Example for airframe file

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

<module name="mag_hmc5843">
  b'<configure name="HMC5843_I2C_DEV" value="i2cX" />\n  '
</module>

Module configuration options

Configure Options

name: HMC5843_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.

hmc5843_module_init()

Event Functions

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

hmc5843_module_event()

Periodic Functions

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

hmc5843_module_periodic()
- Frequency in Hz: 60
- 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

mag_hmc5843.h

Source Files

Raw mag_hmc5843.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="mag_hmc5843" dir="sensors" task="sensors">
  <doc>
    <description>hmc5843 magnetometer</description>
    <configure name="HMC5843_I2C_DEV" value="i2cX" description="select which i2c peripheral to use (default i2c0)"/>
  </doc>
  <dep>
    <depends>i2c,@imu</depends>
    <provides>mag</provides>
  </dep>
  <header>
    <file name="mag_hmc5843.h"/>
  </header>
  <init fun="hmc5843_module_init()"/>
  <periodic fun="hmc5843_module_periodic()" freq="60"/>
  <event fun="hmc5843_module_event()"/>
  <makefile>
    <configure name="HMC5843_I2C_DEV" default="i2c0" case="upper|lower"/>
    <define name="USE_$(HMC5843_I2C_DEV_UPPER)"/>
    <define name="HMC5843_I2C_DEV" value="$(HMC5843_I2C_DEV_LOWER)"/>
    <file name="mag_hmc5843.c"/>
    <file name="hmc5843.c" dir="peripherals"/>
    <define name="HMC5843_NO_IRQ"/>
    <test>
      <define name="HMC5843_I2C_DEV" value="i2c1"/>
      <define name="USE_I2C1"/>
      <define name="DOWNLINK_TRANSPORT" value="pprz_tp"/>
      <define name="DOWNLINK_DEVICE" value="uart0"/>
      <define name="USE_UART0"/>
      <define name="HMC5843_NO_IRQ"/>
    </test>
  </makefile>
</module>