baro_spa06.c

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/*
 * Copyright (C) 2026 OpenUAS
 * Thanks to Florian Sansou florian.sansou@enac.fr for initial implementation
 *
 * 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, see
 * <http://www.gnu.org/licenses/>.
 * 
 */
 
#include "baro_spa06.h"
 
#include "modules/core/abi.h"
#include "math/pprz_isa.h"
#ifdef SPA06_SYNC_SEND
  #include "mcu_periph/uart.h"
  #include "pprzlink/messages.h"
  #include "modules/datalink/downlink.h"
#endif
 
#if DOWNLINK && !defined(SPA06_SYNC_SEND)
  #include "modules/datalink/telemetry.h"
#endif
PRINT_CONFIG_VAR(SPA06_SYNC_SEND)
 
#ifndef SPA06_USE_SPI
  #define SPA06_USE_SPI FALSE
#endif
PRINT_CONFIG_VAR(SPA06_USE_SPI)
PRINT_CONFIG_VAR(SPA06_DEV)
 
 
#ifndef SPA06_SLAVE_ADDR
  #define SPA06_SLAVE_ADDR SPA06_I2C_ADDR
#endif
 
#ifndef SPA06_SLAVE_IDX
  #define SPA06_SLAVE_IDX SPI_SLAVE0
#endif
 
float baro_spa06_alt = 0;              
bool baro_spa06_alt_valid = false;     
static float baro_spa06_temp = 0;      
static float baro_spa06_press = 0;     
 
struct spa06_t baro_spa06;
 
#if DOWNLINK && !defined(SPA06_SYNC_SEND)
static void send_baro_spa_data(struct transport_tx *trans, struct link_device *dev)
{
  int32_t up = baro_spa06.raw_pressure;
  int32_t ut = baro_spa06.raw_temperature;
  int32_t baro_pressure = (int32_t)(baro_spa06_press);           // Pa
  int32_t baro_temperature = (int32_t)(baro_spa06_temp * 10.0f); // 0.1 deg Celcius
  pprz_msg_send_BMP_STATUS(trans, dev, AC_ID, &up, &ut, &baro_pressure, &baro_temperature);
}
#endif
 
void baro_spa06_init(void)
{
#if SPA06_USE_SPI
  baro_spa06.bus = SPA06_SPI;
  baro_spa06.spi.p = &SPA06_DEV;
  baro_spa06.spi.slave_idx = SPA06_SLAVE_IDX;
#else
  baro_spa06.bus = SPA06_I2C;
  baro_spa06.i2c.p = (struct i2c_periph*)&SPA06_DEV;
  baro_spa06.i2c.slave_addr = SPA06_SLAVE_ADDR;
#endif
  spa06_init(&baro_spa06);
#if DOWNLINK && !defined(SPA06_SYNC_SEND)
  register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_BMP_STATUS, send_baro_spa_data);
#endif
}
 
void baro_spa06_periodic(void)
{
  spa06_periodic(&baro_spa06);
}
 
void baro_spa06_event(void)
{
  spa06_event(&baro_spa06);
 
  if (baro_spa06.data_available) {
    uint32_t now_ts = get_sys_time_usec();
    // send ABI message
    AbiSendMsgBARO_ABS(BARO_SPA_SENDER_ID, now_ts, baro_spa06.pressure);
    AbiSendMsgTEMPERATURE(BARO_SPA_SENDER_ID, baro_spa06.temperature);
    baro_spa06.data_available = false;
    baro_spa06_alt = pprz_isa_altitude_of_pressure(baro_spa06.pressure);
    baro_spa06_alt_valid = true;
    baro_spa06_press = baro_spa06.pressure;      // Pa
    baro_spa06_temp = baro_spa06.temperature;    // deg Celcius
 
#if defined(SPA06_SYNC_SEND)
    int32_t up = (int32_t)(baro_spa06.raw_pressure);
    int32_t ut = (int32_t)(baro_spa06.raw_temperature);
    int32_t p = (int32_t) baro_spa06.pressure;
    int32_t t = (int32_t)(baro_spa06.temperature * 10.0f); // 0.1 deg Celcius
    DOWNLINK_SEND_BMP_STATUS(DefaultChannel, DefaultDevice, &up, &ut, &p, &t);
#endif
  }
}