Re: [Paparazzi-devel] How to integrate a new IMU to

On Fri, Mar 29, 2013 at 10:49 PM, Eduardo lavratti <address@hidden> wrote:

Felix,

the files for l3g4200 is in repo now. (https://github.com/agressiva branch master_eduardo)
I created the imu_prop1 taht use l3g4200 + adxl345 + hmc5883
/ sw / airborne / peripherals /l3g4200.h
/ sw / airborne / peripherals /l3g4200.c
/ sw / airborne / peripherals /l3g4200_regs.h

the imu is:
/ sw / airborne / subsystems / imu /imu_prop1.h
/ sw / airborne / subsystems / imu /imu_prop1.c
/ sw / airborne / subsystems / imu /imu_prop1_defaults.h

makefile
/ conf / firmwares / subsystems / shared /imu_prop1.makefile

the gyro is configured to 800hz Output rate (options are 800 / 400 / 200)
i use this imu with rotorcraft then i use high data rate.

I not tested after i converted the driver but it should work.

I will test today at night.

> From: address@hidden
> To: address@hidden
> Date: Fri, 29 Mar 2013 23:21:38 +0200

> Subject: Re: [Paparazzi-devel] How to integrate a new IMU to
>
> Thank you very much Felix,
>
> We will follow the steps. We do not have any experience with makefiles, I
> will need some help for writing the makefiles.
>
> Cheers,
> Refik
>
>
>
> -----Original Message-----
> From: paparazzi-devel-bounces+refiksever=address@hidden
> [mailto:paparazzi-devel-bounces+refiksever=address@hidden] On
> Behalf Of address@hidden
> Sent: Friday, March 29, 2013 10:46 PM
> To: address@hidden
> Subject: Paparazzi-devel Digest, Vol 108, Issue 82
>
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> Today's Topics:
>
> 1. Re: How to integrate a new IMU to (Hector Garcia de Marina)
> 2. Re: How to integrate a new IMU to (Felix Ruess)
>
>
> ----------------------------------------------------------------------
>
> Message: 1
> Date: Fri, 29 Mar 2013 21:11:10 +0100
> From: Hector Garcia de Marina <address@hidden>
> To: address@hidden
> Subject: Re: [Paparazzi-devel] How to integrate a new IMU to
> Message-ID:
> <CANDNv0BY=address@hidden>
> Content-Type: text/plain; charset="iso-8859-1"
>
> In my case I have this:
> http://nl.mouser.com/ProductDetail/STMicroelectronics/STEVAL-MKI124V1/?qs=%2
> fha2pyFaduidzUlA24uekG9%252bzUv6bIopOy9%252bD9tKhzLtMTU%2fOtUEsw%3d%3d
>
> But they also have this other IC in their webpage:
> http://www.st.com/web/en/catalog/sense_power/FM89/SC1448/PF253162
>
>
> On Fri, Mar 29, 2013 at 9:04 PM, Mauro Garcia Acero <address@hidden
> > wrote:
>
> > **
> >
> > Which IMU are you talking about?****
> >
> > ** **
> >
> > The iNemo v2?****
> >
> > ** **
> >
> > I developed a driver for another IMU not so long ago and integrated into
> > Paparazzi. It used the SPI port but it should not be very much different
> > from the I2C. I created a specific subsystem for this IMU.****
> >
> > ** **
> >
> > Regards,
> > M.****
> >
> > ** **
> >
> > ** **
> >
> > ** **
> > ------------------------------
> >
> > *From:* paparazzi-devel-bounces+m.garcia=address@hidden[mailto:
> > paparazzi-devel-bounces+m.garcia=address@hidden] *On Behalf Of
> > *Leonardo de Almeida e Bueno
> > *Sent:* viernes, 29 de marzo de 2013 18:15
> > *To:* **address@hidden**
> > *Subject:* Re: [Paparazzi-devel] How to integrate a new IMU to****
> >
> > ** **
> >
> > I am in the same condition as Hector, I have the IMU but I don't have all
> > the drivers, do you mind sharing it?****
> >
> > On Mar 29, 2013 6:31 AM, "Hector Garcia de Marina" <address@hidden>
> > wrote:****
> >
> > I also have this IMU but I have not written the driver yet.****
> >
> > ** **
> >
> > Do you mind to share it? then I can help you to integrate it.****
> >
> > ** **
> >
> > Cheers,****
> >
> > H?ctor****
> >
> > ** **
> >
> > On Fri, Mar 29, 2013 at 8:15 AM, refik <address@hidden> wrote:*
> > ***
> >
> > Hello,****
> >
> > ****
> >
> > We want to integrate a new IMU module to paparazzi. It is a 10 DOF IMU
> > module from ST Microelectronics. We wrote driver codes and we can
> currently
> > read all the sensor values using I2C port of an arduino processor.****
> >
> > ****
> >
> > How can we integrate our IMU to paparazzi? Are there any documents
> > defining basic steps of integrating a new module code?****
> >
> > ****
> >
> > We investigated ArduIMU v2 module (
> > http://paparazzi.github.com/docs/latest/module__ins_arduimu.html ) ****
> >
> > ****
> >
> > If the integration of our IMU to paparazzi will be hard, I think that we
> > can change ins_arduimu.c file and it reads our sensor values. Therefore,
> we
> > can use ins_arduimu.xml file for configuration. Do you suggest this
> > method? It is not an elegant solution I know, if possible we want to
> > integrate the IMU directly.****
> >
> > ****
> >
> > Cheers,****
> >
> > Refik****
> >
> > ****
> >
> > ****
> >
> > ****
> >
> >
> > _______________________________________________
> > Paparazzi-devel mailing list
> > address@hidden
> > https://lists.nongnu.org/mailman/listinfo/paparazzi-devel****
> >
> >
> >
> > ****
> >
> > ** **
> >
> > --
> > H?ctor****
> >
> >
> > _______________________________________________
> > Paparazzi-devel mailing list
> > address@hidden
> > https://lists.nongnu.org/mailman/listinfo/paparazzi-devel****
> >
> > _______________________________________________
> > Paparazzi-devel mailing list
> > address@hidden
> > https://lists.nongnu.org/mailman/listinfo/paparazzi-devel
> >
> >
>
>
> --
> H?ctor
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> ------------------------------
>
> Message: 2
> Date: Fri, 29 Mar 2013 21:46:04 +0100
> From: Felix Ruess <address@hidden>
> To: Paparazzi devel list <address@hidden>
> Subject: Re: [Paparazzi-devel] How to integrate a new IMU to
> Message-ID:
> <CAEc+GFf8yJ=address@hidden>
> Content-Type: text/plain; charset="utf-8"
>
> Hi,
>
> the correct way to implement a new IMU driver would be to first create
> peripheral drivers for the sensors you are using in sw/airborne/peripherals.
> E.g. similar to
> sw/airborne/peripherals/adxl345_i2c.c<https://github.com/paparazzi/paparazzi
> /blob/master/sw/airborne/peripherals/adxl345_i2c.c>
> Then create a new imu driver (in sw/airborne/subsystems/imu) which uses
> these peripherals.
> E.g. like
> sw/airborne/subsystems/imu/imu_aspirin_i2c.c<https://github.com/paparazzi/pa
> parazzi/blob/master/sw/airborne/subsystems/imu/imu_aspirin_i2c.c>
> Then create a subsystem makefile for it in conf/firmwares/subsystems/shared
> Simialr to
> conf/firmwares/subsystems/shared/imu_aspirin_i2c_v1.5.makefile<https://githu
> b.com/paparazzi/paparazzi/blob/master/conf/firmwares/subsystems/shared/imu_a
> spirin_i2c_v1.5.makefile>
> and
> conf/firmwares/subsystems/shared/imu_aspirin_i2c_common.makefile<https://git
> hub.com/paparazzi/paparazzi/blob/master/conf/firmwares/subsystems/shared/imu
> _aspirin_i2c_common.makefile>
> If you only have one version of that imu to support, there is no need for a
> separate "common" makefile, you would just put everything in one
> imu_<name>.makefile
>
> Of course this should be done ontop of the master branch.
>
> Hope that helps.
>
> Cheers, Felix
>
>
> On Fri, Mar 29, 2013 at 9:11 PM, Hector Garcia de Marina
> <address@hidden>wrote:
>
> > In my case I have this:
> >
> >
> http://nl.mouser.com/ProductDetail/STMicroelectronics/STEVAL-MKI124V1/?qs=%2
> fha2pyFaduidzUlA24uekG9%252bzUv6bIopOy9%252bD9tKhzLtMTU%2fOtUEsw%3d%3d
> >
> > But they also have this other IC in their webpage:
> > http://www.st.com/web/en/catalog/sense_power/FM89/SC1448/PF253162
> >
> >
> > On Fri, Mar 29, 2013 at 9:04 PM, Mauro Garcia Acero <
> > address@hidden> wrote:
> >
> >> **
> >>
> >> Which IMU are you talking about?****
> >>
> >> ** **
> >>
> >> The iNemo v2?****
> >>
> >> ** **
> >>
> >> I developed a driver for another IMU not so long ago and integrated into
> >> Paparazzi. It used the SPI port but it should not be very much different
> >> from the I2C. I created a specific subsystem for this IMU.****
> >>
> >> ** **
> >>
> >> Regards,
> >> M.****
> >>
> >> ** **
> >>
> >> ** **
> >>
> >> ** **
> >> ------------------------------
> >>
> >> *From:*
> paparazzi-devel-bounces+m.garcia=address@hidden[mailto:
> >> paparazzi-devel-bounces+m.garcia=address@hidden] *On Behalf
> >> Of *Leonardo de Almeida e Bueno
> >> *Sent:* viernes, 29 de marzo de 2013 18:15
> >> *To:* **address@hidden**
> >> *Subject:* Re: [Paparazzi-devel] How to integrate a new IMU to****
> >>
> >> ** **
> >>
> >> I am in the same condition as Hector, I have the IMU but I don't have all
> >> the drivers, do you mind sharing it?****
> >>
> >> On Mar 29, 2013 6:31 AM, "Hector Garcia de Marina" <address@hidden>
> >> wrote:****
> >>
> >> I also have this IMU but I have not written the driver yet.****
> >>
> >> ** **
> >>
> >> Do you mind to share it? then I can help you to integrate it.****
> >>
> >> ** **
> >>
> >> Cheers,****
> >>
> >> H?ctor****
> >>
> >> ** **
> >>
> >> On Fri, Mar 29, 2013 at 8:15 AM, refik <address@hidden> wrote:
> >> ****
> >>
> >> Hello,****
> >>
> >> ****
> >>
> >> We want to integrate a new IMU module to paparazzi. It is a 10 DOF IMU
> >> module from ST Microelectronics. We wrote driver codes and we can
> currently
> >> read all the sensor values using I2C port of an arduino processor.****
> >>
> >> ****
> >>
> >> How can we integrate our IMU to paparazzi? Are there any documents
> >> defining basic steps of integrating a new module code?****
> >>
> >> ****
> >>
> >> We investigated ArduIMU v2 module (
> >> http://paparazzi.github.com/docs/latest/module__ins_arduimu.html ) ****
> >>
> >> ****
> >>
> >> If the integration of our IMU to paparazzi will be hard, I think that we
> >> can change ins_arduimu.c file and it reads our sensor values. Therefore,
> we
> >> can use ins_arduimu.xml file for configuration. Do you suggest this
> >> method? It is not an elegant solution I know, if possible we want to
> >> integrate the IMU directly.****
> >>
> >> ****
> >>
> >> Cheers,****
> >>
> >> Refik****
> >>
> >> ****
> >>
> >> ****
> >>
> >> ****
> >>
> >>
> >> _______________________________________________
> >> Paparazzi-devel mailing list
> >> address@hidden
> >> https://lists.nongnu.org/mailman/listinfo/paparazzi-devel****
> >>
> >>
> >>
> >> ****
> >>
> >> ** **
> >>
> >> --
> >> H?ctor****
> >>
> >>
> >> _______________________________________________
> >> Paparazzi-devel mailing list
> >> address@hidden
> >> https://lists.nongnu.org/mailman/listinfo/paparazzi-devel****
> >>
> >> _______________________________________________
> >> Paparazzi-devel mailing list
> >> address@hidden
> >> https://lists.nongnu.org/mailman/listinfo/paparazzi-devel
> >>
> >>
> >
> >
> > --
> > H?ctor
> >
> >
> > _______________________________________________
> > Paparazzi-devel mailing list
> > address@hidden
> > https://lists.nongnu.org/mailman/listinfo/paparazzi-devel
> >
> >
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From:	Felix Ruess
Subject:	Re: [Paparazzi-devel] How to integrate a new IMU to
Date:	Fri, 29 Mar 2013 23:43:35 +0100