imu_lisa_s_v1.0 module

IMU on LisaS board.

MPU60x0 via SPI1. HMC5883 as I2C slave of MPU.

Example for airframe file

Add to your firmware section:

<module name="imu_lisa_s_v1.0"/>

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_s_v1.0" dir="imu">
  <doc>
    <description>
      IMU on LisaS board.
      MPU60x0 via SPI1. 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">
    <configure name="ASPIRIN_2_SPI_DEV" value="spi1" case="lower|upper"/>
    <configure name="ASPIRIN_2_SPI_SLAVE_IDX" value="SPI_SLAVE0"/>
    <!-- SLAVE0 is on PA4 (NSS) (MPU600 CS) -->
    <define name="USE_SPI_SLAVE0"/>
    <!-- SLAVE1 is on PC4, which is the baro CS -->
    <define name="USE_SPI_SLAVE1"/>

    <define name="LISA_S"/>
  </makefile>
</module>