diff --git a/conf/airframes/examples/quadrotor_lisa_mx.xml b/conf/airframes/examples/quadrotor_lisa_mx.xml
index 3452e08df1..e66fc89f7e 100644
--- a/conf/airframes/examples/quadrotor_lisa_mx.xml
+++ b/conf/airframes/examples/quadrotor_lisa_mx.xml
@@ -43,6 +43,9 @@
+
+
+
diff --git a/conf/airframes/examples/setup_lisam2.xml b/conf/airframes/examples/setup_lisam2.xml
index 73ce8b63d0..0e167a4ae5 100644
--- a/conf/airframes/examples/setup_lisam2.xml
+++ b/conf/airframes/examples/setup_lisam2.xml
@@ -28,7 +28,11 @@
-
+
+
+
+
+
diff --git a/conf/firmwares/test_progs.makefile b/conf/firmwares/test_progs.makefile
index ccbd484e74..b09342197e 100644
--- a/conf/firmwares/test_progs.makefile
+++ b/conf/firmwares/test_progs.makefile
@@ -286,7 +286,6 @@ test_baro_board.CFLAGS += $(COMMON_TEST_CFLAGS)
test_baro_board.srcs += $(COMMON_TEST_SRCS)
test_baro_board.CFLAGS += $(COMMON_TELEMETRY_CFLAGS)
test_baro_board.srcs += $(COMMON_TELEMETRY_SRCS)
-test_baro_board.srcs += subsystems/air_data.c
test_baro_board.srcs += test/test_baro_board.c
test_baro_board.srcs += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
ifeq ($(TARGET),test_baro_board)
diff --git a/sw/airborne/boards/booz/test_baro.c b/sw/airborne/boards/booz/test_baro.c
deleted file mode 100644
index c38934df68..0000000000
--- a/sw/airborne/boards/booz/test_baro.c
+++ /dev/null
@@ -1,87 +0,0 @@
-/*
- * Copyright (C) 2009 Antoine Drouin
- *
- * 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.
- */
-
-/*
- *
- * test baro using interrupts
- *
- */
-
-#include BOARD_CONFIG
-
-#include "mcu.h"
-
-#include "mcu_periph/sys_time.h"
-#include "subsystems/datalink/downlink.h"
-#include "subsystems/sensors/baro.h"
-
-static inline void main_init( void );
-static inline void main_periodic_task( void );
-static inline void main_event_task( void );
-
-static inline void main_on_baro_diff(void);
-static inline void main_on_baro_abs(void);
-
-
-int main(void) {
- main_init();
-
- while(1) {
- if (sys_time_check_and_ack_timer(0))
- main_periodic_task();
- main_event_task();
- }
-
- return 0;
-}
-
-static inline void main_init( void ) {
- mcu_init();
- sys_time_register_timer((1./PERIODIC_FREQUENCY), NULL);
- booz2_analog_init();
- baro_init();
- mcu_int_enable();
-}
-
-
-
-static inline void main_periodic_task( void ) {
-
- RunOnceEvery(2, {baro_periodic();});
- RunOnceEvery(256, {DOWNLINK_SEND_ALIVE(DefaultChannel, DefaultDevice, 16, MD5SUM);});
- LED_PERIODIC();
-
-}
-
-
-
-static inline void main_event_task( void ) {
- BaroEvent(main_on_baro_abs, main_on_baro_diff);
-}
-
-
-static inline void main_on_baro_diff(void) {
-
-}
-
-static inline void main_on_baro_abs(void) {
- RunOnceEvery(5,{DOWNLINK_SEND_BARO_RAW(DefaultChannel, DefaultDevice, &baro.absolute, &baro.differential);});
-}
diff --git a/sw/airborne/test/test_baro_board.c b/sw/airborne/test/test_baro_board.c
index 2147d6b559..133c368470 100644
--- a/sw/airborne/test/test_baro_board.c
+++ b/sw/airborne/test/test_baro_board.c
@@ -35,7 +35,6 @@
#include "subsystems/datalink/downlink.h"
#include "subsystems/sensors/baro.h"
-#include "subsystems/air_data.h"
#define ABI_C
#include "subsystems/abi.h"
@@ -44,9 +43,23 @@ static inline void main_init( void );
static inline void main_periodic_task( void );
static inline void main_event_task( void );
-static inline void main_on_baro_diff(void);
-static inline void main_on_baro_abs(void);
+#ifndef BARO_PERIODIC_FREQUENCY
+#define BARO_PERIODIC_FREQUENCY 50
+#endif
+PRINT_CONFIG_VAR(BARO_PERIODIC_FREQUENCY)
+#ifdef BARO_LED
+PRINT_CONFIG_VAR(BARO_LED)
+#endif
+
+/** ABI bindings
+ */
+#ifndef BARO_ABS_ID
+#define BARO_ABS_ID ABI_BROADCAST
+#endif
+static abi_event pressure_abs_ev;
+
+tid_t baro_tid;
int main(void) {
main_init();
@@ -54,21 +67,30 @@ int main(void) {
while(1) {
if (sys_time_check_and_ack_timer(0))
main_periodic_task();
+ if (sys_time_check_and_ack_timer(baro_tid))
+ baro_periodic();
main_event_task();
}
return 0;
}
+static void pressure_abs_cb(uint8_t __attribute__((unused)) sender_id, const float * pressure) {
+ float foo = 42.;
+ DOWNLINK_SEND_BARO_RAW(DefaultChannel, DefaultDevice, pressure, &foo);
+}
+
static inline void main_init( void ) {
mcu_init();
sys_time_register_timer((1./PERIODIC_FREQUENCY), NULL);
baro_init();
+
+ baro_tid = sys_time_register_timer(1./BARO_PERIODIC_FREQUENCY, NULL);
+
+ AbiBindMsgBARO_ABS(BARO_ABS_ID, &pressure_abs_ev, pressure_abs_cb);
}
static inline void main_periodic_task( void ) {
-
- RunOnceEvery(2, {baro_periodic();});
LED_PERIODIC();
RunOnceEvery(256, {DOWNLINK_SEND_ALIVE(DefaultChannel, DefaultDevice, 16, MD5SUM);});
}
@@ -76,11 +98,3 @@ static inline void main_periodic_task( void ) {
static inline void main_event_task( void ) {
BaroEvent();
}
-
-static inline void main_on_baro_diff(void) {
-
-}
-
-static inline void main_on_baro_abs(void) {
- RunOnceEvery(5,{DOWNLINK_SEND_BARO_RAW(DefaultChannel, DefaultDevice, &air_data.pressure, &air_data.differential);});
-}