Paparazzi UAS  v5.2.2_stable-0-gd6b9f29
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baro_board_ms5611_spi.c
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22 
31 #include "peripherals/ms5611_spi.h"
32 
33 #include "mcu_periph/sys_time.h"
34 #include "led.h"
35 #include "std.h"
36 #include "subsystems/abi.h"
37 
38 #include "mcu_periph/uart.h"
39 #include "messages.h"
41 
42 #ifdef BARO_PERIODIC_FREQUENCY
43 #if BARO_PERIODIC_FREQUENCY > 100
44 #error "For MS5611 BARO_PERIODIC_FREQUENCY has to be < 100"
45 #endif
46 #endif
47 
48 
50 
51 
52 void baro_init(void) {
53  ms5611_spi_init(&bb_ms5611, &BB_MS5611_SPI_DEV, BB_MS5611_SLAVE_IDX);
54 
55 #ifdef BARO_LED
56  LED_OFF(BARO_LED);
57 #endif
58 }
59 
60 void baro_periodic(void) {
61  if (sys_time.nb_sec > 1) {
62 
63  /* call the convenience periodic that initializes the sensor and starts reading*/
65 
66 #if DEBUG
68  RunOnceEvery((50*30), DOWNLINK_SEND_MS5611_COEFF(DefaultChannel, DefaultDevice,
69  &bb_ms5611.data.c[0],
70  &bb_ms5611.data.c[1],
71  &bb_ms5611.data.c[2],
72  &bb_ms5611.data.c[3],
73  &bb_ms5611.data.c[4],
74  &bb_ms5611.data.c[5],
75  &bb_ms5611.data.c[6],
76  &bb_ms5611.data.c[7]));
77 #endif
78  }
79 }
80 
81 void baro_event(void) {
82  if (sys_time.nb_sec > 1) {
84 
86  float pressure = (float)bb_ms5611.data.pressure;
87  AbiSendMsgBARO_ABS(BARO_BOARD_SENDER_ID, &pressure);
89 
90 #ifdef BARO_LED
91  RunOnceEvery(10,LED_TOGGLE(BARO_LED));
92 #endif
93 
94 #if DEBUG
95  float ftempms = bb_ms5611.data.temperature / 100.;
96  float fbaroms = bb_ms5611.data.pressure / 100.;
97  DOWNLINK_SEND_BARO_MS5611(DefaultChannel, DefaultDevice,
99  &fbaroms, &ftempms);
100 #endif
101  }
102  }
103 }
arch independent UART (Universal Asynchronous Receiver/Transmitter) API
uint32_t d1
Definition: ms5611.h:55
struct Ms5611Data data
Definition: ms5611_spi.h:44
Common barometric sensor implementation.
Measurement Specialties (Intersema) MS5611-01BA pressure/temperature sensor interface for SPI...
int32_t temperature
temperature with 0.01 degrees Celsius resolution
Definition: ms5611.h:53
void baro_event(void)
Main include for ABI (AirBorneInterface).
float fbaroms
struct Ms5611_Spi bb_ms5611
#define FALSE
Definition: imu_chimu.h:141
volatile bool_t data_available
data ready flag
Definition: ms5611_spi.h:43
void ms5611_spi_event(struct Ms5611_Spi *ms)
Definition: ms5611_spi.c:131
float ftempms
Architecture independent timing functions.
#define BARO_BOARD_SENDER_ID
default onboard baro
#define LED_TOGGLE(i)
Definition: led_hw.h:30
void baro_init(void)
void ms5611_spi_init(struct Ms5611_Spi *ms, struct spi_periph *spi_p, uint8_t slave_idx)
Definition: ms5611_spi.c:33
bool_t initialized
config done flag
Definition: ms5611_spi.h:42
void baro_periodic(void)
volatile uint32_t nb_sec
full seconds since startup
Definition: sys_time.h:69
#define LED_OFF(i)
Definition: led_hw.h:29
arch independent LED (Light Emitting Diodes) API
uint16_t c[PROM_NB]
Definition: ms5611.h:54
static void ms5611_spi_periodic(struct Ms5611_Spi *ms)
convenience function
Definition: ms5611_spi.h:67
uint32_t pressure
pressure in Pascal (0.01mbar)
Definition: ms5611.h:52
uint32_t d2
Definition: ms5611.h:56