system_core module

Core system components meta module

Includes: sys_time, commands, LED interfaces

Example for airframe file

Add to your firmware section:

<module name="system_core"/>

Module functions

Init Functions

These initialization functions are called once on startup.

• commands_init()

Periodic Functions

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

• LED_PERIODIC()
  • Frequency in Hz: 50
  • 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

• commands.h
• led.h

Source Files

• mcu_periph/sys_time.c
• modules/core/commands.c
• arch dependent: mcu_periph/sys_time_arch.c
• arch dependent: ./led_hw.c

Raw system_core.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="system_core" dir="core" task="core">
  <doc>
    <description>
      Core system components meta module
 
      Includes: sys_time, commands, LED interfaces
    </description>
  </doc>
  <dep>
    <depends>mcu,math,state_interface,@actuators|@intermcu,settings|@no_settings,@datalink,@telemetry</depends>
    <provides>core</provides>
  </dep>
  <header>
    <file name="commands.h"/>
    <file name="led.h" dir="."/>
  </header>
  <init fun="commands_init()"/>
  <periodic fun="LED_PERIODIC()" freq="50"/>
  <makefile>
    <configure name="SRC_BOARD" value="boards/$(BOARD)"/>
    <configure name="SRC_MODULES" value="modules"/>
    <configure name="SRC_ARCH" value="arch/$(ARCH)"/>
    <define name="BOARD_CONFIG" value="$(BOARD_CFG)"/>
    <define name="SYS_TIME_LED" value="$(SYS_TIME_LED)" cond="ifneq ($(SYS_TIME_LED),none)"/>
    <include name="$(SRC_BOARD)"/>
    <include name="$(SRC_MODULES)"/>
    <file name="sys_time.c" dir="mcu_periph"/>
    <file name="commands.c"/>
    <define name="USE_COMMANDS"/>
    <file_arch name="sys_time_arch.c" dir="mcu_periph"/>
    <file_arch name="led_hw.c" dir="." cond="ifeq ($(ARCH), stm32)"/>
    <flag name="LDFLAGS" value="lrt" cond="ifeq ($(ARCH), linux)"/>
    <raw>
VPATH += $(PAPARAZZI_HOME)/var/share
VPATH += $(PAPARAZZI_HOME)/sw/ext
$(TARGET).ARCHDIR = $(ARCH)
    </raw>
    <test/>
  </makefile>
  <makefile target="!nps|sim">
    <define name="USE_LED"/>
  </makefile>
</module>