Example for airframe file

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

<module name="teraranger_one">
  b'<define name="TERARANGER_ONE_I2C_ADDR" value="0x60" />\n    '
  b'<define name="TERARANGER_ONE_OFFSET" value="0.0" unit="m" />\n    '
  b'<define name="USE_TERARANGER_ONE_AGL" value="TRUE|FALSE" />\n  '
  b'<configure name="TERARANGER_ONE_I2C_DEV" value="i2cX" />\n    '
</module>

Module configuration options

Configure Options

name: TERARANGER_ONE_I2C_DEV value: i2cX
Description: Select I2C bus (i2c2 by default)

Define Options

name: TERARANGER_ONE_I2C_ADDR value: 0x60
Description: Select an alternate I2C address (0x60 by default)
name: TERARANGER_ONE_OFFSET value: 0.0
Description: Add an offset to the measurments (0. by default)
name: USE_TERARANGER_ONE_AGL value: TRUE|FALSE
Description: Send data as AGL measurments to the system (TRUE by default)

Module functions

Init Functions

These initialization functions are called once on startup.

teraranger_init()

Event Functions

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

teraranger_event()

Periodic Functions

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

teraranger_periodic()
- Frequency in Hz: 50
- Autorun: LOCK
  Periodic function automatically starts after init and can't be stopped.
teraranger_downlink()
- 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

teraranger_one.h

Source Files

modules/range_finder/teraranger_one.c

Raw teraranger_one.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="teraranger_one" dir="range_finder">
  <doc>
    <description>Driver for the TeraRanger One range finder (I2C)</description>
    <configure name="TERARANGER_ONE_I2C_DEV" value="i2cX" description="Select I2C bus (i2c2 by default)"/>
    <define name="TERARANGER_ONE_I2C_ADDR" value="0x60" description="Select an alternate I2C address (0x60 by default)"/>
    <define name="TERARANGER_ONE_OFFSET" value="0.0" description="Add an offset to the measurments (0. by default)" unit="m"/>
    <define name="USE_TERARANGER_ONE_AGL" value="TRUE|FALSE" description="Send data as AGL measurments to the system (TRUE by default)"/>
  </doc>
  <header>
    <file name="teraranger_one.h"/>
  </header>
  <init fun="teraranger_init()"/>
  <periodic fun="teraranger_periodic()" freq="50"/>
  <periodic fun="teraranger_downlink()" freq="10" autorun="FALSE"/>
  <event fun="teraranger_event()"/>
  <makefile>
    <configure name="TERARANGER_ONE_I2C_DEV" default="i2c2" case="upper|lower"/>
    <file name="teraranger_one.c"/>
    <define name="TERARANGER_ONE_I2C_DEV" value="$(TERARANGER_ONE_I2C_DEV_LOWER)"/>
    <define name="USE_$(TERARANGER_ONE_I2C_DEV_UPPER)"/>
  </makefile>
</module>
 