Sensors.cpp File Reference

#include "Arduino.h"
#include "config.h"
#include "def.h"
#include "types.h"
#include "MultiWii.h"
#include "Alarms.h"
#include "EEPROM.h"
#include "IMU.h"
#include "LCD.h"
#include "Sensors.h"

Macros
#define	ACC_ORIENTATION(X, Y, Z)   {imu.accADC[ROLL] = X; imu.accADC[PITCH] = Y; imu.accADC[YAW] = Z;}
#define	GYRO_ORIENTATION(X, Y, Z)   {imu.gyroADC[ROLL] = X; imu.gyroADC[PITCH] = Y; imu.gyroADC[YAW] = Z;}
#define	MAG_ORIENTATION(X, Y, Z)   {imu.magADC[ROLL] = X; imu.magADC[PITCH] = Y; imu.magADC[YAW] = Z;}
#define	GYRO_DLPF_CFG   0
#define	BME280_ADDRESS   0x77
#define	BME280_REGISTER_DIG_T1   0x88
#define	BME280_REGISTER_DIG_T2   0x8A
#define	BME280_REGISTER_DIG_T3   0x8C
#define	BME280_REGISTER_DIG_P1   0x8E
#define	BME280_REGISTER_DIG_P2   0x90
#define	BME280_REGISTER_DIG_P3   0x92
#define	BME280_REGISTER_DIG_P4   0x94
#define	BME280_REGISTER_DIG_P5   0x96
#define	BME280_REGISTER_DIG_P6   0x98
#define	BME280_REGISTER_DIG_P7   0x9A
#define	BME280_REGISTER_DIG_P8   0x9C
#define	BME280_REGISTER_DIG_P9   0x9E
#define	BME280_REGISTER_DIG_H1   0xA1
#define	BME280_REGISTER_DIG_H2   0xE1
#define	BME280_REGISTER_DIG_H3   0xE3
#define	BME280_REGISTER_DIG_H4   0xE4
#define	BME280_REGISTER_DIG_H5   0xE5
#define	BME280_REGISTER_DIG_H6   0xE7
#define	BME280_REGISTER_SOFTRESET   0xE0
#define	BME280_REGISTER_CONTROLHUMID   0xF2
#define	BME280_REGISTER_STATUS   0XF3
#define	BME280_REGISTER_CONTROL   0xF4
#define	BME280_REGISTER_CONFIG   0xF5
#define	BME280_REGISTER_PRESSUREDATA   0xF7
#define	BME280_REGISTER_TEMPDATA   0xFA
#define	SAMPLING_X16   0b101
#define	MODE_NORMAL   0b11
#define	FILTER_OFF   0b000
#define	STANDBY_MS_0_5   0b000
#define	LSM9DS0_ADDRESS_ACCELMAG   (0x1D)
#define	LSM9DS0_ADDRESS_GYRO   (0x6B)
#define	LSM9DS0_REGISTER_CTRL_REG1_G   0x20
#define	LSM9DS0_REGISTER_CTRL_REG4_G   0x23
#define	LSM9DS0_REGISTER_OUT_X_L_G   0x28
#define	LSM9DS0_REGISTER_OUT_X_L_M   0x08
#define	LSM9DS0_REGISTER_CTRL_REG1_XM   0x20
#define	LSM9DS0_REGISTER_CTRL_REG2_XM   0x21
#define	LSM9DS0_REGISTER_CTRL_REG5_XM   0x24
#define	LSM9DS0_REGISTER_CTRL_REG6_XM   0x25
#define	LSM9DS0_REGISTER_CTRL_REG7_XM   0x26
#define	LSM9DS0_REGISTER_OUT_X_L_A   0x28
#define	LSM9DS0_ACCELRANGE_4G   (0b001 << 3)
#define	LSM9DS0_MAGGAIN_2GAUSS   (0b00 << 5)
#define	LSM9DS0_GYROSCALE_245DPS   (0b00 << 4)
#define	ACC_DELIMITER   4

Functions
void	i2c_init (void)
void	__attribute__ ((noinline)) waitTransmissionI2C(uint8_t twcr)
void	i2c_rep_start (uint8_t address)
void	i2c_stop (void)
void	i2c_write (uint8_t data)
uint8_t	i2c_readAck ()
uint8_t	i2c_readNak ()
void	i2c_read_reg_to_buf (uint8_t add, uint8_t reg, uint8_t *buf, uint8_t size)
void	i2c_getSixRawADC (uint8_t add, uint8_t reg)
void	i2c_writeReg (uint8_t add, uint8_t reg, uint8_t val)
uint8_t	i2c_readReg (uint8_t add, uint8_t reg)
void	GYRO_Common ()
void	ACC_Common ()
void	i2c_BME280_readCoefficients (void)
void	i2c_BME280_setSampling (void)
void	i2c_BME280_UT_Start (void)
void	i2c_BME280_UT_Read ()
void	i2c_BME280_UP_Start ()
void	i2c_BME280_UP_Read ()
void	i2c_BME280_Calculate ()
uint8_t	Baro_update ()
void	ACC_getADC ()
void	Gyro_getADC ()
void	Sonar_init ()
void	Sonar_update ()
void	initS ()
void	initSensors ()

Macro Definition Documentation

#define ACC_DELIMITER   4

#define ACC_ORIENTATION	(		X,
			Y,
			Z
	)		{imu.accADC[ROLL] = X; imu.accADC[PITCH] = Y; imu.accADC[YAW] = Z;}

#define BME280_ADDRESS   0x77

#define BME280_REGISTER_CONFIG   0xF5

#define BME280_REGISTER_CONTROL   0xF4

#define BME280_REGISTER_CONTROLHUMID   0xF2

#define BME280_REGISTER_DIG_H1   0xA1

#define BME280_REGISTER_DIG_H2   0xE1

#define BME280_REGISTER_DIG_H3   0xE3

#define BME280_REGISTER_DIG_H4   0xE4

#define BME280_REGISTER_DIG_H5   0xE5

#define BME280_REGISTER_DIG_H6   0xE7

#define BME280_REGISTER_DIG_P1   0x8E

#define BME280_REGISTER_DIG_P2   0x90

#define BME280_REGISTER_DIG_P3   0x92

#define BME280_REGISTER_DIG_P4   0x94

#define BME280_REGISTER_DIG_P5   0x96

#define BME280_REGISTER_DIG_P6   0x98

#define BME280_REGISTER_DIG_P7   0x9A

#define BME280_REGISTER_DIG_P8   0x9C

#define BME280_REGISTER_DIG_P9   0x9E

#define BME280_REGISTER_DIG_T1   0x88

#define BME280_REGISTER_DIG_T2   0x8A

#define BME280_REGISTER_DIG_T3   0x8C

#define BME280_REGISTER_PRESSUREDATA   0xF7

#define BME280_REGISTER_SOFTRESET   0xE0

#define BME280_REGISTER_STATUS   0XF3

#define BME280_REGISTER_TEMPDATA   0xFA

#define FILTER_OFF   0b000

#define GYRO_DLPF_CFG   0

#define GYRO_ORIENTATION	(		X,
			Y,
			Z
	)		{imu.gyroADC[ROLL] = X; imu.gyroADC[PITCH] = Y; imu.gyroADC[YAW] = Z;}

#define LSM9DS0_ACCELRANGE_4G   (0b001 << 3)

#define LSM9DS0_ADDRESS_ACCELMAG   (0x1D)

#define LSM9DS0_ADDRESS_GYRO   (0x6B)

#define LSM9DS0_GYROSCALE_245DPS   (0b00 << 4)

#define LSM9DS0_MAGGAIN_2GAUSS   (0b00 << 5)

#define LSM9DS0_REGISTER_CTRL_REG1_G   0x20

#define LSM9DS0_REGISTER_CTRL_REG1_XM   0x20

#define LSM9DS0_REGISTER_CTRL_REG2_XM   0x21

#define LSM9DS0_REGISTER_CTRL_REG4_G   0x23

#define LSM9DS0_REGISTER_CTRL_REG5_XM   0x24

#define LSM9DS0_REGISTER_CTRL_REG6_XM   0x25

#define LSM9DS0_REGISTER_CTRL_REG7_XM   0x26

#define LSM9DS0_REGISTER_OUT_X_L_A   0x28

#define LSM9DS0_REGISTER_OUT_X_L_G   0x28

#define LSM9DS0_REGISTER_OUT_X_L_M   0x08

#define MAG_ORIENTATION	(		X,
			Y,
			Z
	)		{imu.magADC[ROLL] = X; imu.magADC[PITCH] = Y; imu.magADC[YAW] = Z;}

#define MODE_NORMAL   0b11

#define SAMPLING_X16   0b101

#define STANDBY_MS_0_5   0b000

Function Documentation

void __attribute__

(

(noinline)

)

void ACC_Common

(

)

void ACC_getADC

(

)

uint8_t Baro_update

(

)

void GYRO_Common

(

)

void Gyro_getADC

(

)

void i2c_BME280_Calculate

(

)

void i2c_BME280_readCoefficients

(

void

)

void i2c_BME280_setSampling

(

void

)

void i2c_BME280_UP_Read

(

)

void i2c_BME280_UP_Start

(

)

void i2c_BME280_UT_Read

(

)

void i2c_BME280_UT_Start

(

void

)

void i2c_getSixRawADC	(	uint8_t	add,
		uint8_t	reg
	)

void i2c_init

(

void

)

void i2c_read_reg_to_buf	(	uint8_t	add,
		uint8_t	reg,
		uint8_t *	buf,
		uint8_t	size
	)

uint8_t i2c_readAck

(

)

uint8_t i2c_readNak

(

)

uint8_t i2c_readReg	(	uint8_t	add,
		uint8_t	reg
	)

void i2c_rep_start

(

uint8_t

address

)

void i2c_stop

(

void

)

void i2c_write

(

uint8_t

data

)

void i2c_writeReg	(	uint8_t	add,
		uint8_t	reg,
		uint8_t	val
	)

void initS

(

)

void initSensors

(

)

void Sonar_init ( )

inline

void Sonar_update

(

)

Variable Documentation

uint32_t deadline

uint8_t dig_H1

int16_t dig_H2

uint8_t dig_H3

int16_t dig_H4

int16_t dig_H5

int8_t dig_H6

uint16_t dig_P1

int16_t dig_P2

int16_t dig_P3

int16_t dig_P4

int16_t dig_P5

int16_t dig_P6

int16_t dig_P7

int16_t dig_P8

int16_t dig_P9

uint16_t dig_T1

int16_t dig_T2

int16_t dig_T3

int8_t raw[4]

uint8_t state

union { ... } up

union { ... } ut

int32_t val