mag_lis3mdl module

ST LIS3MDL magnetometer.

No detailed description...

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_lis3mdl">
  b'<define name="MODULE_LIS3MDL_SYNC_SEND" value="TRUE|FALSE" />\n    '
  b'<define name="MODULE_LIS3MDL_UPDATE_AHRS" value="TRUE|FALSE" />\n    '
  b'<define name="LIS3MDL_CHAN_X_SIGN" value="+|-" />\n    '
  b'<define name="LIS3MDL_CHAN_Y_SIGN" value="+|-" />\n    '
  b'<define name="LIS3MDL_CHAN_Z_SIGN" value="+|-" />\n    '
  b'<define name="LIS3MDL_CHAN_X" value="0|1|2" />\n    '
  b'<define name="LIS3MDL_CHAN_Y" value="0|1|2" />\n    '
  b'<define name="LIS3MDL_CHAN_Z" value="0|1|2" />\n    '
  b'<configure name="MAG_LIS3MDL_I2C_DEV" value="i2cX" />\n    '
</module>

Module configuration options

Configure Options

• name: MAG_LIS3MDL_I2C_DEV value: i2cX
  Description: I2C device to use

Define Options

• name: MODULE_LIS3MDL_SYNC_SEND value: TRUE|FALSE
  Description: Send IMU_RAW message with each new measurement (default: FALSE)
• name: MODULE_LIS3MDL_UPDATE_AHRS value: TRUE|FALSE
  Description: Copy measurements to imu and send as ABI message (default: FALSE)
• name: LIS3MDL_CHAN_X_SIGN value: +|-
  Description: Reverse polarity of x axis (default: +)
• name: LIS3MDL_CHAN_Y_SIGN value: +|-
  Description: Reverse polarity of y axis (default: +)
• name: LIS3MDL_CHAN_Z_SIGN value: +|-
  Description: Reverse polarity of z axis (default: +)
• name: LIS3MDL_CHAN_X value: 0|1|2
  Description: Channel id of x axis (default: 0)
• name: LIS3MDL_CHAN_Y value: 0|1|2
  Description: Channel id of y axis (default: 1)
• name: LIS3MDL_CHAN_Z value: 0|1|2
  Description: Channel id of z axis (default: 2)

Airframe file section

• section name: MAG_LIS3MDL prefix: LIS3MDL_
  • name MAG_TO_IMU_PHI value: 0.0
    Description: Rotation between sensor frame and IMU frame (phi angle)
  • name MAG_TO_IMU_THETA value: 0.0
    Description: Rotation between sensor frame and IMU frame (theta angle)
  • name MAG_TO_IMU_PSI value: 0.0
    Description: Rotation between sensor frame and IMU frame (psi angle)

Module functions

Init Functions

These initialization functions are called once on startup.

• mag_lis3mdl_module_init()

Event Functions

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

• mag_lis3mdl_module_event()

Periodic Functions

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

• mag_lis3mdl_module_periodic()
  • Frequency in Hz: 60
  • Autorun: LOCK
    Periodic function automatically starts after init and can't be stopped.
• mag_lis3mdl_report()
  • Frequency in Hz: 10
  • Autorun: FALSE
    Periodic function is started by user command.

Files

Header Files

The following headers are automatically included in modules.h

• mag_lis3mdl.h

Source Files

• modules/sensors/mag_lis3mdl.c
• peripherals/lis3mdl.c

Raw mag_lis3mdl.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="mag_lis3mdl" dir="sensors" task="sensors">
  <doc>
    <description>
      ST LIS3MDL magnetometer.
    </description>
    <configure name="MAG_LIS3MDL_I2C_DEV" value="i2cX" description="I2C device to use"/>
    <define name="MODULE_LIS3MDL_SYNC_SEND" value="TRUE|FALSE" description="Send IMU_RAW message with each new measurement (default: FALSE)"/>
    <define name="MODULE_LIS3MDL_UPDATE_AHRS" value="TRUE|FALSE" description="Copy measurements to imu and send as ABI message (default: FALSE)"/>
    <define name="LIS3MDL_CHAN_X_SIGN" value="+|-" description="Reverse polarity of x axis (default: +)"/>
    <define name="LIS3MDL_CHAN_Y_SIGN" value="+|-" description="Reverse polarity of y axis (default: +)"/>
    <define name="LIS3MDL_CHAN_Z_SIGN" value="+|-" description="Reverse polarity of z axis (default: +)"/>
    <define name="LIS3MDL_CHAN_X" value="0|1|2" description="Channel id of x axis (default: 0)"/>
    <define name="LIS3MDL_CHAN_Y" value="0|1|2" description="Channel id of y axis (default: 1)"/>
    <define name="LIS3MDL_CHAN_Z" value="0|1|2" description="Channel id of z axis (default: 2)"/>
    <section name="MAG_LIS3MDL" prefix="LIS3MDL_">
      <define name="MAG_TO_IMU_PHI" value="0.0" description="Rotation between sensor frame and IMU frame (phi angle)"/>
      <define name="MAG_TO_IMU_THETA" value="0.0" description="Rotation between sensor frame and IMU frame (theta angle)"/>
      <define name="MAG_TO_IMU_PSI" value="0.0" description="Rotation between sensor frame and IMU frame (psi angle)"/>
    </section>
  </doc>
  <dep>
    <depends>i2c,@imu</depends>
    <provides>mag</provides>
  </dep>
  <header>
    <file name="mag_lis3mdl.h"/>
  </header>
  <init fun="mag_lis3mdl_module_init()"/>
  <periodic fun="mag_lis3mdl_module_periodic()" freq="60"/>
  <periodic fun="mag_lis3mdl_report()" freq="10" autorun="FALSE"/>
  <event fun="mag_lis3mdl_module_event()"/>
  <makefile target="ap">
    <file name="mag_lis3mdl.c"/>
    <file name="lis3mdl.c" dir="peripherals"/>
    <raw>
      ifeq ($(MAG_LIS3MDL_I2C_DEV),)
        $(error mag_lis3mdl module error: please configure MAG_LIS3MDL_I2C_DEV)
      endif
    </raw>
    <configure name="MAG_LIS3MDL_I2C_DEV" case="upper|lower"/>
    <define name="USE_$(MAG_LIS3MDL_I2C_DEV_UPPER)"/>
    <define name="MAG_LIS3MDL_I2C_DEV" value="$(MAG_LIS3MDL_I2C_DEV_LOWER)"/>
    <test>
      <define name="MAG_LIS3MDL_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"/>
    </test>
  </makefile>
</module>