#include "modules/sonar/sonar_pwm.h"
#include "mcu_periph/pwm_input.h"
#include "subsystems/abi.h"
#include "filters/median_filter.h"
#include "subsystems/datalink/telemetry.h"
#include "pprzlink/messages.h"
#include "generated/airframe.h"

Include dependency graph for sonar_pwm.c:

Macros
#define	SONAR_OFFSET 0
	The input channel of the PWM based sensor. More...

#define	SONAR_PWM_PERIOD 4096
	Default to a 12 bit PWM sensor. More...

#define	SONAR_SCALE SONAR_PWM_PERIOD
	Ranger scale or sensitivity as you wish. More...

#define	SONAR_MEDIAN_SIZE 7
	The Median Filter strength. More...

#define	SONAR_MIN_RANGE 0.15f
	The minimum range for the device to be able to measure. More...

#define	SONAR_MAX_RANGE 7.0f
	The maximum range for the device to be able to measure. More...

#define	SONAR_PWM_OFFSET 820
	Some sensor may need an initial PWM offset (823 usec in the case of an EZ1 sensor) More...

#define	SENSOR_SYNC_SEND_SONAR TRUE

Functions
void	sonar_pwm_init (void)

void	sonar_pwm_read (void)

Variables
struct SonarPwm	sonar_pwm

Macro Definition Documentation

◆ SENSOR_SYNC_SEND_SONAR

#define SENSOR_SYNC_SEND_SONAR TRUE

Definition at line 103 of file sonar_pwm.c.

◆ SONAR_MAX_RANGE

#define SONAR_MAX_RANGE 7.0f

The maximum range for the device to be able to measure.

Definition at line 93 of file sonar_pwm.c.

◆ SONAR_MEDIAN_SIZE

#define SONAR_MEDIAN_SIZE 7

The Median Filter strength.

Definition at line 83 of file sonar_pwm.c.

◆ SONAR_MIN_RANGE

#define SONAR_MIN_RANGE 0.15f

The minimum range for the device to be able to measure.

Definition at line 88 of file sonar_pwm.c.

◆ SONAR_OFFSET

#define SONAR_OFFSET 0

The input channel of the PWM based sensor.

Ranger offset value for what considered the distance should be zero

Definition at line 68 of file sonar_pwm.c.

◆ SONAR_PWM_OFFSET

#define SONAR_PWM_OFFSET 820

Some sensor may need an initial PWM offset (823 usec in the case of an EZ1 sensor)

Definition at line 98 of file sonar_pwm.c.

◆ SONAR_PWM_PERIOD

#define SONAR_PWM_PERIOD 4096

Default to a 12 bit PWM sensor.

Definition at line 73 of file sonar_pwm.c.

◆ SONAR_SCALE

#define SONAR_SCALE SONAR_PWM_PERIOD

Ranger scale or sensitivity as you wish.

Definition at line 78 of file sonar_pwm.c.

Function Documentation

◆ sonar_pwm_init()

void sonar_pwm_init ( void )

Definition at line 109 of file sonar_pwm.c.

References init_median_filter_f(), SonarPwm::offset, SonarPwm::raw, SonarPwm::scale, sonar_filt, SONAR_MEDIAN_SIZE, SONAR_OFFSET, sonar_pwm, and SONAR_SCALE.

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◆ sonar_pwm_read()

void sonar_pwm_read ( void )

Definition at line 120 of file sonar_pwm.c.

References AGL_SONAR_PWM_ID, DefaultChannel, DefaultDevice, SonarAdc::distance, SonarPwm::distance, get_pwm_input_duty_in_usec(), get_sys_time_usec(), SonarPwm::offset, FloatEulers::phi, SonarPwm::raw, SonarPwm::scale, sonar_adc, sonar_filt, SONAR_MAX_RANGE, SONAR_MIN_RANGE, sonar_pwm, SONAR_PWM_OFFSET, stateGetNedToBodyEulers_f(), stateGetPositionEnu_f(), FloatEulers::theta, update_median_filter_f(), and EnuCoor_f::z.

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Variable Documentation

◆ sonar_pwm

struct SonarPwm sonar_pwm

Definition at line 106 of file sonar_pwm.c.

Referenced by sonar_pwm_init(), and sonar_pwm_read().

Macros

Functions

Variables