Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-06-04 13:55:40 +08:00
Code Issues Actions 29 Packages Projects Releases Wiki Activity

[boards] use ms5611 peripheral in lisa_m baro

Browse Source
This commit is contained in:
Felix Ruess
2013-08-23 14:53:49 +02:00
parent 24d30e1160
commit 1ddc30549c
3 changed files with 147 additions and 353 deletions
Download Patch File Download Diff File Expand all files Collapse all files
conf/firmwares/rotorcraft.makefile
+8
View File
@@ -172,9 +172,13 @@ LISA_M_BARO ?= BARO_BOARD_BMP085
ifeq ($(LISA_M_BARO), BARO_MS5611_SPI)
include $(CFG_SHARED)/spi_master.makefile
ap.CFLAGS += -DUSE_SPI2 -DUSE_SPI_SLAVE3
ap.srcs += peripherals/ms5611.c
ap.srcs += peripherals/ms5611_spi.c
ap.srcs += $(SRC_BOARD)/baro_ms5611_spi.c
else ifeq ($(LISA_M_BARO), BARO_MS5611_I2C)
ap.CFLAGS += -DUSE_I2C2
ap.srcs += peripherals/ms5611.c
ap.srcs += peripherals/ms5611_i2c.c
ap.srcs += $(SRC_BOARD)/baro_ms5611_i2c.c
else ifeq ($(LISA_M_BARO), BARO_BOARD_BMP085)
ap.srcs += $(SRC_BOARD)/baro_board.c
@@ -189,9 +193,13 @@ LIA_BARO ?= BARO_MS5611_SPI
ifeq ($(LIA_BARO), BARO_MS5611_SPI)
include $(CFG_SHARED)/spi_master.makefile
ap.CFLAGS += -DUSE_SPI2 -DUSE_SPI_SLAVE3
ap.srcs += peripherals/ms5611.c
ap.srcs += peripherals/ms5611_spi.c
ap.srcs += boards/lisa_m/baro_ms5611_spi.c
else ifeq ($(LIA_BARO), BARO_MS5611_I2C)
ap.CFLAGS += -DUSE_I2C2
ap.srcs += peripherals/ms5611.c
ap.srcs += peripherals/ms5611_i2c.c
ap.srcs += boards/lisa_m/baro_ms5611_i2c.c
endif
ap.CFLAGS += -D$(LIA_BARO)
sw/airborne/boards/lisa_m/baro_ms5611_i2c.c
+67 -163
View File
@@ -1,16 +1,39 @@
/**
* Measurement Specialties (Intersema) MS5611-01BA pressure/temperature sensor interface for I2C
/*
* Copyright (C) 2011-2013 The Paparazzi Team
*
* 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.
*
* Edit by: Michal Podhradsky, michal.podhradsky@aggiemail.usu.edu
* Utah State University, http://aggieair.usu.edu/
*/
/**
* @file boards/lisa_m/baro_ms5611_i2c.c
*
* Driver for MS5611 baro on LisaM/Aspirin2.1 via I2C.
*
*/
#include "subsystems/sensors/baro.h"
#include "peripherals/ms5611_regs.h"
#include "peripherals/ms5611_i2c.h"
#include "mcu_periph/sys_time.h"
#include "led.h"
#include "std.h"
#include "mcu_periph/sys_time.h"
#include "mcu_periph/i2c.h"
#ifndef MS5611_I2C_DEV
#define MS5611_I2C_DEV i2c2
#endif
@@ -23,192 +46,73 @@
*/
#define MS5611_SLAVE_ADDR 0xEE
#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;
#endif
struct Baro baro;
struct i2c_transaction ms5611_trans;
uint8_t ms5611_status;
int32_t prom_cnt;
uint16_t ms5611_c[PROM_NB];
uint32_t ms5611_d1, ms5611_d2;
float fbaroms, ftempms;
struct Ms5611_I2c baro_ms5611;
static int8_t baro_ms5611_crc(uint16_t* prom) {
int32_t i, j;
uint32_t res = 0;
uint8_t crc = prom[7] & 0xF;
prom[7] &= 0xFF00;
for (i = 0; i < 16; i++) {
if (i & 1) res ^= ((prom[i>>1]) & 0x00FF);
else res ^= (prom[i>>1]>>8);
for (j = 8; j > 0; j--) {
if (res & 0x8000) res ^= 0x1800;
res <<= 1;
}
}
prom[7] |= crc;
if (crc == ((res >> 12) & 0xF)) return 0;
else return -1;
}
void baro_init(void) {
ms5611_status = MS5611_UNINIT;
baro.status = BS_UNINITIALIZED;
prom_cnt = 0;
baro.absolute = 0;
baro.differential = 0;
ms5611_i2c_init(&baro_ms5611, &MS5611_I2C_DEV, MS5611_SLAVE_ADDR);
}
void baro_periodic(void) {
if (sys_time.nb_sec > 1) {
if (ms5611_status == MS5611_IDLE) {
/* start D1 conversion */
ms5611_status = MS5611_CONV_D1;
ms5611_trans.buf[0] = MS5611_START_CONV_D1;
i2c_transmit(&MS5611_I2C_DEV, &ms5611_trans, MS5611_SLAVE_ADDR, 1);
#ifdef DEBUG
RunOnceEvery(60, { DOWNLINK_SEND_MS5611_COEFF(DefaultChannel, DefaultDevice,
&ms5611_c[0], &ms5611_c[1], &ms5611_c[2], &ms5611_c[3],
&ms5611_c[4], &ms5611_c[5], &ms5611_c[6], &ms5611_c[7]);});
/* call the convenience periodic that initializes the sensor and starts reading*/
ms5611_i2c_periodic(&baro_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]));
#endif
}
else if (ms5611_status == MS5611_CONV_D1) {
/* assume D1 conversion is done */
ms5611_status = MS5611_CONV_D1_OK;
}
else if (ms5611_status == MS5611_CONV_D1_OK) {
/* read D1 adc */
ms5611_status = MS5611_ADC_D1;
ms5611_trans.buf[0] = MS5611_ADC_READ;
i2c_transceive(&MS5611_I2C_DEV, &ms5611_trans, MS5611_SLAVE_ADDR, 1, 3);
}
else if (ms5611_status == MS5611_CONV_D2) {
/* assume D2 conversion is done */
ms5611_status = MS5611_CONV_D2_OK;
}
else if (ms5611_status == MS5611_CONV_D2_OK) {
/* read D2 adc */
ms5611_status = MS5611_ADC_D2;
ms5611_trans.buf[0] = MS5611_ADC_READ;
i2c_transceive(&MS5611_I2C_DEV, &ms5611_trans, MS5611_SLAVE_ADDR, 1, 3);
}
else if (ms5611_status == MS5611_UNINIT) {
/* reset sensor */
ms5611_status = MS5611_RESET;
ms5611_trans.buf[0] = MS5611_SOFT_RESET;
i2c_transmit(&MS5611_I2C_DEV, &ms5611_trans, MS5611_SLAVE_ADDR, 1);
}
else if (ms5611_status == MS5611_RESET_OK) {
/* start getting prom data */
ms5611_status = MS5611_PROM;
ms5611_trans.buf[0] = MS5611_PROM_READ | (prom_cnt << 1);
i2c_transceive(&MS5611_I2C_DEV, &ms5611_trans, MS5611_SLAVE_ADDR, 1, 2);
}
}
}
void baro_event(void (*b_abs_handler)(void), void (*b_diff_handler)(void)){
if (ms5611_trans.status == I2CTransSuccess) {
if (sys_time.nb_sec > 1) {
ms5611_i2c_event(&baro_ms5611);
if (baro_ms5611.data_available) {
b_abs_handler();
baro_ms5611.data_available = FALSE;
#ifdef ROTORCRAFT_BARO_LED
RunOnceEvery(10,LED_TOGGLE(ROTORCRAFT_BARO_LED));
#endif
switch (ms5611_status) {
case MS5611_RESET:
ms5611_status = MS5611_RESET_OK;
ms5611_trans.status = I2CTransDone;
break;
case MS5611_PROM:
/* read prom data */
ms5611_c[prom_cnt++] = (ms5611_trans.buf[0] << 8) | ms5611_trans.buf[1];
if (prom_cnt < PROM_NB) {//8 bytes at PROM
/* get next prom data */
ms5611_trans.buf[0] = MS5611_PROM_READ | (prom_cnt << 1);
i2c_transceive(&MS5611_I2C_DEV, &ms5611_trans, MS5611_SLAVE_ADDR, 1, 2);
}
else {
/* done reading prom */
ms5611_trans.status = I2CTransDone;
/* check prom crc */
if (baro_ms5611_crc(ms5611_c) == 0) {
ms5611_status = MS5611_IDLE;
baro.status = BS_RUNNING;
}
else {
/* checksum error, try again */
baro_init();
}
}
break;
case MS5611_ADC_D1:
/* read D1 (pressure) */
ms5611_d1 = (ms5611_trans.buf[0] << 16) |
(ms5611_trans.buf[1] << 8) |
ms5611_trans.buf[2];
/* start D2 conversion */
ms5611_status = MS5611_CONV_D2;
ms5611_trans.buf[0] = MS5611_START_CONV_D2;
i2c_transmit(&MS5611_I2C_DEV, &ms5611_trans, MS5611_SLAVE_ADDR, 1);
break;
case MS5611_ADC_D2: {
int64_t dt, baroms, tempms, off, sens, t2, off2, sens2;
/* read D2 (temperature) */
ms5611_d2 = (ms5611_trans.buf[0] << 16) |
(ms5611_trans.buf[1] << 8) |
ms5611_trans.buf[2];
ms5611_status = MS5611_IDLE;
ms5611_trans.status = I2CTransDone;
/* difference between actual and ref temperature */
dt = ms5611_d2 - (int64_t)ms5611_c[5] * (1<<8);
/* actual temperature */
tempms = 2000 + ((int64_t)dt * ms5611_c[6]) / (1<<23);
/* offset at actual temperature */
off = ((int64_t)ms5611_c[2] * (1<<16)) + ((int64_t)ms5611_c[4] * dt) / (1<<7);
/* sensitivity at actual temperature */
sens = ((int64_t)ms5611_c[1] * (1<<15)) + ((int64_t)ms5611_c[3] * dt) / (1<<8);
/* second order temperature compensation */
if (tempms < 2000) {
t2 = (dt*dt) / (1<<31);
off2 = 5 * ((int64_t)(tempms-2000)*(tempms-2000)) / (1<<1);
sens2 = 5 * ((int64_t)(tempms-2000)*(tempms-2000)) / (1<<2);
if (tempms < -1500) {
off2 = off2 + 7 * (int64_t)(tempms+1500)*(tempms+1500);
sens2 = sens2 + 11 * ((int64_t)(tempms+1500)*(tempms+1500)) / (1<<1);
}
tempms = tempms - t2;
off = off - off2;
sens = sens - sens2;
}
/* temperature compensated pressure */
baroms = (((int64_t)ms5611_d1 * sens) / (1<<21) - off) / (1<<15);
/* Update baro structure */
baro.absolute = (int32_t)baroms;
b_abs_handler();
b_diff_handler();
#ifdef DEBUG
ftempms = tempms / 100.;
fbaroms = baroms / 100.;
#if DEBUG
ftempms = baro_ms5611.data.temperature / 100.;
fbaroms = baro_ms5611.data.pressure / 100.;
DOWNLINK_SEND_BARO_MS5611(DefaultChannel, DefaultDevice,
&ms5611_d1, &ms5611_d2, &fbaroms, &ftempms, &baro.status);
&baro_ms5611.data.d1, &baro_ms5611.data.d2,
&fbaroms, &ftempms);
#endif
break;
}
default:
ms5611_trans.status = I2CTransDone;
break;
}
}
}
sw/airborne/boards/lisa_m/baro_ms5611_spi.c
+67 -185
View File
@@ -1,16 +1,39 @@
/**
* Measurement Specialties (Intersema) MS5611-01BA pressure/temperature sensor interface for I2C
/*
* Copyright (C) 2011-2013 The Paparazzi Team
*
* 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.
*
* Edit by: Michal Podhradsky, michal.podhradsky@aggiemail.usu.edu
* Utah State University, http://aggieair.usu.edu/
*/
/**
* @file boards/lisa_m/baro_ms5611_spi.c
*
* Driver for MS5611 baro on LisaM/Aspirin2.2 via SPI.
*
*/
#include "subsystems/sensors/baro.h"
#include "peripherals/ms5611_regs.h"
#include "peripherals/ms5611_spi.h"
#include "mcu_periph/sys_time.h"
#include "led.h"
#include "std.h"
#include "mcu_periph/sys_time.h"
#include "mcu_periph/spi.h"
#ifndef MS5611_SPI_DEV
#define MS5611_SPI_DEV spi2
#endif
@@ -23,213 +46,72 @@
#endif
#define MS5611_BUFFER_LENGTH 4
#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;
#endif
struct Baro baro;
struct spi_transaction ms5611_trans;
uint8_t ms5611_status;
int32_t prom_cnt;
uint16_t ms5611_c[PROM_NB];
uint32_t ms5611_d1, ms5611_d2;
float fbaroms, ftempms;
volatile uint8_t input_buf_ms5611[MS5611_BUFFER_LENGTH];
volatile uint8_t output_buf_ms5611[MS5611_BUFFER_LENGTH];
static void trans_cb_ms5611( struct spi_transaction *trans );
struct Ms5611_Spi baro_ms5611;
static int8_t baro_ms5611_crc(uint16_t* prom) {
int32_t i, j;
uint32_t res = 0;
uint8_t crc = prom[7] & 0xF;
prom[7] &= 0xFF00;
for (i = 0; i < 16; i++) {
if (i & 1) res ^= ((prom[i>>1]) & 0x00FF);
else res ^= (prom[i>>1]>>8);
for (j = 8; j > 0; j--) {
if (res & 0x8000) res ^= 0x1800;
res <<= 1;
}
}
prom[7] |= crc;
if (crc == ((res >> 12) & 0xF)) return 0;
else return -1;
}
static void trans_cb_ms5611( struct spi_transaction *trans ) {
#ifdef ROTORCRAFT_BARO_LED
RunOnceEvery(10,LED_TOGGLE(ROTORCRAFT_BARO_LED));
#endif
}
void baro_init(void) {
ms5611_trans.select = SPISelectUnselect;
ms5611_trans.cpol = SPICpolIdleHigh;
ms5611_trans.cpha = SPICphaEdge2;
ms5611_trans.dss = SPIDss8bit;
ms5611_trans.bitorder = SPIMSBFirst;
ms5611_trans.cdiv = SPIDiv64;
ms5611_trans.slave_idx = MS5611_SLAVE_DEV;
ms5611_trans.output_length = MS5611_BUFFER_LENGTH;
ms5611_trans.input_length = MS5611_BUFFER_LENGTH;
ms5611_trans.after_cb = trans_cb_ms5611;
ms5611_trans.input_buf = &input_buf_ms5611[0];
ms5611_trans.output_buf = &input_buf_ms5611[0];
ms5611_status = MS5611_UNINIT;
baro.status = BS_UNINITIALIZED;
prom_cnt = 0;
baro.absolute = 0;
baro.differential = 0;
ms5611_spi_init(&baro_ms5611, &MS5611_SPI_DEV, MS5611_SLAVE_DEV);
}
void baro_periodic(void) {
if (sys_time.nb_sec > 1) {
if (ms5611_status == MS5611_IDLE) {
/* start D1 conversion */
ms5611_status = MS5611_CONV_D1;
ms5611_trans.output_buf[0] = MS5611_START_CONV_D1;
spi_submit(&(MS5611_SPI_DEV), &ms5611_trans);
#ifdef DEBUG
RunOnceEvery(300, { DOWNLINK_SEND_MS5611_COEFF(DefaultChannel, DefaultDevice,
&ms5611_c[0], &ms5611_c[1], &ms5611_c[2], &ms5611_c[3],
&ms5611_c[4], &ms5611_c[5], &ms5611_c[6], &ms5611_c[7]);});
/* call the convenience periodic that initializes the sensor and starts reading*/
ms5611_spi_periodic(&baro_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]));
#endif
}
else if (ms5611_status == MS5611_CONV_D1) {
/* assume D1 conversion is done */
ms5611_status = MS5611_CONV_D1_OK;
}
else if (ms5611_status == MS5611_CONV_D1_OK) {
/* read D1 adc */
ms5611_status = MS5611_ADC_D1;
ms5611_trans.output_buf[0] = MS5611_ADC_READ;
spi_submit(&(MS5611_SPI_DEV), &ms5611_trans);
}
else if (ms5611_status == MS5611_CONV_D2) {
/* assume D2 conversion is done */
ms5611_status = MS5611_CONV_D2_OK;
}
else if (ms5611_status == MS5611_CONV_D2_OK) {
/* read D2 adc */
ms5611_status = MS5611_ADC_D2;
ms5611_trans.output_buf[0] = MS5611_ADC_READ;
spi_submit(&(MS5611_SPI_DEV), &ms5611_trans);
}
else if (ms5611_status == MS5611_UNINIT) {
/* reset sensor */
ms5611_status = MS5611_RESET;
ms5611_trans.output_buf[0] = MS5611_SOFT_RESET;
spi_submit(&(MS5611_SPI_DEV), &ms5611_trans);
}
else if (ms5611_status == MS5611_RESET_OK) {
/* start getting prom data */
ms5611_status = MS5611_PROM;
ms5611_trans.output_buf[0] = MS5611_PROM_READ | (prom_cnt << 1);
spi_submit(&(MS5611_SPI_DEV), &ms5611_trans);
}
}
}
void baro_event(void (*b_abs_handler)(void), void (*b_diff_handler)(void)){
if (ms5611_trans.status == SPITransSuccess) {
switch (ms5611_status) {
case MS5611_RESET:
ms5611_status = MS5611_RESET_OK;
ms5611_trans.status = SPITransDone;
break;
case MS5611_PROM:
/* read prom data */
ms5611_c[prom_cnt++] = (ms5611_trans.input_buf[1] << 8) | ms5611_trans.input_buf[2];
if (prom_cnt < PROM_NB) {//8 bytes at PROM
/* get next prom data */
ms5611_trans.output_buf[0] = MS5611_PROM_READ | (prom_cnt << 1);
spi_submit(&(MS5611_SPI_DEV), &ms5611_trans);
}
else {
/* done reading prom */
ms5611_trans.status = SPITransDone;
/* check prom crc */
if (baro_ms5611_crc(ms5611_c) == 0) {
ms5611_status = MS5611_IDLE;
baro.status = BS_RUNNING;
}
else {
/* checksum error, try again */
baro_init();
}
}
break;
case MS5611_ADC_D1:
/* read D1 (pressure) */
ms5611_d1 = (ms5611_trans.input_buf[1] << 16) |
(ms5611_trans.input_buf[2] << 8) |
ms5611_trans.input_buf[3];
/* start D2 conversion */
ms5611_status = MS5611_CONV_D2;
ms5611_trans.output_buf[0] = MS5611_START_CONV_D2;
spi_submit(&(MS5611_SPI_DEV), &ms5611_trans);
break;
case MS5611_ADC_D2: {
int64_t dt, baroms, tempms, off, sens, t2, off2, sens2;
/* read D2 (temperature) */
ms5611_d2 = (ms5611_trans.input_buf[1] << 16) |
(ms5611_trans.input_buf[2] << 8) |
ms5611_trans.input_buf[3];
ms5611_status = MS5611_IDLE;
ms5611_trans.status = SPITransDone;
/* difference between actual and ref temperature */
dt = ms5611_d2 - (int64_t)ms5611_c[5] * (1<<8);
/* actual temperature */
tempms = 2000 + ((int64_t)dt * ms5611_c[6]) / (1<<23);
/* offset at actual temperature */
off = ((int64_t)ms5611_c[2] * (1<<16)) + ((int64_t)ms5611_c[4] * dt) / (1<<7);
/* sensitivity at actual temperature */
sens = ((int64_t)ms5611_c[1] * (1<<15)) + ((int64_t)ms5611_c[3] * dt) / (1<<8);
/* second order temperature compensation */
if (tempms < 2000) {
t2 = (dt*dt) / (1<<31);
off2 = 5 * ((int64_t)(tempms-2000)*(tempms-2000)) / (1<<1);
sens2 = 5 * ((int64_t)(tempms-2000)*(tempms-2000)) / (1<<2);
if (tempms < -1500) {
off2 = off2 + 7 * (int64_t)(tempms+1500)*(tempms+1500);
sens2 = sens2 + 11 * ((int64_t)(tempms+1500)*(tempms+1500)) / (1<<1);
}
tempms = tempms - t2;
off = off - off2;
sens = sens - sens2;
}
/* temperature compensated pressure */
baroms = (((int64_t)ms5611_d1 * sens) / (1<<21) - off) / (1<<15);
/* Update baro structure */
baro.absolute = (int32_t)baroms;
if (sys_time.nb_sec > 1) {
ms5611_spi_event(&baro_ms5611);
if (baro_ms5611.data_available) {
b_abs_handler();
b_diff_handler();
baro_ms5611.data_available = FALSE;
#ifdef DEBUG
ftempms = tempms / 100.;
fbaroms = baroms / 100.;
DOWNLINK_SEND_BARO_MS5611(DefaultChannel, DefaultDevice,
&ms5611_d1, &ms5611_d2, &fbaroms, &ftempms, &baro.status);
#ifdef ROTORCRAFT_BARO_LED
RunOnceEvery(10,LED_TOGGLE(ROTORCRAFT_BARO_LED));
#endif
break;
}
default:
ms5611_trans.status = SPITransDone;
break;
#if DEBUG
ftempms = baro_ms5611.data.temperature / 100.;
fbaroms = baro_ms5611.data.pressure / 100.;
DOWNLINK_SEND_BARO_MS5611(DefaultChannel, DefaultDevice,
&baro_ms5611.data.d1, &baro_ms5611.data.d2,
&fbaroms, &ftempms);
#endif
}
}
}