sonar_bebop.c File Reference

Parrot Bebop Sonar driver. More...

#include "sonar_bebop.h"
#include "generated/airframe.h"
#include "mcu_periph/adc.h"
#include "mcu_periph/spi.h"
#include "mcu_periph/sys_time.h"
#include "subsystems/abi.h"
#include <pthread.h>
#include <unistd.h>
#include "subsystems/datalink/downlink.h"
#include "filters/median_filter.h"

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Macros
#define	SONAR_BEBOP_INX_DIFF_TO_DIST   340./(2.*160000.)
	SONAR_BEBOP_INX_DIFF_TO_DIST conversion from index difference to distance based on time of flight ADC speed = 160kHz speed of sound = 340m/s. More...
#define	SONAR_BEBOP_ADC_MAX_VALUE   4095
	SONAR_BEBOP_ADC_MAX_VALUE maximum ADC output (12 bit ADC) More...
#define	SONAR_BEBOP_ADC_BUFFER_SIZE   8192
	SONAR_BEBOP_ADC_BUFFER_SIZE ADC buffer size. More...
#define	SONAR_BEBOP_TRANSITION_HIGH_TO_LOW   0.8
	SONAR_BEBOP_TRANSITION_HIGH_TO_LOW below this altitude we should use mode 0. More...
#define	SONAR_BEBOP_TRANSITION_LOW_TO_HIGH   1.2
	SONAR_BEBOP_TRANSITION_LOW_TO_HIGH above this altitude we should use mode 1. More...
#define	SONAR_BEBOP_TRANSITION_COUNT   7
	SONAR_BEBOP_TRANSITION_COUNT number of samples before switching mode. More...
#define	SONAR_BEBOP_PEAK_THRESHOLD   50
	SONAR_BEBOP_PEAK_THRESHOLD minimum samples from broadcast stop. More...
#define	SONAR_BEBOP_MIN_PEAK_VAL   512
	SONAR_BEBOP_MIN_PEAK_VAL minimum adc value of reflected peak that will be cosidered. More...
#define	SONAR_BEBOP_MAX_TRANS_TIME   370
	SONAR_BEBOP_MAX_TRANS_TIME maximum time for a reflection to travel and return in the adc measurement window. More...

Functions
void *	sonar_bebop_read (void *data)
	sonar_bebop_read Read ADC value to update sonar measurement More...
void	sonar_bebop_init (void)

Variables
struct MedianFilterFloat	sonar_filt
uint32_t	sonar_bebop_spike_timer
static uint8_t	mode
	mode holds the current sonar mode mode = 0 used at high altitude, uses 16 wave patterns mode = 1 used at low altitude, uses 4 wave patterns More...
static uint8_t	pulse_transition_counter
static uint8_t	sonar_bebop_spi_d [2][16]
	sonar_bebop_spi_d the waveforms emitted by the sonar waveform 0 is long pulse used at high altitude waveform 1 is shorter pulse used at low altitude More...
struct SonarBebop	sonar_bebop
static struct spi_transaction	sonar_bebop_spi_t
uint16_t	adc_buffer [SONAR_BEBOP_ADC_BUFFER_SIZE]

Detailed Description

Parrot Bebop Sonar driver.

This file contains the ADC driver for the sonar on the Parrot Bebop and Bebop 2 quadrotors. The sonar is both transmitter and receiver. An SPI interface is used to communicate with the 12 bit ADC which operates at 160kHz. The required waveform of the sonar is sent during the SPI transaction, with the returned data the recorded signal from the sonar. Two waveforms have been implemented dependent on the operating altitude of the Bebop.

Definition in file sonar_bebop.c.

Macro Definition Documentation

#define SONAR_BEBOP_ADC_BUFFER_SIZE   8192

SONAR_BEBOP_ADC_BUFFER_SIZE ADC buffer size.

Definition at line 63 of file sonar_bebop.c.

Referenced by sonar_bebop_read().

#define SONAR_BEBOP_ADC_MAX_VALUE   4095

SONAR_BEBOP_ADC_MAX_VALUE maximum ADC output (12 bit ADC)

Definition at line 60 of file sonar_bebop.c.

Referenced by sonar_bebop_read().

#define SONAR_BEBOP_INX_DIFF_TO_DIST   340./(2.*160000.)

SONAR_BEBOP_INX_DIFF_TO_DIST conversion from index difference to distance based on time of flight ADC speed = 160kHz speed of sound = 340m/s.

Definition at line 57 of file sonar_bebop.c.

Referenced by sonar_bebop_read().

#define SONAR_BEBOP_MAX_TRANS_TIME   370

SONAR_BEBOP_MAX_TRANS_TIME maximum time for a reflection to travel and return in the adc measurement window.

Definition at line 99 of file sonar_bebop.c.

Referenced by sonar_bebop_read().

#define SONAR_BEBOP_MIN_PEAK_VAL   512

SONAR_BEBOP_MIN_PEAK_VAL minimum adc value of reflected peak that will be cosidered.

Definition at line 95 of file sonar_bebop.c.

Referenced by sonar_bebop_read().

#define SONAR_BEBOP_PEAK_THRESHOLD   50

SONAR_BEBOP_PEAK_THRESHOLD minimum samples from broadcast stop.

Definition at line 90 of file sonar_bebop.c.

Referenced by sonar_bebop_read().

#define SONAR_BEBOP_TRANSITION_COUNT   7

SONAR_BEBOP_TRANSITION_COUNT number of samples before switching mode.

Definition at line 83 of file sonar_bebop.c.

Referenced by sonar_bebop_read().

#define SONAR_BEBOP_TRANSITION_HIGH_TO_LOW   0.8

SONAR_BEBOP_TRANSITION_HIGH_TO_LOW below this altitude we should use mode 0.

Definition at line 73 of file sonar_bebop.c.

Referenced by sonar_bebop_read().

#define SONAR_BEBOP_TRANSITION_LOW_TO_HIGH   1.2

SONAR_BEBOP_TRANSITION_LOW_TO_HIGH above this altitude we should use mode 1.

Definition at line 78 of file sonar_bebop.c.

Referenced by sonar_bebop_read().

Function Documentation

void sonar_bebop_init

(

void

)

Definition at line 115 of file sonar_bebop.c.

References spi_transaction::dss, init_median_filter_f(), spi_transaction::input_buf, spi_transaction::input_length, SonarBebop::meas, mode, SonarBebop::offset, spi_transaction::output_buf, spi_transaction::output_length, pulse_transition_counter, spi_transaction::select, sonar_bebop, sonar_bebop_read(), sonar_bebop_spi_d, sonar_bebop_spi_t, sonar_bebop_spike_timer, sonar_filt, SPIDss8bit, SPISelectUnselect, SPITransDone, spi_transaction::status, and SysTimeTimerStart.

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void * sonar_bebop_read

(

void *

data

)

sonar_bebop_read Read ADC value to update sonar measurement

Definition at line 150 of file sonar_bebop.c.

References adc_buffer, adc_enable(), adc_read(), AGL_SONAR_ADC_ID, DefaultChannel, DefaultDevice, SonarBebop::distance, get_sys_time_usec(), SonarBebop::meas, mode, spi_transaction::output_buf, FloatEulers::phi, pulse_transition_counter, sonar_bebop, SONAR_BEBOP_ADC_BUFFER_SIZE, SONAR_BEBOP_ADC_MAX_VALUE, SONAR_BEBOP_INX_DIFF_TO_DIST, SONAR_BEBOP_MAX_TRANS_TIME, SONAR_BEBOP_MIN_PEAK_VAL, SONAR_BEBOP_PEAK_THRESHOLD, sonar_bebop_spi_d, sonar_bebop_spi_t, SONAR_BEBOP_TRANSITION_COUNT, SONAR_BEBOP_TRANSITION_HIGH_TO_LOW, SONAR_BEBOP_TRANSITION_LOW_TO_HIGH, sonar_filt, spi0, spi_submit(), SPITransDone, SPITransSuccess, stateGetNedToBodyEulers_f(), stateGetPositionEnu_f(), spi_transaction::status, FloatEulers::theta, update_median_filter_f(), and EnuCoor_f::z.

Referenced by sonar_bebop_init().

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Variable Documentation

uint16_t adc_buffer[SONAR_BEBOP_ADC_BUFFER_SIZE]

Definition at line 146 of file sonar_bebop.c.

Referenced by sonar_bebop_read().

uint8_t mode

static

mode holds the current sonar mode mode = 0 used at high altitude, uses 16 wave patterns mode = 1 used at low altitude, uses 4 wave patterns

Definition at line 69 of file sonar_bebop.c.

Referenced by atmega_i2c_cam_ctrl_send(), dc_info(), lis3mdl_init(), mavlink_common_message_handler(), nav_throttle_curve_set(), parse_rc_3ch_datalink(), parseFormationSlot(), periodic_telemetry_err_report(), rotorcraft_cam_set_mode(), sdio_connect(), sonar_bebop_init(), sonar_bebop_read(), throttle_curve_run(), and uart_periph_set_mode().

uint8_t pulse_transition_counter

static

Definition at line 86 of file sonar_bebop.c.

Referenced by sonar_bebop_init(), and sonar_bebop_read().

struct SonarBebop sonar_bebop

Definition at line 107 of file sonar_bebop.c.

Referenced by sonar_bebop_init(), and sonar_bebop_read().

uint8_t sonar_bebop_spi_d[2][16]

static

Initial value:

= {{ 0xF0, 0xF0, 0xF0, 0xF0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 },
                                           { 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0x00, 0x00, 0x00, 0x00 }}

sonar_bebop_spi_d the waveforms emitted by the sonar waveform 0 is long pulse used at high altitude waveform 1 is shorter pulse used at low altitude

Definition at line 105 of file sonar_bebop.c.

Referenced by sonar_bebop_init(), and sonar_bebop_read().

struct spi_transaction sonar_bebop_spi_t

static

Definition at line 109 of file sonar_bebop.c.

Referenced by sonar_bebop_init(), and sonar_bebop_read().

uint32_t sonar_bebop_spike_timer

Definition at line 48 of file sonar_bebop.c.

Referenced by sonar_bebop_init().

struct MedianFilterFloat sonar_filt

Definition at line 47 of file sonar_bebop.c.

Referenced by sonar_bebop_init(), and sonar_bebop_read().