airspeed_ets.c File Reference

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

#include "sensors/airspeed_ets.h"
#include "state.h"
#include "mcu_periph/i2c.h"
#include "mcu_periph/uart.h"
#include "mcu_periph/sys_time.h"
#include "pprzlink/messages.h"
#include "modules/core/abi.h"
#include "modules/datalink/downlink.h"
#include <math.h>
#include "modules/datalink/telemetry.h"

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Macros
#define	AIRSPEED_ETS_ADDR   0xEA
#define	AIRSPEED_ETS_SCALE   1.8
#define	AIRSPEED_ETS_OFFSET   0
#define	AIRSPEED_ETS_OFFSET_MAX   1750
#define	AIRSPEED_ETS_OFFSET_MIN   1450
#define	AIRSPEED_ETS_OFFSET_NBSAMPLES_INIT   40
#define	AIRSPEED_ETS_OFFSET_NBSAMPLES_AVRG   60
#define	AIRSPEED_ETS_NBSAMPLES_AVRG   10
#define	AIRSPEED_ETS_I2C_DEV   i2c0
#define	AIRSPEED_ETS_START_DELAY   0.2
	delay in seconds until sensor is read after startup More...

Functions
static void	airspeed_ets_downlink (struct transport_tx *trans, struct link_device *dev)
void	airspeed_ets_init (void)
void	airspeed_ets_read_periodic (void)
void	airspeed_ets_read_event (void)

Variables
uint16_t	airspeed_ets_raw
uint16_t	airspeed_ets_offset
bool	airspeed_ets_valid
float	airspeed_ets
int	airspeed_ets_buffer_idx
float	airspeed_ets_buffer [AIRSPEED_ETS_NBSAMPLES_AVRG]
struct i2c_transaction	airspeed_ets_i2c_trans
volatile bool	airspeed_ets_i2c_done
bool	airspeed_ets_offset_init
uint32_t	airspeed_ets_offset_tmp
uint16_t	airspeed_ets_cnt
uint32_t	airspeed_ets_delay_time
bool	airspeed_ets_delay_done

Detailed Description

Driver for the EagleTree Systems Airspeed 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. Define AIRSPEED_ETS_3RD_PARTY_MODE to run it in 3rd party mode.

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

Definition in file airspeed_ets.c.

Macro Definition Documentation

AIRSPEED_ETS_ADDR

#define AIRSPEED_ETS_ADDR   0xEA

Definition at line 67 of file airspeed_ets.c.

AIRSPEED_ETS_I2C_DEV

#define AIRSPEED_ETS_I2C_DEV   i2c0

Definition at line 81 of file airspeed_ets.c.

AIRSPEED_ETS_NBSAMPLES_AVRG

#define AIRSPEED_ETS_NBSAMPLES_AVRG   10

Definition at line 78 of file airspeed_ets.c.

AIRSPEED_ETS_OFFSET

#define AIRSPEED_ETS_OFFSET   0

Definition at line 72 of file airspeed_ets.c.

AIRSPEED_ETS_OFFSET_MAX

#define AIRSPEED_ETS_OFFSET_MAX   1750

Definition at line 74 of file airspeed_ets.c.

AIRSPEED_ETS_OFFSET_MIN

#define AIRSPEED_ETS_OFFSET_MIN   1450

Definition at line 75 of file airspeed_ets.c.

AIRSPEED_ETS_OFFSET_NBSAMPLES_AVRG

#define AIRSPEED_ETS_OFFSET_NBSAMPLES_AVRG   60

Definition at line 77 of file airspeed_ets.c.

AIRSPEED_ETS_OFFSET_NBSAMPLES_INIT

#define AIRSPEED_ETS_OFFSET_NBSAMPLES_INIT   40

Definition at line 76 of file airspeed_ets.c.

AIRSPEED_ETS_SCALE

#define AIRSPEED_ETS_SCALE   1.8

Definition at line 69 of file airspeed_ets.c.

AIRSPEED_ETS_START_DELAY

#define AIRSPEED_ETS_START_DELAY   0.2

delay in seconds until sensor is read after startup

Definition at line 87 of file airspeed_ets.c.

Function Documentation

airspeed_ets_downlink()

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

static

Definition at line 119 of file airspeed_ets.c.

References airspeed_ets, AIRSPEED_ETS_ID, airspeed_ets_offset, airspeed_ets_raw, dev, and offset.

Referenced by airspeed_ets_init().

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airspeed_ets_init()

void airspeed_ets_init

(

void

)

Definition at line 134 of file airspeed_ets.c.

References airspeed_ets, airspeed_ets_buffer, airspeed_ets_buffer_idx, airspeed_ets_cnt, airspeed_ets_delay_done, airspeed_ets_delay_time, airspeed_ets_downlink(), airspeed_ets_i2c_done, airspeed_ets_i2c_trans, AIRSPEED_ETS_NBSAMPLES_AVRG, airspeed_ets_offset, airspeed_ets_offset_init, AIRSPEED_ETS_OFFSET_NBSAMPLES_AVRG, AIRSPEED_ETS_OFFSET_NBSAMPLES_INIT, airspeed_ets_offset_tmp, airspeed_ets_raw, airspeed_ets_valid, DefaultPeriodic, I2CTransDone, register_periodic_telemetry(), i2c_transaction::status, and SysTimeTimerStart.

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airspeed_ets_read_event()

void airspeed_ets_read_event

(

void

)

Definition at line 184 of file airspeed_ets.c.

References airspeed_ets, airspeed_ets_buffer, airspeed_ets_buffer_idx, airspeed_ets_cnt, airspeed_ets_i2c_trans, AIRSPEED_ETS_ID, AIRSPEED_ETS_NBSAMPLES_AVRG, AIRSPEED_ETS_OFFSET, airspeed_ets_offset, airspeed_ets_offset_init, AIRSPEED_ETS_OFFSET_MAX, AIRSPEED_ETS_OFFSET_MIN, AIRSPEED_ETS_OFFSET_NBSAMPLES_AVRG, airspeed_ets_offset_tmp, airspeed_ets_raw, AIRSPEED_ETS_SCALE, airspeed_ets_valid, i2c_transaction::buf, GpsState::course, GpsState::fix, gps, GpsState::gspeed, GpsState::hmsl, I2CTransDone, LlaCoor_i::lat, GpsState::lla_pos, LlaCoor_i::lon, GpsState::ned_vel, pprzLogFile, stateSetAirspeed_f(), i2c_transaction::status, GpsState::tow, GpsState::week, and NedCoor_i::z.

Referenced by AirspeedEtsEvent().

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airspeed_ets_read_periodic()

void airspeed_ets_read_periodic

(

void

)

Definition at line 168 of file airspeed_ets.c.

References AIRSPEED_ETS_ADDR, airspeed_ets_delay_done, airspeed_ets_delay_time, AIRSPEED_ETS_I2C_DEV, airspeed_ets_i2c_trans, AIRSPEED_ETS_START_DELAY, i2c_receive(), I2CTransDone, stateSetAirspeed_f(), i2c_transaction::status, SysTimeTimer, and USEC_OF_SEC.

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Variable Documentation

airspeed_ets

float airspeed_ets

Definition at line 105 of file airspeed_ets.c.

Referenced by airspeed_ets_downlink(), airspeed_ets_init(), and airspeed_ets_read_event().

airspeed_ets_buffer

float airspeed_ets_buffer[AIRSPEED_ETS_NBSAMPLES_AVRG]

Definition at line 107 of file airspeed_ets.c.

Referenced by airspeed_ets_init(), and airspeed_ets_read_event().

airspeed_ets_buffer_idx

int airspeed_ets_buffer_idx

Definition at line 106 of file airspeed_ets.c.

Referenced by airspeed_ets_init(), and airspeed_ets_read_event().

airspeed_ets_cnt

uint16_t airspeed_ets_cnt

Definition at line 115 of file airspeed_ets.c.

Referenced by airspeed_ets_init(), and airspeed_ets_read_event().

airspeed_ets_delay_done

bool airspeed_ets_delay_done

Definition at line 117 of file airspeed_ets.c.

Referenced by airspeed_ets_init(), and airspeed_ets_read_periodic().

airspeed_ets_delay_time

uint32_t airspeed_ets_delay_time

Definition at line 116 of file airspeed_ets.c.

Referenced by airspeed_ets_init(), and airspeed_ets_read_periodic().

airspeed_ets_i2c_done

volatile bool airspeed_ets_i2c_done

Definition at line 112 of file airspeed_ets.c.

Referenced by airspeed_ets_init().

airspeed_ets_i2c_trans

struct i2c_transaction airspeed_ets_i2c_trans

Definition at line 107 of file airspeed_ets.c.

Referenced by airspeed_ets_init(), airspeed_ets_read_event(), airspeed_ets_read_periodic(), and AirspeedEtsEvent().

airspeed_ets_offset

uint16_t airspeed_ets_offset

Definition at line 103 of file airspeed_ets.c.

Referenced by airspeed_ets_downlink(), airspeed_ets_init(), and airspeed_ets_read_event().

airspeed_ets_offset_init

bool airspeed_ets_offset_init

Definition at line 113 of file airspeed_ets.c.

Referenced by airspeed_ets_init(), and airspeed_ets_read_event().

airspeed_ets_offset_tmp

uint32_t airspeed_ets_offset_tmp

Definition at line 114 of file airspeed_ets.c.

Referenced by airspeed_ets_init(), and airspeed_ets_read_event().

airspeed_ets_raw

uint16_t airspeed_ets_raw

Definition at line 102 of file airspeed_ets.c.

Referenced by airspeed_ets_downlink(), airspeed_ets_init(), and airspeed_ets_read_event().

airspeed_ets_valid

bool airspeed_ets_valid

Definition at line 104 of file airspeed_ets.c.

Referenced by airspeed_ets_init(), and airspeed_ets_read_event().