Paparazzi UAS  v5.15_devel-81-gd13dafb
Paparazzi is a free software Unmanned Aircraft System.
 All Data Structures Namespaces Files Functions Variables Typedefs Enumerations Enumerator Macros Modules Pages
baro_ets.c File Reference

Driver for the EagleTree Systems Altitude Sensor. More...

#include "sensors/baro_ets.h"
#include "mcu_periph/i2c.h"
#include "state.h"
#include "subsystems/abi.h"
#include <math.h>
#include "mcu_periph/sys_time.h"
#include "firmwares/fixedwing/nav.h"
+ Include dependency graph for baro_ets.c:

Go to the source code of this file.

Macros

#define BARO_ETS_ADDR   0xE8
 
#define BARO_ETS_REG   0x07
 
#define BARO_ETS_OFFSET_MAX   30000
 
#define BARO_ETS_OFFSET_MIN   10
 
#define BARO_ETS_OFFSET_NBSAMPLES_INIT   20
 
#define BARO_ETS_OFFSET_NBSAMPLES_AVRG   40
 
#define BARO_ETS_R   0.5
 
#define BARO_ETS_SIGMA2   0.1
 
#define BARO_ETS_SCALE   37.5
 scale factor to convert raw ADC measurement to pressure in Pascal. More...
 
#define BARO_ETS_ALT_SCALE   0.32
 scale factor to convert raw ADC measurement to altitude change in meters More...
 
#define BARO_ETS_PRESSURE_OFFSET   101325.0
 Pressure offset in Pascal when converting raw adc to real pressure (. More...
 
#define BARO_ETS_I2C_DEV   i2c0
 
#define BARO_ETS_START_DELAY   0.2
 delay in seconds until sensor is read after startup More...
 

Functions

void baro_ets_init (void)
 
void baro_ets_read_periodic (void)
 
void baro_ets_read_event (void)
 

Variables

uint16_t baro_ets_adc
 
uint16_t baro_ets_offset
 
bool baro_ets_valid
 
float baro_ets_altitude
 
bool baro_ets_enabled
 
float baro_ets_r
 
float baro_ets_sigma2
 
struct i2c_transaction baro_ets_i2c_trans
 
bool baro_ets_offset_init
 
uint32_t baro_ets_offset_tmp
 
uint16_t baro_ets_cnt
 
uint32_t baro_ets_delay_time
 
bool baro_ets_delay_done
 

Detailed Description

Driver for the EagleTree Systems Altitude Sensor.

Has only been tested with V3 of the sensor hardware.

Notes: Connect directly to TWOG/Tiny I2C port. Multiple sensors can be chained together. Sensor should be in the proprietary mode (default) and not in 3rd party mode. Pitch gains may need to be updated.

Sensor module wire assignments: Red wire: 5V White wire: Ground Yellow wire: SDA Brown wire: SCL

Definition in file baro_ets.c.

Macro Definition Documentation

#define BARO_ETS_ADDR   0xE8

Definition at line 58 of file baro_ets.c.

Referenced by baro_ets_read_periodic().

#define BARO_ETS_ALT_SCALE   0.32

scale factor to convert raw ADC measurement to altitude change in meters

Definition at line 80 of file baro_ets.c.

Referenced by baro_ets_read_event().

#define BARO_ETS_I2C_DEV   i2c0

Definition at line 89 of file baro_ets.c.

Referenced by baro_ets_read_periodic().

#define BARO_ETS_OFFSET_MAX   30000

Definition at line 60 of file baro_ets.c.

Referenced by baro_ets_read_event().

#define BARO_ETS_OFFSET_MIN   10

Definition at line 61 of file baro_ets.c.

Referenced by baro_ets_read_event().

#define BARO_ETS_OFFSET_NBSAMPLES_AVRG   40

Definition at line 63 of file baro_ets.c.

Referenced by baro_ets_init(), and baro_ets_read_event().

#define BARO_ETS_OFFSET_NBSAMPLES_INIT   20

Definition at line 62 of file baro_ets.c.

Referenced by baro_ets_init().

#define BARO_ETS_PRESSURE_OFFSET   101325.0

Pressure offset in Pascal when converting raw adc to real pressure (.

Todo:
find real value)

Definition at line 85 of file baro_ets.c.

Referenced by baro_ets_read_event().

#define BARO_ETS_R   0.5

Definition at line 64 of file baro_ets.c.

Referenced by baro_ets_init().

#define BARO_ETS_REG   0x07

Definition at line 59 of file baro_ets.c.

#define BARO_ETS_SCALE   37.5

scale factor to convert raw ADC measurement to pressure in Pascal.

Todo:
check value At low altitudes pressure change is ~1.2 kPa for every 100 meters. So with a scale ADC->meters of 0.32 we get: 12 Pascal = 0.32 * ADC -> SCALE = ~ 12 / 0.32 = 37.5

Definition at line 75 of file baro_ets.c.

Referenced by baro_ets_read_event().

#define BARO_ETS_SIGMA2   0.1

Definition at line 65 of file baro_ets.c.

Referenced by baro_ets_init().

#define BARO_ETS_START_DELAY   0.2

delay in seconds until sensor is read after startup

Definition at line 98 of file baro_ets.c.

Referenced by baro_ets_read_periodic().

Function Documentation

void baro_ets_read_periodic ( void  )

Variable Documentation

uint16_t baro_ets_adc

Definition at line 103 of file baro_ets.c.

Referenced by baro_ets_read_event().

float baro_ets_altitude

Definition at line 106 of file baro_ets.c.

Referenced by alt_filter_periodic(), and baro_ets_read_event().

uint16_t baro_ets_cnt

Definition at line 116 of file baro_ets.c.

Referenced by baro_ets_read_event().

bool baro_ets_delay_done

Definition at line 118 of file baro_ets.c.

Referenced by baro_ets_read_periodic().

uint32_t baro_ets_delay_time

Definition at line 117 of file baro_ets.c.

Referenced by baro_ets_read_periodic().

bool baro_ets_enabled

Definition at line 107 of file baro_ets.c.

Referenced by alt_kalman().

struct i2c_transaction baro_ets_i2c_trans

Definition at line 111 of file baro_ets.c.

Referenced by baro_ets_read_event(), and baro_ets_read_periodic().

uint16_t baro_ets_offset

Definition at line 104 of file baro_ets.c.

Referenced by baro_ets_read_event().

bool baro_ets_offset_init

Definition at line 114 of file baro_ets.c.

Referenced by baro_ets_read_event().

uint32_t baro_ets_offset_tmp

Definition at line 115 of file baro_ets.c.

Referenced by baro_ets_read_event().

float baro_ets_r

Definition at line 108 of file baro_ets.c.

Referenced by alt_kalman().

float baro_ets_sigma2

Definition at line 109 of file baro_ets.c.

Referenced by alt_kalman().

bool baro_ets_valid

Definition at line 105 of file baro_ets.c.

Referenced by baro_ets_read_event().