Example for airframe file

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

<module name="gps_piksi">
  b'<configure name="PIKSI_GPS_PORT" value="UARTx" />\n    '
  b'<configure name="PIKSI_GPS_BAUD" value="B115200" />\n  '
</module>

Module configuration options

Configure Options

name: PIKSI_GPS_PORT value: UARTx
Description: UART where the GPS is connected to (UART1, UART2, etc
name: PIKSI_GPS_BAUD value: B115200
Description: UART baud rate

Module functions

Init Functions

These initialization functions are called once on startup.

gps_piksi_init()

Event Functions

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

gps_piksi_event()

Periodic Functions

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

gps_piksi_periodic_check()
- Frequency in Hz: 1.
- Autorun: TRUE
  Periodic function automatically starts after init.

Files

Header Files

The following headers are automatically included in modules.h

gps.h

Source Files

modules/gps/gps_piksi.c
../ext/libsbp/c/src/sbp.c
../ext/libsbp/c/src/edc.c

Raw gps_piksi.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="gps_piksi" dir="gps" task="sensors">
  <doc>
    <description>
      Swift-Nav Piksi RTK GPS.
      Driver for Swift-Nav Piksi RTK GPS connected via UART.
    </description>
    <configure name="PIKSI_GPS_PORT" value="UARTx" description="UART where the GPS is connected to (UART1, UART2, etc"/>
    <configure name="PIKSI_GPS_BAUD" value="B115200" description="UART baud rate"/>
  </doc>
  <dep>
    <depends>uart,gps</depends>
    <provides>gps</provides>
  </dep>
  <header>
    <file name="gps.h"/>
  </header>
  <init fun="gps_piksi_init()"/>
  <periodic fun="gps_piksi_periodic_check()" freq="1." autorun="TRUE"/>
  <event fun="gps_piksi_event()"/>
  <makefile target="ap|fbw">
    <configure name="PIKSI_GPS_PORT" default="$(GPS_PORT)" case="upper|lower"/>
    <configure name="PIKSI_GPS_BAUD" default="B115200"/>
 
    <file name="gps_piksi.c"/>
    <include name="../ext/libsbp/c/include"/>
    <file name="sbp.c" dir="../ext/libsbp/c/src"/>
    <file name="edc.c" dir="../ext/libsbp/c/src"/>
 
    <define name="USE_$(PIKSI_GPS_PORT_UPPER)"/>
    <define name="PIKSI_GPS_LINK" value="$(PIKSI_GPS_PORT_LOWER)"/>
    <define name="$(PIKSI_GPS_PORT_UPPER)_BAUD" value="$(PIKSI_GPS_BAUD)"/>
    <raw>
      ifdef SECONDARY_GPS
      ifneq (,$(findstring $(SECONDARY_GPS), piksi))
      # this is the secondary GPS
      $(TARGET).CFLAGS += -DGPS_SECONDARY_TYPE_H=\"modules/gps/gps_piksi.h\"
      $(TARGET).CFLAGS += -DSECONDARY_GPS=GPS_PIKSI
      else
      $(TARGET).CFLAGS += -DGPS_TYPE_H=\"modules/gps/gps_piksi.h\"
      $(TARGET).CFLAGS += -DPRIMARY_GPS=GPS_PIKSI
      endif
      else
      # plain old single GPS usage
      $(TARGET).CFLAGS += -DGPS_TYPE_H=\"modules/gps/gps_piksi.h\"
      endif
    </raw>
    <test firmware="rotorcraft">
      <define name="PRIMARY_GPS" value="GPS_PIKSI"/>
      <define name="PIKSI_GPS_PORT" value="uart2"/>
      <define name="PIKSI_GPS_BAUD" value="115200"/>
      <define name="USE_UART2"/>
      <define name="PIKSI_GPS_LINK" value="uart2"/>
      <include name="../ext/libsbp/c/include"/>
    </test>
  </makefile>
  <makefile target="fbw">
    <define name="USE_GPS"/>
  </makefile>
</module>