baro_ms5611_spi.c

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/*
 * Copyright (C) 2011-2013 The Paparazzi Team
 *
 * This file is part of paparazzi.
 *
 * paparazzi is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2, or (at your option)
 * any later version.
 *
 * paparazzi is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with paparazzi; see the file COPYING.  If not, write to
 * the Free Software Foundation, 59 Temple Place - Suite 330,
 * Boston, MA 02111-1307, USA.
 *
 */
 
#include "modules/sensors/baro_ms5611_spi.h"
 
#include "math/pprz_isa.h"
#include "mcu_periph/sys_time.h"
#include "modules/core/abi.h"
#include "mcu_periph/uart.h"
#include "pprzlink/messages.h"
#include "modules/datalink/downlink.h"
 
#if USE_BARO_MEDIAN_FILTER
#include "filters/median_filter.h"
struct MedianFilterFloat baro_median_temp;
struct MedianFilterFloat baro_median_pressure;
#endif
 
#ifndef MS5611_SPI_DEV
#define MS5611_SPI_DEV spi1
#endif
 
#ifndef MS5611_SLAVE_IDX
#define MS5611_SLAVE_IDX SPI_SLAVE0
#endif
 
struct Ms5611_Spi baro_ms5611;
 
float fbaroms, ftempms;
float baro_ms5611_alt;
bool baro_ms5611_alt_valid;
bool baro_ms5611_enabled;
 
float baro_ms5611_r;
float baro_ms5611_sigma2;
 
 
void baro_ms5611_init(void)
{
#if USE_BARO_MEDIAN_FILTER
  init_median_filter_f(&baro_median_temp, MEDIAN_DEFAULT_SIZE);
  init_median_filter_f(&baro_median_pressure, MEDIAN_DEFAULT_SIZE);
#endif
 
  ms5611_spi_init(&baro_ms5611, &MS5611_SPI_DEV, MS5611_SLAVE_IDX, FALSE);
 
  baro_ms5611_enabled = true;
  baro_ms5611_alt_valid = false;
 
  baro_ms5611_r = BARO_MS5611_R;
  baro_ms5611_sigma2 = BARO_MS5611_SIGMA2;
}
 
void baro_ms5611_periodic_check(void)
{
  ms5611_spi_periodic_check(&baro_ms5611);
 
#if SENSOR_SYNC_SEND
  // send coeff every 30s
  RunOnceEvery((5 * BARO_MS5611_PERIODIC_CHECK_FREQ), baro_ms5611_send_coeff());
#endif
 
}
 
void baro_ms5611_read(void)
{
  if (sys_time.nb_sec > 1) {
    ms5611_spi_read(&baro_ms5611);
  }
}
 
void baro_ms5611_event(void)
{
 
  ms5611_spi_event(&baro_ms5611);
 
  if (baro_ms5611.data_available) {
    uint32_t now_ts = get_sys_time_usec();
    #if USE_BARO_MEDIAN_FILTER
      baro_ms5611.data.temperature = update_median_filter_f(&baro_median_temp, baro_ms5611.data.temperature);
    #endif
    float temp = baro_ms5611.data.temperature / 100.0f;
    // First Temp as ABI since pressure could depend on temp
    AbiSendMsgTEMPERATURE(BARO_MS5611_SENDER_ID, temp);
 
    #if USE_BARO_MEDIAN_FILTER
      baro_ms5611.data.pressure = update_median_filter_f(&baro_median_pressure, baro_ms5611.data.pressure);
    #endif
    float pressure = (float)baro_ms5611.data.pressure;
    AbiSendMsgBARO_ABS(BARO_MS5611_SENDER_ID, now_ts, pressure);
 
    baro_ms5611.data_available = false;
 
    baro_ms5611_alt = pprz_isa_altitude_of_pressure(pressure);
    baro_ms5611_alt_valid = true;
 
#ifdef SENSOR_SYNC_SEND
    fbaroms = baro_ms5611.data.pressure / 100.;
    DOWNLINK_SEND_BARO_MS5611(DefaultChannel, DefaultDevice,
                              &baro_ms5611.data.d1, &baro_ms5611.data.d2,
                              &fbaroms, &temp);
#endif
  }
}
 
void baro_ms5611_send_coeff(void)
{
  if (baro_ms5611.initialized) {
    DOWNLINK_SEND_MS5611_COEFF(DefaultChannel, DefaultDevice,
                               &baro_ms5611.data.c[0],
                               &baro_ms5611.data.c[1],
                               &baro_ms5611.data.c[2],
                               &baro_ms5611.data.c[3],
                               &baro_ms5611.data.c[4],
                               &baro_ms5611.data.c[5],
                               &baro_ms5611.data.c[6],
                               &baro_ms5611.data.c[7]);
  }
}