sensor.c File Reference

: Contains functions to interface between SDEC terminal commands and SDR sensor APIs More...

#include <string.h>
#include <stdbool.h>
#include <math.h>
#include "sdr_pin_defines_A0002.h"
#include "main.h"
#include "imu.h"
#include "baro.h"
#include "timer.h"
#include "usb.h"
#include "sensor.h"
#include "math_sdr.h"
#include "mahony.h"
#include "error_sdr.h"
#include "debug_sdr.h"

Macros
#define	SENSOR_MAHONY_KP   1.0f
#define	SENSOR_MAHONY_KI   0.0f
#define	BARO_PRESS_ALPHA   (0.7f)
#define	BARO_TEMP_ALPHA   (0.7f)

Functions
SENSOR_STATUS	sensor_cmd_execute (uint8_t subcommand)
	Executes a sensor subcommand and transmits the requested readings.
SENSOR_STATUS	sensor_dump (SENSOR_DATA *sensor_data_ptr)
	Reads the available sensors and fills the sensor data structure.
SENSOR_STATUS	sensor_init (PRESET_DATA *preset_data)
	Initializes sensor timing and resets velocity state.
void	sensor_conv_imu (IMU_CONVERTED *imu_converted, IMU_RAW *imu_raw)
	Converts raw IMU readings into calibrated, remapped sensor data.
MOUNT_ORIENTATION	sensor_get_mount_orientation (void)
	Get the mount orientation.
void	sensor_set_mount_orientation (MOUNT_ORIENTATION orientation)
	Set the mount orientation.
SENSOR_STATUS	sensor_body_state (const IMU_CONVERTED *imu_converted, STATE_ESTIMATION *state_estimate)
	Integrates gyro data to update the estimated body attitude and rate.
void	sensor_axis_remap (float *x, float *y, float *z)
	Remaps sensor axes according to the flight-computer mounting orientation.
float	sensor_acc_conv (int16_t readout)
	Converts a raw accelerometer reading to meters per second squared.
float	sensor_gyro_conv (int16_t readout)
	Converts a raw gyro reading to degrees per second.
void	sensor_imu_velo (const IMU_CONVERTED *imu_converted, STATE_ESTIMATION *state_estimate)
	Calculates velocity from converted accelerometer measurements.
void	sensor_baro_alt (SENSOR_DATA *sen_data)
	Calculates altitude from the current barometric pressure and temperature.
void	sensor_reset_velo (void)
	Resets accumulated velocity values to prevent drift.

Variables
GPS_DATA	gps_data
IMU_OFFSET	imu_offset
uint64_t	imu_velo_tick = 0
float	velo_x_prev = 0.0f
float	velo_y_prev = 0.0f
float	velo_z_prev = 0.0f
QUAT	attitude = { 1.0f, 0.0f, 0.0f, 0.0f }

Detailed Description

: Contains functions to interface between SDEC terminal commands and SDR sensor APIs

Copyright

Copyright (c) 2025 Sun Devil Rocketry. All rights reserved.

This software is licensed under terms that can be found in the LICENSE file in the root directory of this software component. If no LICENSE file comes with this software, it is covered under the BSD-3-Clause.

https://opensource.org/license/bsd-3-clause

Function Documentation

sensor_acc_conv()

float sensor_acc_conv

(

int16_t

readout

)

Converts a raw accelerometer reading to meters per second squared.

Converts accelerometer readouts to meters per second squared.

Parameters

readout

Raw accelerometer readout.

Returns

Acceleration in meters per second squared.

Converts a raw accelerometer reading to meters per second squared.

Parameters

readout

Raw accelerometer readout.

Returns

Acceleration in meters per second squared.

sensor_axis_remap()

void sensor_axis_remap	(	float *	x,
		float *	y,
		float *	z )

Remaps sensor axes according to the flight-computer mounting orientation.

Remaps sensor axes for the flight configuration.

Parameters

x	X-axis value to remap.
y	Y-axis value to remap.
z	Z-axis value to remap.

Remaps sensor axes according to the flight-computer mounting orientation.

Parameters

x	X-axis value to remap.
y	Y-axis value to remap.
z	Z-axis value to remap.

sensor_baro_alt()

void sensor_baro_alt

(

SENSOR_DATA *

sensor_data_ptr

)

Calculates altitude from the current barometric pressure and temperature.

Calculates altitude from pressure readings.

Parameters

sen_data

Sensor data structure to update.

Calculates altitude from the current barometric pressure and temperature.

Parameters

sensor_data_ptr

Sensor data structure to update.

sensor_body_state()

SENSOR_STATUS sensor_body_state	(	const IMU_CONVERTED *	imu_converted,
		STATE_ESTIMATION *	state_estimate )

Integrates gyro data to update the estimated body attitude and rate.

Performs sensor fusion on converted IMU data to get body rate.

Parameters

imu_converted	Converted IMU data.
state_estimate	State estimate to update.

Integrates gyro data to update the estimated body attitude and rate.

Parameters

imu_converted	Converted IMU data.
state_estimate	State estimate to update.

sensor_cmd_execute()

SENSOR_STATUS sensor_cmd_execute

(

uint8_t

subcommand

)

Executes a sensor subcommand and transmits the requested readings.

Executes a sensor subcommand.

Parameters

subcommand

Sensor subcommand code.

Returns

Sensor operation status.

Executes a sensor subcommand and transmits the requested readings.

Parameters

subcommand

Sensor subcommand code.

Returns

Sensor operation status.

sensor_conv_imu()

void sensor_conv_imu	(	IMU_CONVERTED *	imu_converted,
		IMU_RAW *	imu_raw )

Converts raw IMU readings into calibrated, remapped sensor data.

Converts raw IMU readouts into accelerometer, gyro, and magnetometer data.

Parameters

imu_converted	Converted IMU data to fill.
imu_raw	Raw IMU readouts.

Converts raw IMU readings into calibrated, remapped sensor data.

Parameters

imu_converted	Converted IMU data to fill.
imu_raw	Raw IMU readouts.

sensor_dump()

SENSOR_STATUS sensor_dump

(

SENSOR_DATA *

sensor_data_ptr

)

Reads the available sensors and fills the sensor data structure.

Reads all sensors and fills the sensor data structure.

Parameters

sensor_data_ptr

Pointer to the sensor data structure to fill.

Returns

Sensor operation status.

Reads the available sensors and fills the sensor data structure.

Parameters

sensor_data_ptr

Pointer to the sensor data structure to fill.

Returns

Sensor operation status.

sensor_get_mount_orientation()

MOUNT_ORIENTATION sensor_get_mount_orientation

(

void

)

Get the mount orientation.

Gets the configured flight-computer mount orientation.

Returns

The configured mount orientation

Get the mount orientation.

Returns

The configured mount orientation.

sensor_gyro_conv()

float sensor_gyro_conv

(

int16_t

readout

)

Converts a raw gyro reading to degrees per second.

Converts gyro readouts to degrees per second.

Parameters

readout

Raw gyro readout.

Returns

Angular rate in degrees per second.

Converts a raw gyro reading to degrees per second.

Parameters

readout

Raw gyro readout.

Returns

Angular rate in degrees per second.

sensor_imu_velo()

void sensor_imu_velo	(	const IMU_CONVERTED *	imu_converted,
		STATE_ESTIMATION *	state_estimate )

Calculates velocity from converted accelerometer measurements.

Calculates velocity from acceleration.

Parameters

imu_converted	Converted IMU data.
state_estimate	State estimate to update.

Calculates velocity from converted accelerometer measurements.

Parameters

imu_converted	Converted IMU data.
state_estimate	State estimate to update.

sensor_init()

SENSOR_STATUS sensor_init

(

PRESET_DATA *

preset_data

)

Initializes sensor timing and resets velocity state.

Initializes sensor timing, velocity, and attitude state.

Parameters

preset_data

Pointer to the preset calibration data.

Initializes sensor timing and resets velocity state.

Parameters

preset_data

Pointer to the preset calibration data.

sensor_reset_velo()

void sensor_reset_velo

(

void

)

Resets accumulated velocity values to prevent drift.

Resets velocity values to prevent accumulation of drift.

Resets accumulated velocity values to prevent drift.

sensor_set_mount_orientation()

void sensor_set_mount_orientation

(

MOUNT_ORIENTATION

orientation

)

Set the mount orientation.

Sets the flight-computer mount orientation.

Parameters

orientation

The new mount orientation

Set the mount orientation.

Parameters

orientation

Mount orientation to use for axis remapping.