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_rm3100">
  b'<define name="MODULE_RM3100_SYNC_SEND" value="TRUE|FALSE" />\n    '
  b'<define name="MODULE_RM3100_UPDATE_AHRS" value="TRUE|FALSE" />\n    '
  b'<define name="RM3100_CHAN_X_SIGN" value="+|-" />\n    '
  b'<define name="RM3100_CHAN_Y_SIGN" value="+|-" />\n    '
  b'<define name="RM3100_CHAN_Z_SIGN" value="+|-" />\n    '
  b'<define name="RM3100_CHAN_X" value="0|1|2" />\n    '
  b'<define name="RM3100_CHAN_Y" value="0|1|2" />\n    '
  b'<define name="RM3100_CHAN_Z" value="0|1|2" />\n    '
  b'<configure name="MAG_RM3100_I2C_DEV" value="i2cX" />\n    '
</module>

Module configuration options

Configure Options

name: MAG_RM3100_I2C_DEV value: i2cX
Description: I2C device to use

Define Options

name: MODULE_RM3100_SYNC_SEND value: TRUE|FALSE
Description: Send IMU_RAW message with each new measurement (default: FALSE)
name: MODULE_RM3100_UPDATE_AHRS value: TRUE|FALSE
Description: Copy measurements to imu and send as ABI message (default: FALSE)
name: RM3100_CHAN_X_SIGN value: +|-
Description: Reverse polarity of x axis (default: +)
name: RM3100_CHAN_Y_SIGN value: +|-
Description: Reverse polarity of y axis (default: +)
name: RM3100_CHAN_Z_SIGN value: +|-
Description: Reverse polarity of z axis (default: +)
name: RM3100_CHAN_X value: 0|1|2
Description: Channel id of x axis (default: 0)
name: RM3100_CHAN_Y value: 0|1|2
Description: Channel id of y axis (default: 1)
name: RM3100_CHAN_Z value: 0|1|2
Description: Channel id of z axis (default: 2)

Airframe file section

section name: MAG_RM3100 prefix: RM3100_
- 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)
- name DATA_RATE value: RM3100_RATE_150
  Description: Continuous conversion data rate

Module functions

Init Functions

These initialization functions are called once on startup.

mag_rm3100_module_init()

Event Functions

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

mag_rm3100_module_event()

Periodic Functions

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

mag_rm3100_module_periodic()
- Frequency in Hz: MAG_RM3100_PERIODIC_FREQUENCY
- Autorun: LOCK
  Periodic function automatically starts after init and can't be stopped.
mag_rm3100_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_rm3100.h

Source Files

Raw mag_rm3100.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="mag_rm3100" dir="sensors" task="sensors">
  <doc>
    <description>
      PNI RM3100 magnetometer.
      I2C interface.
    </description>
    <configure name="MAG_RM3100_I2C_DEV" value="i2cX" description="I2C device to use"/>
    <define name="MODULE_RM3100_SYNC_SEND" value="TRUE|FALSE" description="Send IMU_RAW message with each new measurement (default: FALSE)"/>
    <define name="MODULE_RM3100_UPDATE_AHRS" value="TRUE|FALSE" description="Copy measurements to imu and send as ABI message (default: FALSE)"/>
    <define name="RM3100_CHAN_X_SIGN" value="+|-" description="Reverse polarity of x axis (default: +)"/>
    <define name="RM3100_CHAN_Y_SIGN" value="+|-" description="Reverse polarity of y axis (default: +)"/>
    <define name="RM3100_CHAN_Z_SIGN" value="+|-" description="Reverse polarity of z axis (default: +)"/>
    <define name="RM3100_CHAN_X" value="0|1|2" description="Channel id of x axis (default: 0)"/>
    <define name="RM3100_CHAN_Y" value="0|1|2" description="Channel id of y axis (default: 1)"/>
    <define name="RM3100_CHAN_Z" value="0|1|2" description="Channel id of z axis (default: 2)"/>
    <section name="MAG_RM3100" prefix="RM3100_">
      <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)"/>
      <define name="DATA_RATE" value="RM3100_RATE_150" description="Continuous conversion data rate"/>
    </section>
  </doc>
  <dep>
    <depends>i2c,@imu</depends>
    <provides>mag</provides>
  </dep>
  <header>
    <file name="mag_rm3100.h"/>
  </header>
  <init fun="mag_rm3100_module_init()"/>
  <periodic fun="mag_rm3100_module_periodic()" freq="MAG_RM3100_PERIODIC_FREQUENCY"/>
  <periodic fun="mag_rm3100_report()" freq="10" autorun="FALSE"/>
  <event fun="mag_rm3100_module_event()"/>
  <makefile target="ap">
    <file name="mag_rm3100.c"/>
    <file name="rm3100.c" dir="peripherals"/>
    <raw>
      ifeq ($(MAG_RM3100_I2C_DEV),)
        $(error mag_rm3100 module error: please configure MAG_RM3100_I2C_DEV)
      endif
    </raw>
    <configure name="MAG_RM3100_PERIODIC_FREQUENCY" default="60"/>
    <configure name="MAG_RM3100_I2C_DEV" case="upper|lower"/>
    <define name="MAG_RM3100_PERIODIC_FREQUENCY" value="$(MAG_RM3100_PERIODIC_FREQUENCY)"/>
    <define name="USE_$(MAG_RM3100_I2C_DEV_UPPER)"/>
    <define name="MAG_RM3100_I2C_DEV" value="$(MAG_RM3100_I2C_DEV_LOWER)"/>
    <test>
      <define name="MAG_RM3100_I2C_DEV" value="i2c1"/>
      <define name="USE_I2C1"/>
      <define name="DOWNLINK_TRANSPORT" value="pprz_tp"/>
      <define name="DOWNLINK_DEVICE" value="uart1"/>
      <define name="USE_UART1"/>
    </test>
  </makefile>
</module>