baro_board.c

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/*
* Copyright (C) 2013 Gautier Hattenberger (ENAC)
*
* This file is part of paparazzi.
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING.  If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*
*/
 
#include "std.h"
#include "modules/sensors/baro.h"
#include "peripherals/mpl3115.h"
 
// to get MPU status
#include "boards/apogee/imu_apogee.h"
 
#include "modules/core/abi.h"
#include "led.h"
 
// sd-log
#if APOGEE_BARO_SDLOG
#include "modules/loggers/sdlog_chibios.h"
#include "modules/gps/gps.h"
bool log_apogee_baro_started;
#endif
 
 
#ifndef BARO_BOARD_APOGEE_FREQ
#define BARO_BOARD_APOGEE_FREQ 5
#endif
 
#ifdef BARO_PERIODIC_FREQUENCY
#define MPL_PRESCALER ((BARO_PERIODIC_FREQUENCY)/BARO_BOARD_APOGEE_FREQ)
#else
#ifdef PERIODIC_FREQUENCY
#define MPL_PRESCALER ((PERIODIC_FREQUENCY)/BARO_BOARD_APOGEE_FREQ)
#else
// default: assuming 60Hz for a 5Hz baro update
#define MPL_PRESCALER 12
#endif
#endif
 
#define BARO_STARTUP_COUNTER (200/(MPL_PRESCALER))
uint16_t startup_cnt;
 
struct Mpl3115 apogee_baro;
 
void baro_init(void)
{
  mpl3115_init(&apogee_baro, &i2c1, MPL3115_I2C_ADDR);
#ifdef BARO_LED
  LED_OFF(BARO_LED);
#endif
  startup_cnt = BARO_STARTUP_COUNTER;
 
#if APOGEE_BARO_SDLOG
  log_apogee_baro_started = false;
#endif
 
}
 
void baro_periodic(void)
{
 
  // Baro is slave of the MPU, only start reading it after MPU is configured
  if (imu_apogee.mpu.config.initialized) {
 
    if (startup_cnt > 0 && apogee_baro.data_available) {
      // Run some loops to get correct readings from the adc
      --startup_cnt;
      apogee_baro.data_available = false;
#ifdef BARO_LED
      LED_TOGGLE(BARO_LED);
      if (startup_cnt == 0) {
        LED_ON(BARO_LED);
      }
#endif
    }
    // Read the sensor
    RunOnceEvery(MPL_PRESCALER, mpl3115_periodic(&apogee_baro));
  }
}
 
void apogee_baro_event(void)
{
  mpl3115_event(&apogee_baro);
  if (apogee_baro.data_available && startup_cnt == 0) {
    uint32_t now_ts = get_sys_time_usec();
    float pressure = ((float)apogee_baro.pressure / (1 << 2));
    AbiSendMsgBARO_ABS(BARO_BOARD_SENDER_ID, now_ts, pressure);
    float temp = apogee_baro.temperature / 16.0f;
    AbiSendMsgTEMPERATURE(BARO_BOARD_SENDER_ID, temp);
    apogee_baro.data_available = false;
 
#if APOGEE_BARO_SDLOG
  if (pprzLogFile != -1) {
    if (!log_apogee_baro_started) {
      sdLogWriteLog(pprzLogFile, "APOGEE_BARO: Pres(Pa) Temp(degC) GPS_fix TOW(ms) Week Lat(1e7deg) Lon(1e7deg) HMSL(mm) gpseed(cm/s) course(1e7deg) climb(cm/s)\n");
      log_apogee_baro_started = true;
    }
    sdLogWriteLog(pprzLogFile, "apogee_baro: %9.4f %9.4f %d %d %d   %d %d %d   %d %d %d\n",
      pressure,temp,
      gps.fix, gps.tow, gps.week,
      gps.lla_pos.lat, gps.lla_pos.lon, gps.hmsl,
      gps.gspeed, gps.course, -gps.ned_vel.z);
  }
#endif
 
 
  }
}