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imu_um6 module

CHR-UM6 IMU.

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!

1 <module name="imu_um6">
2  <configure name="UM6_PORT" value="uart3" />
3  <configure name="UM6_BAUD" value="B115200" />
4 </module>

Module configuration options

Configure Options

  • name: UM6_PORT value: uart3
    Description: UART to use
  • name: UM6_BAUD value: B115200
    Description: Baud rate

Auto-loaded modules

The following modules are automatically loaded (just as if you had added them in the airframe file)

Module functions

Init Functions

These initialization functions are called once on startup.

Event Functions

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

Periodic Functions

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

  • imu_um6_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

Source Files

Raw imu_um6.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="imu_um6" dir="imu">
<doc>
<description>
CHR-UM6 IMU.
</description>
<configure name="UM6_PORT" value="uart3" description="UART to use"/>
<configure name="UM6_BAUD" value="B115200" description="Baud rate"/>
</doc>
<define name="USE_IMU"/>
<autoload name="imu_nps"/>
<header>
<file name="imu_um6.h" dir="subsystems/imu"/>
</header>
<init fun="imu_um6_init()"/>
<periodic fun="imu_um6_periodic()"/>
<event fun="imu_um6_event()"/>
<makefile target="!sim|nps|fbw">
<configure name="UM6_PORT" default="uart3" case="lower|upper"/>
<configure name="UM6_BAUD" default="B115200"/>
<define name="USE_$(UM6_PORT_UPPER)"/>
<define name="$(UM6_PORT_UPPER)_BAUD" value="$(UM6_BAUD)"/>
<define name="UM6_LINK" value="$(UM6_PORT_LOWER)"/>
<define name="IMU_TYPE_H" value="imu/imu_um6.h" type="string"/>
<file name="imu_um6.c" dir="subsystems/imu"/>
</makefile>
</module>