[baro] convert baro modules to ABI

sw/airborne/modules/sensors/baro_MS5534A.c

@@ -33,9 +33,14 @@
 #ifndef BARO_NO_DOWNLINK
 #include "ap_downlink.h"
 #endif
+#include "subsystems/abi.h"
 #include "subsystems/nav.h"
 #include "state.h"
 
+#ifndef BARO_MS5534A_SENDER_ID
+#define BARO_MS5534A_SENDER_ID 15
+#endif
+
 bool_t baro_MS5534A_do_reset;
 uint32_t baro_MS5534A_pressure;
 uint16_t baro_MS5534A_temp;
@@ -257,11 +262,10 @@ void baro_MS5534A_event( void ) {
     spi_message_received = FALSE;
     baro_MS5534A_event_task();
     if (baro_MS5534A_available) {
-    //  baro_MS5534A_available = FALSE; // Checked by INS
+      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); // Updated by INS
-    //  }
+      float pressure = (float)baro_MS5534A_pressure;
+      AbiSendMsgBARO_ABS(BARO_MS5534A_SENDER_ID, &pressure);
     }
   }
 }

sw/airborne/modules/sensors/baro_MS5534A.h

@@ -54,8 +54,6 @@ void baro_MS5534A_event_task( void );
 
 void baro_MS5534A_event( void );
 
-#define BaroMS5534AUpdate(_b, _h) { if (baro_MS5534A_available) { _b = baro_MS5534A_pressure; _h(); baro_MS5534A_available = FALSE; } }
-
 #endif // USE_BARO_MS5534A
 
 #endif // BARO_MS5534A_H

sw/airborne/modules/sensors/baro_amsys.c

@@ -25,6 +25,7 @@
 
 #include "sensors/baro_amsys.h"
 #include "mcu_periph/i2c.h"
+#include "subsystems/abi.h"
 #include "state.h"
 #include <math.h>
 #include "generated/flight_plan.h" // for ground alt
@@ -43,10 +44,6 @@
 #define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE
 #endif
 
-#ifdef SITL
-#include "subsystems/gps.h"
-#endif
-
 #define BARO_AMSYS_ADDR 0xE4
 #define BARO_AMSYS_REG 0x07
 #ifndef BARO_AMSYS_SCALE
@@ -77,6 +74,10 @@
 #define BARO_AMSYS_I2C_DEV i2c0
 #endif
 
+#ifndef BARO_AMSYS_SENDER_ID
+#define BARO_AMSYS_SENDER_ID 16
+#endif
+
 // Global variables
 uint16_t pBaroRaw;
 uint16_t tBaroRaw;
@@ -180,6 +181,9 @@ void baro_amsys_read_event( void ) {
 
     //Convert to pressure
     baro_amsys_p = (float)(pBaroRaw-BARO_AMSYS_OFFSET_MIN)*BARO_AMSYS_MAX_PRESSURE/(float)(BARO_AMSYS_OFFSET_MAX-BARO_AMSYS_OFFSET_MIN);
+    // Send pressure over ABI
+    AbiSendMsgBARO_ABS(BARO_AMSYS_SENDER_ID, &baro_amsys_p);
+    // compute altitude localy
     if (!baro_amsys_offset_init) {
       --baro_amsys_cnt;
       // Check if averaging completed

sw/airborne/modules/sensors/baro_amsys.h

@@ -48,6 +48,4 @@ extern void baro_amsys_read_event( void );
 
 #define BaroAmsysEvent() { if (baro_amsys_i2c_trans.status == I2CTransSuccess) baro_amsys_read_event(); }
 
-#define BaroAmsysUpdate(_b, _h) { if (baro_amsys_valid) { _b = baro_amsys_adc; _h(); baro_amsys_valid = FALSE; } }
-
 #endif // BARO_AMSYS_H

sw/airborne/modules/sensors/baro_bmp.c

@@ -36,6 +36,7 @@
 #include "mcu_periph/i2c.h"
 #include "led.h"
 #include "mcu_periph/uart.h"
+#include "subsystems/abi.h"
 #include "messages.h"
 #include "subsystems/datalink/downlink.h"
 
@@ -51,6 +52,9 @@
 #define BMP_I2C_DEV i2c0
 #endif
 
+#ifndef BARO_BMP_SENDER_ID
+#define BARO_BMP_SENDER_ID 17
+#endif
 
 #define BARO_BMP_R 0.5
 #define BARO_BMP_SIGMA2 0.1
@@ -92,6 +96,9 @@ void baro_bmp_event(void) {
     tmp = pow(tmp, 0.190295);
     baro_bmp_alt = 44330 * (1.0 - tmp);
 
+    float pressure = (float)baro_bmp.pressure;
+    AbiSendMsgBARO_ABS(BARO_BMP_SENDER_ID, &pressure);
+
 #ifdef SENSOR_SYNC_SEND
     DOWNLINK_SEND_BMP_STATUS(DefaultChannel, DefaultDevice, &baro_bmp.up,
                              &baro_bmp.ut, &baro_bmp.pressure,

sw/airborne/modules/sensors/baro_bmp.h

@@ -51,6 +51,4 @@ void baro_bmp_init(void);
 void baro_bmp_periodic(void);
 void baro_bmp_event(void);
 
-#define BaroBmpUpdate(_b, _h) { if (baro_bmp.data_available) { _b = baro_bmp.pressure; _h(); baro_bmp.data_available = FALSE; } }
-
 #endif

sw/airborne/modules/sensors/baro_board_module.c

@@ -1,59 +0,0 @@
-/*
- * Copyright (C) 2012 Gautier Hattenberger
- *
- * 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.
- *
- */
-
-/*
- * Wrapper for the board specific barometer
- * Allows to use external baro sensor to feed the general baro interface
- */
-
-#include "modules/sensors/baro_board_module.h"
-
-/* Common Baro struct */
-struct Baro baro;
-
-/* Counter to init custom baro at startup */
-#define BARO_STARTUP_COUNTER 200
-uint16_t startup_cnt;
-
-/** Implementation of the generic baro interface initialization.
- *  No need to call this functions from the modules, already done by main.
- */
-void baro_init( void ) {
-  baro.status = BS_UNINITIALIZED;
-  baro.absolute     = 0;
-  baro.differential = 0;
-  startup_cnt = BARO_STARTUP_COUNTER;
-}
-
-/** Implementation of the generic baro interface periodic task.
- *  No need to call this functions from the modules, already done by main.
- */
-void baro_periodic( void ) {
-  if (baro.status == BS_UNINITIALIZED) {
-    // Run some loops to get correct readings from the adc
-    --startup_cnt;
-    if (startup_cnt == 0) {
-      baro.status = BS_RUNNING;
-    }
-  }
-}
-

sw/airborne/modules/sensors/baro_board_module.h

@@ -1,70 +0,0 @@
-/*
- * Copyright (C) 2011 Gautier Hattenberger
- *
- * 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.
- */
-
-/**
- * @file modules/sensors/baro_board_module.h
- *
- * Wrapper for the board specific barometer.
- */
-
-#ifndef BARO_BOARD_MODULE_H
-#define BARO_BOARD_MODULE_H
-
-#include "subsystems/sensors/baro.h"
-
-/** 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
- * @verbatim
- *   <define name="BARO_ABS_EVENT" value="BaroEtsUpdate"/>
- * @endverbatim
- */
-#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, _h) {}
-
-/** BaroEvent macro.
- *  Need to be maped to one the external baro running has a module
- *
- *  Undef if necessary (already defined in a baro_board.h file)
- */
-#ifdef BaroEvent
-#undef BaroEvent
-#endif
-
-#define BaroEvent(_b_abs_handler, _b_diff_handler) {  \
-    BARO_ABS_EVENT(baro.absolute, _b_abs_handler);       \
-    BARO_DIFF_EVENT(baro.differential, _b_diff_handler); \
-}
-
-
-#endif

sw/airborne/modules/sensors/baro_ets.c

@@ -42,6 +42,7 @@
 #include "sensors/baro_ets.h"
 #include "mcu_periph/i2c.h"
 #include "state.h"
+#include "subsystems/abi.h"
 #include <math.h>
 #include "mcu_periph/sys_time.h"
 
@@ -73,11 +74,21 @@
 #define BARO_ETS_R 0.5
 #define BARO_ETS_SIGMA2 0.1
 
+// Pressure offset to convert raw adc to real pressure (FIXME find real value)
+#ifndef BARO_ETS_PRESSURE_OFFSET
+#define BARO_ETS_PRESSURE_OFFSET 101325.0
+#endif
+
 #ifndef BARO_ETS_I2C_DEV
 #define BARO_ETS_I2C_DEV i2c0
 #endif
 PRINT_CONFIG_VAR(BARO_ETS_I2C_DEV)
 
+#ifndef BARO_ETS_SENDER_ID
+#define BARO_ETS_SENDER_ID 18
+#endif
+PRINT_CONFIG_VAR(BARO_ETS_SENDER_ID)
+
 /** delay in seconds until sensor is read after startup */
 #ifndef BARO_ETS_START_DELAY
 #define BARO_ETS_START_DELAY 0.2
@@ -178,6 +189,8 @@ void baro_ets_read_event( void ) {
     if (baro_ets_offset_init) {
       baro_ets_altitude = ground_alt + BARO_ETS_SCALE * (float)(baro_ets_offset-baro_ets_adc);
       // New value available
+      float pressure = BARO_ETS_SCALE * (float) baro_ets_adc + BARO_ETS_PRESSURE_OFFSET;
+      AbiSendMsgBARO_ABS(BARO_ETS_SENDER_ID, &pressure);
 #ifdef BARO_ETS_SYNC_SEND
       DOWNLINK_SEND_BARO_ETS(DefaultChannel, DefaultDevice, &baro_ets_adc, &baro_ets_offset, &baro_ets_altitude);
 #endif

sw/airborne/modules/sensors/baro_ets.h

@@ -64,6 +64,4 @@ extern void baro_ets_read_event( void );
 
 #define BaroEtsEvent() { if (baro_ets_i2c_trans.status == I2CTransSuccess) baro_ets_read_event(); }
 
-#define BaroEtsUpdate(_b, _h) { if (baro_ets_valid) { _b = baro_ets_adc; _h(); baro_ets_valid = FALSE; } }
-
 #endif // BARO_ETS_H

sw/airborne/modules/sensors/baro_hca.c

@@ -22,6 +22,7 @@
 
 #include "sensors/baro_hca.h"
 #include "mcu_periph/i2c.h"
+#include "subsystems/abi.h"
 #include <math.h>
 
 //Messages
@@ -39,10 +40,24 @@
 #define BARO_HCA_MAX_OUT 27852 //dec
 #define BARO_HCA_MIN_OUT 1638 //dec
 
+// FIXME
+#ifndef BARO_HCA_SCALE
+#define BARO_HCA_SCALE 1.0
+#endif
+
+// FIXME
+#ifndef BARO_HCA_PRESSURE_OFFSET
+#define BARO_HCA_PRESSURE_OFFSET 101325.0
+#endif
+
 #ifndef BARO_HCA_I2C_DEV
 #define BARO_HCA_I2C_DEV i2c0
 #endif
 
+#ifndef BARO_HCA_SENDER_ID
+#define BARO_HCA_SENDER_ID 19
+#endif
+
 // Global variables
 uint16_t pBaroRaw;
 bool_t baro_hca_valid;
@@ -83,6 +98,8 @@ void baro_hca_read_event( void ) {
     if (pBaroRaw > BARO_HCA_MAX_OUT)
       pBaroRaw = BARO_HCA_MAX_OUT;
 
+    float pressure = BARO_HCA_SCALE*(float)pBaroRaw + BARO_HCA_PRESSURE_OFFSET;
+    AbiSendMsgBARO_ABS(BARO_HCA_SENDER_ID, &pressure);
   }
   baro_hca_i2c_trans.status = I2CTransDone;
 

sw/airborne/modules/sensors/baro_mpl3115.c

@@ -21,6 +21,7 @@
  */
 
 #include "modules/sensors/baro_mpl3115.h"
+#include "subsystems/abi.h"
 
 //Messages
 #include "mcu_periph/uart.h"
@@ -31,23 +32,30 @@
 #define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE
 #endif
 
+#ifndef BARO_MPL3115_SENDER_ID
+#define BARO_MPL3115_SENDER_ID 20
+#endif
+
 void baro_mpl3115_init( void ) {
   mpl3115_init();
 }
 
 
 void baro_mpl3115_read_periodic( void ) {
-#ifdef SENSOR_SYNC_SEND
-  if (mpl3115_data_available) {
-    DOWNLINK_SEND_MPL3115_BARO(DefaultChannel, DefaultDevice, &mpl3115_pressure, &mpl3115_temperature, &mpl3115_alt);
-  }
-#endif
   Mpl3115Periodic();
 }
 
 
 void baro_mpl3115_read_event( void ) {
   mpl3115_event();
+  if (mpl3115_data_available) {
+    float pressure = (float)mpl3115_pressure;
+    AbiSendMsgBARO_ABS(BARO_MPL3115_SENDER_ID, &pressure);
+#ifdef SENSOR_SYNC_SEND
+    DOWNLINK_SEND_MPL3115_BARO(DefaultChannel, DefaultDevice, &mpl3115_pressure, &mpl3115_temperature, &mpl3115_alt);
+#endif
+    mpl3115_data_available = FALSE;
+  }
 }
 
 

sw/airborne/modules/sensors/baro_ms5611_i2c.c

@@ -30,6 +30,7 @@
 #include "modules/sensors/baro_ms5611_i2c.h"
 
 #include "mcu_periph/sys_time.h"
+#include "subsystems/abi.h"
 #include "mcu_periph/uart.h"
 #include "messages.h"
 #include "subsystems/datalink/downlink.h"
@@ -38,6 +39,10 @@
 #define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE
 #endif
 
+#ifndef BARO_MS5611_SENDER_ID
+#define BARO_MS5611_SENDER_ID 20
+#endif
+
 #ifndef MS5611_I2C_DEV
 #define MS5611_I2C_DEV i2c0
 #endif
@@ -97,6 +102,8 @@ void baro_ms5611_event( void ) {
   ms5611_i2c_event(&baro_ms5611);
 
   if (baro_ms5611.data_available) {
+    float pressure = (float)baro_ms5611.data.pressure;
+    AbiSendMsgBARO_ABS(BARO_MS5611_SENDER_ID, &pressure);
     float tmp_float = baro_ms5611.data.pressure / 101325.0; //pressure at sea level
     tmp_float = pow(tmp_float, 0.190295);
     baro_ms5611_alt = 44330 * (1.0 - tmp_float); //altitude above MSL

sw/airborne/modules/sensors/baro_ms5611_i2c.h

@@ -22,8 +22,4 @@ extern void baro_ms5611_read(void);
 extern void baro_ms5611_periodic_check(void);
 extern void baro_ms5611_event(void);
 
-#define BaroMs5611UpdatePressure(_b, _h) { if (baro_ms5611.data_available) { _b = baro_ms5611.data.pressure; _h(); baro_ms5611.data_available = FALSE; } }
-
-#define BaroMs5611UpdateAlt(_b, _h) { if (baro_ms5611.data_available) { _b = baro_ms5611_alt; _h(); baro_ms5611.data_available = FALSE; } }
-
 #endif

sw/airborne/modules/sensors/baro_ms5611_spi.c

@@ -30,6 +30,7 @@
 #include "modules/sensors/baro_ms5611_spi.h"
 
 #include "mcu_periph/sys_time.h"
+#include "subsystems/abi.h"
 #include "mcu_periph/uart.h"
 #include "messages.h"
 #include "subsystems/datalink/downlink.h"
@@ -38,6 +39,10 @@
 #define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE
 #endif
 
+#ifndef BARO_MS5611_SENDER_ID
+#define BARO_MS5611_SENDER_ID 20
+#endif
+
 #ifndef MS5611_SPI_DEV
 #define MS5611_SPI_DEV spi1
 #endif
@@ -97,6 +102,8 @@ void baro_ms5611_event( void ) {
   ms5611_spi_event(&baro_ms5611);
 
   if (baro_ms5611.data_available) {
+    float pressure = (float)baro_ms5611.data.pressure;
+    AbiSendMsgBARO_ABS(BARO_MS5611_SENDER_ID, &pressure);
     float tmp_float = baro_ms5611.data.pressure / 101325.0; //pressure at sea level
     tmp_float = pow(tmp_float, 0.190295);
     baro_ms5611_alt = 44330 * (1.0 - tmp_float); //altitude above MSL

sw/airborne/modules/sensors/baro_ms5611_spi.h

@@ -50,8 +50,4 @@ extern void baro_ms5611_read(void);
 extern void baro_ms5611_periodic_check(void);
 extern void baro_ms5611_event(void);
 
-#define BaroMs5611UpdatePressure(_b) { if (baro_ms5611.data_available) { _b = baro_ms5611.data.pressure; baro_ms5611.data_available = FALSE; } }
-
-#define BaroMs5611UpdateAlt(_b) { if (baro_ms5611.data_available) { _b = baro_ms5611_alt; baro_ms5611.data_available = FALSE; } }
-
 #endif

sw/airborne/modules/sensors/baro_scp.c

@@ -2,6 +2,7 @@
 #include "mcu_periph/sys_time.h"
 #include "led.h"
 #include "mcu.h"
+#include "subsystems/abi.h"
 
 #include "mcu_periph/uart.h"
 #include "messages.h"
@@ -15,6 +16,10 @@
 #warning set SENSOR_SYNC_SEND to use baro_scp
 #endif
 
+#ifndef BARO_SCP_SENDER_ID
+#define BARO_SCP_SENDER_ID 21
+#endif
+
 #ifndef DOWNLINK_DEVICE
 #define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE
 #endif
@@ -184,6 +189,8 @@ static void baro_scp_read(void) {
 
 void baro_scp_event( void ) {
   if (baro_scp_available == TRUE) {
+    float pressure = (float)baro_scp_pressure;
+    AbiSendMsgBARO_ABS(BARO_SCP_SENDER_ID, &pressure);
 #ifdef SENSOR_SYNC_SEND
     DOWNLINK_SEND_SCP_STATUS(DefaultChannel, DefaultDevice, &baro_scp_pressure, &baro_scp_temperature);
 #endif

sw/airborne/modules/sensors/baro_scp.h

@@ -20,6 +20,4 @@ void baro_scp_init(void);
 void baro_scp_periodic(void);
 void baro_scp_event(void);
 
-#define BaroScpUpdate(_b, _h) { if (baro_scp_available) { _b = baro_scp_pressure; _h(); baro_scp_available = FALSE; } }
-
 #endif

sw/airborne/modules/sensors/baro_scp_i2c.c

@@ -9,6 +9,7 @@
 
 #include "mcu_periph/sys_time.h"
 #include "mcu_periph/i2c.h"
+#include "subsystems/abi.h"
 #include "led.h"
 
 #include "mcu_periph/uart.h"
@@ -19,6 +20,10 @@
 #warning set SENSOR_SYNC_SEND to use baro_scp_i2c
 #endif
 
+#ifndef BARO_SCP_SENDER_ID
+#define BARO_SCP_SENDER_ID 21
+#endif
+
 #ifndef DOWNLINK_DEVICE
 #define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE
 #endif
@@ -99,6 +104,8 @@ void baro_scp_event( void ) {
       baro_scp_pressure |= scp_trans.buf[1];
       baro_scp_pressure *= 25;
 
+      float pressure = (float) baro_scp_pressure;
+      AbiSendMsgBARO_ABS(BARO_SCP_SENDER_ID, &pressure);
 #ifdef SENSOR_SYNC_SEND
       DOWNLINK_SEND_SCP_STATUS(DefaultChannel, DefaultDevice, &baro_scp_pressure, &baro_scp_temperature);
 #endif

sw/airborne/modules/sensors/pressure_board_navarro.c

@@ -27,6 +27,7 @@
 
 #include "pressure_board_navarro.h"
 #include "state.h"
+#include "subsystems/abi.h"
 
 /* Default I2C device on tiny is i2c0
  */
@@ -56,6 +57,14 @@
 #define PBN_ALTITUDE_SCALE 0.32
 #endif
 
+#ifndef PBN_PRESSURE_OFFSET
+#define PBN_PRESSURE_OFFSET 101325.0
+#endif
+
+#ifndef BARO_PBN_SENDER_ID
+#define BARO_PBN_SENDER_ID 22
+#endif
+
 // Global variables
 uint16_t altitude_adc;
 uint16_t airspeed_adc;
@@ -132,6 +141,9 @@ void pbn_read_event( void ) {
       --offset_cnt;
     }
     else {
+      // Compute pressure
+      float pressure = PBN_ALTITUDE_SCALE * (float) altitude_adc + PBN_PRESSURE_OFFSET;
+      AbiSendMsgBARO_ABS(BARO_PBN_SENDER_ID, &pressure);
       // Compute airspeed and altitude
       //pbn_airspeed = (-4.45 + sqrtf(19.84-0.57*(float)(airspeed_offset-airspeed_adc)))/0.28;
       uint16_t diff = Max(airspeed_adc-airspeed_offset, 0);

sw/airborne/modules/sensors/pressure_board_navarro.h

@@ -54,8 +54,6 @@ 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