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_mpu60x0_i2c">
  b'<define name="IMU_MPU60X0_LOWPASS_FILTER" value="MPU60X0_DLPF_256HZ" />\n    '
  b'<define name="IMU_MPU60X0_SMPLRT_DIV" value="3" />\n    '
  b'<define name="IMU_MPU60X0_GYRO_RANGE" value="MPU60X0_GYRO_RANGE_2000" />\n    '
  b'<define name="IMU_MPU60X0_ACCEL_RANGE" value="MPU60X0_ACCEL_RANGE_16G" />\n    '
  b'<define name="IMU_MPU60X0_I2C_ADDR" value="MPU60X0_ADDR" />\n  '
  b'<configure name="IMU_MPU60X0_I2C_DEV" value="i2c1" />\n    '
</module>

Module configuration options

Configure Options

name: IMU_MPU60X0_I2C_DEV value: i2c1
Description: I2C device to use for MPU60x0

Define Options

name: IMU_MPU60X0_LOWPASS_FILTER value: MPU60X0_DLPF_256HZ
Description: DigitalLowPassFilter setting of the MPU
name: IMU_MPU60X0_SMPLRT_DIV value: 3
Description: sample rate divider setting of the MPU
name: IMU_MPU60X0_GYRO_RANGE value: MPU60X0_GYRO_RANGE_2000
Description: gyroscope range setting of the MPU
name: IMU_MPU60X0_ACCEL_RANGE value: MPU60X0_ACCEL_RANGE_16G
Description: accelerometer range setting of the MPU
name: IMU_MPU60X0_I2C_ADDR value: MPU60X0_ADDR
Description: I2C address of the MPU

Module functions

Init Functions

These initialization functions are called once on startup.

imu_mpu_i2c_init()

Event Functions

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

imu_mpu_i2c_event()

Periodic Functions

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

imu_mpu_i2c_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_mpu60x0_i2c.h

Source Files

Raw imu_mpu60x0_i2c.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="imu_mpu60x0_i2c" dir="imu" task="sensors">
  <doc>
    <description>
      IMU with MPU60x0 via I2C.
    </description>
    <configure name="IMU_MPU60X0_I2C_DEV" value="i2c1" description="I2C device to use for MPU60x0"/>
    <define name="IMU_MPU60X0_LOWPASS_FILTER" value="MPU60X0_DLPF_256HZ" description="DigitalLowPassFilter setting of the MPU"/>
    <define name="IMU_MPU60X0_SMPLRT_DIV" value="3" description="sample rate divider setting of the MPU"/>
    <define name="IMU_MPU60X0_GYRO_RANGE" value="MPU60X0_GYRO_RANGE_2000" description="gyroscope range setting of the MPU"/>
    <define name="IMU_MPU60X0_ACCEL_RANGE" value="MPU60X0_ACCEL_RANGE_16G" description="accelerometer range setting of the MPU"/>
    <define name="IMU_MPU60X0_I2C_ADDR" value="MPU60X0_ADDR" description="I2C address of the MPU"/>
  </doc>
  <dep>
    <depends>i2c,imu_common</depends>
    <provides>imu</provides>
  </dep>
  <header>
    <file name="imu_mpu60x0_i2c.h"/>
  </header>
 
  <init fun="imu_mpu_i2c_init()"/>
  <periodic fun="imu_mpu_i2c_periodic()"/>
  <event fun="imu_mpu_i2c_event()"/>
 
  <makefile target="!sim|nps|fbw">
    <configure name="IMU_MPU60X0_I2C_DEV" default="i2c1" case="lower|upper"/>
 
    <define name="IMU_MPU60X0_I2C_DEV" value="$(IMU_MPU60X0_I2C_DEV_LOWER)"/>
    <define name="USE_$(IMU_MPU60X0_I2C_DEV_UPPER)"/>
 
    <file name="mpu60x0.c" dir="peripherals"/>
    <file name="mpu60x0_i2c.c" dir="peripherals"/>
    <file name="imu_mpu60x0_i2c.c"/>
  </makefile>
</module>