Paparazzi UAS  v5.15_devel-112-g521f3cf
Paparazzi is a free software Unmanned Aircraft System.
 All Data Structures Namespaces Files Functions Variables Typedefs Enumerations Enumerator Macros Modules Pages
baro_board.c
Go to the documentation of this file.
1 /*
2 * Copyright (C) 2010 ENAC
3 *
4 * This file is part of paparazzi.
5 *
6 * paparazzi is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2, or (at your option)
9 * any later version.
10 *
11 * paparazzi is distributed in the hope that it will be useful,
12 * but WITHOUT ANY WARRANTY; without even the implied warranty of
13 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14 * GNU General Public License for more details.
15 *
16 * You should have received a copy of the GNU General Public License
17 * along with paparazzi; see the file COPYING. If not, write to
18 * the Free Software Foundation, 59 Temple Place - Suite 330,
19 * Boston, MA 02111-1307, USA.
20 *
21 */
22 
23 
24 /* driver for the analog Barometer Mpxa6115 using ADC ads1114 (16 bits I2C 860SpS max) from Texas instruments
25  * Navarro & Gorraz & Hattenberger
26  */
27 
28 #include "std.h"
29 #include "baro_board.h"
31 #include "peripherals/mcp355x.h"
32 #include "subsystems/abi.h"
33 #include "led.h"
34 
45 #ifndef NAVGO_BARO_SENS
46 #define NAVGO_BARO_SENS 0.05298
47 #endif
48 
49 #ifndef NAVGO_BARO_OFFSET
50 #define NAVGO_BARO_OFFSET 199229
51 #endif
52 
53 /* Counter to init mcp355x at startup */
54 #define BARO_STARTUP_COUNTER 200
56 
57 void baro_init(void)
58 {
59  mcp355x_init();
60 #ifdef BARO_LED
61  LED_OFF(BARO_LED);
62 #endif
64 }
65 
66 void baro_periodic(void)
67 {
68  // Run some loops to get correct readings from the adc
69  if (startup_cnt > 0) {
70  --startup_cnt;
71 #ifdef BARO_LED
72  LED_TOGGLE(BARO_LED);
73  if (startup_cnt == 0) {
74  LED_ON(BARO_LED);
75  }
76 #endif
77  }
78  // Read the ADC (at 50/4 Hz, conversion time is 68 ms)
79  RunOnceEvery(4, mcp355x_read());
80 }
81 
82 void navgo_baro_event(void)
83 {
84  mcp355x_event();
86  if (startup_cnt == 0) {
87  // Send data when init phase is done
88  uint32_t now_ts = get_sys_time_usec();
90  AbiSendMsgBARO_ABS(BARO_BOARD_SENDER_ID, now_ts, pressure);
91  }
92  mcp355x_data_available = false;
93  }
94 }
unsigned short uint16_t
Definition: types.h:16
uint16_t startup_cnt
Definition: baro_board.c:72
Common barometric sensor implementation.
bool mcp355x_data_available
Definition: mcp355x.c:30
#define LED_OFF(i)
Definition: led_hw.h:52
Main include for ABI (AirBorneInterface).
int32_t mcp355x_data
Definition: mcp355x.c:31
void baro_init(void)
Definition: baro_board.c:76
void baro_periodic(void)
Definition: baro_board.c:90
unsigned long uint32_t
Definition: types.h:18
#define BARO_BOARD_SENDER_ID
default onboard baro
void mcp355x_init(void)
Definition: mcp355x.c:36
#define LED_TOGGLE(i)
Definition: led_hw.h:53
int32_t pressure
pressure in Pascal
Definition: bmp085.h:73
void mcp355x_event(void)
Definition: mcp355x.c:60
arch independent LED (Light Emitting Diodes) API
#define LED_ON(i)
Definition: led_hw.h:51
void mcp355x_read(void)
Definition: mcp355x.c:55
uint32_t get_sys_time_usec(void)
Get the time in microseconds since startup.
Definition: sys_time_arch.c:68