imu_aspirin_i2c_v1.0 module

Aspirin v1.0 IMU using I2C only.

• Accelerometer: ADXL345 via I2C
• Gyroscope: ITG3200 via I2C
• Magnetometer: HMC58xx via I2C

Example for airframe file

Add to your firmware section: This example contains all possible configuration options, not all of them are mandatory!

<module name="imu_aspirin_i2c_v1.0">
  <configure name="ASPIRIN_I2C_DEV" value="i2c2" />
</module>

Module configuration options

Configure Options

• name: ASPIRIN_I2C_DEV value: i2c2
  Description: I2C device to use

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_i2c_common module
• imu_nps module

Files

<!DOCTYPE module SYSTEM "module.dtd">

<module name="imu_aspirin_i2c_common" dir="sensors">
  <doc>
    <description>
      Aspirin v1.0 IMU using I2C only.
      - Accelerometer: ADXL345 via I2C
      - Gyroscope: ITG3200 via I2C
      - Magnetometer: HMC58xx via I2C
    </description>
    <configure name="ASPIRIN_I2C_DEV" value="i2c2" description="I2C device to use"/>
    <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_i2c_common"/>
  <autoload name="imu_nps"/>
  <makefile target="!sim|nps|fbw">
    <define name="IMU_ASPIRIN_VERSION_1_0"/>
  </makefile>
</module>