Paparazzi UAS  v5.15_devel-88-gb3ad7fe
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imu_umarim module

UMARIM IMU.

  • Accelerometer: ADXL345 via I2C
  • Gyroscope: ITG3200 via I2C

Example for airframe file

Add to your firmware section:

1 <module name="imu_umarim"/>

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_umarim_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_umarim.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="imu_umarim" dir="imu">
<doc>
<description>
UMARIM IMU.
- Accelerometer: ADXL345 via I2C
- Gyroscope: ITG3200 via I2C
</description>
</doc>
<autoload name="imu_common"/>
<autoload name="imu_nps"/>
<header>
<file name="imu_umarim.h" dir="boards/umarim"/>
</header>
<init fun="imu_umarim_init()"/>
<periodic fun="imu_umarim_periodic()"/>
<event fun="imu_umarim_event()"/>
<makefile target="!sim|nps|fbw">
<define name="IMU_UMARIM_I2C_DEV" value="i2c1"/>
<define name="USE_I2C1"/>
<define name="I2C1_SCLL" value="25"/>
<define name="I2C1_SCLH" value="25"/>
<define name="IMU_TYPE_H" value="boards/umarim/imu_umarim.h" type="string"/>
<file name="adxl345_i2c.c" dir="peripherals"/>
<file name="itg3200.c" dir="peripherals"/>
<file name="imu_umarim.c" dir="boards/umarim"/>
</makefile>
</module>