Example for airframe file

Add to your firmware section: This example contains all possible configuration options, not all of them are mandatory!

<module name="actuators_md25">
  b'<configure name="ACTUATORS_MD25_DEV" value="i2cX" />\n  '
</module>

Module configuration options

Configure Options

name: ACTUATORS_MD25_DEV value: i2cX
Description: I2C port (default i2c2)

Module functions

Event Functions

These event functions are called in each cycle of the module event loop.

actuators_md25_event()

Periodic Functions

These functions are called periodically at the specified frequency from the module periodic loop.

actuators_md25_periodic()
- Frequency in Hz: 10
- Autorun: LOCK
  Periodic function automatically starts after init and can't be stopped.

Files

Header Files

The following headers are automatically included in modules.h

actuators_md25.h

Source Files

modules/actuators/actuators_md25.c

Raw actuators_md25.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="actuators_md25" dir="actuators" task="actuators">
  <doc>
    <description>
      Driver for the MD25 rover controller board
    </description>
    <configure name="ACTUATORS_MD25_DEV" value="i2cX" description="I2C port (default i2c2)"/>
  </doc>
  <dep>
    <depends>i2c,actuators</depends>
    <provides>actuators</provides>
  </dep>
  <header>
    <file name="actuators_md25.h"/>
  </header>
  <periodic fun="actuators_md25_periodic()" freq="10"/>
  <event fun="actuators_md25_event()"/>
  <makefile>
    <configure name="ACTUATORS_MD25_DEV" default="i2c2" case="upper|lower"/>
    <define name="ACTUATORS_MD25_DEV" value="$(ACTUATORS_MD25_DEV_LOWER)"/>
    <define name="USE_$(ACTUATORS_MD25_DEV_UPPER)"/>
    <define name="$(ACTUATORS_MD25_DEV_UPPER)_CLOCK_SPEED" value="100000"/>
    <file name="actuators_md25.c"/>
    <test>
        <define name="USE_I2C2"/>
        <define name="ACTUATORS_MD25_DEV" value="i2c2"/>
    </test>
  </makefile>
</module>
 