imu_lisa_m_v2.1 module

IMU on Lisa/M and MX v2.1 boards.

MPU60x0 via SPI2. HMC5883 as I2C slave of MPU.

Example for airframe file

Add to your firmware section:

<module name="imu_lisa_m_v2.1"/>

Module configuration options

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)

• imu_aspirin_v2_common module

Files

<!DOCTYPE module SYSTEM "module.dtd">

<module name="imu_lisa_m_v2.1" dir="imu">
  <doc>
    <description>
      IMU on Lisa/M and MX v2.1 boards.
      MPU60x0 via SPI2. HMC5883 as I2C slave of MPU.
    </description>
    <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"/>
    </section>
  </doc>
  <autoload name="imu_aspirin_v2_common"/>
  <makefile target="!sim|nps|fbw">
    <define name="ASPIRIN_2_SPI_DEV" value="spi2"/>
    <define name="ASPIRIN_2_SPI_SLAVE_IDX" value="SPI_SLAVE2"/>
    <!-- SLAVE2 is on PB12 (NSS) (MPU600 CS) -->
    <define name="USE_SPI_SLAVE2"/>
    <!-- SLAVE3 is on PC13, which is the baro CS -->
    <define name="USE_SPI_SLAVE3"/>
    <define name="USE_SPI1"/>
    <define name="LISA_M_OR_MX_21"/>
  </makefile>
</module>