sensors_core.c File Reference

#include "sensors_core.h"
#include "dev_h3lis100dl.h"
#include "dev_ism330dhcx.h"

Include dependency graph for sensors_core.c:

Go to the source code of this file.

Functions
static bool	reached (uint32_t now, uint32_t t)
static void	emit (sensors_core_t *c, uint8_t type, const void *data, uint8_t len)
static void	failed (sensors_device_t *d, int err, uint32_t now_us)
static void	succeeded (sensors_device_t *d)
static void	init_imu (sensors_core_t *c, uint32_t now_us)
static void	init_highg (sensors_core_t *c, uint32_t now_us)
static void	init_baro (sensors_core_t *c, uint32_t now_us)
void	sensors_core_init (sensors_core_t *c, uint32_t now_us)
void	sensors_core_stop (sensors_core_t *c)
static void	read_imu (sensors_core_t *c, uint32_t t_us, uint32_t now_us)
static void	read_highg (sensors_core_t *c, uint32_t t_us, uint32_t now_us)
static void	step_baro (sensors_core_t *c, uint32_t now_us)
void	sensors_core_step (sensors_core_t *c, uint32_t events, uint32_t imu_edge_us, uint32_t highg_edge_us, uint32_t now_us)
static uint32_t	until (uint32_t now, uint32_t t)
static uint32_t	sooner (uint32_t a, uint32_t b)
uint32_t	sensors_core_wait_us (const sensors_core_t *c, uint32_t now_us)

Function Documentation

emit()

void emit ( sensors_core_t * c, uint8_t type, const void * data, uint8_t len )

static

Definition at line 11 of file sensors_core.c.

References record_sink_t::ctx, record_sink_t::record, and sensors_core_t::sink.

Referenced by combined_gui.TopBarWidget::_apply_abort_state(), combined_gui.TopBarWidget::abort(), sequencer::ActuatorCommander::applyForState(), combined_gui.TopBarWidget::on_debug_clicked(), combined_gui.SettingsWidget::on_mapping_changed(), combined_gui.TopBarWidget::on_mode_button_clicked(), read_highg(), read_imu(), combined_gui.TopBarWidget::request_state(), actuator_testing_gui.SensorReceiver::run(), combined_fsw_gui.UDPReceiver::run(), combined_gui.UDPReceiver::run(), gui.Reader::run(), imu_calibration_gui.UDPReceiver::run(), lc_calibration_gui.UDPReceiver::run(), pt_multi_gui.UDPReceiver::run(), sense_testing_gui.OTAWorker::run(), sense_testing_gui.UDPReceiver::run(), solenoid_characterization_gui.UDPReceiver::run(), step_baro(), combined_gui.TopBarWidget::toggle_view(), and sense_testing_gui::upload_firmware_to_esp32().

failed()

void failed ( sensors_device_t * d, int err, uint32_t now_us )

static

Definition at line 18 of file sensors_core.c.

References sensors_device_t::error_streak, sensors_device_t::errors, sensors_device_t::last_error, sensors_device_t::ok, sensors_device_t::retry_at_us, SENSORS_MAX_ERRORS, and SENSORS_RETRY_US.

Referenced by main(), read_highg(), read_imu(), and step_baro().

init_baro()

void init_baro ( sensors_core_t * c, uint32_t now_us )

static

Definition at line 52 of file sensors_core.c.

References sensors_core_t::baro, sensors_core_t::baro_bus, sensors_core_t::baro_due_us, sensors_core_t::baro_phase, DEV_OK, sensors_device_t::error_streak, sensors_device_t::inits, sensors_device_t::last_error, ms5611_read_prom(), sensors_device_t::ok, sensors_core_t::prom, sensors_device_t::retry_at_us, and SENSORS_RETRY_US.

Referenced by sensors_core_init(), and sensors_core_step().

init_highg()

void init_highg ( sensors_core_t * c, uint32_t now_us )

static

Definition at line 42 of file sensors_core.c.

References DEV_OK, sensors_device_t::error_streak, h3lis_init(), sensors_core_t::highg, sensors_core_t::highg_bus, sensors_core_t::highg_last_us, sensors_device_t::inits, sensors_device_t::last_error, sensors_device_t::ok, sensors_device_t::retry_at_us, and SENSORS_RETRY_US.

Referenced by sensors_core_init(), and sensors_core_step().

init_imu()

void init_imu ( sensors_core_t * c, uint32_t now_us )

static

Definition at line 32 of file sensors_core.c.

References DEV_OK, sensors_device_t::error_streak, sensors_core_t::imu, sensors_core_t::imu_bus, sensors_core_t::imu_last_us, sensors_device_t::inits, ism330_init(), sensors_device_t::last_error, sensors_device_t::ok, sensors_device_t::retry_at_us, and SENSORS_RETRY_US.

Referenced by sensors_core_init(), and sensors_core_step().

reached()

bool reached ( uint32_t now, uint32_t t )

static

Definition at line 7 of file sensors_core.c.

Referenced by sensors_core_step().

read_highg()

void read_highg ( sensors_core_t * c, uint32_t t_us, uint32_t now_us )

static

Definition at line 98 of file sensors_core.c.

References h3lis_sample_t::accel, DEV_OK, emit(), failed(), h3lis_read(), sensors_core_t::highg, sensors_core_t::highg_bus, sensors_core_t::highg_last_us, sensors_core_t::highg_latest, r, REC_HIGHG, rec_highg_t, and succeeded().

Referenced by sensors_core_step().

read_imu()

void read_imu ( sensors_core_t * c, uint32_t t_us, uint32_t now_us )

static

Definition at line 78 of file sensors_core.c.

References ism330_sample_t::accel, DEV_OK, emit(), failed(), ism330_sample_t::gyro, sensors_core_t::imu, sensors_core_t::imu_bus, sensors_core_t::imu_last_us, sensors_core_t::imu_latest, ism330_read(), r, REC_IMU, rec_imu_t, succeeded(), and ism330_sample_t::temp.

Referenced by sensors_core_step().

sensors_core_init()

void sensors_core_init	(	sensors_core_t *	c,
		uint32_t	now_us )

Definition at line 63 of file sensors_core.c.

References init_baro(), init_highg(), and init_imu().

Referenced by rig_init(), sensors_task(), test_stop_powers_down_and_init_restarts(), and world_init().

sensors_core_step()

void sensors_core_step	(	sensors_core_t *	c,
		uint32_t	events,
		uint32_t	imu_edge_us,
		uint32_t	highg_edge_us,
		uint32_t	now_us )

Definition at line 157 of file sensors_core.c.

References sensors_core_t::baro, sensors_core_t::baro_due_us, sensors_core_t::highg, sensors_core_t::highg_last_us, sensors_core_t::imu, sensors_core_t::imu_last_us, init_baro(), init_highg(), init_imu(), sensors_device_t::missed_drdy, sensors_device_t::ok, reached(), read_highg(), read_imu(), sensors_device_t::retry_at_us, SENSORS_EV_HIGHG, SENSORS_EV_IMU, SENSORS_HIGHG_PERIOD_US, SENSORS_IMU_PERIOD_US, and step_baro().

Referenced by fly(), run(), and sensors_task().

sensors_core_stop()

void sensors_core_stop

(

sensors_core_t *

c

)

Definition at line 69 of file sensors_core.c.

References sensors_core_t::baro, sensors_core_t::baro_phase, h3lis_power_down(), sensors_core_t::highg, sensors_core_t::highg_bus, sensors_core_t::imu, sensors_core_t::imu_bus, ism330_power_down(), and sensors_device_t::ok.

Referenced by sensors_task(), and test_stop_powers_down_and_init_restarts().

sensors_core_wait_us()

uint32_t sensors_core_wait_us	(	const sensors_core_t *	c,
		uint32_t	now_us )

Definition at line 202 of file sensors_core.c.

References sensors_core_t::baro, sensors_core_t::baro_due_us, sensors_core_t::highg, sensors_core_t::highg_last_us, sensors_core_t::imu, sensors_core_t::imu_last_us, sensors_device_t::ok, sensors_device_t::retry_at_us, SENSORS_HIGHG_PERIOD_US, SENSORS_IMU_PERIOD_US, SENSORS_RETRY_US, sooner(), and until().

Referenced by fly(), run(), sensors_task(), and test_wait_never_overshoots_a_deadline().

sooner()

uint32_t sooner ( uint32_t a, uint32_t b )

static

Definition at line 198 of file sensors_core.c.

References a, and b.

Referenced by sensors_core_wait_us().

step_baro()

void step_baro ( sensors_core_t * c, uint32_t now_us )

static

Definition at line 116 of file sensors_core.c.

References sensors_core_t::baro, sensors_core_t::baro_bus, sensors_core_t::baro_d1, sensors_core_t::baro_d1_us, sensors_core_t::baro_due_us, sensors_core_t::baro_latest, sensors_core_t::baro_phase, DEV_OK, emit(), failed(), ms5611_compensate(), MS5611_D1_PRESSURE, MS5611_D2_TEMPERATURE, ms5611_read_adc(), ms5611_start(), sensors_core_t::prom, r, REC_BARO, rec_baro_t, SENSORS_BARO_STEP_US, and succeeded().

Referenced by sensors_core_step().

succeeded()

void succeeded ( sensors_device_t * d )

static

Definition at line 27 of file sensors_core.c.

References sensors_device_t::error_streak, and sensors_device_t::samples.

Referenced by read_highg(), read_imu(), and step_baro().

until()

uint32_t until ( uint32_t now, uint32_t t )

static

Definition at line 193 of file sensors_core.c.

Referenced by anonymous_namespace{t7_bridge_main.cpp}::nap(), anonymous_namespace{idle_e2e.cpp}::run(), run(), run(), sensors_core_wait_us(), and sequencer::anonymous_namespace{ScriptRunner.cpp}::Interp::sleep().