utilities.c File Reference

Implementation of low-level hardware drivers and utility functions. More...

#include "utilities.h"
#include <math.h>

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Functions
int32_t	imuP_write (void *handle, uint8_t reg_addr, const uint8_t *buf, uint16_t len)
	SPI write function for the primary IMU (LSM6DSO32).
int32_t	imuP_read (void *handle, uint8_t reg_addr, uint8_t *buf, uint16_t len)
	SPI read function for the primary IMU (LSM6DSO32).
int32_t	imuP_read_2 (void *handle, uint8_t reg_addr, uint8_t *buf, uint16_t len)
	SPI read function for the primary IMU (LSM6DSO32).
int8_t	bmp390_P_write (uint8_t reg_addr, const uint8_t *buf, uint32_t len, void *intf_ptr)
	SPI write function for the primary Barometer (bmp390).
int8_t	bmp390_P_read (uint8_t reg_addr, uint8_t *buf, uint32_t len, void *intf_ptr)
	SPI read function for the primary Barometer (bmp390).
static void	bmp390_delay_us (uint32_t period, void *intf_ptr)
static int8_t	bmp3_P_spi_init (struct bmp3_dev *dev)
int8_t	init_imup (stmdev_ctx_t *imu, lsm6dso32_fs_xl_t acc_full_scale, lsm6dso32_fs_g_t gyro_full_scale, lsm6dso32_odr_xl_t acc_output_data_rate, lsm6dso32_odr_g_t gyro_output_data_rate)
	Initializes the primary IMU (LSM6DSO32).
int8_t	init_bmp390_p (struct bmp3_dev *bmp390)
	Initializes the primary barometer (BMP390).
uint16_t	compute_air_density (float_t temperature, float_t pressure)
int8_t	calibrateIMU (stmdev_ctx_t *imu, uint16_t iterationNum, OFFSET_TYPE type)
	Calibrates the IMU by calculating sensor offsets.
int32_t	imuB_write (void *handle, uint8_t reg_addr, const uint8_t *buf, uint16_t len)
	SPI write function for the backup IMU (LSM6DSO32).
int32_t	imuB_read (void *handle, uint8_t reg_addr, uint8_t *buf, uint16_t len)
	SPI read function for the backup IMU (LSM6DSO32).
int8_t	bmp390_B_write (uint8_t reg_addr, const uint8_t *buf, uint32_t len, void *intf_ptr)
	SPI write function for the backup Barometer (bmp390).
int8_t	bmp390_B_read (uint8_t reg_addr, uint8_t *buf, uint32_t len, void *intf_ptr)
	SPI read function for the backup Barometer (bmp390).
static int8_t	bmp3_B_spi_init (struct bmp3_dev *dev)
int8_t	init_imuB (stmdev_ctx_t *imu, lsm6dso32_fs_xl_t acc_full_scale, lsm6dso32_fs_g_t gyro_full_scale, lsm6dso32_odr_xl_t acc_output_data_rate, lsm6dso32_odr_g_t gyro_output_data_rate)
	Initializes the backup IMU (LSM6DSO32).
int8_t	init_bmp390_B (struct bmp3_dev *bmp390)
	Initializes the backup barometer (BMP390).
float_t	readAltitude (float_t seaLevelPa, float_t seaLevelT, float_t currentPa)
	Calculates altitude based on the barometric formula.

Variables
SPI_HandleTypeDef	hspi1
SPI_HandleTypeDef	hspi2
SPI_HandleTypeDef	hspi3
static uint8_t	bmp390_p_addr = 0
static uint8_t	bmp390_B_addr = 0

Detailed Description

Implementation of low-level hardware drivers and utility functions.

Author

Tommaso Gualtierotti & Francesco Abate

See also

utilities.h for function prototypes and high-level documentation.

Definition in file utilities.c.

Function Documentation

bmp390_delay_us()

static void bmp390_delay_us ( uint32_t  period, void *  intf_ptr  )

static

Definition at line 163 of file utilities.c.

                                                             {
    uint32_t i;
 
    while (period--) {
        for (i = 0; i < 96; i++) {
            ;
        }
    }
}

Referenced by bmp3_B_spi_init(), and bmp3_P_spi_init().

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bmp3_B_spi_init()

static int8_t bmp3_B_spi_init ( struct bmp3_dev *  dev )

static

Definition at line 647 of file utilities.c.

                                                    {
    int8_t result = BMP3_OK;
 
    if (dev != NULL) {
        bmp390_B_addr = 0;
        dev -> read = bmp390_B_read;
        dev -> write = bmp390_B_write;
        dev -> intf = BMP3_SPI_INTF;
 
        dev -> delay_us = bmp390_delay_us;
        dev -> intf_ptr = &bmp390_B_addr;
    } else {
        result = -1;
    }
 
    return result;
}

References bmp390_B_addr, bmp390_B_read(), bmp390_B_write(), bmp390_delay_us(), BMP3_OK, BMP3_SPI_INTF, and NULL.

Referenced by init_bmp390_B().

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bmp3_P_spi_init()

static int8_t bmp3_P_spi_init ( struct bmp3_dev *  dev )

static

Definition at line 173 of file utilities.c.

                                                    {
    int8_t result = BMP3_OK;
 
    if (dev != NULL) {
        bmp390_p_addr = 0;
        dev -> read = bmp390_P_read;
        dev -> write = bmp390_P_write;
        dev -> intf = BMP3_SPI_INTF;
 
        dev -> delay_us = bmp390_delay_us;
        dev -> intf_ptr = &bmp390_p_addr;
    } else {
        result = -1;
    }
 
    return result;
}

References bmp390_delay_us(), bmp390_p_addr, bmp390_P_read(), bmp390_P_write(), BMP3_OK, BMP3_SPI_INTF, and NULL.

Referenced by init_bmp390_p().

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compute_air_density()

uint16_t compute_air_density	(	float_t	temperature,
		float_t	pressure
	)

Definition at line 319 of file utilities.c.

                                                                  {
    uint16_t air_d;
 
    air_d = (uint16_t) pressure/(temperature*SPECIFIC_GAS_CONSTANT);
    return air_d;
}

References SPECIFIC_GAS_CONSTANT.

readAltitude()

float_t readAltitude	(	float_t	seaLevelPa,
		float_t	seaLevelT,
		float_t	currentPa
	)

Calculates altitude based on the barometric formula.

This function estimates the altitude in meters above sea level using the international barometric formula. It requires the current pressure, sea level pressure, and sea level temperature as inputs.

Parameters

[in]	seaLevelPa	The reference pressure at sea level in Pascals (Pa).
[in]	seaLevelT	The standard temperature at sea level in Kelvin (K).
[in]	currentPa	The current atmospheric pressure measured by the sensor in Pascals (Pa).

Returns

The calculated altitude in meters (m).

Note

This calculation relies on several physical constants which must be defined elsewhere in the code:

• GCONST: Standard gravity (~9.80665 m/s^2)
• RAST: Specific gas constant for dry air (~287.058 J/(kg·K))
• TAU: Standard temperature lapse rate (~0.0065 K/m)

Definition at line 780 of file utilities.c.

                                                                             {
  float_t altitude;
 
 
  altitude = (seaLevelT/TAU)*(1-pow(currentPa/seaLevelPa,RAST*TAU/GCONST));
 
  return altitude;
}

References altitude, GCONST, RAST, and TAU.

Referenced by StartSensor_Task().

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Variable Documentation

bmp390_B_addr

uint8_t bmp390_B_addr = 0

static

Definition at line 30 of file utilities.c.

Referenced by bmp3_B_spi_init().

bmp390_p_addr

uint8_t bmp390_p_addr = 0

static

Definition at line 29 of file utilities.c.

Referenced by bmp3_P_spi_init().

hspi1

SPI_HandleTypeDef hspi1

extern

Definition at line 61 of file main.c.

Referenced by MX_SPI1_Init().

hspi2

SPI_HandleTypeDef hspi2

extern

Definition at line 62 of file main.c.

Referenced by bmp390_P_read(), bmp390_P_write(), imuP_read(), imuP_read_2(), imuP_write(), and init_imup().

hspi3

SPI_HandleTypeDef hspi3

extern

Definition at line 63 of file main.c.

Referenced by bmp390_B_read(), bmp390_B_write(), imuB_read(), imuB_write(), and init_imuB().