Paparazzi UAS  v4.2.2_stable-4-gcc32f65
Paparazzi is a free software Unmanned Aircraft System.
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baro_board.c
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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 
29 #include "led.h"
30 #include "mcu_periph/spi.h"
31 
32 /* Common Baro struct */
33 struct Baro baro;
34 
35 /* Counter to init mcp355x at startup */
36 #define STARTUP_COUNTER 200
38 
39 void baro_init( void ) {
40  mcp355x_init();
41  SpiSelectSlave0(); // never unselect this slave (continious conversion mode)
43  baro.absolute = 0;
44  baro.differential = 0; /* not handled on this board */
45 #ifdef ROTORCRAFT_BARO_LED
46  LED_OFF(ROTORCRAFT_BARO_LED);
47 #endif
49 }
50 
51 void baro_periodic( void ) {
52 
53  if (baro.status == BS_UNINITIALIZED) {
54  // Run some loops to get correct readings from the adc
55  --startup_cnt;
56 #ifdef ROTORCRAFT_BARO_LED
57  LED_TOGGLE(ROTORCRAFT_BARO_LED);
58 #endif
59  if (startup_cnt == 0) {
61 #ifdef ROTORCRAFT_BARO_LED
62  LED_ON(ROTORCRAFT_BARO_LED);
63 #endif
64  }
65  }
66  // Read the ADC (at 50/4 Hz, conversion time is 68 ms)
67  RunOnceEvery(4,mcp355x_read());
68 }
69 
unsigned short uint16_t
Definition: types.h:16
Definition: baro.h:41
void baro_periodic(void)
Definition: baro_board.c:56
#define LED_ON(i)
Definition: led_hw.h:28
arch independent SPI (Serial Peripheral Interface) API
int32_t absolute
Definition: baro.h:42
struct Baro baro
Definition: baro_board.c:34
int32_t differential
Definition: baro.h:43
void mcp355x_init(void)
Definition: mcp355x.c:33
void baro_init(void)
Definition: baro_board.c:38
#define LED_TOGGLE(i)
Definition: led_hw.h:30
enum BaroStatus status
Definition: baro.h:44
#define LED_OFF(i)
Definition: led_hw.h:29
arch independent LED (Light Emitting Diodes) API
void mcp355x_read(void)
Definition: mcp355x.c:41