imu_b2_v1.1 module

Booz2 IMU v1.1

No detailed description...

Example for airframe file

Add to your firmware section:

<module name="imu_b2_v1.1"/>

Module configuration options

Airframe file section

• section name: IMU prefix: IMU_
  • name GYRO_X_NEUTRAL value: 33924
  • name GYRO_Y_NEUTRAL value: 33417
  • name GYRO_Z_NEUTRAL value: 32809
  • name GYRO_X_SENS value: 1.01
  • name GYRO_Y_SENS value: 1.01
  • name GYRO_Z_SENS value: 1.01
  • name ACCEL_X_NEUTRAL value: 32081
  • name ACCEL_Y_NEUTRAL value: 33738
  • name ACCEL_Z_NEUTRAL value: 32441
  • name ACCEL_X_SENS value: 2.50411474
  • name ACCEL_Y_SENS value: 2.48126183
  • name ACCEL_Z_SENS value: 2.51396167
  • 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
  • name MAG_45_HACK value: 1

Auto-loaded modules

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

• imu_b2_common module

Files

Header Files

The following headers are automatically included in modules.h

• imu_b2.h

Source Files

• peripherals/ms2100.c
• /peripherals/ms2100_arch.c

<!DOCTYPE module SYSTEM "module.dtd">

<module name="imu_b2_v1.1" dir="imu">
  <doc>
    <description>
      Booz2 IMU v1.1
    </description>
    <section name="IMU" prefix="IMU_">
      <define name="GYRO_X_NEUTRAL" value="33924"/>
      <define name="GYRO_Y_NEUTRAL" value="33417"/>
      <define name="GYRO_Z_NEUTRAL" value="32809"/>

      <define name="GYRO_X_SENS" value="1.01" integer="16"/>
      <define name="GYRO_Y_SENS" value="1.01" integer="16"/>
      <define name="GYRO_Z_SENS" value="1.01" integer="16"/>

      <define name="ACCEL_X_NEUTRAL" value="32081"/>
      <define name="ACCEL_Y_NEUTRAL" value="33738"/>
      <define name="ACCEL_Z_NEUTRAL" value="32441"/>

      <define name="ACCEL_X_SENS" value="2.50411474" integer="16"/>
      <define name="ACCEL_Y_SENS" value="2.48126183" integer="16"/>
      <define name="ACCEL_Z_SENS" value="2.51396167" integer="16"/>

      <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"/>
      <define name="MAG_45_HACK" value="1"/>
    </section>
  </doc>
  <autoload name="imu_b2_common"/>
  <header>
    <file name="imu_b2.h" dir="subsystems/imu"/>
  </header>

  <makefile target="!sim|nps|fbw">
    <define name="IMU_B2_VERSION_1_1"/>
    <define name="IMU_B2_MAG_TYPE" value="IMU_B2_MAG_MS2100"/>
    <file name="ms2100.c" dir="peripherals"/>
    <file name="ms2100_arch.c" dir="$(SRC_ARCH)/peripherals"/>
    <raw>
ifeq ($(ARCH), lpc21)
$(TARGET).CFLAGS += -DUSE_SPI_SLAVE1
$(TARGET).CFLAGS += -DMS2100_SLAVE_IDX=1
$(TARGET).CFLAGS += -DMS2100_SPI_DEV=spi1
$(TARGET).CFLAGS += -DMS2100_DRDY_VIC_SLOT=12
else ifeq ($(ARCH), stm32)
$(TARGET).CFLAGS += -DUSE_SPI_SLAVE4
$(TARGET).CFLAGS += -DMS2100_SLAVE_IDX=4
$(TARGET).CFLAGS += -DMS2100_SPI_DEV=spi2
endif
    </raw>
  </makefile>
</module>