ahrs_chimu_spi module

CHimu (SPI)

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="ahrs_chimu_spi">
  <define name="CHIMU_BIG_ENDIAN" value="TRUE" />
</module>

Module configuration options

Define Options

• name: CHIMU_BIG_ENDIAN value: TRUE
  Description: For older CHIMU v1.0 you should define CHIMU_BIG_ENDIAN

Auto-loaded modules

The following modules are automatically loaded (just as if you had added them in the airframe file)

• ahrs_sim module
• module__spislave_hs

Module functions

Event Functions

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

• parse_ins_msg()

Files

Header Files

The following headers are automatically included in modules.h

• ins_module.h

Source Files

• modules/ins/ahrs_chimu_spi.c
• modules/ins/imu_chimu.c
• subsystems/ahrs.c

Raw ahrs_chimu_spi.xml file:

<!DOCTYPE module SYSTEM "module.dtd">

<module name="ahrs_chimu_spi" dir="ins">
  <doc>
    <description>CHimu (SPI)</description>
    <define name="CHIMU_BIG_ENDIAN" value="TRUE" description="For older CHIMU v1.0 you should define CHIMU_BIG_ENDIAN"/>
  </doc>
  <autoload name="ahrs_sim"/>
  <autoload name="spi" type="slave_hs"/>
  <header>
    <file name="ins_module.h"/>
  </header>
  <event fun="parse_ins_msg()"/>
  <makefile target="ap">
    <define name="AHRS_TRIGGERED_ATTITUDE_LOOP"/>
    <define name="USE_AHRS"/>
    <define name="USE_INS_MODULE"/>
    <define name="USE_SPI"/>
    <define name="INS_LINK" value="spi_slave_hs"/>
    <define name="USE_USB_HIGH_PCLK" />
    <file name="ahrs_chimu_spi.c"/>
    <file name="imu_chimu.c"/>
    <file name="ahrs.c" dir="subsystems"/>
    <define name="AHRS_TYPE_H" value="modules/ins/ahrs_chimu.h" type="string"/>
  </makefile>
</module>