#include "modules/sonar/sonar_adc.h"
#include "generated/airframe.h"
#include "mcu_periph/adc.h"
#include "modules/core/abi.h"
#include "mcu_periph/uart.h"
#include "pprzlink/messages.h"
#include "modules/datalink/downlink.h"

Include dependency graph for sonar_adc.c:

Macros
#define	SONAR_OFFSET 0
	Sonar offset. More...

#define	SONAR_SCALE 0.0166
	Sonar scale. More...

Functions
void	sonar_adc_init (void)

void	sonar_adc_read (void)
	Read ADC value to update sonar measurement. More...

Variables
struct SonarAdc	sonar_adc

static struct adc_buf	sonar_adc_buf

Macro Definition Documentation

◆ SONAR_OFFSET

#define SONAR_OFFSET 0

Sonar offset.

Offset value in ADC equals to the ADC value so that height is zero

Definition at line 40 of file sonar_adc.c.

◆ SONAR_SCALE

#define SONAR_SCALE 0.0166

Sonar scale.

Sensor sensitivity in m/adc (float)

Definition at line 47 of file sonar_adc.c.

Function Documentation

◆ sonar_adc_init()

void sonar_adc_init ( void )

Definition at line 56 of file sonar_adc.c.

References adc_buf_channel(), DEFAULT_AV_NB_SAMPLE, SonarAdc::meas, SonarAdc::offset, sonar_adc, sonar_adc_buf, and SONAR_OFFSET.

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◆ sonar_adc_read()

void sonar_adc_read ( void )

Read ADC value to update sonar measurement.

Definition at line 68 of file sonar_adc.c.

References AGL_SONAR_ADC_ID, adc_buf::av_nb_sample, DefaultChannel, DefaultDevice, SonarAdc::distance, get_sys_time_usec(), SonarAdc::meas, SonarAdc::offset, sonar_adc, sonar_adc_buf, SONAR_SCALE, stateGetPositionEnu_f(), adc_buf::sum, and EnuCoor_f::z.

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Variable Documentation

◆ sonar_adc

struct SonarAdc sonar_adc

Definition at line 1 of file sonar_adc.c.

Referenced by sonar_adc_init(), sonar_adc_read(), and sonar_pwm_read().

◆ sonar_adc_buf

struct adc_buf sonar_adc_buf

static