sensors_core.h File Reference

#include <stdbool.h>
#include <stdint.h>
#include "dev_bus.h"
#include "dev_ms5611.h"
#include "records.h"

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Classes
struct	sensors_device_t
struct	sensors_core_t

Macros
#define	SENSORS_EV_IMU   (1U << 0)
#define	SENSORS_EV_HIGHG   (1U << 1)
#define	SENSORS_IMU_PERIOD_US   1200U /* 833 Hz (ISM330DHCX ODR) */
#define	SENSORS_HIGHG_PERIOD_US   2500U /* 400 Hz (H3LIS100DL ODR) */
#define	SENSORS_BARO_STEP_US   (MS5611_CONVERSION_MS * 1000U)
#define	SENSORS_RETRY_US   1000000U
#define	SENSORS_MAX_ERRORS   3U

Typedefs
typedef record_sink_t	sensors_sink_t

Functions
void	sensors_core_init (sensors_core_t *core, uint32_t now_us)
void	sensors_core_stop (sensors_core_t *core)
void	sensors_core_step (sensors_core_t *core, uint32_t events, uint32_t imu_edge_us, uint32_t highg_edge_us, uint32_t now_us)
uint32_t	sensors_core_wait_us (const sensors_core_t *core, uint32_t now_us)

Macro Definition Documentation

SENSORS_BARO_STEP_US

#define SENSORS_BARO_STEP_US   (MS5611_CONVERSION_MS * 1000U)

Definition at line 34 of file sensors_core.h.

Referenced by check_sample_values(), step_baro(), and test_wait_never_overshoots_a_deadline().

SENSORS_EV_HIGHG

#define SENSORS_EV_HIGHG   (1U << 1)

Definition at line 30 of file sensors_core.h.

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

SENSORS_EV_IMU

#define SENSORS_EV_IMU   (1U << 0)

Definition at line 29 of file sensors_core.h.

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

SENSORS_HIGHG_PERIOD_US

#define SENSORS_HIGHG_PERIOD_US   2500U /* 400 Hz (H3LIS100DL ODR) */

Definition at line 33 of file sensors_core.h.

Referenced by check_timestamps(), fly(), rig_init(), run(), sensors_core_step(), sensors_core_wait_us(), test_stop_powers_down_and_init_restarts(), and world_init().

SENSORS_IMU_PERIOD_US

#define SENSORS_IMU_PERIOD_US   1200U /* 833 Hz (ISM330DHCX ODR) */

Definition at line 32 of file sensors_core.h.

Referenced by check_fault_imu_silent(), check_timestamps(), fly(), rig_init(), run(), sensors_core_step(), sensors_core_wait_us(), test_stop_powers_down_and_init_restarts(), test_wait_never_overshoots_a_deadline(), and world_init().

SENSORS_MAX_ERRORS

#define SENSORS_MAX_ERRORS   3U

Definition at line 36 of file sensors_core.h.

Referenced by failed(), and test_failing_imu_is_dropped_and_recovered().

SENSORS_RETRY_US

#define SENSORS_RETRY_US   1000000U

Definition at line 35 of file sensors_core.h.

Referenced by check_fault_imu_silent(), failed(), init_baro(), init_highg(), init_imu(), sensors_core_wait_us(), test_failing_imu_is_dropped_and_recovered(), and test_wrong_chip_never_produces_and_keeps_retrying().

Typedef Documentation

sensors_sink_t

typedef record_sink_t sensors_sink_t

Definition at line 38 of file sensors_core.h.

Function Documentation

sensors_core_init()

void sensors_core_init	(	sensors_core_t *	core,
		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 *	core,
		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 *

core

)

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 *	core,
		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().