baro_amsys.c File Reference

#include "sensors/baro_amsys.h"
#include "mcu_periph/i2c.h"
#include "subsystems/abi.h"
#include "state.h"
#include <math.h>
#include "generated/flight_plan.h"
#include "mcu_periph/uart.h"
#include "pprzlink/messages.h"
#include "subsystems/datalink/downlink.h"

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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

Macro Definition Documentation

#define BARO_AMSYS_ADDR   0xE4

Definition at line 39 of file baro_amsys.c.

Referenced by baro_amsys_read_periodic().

#define BARO_AMSYS_FILTER   0

Definition at line 52 of file baro_amsys.c.

Referenced by baro_amsys_init().

#define BARO_AMSYS_I2C_DEV   i2c0

Definition at line 66 of file baro_amsys.c.

Referenced by baro_amsys_read_periodic().

#define BARO_AMSYS_MAX_PRESSURE   103400

Definition at line 45 of file baro_amsys.c.

Referenced by baro_amsys_read_event().

#define BARO_AMSYS_OFFSET_MAX   29491

Definition at line 47 of file baro_amsys.c.

Referenced by baro_amsys_read_event().

#define BARO_AMSYS_OFFSET_MIN   3277

Definition at line 48 of file baro_amsys.c.

Referenced by baro_amsys_read_event().

#define BARO_AMSYS_OFFSET_NBSAMPLES_AVRG   60

Definition at line 50 of file baro_amsys.c.

Referenced by baro_amsys_init(), and baro_amsys_read_event().

#define BARO_AMSYS_OFFSET_NBSAMPLES_INIT   40

Definition at line 49 of file baro_amsys.c.

Referenced by baro_amsys_init().

#define BARO_AMSYS_R   0.5

Definition at line 54 of file baro_amsys.c.

Referenced by baro_amsys_init().

#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.

Referenced by baro_amsys_init().

#define BARO_AMSYS_SIGMA2   0.1

Definition at line 55 of file baro_amsys.c.

Referenced by baro_amsys_init().

Function Documentation

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, 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.

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Variable Documentation

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 90 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().