imu_openpilot_revo module

Driver for IMU on OpenPilot Revo board.

• Accelerometer/Gyroscope: MPU6000 via SPI1
• Magnetometer: HMC58xx via I2C1 The IMU positive X-axis is as inidcated with arrows on the board, Z-axis is negative towards the side of the MPU and LEDs (that side is up). If ACCEL and GYRO SENS/NEUTRAL are not defined, the defaults from the datasheet will be used.

Example for airframe file

Add to your firmware section:

<module name="imu_openpilot_revo"/>

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_common module
• imu_nps module

Module functions

Init Functions

These initialization functions are called once on startup.

• imu_mpu_hmc_init()

Event Functions

These event functions are called in each cycle of the module event loop.

• imu_mpu_hmc_event()

Periodic Functions

These functions are called periodically at the specified frequency from the module periodic loop.

• imu_mpu_hmc_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

• imu_mpu6000_hmc5883.h

Source Files

• peripherals/mpu60x0.c
• peripherals/mpu60x0_spi.c
• peripherals/hmc58xx.c
• subsystems/imu/imu_mpu6000_hmc5883.c

Raw imu_openpilot_revo.xml file:

<!DOCTYPE module SYSTEM "module.dtd">

<module name="imu_openpilot_revo" dir="imu">
  <doc>
    <description>
      Driver for IMU on OpenPilot Revo board.
      - Accelerometer/Gyroscope: MPU6000 via SPI1
      - Magnetometer: HMC58xx via I2C1
      The IMU positive X-axis is as inidcated with arrows on the board,
      Z-axis is negative towards the side of the MPU and LEDs (that side is up).
      If ACCEL and GYRO SENS/NEUTRAL are not defined, the defaults from the datasheet will be used.
    </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_common"/>
  <autoload name="imu_nps"/>
  <header>
    <file name="imu_mpu6000_hmc5883.h" dir="subsystems/imu"/>
  </header>
  <init fun="imu_mpu_hmc_init()"/>
  <periodic fun="imu_mpu_hmc_periodic()"/>
  <event fun="imu_mpu_hmc_event()"/>
  <makefile target="!sim|nps|fbw">
    <!-- HMC is on I2C1 on OpenPilot Revolution -->
    <define name="IMU_HMC_I2C_DEV" value="i2c1"/>
    <define name="USE_I2C1"/>
    <!-- MPU600 is on SPI1 using SPI_SLAVE_2 as defined in openpilot_revo_1.0.h -->
    <define name="IMU_MPU_SPI_DEV" value="spi1"/>
    <define name="USE_SPI1"/>
    <define name="IMU_MPU_SPI_SLAVE_IDX" value="SPI_SLAVE2"/>
    <define name="USE_SPI_SLAVE2"/>

    <!-- set channels and signs so that positive x-axis is indicated by arrows on board
         and the side with MPU and LEDs is up (negative z-axis)-->
    <define name="IMU_MPU_CHAN_X" value="1"/>
    <define name="IMU_MPU_CHAN_Y" value="0"/>
    <define name="IMU_MPU_CHAN_Z" value="2"/>
    <define name="IMU_MPU_X_SIGN" value="-1"/>
    <define name="IMU_MPU_Y_SIGN" value="-1"/>
    <define name="IMU_MPU_Z_SIGN" value="-1"/>
    <define name="IMU_HMC_CHAN_X" value="1"/>
    <define name="IMU_HMC_CHAN_Y" value="0"/>
    <define name="IMU_HMC_CHAN_Z" value="2"/>
    <define name="IMU_HMC_X_SIGN" value="1"/>
    <define name="IMU_HMC_Y_SIGN" value="1"/>
    <define name="IMU_HMC_Z_SIGN" value="-1"/>

    <define name="IMU_TYPE_H" value="subsystems/imu/imu_mpu6000_hmc5883.h" type="string"/>

    <file name="mpu60x0.c" dir="peripherals"/>
    <file name="mpu60x0_spi.c" dir="peripherals"/>
    <file name="hmc58xx.c" dir="peripherals"/>
    <file name="imu_mpu6000_hmc5883.c" dir="subsystems/imu"/>
    <raw>
      include $(CFG_SHARED)/spi_master.makefile
    </raw>
  </makefile>
</module>