baro_board.c

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/*
 * Copyright (C) 2013 Felix Ruess <felix.ruess@gmail.com>
 *
 * 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 "subsystems/sensors/baro.h"
#include "peripherals/bmp085.h"
#include "peripherals/bmp085_regs.h"
#include <libopencm3/stm32/gpio.h>
#include "subsystems/abi.h"
 
#include "led.h"
 
 
struct Bmp085 baro_bmp085;
 
static bool baro_eoc(void)
{
  return gpio_get(GPIOB, GPIO0);
}
 
void baro_init(void)
{
  bmp085_init(&baro_bmp085, &i2c2, BMP085_SLAVE_ADDR);
 
  /* setup eoc check function */
  baro_bmp085.eoc = &baro_eoc;
 
  gpio_clear(GPIOB, GPIO0);
  gpio_set_mode(GPIOB, GPIO_MODE_INPUT,
                GPIO_CNF_INPUT_PULL_UPDOWN, GPIO0);
 
#ifdef BARO_LED
  LED_OFF(BARO_LED);
#endif
}
 
 
void baro_periodic(void)
{
  if (baro_bmp085.initialized) {
    bmp085_periodic(&baro_bmp085);
  } else {
    bmp085_read_eeprom_calib(&baro_bmp085);
  }
}
 
 
 
void baro_event(void)
{
  bmp085_event(&baro_bmp085);
 
  if (baro_bmp085.data_available) {
    uint32_t now_ts = get_sys_time_usec();
    float pressure = (float)baro_bmp085.pressure;
    AbiSendMsgBARO_ABS(BARO_BOARD_SENDER_ID, now_ts, pressure);
    float temp = baro_bmp085.temperature / 10.0f;
    AbiSendMsgTEMPERATURE(BARO_BOARD_SENDER_ID, temp);
    baro_bmp085.data_available = false;
#ifdef BARO_LED
    RunOnceEvery(10, LED_TOGGLE(BARO_LED));
#endif
  }
}