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[baro] fix baro_board ms5611 wrappers
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@flixr
flixr committed Sep 5, 2013
1 parent ddb2e04 commit 9deae5e
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Showing 2 changed files with 76 additions and 79 deletions.
77 changes: 38 additions & 39 deletions sw/airborne/subsystems/sensors/baro_ms5611_i2c.c
View file
Expand Up @@ -33,6 +33,15 @@
#include "mcu_periph/sys_time.h"
#include "led.h"
#include "std.h"
#include "subsystems/abi.h"

#ifndef DOWNLINK_DEVICE
#define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE
#endif
#include "mcu_periph/uart.h"
#include "messages.h"
#include "subsystems/datalink/downlink.h"


#ifndef MS5611_I2C_DEV
#define MS5611_I2C_DEV i2c2
Expand All @@ -48,71 +57,61 @@
#define MS5611_SLAVE_ADDR 0xEE
#endif

#ifdef DEBUG

#ifndef DOWNLINK_DEVICE
#define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE
#endif
#include "mcu_periph/uart.h"
#include "messages.h"
#include "subsystems/datalink/downlink.h"

float fbaroms, ftempms;
#ifndef BARO_BOARD_MS5611_SENDER_ID
#define BARO_BOARD_MS5611_SENDER_ID 7
#endif

struct Baro baro;
struct Ms5611_I2c baro_ms5611;
struct Ms5611_I2c bb_ms5611;


void baro_init(void) {
baro.status = BS_UNINITIALIZED;
baro.absolute = 0;
baro.differential = 0;
ms5611_i2c_init(&bb_ms5611, &MS5611_I2C_DEV, MS5611_SLAVE_ADDR);

ms5611_i2c_init(&baro_ms5611, &MS5611_I2C_DEV, MS5611_SLAVE_ADDR);
#ifdef BARO_LED
LED_OFF(BARO_LED);
#endif
}

void baro_periodic(void) {
if (sys_time.nb_sec > 1) {

/* call the convenience periodic that initializes the sensor and starts reading*/
ms5611_i2c_periodic(&baro_ms5611);
ms5611_i2c_periodic(&bb_ms5611);

if (baro_ms5611.initialized) {
baro.status = BS_RUNNING;
#if DEBUG
RunOnceEvery((4*30), DOWNLINK_SEND_MS5611_COEFF(DefaultChannel, DefaultDevice,
&baro_ms5611.data.c[0],
&baro_ms5611.data.c[1],
&baro_ms5611.data.c[2],
&baro_ms5611.data.c[3],
&baro_ms5611.data.c[4],
&baro_ms5611.data.c[5],
&baro_ms5611.data.c[6],
&baro_ms5611.data.c[7]));
if (bb_ms5611.initialized)
RunOnceEvery((50*30), DOWNLINK_SEND_MS5611_COEFF(DefaultChannel, DefaultDevice,
&bb_ms5611.data.c[0],
&bb_ms5611.data.c[1],
&bb_ms5611.data.c[2],
&bb_ms5611.data.c[3],
&bb_ms5611.data.c[4],
&bb_ms5611.data.c[5],
&bb_ms5611.data.c[6],
&bb_ms5611.data.c[7]);
#endif
}
}
}

void baro_event(void (*b_abs_handler)(void)){
void baro_event(void){
if (sys_time.nb_sec > 1) {
ms5611_i2c_event(&baro_ms5611);
ms5611_i2c_event(&bb_ms5611);

if (baro_ms5611.data_available) {
baro.absolute = baro_ms5611.data.pressure;
b_abs_handler();
baro_ms5611.data_available = FALSE;
if (bb_ms5611.data_available) {
float pressure = (float)bb_ms5611.data.pressure;
AbiSendMsgBARO_ABS(BARO_BOARD_MS5611_SENDER_ID, &pressure);
bb_ms5611.data_available = FALSE;

#ifdef ROTORCRAFT_BARO_LED
RunOnceEvery(10,LED_TOGGLE(ROTORCRAFT_BARO_LED));
#ifdef BARO_LED
RunOnceEvery(10,LED_TOGGLE(BARO_LED));
#endif

#if DEBUG
ftempms = baro_ms5611.data.temperature / 100.;
fbaroms = baro_ms5611.data.pressure / 100.;
float ftempms = bb_ms5611.data.temperature / 100.;
float fbaroms = bb_ms5611.data.pressure / 100.;
DOWNLINK_SEND_BARO_MS5611(DefaultChannel, DefaultDevice,
&baro_ms5611.data.d1, &baro_ms5611.data.d2,
&bb_ms5611.data.d1, &bb_ms5611.data.d2,
&fbaroms, &ftempms);
#endif
}
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78 changes: 38 additions & 40 deletions sw/airborne/subsystems/sensors/baro_ms5611_spi.c
View file
Expand Up @@ -33,6 +33,15 @@
#include "mcu_periph/sys_time.h"
#include "led.h"
#include "std.h"
#include "subsystems/abi.h"

#ifndef DOWNLINK_DEVICE
#define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE
#endif
#include "mcu_periph/uart.h"
#include "messages.h"
#include "subsystems/datalink/downlink.h"


#ifndef MS5611_SPI_DEV
#define MS5611_SPI_DEV spi2
Expand All @@ -46,71 +55,60 @@
#endif


#ifdef DEBUG

#ifndef DOWNLINK_DEVICE
#define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE
#ifndef BARO_BOARD_MS5611_SENDER_ID
#define BARO_BOARD_MS5611_SENDER_ID 7
#endif
#include "mcu_periph/uart.h"
#include "messages.h"
#include "subsystems/datalink/downlink.h"

float fbaroms, ftempms;
#endif

struct Baro baro;
struct Ms5611_Spi baro_ms5611;
struct Ms5611_Spi bb_ms5611;


void baro_init(void) {
baro.status = BS_UNINITIALIZED;
baro.absolute = 0;
baro.differential = 0;
ms5611_spi_init(&bb_ms5611, &MS5611_SPI_DEV, MS5611_SLAVE_DEV);

ms5611_spi_init(&baro_ms5611, &MS5611_SPI_DEV, MS5611_SLAVE_DEV);
#ifdef BARO_LED
LED_OFF(BARO_LED);
#endif
}

void baro_periodic(void) {
if (sys_time.nb_sec > 1) {

/* call the convenience periodic that initializes the sensor and starts reading*/
ms5611_spi_periodic(&baro_ms5611);
ms5611_spi_periodic(&bb_ms5611);

if (baro_ms5611.initialized) {
baro.status = BS_RUNNING;
#if DEBUG
RunOnceEvery((4*30), DOWNLINK_SEND_MS5611_COEFF(DefaultChannel, DefaultDevice,
&baro_ms5611.data.c[0],
&baro_ms5611.data.c[1],
&baro_ms5611.data.c[2],
&baro_ms5611.data.c[3],
&baro_ms5611.data.c[4],
&baro_ms5611.data.c[5],
&baro_ms5611.data.c[6],
&baro_ms5611.data.c[7]));
if (bb_ms5611.initialized)
RunOnceEvery((50*30), DOWNLINK_SEND_MS5611_COEFF(DefaultChannel, DefaultDevice,
&bb_ms5611.data.c[0],
&bb_ms5611.data.c[1],
&bb_ms5611.data.c[2],
&bb_ms5611.data.c[3],
&bb_ms5611.data.c[4],
&bb_ms5611.data.c[5],
&bb_ms5611.data.c[6],
&bb_ms5611.data.c[7]);
#endif
}
}
}

void baro_event(void (*b_abs_handler)(void)){
void baro_event(){
if (sys_time.nb_sec > 1) {
ms5611_spi_event(&baro_ms5611);
ms5611_spi_event(&bb_ms5611);

if (baro_ms5611.data_available) {
baro.absolute = baro_ms5611.data.pressure;
b_abs_handler();
baro_ms5611.data_available = FALSE;
if (bb_ms5611.data_available) {
float pressure = (float)bb_ms5611.data.pressure;
AbiSendMsgBARO_ABS(BARO_BOARD_MS5611_SENDER_ID, &pressure);
bb_ms5611.data_available = FALSE;

#ifdef ROTORCRAFT_BARO_LED
RunOnceEvery(10,LED_TOGGLE(ROTORCRAFT_BARO_LED));
#ifdef BARO_LED
RunOnceEvery(10,LED_TOGGLE(BARO_LED));
#endif

#if DEBUG
ftempms = baro_ms5611.data.temperature / 100.;
fbaroms = baro_ms5611.data.pressure / 100.;
float ftempms = bb_ms5611.data.temperature / 100.;
float fbaroms = bb_ms5611.data.pressure / 100.;
DOWNLINK_SEND_BARO_MS5611(DefaultChannel, DefaultDevice,
&baro_ms5611.data.d1, &baro_ms5611.data.d2,
&bb_ms5611.data.d1, &bb_ms5611.data.d2,
&fbaroms, &ftempms);
#endif
}
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