CHimu (SPI)
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Example for airframe file
Add to your firmware section: This example contains all possible configuration options, not all of them are mandatory!
<module name="ahrs_chimu_spi">
b'<define name="CHIMU_BIG_ENDIAN" value="TRUE" />\n '
</module>
Module configuration options
Define Options
- name:
CHIMU_BIG_ENDIAN
value: TRUE
Description: For older CHIMU v1.0 you should define CHIMU_BIG_ENDIAN
Module functions
Init Functions
These initialization functions are called once on startup.
Event Functions
These event functions are called in each cycle of the module event loop.
Files
Header Files
The following headers are automatically included in modules.h
Source Files
Raw ahrs_chimu_spi.xml file:
<!DOCTYPE module SYSTEM "module.dtd">
<module name="ahrs_chimu_spi" dir="ahrs" task="estimation">
<doc>
<description>CHimu (SPI)</description>
<define name="CHIMU_BIG_ENDIAN" value="TRUE" description="For older CHIMU v1.0 you should define CHIMU_BIG_ENDIAN"/>
</doc>
<dep>
<depends>spi_slave_hs</depends>
<provides>ahrs,imu</provides>
</dep>
<header>
<file name="ins_module.h" dir="modules/ins"/>
</header>
<init fun="ahrs_init()"/>
<event fun="parse_ins_msg()"/>
<makefile target="ap">
<define name="AHRS_TRIGGERED_ATTITUDE_LOOP"/>
<define name="USE_AHRS"/>
<define name="USE_INS_MODULE"/>
<define name="USE_SPI"/>
<define name="INS_LINK" value="spi_slave_hs"/>
<define name="USE_USB_HIGH_PCLK" />
<file name="ahrs_chimu_spi.c"/>
<file name="imu_chimu.c" dir="modules/ins"/>
<file name="ahrs.c"/>
<define name="AHRS_TYPE_H" value="modules/ahrs/ahrs_chimu.h" type="string"/>
</makefile>
</module>