Phase 1: multi-rate attitude estimation on STM32WB55, control hooks in place. More...

#include "app_main.h"
#include "app_config.h"
#include "cmsis_os2.h"
#include "imu_i2c.h"
#include "imu_lsm6dsv16x.h"
#include "est_pipeline.h"
#include "est_config.h"
#include "control_hooks.h"
#include "motors.h"
#include "telemetry.h"
#include "tlm_uart.h"
#include "tlm_ble.h"
#include "so3.h"
#include "tlm_build.h"
#include "fc_core.h"
#include "fc_shared.h"
#include "app_task.h"
#include "alt_est.h"
#include "ext_sens.h"
#include "proto_v2.h"
#include "batt_task.h"
#include "batt_adc.h"
#include "log_task.h"
#include "log_feed.h"
#include "log_queue.h"
#include "log_flash_ram.h"
#include "usb_cdc.h"
#include "usb_link.h"
#include <string.h>
#include <math.h>

Include dependency graph for app_main.c:

Data Structures
struct	tlm_msg_t

Macros
#define	FLAG_IMU_IRQ 0x0001u

#define	APP_IWDG_RELOAD 500u

#define	FC_SERVICE_MS 4u /* flight core ~250 Hz */

#define	IMU_STALE_MS 50u /* no gyro for 50 ms: estimate not usable */

Functions
static void	dwt_init (void)

void	app_exti (uint16_t pin)

void	app_i2c_rx_cplt (I2C_HandleTypeDef *h)

void	app_i2c_error (I2C_HandleTypeDef *h)

void	app_uart_tx_cplt (UART_HandleTypeDef *h)

static void	push_frame (size_t len)

static void	on_state (const est_t e, void user)

static void	on_init (const est_t e, void user)

static void	iwdg_start (void)

static void	correct_events (imu_event_t *ev, size_t n)

static void	take_calibrations (void)

static void	take_ext (uint32_t now, float cos_tilt, const float omega[3])

static void	publish_est (uint32_t now)

static void	log_records (uint32_t now, const float q[4], const fc_vert_t v, const fc_setpoint_t sp)

static void	flight_service (uint32_t *lastSvc)

static void	ImuTask (void *arg)

static void	tx_frame (const uint8_t *f, uint16_t len)

static void	send_status (uint8_t *frame, size_t cap)

static void	TelemetryTask (void *arg)

static size_t	get_init (uint8_t *dst, size_t cap)

static void	motor_test_hook (uint8_t m, float duty)

static const log_flash_t *	log_flash (void)

static uint16_t	log_sensors (void)

void	app_start (void)

Variables
I2C_HandleTypeDef	hi2c1

UART_HandleTypeDef	huart1

static osThreadId_t	s_imuTask

static osMessageQueueId_t	qTlm

static volatile uint32_t	s_irqCyc

static volatile uint32_t	s_irqCount

static volatile uint32_t	s_tlmDrop

static volatile uint32_t	s_busErr

static volatile uint32_t	s_fifoOvr

static volatile uint32_t	s_procCycMax

static volatile uint32_t	s_procCycLast

static volatile uint32_t	s_wordsMax

static volatile uint32_t	s_drainReads

static volatile float	s_odrHz

static volatile int8_t	s_imuInit = 1

static imu_parse_stats_t	s_psTot

static imu_t	s_imu

static est_t	s_est

static uint8_t	s_fifo [IMU_FIFO_MAX_WORDS *IMU_FIFO_WORD_BYTES]

static imu_event_t	s_ev [IMU_FIFO_MAX_WORDS]

uint8_t	g_initFrame [TLM_FRAME_MAX]

volatile uint16_t	g_initLen

static cal_set_t	s_calset

static est_config_t	s_ec

static volatile float	g_level_trim_deg [2]

static volatile uint8_t	s_est_restart

static alt_est_t	s_alt

static uint8_t	s_flow_q = 0xFFu

static float	s_flow_v [2]

static uint32_t	s_flow_ms

static uint8_t	s_flow_ok

static uint8_t	s_flow_usable

static uint16_t	s_tof_mm = 0xFFFFu

static uint32_t	s_tof_ms

static float	s_vib2

static uint16_t	s_acc_clip

static float	s_loop_hz

static float	s_jitter_us

static float	s_cpu_pct

static uint32_t	s_cpu_cyc

static float	s_baro_temp

static uint16_t	s_imu_sensors

static volatile uint32_t	s_lastGyroMs

static tlm_msg_t	s_msg

Detailed Description

Phase 1: multi-rate attitude estimation on STM32WB55, control hooks in place.

INT1 LSM6DSV16X (FIFO threshold, 960 Hz) | EXTI ISR: timestamp DWT + osThreadFlagsSet v ImuTask (osPriorityRealtime) FIFO status (2 bytes) -> DMA burst of N words -> parse -> est_process(): propagation 960 Hz, ctrl_rate_step, acc update 240 Hz, ctrl_attitude_step, update mag ~50 Hz | qTlm (240 Hz snapshots, never blocking) v TelemetryTask (osPriorityBelowNormal) UART DMA -> VCP ST-LINK | (APP_TLM_BLE = 1) same frames, STATE decimated, no REPLAY v tlm_ble ring -> BleTxThread (ble_tlm_svc.c) -> GATT notifications (BLE stack on the Cortex-M0+, IPCC)

ImuTask remains the only high-priority task: BLE never touches it.

Protocol v2 (ACwing Pilot app, HANDOVER_FW.md): ImuTask also runs the flight core (fc_core: arming, modes, TAKEOFF/LAND/ HOLD, failsafes) at ~250 Hz and the vertical estimator (alt_est: baro on the sensor hub, ToF from the ExtTask), and it is the only task that feeds the independent watchdog. AppTask (app_task.c) handles commands, parameters, flash, calibrations and the v2 frames. ExtTask (ext_sens.c) polls the ACwing Flow board on the Qwiic bus.

Definition in file app_main.c.

Macro Definition Documentation

◆ FLAG_IMU_IRQ

#define FLAG_IMU_IRQ 0x0001u

Definition at line 69 of file app_main.c.

◆ APP_IWDG_RELOAD

#define APP_IWDG_RELOAD 500u

Definition at line 75 of file app_main.c.

◆ FC_SERVICE_MS

#define FC_SERVICE_MS 4u /* flight core ~250 Hz */

Definition at line 76 of file app_main.c.

◆ IMU_STALE_MS

#define IMU_STALE_MS 50u /* no gyro for 50 ms: estimate not usable */

Definition at line 126 of file app_main.c.

Function Documentation

◆ dwt_init()

static void dwt_init ( void )

static

Definition at line 129 of file app_main.c.

Referenced by app_start().

Here is the caller graph for this function:

◆ app_exti()

void app_exti ( uint16_t pin )

Definition at line 136 of file app_main.c.

References FLAG_IMU_IRQ, s_imuTask, s_irqCount, and s_irqCyc.

◆ app_i2c_rx_cplt()

void app_i2c_rx_cplt ( I2C_HandleTypeDef * h )

Definition at line 144 of file app_main.c.

References imu_i2c_rx_cplt_isr().

Here is the call graph for this function:

◆ app_i2c_error()

void app_i2c_error ( I2C_HandleTypeDef * h )

Definition at line 145 of file app_main.c.

References imu_i2c_error_isr().

Here is the call graph for this function:

◆ app_uart_tx_cplt()

void app_uart_tx_cplt ( UART_HandleTypeDef * h )

Definition at line 146 of file app_main.c.

References tlm_uart_tx_cplt_isr().

Here is the call graph for this function:

◆ push_frame()

static void push_frame ( size_t len )

static

Definition at line 151 of file app_main.c.

References tlm_msg_t::len, qTlm, s_msg, and s_tlmDrop.

Referenced by on_init(), and on_state().

Here is the caller graph for this function:

◆ on_state()

static void on_state	(	const est_t *	e,
		void *	user
	)

static

Definition at line 158 of file app_main.c.

References cal_sample_t::acc, cal_set_t::accel, alt_est_accel_up(), alt_est_predict(), APP_STEP_HZ, APP_STEPS_PER_ACC, APP_TLM_DECIM_REPLAY, APP_TLM_DECIMATION, cal_gyro_t::bias, tlm_msg_t::bytes, cal_set_t::compass, EST_F_MAG_NEW, fsh_cal_push(), g_fsh_cal_want, cal_set_t::gyro, cal_sample_t::gyro, cal_compass_t::hi, iekf_get_quat(), cal_sample_t::mag, cal_sample_t::mag_new, ms, n, cal_accel_t::off, push_frame(), cal_sample_t::q, cal_sample_t::running, s_alt, s_calset, s_msg, s_vib2, cal_accel_t::scale, cal_compass_t::scale, tlm_build_replay(), and tlm_build_state().

Referenced by est_init(), ImuTask(), and take_calibrations().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ on_init()

static void on_init	(	const est_t *	e,
		void *	user
	)

static

Definition at line 201 of file app_main.c.

References APP_STEP_HZ, APP_STEPS_PER_ACC, tlm_msg_t::bytes, g_initFrame, g_initLen, push_frame(), s_msg, and tlm_build_init().

Referenced by est_init(), ImuTask(), and take_calibrations().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ iwdg_start()

static void iwdg_start ( void )

static

Definition at line 212 of file app_main.c.

References APP_IWDG_RELOAD.

Referenced by ImuTask().

Here is the caller graph for this function:

◆ correct_events()

static void correct_events	(	imu_event_t *	ev,
		size_t	n
	)

static

Definition at line 227 of file app_main.c.

References cal_set_t::accel, alt_est_baro(), cal_gyro_t::bias, cal_set_t::gyro, IMU_EV_ACC, IMU_EV_BARO, IMU_EV_GYRO, n, cal_accel_t::off, s_acc_clip, s_alt, s_baro_temp, s_calset, cal_accel_t::scale, and imu_event_t::v.

Referenced by ImuTask().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ take_calibrations()

static void take_calibrations ( void )

static

Definition at line 255 of file app_main.c.

References cal_set_t::accel, APP_TLM_REPLAY, cal_gyro_t::bias, cal_copy_type(), cal_set_t::compass, est_init(), fsh_apply_take(), g_level_trim_deg, cal_set_t::gyro, cal_compass_t::hi, cal_set_t::level, est_config_t::mag_hard_iron, est_config_t::mag_scale, on_init(), on_state(), cal_level_t::pitch_deg, PV2_CAL_ACCEL, PV2_CAL_COMPASS, PV2_CAL_GYRO, PV2_CAL_LEVEL, cal_level_t::roll_deg, s_calset, s_ec, s_est, s_est_restart, cal_compass_t::scale, fsh_apply_t::set, and fsh_apply_t::type.

Referenced by flight_service().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ take_ext()

static void take_ext	(	uint32_t	now,
		float	cos_tilt,
		const float	omega[3]
	)

static

Definition at line 295 of file app_main.c.

References alt_est_tof(), APP_FLOW_MIN_H, APP_FLOW_SIGN_X, APP_FLOW_SIGN_Y, ext_sample_t::dt_s, ext_sample_t::dx, ext_sample_t::dy, EXT_FLOW, ext_sensors(), ext_take(), EXT_TOF, ext_sample_t::kind, PV2_S_FLOW, s_alt, s_flow_ms, s_flow_ok, s_flow_q, s_flow_usable, s_flow_v, s_tof_mm, s_tof_ms, ext_sample_t::squal, ext_sample_t::status, alt_est_t::tof_ground, alt_est_t::tof_h, ext_sample_t::tof_mm, and alt_est_t::tof_valid.

Referenced by flight_service().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ publish_est()

static void publish_est ( uint32_t now )

static

Definition at line 335 of file app_main.c.

References fsh_est_t::acc_clip, fsh_est_t::acc_gated, alt_est_h(), alt_est_vz(), fsh_est_t::alt_valid, fsh_est_t::att_unc_deg, alt_est_t::baro_ok, fsh_est_t::baro_pa, fsh_est_t::cpu_pct, fsh_est_t::flow_ok, fsh_est_t::flow_q, fsh_est_t::flow_usable, fsh_est_write(), fsh_est_t::h, iekf_get_quat(), IEKF_NX, fsh_est_t::imu_ok, fsh_est_t::imu_temp_c, fsh_est_t::jitter_us, fsh_est_t::loop_hz, fsh_est_t::mag_gated, fsh_est_t::mag_interf_pct, alt_est_t::pressure, fsh_est_t::q, fsh_est_t::running, s_acc_clip, s_alt, s_baro_temp, s_cpu_cyc, s_cpu_pct, s_est, s_flow_ok, s_flow_q, s_flow_usable, s_flow_v, s_imu_sensors, s_imuInit, s_irqCount, s_jitter_us, s_loop_hz, s_tof_mm, s_vib2, fsh_est_t::sensors, fsh_est_t::tof_ground, alt_est_t::tof_ground, fsh_est_t::tof_h, alt_est_t::tof_h, fsh_est_t::tof_mm, fsh_est_t::tof_valid, alt_est_t::tof_valid, alt_est_t::valid, fsh_est_t::vel_body, fsh_est_t::vib_mg, and fsh_est_t::vz.

Referenced by flight_service().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ log_records()

static void log_records	(	uint32_t	now,
		const float	q[4],
		const fc_vert_t *	v,
		const fc_setpoint_t *	sp
	)

static

Definition at line 391 of file app_main.c.

References alt_est_t::baro_ok, fc_snapshot(), IEKF_NX, log_q_active(), logf_att(), logf_est(), logf_flight(), logf_vert(), alt_est_t::pressure, s_alt, s_cpu_pct, s_est, s_jitter_us, s_loop_hz, s_tof_mm, s_vib2, and sp.

Referenced by flight_service().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ flight_service()

static void flight_service ( uint32_t * lastSvc )

static

Definition at line 416 of file app_main.c.

References alt_est_h(), alt_est_vz(), fc_vert_t::cos_tilt, fc_service(), FC_SERVICE_MS, fc_setpoint(), fc_vert_t::flow_q, fc_vert_t::flow_usable, fc_vert_t::h, iekf_get_quat(), IMU_STALE_MS, log_records(), publish_est(), s_acc_clip, s_alt, s_est, s_flow_q, s_flow_usable, s_lastGyroMs, sp, take_calibrations(), take_ext(), fc_vert_t::tof_ground, alt_est_t::tof_ground, fc_vert_t::tof_h, alt_est_t::tof_h, fc_vert_t::tof_valid, alt_est_t::tof_valid, fc_vert_t::valid, alt_est_t::valid, and fc_vert_t::vz.

Referenced by ImuTask().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ ImuTask()

static void ImuTask ( void * arg )

static

Definition at line 455 of file app_main.c.

References imu_parse_stats_t::acc, alt_est_default_cfg(), alt_est_init(), app_est_config(), APP_GY_LPF1_BW, APP_IMU_ODR, APP_IMU_WATERMARK, APP_MAG_FAST, APP_TLM_REPLAY, APP_XL_LPF2_BW, APP_XL_LPF2_ENABLE, imu_t::baro_enabled, cal_copy_type(), cal_set_t::compass, correct_events(), ctrl_init(), est_init(), est_process(), fc_service(), FLAG_IMU_IRQ, flight_service(), fsh_apply_take(), g_level_trim_deg, imu_parse_stats_t::gyro, cal_compass_t::hi, hi2c1, imu_fifo_level(), IMU_FIFO_MAX_WORDS, imu_fifo_parse(), IMU_FIFO_REG, IMU_FIFO_WORD_BYTES, IMU_I2C_ADDR_7BIT, imu_i2c_make_bus(), imu_i2c_read_dma(), imu_init(), IMU_OK, iwdg_start(), cal_set_t::level, imu_parse_stats_t::mag, MAG_AXIS_MAP, imu_parse_stats_t::mag_dup, imu_t::mag_enabled, est_config_t::mag_hard_iron, est_config_t::mag_map, est_config_t::mag_scale, n, imu_config_t::odr, imu_t::odr_hz, on_init(), on_state(), cal_level_t::pitch_deg, PV2_S_BARO, PV2_S_IMU, PV2_S_MAG_FC, cal_level_t::roll_deg, s_alt, s_busErr, s_calset, s_cpu_cyc, s_drainReads, s_ec, s_est, s_ev, s_fifo, s_fifoOvr, s_imu, s_imu_sensors, s_imuInit, s_irqCyc, s_jitter_us, s_lastGyroMs, s_odrHz, s_procCycLast, s_procCycMax, s_psTot, s_wordsMax, cal_compass_t::scale, fsh_apply_t::set, imu_parse_stats_t::sh_nack, st(), and fsh_apply_t::type.

Referenced by app_start().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ tx_frame()

static void tx_frame	(	const uint8_t *	f,
		uint16_t	len
	)

static

Definition at line 600 of file app_main.c.

References APP_TLM_TX_TIMEOUT_MS, seq, tlm_ble_push(), tlm_ble_want_state(), TLM_OVERHEAD, TLM_TYPE_REPLAY, TLM_TYPE_STATE, tlm_uart_send(), usbl_open(), usbl_put_frame(), and USBL_SRC_TLM.

Referenced by send_status(), and TelemetryTask().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ send_status()

static void send_status	(	uint8_t *	frame,
		size_t	cap
	)

static

Definition at line 623 of file app_main.c.

References imu_parse_stats_t::acc, cap, imu_parse_stats_t::gyro, imu_parse_stats_t::mag, imu_parse_stats_t::mag_dup, s_busErr, s_est, s_fifoOvr, s_imuInit, s_irqCount, s_procCycMax, s_psTot, s_tlmDrop, s_wordsMax, imu_parse_stats_t::sh_nack, st(), tlm_ble_dropped(), tlm_ble_error(), tlm_ble_mtu(), tlm_ble_state(), tlm_encode(), TLM_TYPE_STATUS, tlm_uart_dropped(), tx_frame(), and tlm_status_t::uptime_ms.

Referenced by TelemetryTask().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ TelemetryTask()

static void TelemetryTask ( void * arg )

static

Definition at line 647 of file app_main.c.

References APP_INIT_EVERY_N, tlm_msg_t::bytes, g_initFrame, g_initLen, huart1, tlm_msg_t::len, n, qTlm, send_status(), tlm_ble_push(), tlm_ble_take_init_request(), tlm_uart_init(), and tx_frame().

Referenced by app_start().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ get_init()

static size_t get_init	(	uint8_t *	dst,
		size_t	cap
	)

static

Definition at line 681 of file app_main.c.

References cap, g_initFrame, g_initLen, and n.

Referenced by app_start().

Here is the caller graph for this function:

◆ motor_test_hook()

static void motor_test_hook	(	uint8_t	m,
		float	duty
	)

static

Definition at line 689 of file app_main.c.

References motors_test().

Referenced by app_start().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ log_flash()

static const log_flash_t * log_flash ( void )

static

Definition at line 692 of file app_main.c.

References APP_LOG_RAM_KB, and log_flash_ram_init().

Referenced by app_start().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ log_sensors()

static uint16_t log_sensors ( void )

static

Definition at line 708 of file app_main.c.

References ext_sensors(), fsh_est_read(), and fsh_est_t::sensors.

Referenced by app_start().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ app_start()

void app_start ( void )

Definition at line 716 of file app_main.c.

References batt_task_cfg_t::adc_read, APP_BATT_ADC, APP_BATT_CURRENT, APP_BATT_SENS_V_A, APP_FW_MAJOR, APP_FW_MINOR, APP_FW_PATCH, APP_HW_REV, app_task_boot(), app_task_start(), batt_task_cfg_t::batt, batt_adc_init(), batt_adc_read(), app_task_cfg_t::batt_monitor, batt_task_start(), cal_set_t::battery, app_task_cfg_t::board_sensors, dwt_init(), ext_sens_start(), fc_init(), log_task_cfg_t::flash, log_task_cfg_t::fw, get_init(), app_task_cfg_t::get_init, batt_cfg_t::has_current, hi2c1, app_task_cfg_t::hw_rev, log_task_cfg_t::hw_rev, imu_i2c_bus_init(), ImuTask(), log_flash(), app_task_cfg_t::log_pct, log_sensors(), log_task_pct(), log_task_start(), logf_event(), logf_set_clock(), MAG_HARD_IRON, motor_test_hook(), motors_arm(), app_task_cfg_t::motors_built, MOTORS_ENABLE, motors_init(), app_task_cfg_t::n_motors, PV2_S_CURRENT, PV2_S_FLASH_LOG, qTlm, s_imuTask, batt_cfg_t::scale_i, cal_battery_t::scale_i, batt_cfg_t::scale_v, cal_battery_t::scale_v, batt_cfg_t::sens_v_per_a, log_task_cfg_t::sensors, fc_config_t::sensors, TelemetryTask(), app_task_cfg_t::uid, usb_cdc_init(), usb_cdc_pump(), log_task_cfg_t::usb_pump, and usbl_host().

Here is the call graph for this function:

Variable Documentation

◆ hi2c1

I2C_HandleTypeDef hi2c1

extern

Referenced by app_start(), and ImuTask().

◆ huart1

UART_HandleTypeDef huart1

extern

Referenced by TelemetryTask().

◆ s_imuTask

osThreadId_t s_imuTask

static

Definition at line 79 of file app_main.c.

Referenced by app_exti(), and app_start().

◆ qTlm

osMessageQueueId_t qTlm

static

Definition at line 80 of file app_main.c.

Referenced by app_start(), push_frame(), and TelemetryTask().

◆ s_irqCyc

volatile uint32_t s_irqCyc

static

Definition at line 81 of file app_main.c.

Referenced by app_exti(), and ImuTask().

◆ s_irqCount

volatile uint32_t s_irqCount

static

Definition at line 82 of file app_main.c.

Referenced by app_exti(), publish_est(), and send_status().

◆ s_tlmDrop

volatile uint32_t s_tlmDrop

static

Definition at line 82 of file app_main.c.

Referenced by push_frame(), and send_status().

◆ s_busErr

volatile uint32_t s_busErr

static

Definition at line 82 of file app_main.c.

Referenced by ImuTask(), and send_status().

◆ s_fifoOvr

volatile uint32_t s_fifoOvr

static

Definition at line 82 of file app_main.c.

Referenced by ImuTask(), and send_status().

◆ s_procCycMax

volatile uint32_t s_procCycMax

static

Definition at line 84 of file app_main.c.

Referenced by ImuTask(), and send_status().

◆ s_procCycLast

volatile uint32_t s_procCycLast

static

Definition at line 84 of file app_main.c.

Referenced by ImuTask().

◆ s_wordsMax

volatile uint32_t s_wordsMax

static

Definition at line 85 of file app_main.c.

Referenced by ImuTask(), and send_status().

◆ s_drainReads

volatile uint32_t s_drainReads

static

Definition at line 86 of file app_main.c.

Referenced by ImuTask().

◆ s_odrHz

volatile float s_odrHz

static

Definition at line 87 of file app_main.c.

Referenced by ImuTask().

◆ s_imuInit

volatile int8_t s_imuInit = 1

static

Definition at line 88 of file app_main.c.

Referenced by ImuTask(), publish_est(), and send_status().

◆ s_psTot

imu_parse_stats_t s_psTot

static

Definition at line 89 of file app_main.c.

Referenced by ImuTask(), and send_status().

◆ s_imu

imu_t s_imu

static

Definition at line 91 of file app_main.c.

Referenced by ImuTask().

◆ s_est

est_t s_est

static

Definition at line 92 of file app_main.c.

Referenced by flight_service(), ImuTask(), log_records(), publish_est(), send_status(), and take_calibrations().

◆ s_fifo

uint8_t s_fifo[IMU_FIFO_MAX_WORDS *IMU_FIFO_WORD_BYTES]

static

Definition at line 93 of file app_main.c.

Referenced by ImuTask().

◆ s_ev

imu_event_t s_ev[IMU_FIFO_MAX_WORDS]

static

Definition at line 94 of file app_main.c.

Referenced by ImuTask().

◆ g_initFrame

uint8_t g_initFrame[TLM_FRAME_MAX]

Definition at line 101 of file app_main.c.

Referenced by get_init(), on_init(), and TelemetryTask().

◆ g_initLen

volatile uint16_t g_initLen

Definition at line 102 of file app_main.c.

Referenced by get_init(), on_init(), and TelemetryTask().

◆ s_calset

cal_set_t s_calset

static

Definition at line 105 of file app_main.c.

Referenced by correct_events(), ImuTask(), on_state(), and take_calibrations().

◆ s_ec

est_config_t s_ec

static

Definition at line 106 of file app_main.c.

Referenced by ImuTask(), and take_calibrations().

◆ g_level_trim_deg

volatile float g_level_trim_deg[2]

static

Definition at line 107 of file app_main.c.

Referenced by ImuTask(), and take_calibrations().

◆ s_est_restart

volatile uint8_t s_est_restart

static

Definition at line 108 of file app_main.c.

Referenced by take_calibrations().

◆ s_alt

alt_est_t s_alt

static

Definition at line 111 of file app_main.c.

Referenced by correct_events(), flight_service(), ImuTask(), log_records(), on_state(), publish_est(), and take_ext().

◆ s_flow_q

uint8_t s_flow_q = 0xFFu

static

Definition at line 112 of file app_main.c.

Referenced by flight_service(), publish_est(), and take_ext().

◆ s_flow_v

float s_flow_v[2]

static

Definition at line 113 of file app_main.c.

Referenced by publish_est(), and take_ext().

◆ s_flow_ms

uint32_t s_flow_ms

static

Definition at line 114 of file app_main.c.

Referenced by take_ext().

◆ s_flow_ok

uint8_t s_flow_ok

static

Definition at line 115 of file app_main.c.

Referenced by publish_est(), and take_ext().

◆ s_flow_usable

uint8_t s_flow_usable

static

Definition at line 116 of file app_main.c.

Referenced by flight_service(), publish_est(), and take_ext().

◆ s_tof_mm

uint16_t s_tof_mm = 0xFFFFu

static

Definition at line 117 of file app_main.c.

Referenced by log_records(), publish_est(), and take_ext().

◆ s_tof_ms

uint32_t s_tof_ms

static

Definition at line 118 of file app_main.c.

Referenced by take_ext().

◆ s_vib2

float s_vib2

static

Definition at line 119 of file app_main.c.

Referenced by log_records(), on_state(), and publish_est().

◆ s_acc_clip

uint16_t s_acc_clip

static

Definition at line 120 of file app_main.c.

Referenced by correct_events(), flight_service(), and publish_est().

◆ s_loop_hz

float s_loop_hz

static

Definition at line 121 of file app_main.c.

Referenced by log_records(), and publish_est().

◆ s_jitter_us

float s_jitter_us

static

Definition at line 121 of file app_main.c.

Referenced by ImuTask(), log_records(), and publish_est().

◆ s_cpu_pct

float s_cpu_pct

static

Definition at line 121 of file app_main.c.

Referenced by log_records(), and publish_est().

◆ s_cpu_cyc

uint32_t s_cpu_cyc

static

Definition at line 122 of file app_main.c.

Referenced by ImuTask(), and publish_est().

◆ s_baro_temp

float s_baro_temp

static

Definition at line 123 of file app_main.c.

Referenced by correct_events(), and publish_est().

◆ s_imu_sensors

uint16_t s_imu_sensors

static

Definition at line 124 of file app_main.c.

Referenced by ImuTask(), and publish_est().

◆ s_lastGyroMs

volatile uint32_t s_lastGyroMs

static

Definition at line 125 of file app_main.c.

Referenced by flight_service(), and ImuTask().

◆ s_msg

tlm_msg_t s_msg

static

Definition at line 149 of file app_main.c.

Referenced by on_init(), on_state(), and push_frame().

Data Structures

Macros

Functions

Variables

Detailed Description

Macro Definition Documentation

◆ FLAG_IMU_IRQ

◆ APP_IWDG_RELOAD

◆ FC_SERVICE_MS

◆ IMU_STALE_MS

Function Documentation

◆ dwt_init()

◆ app_exti()

◆ app_i2c_rx_cplt()

◆ app_i2c_error()

◆ app_uart_tx_cplt()

◆ push_frame()

◆ on_state()

◆ on_init()

◆ iwdg_start()

◆ correct_events()

◆ take_calibrations()

◆ take_ext()

◆ publish_est()

◆ log_records()

◆ flight_service()

◆ ImuTask()

◆ tx_frame()

◆ send_status()

◆ TelemetryTask()

◆ get_init()

◆ motor_test_hook()

◆ log_flash()

◆ log_sensors()

◆ app_start()

Variable Documentation

◆ hi2c1

◆ huart1

◆ s_imuTask

◆ qTlm

◆ s_irqCyc

◆ s_irqCount

◆ s_tlmDrop

◆ s_busErr

◆ s_fifoOvr

◆ s_procCycMax

◆ s_procCycLast

◆ s_wordsMax

◆ s_drainReads

◆ s_odrHz

◆ s_imuInit

◆ s_psTot

◆ s_imu

◆ s_est

◆ s_fifo

◆ s_ev

◆ g_initFrame

◆ g_initLen

◆ s_calset

◆ s_ec

◆ g_level_trim_deg

◆ s_est_restart

◆ s_alt

◆ s_flow_q

◆ s_flow_v

◆ s_flow_ms

◆ s_flow_ok

◆ s_flow_usable

◆ s_tof_mm

◆ s_tof_ms

◆ s_vib2

◆ s_acc_clip

◆ s_loop_hz

◆ s_jitter_us

◆ s_cpu_pct

◆ s_cpu_cyc

◆ s_baro_temp

◆ s_imu_sensors

◆ s_lastGyroMs

◆ s_msg