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_hca">
  b'<configure name="BARO_HCA_I2C_DEV" value="i2cX" />\n  '
</module>

Module configuration options

Configure Options

name: BARO_HCA_I2C_DEV value: i2cX
Description: select which i2c peripheral to use (default i2c0)

Module functions

Init Functions

These initialization functions are called once on startup.

baro_hca_init()

Event Functions

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

BaroHcaEvent()

Periodic Functions

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

baro_hca_read_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

baro_hca.h

Source Files

modules/sensors/baro_hca.c

Raw baro_hca.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="baro_hca" dir="sensors" task="sensors">
  <doc>
    <description>Baro sensortechnics HCA (I2C)</description>
    <configure name="BARO_HCA_I2C_DEV" value="i2cX" description="select which i2c peripheral to use (default i2c0)"/>
  </doc>
 
  <header>
    <file name="baro_hca.h"/>
  </header>
  <dep>
    <depends>i2c</depends>
    <provides>baro</provides>
  </dep>
  <init fun="baro_hca_init()"/>
  <periodic fun="baro_hca_read_periodic()" freq="10."/>
  <event fun="BaroHcaEvent()"/>
 
  <makefile target="ap">
    <configure name="BARO_HCA_I2C_DEV" default="i2c0" case="upper|lower"/>
    <define name="USE_$(BARO_HCA_I2C_DEV_UPPER)"/>
    <define name="BARO_HCA_I2C_DEV" value="$(BARO_HCA_I2C_DEV_LOWER)"/>
    <file name="baro_hca.c"/>
    <test>
      <define name="USE_I2C0"/>
      <define name="DOWNLINK_TRANSPORT" value="pprz_tp"/>
      <define name="DOWNLINK_DEVICE" value="uart0"/>
      <define name="USE_UART0"/>
    </test>
  </makefile>
 
</module>