Example for airframe file

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

<module name="rpm_sensor">
  b'<define name="RPM_PULSE_PER_RND" value="14" />\n    '
  b'<define name="RPM_FILTER_TAU" value="0.3" />\n    '
  b'<define name="RPM_SENSOR_ACTUATOR_IDX" value="" />\n  '
  b'<configure name="RPM_PWM_CHANNEL" value="PWM_INPUTX" />\n    '
</module>

Module configuration options

Configure Options

name: RPM_PWM_CHANNEL value: PWM_INPUTX
Description: Select PWM input channel for RPM sensor

Define Options

name: RPM_PULSE_PER_RND value: 14
Description: Amount of pulses per round
name: RPM_FILTER_TAU value: 0.3
Description: 1/cut-off-frequency = filter time
name: RPM_SENSOR_ACTUATOR_IDX value:
Description: the actuator which we are sensing the RPM for

Module functions

Init Functions

These initialization functions are called once on startup.

rpm_sensor_init()

Periodic Functions

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

rpm_sensor_periodic()
- Running at maximum module frequency.
- Autorun: TRUE
  Periodic function automatically starts after init.

Files

Header Files

The following headers are automatically included in modules.h

rpm_sensor.h

Source Files

modules/sensors/rpm_sensor.c

Raw rpm_sensor.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="rpm_sensor" dir="sensors">
  <doc>
    <description>RPM sensor based on time difference between pulses
      It uses an PWM input to measure the period between pulses.
    </description>
    <configure name="RPM_PWM_CHANNEL" value="PWM_INPUTX" description="Select PWM input channel for RPM sensor"/>
    <define name="RPM_PULSE_PER_RND" value="14" description="Amount of pulses per round"/>
    <define name="RPM_FILTER_TAU" value="0.3" description="1/cut-off-frequency = filter time"/>
    <define name="RPM_SENSOR_ACTUATOR_IDX" value="" description="the actuator which we are sensing the RPM for"/>
  </doc>
  <dep>
    <depends>pwm_meas</depends>
  </dep>
  <header>
    <file name="rpm_sensor.h"/>
  </header>
  <init fun="rpm_sensor_init()"/>
  <periodic fun="rpm_sensor_periodic()" autorun="TRUE"/>
  <makefile>
    <file name="rpm_sensor.c"/>
 
    <configure name="RPM_PWM_CHANNEL" default="PWM_INPUT1"/>
    <define name="RPM_PWM_CHANNEL" value="$(RPM_PWM_CHANNEL)"/>
    <define name="$(RPM_PWM_CHANNEL)_TICKS_PER_USEC" value="1" />
    <define name="USE_$(RPM_PWM_CHANNEL)" value="PWM_PULSE_TYPE_ACTIVE_HIGH" />
  </makefile>
</module>
 