Provides low-level hardware drivers, sensor initialization routines, and various utility functions for the flight computer. More...

#include "bmp3.h"
#include "lsm6dso32_reg.h"
#include "main.h"
#include <stdbool.h>
#include <math.h>
#include "cmsis_os2.h"

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Macros
#define	AIR_DENSITY_KG_M3 1.293f

#define	SPECIFIC_GAS_CONSTANT 287.0f

Enumerations
enum	OFFSET_TYPE { HWOFFSET = 0 , SWOFFSET = 1 , RESET_HWOFFSET = 2 }
	Specifies the type of offset compensation to be used. More...

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).

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).

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).

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).

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).

int8_t	calibrateIMU (stmdev_ctx_t *imu, uint16_t iterationNum, OFFSET_TYPE type)
	Calibrates the IMU by calculating sensor offsets.

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).

float_t	readAltitude (float_t seaLevelPa, float_t seaLevelT, float_t currentPa)
	Calculates altitude based on the barometric formula.

Detailed Description

Provides low-level hardware drivers, sensor initialization routines, and various utility functions for the flight computer.

Author: Tommaso Gualtierotti & Francesco Abate

Date: 2023-12-31

This file acts as a hardware abstraction layer (HAL) and utility library. It contains SPI communication wrappers for STMicroelectronics sensor drivers, high-level initialization and calibration routines for sensors, and common physics calculations needed by the flight software.

Definition in file utilities.h.

Macro Definition Documentation

◆ AIR_DENSITY_KG_M3

#define AIR_DENSITY_KG_M3 1.293f

Definition at line 50 of file utilities.h.

◆ SPECIFIC_GAS_CONSTANT

#define SPECIFIC_GAS_CONSTANT 287.0f

Definition at line 51 of file utilities.h.

Function Documentation

◆ 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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Macros