Baro event handling using ABI interface

conf/firmwares/rotorcraft.makefile

@@ -150,8 +150,10 @@ ap.srcs += subsystems/actuators.c
 #
 
 #
-# BARO
+# AIR DATA and BARO (if needed)
 #
+ap.srcs += subsystems/air_data.c
+
 # booz baro
 ifeq ($(BOARD), booz)
 ap.srcs += $(SRC_BOARD)/baro_board.c
@@ -162,8 +164,6 @@ ap.srcs += $(SRC_BOARD)/baro_board.c
 # Ardrone baro
 else ifeq ($(BOARD)$(BOARD_TYPE), ardroneraw)
 ap.srcs += $(SRC_BOARD)/baro_board.c
-else ifeq ($(BOARD)$(BOARD_TYPE), ardronesdk)
-ap.srcs += $(SRC_BOARD)/baro_board_dummy.c
 
 # Lisa/M baro
 else ifeq ($(BOARD), lisa_m)
@@ -248,7 +248,7 @@ ap.srcs += $(SRC_BOARD)/baro_board.c
 endif
 
 ifneq ($(BARO_LED),none)
-ap.CFLAGS += -DROTORCRAFT_BARO_LED=$(BARO_LED)
+ap.CFLAGS += -DBARO_LED=$(BARO_LED)
 endif
 
 #

conf/firmwares/subsystems/fixedwing/autopilot.makefile

@@ -163,16 +163,36 @@ ap_srcs 		+= state.c
 ap_srcs 		+= subsystems/settings.c
 ap_srcs 		+= $(SRC_ARCH)/subsystems/settings_arch.c
 
+# AIR DATA
+ap_srcs += subsystems/air_data.c
+
 # BARO
+
+# Umarim
 ifeq ($(BOARD), umarim)
 ifeq ($(BOARD_VERSION), 1.0)
 ap_srcs 	+= boards/umarim/baro_board.c
 ap_CFLAGS += -DUSE_I2C1 -DUSE_ADS1114_1
 ap_CFLAGS += -DADS1114_I2C_DEV=i2c1
 ap_srcs 	+= peripherals/ads1114.c
 endif
+
+# Lisa/L
 else ifeq ($(BOARD), lisa_l)
 ap_CFLAGS += -DUSE_I2C2
+
+# Apogee
+else ifeq ($(BOARD), apogee)
+ap_CFLAGS += -DUSE_I2C1
+ap_CFLAGS += -DMPL3115_I2C_DEV=i2c1
+ap_CFLAGS += -DMPL3115_ALT_MODE=0
+ap_srcs += peripherals/mpl3115.c
+ap_srcs += $(SRC_BOARD)/baro_board.c
+
+endif # End baro
+
+ifneq ($(BARO_LED),none)
+ap_CFLAGS += -DBARO_LED=$(BARO_LED)
 endif
 
 # ahrs frequencies if configured
@@ -204,6 +224,8 @@ sim.srcs 		+= $(SRC_ARCH)/sim_ap.c
 sim.CFLAGS 		+= -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport
 sim.srcs 		+= subsystems/datalink/downlink.c $(SRC_FIRMWARE)/datalink.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c
 
+sim.srcs += $(SRC_BOARD)/baro_board.c
+
 sim.srcs 		+= subsystems/settings.c
 sim.srcs 		+= $(SRC_ARCH)/subsystems/settings_arch.c
 

conf/firmwares/subsystems/rotorcraft/fdm_jsbsim.makefile

@@ -92,7 +92,7 @@ nps.srcs += $(SRC_FIRMWARE)/datalink.c
 #
 nps.srcs += math/pprz_geodetic_int.c math/pprz_geodetic_float.c math/pprz_geodetic_double.c math/pprz_trig_int.c math/pprz_orientation_conversion.c
 
-nps.CFLAGS += -DROTORCRAFT_BARO_LED=2
+nps.CFLAGS += -DBARO_LED=2
 nps.srcs += $(SRC_BOARD)/baro_board.c
 
 nps.CFLAGS += -DUSE_ADC

conf/messages.xml

@@ -1873,8 +1873,8 @@
   </message>
 
   <message name="BARO_RAW" id="221">
-    <field name="abs"          type="int32"/>
-    <field name="diff"         type="int32"/>
+    <field name="abs"          type="float"/>
+    <field name="diff"         type="float"/>
   </message>
 
  <!--222 is free -->
@@ -2568,10 +2568,18 @@
 
 
   <class name="airborne">
-    <message name="TEST_ABI" id="0">
+    <!--message name="TEST_ABI" id="0">
       <field name="value" type="int8_t"/>
       <field name="boo" type="struct abi_boo"/>
       <field name="vect" type="struct Int32Vect3 *"/>
+    </message-->
+
+    <message name="BARO_ABS" id="1">
+      <field name="pressure" type="float" unit="Pa"/>
+    </message>
+
+    <message name="BARO_DIFF" id="2">
+      <field name="pressure" type="float" unit="Pa"/>
     </message>
   </class>
 

sw/airborne/boards/apogee/baro_board.c

@@ -1,5 +1,5 @@
  /*
- * Copyright (C) 2010 ENAC
+ * Copyright (C) 2013 Gautier Hattenberger (ENAC)
  *
  * This file is part of paparazzi.
  *
@@ -26,40 +26,67 @@
  * integrated barometer for Apogee boards (mpl3115)
  */
 
+#include "std.h"
 #include "subsystems/sensors/baro.h"
+#include "peripherals/mpl3115.h"
 
 // to get MPU status
 #include "boards/apogee/imu_apogee.h"
 
+#include "subsystems/abi.h"
+#include "led.h"
 
-/* Common Baro struct */
-struct Baro baro;
+
+// FIXME
+#ifndef APOGEE_BARO_SENS
+#define APOGEE_BARO_SENS 0.0274181
+#endif
+
+#ifndef APOGEE_BARO_SENDER_ID
+#define APOGEE_BARO_SENDER_ID 12
+#endif
 
 /** Counter to init ads1114 at startup */
 #define BARO_STARTUP_COUNTER 200
 uint16_t startup_cnt;
 
 void baro_init( void ) {
   mpl3115_init();
-  baro.status = BS_UNINITIALIZED;
-  baro.absolute     = 0;
-  baro.differential = 1; /* not handled on this board, use extra module */
+#ifdef BARO_LED
+  LED_OFF(BARO_LED);
+#endif
   startup_cnt = BARO_STARTUP_COUNTER;
 }
 
 void baro_periodic( void ) {
 
-  if (baro.status == BS_UNINITIALIZED && mpl3115_data_available) {
-    // Run some loops to get correct readings from the adc
-    --startup_cnt;
-    mpl3115_data_available = FALSE;
-    if (startup_cnt == 0) {
-      baro.status = BS_RUNNING;
+  // Baro is slave of the MPU, only start reading it after MPU is configured
+  if (imu_apogee.mpu.config.initialized) {
+
+    if (startup_cnt > 0 && mpl3115_data_available) {
+      // Run some loops to get correct readings from the adc
+      --startup_cnt;
+      mpl3115_data_available = FALSE;
+#ifdef BARO_LED
+      LED_TOGGLE(BARO_LED);
+      if (startup_cnt == 0) {
+        LED_ON(BARO_LED);
+      }
+#endif
     }
+    // Read the sensor
+    Mpl3115Periodic();
   }
+}
 
-  // Baro is slave of the MPU, only start reading it after MPU is configured
-  if (imu_apogee.mpu.config.initialized)
-    Mpl3115Periodic();
+void apogee_baro_event(void) {
+  mpl3115_event();
+  if (mpl3115_data_available) {
+    if (startup_cnt == 0) {
+      float pressure = ((float)mpl3115_pressure/(1<<2));
+      AbiSendMsgBARO_ABS(APOGEE_BARO_SENDER_ID, &pressure);
+    }
+    mpl3115_data_available = FALSE;
+  }
 }
 

sw/airborne/boards/apogee/baro_board.h

@@ -29,32 +29,7 @@
 #ifndef BOARDS_APOGEE_BARO_H
 #define BOARDS_APOGEE_BARO_H
 
-#include "std.h"
-#include "peripherals/mpl3115.h"
-
-/* There is no differential pressure on the board but
- * it can be available from an external sensor
- * */
-
-#define BaroAbs(_handler) {                 \
-  mpl3115_event();                          \
-  if (mpl3115_data_available) {             \
-    baro.absolute = mpl3115_pressure;       \
-    if (baro.status == BS_RUNNING) {        \
-      _handler();                           \
-      mpl3115_data_available = FALSE;       \
-    }                                       \
-  }                                         \
-}
-
-// TODO handle baro diff
-#ifndef BaroDiff
-#define BaroDiff(_h) {}
-#endif
-
-#define BaroEvent(_b_abs_handler, _b_diff_handler) {  \
-  BaroAbs(_b_abs_handler);                            \
-  BaroDiff(_b_diff_handler);                          \
-}
+extern void apogee_baro_event(void);
+#define BaroEvent apogee_baro_event
 
 #endif // BOARDS_APOGEE_BARO_H

sw/airborne/boards/apogee_0.99.h

@@ -184,7 +184,7 @@
 //#define SPI_SELECT_SLAVE5_PIN GPIO4
 
 /* Activate onboard baro */
-#define BOARD_HAS_BARO 1
+#define USE_BARO_BOARD 1
 
 /* PWM */
 #define PWM_USE_TIM2 1

sw/airborne/boards/apogee_1.0.h

@@ -254,7 +254,7 @@
 
 
 /* Activate onboard baro */
-#define BOARD_HAS_BARO 1
+#define USE_BARO_BOARD 1
 
 /* PWM */
 #define PWM_USE_TIM2 1

sw/airborne/boards/ardrone/baro_board.c

@@ -27,18 +27,25 @@
  */
 
 #include "subsystems/sensors/baro.h"
+#include "subsystems/abi.h"
 #include "baro_board.h"
 #include "navdata.h"
 
-struct Baro baro;
+// FIXME
+#ifndef ARDRONE2_BARO_SENS
+#define ARDRONE2_BARO_SENS 1.0
+#endif
+
+#ifndef ARDRONE2_BARO_SENDER_ID
+#define ARDRONE2_BARO_SENDER_ID 13
+#endif
+
 
 #define BMP180_OSS 0  // Parrot ARDrone uses no oversampling
 
-void baro_init(void) {
-  baro.status = BS_UNINITIALIZED;
-  baro.absolute       = 0;
-  baro.differential   = 0;
-}
+void baro_init(void) {}
+
+void baro_periodic(void) {}
 
 static inline int32_t baro_apply_calibration(int32_t raw)
 {
@@ -69,20 +76,17 @@ static inline int32_t baro_apply_calibration_temp(int32_t tmp_raw)
   return (baro_calibration.b5 + 8) >> 4;
 }
 
-void baro_periodic(void)
+void ardrone_baro_event(void)
 {
-}
-
-void process_ardrone_baro(void)
-{
-  if(baro.status == BS_RUNNING) {
-    // first read temperature because pressure calibration depends on temperature
-    baro.differential = baro_apply_calibration_temp(navdata->temperature_pressure);   // We store the temperature in Baro-Diff
-    baro.absolute = baro_apply_calibration(navdata->pressure);
-  }
-  else {
-    if (baro_calibrated == TRUE) {
-      baro.status = BS_RUNNING;
+  if (navdata_baro_available) {
+    if (baro_calibrated) {
+      // first read temperature because pressure calibration depends on temperature
+      // TODO send Temperature message
+      baro_apply_calibration_temp(navdata->temperature_pressure);
+      // FIXME apply correct sensitivity here
+      float pressure = ARDRONE2_BARO_SENS*(float)baro_apply_calibration(navdata->pressure);
+      AbiSendMsgBARO_ABS(ARDRONE2_BARO_SENDER_ID, &pressure);
     }
+    navdata_baro_available = FALSE;
   }
 }

sw/airborne/boards/ardrone/baro_board.h

@@ -30,26 +30,7 @@
 #ifndef BOARDS_ARDRONE2_BARO_H
 #define BOARDS_ARDRONE2_BARO_H
 
-#if BOARD_HAS_BARO
-#include "navdata.h"
-
-void process_ardrone_baro(void);
-
-
-static inline void baro_event(void (*b_abs_handler)(void), void (*b_diff_handler)(void)){
-  if (navdata_baro_available)
-  {
-    navdata_baro_available = 0;
-    process_ardrone_baro();
-    b_abs_handler();
-  }
-}
-
-#define BaroEvent(_b_abs_handler, _b_diff_handler) {\
-  baro_event(_b_abs_handler,_b_diff_handler);\
-}
-#else
-#define BaroEvent(_b_abs_handler, _b_diff_handler) {}
-#endif
+extern void ardrone_baro_event(void);
+#define BaroEvent ardrone_baro_event
 
 #endif /* BOARDS_ARDRONE2_BARO_H */

sw/airborne/boards/ardrone2_raw.h

@@ -9,6 +9,6 @@
 #define ActuatorsDefaultInit() ActuatorsArdroneInit()
 #define ActuatorsDefaultCommit() ActuatorsArdroneCommit()
 
-#define BOARD_HAS_BARO 1
+#define USE_BARO_BOARD 1
 
 #endif /* CONFIG_ARDRONE2_RAW */