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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?
Cheers
Jeremy
----- 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
sw/airborne/arch/stm32/subsystems/imu/imu_aspirin_arch.c
sw/airborne/arch/stm32/subsystems/imu/imu_aspirin_arch.h
and then use spi and i2c to talk to the sensors
you need to edit
conf/autopilot/subsystems/shared/imu_aspirin.makefile
add a
ifeq ($(ARCH), lpc21)
else ifeq ($(ARCH), stm32)
endif
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
sw/airborne/subsystems/imu/imu_aspirin.[ch]
you need to write a hardware dependant SPI driver for the accelerometer
Don't hesitate to ask if you need more details
Poine
On Sat, Mar 19, 2011 at 1:03 AM, Jeremy Reinertsen <address@hidden>
wrote:
Hello,
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..
Cheers
Jeremy
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