slave index of the IMU AP_CS pin (12)"/>
    <configure name="IMU_ODR" default="4KHZ" description="Output data rate of ACCEL and GYRO (invensense3.h:95/126)"/>
    <configure name="GYRO_RANGE" default="500DPS" description="Gyro range (invensense3.h:114)"/>
    <configure name="ACCEL_RANGE" default="2G" description="Accel range (invensense3.h:145)"/>
    <configure name="GYRO_AAF" value="977" description="Gyro anti-aliasing filter"/>
    <configure name="ACCEL_AAF" value="213" description="Accel anti-aliasing filter"/>
  </doc>
  <dep>
    <depends>i2c,spi_master,imu_common</depends>
    <provides>imu</provides>
  </dep>
  <header>
    <file name="imu_icm42688.h"/>
  </header>
  
  <init fun="imu_icm42688_init()"/>
  <periodic fun="imu_icm42688_periodic()" freq="1000"/>
  <event fun="imu_icm42688_event()"/>
  
  <makefile target="!sim|nps|fbw">
    <configure name="IMU_SPI_DEV" default="spi1" case="lower|upper"/>
    <configure name="IMU_SPI_SLAVE_IDX" default="SPI_SLAVE0"/>
    <configure name="IMU_ODR" default="4KHZ"/>
    <configure name="GYRO_RANGE" default="2000DPS"/>
    <configure name="ACCEL_RANGE" default="8G"/>
    <configure name="GYRO_AAF" default="977"/>
    <configure name="ACCEL_AAF" default="213"/>
 
    <define name="IMU_SPI_DEV" value="$(IMU_SPI_DEV_LOWER)"/>
    <define name="USE_$(IMU_SPI_DEV_UPPER)"/>
    <define name="IMU_SPI_SLAVE_IDX" value="$(IMU_SPI_SLAVE_IDX)"/>
    <define name="USE_$(IMU_SPI_SLAVE_IDX)"/>
    
    <define name="INVENSENSE3_GYRO_ODR" value="INVENSENSE3_GYRO_ODR_$(IMU_ODR)"/>
    <define name="INVENSENSE3_ACCEL_ODR" value="INVENSENSE3_ACCEL_ODR_$(IMU_ODR)"/>
    <define name="INVENSENSE3_GYRO_RANGE" value="INVENSENSE3_GYRO_RANGE_$(GYRO_RANGE)"/>
    <define name="INVENSENSE3_ACCEL_RANGE" value="INVENSENSE3_ACCEL_RANGE_$(ACCEL_RANGE)"/>
    <define name="INVENSENSE3_GYRO_AAF" value="$(GYRO_AAF)"/>
    <define name="INVENSENSE3_ACCEL_AAF" value="$(ACCEL_AAF)"/>
 
    <file name="invensense3.c" dir="peripherals"/>
    <file name="imu_icm42688.c"/>
  </makefile>
</module>