From a41ecf51166abb01c75ade9e0b8ef2b36e95c9aa Mon Sep 17 00:00:00 2001 From: Gautier Hattenberger Date: Wed, 22 Aug 2012 15:46:38 +0200 Subject: [PATCH] [baro] adapt baro_board module to the new interface Some modules can be used directly, some needs some more changes or adaptation --- conf/modules/baro_board.xml | 22 ++----------- conf/telemetry/default_fixedwing.xml | 7 ++++ sw/airborne/modules/sensors/baro_MS5534A.h | 2 ++ sw/airborne/modules/sensors/baro_amsys.h | 6 ++-- sw/airborne/modules/sensors/baro_bmp.c | 3 ++ sw/airborne/modules/sensors/baro_bmp.h | 3 ++ .../modules/sensors/baro_board_module.h | 32 +++++++++++++++++-- sw/airborne/modules/sensors/baro_ets.h | 2 ++ sw/airborne/modules/sensors/baro_scp.h | 2 ++ .../modules/sensors/pressure_board_navarro.h | 2 ++ 10 files changed, 58 insertions(+), 23 deletions(-) diff --git a/conf/modules/baro_board.xml b/conf/modules/baro_board.xml index e378dea4ce..b87687e982 100644 --- a/conf/modules/baro_board.xml +++ b/conf/modules/baro_board.xml @@ -2,30 +2,14 @@ - Temporary hack to use baro interface on fixedwing + Allow to use baro interface on fixedwing with external barometers
- - - - - - -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 - + + diff --git a/conf/telemetry/default_fixedwing.xml b/conf/telemetry/default_fixedwing.xml index 89fee5251a..fcfa6320f3 100644 --- a/conf/telemetry/default_fixedwing.xml +++ b/conf/telemetry/default_fixedwing.xml @@ -62,6 +62,13 @@ + + + + + + + diff --git a/sw/airborne/modules/sensors/baro_MS5534A.h b/sw/airborne/modules/sensors/baro_MS5534A.h index d8e39137ba..f9c9ebef4e 100644 --- a/sw/airborne/modules/sensors/baro_MS5534A.h +++ b/sw/airborne/modules/sensors/baro_MS5534A.h @@ -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 diff --git a/sw/airborne/modules/sensors/baro_amsys.h b/sw/airborne/modules/sensors/baro_amsys.h index 9e0884944d..7844695db6 100644 --- a/sw/airborne/modules/sensors/baro_amsys.h +++ b/sw/airborne/modules/sensors/baro_amsys.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 diff --git a/sw/airborne/modules/sensors/baro_bmp.c b/sw/airborne/modules/sensors/baro_bmp.c index 2e1af7ad70..b5ba065da1 100644 --- a/sw/airborne/modules/sensors/baro_bmp.c +++ b/sw/airborne/modules/sensors/baro_bmp.c @@ -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); diff --git a/sw/airborne/modules/sensors/baro_bmp.h b/sw/airborne/modules/sensors/baro_bmp.h index 0d82a37b3c..53adeb184d 100644 --- a/sw/airborne/modules/sensors/baro_bmp.h +++ b/sw/airborne/modules/sensors/baro_bmp.h @@ -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 diff --git a/sw/airborne/modules/sensors/baro_board_module.h b/sw/airborne/modules/sensors/baro_board_module.h index 5ba3d796b6..f8d88e5595 100644 --- a/sw/airborne/modules/sensors/baro_board_module.h +++ b/sw/airborne/modules/sensors/baro_board_module.h @@ -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 + * + */ +#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 diff --git a/sw/airborne/modules/sensors/baro_ets.h b/sw/airborne/modules/sensors/baro_ets.h index bfdc568b6d..86e45a83ef 100644 --- a/sw/airborne/modules/sensors/baro_ets.h +++ b/sw/airborne/modules/sensors/baro_ets.h @@ -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 diff --git a/sw/airborne/modules/sensors/baro_scp.h b/sw/airborne/modules/sensors/baro_scp.h index c69534ec0f..2619adb96d 100644 --- a/sw/airborne/modules/sensors/baro_scp.h +++ b/sw/airborne/modules/sensors/baro_scp.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 diff --git a/sw/airborne/modules/sensors/pressure_board_navarro.h b/sw/airborne/modules/sensors/pressure_board_navarro.h index f5e78f2a2f..3ba8b2d208 100644 --- a/sw/airborne/modules/sensors/pressure_board_navarro.h +++ b/sw/airborne/modules/sensors/pressure_board_navarro.h @@ -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