Paparazzi UAS  v5.12_stable-4-g9b43e9b
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baro_board_ms5611_i2c.c
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22 
32 #include "peripherals/ms5611_i2c.h"
33 
34 #include "mcu_periph/sys_time.h"
35 #include "led.h"
36 #include "std.h"
37 #include "subsystems/abi.h"
38 
39 #include "mcu_periph/uart.h"
40 #include "pprzlink/messages.h"
42 
43 #ifdef BARO_PERIODIC_FREQUENCY
44 #if BARO_PERIODIC_FREQUENCY > 100
45 #error "For MS5611 BARO_PERIODIC_FREQUENCY has to be < 100"
46 #endif
47 #endif
48 
49 
56 #ifndef BB_MS5611_SLAVE_ADDR
57 #define BB_MS5611_SLAVE_ADDR 0xEE
58 #endif
59 
61 #ifndef BB_MS5611_TYPE_MS5607
62 #define BB_MS5611_TYPE_MS5607 FALSE
63 #endif
64 PRINT_CONFIG_VAR(BB_MS5611_TYPE_MS5607)
65 
67 
68 
69 void baro_init(void)
70 {
71  ms5611_i2c_init(&bb_ms5611, &BB_MS5611_I2C_DEV, BB_MS5611_SLAVE_ADDR, BB_MS5611_TYPE_MS5607);
72 
73 #ifdef BARO_LED
74  LED_OFF(BARO_LED);
75 #endif
76 }
77 
78 void baro_periodic(void)
79 {
80  if (sys_time.nb_sec > 1) {
81 
82  /* call the convenience periodic that initializes the sensor and starts reading*/
84 
85 #if DEBUG
87  RunOnceEvery((50 * 30), DOWNLINK_SEND_MS5611_COEFF(DefaultChannel, DefaultDevice,
88  &bb_ms5611.data.c[0],
89  &bb_ms5611.data.c[1],
90  &bb_ms5611.data.c[2],
91  &bb_ms5611.data.c[3],
92  &bb_ms5611.data.c[4],
93  &bb_ms5611.data.c[5],
94  &bb_ms5611.data.c[6],
95  &bb_ms5611.data.c[7]));
96 #endif
97  }
98 }
99 
100 void baro_event(void)
101 {
102  if (sys_time.nb_sec > 1) {
104 
106  float pressure = (float)bb_ms5611.data.pressure;
107  AbiSendMsgBARO_ABS(BARO_BOARD_SENDER_ID, pressure);
108  float temp = bb_ms5611.data.temperature / 100.0f;
109  AbiSendMsgTEMPERATURE(BARO_BOARD_SENDER_ID, temp);
110  bb_ms5611.data_available = false;
111 
112 #ifdef BARO_LED
113  RunOnceEvery(10, LED_TOGGLE(BARO_LED));
114 #endif
115 
116 #if DEBUG
117  float fbaroms = bb_ms5611.data.pressure / 100.;
118  DOWNLINK_SEND_BARO_MS5611(DefaultChannel, DefaultDevice,
120  &fbaroms, &temp);
121 #endif
122  }
123  }
124 }
uint32_t d1
Definition: ms5611.h:55
struct Ms5611_I2c bb_ms5611
arch independent UART (Universal Asynchronous Receiver/Transmitter) API
void ms5611_i2c_init(struct Ms5611_I2c *ms, struct i2c_periph *i2c_p, uint8_t addr, bool is_ms5607)
Definition: ms5611_i2c.c:33
uint16_t c[PROM_NB]
Definition: ms5611.h:54
Common barometric sensor implementation.
struct Ms5611Data data
Definition: ms5611_i2c.h:43
#define LED_OFF(i)
Definition: led_hw.h:51
uint32_t pressure
pressure in Pascal (0.01mbar)
Definition: ms5611.h:52
void baro_init(void)
Main include for ABI (AirBorneInterface).
float fbaroms
uint32_t d2
Definition: ms5611.h:56
void baro_event(void)
#define BB_MS5611_SLAVE_ADDR
default i2c address when CSB is set to GND addr is 0xEE when CSB is set to VCC addr is 0xEC ...
volatile bool data_available
data ready flag
Definition: ms5611_i2c.h:42
Architecture independent timing functions.
Measurement Specialties (Intersema) MS5611-01BA and MS5607-02BA03 pressure/temperature sensor interfa...
static void ms5611_i2c_periodic(struct Ms5611_I2c *ms)
convenience function
Definition: ms5611_i2c.h:69
void baro_periodic(void)
#define BARO_BOARD_SENDER_ID
default onboard baro
void ms5611_i2c_event(struct Ms5611_I2c *ms)
Definition: ms5611_i2c.c:119
#define LED_TOGGLE(i)
Definition: led_hw.h:52
volatile uint32_t nb_sec
full seconds since startup
Definition: sys_time.h:72
Paparazzi Bebop Baro Sensor implementation for the MS5607.
bool initialized
config done flag
Definition: ms5611_i2c.h:41
arch independent LED (Light Emitting Diodes) API
#define BB_MS5611_TYPE_MS5607
set to TRUE if baro is actually a MS5607
int32_t temperature
temperature with 0.01 degrees Celsius resolution
Definition: ms5611.h:53