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_b2_common">
   <configure name="GYRO_P" value="ADC_0" />
   <configure name="GYRO_Q" value="ADC_1" />
   <configure name="GYRO_R" value="ADC_2" />
   <configure name="ACCEL_X" value="ADC_5" />
   <configure name="ACCEL_Y" value="ADC_6" />
   <configure name="ACCEL_Z" value="ADC_7" />
   <configure name="ADC_GYRO_NB_SAMPLES" value="16" />
   <configure name="ADC_ACCEL_NB_SAMPLES" value="16" />
 </module>

Module configuration options

Configure Options

name: GYRO_P value: ADC_0
name: GYRO_Q value: ADC_1
name: GYRO_R value: ADC_2
name: ACCEL_X value: ADC_5
name: ACCEL_Y value: ADC_6
name: ACCEL_Z value: ADC_7
name: ADC_GYRO_NB_SAMPLES value: 16
name: ADC_ACCEL_NB_SAMPLES value: 16

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)

Module functions

Init Functions

These initialization functions are called once on startup.

imu_b2_init()

Event Functions

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

imu_b2_event()

Periodic Functions

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

imu_b2_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_b2.h

Source Files

subsystems/imu/imu_b2.c
peripherals/max1168.c
/peripherals/max1168_arch.c

Raw imu_b2_common.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="imu_b2_common" dir="imu">
  <doc>
    <description>
      Common part for all Booz2 IMUs.
    </description>
    <configure name="GYRO_P" value="ADC_0"/>
    <configure name="GYRO_Q" value="ADC_1"/>
    <configure name="GYRO_R" value="ADC_2"/>
    <configure name="ACCEL_X" value="ADC_5"/>
    <configure name="ACCEL_Y" value="ADC_6"/>
    <configure name="ACCEL_Z" value="ADC_7"/>
    <configure name="ADC_GYRO_NB_SAMPLES" value="16"/>
    <configure name="ADC_ACCEL_NB_SAMPLES" value="16"/>
    <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_common"/>
  <autoload name="imu_nps"/>
  <header>
    <file name="imu_b2.h" dir="subsystems/imu"/>
  </header>
  <init fun="imu_b2_init()"/>
  <periodic fun="imu_b2_periodic()"/>
  <event fun="imu_b2_event()"/>
  <makefile target="!sim|nps|fbw">
    <define name="IMU_TYPE_H" value="subsystems/imu/imu_b2.h" type="string"/>
    <file name="imu_b2.c" dir="subsystems/imu"/>
    <file name="max1168.c" dir="peripherals"/>
    <file name="max1168_arch.c" dir="$(SRC_ARCH)/peripherals"/>
    <raw>
include $(CFG_SHARED)/spi_master.makefile
ifeq ($(ARCH), lpc21)
$(TARGET).CFLAGS += -DUSE_SPI_SLAVE0
$(TARGET).CFLAGS += -DUSE_SPI1
$(TARGET).CFLAGS += -DMAX1168_EOC_VIC_SLOT=11
else ifeq ($(ARCH), stm32)
#FIXME: untested
$(TARGET).CFLAGS += -DUSE_SPI2 -DMAX1168_SPI_DEV=spi2
$(TARGET).CFLAGS += -DMAX1168_SLAVE_IDX=2
# Slave select configuration
# SLAVE2 is on PB12 (NSS) (MAX1168)
# SLAVE3 is on PC13 (EEPROM)
$(TARGET).CFLAGS += -DUSE_SPI_SLAVE2 -DUSE_SPI_SLAVE3
endif
    </raw>
  </makefile>
</module>