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

#include "peripherals/spa06.h"

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Functions
void	baro_spa06_init (void)
	Bind the driver to the configured bus and register telemetry (module init hook)

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

void	baro_spa06_event (void)
	Process finished bus transactions and publish new measurements (module event hook)

Variables
struct spa06_t	baro_spa06
	The barometer driver instance, exposed for debugging/telemetry.

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

bool	baro_spa06_alt_valid
	true once the first valid sample has been processed

Detailed Description

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

Publishes pressure and temperature as ABI messages (BARO_SPA_SENDER_ID); see baro_spa06.c for details. Configure the bus with SPA06_USE_SPI, SPA06_DEV and SPA06_SLAVE_ADDR / SPA06_SLAVE_IDX.

Definition in file baro_spa06.h.

Function Documentation

◆ baro_spa06_event()

void baro_spa06_event ( void )

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.

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◆ baro_spa06_init()

void baro_spa06_init ( void )

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.