Paparazzi UAS  v5.15_devel-50-g4d7045d
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baro_ms5611_i2c.c
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22 
31 
32 #include "math/pprz_isa.h"
33 #include "mcu_periph/sys_time.h"
34 #include "subsystems/abi.h"
35 #include "mcu_periph/uart.h"
36 #include "pprzlink/messages.h"
38 
39 
40 #ifndef MS5611_I2C_DEV
41 #define MS5611_I2C_DEV i2c0
42 #endif
43 
44 /* address can be 0xEC or 0xEE (CSB\ low = 0xEE) */
45 #ifndef MS5611_SLAVE_ADDR
46 #define MS5611_SLAVE_ADDR 0xEE
47 #endif
48 
50 
55 
58 
59 
60 void baro_ms5611_init(void)
61 {
63 
64  baro_ms5611_enabled = true;
65  baro_ms5611_alt_valid = false;
66 
69 }
70 
72 {
73 
75 
76 #if SENSOR_SYNC_SEND
77  // send coeff every 30s
78  RunOnceEvery((30 * BARO_MS5611_PERIODIC_CHECK_FREQ), baro_ms5611_send_coeff());
79 #endif
80 }
81 
83 void baro_ms5611_read(void)
84 {
85  if (sys_time.nb_sec > 1) {
87  }
88 }
89 
91 {
92 
94 
96  uint32_t now_ts = get_sys_time_usec();
97  float pressure = (float)baro_ms5611.data.pressure;
98  AbiSendMsgBARO_ABS(BARO_MS5611_SENDER_ID, now_ts, pressure);
99  float temp = baro_ms5611.data.temperature / 100.0f;
100  AbiSendMsgTEMPERATURE(BARO_MS5611_SENDER_ID, temp);
101  baro_ms5611.data_available = false;
102 
104  baro_ms5611_alt_valid = true;
105 
106 #ifdef SENSOR_SYNC_SEND
107  fbaroms = baro_ms5611.data.pressure / 100.;
108  DOWNLINK_SEND_BARO_MS5611(DefaultChannel, DefaultDevice,
110  &fbaroms, &temp);
111 #endif
112  }
113 }
114 
116 {
117  if (baro_ms5611.initialized) {
118  DOWNLINK_SEND_MS5611_COEFF(DefaultChannel, DefaultDevice,
119  &baro_ms5611.data.c[0],
120  &baro_ms5611.data.c[1],
121  &baro_ms5611.data.c[2],
122  &baro_ms5611.data.c[3],
123  &baro_ms5611.data.c[4],
124  &baro_ms5611.data.c[5],
125  &baro_ms5611.data.c[6],
126  &baro_ms5611.data.c[7]);
127  }
128 }
uint32_t d1
Definition: ms5611.h:55
arch independent UART (Universal Asynchronous Receiver/Transmitter) API
float baro_ms5611_sigma2
void ms5611_i2c_init(struct Ms5611_I2c *ms, struct i2c_periph *i2c_p, uint8_t addr, bool is_ms5607)
Definition: ms5611_i2c.c:33
uint16_t c[PROM_NB]
Definition: ms5611.h:54
void baro_ms5611_init(void)
float baro_ms5611_alt
struct Ms5611Data data
Definition: ms5611_i2c.h:43
uint32_t pressure
pressure in Pascal (0.01mbar)
Definition: ms5611.h:52
bool baro_ms5611_alt_valid
Main include for ABI (AirBorneInterface).
void baro_ms5611_send_coeff(void)
#define BARO_MS5611_R
float fbaroms
uint32_t d2
Definition: ms5611.h:56
#define FALSE
Definition: std.h:5
void baro_ms5611_event(void)
static float pprz_isa_altitude_of_pressure(float pressure)
Get absolute altitude from pressure (using simplified equation).
Definition: pprz_isa.h:82
volatile bool data_available
data ready flag
Definition: ms5611_i2c.h:42
#define BARO_MS5611_SENDER_ID
float ftempms
Architecture independent timing functions.
Paparazzi atmospheric pressure conversion utilities.
unsigned long uint32_t
Definition: types.h:18
void ms5611_i2c_event(struct Ms5611_I2c *ms)
Definition: ms5611_i2c.c:119
void baro_ms5611_read(void)
trigger new measurement or initialize if needed
bool baro_ms5611_enabled
struct Ms5611_I2c baro_ms5611
#define MS5611_SLAVE_ADDR
volatile uint32_t nb_sec
full seconds since startup
Definition: sys_time.h:72
bool initialized
config done flag
Definition: ms5611_i2c.h:41
static void ms5611_i2c_read(struct Ms5611_I2c *ms)
convenience function to trigger new measurement.
Definition: ms5611_i2c.h:59
#define MS5611_I2C_DEV
uint32_t get_sys_time_usec(void)
Get the time in microseconds since startup.
Definition: sys_time_arch.c:68
#define BARO_MS5611_SIGMA2
int32_t temperature
temperature with 0.01 degrees Celsius resolution
Definition: ms5611.h:53
void ms5611_i2c_periodic_check(struct Ms5611_I2c *ms)
Periodic function to ensure proper delay after triggering reset or conversion.
Definition: ms5611_i2c.c:78
float baro_ms5611_r
void baro_ms5611_periodic_check(void)