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_spi">
  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_READ_MAG" value="TRUE" />\n    '
  b'<define name="IMU_MPU9250_STARTUP_DELAY" value="1.0" />\n\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'<define name="IMU_MPU9250_X_SIGN" value="1" />\n    '
  b'<define name="IMU_MPU9250_Y_SIGN" value="1" />\n    '
  b'<define name="IMU_MPU9250_Z_SIGN" value="1" />\n  '
</module>

Module configuration options

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_READ_MAG value: TRUE
Description: set to FALSE to disable mag
name: IMU_MPU9250_STARTUP_DELAY value: 1.0
Description: startup delay in seconds until mag slave is configured
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
name: IMU_MPU9250_X_SIGN value: 1
Description: axis sign
name: IMU_MPU9250_Y_SIGN value: 1
Description: axis sign
name: IMU_MPU9250_Z_SIGN value: 1
Description: axis sign

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_spi.h

Source Files

Raw imu_mpu9250_spi.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="imu_mpu9250_spi" dir="imu" task="sensors">
  <doc>
    <description>
      IMU with MPU9250 via SPI.
      Reads the internal AK8963 mag as I2C slave of the MPU.
    </description>
    <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_READ_MAG" value="TRUE" description="set to FALSE to disable mag"/>
    <define name="IMU_MPU9250_STARTUP_DELAY" value="1.0" description="startup delay in seconds until mag slave is configured"/>
 
    <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"/>
    <define name="IMU_MPU9250_X_SIGN" value="1" description="axis sign"/>
    <define name="IMU_MPU9250_Y_SIGN" value="1" description="axis sign"/>
    <define name="IMU_MPU9250_Z_SIGN" value="1" description="axis sign"/>
  </doc>
  <dep>
    <depends>spi_master,imu_common</depends>
    <provides>imu,mag</provides>
  </dep>
  <header>
    <file name="imu_mpu9250_spi.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_SPI_DEV" default="spi2" case="lower|upper"/>
    <configure name="IMU_MPU9250_SPI_SLAVE_IDX" default="SPI_SLAVE2"/>
 
    <define name="IMU_MPU9250_SPI_DEV" value="$(IMU_MPU9250_SPI_DEV_LOWER)"/>
    <define name="USE_$(IMU_MPU9250_SPI_DEV_UPPER)"/>
    <define name="IMU_MPU9250_SPI_SLAVE_IDX" value="$(IMU_MPU9250_SPI_SLAVE_IDX)"/>
    <define name="USE_$(IMU_MPU9250_SPI_SLAVE_IDX)"/>
 
    <file name="mpu9250.c" dir="peripherals"/>
    <file name="mpu9250_spi.c" dir="peripherals"/>
    <file name="imu_mpu9250_spi.c"/>
    <test>
      <define name="SPI_MASTER"/>
      <define name="IMU_MPU9250_SPI_DEV" value="spi1"/>
      <define name="USE_SPI1"/>
      <define name="IMU_MPU9250_SPI_SLAVE_IDX" value="0"/>
      <define name="USE_SPI_SLAVE0"/>
      <define name="PERIODIC_FREQUENCY" value="512"/>
      <define name="IMU_MPU9250_PERIODIC_FREQ" value="512"/>
    </test>
  </makefile>
</module>