Example for airframe file

This example contains all possible configuration options, not all of them are mandatory!

 <modules>
   <load name="ins_vn100.xml">
     <configure name="VN100_SPI_DEV" value="spiX" />
     <configure name="VN100_SLAVE_IDX" value="SPI_SLAVEX" />
   </load>
 </modules>

Module configuration options

Configure Options

name: VN100_SPI_DEV value: spiX
Description: select spi peripherals (default spi1)
name: VN100_SLAVE_IDX value: SPI_SLAVEX
Description: spi slave index

Module functions

Init Functions

These initialization functions are called once on startup.

vn100_init()

Event Functions

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

vn100_event_task()

Periodic Functions

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

vn100_periodic_task()
- Frequency in Hz: 60
- Autorun: LOCK
  Periodic function automatically starts after init and can't be stopped.
vn100_report_task()
- Frequency in Hz: 4
- 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

ins_vn100.h

Source Files

modules/ins/ins_vn100.c

Raw ins_vn100.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="vn100" dir="ins">
  <doc>
    <description>VectorNav VN100 (SPI)</description>
    <configure name="VN100_SPI_DEV" value="spiX" description="select spi peripherals (default spi1)"/>
    <configure name="VN100_SLAVE_IDX" value="SPI_SLAVEX" description="spi slave index"/>
  </doc>
  <!-- <conflicts>ins</conflicts> -->
  <header>
    <file name="ins_vn100.h"/>
  </header>
  <init fun="vn100_init()"/>
  <periodic fun="vn100_periodic_task()" freq="60"/>
  <periodic fun="vn100_report_task()" freq="4"/>
  <event fun="vn100_event_task()"/>
  <makefile>
    <raw>
      VN100_SPI_DEV ?= spi1
      VN100_SPI_DEV_LOWER=$(shell echo $(VN100_SPI_DEV) | tr A-Z a-z)
      VN100_SPI_DEV_UPPER=$(shell echo $(VN100_SPI_DEV) | tr a-z A-Z)
      VN100_SLAVE_IDX ?= spi_slave0
      VN100_SLAVE_IDX_LOWER=$(shell echo $(VN100_SLAVE_IDX) | tr A-Z a-z)
      VN100_SLAVE_IDX_UPPER=$(shell echo $(VN100_SLAVE_IDX) | tr a-z A-Z)
      include $(CFG_SHARED)/spi_master.makefile
    </raw>
    <define name="USE_$(VN100_SPI_DEV_UPPER)" />
    <define name="USE_$(VN100_SLAVE_IDX_UPPER)" />
    <define name="VN100_SPI_DEV" value="$(VN100_SPI_DEV_LOWER)" />
    <define name="VN100_SLAVE_IDX" value="$(VN100_SLAVE_IDX_UPPER)" />
    <file name="ins_vn100.c"/>
  </makefile>
</module>