Paparazzi UAS  v5.15_devel-81-gd13dafb
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baro_board_ms5611_spi.c
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22 
31 #include "peripherals/ms5611_spi.h"
32 
33 #include "mcu_periph/sys_time.h"
34 #include "led.h"
35 #include "std.h"
36 #include "subsystems/abi.h"
37 
38 #include "mcu_periph/uart.h"
39 #include "pprzlink/messages.h"
41 
42 #include "filters/median_filter.h"
43 
44 #if BARO_PERIODIC_FREQUENCY > 100
45 #error "For MS5611 BARO_PERIODIC_FREQUENCY has to be <= 100"
46 #endif
47 
48 PRINT_CONFIG_VAR(BB_MS5611_SLAVE_IDX)
49 PRINT_CONFIG_VAR(BB_MS5611_SPI_DEV)
50 
52 #ifndef BB_MS5611_TYPE_MS5607
53 #define BB_MS5611_TYPE_MS5607 FALSE
54 #endif
55 
58 
59 void baro_init(void)
60 {
61  ms5611_spi_init(&bb_ms5611, &BB_MS5611_SPI_DEV, BB_MS5611_SLAVE_IDX, BB_MS5611_TYPE_MS5607);
62 
63 #ifdef BARO_LED
64  LED_OFF(BARO_LED);
65 #endif
66 
68 }
69 
70 void baro_periodic(void)
71 {
72  if (sys_time.nb_sec > 1) {
73 
74  /* call the convenience periodic that initializes the sensor and starts reading*/
76 
77 #if DEBUG
79  RunOnceEvery((50 * 30), DOWNLINK_SEND_MS5611_COEFF(DefaultChannel, DefaultDevice,
80  &bb_ms5611.data.c[0],
81  &bb_ms5611.data.c[1],
82  &bb_ms5611.data.c[2],
83  &bb_ms5611.data.c[3],
84  &bb_ms5611.data.c[4],
85  &bb_ms5611.data.c[5],
86  &bb_ms5611.data.c[6],
87  &bb_ms5611.data.c[7]));
88 #endif
89  }
90 }
91 
92 void baro_event(void)
93 {
94  if (sys_time.nb_sec > 1) {
96 
98  uint32_t now_ts = get_sys_time_usec();
99  float pressure = update_median_filter_f(&bb_ms5611_filt, (float)bb_ms5611.data.pressure);
100  AbiSendMsgBARO_ABS(BARO_BOARD_SENDER_ID, now_ts, pressure);
101  float temp = bb_ms5611.data.temperature / 100.0f;
102  AbiSendMsgTEMPERATURE(BARO_BOARD_SENDER_ID, temp);
103  bb_ms5611.data_available = false;
104 
105 #ifdef BARO_LED
106  RunOnceEvery(10, LED_TOGGLE(BARO_LED));
107 #endif
108 
109 #if DEBUG
110  float fbaroms = bb_ms5611.data.pressure / 100.;
111  DOWNLINK_SEND_BARO_MS5611(DefaultChannel, DefaultDevice,
113  &fbaroms, &temp);
114 #endif
115  }
116  }
117 }
uint32_t d1
Definition: ms5611.h:55
arch independent UART (Universal Asynchronous Receiver/Transmitter) API
uint16_t c[PROM_NB]
Definition: ms5611.h:54
Common barometric sensor implementation.
Measurement Specialties (Intersema) MS5611-01BA and MS5607-02BA03 pressure/temperature sensor interfa...
volatile bool data_available
data ready flag
Definition: ms5611_spi.h:44
#define LED_OFF(i)
Definition: led_hw.h:52
uint32_t pressure
pressure in Pascal (0.01mbar)
Definition: ms5611.h:52
struct Ms5611Data data
Definition: ms5611_spi.h:45
void baro_event(void)
Main include for ABI (AirBorneInterface).
float fbaroms
uint32_t d2
Definition: ms5611.h:56
struct Ms5611_Spi bb_ms5611
void ms5611_spi_event(struct Ms5611_Spi *ms)
Definition: ms5611_spi.c:133
Architecture independent timing functions.
struct MedianFilterFloat bb_ms5611_filt
unsigned long uint32_t
Definition: types.h:18
static void init_median_filter_f(struct MedianFilterFloat *filter, uint8_t size)
#define BARO_BOARD_SENDER_ID
default onboard baro
bool initialized
config done flag
Definition: ms5611_spi.h:43
static float update_median_filter_f(struct MedianFilterFloat *filter, float new_data)
#define LED_TOGGLE(i)
Definition: led_hw.h:53
void baro_init(void)
volatile uint32_t nb_sec
full seconds since startup
Definition: sys_time.h:72
void baro_periodic(void)
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
arch independent LED (Light Emitting Diodes) API
static void ms5611_spi_periodic(struct Ms5611_Spi *ms)
convenience function
Definition: ms5611_spi.h:71
uint32_t get_sys_time_usec(void)
Get the time in microseconds since startup.
Definition: sys_time_arch.c:68
int32_t temperature
temperature with 0.01 degrees Celsius resolution
Definition: ms5611.h:53
#define BB_MS5611_TYPE_MS5607
set to TRUE if baro is actually a MS5607