Module glue for the Goertek SPA06-003 / SPL06-001 barometer. More...

#include "baro_spa06.h"
#include "modules/core/abi.h"
#include "math/pprz_isa.h"
#include "modules/datalink/telemetry.h"

Include dependency graph for baro_spa06.c:

Go to the source code of this file.

Macros
#define	SPA06_USE_SPI FALSE

#define	SPA06_SLAVE_ADDR SPA06_I2C_ADDR
	Default I2C slave address (SDO low); override with SPA06_I2C_ADDR_ALT for SDO high.

#define	SPA06_SLAVE_IDX SPI_SLAVE0
	Default SPI slave select index, only used when SPA06_USE_SPI is TRUE.

Functions
static void	send_baro_spa_data (struct transport_tx trans, struct link_device dev)
	Periodic telemetry: report the latest barometer data.

void	baro_spa06_init (void)
	Bind the driver to the configured bus and register telemetry.

void	baro_spa06_periodic (void)
	Drive the sensor state machine (module periodic hook, 25Hz)

void	baro_spa06_event (void)
	Process finished bus transactions and publish new measurements.

Variables
float	baro_spa06_alt = 0
	ISA pressure altitude of the last sample [m].

bool	baro_spa06_alt_valid = false
	true once the first valid sample has been processed

static float	baro_spa06_temp = 0
	last sensor temperature [deg Celcius]

static float	baro_spa06_press = 0
	last compensated pressure [Pa]

struct spa06_t	baro_spa06
	The barometer driver instance.

Detailed Description

Module glue for the Goertek SPA06-003 / SPL06-001 barometer.

Wires the spa06 peripheral driver (see peripherals/spa06.c) into the module system: init/periodic/event hooks, and publishes each accepted measurement as ABI BARO_ABS + TEMPERATURE messages (BARO_SPA_SENDER_ID). Optionally reports over telemetry via the BMP_STATUS message, either periodically (default) or per sample (SPA06_SYNC_SEND, debugging only).

Definition in file baro_spa06.c.

Macro Definition Documentation

◆ SPA06_SLAVE_ADDR

#define SPA06_SLAVE_ADDR SPA06_I2C_ADDR

Default I2C slave address (SDO low); override with SPA06_I2C_ADDR_ALT for SDO high.

Definition at line 57 of file baro_spa06.c.

◆ SPA06_SLAVE_IDX

#define SPA06_SLAVE_IDX SPI_SLAVE0

Default SPI slave select index, only used when SPA06_USE_SPI is TRUE.

Definition at line 62 of file baro_spa06.c.

◆ SPA06_USE_SPI

#define SPA06_USE_SPI FALSE

Definition at line 50 of file baro_spa06.c.

Function Documentation

◆ baro_spa06_event()

void baro_spa06_event ( void )

Process finished bus transactions and publish new measurements.

Process finished bus transactions and publish new measurements (module event hook)

When the driver flags a valid sample: sends ABI BARO_ABS [Pa] and TEMPERATURE [deg Celcius], updates the baro_* globals (including the ISA pressure altitude) and clears data_available for the next sample.

Definition at line 127 of file baro_spa06.c.

References baro_spa06, baro_spa06_alt, baro_spa06_alt_valid, baro_spa06_press, baro_spa06_temp, BARO_SPA_SENDER_ID, spa06_t::data_available, DefaultChannel, DefaultDevice, foo, get_sys_time_usec(), p, pprz_isa_altitude_of_pressure(), spa06_t::pressure, spa06_t::raw_pressure, spa06_t::raw_temperature, spa06_event(), spa06_t::temperature, and up.

Here is the call graph for this function:

◆ baro_spa06_init()

void baro_spa06_init ( void )

Bind the driver to the configured bus and register telemetry.

Bind the driver to the configured bus and register telemetry (module init hook)

Bus selection is compile time: SPA06_USE_SPI picks SPI (SPA06_DEV + SPA06_SLAVE_IDX) or I2C (SPA06_DEV + SPA06_SLAVE_ADDR). The sensor itself is detected and configured asynchronously by the periodic/event pair.

Definition at line 97 of file baro_spa06.c.

References baro_spa06, spa06_t::bus, DefaultPeriodic, foo, register_periodic_telemetry(), send_baro_spa_data(), SPA06_I2C, spa06_init(), SPA06_SLAVE_ADDR, SPA06_SLAVE_IDX, and SPA06_SPI.