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remove baro ets event makro and move transaction status check into event function

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This commit is contained in:
Felix Ruess
2010-10-26 11:21:20 +00:00
parent f317d3ccdd
commit bd0897b4b3
3 changed files with 52 additions and 52 deletions
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conf/modules/baro_ets.xml
+2 -3
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@@ -11,11 +11,10 @@
</header>
<init fun="baro_ets_init()"/>
<periodic fun="baro_ets_read_periodic()" freq="10."/>
<event fun="BaroEtsEvent()"/>
<event fun="baro_ets_event()"/>
<makefile>
<file name="baro_ets.c"/>
<file name="baro_ets.c"/>
</makefile>
</module>
sw/airborne/modules/sensors/baro_ets.c
+49 -46
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@@ -81,62 +81,65 @@ void baro_ets_init( void ) {
baro_ets_cnt = BARO_ETS_OFFSET_NBSAMPLES_INIT + BARO_ETS_OFFSET_NBSAMPLES_AVRG;
baro_ets_r = BARO_ETS_R;
baro_ets_sigma2 = BARO_ETS_SIGMA2;
baro_ets_i2c_trans.status = I2CTransDone;
}
void baro_ets_read_periodic( void ) {
// Initiate next read
#ifndef SITL
I2CReceive(i2c0, baro_ets_i2c_trans, BARO_ETS_ADDR, 2);
if (baro_ets_i2c_trans.status == I2CTransDone)
I2CReceive(i2c0, baro_ets_i2c_trans, BARO_ETS_ADDR, 2);
#else // SITL
baro_ets_adc = 0;
baro_ets_altitude = gps_alt / 100.0;
baro_ets_valid = TRUE;
EstimatorSetAlt(baro_ets_altitude);
#endif
}
void baro_ets_read_event( void ) {
// Get raw altimeter from buffer
baro_ets_adc = ((uint16_t)(baro_ets_i2c_trans.buf[1]) << 8) | (uint16_t)(baro_ets_i2c_trans.buf[0]);
// Check if this is valid altimeter
if (baro_ets_adc == 0)
baro_ets_valid = FALSE;
else
baro_ets_valid = TRUE;
// Continue only if a new altimeter value was received
if (baro_ets_valid) {
// Calculate offset average if not done already
if (!baro_ets_offset_init) {
--baro_ets_cnt;
// Check if averaging completed
if (baro_ets_cnt == 0) {
// Calculate average
baro_ets_offset = (uint16_t)(baro_ets_offset_tmp / BARO_ETS_OFFSET_NBSAMPLES_AVRG);
// Limit offset
if (baro_ets_offset < BARO_ETS_OFFSET_MIN)
baro_ets_offset = BARO_ETS_OFFSET_MIN;
if (baro_ets_offset > BARO_ETS_OFFSET_MAX)
baro_ets_offset = BARO_ETS_OFFSET_MAX;
baro_ets_offset_init = TRUE;
}
// Check if averaging needs to continue
else if (baro_ets_cnt <= BARO_ETS_OFFSET_NBSAMPLES_AVRG)
baro_ets_offset_tmp += baro_ets_adc;
}
// Convert raw to m/s
if (baro_ets_offset_init)
baro_ets_altitude = BARO_ETS_SCALE * (float)(baro_ets_offset-baro_ets_adc);
else
baro_ets_altitude = 0.0;
// New value available
EstimatorSetAlt(baro_ets_altitude);
} else {
baro_ets_altitude = 0.0;
}
// Transaction has been read
baro_ets_i2c_trans.status = I2CTransDone;
}
void baro_ets_event( void ) {
if (baro_ets_i2c_trans.status == I2CTransSuccess) {
// Get raw altimeter from buffer
baro_ets_adc = ((uint16_t)(baro_ets_i2c_trans.buf[1]) << 8) | (uint16_t)(baro_ets_i2c_trans.buf[0]);
// Check if this is valid altimeter
if (baro_ets_adc == 0)
baro_ets_valid = FALSE;
else
baro_ets_valid = TRUE;
// Continue only if a new altimeter value was received
if (baro_ets_valid) {
// Calculate offset average if not done already
if (!baro_ets_offset_init) {
--baro_ets_cnt;
// Check if averaging completed
if (baro_ets_cnt == 0) {
// Calculate average
baro_ets_offset = (uint16_t)(baro_ets_offset_tmp / BARO_ETS_OFFSET_NBSAMPLES_AVRG);
// Limit offset
if (baro_ets_offset < BARO_ETS_OFFSET_MIN)
baro_ets_offset = BARO_ETS_OFFSET_MIN;
if (baro_ets_offset > BARO_ETS_OFFSET_MAX)
baro_ets_offset = BARO_ETS_OFFSET_MAX;
baro_ets_offset_init = TRUE;
}
// Check if averaging needs to continue
else if (baro_ets_cnt <= BARO_ETS_OFFSET_NBSAMPLES_AVRG)
baro_ets_offset_tmp += baro_ets_adc;
}
// Convert raw to m/s
if (baro_ets_offset_init)
baro_ets_altitude = BARO_ETS_SCALE * (float)(baro_ets_offset-baro_ets_adc);
else
baro_ets_altitude = 0.0;
// New value available
EstimatorSetAlt(baro_ets_altitude);
} else {
baro_ets_altitude = 0.0;
}
// Transaction has been read
baro_ets_i2c_trans.status = I2CTransDone;
}
}
sw/airborne/modules/sensors/baro_ets.h
+1 -3
View File
@@ -56,8 +56,6 @@ extern struct i2c_transaction baro_ets_i2c_trans;
extern void baro_ets_init( void );
extern void baro_ets_read_periodic( void );
extern void baro_ets_read_event( void );
#define BaroEtsEvent() { if (baro_ets_i2c_trans.status == I2CTransSuccess) baro_ets_read_event(); }
extern void baro_ets_event( void );
#endif // BARO_ETS_H