Paparazzi UAS
v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
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#include "sensors/baro_amsys.h"
#include "mcu_periph/i2c.h"
#include "modules/core/abi.h"
#include "state.h"
#include <math.h>
#include "generated/flight_plan.h"
#include "mcu_periph/uart.h"
#include "pprzlink/messages.h"
#include "modules/datalink/downlink.h"
Go to the source code of this file.
Macros | |
#define | BARO_AMSYS_ADDR 0xE4 |
#define | BARO_AMSYS_REG 0x07 |
#define | BARO_AMSYS_SCALE 1 |
#define | BARO_AMSYS_MAX_PRESSURE 103400 |
#define | BARO_AMSYS_OFFSET_MAX 29491 |
#define | BARO_AMSYS_OFFSET_MIN 3277 |
#define | BARO_AMSYS_OFFSET_NBSAMPLES_INIT 40 |
#define | BARO_AMSYS_OFFSET_NBSAMPLES_AVRG 60 |
#define | BARO_AMSYS_FILTER 0 |
#define | BARO_AMSYS_R 0.5 |
#define | BARO_AMSYS_SIGMA2 0.1 |
#define | BARO_AMSYS_I2C_DEV i2c0 |
Functions | |
void | baro_amsys_init (void) |
void | baro_amsys_read_periodic (void) |
void | baro_amsys_read_event (void) |
Variables | |
uint16_t | pBaroRaw |
uint16_t | tBaroRaw |
uint16_t | baro_amsys_adc |
float | baro_amsys_offset |
bool | baro_amsys_valid |
float | baro_amsys_altitude |
bool | baro_amsys_enabled |
float | baro_amsys_r |
float | baro_amsys_sigma2 |
float | baro_amsys_temp |
float | baro_amsys_p |
float | baro_amsys_offset_altitude |
float | baro_amsys_abs_altitude |
float | ref_alt_init |
float | baro_scale |
float | baro_filter |
float | baro_old |
struct i2c_transaction | baro_amsys_i2c_trans |
bool | baro_amsys_offset_init |
double | baro_amsys_offset_tmp |
uint16_t | baro_amsys_cnt |
#define BARO_AMSYS_ADDR 0xE4 |
Definition at line 39 of file baro_amsys.c.
#define BARO_AMSYS_FILTER 0 |
Definition at line 52 of file baro_amsys.c.
#define BARO_AMSYS_I2C_DEV i2c0 |
Definition at line 66 of file baro_amsys.c.
#define BARO_AMSYS_MAX_PRESSURE 103400 |
Definition at line 45 of file baro_amsys.c.
#define BARO_AMSYS_OFFSET_MAX 29491 |
Definition at line 47 of file baro_amsys.c.
#define BARO_AMSYS_OFFSET_MIN 3277 |
Definition at line 48 of file baro_amsys.c.
#define BARO_AMSYS_OFFSET_NBSAMPLES_AVRG 60 |
Definition at line 50 of file baro_amsys.c.
#define BARO_AMSYS_OFFSET_NBSAMPLES_INIT 40 |
Definition at line 49 of file baro_amsys.c.
#define BARO_AMSYS_R 0.5 |
Definition at line 54 of file baro_amsys.c.
#define BARO_AMSYS_REG 0x07 |
Definition at line 40 of file baro_amsys.c.
#define BARO_AMSYS_SCALE 1 |
Definition at line 42 of file baro_amsys.c.
#define BARO_AMSYS_SIGMA2 0.1 |
Definition at line 55 of file baro_amsys.c.
void baro_amsys_init | ( | void | ) |
Definition at line 97 of file baro_amsys.c.
References baro_amsys_altitude, baro_amsys_cnt, baro_amsys_enabled, BARO_AMSYS_FILTER, baro_amsys_i2c_trans, baro_amsys_offset, baro_amsys_offset_init, BARO_AMSYS_OFFSET_NBSAMPLES_AVRG, BARO_AMSYS_OFFSET_NBSAMPLES_INIT, baro_amsys_offset_tmp, baro_amsys_p, BARO_AMSYS_R, baro_amsys_r, BARO_AMSYS_SCALE, BARO_AMSYS_SIGMA2, baro_amsys_sigma2, baro_amsys_valid, baro_filter, baro_scale, I2CTransDone, pBaroRaw, ref_alt_init, i2c_transaction::status, and tBaroRaw.
void baro_amsys_read_event | ( | void | ) |
Definition at line 138 of file baro_amsys.c.
References baro_amsys_abs_altitude, baro_amsys_adc, baro_amsys_altitude, baro_amsys_cnt, baro_amsys_i2c_trans, BARO_AMSYS_MAX_PRESSURE, baro_amsys_offset, baro_amsys_offset_init, BARO_AMSYS_OFFSET_MAX, BARO_AMSYS_OFFSET_MIN, BARO_AMSYS_OFFSET_NBSAMPLES_AVRG, baro_amsys_offset_tmp, baro_amsys_p, BARO_AMSYS_SENDER_ID, baro_amsys_temp, baro_amsys_valid, baro_filter, baro_old, baro_scale, i2c_transaction::buf, get_sys_time_usec(), I2CTransDone, pBaroRaw, ref_alt_init, i2c_transaction::status, and tBaroRaw.
void baro_amsys_read_periodic | ( | void | ) |
Definition at line 118 of file baro_amsys.c.
References baro_amsys_abs_altitude, BARO_AMSYS_ADDR, baro_amsys_altitude, BARO_AMSYS_I2C_DEV, baro_amsys_i2c_trans, baro_amsys_offset, baro_amsys_p, baro_amsys_temp, DefaultChannel, DefaultDevice, i2c_receive(), I2CTransDone, pBaroRaw, ref_alt_init, and i2c_transaction::status.
float baro_amsys_abs_altitude |
Definition at line 83 of file baro_amsys.c.
Referenced by baro_amsys_read_event(), and baro_amsys_read_periodic().
uint16_t baro_amsys_adc |
Definition at line 73 of file baro_amsys.c.
Referenced by baro_amsys_read_event().
float baro_amsys_altitude |
Definition at line 76 of file baro_amsys.c.
Referenced by baro_amsys_init(), baro_amsys_read_event(), and baro_amsys_read_periodic().
uint16_t baro_amsys_cnt |
Definition at line 95 of file baro_amsys.c.
Referenced by baro_amsys_init(), and baro_amsys_read_event().
bool baro_amsys_enabled |
Definition at line 77 of file baro_amsys.c.
Referenced by alt_kalman(), and baro_amsys_init().
struct i2c_transaction baro_amsys_i2c_trans |
Definition at line 87 of file baro_amsys.c.
Referenced by baro_amsys_init(), baro_amsys_read_event(), and baro_amsys_read_periodic().
float baro_amsys_offset |
Definition at line 74 of file baro_amsys.c.
Referenced by baro_amsys_init(), baro_amsys_read_event(), and baro_amsys_read_periodic().
float baro_amsys_offset_altitude |
Definition at line 82 of file baro_amsys.c.
bool baro_amsys_offset_init |
Definition at line 93 of file baro_amsys.c.
Referenced by baro_amsys_init(), and baro_amsys_read_event().
double baro_amsys_offset_tmp |
Definition at line 94 of file baro_amsys.c.
Referenced by baro_amsys_init(), and baro_amsys_read_event().
float baro_amsys_p |
Definition at line 81 of file baro_amsys.c.
Referenced by baro_amsys_init(), baro_amsys_read_event(), and baro_amsys_read_periodic().
float baro_amsys_r |
Definition at line 78 of file baro_amsys.c.
Referenced by alt_kalman(), and baro_amsys_init().
float baro_amsys_sigma2 |
Definition at line 79 of file baro_amsys.c.
Referenced by alt_kalman(), and baro_amsys_init().
float baro_amsys_temp |
Definition at line 80 of file baro_amsys.c.
Referenced by baro_amsys_read_event(), and baro_amsys_read_periodic().
bool baro_amsys_valid |
Definition at line 75 of file baro_amsys.c.
Referenced by baro_amsys_init(), and baro_amsys_read_event().
float baro_filter |
Definition at line 86 of file baro_amsys.c.
Referenced by baro_amsys_init(), and baro_amsys_read_event().
float baro_old |
Definition at line 87 of file baro_amsys.c.
Referenced by baro_amsys_read_event().
float baro_scale |
Definition at line 85 of file baro_amsys.c.
Referenced by baro_amsys_init(), and baro_amsys_read_event().
uint16_t pBaroRaw |
Definition at line 71 of file baro_amsys.c.
Referenced by baro_amsys_init(), baro_amsys_read_event(), and baro_amsys_read_periodic().
float ref_alt_init |
Definition at line 84 of file baro_amsys.c.
Referenced by baro_amsys_init(), baro_amsys_read_event(), and baro_amsys_read_periodic().
uint16_t tBaroRaw |
Definition at line 72 of file baro_amsys.c.
Referenced by baro_amsys_init(), and baro_amsys_read_event().