[baro] adapt baro_board module to the new interface

Some modules can be used directly, some needs some more changes or adaptation
2026-05-10 06:59:54 +08:00 · 2012-08-22 15:46:38 +02:00
parent 70adb45cd7
commit a41ecf5116
10 changed files with 58 additions and 23 deletions
@@ -2,30 +2,14 @@

 <module name="baro_board" dir="sensors">
  <doc>
-    <description>Temporary hack to use baro interface on fixedwing</description>
+    <description>Allow to use baro interface on fixedwing with external barometers</description>
  </doc>
  <header>
    <file name="baro_board_module.h"/>
  </header>
-  <init fun="baro_init()"/>
-  <periodic fun="baro_periodic()" freq="60."/>
-  <event fun="BaroEvent(baro_abs,baro_diff)"/>
  <makefile target="ap">
-    <file name="baro_board.c" dir="boards/$(BOARD)"/>
-    <define name="USE_BARO_AS_ALTIMETER"/>
-    <raw>
-ifeq ($(BOARD), navgo)
-  ap.CFLAGS += -DUSE_I2C1 -DUSE_ADS1114_1
-  ap.CFLAGS += -DADS1114_I2C_DEVICE=i2c1
-  ap.srcs += peripherals/ads1114.c
-else ifeq ($(BOARD), umarim)
-  ap.CFLAGS += -DUSE_I2C1 -DUSE_ADS1114_1
-  ap.CFLAGS += -DADS1114_I2C_DEVICE=i2c1
-  ap.srcs += peripherals/ads1114.c
-else ifeq ($(BOARD), lisa_l)
-  ap.CFLAGS += -DUSE_I2C2
-endif
-    </raw>
+    <file name="baro_board_module.c"/>
+    <define name="USE_BAROMETER"/>
  </makefile>
 </module>

@@ -62,6 +62,13 @@
      <message name="STATE_FILTER_STATUS" period="7."/>
      <message name="DOWNLINK"            period="5.7"/>
    </mode>
+    <mode name="raw_sensors">
+      <message name="DL_VALUE"          period="0.5"/>
+      <message name="ALIVE"             period="2.1"/>
+      <message name="BARO_RAW"          period="0.5"/>
+      <message name="IR_SENSORS"        period="0.5"/>
+      <message name="IMU_GYRO_RAW"      period="0.1"/>
+    </mode>
  </process>
  <process name="Fbw">
    <mode name="default">
@@ -55,6 +55,8 @@ void baro_MS5534A_event_task( void );

 void baro_MS5534A_event( void );

+#define BaroMS5534AUpdate(_b) { if (baro_MS5534A_available) { _b = baro_MS5534A_pressure; baro_MS5534A_available = FALSE; } }
+
 #endif // USE_BARO_MS5534A

 #endif // BARO_MS5534A_H
@@ -30,9 +30,9 @@

 #define BARO_AMSYS_DT 0.05

-// extern uint16_t baro_amsys_adc;
+extern uint16_t baro_amsys_adc;
 // extern float baro_amsys_offset;
-// extern bool_t baro_amsys_valid;
+extern bool_t baro_amsys_valid;
 // extern bool_t baro_amsys_updated;
 // extern bool_t baro_amsys_enabled;
 extern float baro_amsys_altitude;
@@ -48,4 +48,6 @@ extern void baro_amsys_read_event( void );

 #define BaroAmsysEvent() { if (baro_amsys_i2c_trans.status == I2CTransSuccess) baro_amsys_read_event(); }

+#define BaroAmsysUpdate(_b) { if (baro_amsys_valid) { _b = baro_amsys_adc; baro_amsys_valid = FALSE; } }
+
 #endif // BARO_AMSYS_H
@@ -74,6 +74,7 @@ float baro_bmp_sigma2;

 // Global variables
 uint8_t  baro_bmp_status;
+bool_t  baro_bmp_valid;
 uint32_t baro_bmp_pressure;
 uint16_t baro_bmp_temperature;
 int32_t baro_bmp_altitude, baro_bmp,baro_bmp_temp,baro_bmp_offset;
@@ -92,6 +93,7 @@ uint16_t baro_bmp_cnt;

 void baro_bmp_init( void ) {
  baro_bmp_status = BARO_BMP_UNINIT;
+  baro_bmp_valid = FALSE;
  baro_bmp_r = BARO_BMP_R;
  baro_bmp_sigma2 = BARO_BMP_SIGMA2;
  baro_bmp_enabled = TRUE;
@@ -234,6 +236,7 @@ void baro_bmp_event( void ) {
      if (baro_bmp_offset_init) {
        baro_bmp_altitude = ground_alt + baro_bmp_temp;
        // New value available
+        baro_bmp_valid = TRUE;
 #if USE_BARO_BMP
 #pragma message "USING BARO BMP"
        EstimatorSetAlt(baro_bmp_altitude);
@@ -40,6 +40,7 @@ extern float baro_bmp_r;
 extern float baro_bmp_sigma2;

 extern uint8_t  baro_bmp_status;
+extern bool_t   baro_bmp_valid;
 extern uint32_t baro_bmp_pressure;
 extern uint16_t baro_bmp_temperature;
 extern int32_t  baro_bmp_altitude;
@@ -50,4 +51,6 @@ void baro_bmp_init(void);
 void baro_bmp_periodic(void);
 void baro_bmp_event(void);

+#define BaroBmpUpdate(_b) { if (baro_bmp_valid) { _b = baro_bmp_pressure; baro_bmp_valid = FALSE; } }
+
 #endif
@@ -29,7 +29,35 @@

 #include "subsystems/sensors/baro.h"

-static inline void baro_abs(void) {}
-static inline void baro_diff(void) {}
+/** Absolute baro macro mapping.
+ *  Select the baro module you want to use to feed the common baro interface
+ *  in your airframe file when configuring baro_board module
+ *  ex:
+ *   for module baro_ets
+ *   <define name="BARO_ABS_EVENT" value="BaroEtsUpdate"/>
+ */
+#ifndef BARO_ABS_EVENT
+#define BARO_ABS_EVENT NoBaro
+#endif
+
+/** Differential baro macro mapping.
+ *  TODO
+ */
+#ifndef BARO_DIFF_EVENT
+#define BARO_DIFF_EVENT NoBaro
+#endif
+
+#define NoBaro(_b) {}
+
+/** BaroEvent macro.
+ *  Need to be maped to one the external baro running has a module
+ */
+#define BaroEvent(_b_abs_handler, _b_diff_handler) {  \
+  BARO_ABS_EVENT(baro.absolute);                      \
+  BARO_DIFF_EVENT(baro.differential);                 \
+  _b_abs_handler();                                   \
+  _b_diff_handler();                                  \
+}
+

 #endif
@@ -60,4 +60,6 @@ extern void baro_ets_read_event( void );

 #define BaroEtsEvent() { if (baro_ets_i2c_trans.status == I2CTransSuccess) baro_ets_read_event(); }

+#define BaroEtsUpdate(_b) { if (baro_ets_valid) { _b = baro_ets_adc; baro_ets_valid = FALSE; } }
+
 #endif // BARO_ETS_H
@@ -20,4 +20,6 @@ void baro_scp_init(void);
 void baro_scp_periodic(void);
 void baro_scp_event(void);

+#define BaroScpUpdate(_b) { if (baro_scp_available) { _b = baro_scp_pressure; baro_scp_available = FALSE; } }
+
 #endif
@@ -54,6 +54,8 @@ extern void pbn_read_event( void );

 #define PbnEvent() { if (pbn_trans.status == I2CTransSuccess) pbn_read_event(); }

+#define BaroPbnUpdate(_b) { if (data_valid) { _b = altitude_adc; data_valid = FALSE; } }
+
 #define PERIODIC_SEND_PBN(_chan) DOWNLINK_SEND_PBN(DefaultChannel, DefaultDevice,&airspeed_adc,&altitude_adc,&pbn_airspeed,&pbn_altitude,&airspeed_offset,&altitude_offset);

 #endif // PRESSURE_BOARD_NAVARRO_H