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

[Jeremy Reinertsen]

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
>
> _______________________________________________
> Paparazzi-devel mailing list
> address@hidden
> http://lists.nongnu.org/mailman/listinfo/paparazzi-devel




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