Example for airframe file

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

<module name="cf_deck_multi_ranger">
  b'<configure name="MULTI_RANGER_I2C_DEV" value="i2c1" />\n  '
</module>

Module configuration options

Configure Options

name: MULTI_RANGER_I2C_DEV value: i2c1
Description: I2C device to use for the multi_ranger deck

Module functions

Init Functions

These initialization functions are called once on startup.

multi_ranger_init()

Event Functions

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

multi_ranger_event()

Periodic Functions

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

multi_ranger_periodic()
- Frequency in Hz: 50.0
- Autorun: TRUE
  Periodic function automatically starts after init.
multi_ranger_report()
- Frequency in Hz: 5.0
- Autorun: TRUE
  Periodic function automatically starts after init.

Files

Header Files

The following headers are automatically included in modules.h

cf_deck_multi_ranger.h

Source Files

Raw cf_deck_multi_ranger.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="cf_deck_multi_ranger" dir="range_finder">
  <doc>
    <description>
      Multi-ranger deck from Bitcraze for Crazyflie drones
    </description>
    <configure name="MULTI_RANGER_I2C_DEV" value="i2c1" description="I2C device to use for the multi_ranger deck"/>
  </doc>
  <header>
    <file name="cf_deck_multi_ranger.h"/>
  </header>
  <init fun="multi_ranger_init()"/>
  <periodic fun="multi_ranger_periodic()" freq="50.0" autorun="TRUE"/>
  <periodic fun="multi_ranger_report()" freq="5.0" autorun="TRUE"/>
  <event fun="multi_ranger_event()"/>
  <makefile target="ap">
    <configure name="MULTI_RANGER_I2C_DEV" default="i2c1" case="lower|upper"/>
    <define name="MULTI_RANGER_I2C_DEV" value="$(MULTI_RANGER_I2C_DEV_LOWER)"/>
    <define name="USE_$(MULTI_RANGER_I2C_DEV_UPPER)"/>
    <define name="VL53L1X_AUTO_INCR_ADDR"/>
    <file name="cf_deck_multi_ranger.c"/>
    <file name="pca95xx.c" dir="peripherals"/>
    <file name="vl53l1_platform.c" dir="peripherals"/>
    <file name="vl53l1x_api.c" dir="peripherals"/>
    <file name="vl53l1x_nonblocking.c" dir="peripherals"/>
  </makefile>
</module>