Module XML file: mag_hmc58xx.xml
Module for standalone operation/logging of a HMC58xx magnetometer.
Example for airframe file
This example contains all possible configuration options, not all of them are mandatory!
2 <load name="mag_hmc58xx.xml">
3 <define name="MODULE_HMC58XX_SYNC_SEND" value="TRUE|FALSE" />
4 <define name="MODULE_HMC58XX_UPDATE_AHRS" value="TRUE|FALSE" />
5 <configure name="MAG_HMC58XX_I2C_DEV" value="i2c1" />
Module configuration options
Configure Options
- name:
MAG_HMC58XX_I2C_DEV
value: i2c1
Description: I2C device to use (e.g. i2c1)
Define Options
- name:
MODULE_HMC58XX_SYNC_SEND
value: TRUE|FALSE
Description: Send IMU_RAW message with each new measurement (default: FALSE)
- name:
MODULE_HMC58XX_UPDATE_AHRS
value: TRUE|FALSE
Description: Copy measurements to imu and send as ABI message (default: FALSE)
Module functions
Init Functions
These initialization functions are called once on startup.
Event Functions
These event functions are called in each cycle of the module event loop.
Periodic Functions
These functions are called periodically at the specified frequency from the module periodic loop.
Files
Header Files
The following headers are automatically included in modules.h
Source Files
Raw mag_hmc58xx.xml file:
<!DOCTYPE module SYSTEM "module.dtd">
<module name="sensors">
<doc>
<description>
HMC58xx magnetometer.
Module for standalone operation/logging of a HMC58xx magnetometer.
</description>
<configure name="MAG_HMC58XX_I2C_DEV" value="i2c1" description="I2C device to use (e.g. i2c1)"/>
<define name="MODULE_HMC58XX_SYNC_SEND" value="TRUE|FALSE" description="Send IMU_RAW message with each new measurement (default: FALSE)"/>
<define name="MODULE_HMC58XX_UPDATE_AHRS" value="TRUE|FALSE" description="Copy measurements to imu and send as ABI message (default: FALSE)"/>
</doc>
<header>
<file name="mag_hmc58xx.h"/>
</header>
<init fun="mag_hmc58xx_module_init()"/>
<periodic fun="mag_hmc58xx_module_periodic()" freq="60"/>
<periodic fun="mag_hmc58xx_report()" freq="10" autorun="FALSE"/>
<event fun="mag_hmc58xx_module_event()"/>
<makefile target="ap">
<file name="mag_hmc58xx.c"/>
<file name="hmc58xx.c" dir="peripherals"/>
<raw>
ifeq ($(MAG_HMC58XX_I2C_DEV),)
$(error mag_hmc58xx module error: please configure MAG_HMC58XX_I2C_DEV)
endif
MAG_HMC58XX_I2C_DEV_UPPER=$(shell echo $(MAG_HMC58XX_I2C_DEV) | tr a-z A-Z)
MAG_HMC58XX_I2C_DEV_LOWER=$(shell echo $(MAG_HMC58XX_I2C_DEV) | tr A-Z a-z)
</raw>
<define name="USE_$(MAG_HMC58XX_I2C_DEV_UPPER)"/>
<define name="MAG_HMC58XX_I2C_DEV" value="$(MAG_HMC58XX_I2C_DEV_LOWER)"/>
</makefile>
</module>