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Re: [Paparazzi-devel] Changes in module imu_mpu6000_hmc5883.xml

From: Helge Walle
Subject: Re: [Paparazzi-devel] Changes in module imu_mpu6000_hmc5883.xml
Date: Sat, 7 Jan 2017 21:16:59 +0100

Thank you Felix,

I was so focused on getting it to work today that I didn't even think of configuring the slave index via the airframe file.
Sorry for that, now I'll add the configure to my airframe file.

Back then, when everything was working with mpu6000_hmc5883 I didn't try another subsystem.
I'll try the "normal" one again and see how that works.

Thanks again,

2017-01-07 20:13 GMT+01:00 Felix Ruess <address@hidden>:
Hi Helge,

I don't remember the reason why you didn't end up using the "normal" imu_aspirin_v2.1 subsystem/module (where the mag is a slave of the MPU)...

In any case with the conversion from subsystems to modules [1] we decided to not provide different defaults for LPC and STM based boards anymore, as that was causing quite a bit of confusion.
So now we only have one default (See, in that case the default IMU_MPU_SPI_SLAVE_IDX is now SPI_SLAVE0 for all boards (where formerly it was SPI_SLAVE2 only for STM boards).
And as SPI_SLAVE2 doesn't exist on all boards, SLAVE0 was a better default...

And you don't have to change the module xml file, you can configure it from your airframe file:
<module name="imu_mpu6000_hmc5883">
  <configure name="IMU_MPU_SPI_SLAVE_IDX" value="SPI_SLAVE2"/>


Cheers, Felix

On Sat, Jan 7, 2017 at 2:50 PM, Helge Walle <address@hidden> wrote:

Back a couple of years Felix kindly helped me getting data from the onboard baro on Aspirin IMU 2.1 r1. To achieve this the subsystem mpu6000_hmc5883 was created.

Everything has worked fine up to, and including v5.8. Now when switching to v5.10 I couldn't get data from the IMU anymore. I'm on Ubuntu 16.04 LTS.

After scratching my head a bit I changed SPI_SLAVE0 to SPI_SLAVE2 in line 44 of conf/modules/imu_mpu6000_hmc5883.xml. Then I got data from the IMU again.

Note that I have removed two pullups and added two jumpers on the Aspirin to connect baro and mag directly to I2C2 on Lisa/M.

I am not sure if others use this subsystem. If this is the correct way to fix it, could it be made permanent in v5.10 onwards?


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