Paparazzi UAS  v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
baro_board_ms5611_spi.c
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4  * This file is part of paparazzi.
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22 
30 #include "modules/sensors/baro.h"
31 #include "peripherals/ms5611_spi.h"
32 
33 #include "mcu_periph/sys_time.h"
34 #include "led.h"
35 #include "std.h"
36 #include "modules/core/abi.h"
37 
38 #include "mcu_periph/uart.h"
39 #include "pprzlink/messages.h"
41 
42 #if BARO_PERIODIC_FREQUENCY > 100
43 #error "For MS5611 BARO_PERIODIC_FREQUENCY has to be <= 100"
44 #endif
45 
46 PRINT_CONFIG_VAR(BB_MS5611_SLAVE_IDX)
47 PRINT_CONFIG_VAR(BB_MS5611_SPI_DEV)
48 
49 #ifndef BB_MS5611_TYPE_MS5607
51 #define BB_MS5611_TYPE_MS5607 FALSE
52 #endif
53 
54 struct Ms5611_Spi bb_ms5611;
55 
56 void baro_init(void)
57 {
58  ms5611_spi_init(&bb_ms5611, &BB_MS5611_SPI_DEV, BB_MS5611_SLAVE_IDX, BB_MS5611_TYPE_MS5607);
59 
60 #ifdef BARO_LED
61  LED_OFF(BARO_LED);
62 #endif
63 }
64 
65 void baro_periodic(void)
66 {
67  if (sys_time.nb_sec > 1) {
68 
69  /* call the convenience periodic that initializes the sensor and starts reading*/
71 
72 #if DEBUG
74  RunOnceEvery((50 * 30), DOWNLINK_SEND_MS5611_COEFF(DefaultChannel, DefaultDevice,
75  &bb_ms5611.data.c[0],
76  &bb_ms5611.data.c[1],
77  &bb_ms5611.data.c[2],
78  &bb_ms5611.data.c[3],
79  &bb_ms5611.data.c[4],
80  &bb_ms5611.data.c[5],
81  &bb_ms5611.data.c[6],
82  &bb_ms5611.data.c[7]));
83 #endif
84  }
85 }
86 
87 void baro_event(void)
88 {
89  if (sys_time.nb_sec > 1) {
91 
93  uint32_t now_ts = get_sys_time_usec();
94  AbiSendMsgBARO_ABS(BARO_BOARD_SENDER_ID, now_ts, bb_ms5611.data.pressure);
95  float temp = bb_ms5611.data.temperature / 100.0f;
96  AbiSendMsgTEMPERATURE(BARO_BOARD_SENDER_ID, temp);
97  bb_ms5611.data_available = false;
98 
99 #ifdef BARO_LED
100  RunOnceEvery(10, LED_TOGGLE(BARO_LED));
101 #endif
102 
103 #if DEBUG
104  float fbaroms = bb_ms5611.data.pressure / 100.;
105  DOWNLINK_SEND_BARO_MS5611(DefaultChannel, DefaultDevice,
107  &fbaroms, &temp);
108 #endif
109  }
110  }
111 }
Main include for ABI (AirBorneInterface).
#define BARO_BOARD_SENDER_ID
default onboard baro
Common barometric sensor implementation.
void baro_periodic(void)
void baro_event(void)
#define BB_MS5611_TYPE_MS5607
set to TRUE if baro is actually a MS5607
struct Ms5611_Spi bb_ms5611
void baro_init(void)
float fbaroms
#define LED_OFF(i)
Definition: led_hw.h:52
#define LED_TOGGLE(i)
Definition: led_hw.h:53
uint32_t get_sys_time_usec(void)
Get the time in microseconds since startup.
Definition: sys_time_arch.c:71
arch independent LED (Light Emitting Diodes) API
uint32_t d2
Definition: ms5611.h:56
uint32_t d1
Definition: ms5611.h:55
uint32_t pressure
pressure in Pascal (0.01mbar)
Definition: ms5611.h:52
int32_t temperature
temperature with 0.01 degrees Celsius resolution
Definition: ms5611.h:53
uint16_t c[PROM_NB]
Definition: ms5611.h:54
void ms5611_spi_event(struct Ms5611_Spi *ms)
Definition: ms5611_spi.c:133
void ms5611_spi_init(struct Ms5611_Spi *ms, struct spi_periph *spi_p, uint8_t slave_idx, bool is_ms5607)
Definition: ms5611_spi.c:33
Measurement Specialties (Intersema) MS5611-01BA and MS5607-02BA03 pressure/temperature sensor interfa...
struct Ms5611Data data
Definition: ms5611_spi.h:45
bool initialized
config done flag
Definition: ms5611_spi.h:43
static void ms5611_spi_periodic(struct Ms5611_Spi *ms)
convenience function
Definition: ms5611_spi.h:71
volatile bool data_available
data ready flag
Definition: ms5611_spi.h:44
PRINT_CONFIG_VAR(ONELOOP_ANDI_FILT_CUTOFF)
Architecture independent timing functions.
volatile uint32_t nb_sec
full seconds since startup
Definition: sys_time.h:72
arch independent UART (Universal Asynchronous Receiver/Transmitter) API
unsigned int uint32_t
Typedef defining 32 bit unsigned int type.
Definition: vl53l1_types.h:78