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Re: [Paparazzi-devel] Aspirin IMU or PPZUAV 9DOF IMU with LPC21 based au

From: Jeremy Reinertsen
Subject: Re: [Paparazzi-devel] Aspirin IMU or PPZUAV 9DOF IMU with LPC21 based autopilots
Date: Mon, 28 Mar 2011 20:10:04 +1000

Thanks Poine,

What you say makes sense but I dont yet know enough to be able to write the code myself so I would appreciate some help with this. I see you recently copied and modified conf/autopilot/subsystems/shared/imu_aspirin.makefile and it is now quite different to the rotorcraft equivalent.

I purchased a PPZUAV 9DOF IMU. It's a little different to the Aspirin as it is designed to use I2C to communicate with all three chips (ADXL345, ITG3200 and HMC5843). I think the current aspirin code uses SPI for the ADXL345 accelerometer. Not sure which is the better approach for TINY/TWOG autopilots.

I'm still not sure what the EEPROM is used for on the Aspirin. Is it designed to store calibration values?


----- Original Message ----- From: "antoine drouin" <address@hidden>
To: <address@hidden>
Cc: <address@hidden>
Sent: Saturday, March 19, 2011 10:27 AM
Subject: Re: [Paparazzi-devel] Aspirin IMU or PPZUAV 9DOF IMU with LPC21 based autopilots

HI Jeremy

I have an aspirin. I can help you with that.

you need to create those files


and then use spi and i2c to talk to the sensors

you need to edit


add a

ifeq ($(ARCH), lpc21)

else ifeq ($(ARCH), stm32)


to separate between architecture dependant sources and flags
I2C part should be quite the same

you can directly reuse the hardware independant I2C part which is in

you need to write a hardware dependant SPI driver for the accelerometer

Don't hesitate to ask if you need more details


On Sat, Mar 19, 2011 at 1:03 AM, Jeremy Reinertsen <address@hidden> wrote:

Is anyone working on integrating Aspirin IMU or PPZUAV 9DOF IMU with LPC21
based autopilots?

Also, what is the EEPROM used for on the Aspirin IMU?

I started looking through the code last night. Aspirin IMU is already done
for Lisa/L so it should just be a matter or reusing and reworking existing
examples. I think the first step is to drop a copy of

imu_aspirin.makefile in to the right place but that's all I know so far..



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