Example for airframe file

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

 <module name="mag_ist8310">
   <define name="MODULE_IST8310_SYNC_SEND" value="TRUE|FALSE" />
   <define name="MODULE_IST8310_UPDATE_AHRS" value="TRUE|FALSE" />
   <define name="IST8310_CHAN_X_SIGN" value="+|-" />
   <define name="IST8310_CHAN_Y_SIGN" value="+|-" />
   <define name="IST8310_CHAN_Z_SIGN" value="+|-" />
   <define name="IST8310_CHAN_X" value="0|1|2" />
   <define name="IST8310_CHAN_Y" value="0|1|2" />
   <define name="IST8310_CHAN_Z" value="0|1|2" />
   <configure name="MAG_IST8310_I2C_DEV" value="i2cX" />
 </module>

Module configuration options

Configure Options

name: MAG_IST8310_I2C_DEV value: i2cX
Description: I2C device to use

Define Options

name: MODULE_IST8310_SYNC_SEND value: TRUE|FALSE
Description: Send IMU_RAW message with each new measurement (default: FALSE)
name: MODULE_IST8310_UPDATE_AHRS value: TRUE|FALSE
Description: Copy measurements to imu and send as ABI message (default: FALSE)
name: IST8310_CHAN_X_SIGN value: +|-
Description: Reverse polarity of x axis (default: +)
name: IST8310_CHAN_Y_SIGN value: +|-
Description: Reverse polarity of y axis (default: +)
name: IST8310_CHAN_Z_SIGN value: +|-
Description: Reverse polarity of z axis (default: +)
name: IST8310_CHAN_X value: 0|1|2
Description: Channel id of x axis (default: 0)
name: IST8310_CHAN_Y value: 0|1|2
Description: Channel id of y axis (default: 1)
name: IST8310_CHAN_Z value: 0|1|2
Description: Channel id of z axis (default: 2)

Airframe file section

section name: MAG_IST8310 prefix: IST8310_
- name MAG_TO_IMU_PHI value: 0.0
  Description: Rotation between sensor frame and IMU frame (phi angle)
- name MAG_TO_IMU_THETA value: 0.0
  Description: Rotation between sensor frame and IMU frame (theta angle)
- name MAG_TO_IMU_PSI value: 0.0
  Description: Rotation between sensor frame and IMU frame (psi angle)

Module functions

Init Functions

These initialization functions are called once on startup.

mag_ist8310_module_init()

Event Functions

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

mag_ist8310_module_event()

Periodic Functions

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

mag_ist8310_module_periodic()
- Frequency in Hz: 50
- Autorun: LOCK
  Periodic function automatically starts after init and can't be stopped.
mag_ist8310_report()
- Frequency in Hz: 10
- Autorun: FALSE
  Periodic function is started by user command.

Files

Header Files

The following headers are automatically included in modules.h

mag_ist8310.h

Source Files

Raw mag_ist8310.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="mag_ist8310" dir="sensors">
  <doc>
    <description>
      ST IST8310 magnetometer.
    </description>
    <configure name="MAG_IST8310_I2C_DEV" value="i2cX" description="I2C device to use"/>
    <define name="MODULE_IST8310_SYNC_SEND" value="TRUE|FALSE" description="Send IMU_RAW message with each new measurement (default: FALSE)"/>
    <define name="MODULE_IST8310_UPDATE_AHRS" value="TRUE|FALSE" description="Copy measurements to imu and send as ABI message (default: FALSE)"/>
    <define name="IST8310_CHAN_X_SIGN" value="+|-" description="Reverse polarity of x axis (default: +)"/>
    <define name="IST8310_CHAN_Y_SIGN" value="+|-" description="Reverse polarity of y axis (default: +)"/>
    <define name="IST8310_CHAN_Z_SIGN" value="+|-" description="Reverse polarity of z axis (default: +)"/>
    <define name="IST8310_CHAN_X" value="0|1|2" description="Channel id of x axis (default: 0)"/>
    <define name="IST8310_CHAN_Y" value="0|1|2" description="Channel id of y axis (default: 1)"/>
    <define name="IST8310_CHAN_Z" value="0|1|2" description="Channel id of z axis (default: 2)"/>
    <section name="MAG_IST8310" prefix="IST8310_">
      <define name="MAG_TO_IMU_PHI" value="0.0" description="Rotation between sensor frame and IMU frame (phi angle)"/>
      <define name="MAG_TO_IMU_THETA" value="0.0" description="Rotation between sensor frame and IMU frame (theta angle)"/>
      <define name="MAG_TO_IMU_PSI" value="0.0" description="Rotation between sensor frame and IMU frame (psi angle)"/>
    </section>
  </doc>
  <header>
    <file name="mag_ist8310.h"/>
  </header>
  <init fun="mag_ist8310_module_init()"/>
  <periodic fun="mag_ist8310_module_periodic()" freq="50"/>
  <periodic fun="mag_ist8310_report()" freq="10" autorun="FALSE"/>
  <event fun="mag_ist8310_module_event()"/>
  <makefile target="ap">
    <file name="mag_ist8310.c"/>
    <file name="ist8310.c" dir="peripherals"/>
    <raw>
      ifeq ($(MAG_IST8310_I2C_DEV),)
        $(error mag_ist8310 module error: please configure MAG_IST8310_I2C_DEV)
      endif
    </raw>
    <configure name="MAG_IST8310_I2C_DEV" case="upper|lower"/>
    <define name="USE_$(MAG_IST8310_I2C_DEV_UPPER)"/>
    <define name="MAG_IST8310_I2C_DEV" value="$(MAG_IST8310_I2C_DEV_LOWER)"/>
  </makefile>
</module>