imu_mpu9250_i2c module

IMU with MPU9250 via I2C.

Also reads the internal AK8963 magnetometer.

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_mpu9250_i2c">
  b'<define name="IMU_MPU9250_GYRO_LOWPASS_FILTER" value="MPU9250_DLPF_GYRO_250HZ" />\n    '
  b'<define name="IMU_MPU9250_ACCEL_LOWPASS_FILTER" value="MPU9250_DLPF_ACCEL_184HZ" />\n    '
  b'<define name="IMU_MPU9250_SMPLRT_DIV" value="3" />\n    '
  b'<define name="IMU_MPU9250_GYRO_RANGE" value="MPU9250_GYRO_RANGE_1000" />\n    '
  b'<define name="IMU_MPU9250_ACCEL_RANGE" value="MPU9250_ACCEL_RANGE_8G" />\n    '
  b'<define name="IMU_MPU9250_I2C_ADDR" value="MPU9250_ADDR_ALT" />\n    '
  b'<define name="IMU_MPU9250_CHAN_X" value="0" />\n    '
  b'<define name="IMU_MPU9250_CHAN_Y" value="1" />\n    '
  b'<define name="IMU_MPU9250_CHAN_Z" value="2" />\n  '
  b'<configure name="IMU_MPU9250_I2C_DEV" value="i2c2" />\n    '
</module>

Module configuration options

Configure Options

• name: IMU_MPU9250_I2C_DEV value: i2c2
  Description: I2C device to use for MPU9250

Define Options

• name: IMU_MPU9250_GYRO_LOWPASS_FILTER value: MPU9250_DLPF_GYRO_250HZ
  Description: gyro DigitalLowPassFilter setting of the MPU
• name: IMU_MPU9250_ACCEL_LOWPASS_FILTER value: MPU9250_DLPF_ACCEL_184HZ
  Description: accelerometer DigitalLowPassFilter setting of the MPU
• name: IMU_MPU9250_SMPLRT_DIV value: 3
  Description: sample rate divider setting of the MPU
• name: IMU_MPU9250_GYRO_RANGE value: MPU9250_GYRO_RANGE_1000
  Description: gyroscope range setting of the MPU
• name: IMU_MPU9250_ACCEL_RANGE value: MPU9250_ACCEL_RANGE_8G
  Description: accelerometer range setting of the MPU
• name: IMU_MPU9250_I2C_ADDR value: MPU9250_ADDR_ALT
  Description: I2C address of the MPU
• name: IMU_MPU9250_CHAN_X value: 0
  Description: channel index
• name: IMU_MPU9250_CHAN_Y value: 1
  Description: channel index
• name: IMU_MPU9250_CHAN_Z value: 2
  Description: channel index

Module functions

Init Functions

These initialization functions are called once on startup.

• imu_mpu9250_init()

Event Functions

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

• imu_mpu9250_event()

Periodic Functions

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

• imu_mpu9250_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_mpu9250_i2c.h

Source Files

• peripherals/mpu9250.c
• peripherals/mpu9250_i2c.c
• peripherals/ak8963.c
• modules/imu/imu_mpu9250_i2c.c

Raw imu_mpu9250_i2c.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="imu_mpu9250_i2c" dir="imu" task="sensors">
  <doc>
    <description>
      IMU with MPU9250 via I2C.
      Also reads the internal AK8963 magnetometer.
    </description>
    <configure name="IMU_MPU9250_I2C_DEV" value="i2c2" description="I2C device to use for MPU9250"/>
    <define name="IMU_MPU9250_GYRO_LOWPASS_FILTER" value="MPU9250_DLPF_GYRO_250HZ" description="gyro DigitalLowPassFilter setting of the MPU"/>
    <define name="IMU_MPU9250_ACCEL_LOWPASS_FILTER" value="MPU9250_DLPF_ACCEL_184HZ" description="accelerometer DigitalLowPassFilter setting of the MPU"/>
    <define name="IMU_MPU9250_SMPLRT_DIV" value="3" description="sample rate divider setting of the MPU"/>
    <define name="IMU_MPU9250_GYRO_RANGE" value="MPU9250_GYRO_RANGE_1000" description="gyroscope range setting of the MPU"/>
    <define name="IMU_MPU9250_ACCEL_RANGE" value="MPU9250_ACCEL_RANGE_8G" description="accelerometer range setting of the MPU"/>
    <define name="IMU_MPU9250_I2C_ADDR" value="MPU9250_ADDR_ALT" description="I2C address of the MPU"/>
    <define name="IMU_MPU9250_CHAN_X" value="0" description="channel index"/>
    <define name="IMU_MPU9250_CHAN_Y" value="1" description="channel index"/>
    <define name="IMU_MPU9250_CHAN_Z" value="2" description="channel index"/>
  </doc>
  <dep>
    <depends>i2c,imu_common</depends>
    <provides>imu,mag</provides>
  </dep>
  <header>
    <file name="imu_mpu9250_i2c.h"/>
  </header>
 
  <init fun="imu_mpu9250_init()"/>
  <periodic fun="imu_mpu9250_periodic()"/>
  <event fun="imu_mpu9250_event()"/>
 
  <makefile target="!sim|nps|fbw">
    <configure name="IMU_MPU9250_I2C_DEV" default="i2c2" case="lower|upper"/>
 
    <define name="IMU_MPU9250_I2C_DEV" value="$(IMU_MPU9250_I2C_DEV_LOWER)"/>
    <define name="USE_$(IMU_MPU9250_I2C_DEV_UPPER)"/>
 
    <file name="mpu9250.c" dir="peripherals"/>
    <file name="mpu9250_i2c.c" dir="peripherals"/>
    <file name="ak8963.c" dir="peripherals"/>
    <file name="imu_mpu9250_i2c.c"/>
    <test>
      <define name="IMU_MPU9250_I2C_DEV" value="i2c1"/>
      <define name="USE_I2C1"/>
      <define name="PERIODIC_FREQUENCY" value="512"/>
      <define name="IMU_MPU9250_PERIODIC_FREQ" value="512"/>
    </test>
  </makefile>
</module>