imu_mpu6000 module

IMU with an Invensense MPU6000 connected via the SPI bus to flightcontroller.

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_mpu6000">
  b'<define name="IMU_MPU_LOWPASS_FILTER" value="MPU60X0_DLPF_256HZ" />\n    '
  b'<define name="IMU_MPU_SMPLRT_DIV" value="3" />\n    '
  b'<define name="IMU_MPU_GYRO_RANGE" value="MPU60X0_GYRO_RANGE_2000" />\n    '
  b'<define name="IMU_MPU_ACCEL_RANGE" value="MPU60X0_ACCEL_RANGE_16G" />\n    '
  b'<define name="IMU_MPU_USE_MEDIAN_FILTER" value="FALSE" />\n  '
  b'<configure name="IMU_MPU_SPI_DEV" value="spi1" />\n    '
  b'<configure name="IMU_MPU_SPI_SLAVE_IDX" value="SPI_SLAVE0" />\n    '
</module>

Module configuration options

Configure Options

• name: IMU_MPU_SPI_DEV value: spi1
  Description: SPI device to use for MPU6000
• name: IMU_MPU_SPI_SLAVE_IDX value: SPI_SLAVE0
  Description: slave index of the MPU CS pin

Define Options

• name: IMU_MPU_LOWPASS_FILTER value: MPU60X0_DLPF_256HZ
  Description: DigitalLowPassFilter setting of the MPU
• name: IMU_MPU_SMPLRT_DIV value: 3
  Description: sample rate divider setting of the MPU
• name: IMU_MPU_GYRO_RANGE value: MPU60X0_GYRO_RANGE_2000
  Description: gyroscope range setting of the MPU
• name: IMU_MPU_ACCEL_RANGE value: MPU60X0_ACCEL_RANGE_16G
  Description: accelerometer range setting of the MPU
• name: IMU_MPU_USE_MEDIAN_FILTER value: FALSE
  Description: Use ONLY in case the MPU has spikes in the raw output due to various reasons. Default is FALSE

Module functions

Init Functions

These initialization functions are called once on startup.

• imu_mpu_spi_init()

Event Functions

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

• imu_mpu_spi_event()

Periodic Functions

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

• imu_mpu_spi_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_mpu6000.h

Source Files

• peripherals/mpu60x0.c
• peripherals/mpu60x0_spi.c
• modules/imu/imu_mpu6000.c

Raw imu_mpu6000.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="imu_mpu6000" dir="imu" task="sensors">
  <doc>
    <description>
      IMU with an Invensense MPU6000 connected via the SPI bus to flightcontroller.
    </description>
    <configure name="IMU_MPU_SPI_DEV" value="spi1" description="SPI device to use for MPU6000"/>
    <configure name="IMU_MPU_SPI_SLAVE_IDX" value="SPI_SLAVE0" description="slave index of the MPU CS pin"/>
    <define name="IMU_MPU_LOWPASS_FILTER" value="MPU60X0_DLPF_256HZ" description="DigitalLowPassFilter setting of the MPU"/>
    <define name="IMU_MPU_SMPLRT_DIV" value="3" description="sample rate divider setting of the MPU"/>
    <define name="IMU_MPU_GYRO_RANGE" value="MPU60X0_GYRO_RANGE_2000" description="gyroscope range setting of the MPU"/>
    <define name="IMU_MPU_ACCEL_RANGE" value="MPU60X0_ACCEL_RANGE_16G" description="accelerometer range setting of the MPU"/>
    <define name="IMU_MPU_USE_MEDIAN_FILTER" value="FALSE" description="Use ONLY in case the MPU has spikes in the raw output due to various reasons. Default is FALSE"/>
  </doc>
  <dep>
    <depends>spi_master,imu_common</depends>
    <provides>imu</provides>
  </dep>
  <header>
    <file name="imu_mpu6000.h"/>
  </header>
  <init fun="imu_mpu_spi_init()"/>
  <periodic fun="imu_mpu_spi_periodic()"/>
  <event fun="imu_mpu_spi_event()"/>
  <makefile target="!sim|nps|fbw">
    <configure name="IMU_MPU_SPI_DEV" default="spi1" case="lower|upper"/>
    <configure name="IMU_MPU_SPI_SLAVE_IDX" default="SPI_SLAVE0"/>
 
    <define name="IMU_MPU_SPI_DEV" value="$(IMU_MPU_SPI_DEV_LOWER)"/>
    <define name="USE_$(IMU_MPU_SPI_DEV_UPPER)"/>
    <define name="IMU_MPU_SPI_SLAVE_IDX" value="$(IMU_MPU_SPI_SLAVE_IDX)"/>
    <define name="USE_$(IMU_MPU_SPI_SLAVE_IDX)"/>
 
    <file name="mpu60x0.c" dir="peripherals"/>
    <file name="mpu60x0_spi.c" dir="peripherals"/>
    <file name="imu_mpu6000.c"/>
    <test>
      <define name="SPI_MASTER"/>
      <define name="IMU_MPU_SPI_DEV" value="spi1"/>
      <define name="USE_SPI1"/>
      <define name="IMU_MPU_SPI_SLAVE_IDX" value="0"/>
      <define name="USE_SPI_SLAVE0"/>
      <define name="PERIODIC_FREQUENCY" value="512"/>
      <define name="IMU_MPU_SPI_PERIODIC_FREQ" value="512"/>
    </test>
  </makefile>
</module>