Paparazzi UAS  v5.12_stable-4-g9b43e9b
Paparazzi is a free software Unmanned Aircraft System.
 All Data Structures Namespaces Files Functions Variables Typedefs Enumerations Enumerator Macros Modules Pages
imu_aspirin_v2_common module

Common functionality of Aspirin v2 IMUs.

  • Accelerometer/Gyroscope: MPU6000 via SPI
  • Magnetometer: HMC5883 as I2C slave of MPU

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_aspirin_v2_common">
2  <define name="ASPIRIN_2_DISABLE_MAG" value="FALSE" />
3  <configure name="ASPIRIN_2_SPI_DEV" value="spi2" />
4  <configure name="ASPIRIN_2_SPI_SLAVE_IDX" value="SPI_SLAVE2" />
5 </module>

Module configuration options

Configure Options

  • name: ASPIRIN_2_SPI_DEV value: spi2
    Description: SPI device to use for accel
    Description: slave index of the accel CS pin

Define Options

  • name: ASPIRIN_2_DISABLE_MAG value: FALSE
    Description: set to TRUE to disable the mag on Aspirin

Airframe file section

  • section name: IMU prefix: IMU_
    • name MAG_X_NEUTRAL value: 2358
    • name MAG_Y_NEUTRAL value: 2362
    • name MAG_Z_NEUTRAL value: 2119
    • name MAG_X_SENS value: 3.4936416
    • name MAG_Y_SENS value: 3.607713
    • name MAG_Z_SENS value: 4.90788848

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_aspirin2_periodic()
    • Running at maximum module frequency.
    • Autorun: LOCK
      Periodic function automatically starts after init and can't be stopped.


Header Files

The following headers are automatically included in modules.h

Source Files

Raw imu_aspirin_v2_common.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="imu_aspirin_v2_common">
Common functionality of Aspirin v2 IMUs.
- Accelerometer/Gyroscope: MPU6000 via SPI
- Magnetometer: HMC5883 as I2C slave of MPU
<configure name="ASPIRIN_2_SPI_DEV" value="spi2" description="SPI device to use for accel"/>
<configure name="ASPIRIN_2_SPI_SLAVE_IDX" value="SPI_SLAVE2" description="slave index of the accel CS pin"/>
<define name="ASPIRIN_2_DISABLE_MAG" value="FALSE" description="set to TRUE to disable the mag on Aspirin"/>
<section name="IMU" prefix="IMU_">
<define name="MAG_X_NEUTRAL" value="2358"/>
<define name="MAG_Y_NEUTRAL" value="2362"/>
<define name="MAG_Z_NEUTRAL" value="2119"/>
<define name="MAG_X_SENS" value="3.4936416" integer="16"/>
<define name="MAG_Y_SENS" value="3.607713" integer="16"/>
<define name="MAG_Z_SENS" value="4.90788848" integer="16"/>
<autoload name="imu_common"/>
<autoload name="imu_nps"/>
<file name="imu_aspirin_2_spi.h" dir="subsystems/imu"/>
<init fun="imu_aspirin2_init()"/>
<periodic fun="imu_aspirin2_periodic()"/>
<event fun="imu_aspirin2_event()"/>
<makefile target="!sim|nps|fbw|hitl">
<!-- default for stm32, do we want to provide i2c0,spi1,SPI_SLAVE0 defaults for lpc again?-->
<configure name="ASPIRIN_2_SPI_DEV" default="spi2" case="lower|upper"/>
<configure name="ASPIRIN_2_SPI_SLAVE_IDX" default="SPI_SLAVE2"/>
<define name="ASPIRIN_2_SPI_DEV" value="$(ASPIRIN_2_SPI_DEV_LOWER)"/>
<define name="USE_$(ASPIRIN_2_SPI_DEV_UPPER)"/>
<define name="ASPIRIN_2_SPI_SLAVE_IDX" value="$(ASPIRIN_2_SPI_SLAVE_IDX)"/>
<define name="USE_$(ASPIRIN_2_SPI_SLAVE_IDX)"/>
<define name="IMU_TYPE_H" value="subsystems/imu/imu_aspirin_2_spi.h" type="string"/>
<file name="mpu60x0.c" dir="peripherals"/>
<file name="mpu60x0_spi.c" dir="peripherals"/>
<file name="imu_aspirin_2_spi.c" dir="subsystems/imu"/>
include $(CFG_SHARED)/spi_master.makefile