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baro_MS5534A.c File Reference

Handling of the MS5534a pressure sensor. More...

#include "modules/sensors/baro_MS5534A.h"
#include "mcu_periph/spi.h"
#include "mcu_periph/uart.h"
#include "subsystems/datalink/downlink.h"
#include "subsystems/abi.h"
#include "firmwares/fixedwing/nav.h"
#include "state.h"
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Go to the source code of this file.

Macros

#define STATUS_INIT1   0
 
#define STATUS_INIT2   1
 
#define STATUS_INIT3   2
 
#define STATUS_INIT4   3
 
#define STATUS_MEASURE_PRESSURE   4
 
#define STATUS_MEASURE_TEMPERATURE   5
 
#define STATUS_RESET   6
 
#define InitStatus()   (status <= STATUS_INIT4)
 
#define NextStatus()
 
#define CMD_INIT   0x1D
 
#define CMD_MEASUREMENT   0x0F
 
#define CMD_W1   0x50
 
#define CMD_W2   0x60
 
#define CMD_W3   0x90
 
#define CMD_W4   0xA0
 
#define CMD_PRESSURE   0x40
 
#define CMD_TEMPERATURE   0x20
 
#define Uint16(buf_input)   (buf_input[0] << 8 | buf_input[1])
 
#define MS5534A_MCLK   32768
 
#define PWM_PERIOD   ((PCLK / PWM_PRESCALER) / MS5534A_MCLK)
 
#define PWM_DUTY   (PWM_PERIOD / 2)
 

Functions

static void calibration (void)
 
void baro_MS5534A_init (void)
 
void baro_MS5534A_reset (void)
 
void baro_MS5534A_send (void)
 
void baro_MS5534A_event_task (void)
 
void baro_MS5534A_event (void)
 

Variables

bool baro_MS5534A_do_reset
 
uint32_t baro_MS5534A_pressure
 
uint16_t baro_MS5534A_temp
 
bool baro_MS5534A_available
 
bool alt_baro_enabled
 
uint32_t baro_MS5534A_ground_pressure
 
float baro_MS5534A_r
 
float baro_MS5534A_sigma2
 
float baro_MS5534A_z
 
static uint8_t status
 
static bool status_read_data
 
static uint16_t words [4]
 
static uint8_t cmds [6] = {CMD_W1, CMD_W2, CMD_W3, CMD_W4, CMD_PRESSURE, CMD_TEMPERATURE}
 
static uint8_t reset [3] = {0x15, 0x55, 0x40}
 
static uint8_t buf_input [3]
 
static uint8_t buf_output [3]
 
static uint16_t d1
 
static uint16_t d2
 
static uint16_t c1
 
static uint16_t c2
 
static uint16_t c3
 
static uint16_t c4
 
static uint16_t ut1
 
static uint16_t c6
 

Detailed Description

Handling of the MS5534a pressure sensor.

uses: MOSI, MISO, SCK and 32kHz @ P0.7 with 5V for the -A type

Definition in file baro_MS5534A.c.

Macro Definition Documentation

#define CMD_INIT   0x1D

Definition at line 73 of file baro_MS5534A.c.

Referenced by baro_MS5534A_send().

#define CMD_MEASUREMENT   0x0F

Definition at line 74 of file baro_MS5534A.c.

Referenced by baro_MS5534A_send().

#define CMD_PRESSURE   0x40

Definition at line 80 of file baro_MS5534A.c.

#define CMD_TEMPERATURE   0x20

Definition at line 81 of file baro_MS5534A.c.

#define CMD_W1   0x50

Definition at line 76 of file baro_MS5534A.c.

#define CMD_W2   0x60

Definition at line 77 of file baro_MS5534A.c.

#define CMD_W3   0x90

Definition at line 78 of file baro_MS5534A.c.

#define CMD_W4   0xA0

Definition at line 79 of file baro_MS5534A.c.

#define InitStatus ( )    (status <= STATUS_INIT4)

Definition at line 64 of file baro_MS5534A.c.

Referenced by baro_MS5534A_send().

#define MS5534A_MCLK   32768

Definition at line 111 of file baro_MS5534A.c.

#define NextStatus ( )
Value:
{ \
if (status_read_data) { \
status++; if (status > STATUS_MEASURE_TEMPERATURE) status = STATUS_MEASURE_PRESSURE; \
}; \
status_read_data = !status_read_data; \
}
STATUS_MEASURE_TEMPERATURE
#define STATUS_MEASURE_TEMPERATURE
Definition: baro_MS5534A.c:57
STATUS_MEASURE_PRESSURE
#define STATUS_MEASURE_PRESSURE
Definition: baro_MS5534A.c:56
status_read_data
static bool status_read_data
Definition: baro_MS5534A.c:61
status
static uint8_t status
Definition: baro_MS5534A.c:60

Definition at line 66 of file baro_MS5534A.c.

Referenced by baro_MS5534A_event_task().

#define PWM_DUTY   (PWM_PERIOD / 2)

Definition at line 113 of file baro_MS5534A.c.

Referenced by baro_MS5534A_init().

#define PWM_PERIOD   ((PCLK / PWM_PRESCALER) / MS5534A_MCLK)

Definition at line 112 of file baro_MS5534A.c.

Referenced by baro_MS5534A_init().

#define STATUS_INIT1   0

Definition at line 52 of file baro_MS5534A.c.

Referenced by baro_MS5534A_init(), and baro_MS5534A_reset().

#define STATUS_INIT2   1

Definition at line 53 of file baro_MS5534A.c.

#define STATUS_INIT3   2

Definition at line 54 of file baro_MS5534A.c.

#define STATUS_INIT4   3

Definition at line 55 of file baro_MS5534A.c.

Referenced by baro_MS5534A_event_task().

#define STATUS_MEASURE_PRESSURE   4

Definition at line 56 of file baro_MS5534A.c.

Referenced by baro_MS5534A_event_task(), and baro_MS5534A_init().

#define STATUS_MEASURE_TEMPERATURE   5

Definition at line 57 of file baro_MS5534A.c.

Referenced by baro_MS5534A_event_task().

#define STATUS_RESET   6

Definition at line 58 of file baro_MS5534A.c.

Referenced by baro_MS5534A_event_task(), and baro_MS5534A_send().

#define Uint16 (   buf_input)    (buf_input[0] << 8 | buf_input[1])

Definition at line 90 of file baro_MS5534A.c.

Referenced by baro_MS5534A_event_task().

Function Documentation

void baro_MS5534A_event ( void  )

Definition at line 263 of file baro_MS5534A.c.

References baro_MS5534A_available, baro_MS5534A_event_task(), baro_MS5534A_ground_pressure, baro_MS5534A_pressure, BARO_MS5534A_SENDER_ID, baro_MS5534A_temp, baro_MS5534A_z, DefaultChannel, DefaultDevice, get_sys_time_usec(), ground_alt, and Mpl3115::pressure.

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void baro_MS5534A_event_task ( void  )

Definition at line 226 of file baro_MS5534A.c.

References baro_MS5534A_available, baro_MS5534A_pressure, baro_MS5534A_send(), baro_MS5534A_temp, buf_input, c1, c2, c3, c4, c6, calibration(), d1, d2, NextStatus, status, STATUS_INIT4, STATUS_MEASURE_PRESSURE, STATUS_MEASURE_TEMPERATURE, status_read_data, STATUS_RESET, Uint16, ut1, and words.

Referenced by baro_MS5534A_event().

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void baro_MS5534A_init ( void  )

Definition at line 118 of file baro_MS5534A.c.

References alt_baro_enabled, baro_MS5534A_available, baro_MS5534A_do_reset, baro_MS5534A_ground_pressure, baro_MS5534A_r, baro_MS5534A_sigma2, calibration(), PINSEL0, PWM_DUTY, PWM_PERIOD, PWMLER, PWMLER_LATCH0, PWMLER_LATCH2, PWMMR0, PWMMR2, PWMPCR, PWMPCR_ENA2, PWMPR, PWMTCR, PWMTCR_COUNTER_ENABLE, PWMTCR_PWM_ENABLE, status, STATUS_INIT1, STATUS_MEASURE_PRESSURE, status_read_data, and words.

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void baro_MS5534A_reset ( void  )

Definition at line 162 of file baro_MS5534A.c.

References status, STATUS_INIT1, and status_read_data.

void baro_MS5534A_send ( void  )

Definition at line 169 of file baro_MS5534A.c.

References buf_input, buf_output, CMD_INIT, CMD_MEASUREMENT, cmds, InitStatus, reset, SpiSetCPHA(), SpiStart(), status, status_read_data, and STATUS_RESET.

Referenced by baro_MS5534A_event_task().

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static void calibration ( void  )
static

Definition at line 206 of file baro_MS5534A.c.

References c1, c2, c3, c4, c6, DefaultChannel, DefaultDevice, ut1, and words.

Referenced by baro_MS5534A_event_task(), and baro_MS5534A_init().

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Variable Documentation

bool alt_baro_enabled

Definition at line 45 of file baro_MS5534A.c.

Referenced by alt_kalman(), and baro_MS5534A_init().

bool baro_MS5534A_available

Definition at line 44 of file baro_MS5534A.c.

Referenced by baro_MS5534A_event(), baro_MS5534A_event_task(), and baro_MS5534A_init().

bool baro_MS5534A_do_reset

Definition at line 41 of file baro_MS5534A.c.

Referenced by baro_MS5534A_init().

uint32_t baro_MS5534A_ground_pressure

Definition at line 46 of file baro_MS5534A.c.

Referenced by baro_MS5534A_event(), and baro_MS5534A_init().

uint32_t baro_MS5534A_pressure

Definition at line 42 of file baro_MS5534A.c.

Referenced by baro_MS5534A_event(), and baro_MS5534A_event_task().

float baro_MS5534A_r

Definition at line 47 of file baro_MS5534A.c.

Referenced by alt_kalman(), and baro_MS5534A_init().

float baro_MS5534A_sigma2

Definition at line 48 of file baro_MS5534A.c.

Referenced by alt_kalman(), and baro_MS5534A_init().

uint16_t baro_MS5534A_temp

Definition at line 43 of file baro_MS5534A.c.

Referenced by baro_MS5534A_event(), and baro_MS5534A_event_task().

float baro_MS5534A_z

Definition at line 49 of file baro_MS5534A.c.

Referenced by baro_MS5534A_event().

uint8_t buf_input[3]
static

Definition at line 87 of file baro_MS5534A.c.

Referenced by baro_MS5534A_event_task(), and baro_MS5534A_send().

uint8_t buf_output[3]
static

Definition at line 88 of file baro_MS5534A.c.

Referenced by baro_MS5534A_send().

uint16_t c1
static

Definition at line 203 of file baro_MS5534A.c.

Referenced by baro_MS5534A_event_task(), calibration(), distributed_circular(), float_mat_minor_4d(), int32_atan2(), int32_atan2_2(), jpeg_DCT(), manage_flow_features(), and nav_eight().

uint16_t c2
static

Definition at line 203 of file baro_MS5534A.c.

Referenced by baro_MS5534A_event_task(), calibration(), distributed_circular(), float_mat_minor_4d(), float_quat_differential(), gc_of_gd_lat_d(), int32_atan2(), int32_atan2_2(), and jpeg_DCT().

uint16_t c3
static

Definition at line 203 of file baro_MS5534A.c.

Referenced by baro_MS5534A_event_task(), calibration(), and jpeg_DCT().

uint16_t c4
static

Definition at line 203 of file baro_MS5534A.c.

Referenced by baro_MS5534A_event_task(), and calibration().

uint16_t c6
static

Definition at line 203 of file baro_MS5534A.c.

Referenced by baro_MS5534A_event_task(), calibration(), and jpeg_DCT().

uint8_t cmds[6] = {CMD_W1, CMD_W2, CMD_W3, CMD_W4, CMD_PRESSURE, CMD_TEMPERATURE}
static

Definition at line 82 of file baro_MS5534A.c.

Referenced by actuators_esc32_config_cmd(), and baro_MS5534A_send().

uint16_t d1
static

Definition at line 202 of file baro_MS5534A.c.

Referenced by baro_MS5534A_event_task().

uint16_t d2
static

Definition at line 202 of file baro_MS5534A.c.

Referenced by baro_MS5534A_event_task(), and trilateration_compute().

uint8_t reset[3] = {0x15, 0x55, 0x40}
static

Definition at line 83 of file baro_MS5534A.c.

Referenced by baro_MS5534A_send().

uint8_t status
static

Definition at line 60 of file baro_MS5534A.c.

Referenced by baro_MS5534A_event_task(), baro_MS5534A_init(), baro_MS5534A_reset(), and baro_MS5534A_send().

bool status_read_data
static

Definition at line 61 of file baro_MS5534A.c.

Referenced by baro_MS5534A_event_task(), baro_MS5534A_init(), baro_MS5534A_reset(), and baro_MS5534A_send().

uint16_t ut1
static

Definition at line 203 of file baro_MS5534A.c.

Referenced by baro_MS5534A_event_task(), and calibration().

uint16_t words[4]
static

Definition at line 62 of file baro_MS5534A.c.

Referenced by baro_MS5534A_event_task(), baro_MS5534A_init(), calibration(), and fletcher32().