Example for airframe file

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

<module name="baro_bmp">
  b'<define name="SENSOR_SYNC_SEND" />\n  '
  b'<configure name="BMP_I2C_DEV" value="i2cX" />\n    '
</module>

Module configuration options

Configure Options

name: BMP_I2C_DEV value: i2cX
Description: select which i2c peripheral to use (default i2c0)

Define Options

name: SENSOR_SYNC_SEND value: None
Description: flag to transmit the data as it is acquired

Module functions

Init Functions

These initialization functions are called once on startup.

baro_bmp_init()

Event Functions

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

baro_bmp_event()

Periodic Functions

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

baro_bmp_periodic()
- Frequency in Hz: 15
- 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

baro_bmp.h

Source Files

Raw baro_bmp.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="baro_bmp" dir="sensors" task="sensors">
  <doc>
    <description>Bosch BMP085 pressure sensor</description>
    <configure name="BMP_I2C_DEV" value="i2cX" description="select which i2c peripheral to use (default i2c0)"/>
    <define name="SENSOR_SYNC_SEND" description="flag to transmit the data as it is acquired"/>
  </doc>
  <dep>
    <depends>i2c</depends>
    <provides>baro</provides>
  </dep>
  <header>
    <file name="baro_bmp.h"/>
  </header>
  <init fun="baro_bmp_init()"/>
  <periodic fun="baro_bmp_periodic()" freq="15"/>
  <event fun="baro_bmp_event()"/>
  <makefile target="ap">
    <configure name="BMP_I2C_DEV" default="i2c0" case="upper|lower"/>
    <define name="USE_$(BMP_I2C_DEV_UPPER)"/>
    <define name="BMP_I2C_DEV" value="$(BMP_I2C_DEV_LOWER)"/>
    <file name="baro_bmp.c"/>
    <file name="bmp085.c" dir="peripherals"/>
    <test firmware="fixedwing">
      <define name="USE_I2C1"/>
      <define name="BMP_I2C_DEV" value="i2c1"/>
      <define name="DOWNLINK_TRANSPORT" value="pprz_tp"/>
      <define name="DOWNLINK_DEVICE" value="uart0"/>
      <define name="USE_UART0"/>
    </test>
  </makefile>
</module>
 