aoa_pwm.c File Reference

Angle of Attack sensor on PWM. More...

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

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Go to the source code of this file.

Macros
#define	AOA_PWM_PERIOD   4096
	Default to a 12 bit PWM sensor. More...
#define	AOA_PWM_OFFSET   1
	Some sensor may need an initial PWM offset (1 usec in the case of an MA3 sensor) More...
#define	AOA_ANGLE_OFFSET   M_PI
	Default offset value (assuming 0 AOA is in the middle of the range) More...
#define	AOA_OFFSET   0.0f
	Default extra offset that can be ajusted from settings. More...
#define	AOA_FILTER   0.0f
	Default filter value. More...
#define	AOA_SENS   ((2.0f*M_PI)/AOA_PWM_PERIOD)
	Default sensitivity (2*pi on a PWM of period AOA_PWM_PERIOD) More...
#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

#define AOA_ANGLE_OFFSET   M_PI

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

Definition at line 62 of file aoa_pwm.c.

Referenced by aoa_pwm_update().

#define AOA_FILTER   0.0f

Default filter value.

Definition at line 70 of file aoa_pwm.c.

Referenced by aoa_pwm_init().

#define AOA_OFFSET   0.0f

Default extra offset that can be ajusted from settings.

Definition at line 66 of file aoa_pwm.c.

Referenced by aoa_pwm_init().

#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 58 of file aoa_pwm.c.

Referenced by aoa_pwm_update().

#define AOA_PWM_PERIOD   4096

Default to a 12 bit PWM sensor.

Definition at line 54 of file aoa_pwm.c.

#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 74 of file aoa_pwm.c.

Referenced by aoa_pwm_init().

#define AOA_SIGN   1

Definition at line 80 of file aoa_pwm.c.

Referenced by aoa_pwm_update().

#define LOG_AOA   FALSE

Definition at line 88 of file aoa_pwm.c.

#define SEND_SYNC_AOA   TRUE

Definition at line 84 of file aoa_pwm.c.

#define SSA_FILTER   0.0f

Definition at line 106 of file aoa_pwm.c.

Referenced by aoa_pwm_init().

#define SSA_OFFSET   0.0f

Definition at line 102 of file aoa_pwm.c.

Referenced by aoa_pwm_init().

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

Definition at line 110 of file aoa_pwm.c.

Referenced by aoa_pwm_init().

#define SSA_SIGN   1

Definition at line 116 of file aoa_pwm.c.

Referenced by aoa_pwm_update().

Function Documentation

void aoa_pwm_init

(

void

)

Definition at line 144 of file aoa_pwm.c.

References Aoa_Pwm::angle, AOA_FILTER, AOA_OFFSET, aoa_pwm, aoa_send_type, AOA_SENS, DefaultPeriodic, Aoa_Pwm::filter, 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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void aoa_pwm_update

(

void

)

Definition at line 166 of file aoa_pwm.c.

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

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

static

Definition at line 127 of file aoa_pwm.c.

References Aoa_Pwm::angle, aoa_pwm, aoa_send_type, 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

struct Aoa_Pwm aoa_pwm

Definition at line 91 of file aoa_pwm.c.

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

enum Aoa_Type aoa_send_type

Definition at line 122 of file aoa_pwm.c.

Referenced by aoa_pwm_init(), and send_aoa().

struct Aoa_Pwm ssa_pwm

Definition at line 118 of file aoa_pwm.c.

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