Paparazzi UAS  v5.2.2_stable-0-gd6b9f29
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 
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  mcp355x_init();
59 #ifdef BARO_LED
60  LED_OFF(BARO_LED);
61 #endif
63 }
64 
65 void baro_periodic( void ) {
66  // Run some loops to get correct readings from the adc
67  if (startup_cnt > 0) {
68  --startup_cnt;
69 #ifdef BARO_LED
70  LED_TOGGLE(BARO_LED);
71  if (startup_cnt == 0) {
72  LED_ON(BARO_LED);
73  }
74 #endif
75  }
76  // Read the ADC (at 50/4 Hz, conversion time is 68 ms)
77  RunOnceEvery(4,mcp355x_read());
78 }
79 
80 void navgo_baro_event(void) {
81  mcp355x_event();
83  if (startup_cnt == 0) {
84  // Send data when init phase is done
86  AbiSendMsgBARO_ABS(BARO_BOARD_SENDER_ID, &pressure);
87  }
89  }
90 }
unsigned short uint16_t
Definition: types.h:16
uint16_t startup_cnt
Definition: baro_board.c:64
Common barometric sensor implementation.
Main include for ABI (AirBorneInterface).
int32_t mcp355x_data
Definition: mcp355x.c:31
#define LED_ON(i)
Definition: led_hw.h:28
void baro_init(void)
Definition: baro_board.c:68
int32_t pressure
pressure in Pascal
Definition: bmp085.h:73
#define FALSE
Definition: imu_chimu.h:141
void baro_periodic(void)
Definition: baro_board.c:76
#define BARO_BOARD_SENDER_ID
default onboard baro
void mcp355x_init(void)
Definition: mcp355x.c:36
#define LED_TOGGLE(i)
Definition: led_hw.h:30
void mcp355x_event(void)
Definition: mcp355x.c:58
#define LED_OFF(i)
Definition: led_hw.h:29
arch independent LED (Light Emitting Diodes) API
bool_t mcp355x_data_available
Definition: mcp355x.c:30
void mcp355x_read(void)
Definition: mcp355x.c:54