Sensors

It is responsible for processing the sensor data. More...

Macros
#define	CAL_CYC_NUM   100
#define	MEAS_TIME   10
#define	CAL_TIME   10

Functions
void	sensor_init (float *gyr_offset)
	It initiates communication with the sensor.
void	sensor_get_value (float *gyr_offset)
	It handles reading the value from the sensor.
void	sensor_deg_limit (float *p_deg)
	It normalizes the orientation value to the –180° to +180° range.
static void	sensor_calibration (float *gyr_offset)
	It performs the computation of the gyroscope offset.

Variables
sensor_data_t	measured_data
	Current sensor measured data.
settings_t	set_data
	Main system settings.

Detailed Description

It is responsible for processing the sensor data.

#include <sensor_fcn.h> 

The library provides manual gyroscope calibration, sensor data acquisition, and reformatting of the orientation value into the –180° to +180° range. It serves as an additional layer on top of the mpu9250 library from driverlib.

#include <sensor_fcn_def.h> 

Necessary definition and function declaration.

Copyright

(c) Antonin Putala 2026

Macro Definition Documentation

CAL_CYC_NUM

#define CAL_CYC_NUM   100

How much calibration measurement is performed.

Definition at line 25 of file sensor_fcn_def.h.

CAL_TIME

#define CAL_TIME   10

How often sensor is readed during calibration in milliseconds.

Definition at line 31 of file sensor_fcn_def.h.

MEAS_TIME

#define MEAS_TIME   10

How often sensor is readed in milliseconds.

Definition at line 28 of file sensor_fcn_def.h.

Function Documentation

sensor_calibration()

static void sensor_calibration ( float * gyr_offset )

static

It performs the computation of the gyroscope offset.

Parameters

gyr_offset

gyroscope offset obtained repeated measurement

It measures the angular velocity 100 times with a 10 ms period. The result is then averaged. During this procedure, the satellite must remain perfectly stationary.

sensor_deg_limit()

void sensor_deg_limit

(

float *

p_deg

)

It normalizes the orientation value to the –180° to +180° range.

Parameters

p_deg

gyroscope offset obtained repeated measurement

The orientation data are converted into an angular format. For values greater than 180°, 360° is subtracted. For values less than –180°, 360° is added.

Definition at line 88 of file sensor_fcn.c.

sensor_get_value()

void sensor_get_value

(

float *

gyr_offset

)

It handles reading the value from the sensor.

Parameters

gyr_offset

gyroscope offset obtained repeated measurement

The data are read using the mpu9250_basic_read() function from The the mpu9250 library. The values are stored in the global variable measure_data. The gyroscope data are corrected using the previously determined offset, and the orientation is then computed.

Definition at line 49 of file sensor_fcn.c.

sensor_init()

void sensor_init

(

float *

gyr_offset

)

It initiates communication with the sensor.

Parameters

gyr_offset

gyroscope offset obtained repeated measurement

This function initiates communication with the MPU9250 sensor, using the SPI interface. It then calls the sensor_calibration() function, which determines the gyroscope offset. The resulting offset value is subsequently taken into account throughout the rest of the program execution.

Definition at line 24 of file sensor_fcn.c.

Variable Documentation

measured_data

sensor_data_t measured_data

extern

Current sensor measured data.

Definition at line 60 of file main.c.

set_data

settings_t set_data

extern

Main system settings.

Definition at line 61 of file main.c.