Have the good old MS5534A as module. It still works :-)

conf/airframes/mm/fixed-wing/funjetmm.xml

@@ -24,7 +24,6 @@
       <define name="ALT_KALMAN"/>
       <define name="WIND_INFO"/>
       <define name="WIND_INFO_RET"/>
-      <define name="USE_I2C0"/>
     </target>
 
     <subsystem name="radio_control"    type="ppm"/>
@@ -42,7 +41,7 @@
       <param name="GPS_BAUD"           value="B38400"/>
     </subsystem>
     <subsystem name="navigation"/>
-    <subsystem name="i2c"/>
+    <subsystem name="spi"/>
   </firmware>
 
   <firmware name="setup">
@@ -55,9 +54,10 @@
 
   <!-- modules -->
   <modules>
-    <load name="baro_bmp.xml"/>
+    <load name="baro_MS5534A.xml"/>
+    <!--load name="baro_bmp.xml"/>
     <load name="baro_scp_i2c.xml"/>
-    <!--load name="light_temt.xml"/>
+    <load name="light_temt.xml"/>
     <load name="humid_hih.xml"/>
     <load name="temp_tmp102.xml"/>
     <load name="temp_lm75.xml"/>

conf/autopilot/subsystems/fixedwing/spi.makefile

@@ -0,0 +1,5 @@
+#generic spi driver
+$(TARGET).CFLAGS += -DUSE_SPI
+
+ap.srcs += spi.c $(SRC_ARCH)/spi_hw.c
+sim.srcs += spi.c $(SRC_ARCH)/spi_hw.c

conf/modules/baro_MS5534A.xml

@@ -0,0 +1,21 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="baro_MS5534A" dir="sensors">
+  <header>
+    <file name="baro_MS5534A.h"/>
+  </header>
+  <init fun="baro_MS5534A_init()"/>
+  <periodic fun="baro_MS5534A_send()" freq="20"/>
+  <event fun="baro_MS5534A_event()"/>
+  <makefile>
+    <file name="baro_MS5534A.c"/>
+    <flag name="USE_BARO_MS5534A"/>
+    <flag name="USE_SPI_SLAVE0"/>
+    <flag name="SPI_MASTER"/>
+    <define name="BARO_MS5534A_W1" value="0xAC20"/>
+    <define name="BARO_MS5534A_W2" value="0x87D9"/>
+    <define name="BARO_MS5534A_W3" value="0x8D9C"/>
+    <define name="BARO_MS5534A_W4" value="0xB080"/>
+  </makefile>
+</module>
+

sw/airborne/ap_downlink.h

@@ -181,7 +181,7 @@
 #endif
 
 #ifdef USE_BARO_MS5534A
-#include "baro_MS5534A.h"
+//#include "baro_MS5534A.h"
 #define PERIODIC_SEND_BARO_MS5534A(_chan) DOWNLINK_SEND_BARO_MS5534A(_chan, &baro_MS5534A_pressure, &baro_MS5534A_temp, &baro_MS5534A_z)
 #else
 #define PERIODIC_SEND_BARO_MS5534A(_chan) {}

sw/airborne/main_ap.c

@@ -91,10 +91,6 @@
 #include "srf08.h"
 #endif
 
-#ifdef USE_BARO_MS5534A
-#include "baro_MS5534A.h"
-#endif
-
 #ifdef USE_MAX11040
 #include "max11040.h"
 #endif
@@ -573,12 +569,6 @@ void periodic_task_ap( void ) {
 #error "Only 20 and 60 allowed for CONTROL_RATE"
 #endif
 
-#ifdef USE_BARO_MS5534A
-  if (!_20Hz) {
-    baro_MS5534A_send();
-  }
-#endif
-
 #ifdef USE_I2C0
   // I2C0 scheduler
   switch (_20Hz) {
@@ -763,10 +753,6 @@ void init_ap( void ) {
   IO0SET = _BV(AEROCOMM_DATA_PIN);
 #endif
 
-#ifdef USE_BARO_MS5534A
-  baro_MS5534A_init();
-#endif
-
   power_switch = FALSE;
 
   /************ Multi-uavs status ***************/
@@ -892,20 +878,7 @@ void event_task_ap( void ) {
   }
 #endif
 
-#ifdef USE_BARO_MS5534A
+#if defined(USE_BARO_ETS)
-  if (spi_message_received) {
-    /* Got a message on SPI. */
-    spi_message_received = FALSE;
-    baro_MS5534A_event_task();
-    if (baro_MS5534A_available) {
-      baro_MS5534A_available = FALSE;
-      baro_MS5534A_z = ground_alt +((float)baro_MS5534A_ground_pressure - baro_MS5534A_pressure)*0.084;
-      if (alt_baro_enabled) {
-	EstimatorSetAlt(baro_MS5534A_z);
-      }
-    }
-  }
-#elif defined(USE_BARO_ETS)
   if (baro_ets_updated) {
     baro_ets_updated = FALSE;
     if (baro_ets_valid) {

sw/airborne/modules/sensors/baro_MS5534A.c

@@ -25,6 +25,7 @@
 /** \file baro_MS5534A.c
  *  \brief Handling of the MS5534a pressure sensor
  *
+ * uses: MOSI, MISO, SCK and 32kHz @ P0.7 with 5V for the -A type
  */
 
 #include "baro_MS5534A.h"
@@ -34,6 +35,7 @@
 #include "ap_downlink.h"
 #endif
 #include "nav.h"
+#include "estimator.h"
 
 bool_t baro_MS5534A_do_reset;
 uint32_t baro_MS5534A_pressure;
@@ -249,3 +251,19 @@ void baro_MS5534A_event_task( void ) {
     baro_MS5534A_send();
   }
 }
+
+void baro_MS5534A_event( void ) {
+  if (spi_message_received) {
+    /* Got a message on SPI. */
+    spi_message_received = FALSE;
+    baro_MS5534A_event_task();
+    if (baro_MS5534A_available) {
+      baro_MS5534A_available = FALSE;
+      baro_MS5534A_z = ground_alt +((float)baro_MS5534A_ground_pressure - baro_MS5534A_pressure)*0.084;
+      if (alt_baro_enabled) {
+	EstimatorSetAlt(baro_MS5534A_z);
+      }
+    }
+  }
+}
+

sw/airborne/modules/sensors/baro_MS5534A.h

@@ -53,6 +53,9 @@ void baro_MS5534A_send(void);
 /* Set baro_MS5534A_available when pressure and temp are readable */
 void baro_MS5534A_event_task( void );
 
+void baro_MS5534A_event( void );
+
 #endif // USE_BARO_MS5534A
 
 #endif // BARO_MS5534A_H
+