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

#include "stm32h7xx_hal.h"
#include "imu.h"
#include "gps.h"

Classes
struct	_IMU_CONVERTED
	Physical-unit converted accel/gyro/mag data. More...
struct	_STATE_ESTIMATION
struct	_IMU_DATA
	Aggregate struct containing converted IMU data and state estimate. More...
struct	SENSOR_DATA
struct	_BARO_PRESET

Macros
#define	SENSOR_DUMP_CODE ( 0x01 )
#define	NUM_SENSORS ( 38 )
#define	SENSOR_DATA_SIZE ( 128 )

Typedefs
typedef struct _PRESET_DATA	PRESET_DATA
typedef struct _IMU_CONVERTED	IMU_CONVERTED
	Physical-unit converted accel/gyro/mag data.
typedef struct _STATE_ESTIMATION	STATE_ESTIMATION
typedef struct _IMU_DATA	IMU_DATA
	Aggregate struct containing converted IMU data and state estimate.
typedef struct SENSOR_DATA	SENSOR_DATA
typedef struct _BARO_PRESET	BARO_PRESET

Enumerations
enum	SENSOR_STATUS { SENSOR_OK = 0 , SENSOR_UNRECOGNIZED_OP , SENSOR_UNSUPPORTED_OP , SENSOR_IMU_FAIL , SENSOR_PT_ERROR , SENSOR_TC_ERROR , SENSOR_LC_ERROR , SENSOR_ACCEL_ERROR , SENSOR_GYRO_ERROR , SENSOR_MAG_ERROR , SENSOR_BARO_ERROR , SENSOR_USB_FAIL , SENSOR_UNRECOGNIZED_SENSOR_ID , SENSOR_FAIL , SENSOR_IT_TIMEOUT }
enum	MOUNT_ORIENTATION { MOUNT_ORIENTATION_IMU_INVERTED = -1 , MOUNT_ORIENTATION_IMU_NORMAL = 1 }

Functions
SENSOR_STATUS	sensor_cmd_execute (uint8_t subcommand)
	Executes a sensor subcommand.
SENSOR_STATUS	sensor_dump (SENSOR_DATA *sensor_data_ptr)
	Reads all sensors and fills the sensor data structure.
SENSOR_STATUS	sensor_init (PRESET_DATA *preset_data)
	Initializes sensor timing, velocity, and attitude state.
MOUNT_ORIENTATION	sensor_get_mount_orientation (void)
	Gets the configured flight-computer mount orientation.
void	sensor_set_mount_orientation (MOUNT_ORIENTATION orientation)
	Sets the flight-computer mount orientation.
void	sensor_reset_velo (void)
	Resets velocity values to prevent accumulation of drift.
SENSOR_STATUS	sensor_body_state (const IMU_CONVERTED imu_converted, STATE_ESTIMATION state_estimate)
	Performs sensor fusion on converted IMU data to get body rate.
void	sensor_axis_remap (float x, float y, float *z)
	Remaps sensor axes for the flight configuration.
void	sensor_imu_velo (const IMU_CONVERTED imu_converted, STATE_ESTIMATION state_estimate)
	Calculates velocity from acceleration.
void	sensor_conv_imu (IMU_CONVERTED imu_converted, IMU_RAW imu_raw)
	Converts raw IMU readouts into accelerometer, gyro, and magnetometer data.
float	sensor_acc_conv (int16_t readout)
	Converts accelerometer readouts to meters per second squared.
float	sensor_gyro_conv (int16_t readout)
	Converts gyro readouts to degrees per second.
void	sensor_baro_alt (SENSOR_DATA *sensor_data_ptr)
	Calculates altitude from pressure readings.

Detailed Description

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

Copyright

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

Typedef Documentation

◆ IMU_CONVERTED

typedef struct _IMU_CONVERTED IMU_CONVERTED

Physical-unit converted accel/gyro/mag data.

Note: Migrated from imu.h/imu_legacy.h to avoid recursive include issues

Function Documentation

◆ sensor_acc_conv()

float sensor_acc_conv ( int16_t readout )

Converts accelerometer readouts to 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.

Converts accelerometer readouts 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 for the flight configuration.

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.

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.

◆ sensor_baro_alt()

void sensor_baro_alt ( SENSOR_DATA * sen_data )

Calculates altitude from pressure readings.

Calculates altitude from the current barometric pressure and temperature.

Parameters

sensor_data_ptr Sensor data structure to update.

Calculates altitude from pressure readings.

Parameters

sen_data Sensor data structure to update.

◆ sensor_body_state()

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

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

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

Parameters

imu_converted	Converted IMU data.
state_estimate	State estimate to update.

Performs sensor fusion on converted IMU data to get body 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.

Executes a sensor subcommand and transmits the requested readings.

Parameters

subcommand Sensor subcommand code.

Returns: Sensor operation status.

Executes a sensor subcommand.

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 readouts into accelerometer, gyro, and magnetometer data.

Converts raw IMU readings into calibrated, remapped sensor data.

Parameters

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

Converts raw IMU readouts into accelerometer, gyro, and magnetometer 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 all sensors and fills the sensor data structure.

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.

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.

◆ sensor_get_mount_orientation()

MOUNT_ORIENTATION sensor_get_mount_orientation ( void )

Gets the configured flight-computer mount orientation.

Get the mount orientation.

Returns: The configured mount orientation.

Gets the configured flight-computer mount orientation.

Returns: The configured mount orientation

◆ sensor_gyro_conv()

float sensor_gyro_conv ( int16_t readout )

Converts gyro readouts to degrees per second.

Converts a raw gyro reading to degrees per second.

Parameters

readout Raw gyro readout.

Returns: Angular rate in degrees per second.

Converts gyro readouts 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 acceleration.

Calculates velocity from converted accelerometer measurements.

Parameters

imu_converted	Converted IMU data.
state_estimate	State estimate to update.

Calculates velocity from acceleration.

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, velocity, and attitude state.

Initializes sensor timing and resets velocity state.

Parameters

preset_data Pointer to the preset calibration data.

Initializes sensor timing, velocity, and attitude state.

Parameters

preset_data Pointer to the preset calibration data.

◆ sensor_reset_velo()

void sensor_reset_velo ( void )

Resets velocity values to prevent accumulation of drift.

Resets accumulated velocity values to prevent drift.

Resets velocity values to prevent accumulation of drift.

◆ sensor_set_mount_orientation()

void sensor_set_mount_orientation ( MOUNT_ORIENTATION orientation )

Sets the flight-computer mount orientation.

Set the mount orientation.

Parameters

orientation Mount orientation to use for axis remapping.

Sets the flight-computer mount orientation.

Parameters

orientation The new mount orientation

Classes

Macros

Typedefs

Enumerations

Functions

Detailed Description

Typedef Documentation

◆ IMU_CONVERTED

Function Documentation

◆ sensor_acc_conv()

◆ sensor_axis_remap()

◆ sensor_baro_alt()

◆ sensor_body_state()

◆ sensor_cmd_execute()

◆ sensor_conv_imu()

◆ sensor_dump()

◆ sensor_get_mount_orientation()

◆ sensor_gyro_conv()

◆ sensor_imu_velo()

◆ sensor_init()

◆ sensor_reset_velo()

◆ sensor_set_mount_orientation()