Example for airframe file

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

 <module name="imu_um6">
   <configure name="UM6_PORT" value="uart3" />
   <configure name="UM6_BAUD" value="B115200" />
 </module>

Module configuration options

Configure Options

name: UM6_PORT value: uart3
Description: UART to use
name: UM6_BAUD value: B115200
Description: Baud rate

Auto-loaded modules

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

imu_nps module

Module functions

Init Functions

These initialization functions are called once on startup.

imu_um6_init()

Event Functions

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

imu_um6_event()

Periodic Functions

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

imu_um6_periodic()
- Running at maximum module frequency.
- 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

imu_um6.h

Source Files

subsystems/imu/imu_um6.c

Raw imu_um6.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="imu_um6" dir="imu">
  <doc>
    <description>
      CHR-UM6 IMU.
    </description>
    <configure name="UM6_PORT" value="uart3" description="UART to use"/>
    <configure name="UM6_BAUD" value="B115200" description="Baud rate"/>
  </doc>
  <define name="USE_IMU"/>
  <autoload name="imu_nps"/>
  <header>
    <file name="imu_um6.h" dir="subsystems/imu"/>
  </header>
  <init fun="imu_um6_init()"/>
  <periodic fun="imu_um6_periodic()"/>
  <event fun="imu_um6_event()"/>
  <makefile target="!sim|nps|fbw">
    <configure name="UM6_PORT" default="uart3" case="lower|upper"/>
    <configure name="UM6_BAUD" default="B115200"/>
    <define name="USE_$(UM6_PORT_UPPER)"/>
    <define name="$(UM6_PORT_UPPER)_BAUD" value="$(UM6_BAUD)"/>
    <define name="UM6_LINK" value="$(UM6_PORT_LOWER)"/>
    <define name="IMU_TYPE_H" value="imu/imu_um6.h" type="string"/>
    <file name="imu_um6.c" dir="subsystems/imu"/>
  </makefile>
</module>