Example for airframe file

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

<module name="ins_vn100">
  b'<configure name="VN100_SPI_DEV" value="spiX" />\n    '
  b'<configure name="VN100_SLAVE_IDX" value="SPI_SLAVEX" />\n  '
</module>

Module configuration options

Configure Options

name: VN100_SPI_DEV value: spiX
Description: select spi peripherals (default spi1)
name: VN100_SLAVE_IDX value: SPI_SLAVEX
Description: spi slave index

Module functions

Init Functions

These initialization functions are called once on startup.

vn100_init()

Event Functions

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

vn100_event_task()

Periodic Functions

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

vn100_periodic_task()
- Frequency in Hz: 60
- Autorun: LOCK
  Periodic function automatically starts after init and can't be stopped.
vn100_report_task()
- Frequency in Hz: 4
- 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

ins_vn100.h

Source Files

modules/ins/ins_vn100.c

Raw ins_vn100.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="ins_vn100" dir="ins" task="estimation">
  <doc>
    <description>VectorNav VN100 (SPI)</description>
    <configure name="VN100_SPI_DEV" value="spiX" description="select spi peripherals (default spi1)"/>
    <configure name="VN100_SLAVE_IDX" value="SPI_SLAVEX" description="spi slave index"/>
  </doc>
  <dep>
    <depends>spi_master,gps</depends>
    <provides>imu,mag,ins,ahrs,gps</provides>
  </dep>
  <header>
    <file name="ins_vn100.h"/>
  </header>
  <init fun="vn100_init()"/>
  <periodic fun="vn100_periodic_task()" freq="60"/>
  <periodic fun="vn100_report_task()" freq="4"/>
  <event fun="vn100_event_task()"/>
  <makefile>
    <configure name="VN100_SPI_DEV" default="spi1" case="upper|lower"/>
    <configure name="VN100_SLAVE_IDX" default="spi_slave0" case="upper|lower"/>
    <define name="USE_$(VN100_SPI_DEV_UPPER)" />
    <define name="USE_$(VN100_SLAVE_IDX_UPPER)" />
    <define name="VN100_SPI_DEV" value="$(VN100_SPI_DEV_LOWER)" />
    <define name="VN100_SLAVE_IDX" value="$(VN100_SLAVE_IDX_UPPER)" />
    <file name="ins_vn100.c"/>
    <test firmware="fixedwing">
      <define name="VN100_SPI_DEV" value="spi1"/>
      <define name="SPI_MASTER"/>
      <define name="USE_SPI1"/>
      <define name="DOWNLINK_TRANSPORT" value="pprz_tp"/>
      <define name="DOWNLINK_DEVICE" value="uart0"/>
      <define name="USE_UART0"/>
    </test>
  </makefile>
</module>
 