imu_mpu6000_hmc5883 module

IMU with MPU6000 and HMC5883.

MPU6000 via SPI and HMC5883 via I2C. Mag by default rotated by 90deg around z axis relative to MPU. E.g. for Aspirin 2.1

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_hmc5883">
  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_CHAN_X" value="0" />\n    '
  b'<define name="IMU_MPU_CHAN_Y" value="1" />\n    '
  b'<define name="IMU_MPU_CHAN_Z" value="2" />\n    '
  b'<define name="IMU_MPU_X_SIGN" value="1" />\n    '
  b'<define name="IMU_MPU_Y_SIGN" value="1" />\n    '
  b'<define name="IMU_MPU_Z_SIGN" value="1" />\n\n    '
  b'<define name="IMU_HMC_CHAN_X" value="1" />\n    '
  b'<define name="IMU_HMC_CHAN_Y" value="0" />\n    '
  b'<define name="IMU_HMC_CHAN_Z" value="2" />\n    '
  b'<define name="IMU_HMC_X_SIGN" value="1" />\n    '
  b'<define name="IMU_HMC_Y_SIGN" value="-1" />\n    '
  b'<define name="IMU_HMC_Z_SIGN" value="1" />\n  '
  b'<configure name="IMU_MPU_SPI_DEV" value="spi2" />\n    '
  b'<configure name="IMU_MPU_SPI_SLAVE_IDX" value="SPI_SLAVE0" />\n    '
  b'<configure name="IMU_HMC_I2C_DEV" value="i2c2" />\n    '
</module>

Module configuration options

Configure Options

• name: IMU_MPU_SPI_DEV value: spi2
  Description: SPI device to use for MPU6000
• name: IMU_MPU_SPI_SLAVE_IDX value: SPI_SLAVE0
  Description: slave index of the MPU CS pin
• name: IMU_HMC_I2C_DEV value: i2c2
  Description: I2C device to use for HMC5883

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_CHAN_X value: 0
  Description: channel index
• name: IMU_MPU_CHAN_Y value: 1
  Description: channel index
• name: IMU_MPU_CHAN_Z value: 2
  Description: channel index
• name: IMU_MPU_X_SIGN value: 1
  Description: axis sign
• name: IMU_MPU_Y_SIGN value: 1
  Description: axis sign
• name: IMU_MPU_Z_SIGN value: 1
  Description: axis sign
• name: IMU_HMC_CHAN_X value: 1
  Description: channel index
• name: IMU_HMC_CHAN_Y value: 0
  Description: channel index
• name: IMU_HMC_CHAN_Z value: 2
  Description: channel index
• name: IMU_HMC_X_SIGN value: 1
  Description: axis sign
• name: IMU_HMC_Y_SIGN value: -1
  Description: axis sign
• name: IMU_HMC_Z_SIGN value: 1
  Description: axis sign

Module functions

Init Functions

These initialization functions are called once on startup.

• imu_mpu_hmc_init()

Event Functions

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

• imu_mpu_hmc_event()

Periodic Functions

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

• imu_mpu_hmc_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_hmc5883.h

Source Files

• peripherals/mpu60x0.c
• peripherals/mpu60x0_spi.c
• peripherals/hmc58xx.c
• modules/imu/imu_mpu6000_hmc5883.c

Raw imu_mpu6000_hmc5883.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="imu_mpu6000_hmc5883" dir="imu" task="sensors">
  <doc>
    <description>
      IMU with MPU6000 and HMC5883.
      MPU6000 via SPI and HMC5883 via I2C.
      Mag by default rotated by 90deg around z axis relative to MPU.
      E.g. for Aspirin 2.1
    </description>
    <configure name="IMU_MPU_SPI_DEV" value="spi2" 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"/>
    <configure name="IMU_HMC_I2C_DEV" value="i2c2" description="I2C device to use for HMC5883"/>
    <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_CHAN_X" value="0" description="channel index"/>
    <define name="IMU_MPU_CHAN_Y" value="1" description="channel index"/>
    <define name="IMU_MPU_CHAN_Z" value="2" description="channel index"/>
    <define name="IMU_MPU_X_SIGN" value="1" description="axis sign"/>
    <define name="IMU_MPU_Y_SIGN" value="1" description="axis sign"/>
    <define name="IMU_MPU_Z_SIGN" value="1" description="axis sign"/>
 
    <define name="IMU_HMC_CHAN_X" value="1" description="channel index"/>
    <define name="IMU_HMC_CHAN_Y" value="0" description="channel index"/>
    <define name="IMU_HMC_CHAN_Z" value="2" description="channel index"/>
    <define name="IMU_HMC_X_SIGN" value="1" description="axis sign"/>
    <define name="IMU_HMC_Y_SIGN" value="-1" description="axis sign"/>
    <define name="IMU_HMC_Z_SIGN" value="1" description="axis sign"/>
  </doc>
  <dep>
    <depends>spi_master,i2c,imu_common</depends>
    <provides>imu,mag</provides>
  </dep>
  <header>
    <file name="imu_mpu6000_hmc5883.h"/>
  </header>
 
  <init fun="imu_mpu_hmc_init()"/>
  <periodic fun="imu_mpu_hmc_periodic()"/>
  <event fun="imu_mpu_hmc_event()"/>
 
  <makefile target="!sim|nps|fbw">
    <configure name="IMU_MPU_SPI_DEV" default="spi2" 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)"/>
 
    <configure name="IMU_HMC_I2C_DEV" default="i2c2" case="lower|upper"/>
    <define name="IMU_HMC_I2C_DEV" value="$(IMU_HMC_I2C_DEV_LOWER)"/>
    <define name="USE_$(IMU_HMC_I2C_DEV_UPPER)"/>
 
    <file name="mpu60x0.c" dir="peripherals"/>
    <file name="mpu60x0_spi.c" dir="peripherals"/>
    <file name="hmc58xx.c" dir="peripherals"/>
    <file name="imu_mpu6000_hmc5883.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="IMU_HMC_I2C_DEV" value="i2c2"/>
      <define name="USE_I2C2"/>
      <define name="PERIODIC_FREQUENCY" value="512"/>
      <define name="IMU_MPU_HMC_PERIODIC_FREQ" value="512"/>
    </test>
  </makefile>
</module>