ext_sens.h File Reference

Expansion sensors on the Qwiic bus (ACwing Flow rev A): VL53L1X ToF and the optical-flow bridge. More...

#include <stdint.h>
#include "vl53l1x.h"
#include "sensor_bus.h"

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Data Structures
struct	ext_sample_t
struct	ext_buses_t

Macros
#define	EXT_PERIOD_MS   10u
#define	EXT_PROBE_MS   5000u
#define	EXT_ERR_LIMIT   50u
	consecutive errors: device lost, probe again

Enumerations
enum	{ EXT_TOF = 1 , EXT_FLOW = 2 }

Functions
void	ext_init (const ext_buses_t *buses)
void	ext_step (uint32_t now_ms)
	one 10 ms cycle
void	ext_sens_start (void)
	creates the task (after imu_i2c_bus_init)
int	ext_take (ext_sample_t *s)
	flight context: 1 if a sample was taken
uint16_t	ext_sensors (void)
	PV2_S_TOF | PV2_S_FLOW currently detected.
uint32_t	ext_errors (void)

Detailed Description

Expansion sensors on the Qwiic bus (ACwing Flow rev A): VL53L1X ToF and the optical-flow bridge.

Own low-priority task (ExtTask).

Logic (ext_init / ext_step) is portable and host-tested: the devices are probed at boot and every 5 s while one is missing (the board can be plugged in later), polled every 10 ms, declared lost after 50 consecutive bus errors, and every new sample is handed to the flight-control context through a lock-free SPSC queue (ext_take). The bus bindings are in bsp/ext_i2c.c; the RTOS task shell is at the end of ext_sens.c.

Definition in file ext_sens.h.

Macro Definition Documentation

EXT_PERIOD_MS

#define EXT_PERIOD_MS   10u

Definition at line 20 of file ext_sens.h.

EXT_PROBE_MS

#define EXT_PROBE_MS   5000u

Definition at line 21 of file ext_sens.h.

EXT_ERR_LIMIT

#define EXT_ERR_LIMIT   50u

consecutive errors: device lost, probe again

Definition at line 22 of file ext_sens.h.

Enumeration Type Documentation

anonymous enum

anonymous enum

Enumerator
EXT_TOF
EXT_FLOW

Definition at line 23 of file ext_sens.h.

Function Documentation

ext_init()

void ext_init

(

const ext_buses_t *

buses

)

Definition at line 22 of file ext_sens.c.

References b, flow_t::ok, vl53_t::ok, s_bus, s_err, s_flow, s_flow_err, s_probed, s_q, s_sens, s_tof, s_tof_err, and spsc_reset().

Referenced by ext_sens_start().

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ext_step()

void ext_step

(

uint32_t

now_ms

)

one 10 ms cycle

Definition at line 36 of file ext_sens.c.

References flow_frame_t::dt_s, flow_frame_t::dx, flow_frame_t::dy, EXT_ERR_LIMIT, EXT_FLOW, EXT_PROBE_MS, EXT_TOF, EXT_TOF_BUDGET_MS, ext_buses_t::flow, flow_init(), flow_read(), vl53_sample_t::mm, flow_t::ok, vl53_t::ok, publish(), s, s_bus, s_err, s_flow, s_flow_err, s_next_probe, s_probed, s_q, s_tof, s_tof_err, spsc_push(), flow_frame_t::squal, flow_frame_t::status, vl53_sample_t::status, ext_buses_t::tof, vl53_init(), and vl53_poll().

Referenced by ExtTask().

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ext_sens_start()

void ext_sens_start

(

void

)

creates the task (after imu_i2c_bus_init)

Definition at line 100 of file ext_sens.c.

References b, ext_i2c_flow_bus(), ext_i2c_tof_bus(), ext_init(), ExtTask(), FLOW_BRIDGE_ADDR_7BIT, and VL53L1X_ADDR_7BIT.

Referenced by app_start().

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ext_take()

int ext_take

(

ext_sample_t *

s

)

flight context: 1 if a sample was taken

Definition at line 81 of file ext_sens.c.

References s, s_q, and spsc_pop().

Referenced by take_ext().

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ext_sensors()

uint16_t ext_sensors

(

void

)

PV2_S_TOF | PV2_S_FLOW currently detected.

Definition at line 82 of file ext_sens.c.

References s_sens.

Referenced by log_sensors(), sensors_now(), and take_ext().

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ext_errors()

uint32_t ext_errors

(

void

)

Definition at line 83 of file ext_sens.c.

References s_err.