Paparazzi UAS  v5.15_devel-81-gd13dafb
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baro_ms5611_spi.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 #ifndef MS5611_SPI_DEV
40 #define MS5611_SPI_DEV spi1
41 #endif
42 
43 #ifndef MS5611_SLAVE_IDX
44 #define MS5611_SLAVE_IDX SPI_SLAVE0
45 #endif
46 
47 
49 
54 
57 
58 
59 void baro_ms5611_init(void)
60 {
62 
63  baro_ms5611_enabled = true;
64  baro_ms5611_alt_valid = false;
65 
68 }
69 
71 {
72 
74 
75 #if SENSOR_SYNC_SEND
76  // send coeff every 30s
77  RunOnceEvery((5 * BARO_MS5611_PERIODIC_CHECK_FREQ), baro_ms5611_send_coeff());
78 #endif
79 
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
void baro_ms5611_event(void)
arch independent UART (Universal Asynchronous Receiver/Transmitter) API
float fbaroms
uint16_t c[PROM_NB]
Definition: ms5611.h:54
struct Ms5611_Spi baro_ms5611
volatile bool data_available
data ready flag
Definition: ms5611_spi.h:44
Measurement Specialties (Intersema) MS5611-01BA pressure/temperature sensor interface for SPI...
uint32_t pressure
pressure in Pascal (0.01mbar)
Definition: ms5611.h:52
struct Ms5611Data data
Definition: ms5611_spi.h:45
static void ms5611_spi_read(struct Ms5611_Spi *ms)
convenience function to trigger new measurement.
Definition: ms5611_spi.h:61
Main include for ABI (AirBorneInterface).
#define BARO_MS5611_R
uint32_t d2
Definition: ms5611.h:56
float baro_ms5611_alt
#define FALSE
Definition: std.h:5
static float pprz_isa_altitude_of_pressure(float pressure)
Get absolute altitude from pressure (using simplified equation).
Definition: pprz_isa.h:82
void ms5611_spi_event(struct Ms5611_Spi *ms)
Definition: ms5611_spi.c:133
#define BARO_MS5611_SENDER_ID
Architecture independent timing functions.
Paparazzi atmospheric pressure conversion utilities.
unsigned long uint32_t
Definition: types.h:18
bool baro_ms5611_alt_valid
#define MS5611_SLAVE_IDX
bool initialized
config done flag
Definition: ms5611_spi.h:43
float ftempms
void baro_ms5611_send_coeff(void)
void baro_ms5611_periodic_check(void)
void ms5611_spi_periodic_check(struct Ms5611_Spi *ms)
Periodic function to ensure proper delay after triggering reset or conversion.
Definition: ms5611_spi.c:92
float baro_ms5611_r
volatile uint32_t nb_sec
full seconds since startup
Definition: sys_time.h:72
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
float baro_ms5611_sigma2
void baro_ms5611_init(void)
#define MS5611_SPI_DEV
void baro_ms5611_read(void)
trigger new measurement or initialize if needed
uint32_t get_sys_time_usec(void)
Get the time in microseconds since startup.
Definition: sys_time_arch.c:68
#define BARO_MS5611_SIGMA2
bool baro_ms5611_enabled
int32_t temperature
temperature with 0.01 degrees Celsius resolution
Definition: ms5611.h:53