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().