Angle of Attack sensor on PWM. More...

#include "modules/sensors/aoa_pwm.h"
#include "mcu_periph/pwm_input.h"
#include "pprzlink/messages.h"
#include "modules/datalink/downlink.h"
#include "modules/core/abi.h"
#include "generated/airframe.h"
#include "modules/datalink/telemetry.h"

Include dependency graph for aoa_pwm.c:

Go to the source code of this file.

Macros
#define	AOA_PWM_PERIOD 4096
	Default to a 12 bit PWM sensor.

#define	AOA_PWM_OFFSET 1
	Some sensor may need an initial PWM offset (1 usec in the case of an MA3 sensor)

#define	AOA_ANGLE_OFFSET M_PI
	Default offset value (assuming 0 AOA is in the middle of the range)

#define	AOA_OFFSET 0.0f
	Default extra offset that can be ajusted from settings.

#define	AOA_FILTER 0.0f
	Default filter value.

#define	AOA_SENS ((2.0f*M_PI)/AOA_PWM_PERIOD)
	Default sensitivity (2*pi on a PWM of period AOA_PWM_PERIOD)

#define	AOA_SIGN 1

#define	SEND_SYNC_AOA TRUE

#define	LOG_AOA FALSE

#define	SSA_OFFSET 0.0f

#define	SSA_FILTER 0.0f

#define	SSA_SENS ((2.0f*M_PI)/AOA_PWM_PERIOD)

#define	SSA_SIGN 1

Functions
static void	send_aoa (struct transport_tx trans, struct link_device dev)

void	aoa_pwm_init (void)

void	aoa_pwm_update (void)

Variables
struct Aoa_Pwm	aoa_pwm

struct Aoa_Pwm	ssa_pwm

enum Aoa_Type	aoa_send_type

Detailed Description

Angle of Attack sensor on PWM.

Author: Jean-François Erdelyi

Driver for a PWM based angle of attack sensor A second sensor can be defined for the sideslip angle It is assumed that both sensors are the same, only sensitivity, offset and direction can differ.

SENSOR, exemple : US DIGITAL MA3-P12-125-B

See also: http://www.usdigital.com/products/encoders/absolute/rotary/shaft/ma3

Definition in file aoa_pwm.c.

Macro Definition Documentation

◆ AOA_ANGLE_OFFSET

#define AOA_ANGLE_OFFSET M_PI

Default offset value (assuming 0 AOA is in the middle of the range)

Definition at line 63 of file aoa_pwm.c.

◆ AOA_FILTER

#define AOA_FILTER 0.0f

Default filter value.

Definition at line 71 of file aoa_pwm.c.

◆ AOA_OFFSET

#define AOA_OFFSET 0.0f

Default extra offset that can be ajusted from settings.

Definition at line 67 of file aoa_pwm.c.

◆ AOA_PWM_OFFSET

#define AOA_PWM_OFFSET 1

Some sensor may need an initial PWM offset (1 usec in the case of an MA3 sensor)

Definition at line 59 of file aoa_pwm.c.

◆ AOA_PWM_PERIOD

#define AOA_PWM_PERIOD 4096

Default to a 12 bit PWM sensor.

Definition at line 55 of file aoa_pwm.c.

◆ AOA_SENS

#define AOA_SENS ((2.0f*M_PI)/AOA_PWM_PERIOD)

Default sensitivity (2*pi on a PWM of period AOA_PWM_PERIOD)

Definition at line 75 of file aoa_pwm.c.

◆ AOA_SIGN

#define AOA_SIGN 1

Definition at line 81 of file aoa_pwm.c.

◆ LOG_AOA

#define LOG_AOA FALSE

Definition at line 89 of file aoa_pwm.c.

◆ SEND_SYNC_AOA

#define SEND_SYNC_AOA TRUE

Definition at line 85 of file aoa_pwm.c.

◆ SSA_FILTER

#define SSA_FILTER 0.0f

Definition at line 107 of file aoa_pwm.c.

◆ SSA_OFFSET

#define SSA_OFFSET 0.0f

Definition at line 103 of file aoa_pwm.c.

◆ SSA_SENS

#define SSA_SENS ((2.0f*M_PI)/AOA_PWM_PERIOD)

Definition at line 111 of file aoa_pwm.c.

◆ SSA_SIGN

#define SSA_SIGN 1

Definition at line 117 of file aoa_pwm.c.

Function Documentation

◆ aoa_pwm_init()

void aoa_pwm_init ( void )

Definition at line 145 of file aoa_pwm.c.

References Aoa_Pwm::angle, AOA_FILTER, AOA_OFFSET, aoa_pwm, aoa_send_type, AOA_SENS, DefaultPeriodic, Aoa_Pwm::filter, foo, log_started, Aoa_Pwm::offset, Aoa_Pwm::raw, register_periodic_telemetry(), send_aoa(), SEND_TYPE_AOA, Aoa_Pwm::sens, SSA_FILTER, SSA_OFFSET, ssa_pwm, and SSA_SENS.

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◆ aoa_pwm_update()

void aoa_pwm_update ( void )

Definition at line 167 of file aoa_pwm.c.

References Aoa_Pwm::angle, AOA_ANGLE_OFFSET, aoa_pwm, AOA_PWM_ID, AOA_PWM_OFFSET, AOA_SIGN, DefaultChannel, DefaultDevice, Aoa_Pwm::filter, foo, get_pwm_input_duty_in_usec(), log_started, Aoa_Pwm::offset, pprzLogFile, Aoa_Pwm::raw, send_aoa(), Aoa_Pwm::sens, ssa_pwm, and SSA_SIGN.

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◆ send_aoa()

static void send_aoa	(	struct transport_tx *	trans,
		struct link_device *	dev
	)

static

Definition at line 128 of file aoa_pwm.c.

References Aoa_Pwm::angle, aoa_pwm, aoa_send_type, dev, foo, Aoa_Pwm::raw, SEND_TYPE_AOA, SEND_TYPE_SIDESLIP, and ssa_pwm.

Referenced by aoa_pwm_init(), and aoa_pwm_update().

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Variable Documentation

◆ aoa_pwm

struct Aoa_Pwm aoa_pwm

Definition at line 92 of file aoa_pwm.c.

Referenced by aoa_pwm_init(), aoa_pwm_update(), and send_aoa().

◆ aoa_send_type

enum Aoa_Type aoa_send_type

Definition at line 123 of file aoa_pwm.c.

Referenced by aoa_pwm_init(), and send_aoa().

◆ ssa_pwm

struct Aoa_Pwm ssa_pwm

Definition at line 119 of file aoa_pwm.c.