From e4d7938af001a4de286aae5abf0b6d99dbcc003b Mon Sep 17 00:00:00 2001
From: Antoine Drouin <poinix@gmail.com>
Date: Wed, 7 Jul 2010 18:17:26 +0000
Subject: [PATCH] added a message with fields for the absolute and differential
 sensor on lisa

---
 conf/messages.xml             |  4 ++
 sw/airborne/lisa/test_baro2.c | 88 +++++++++++++++++++++++++++++++++++
 2 files changed, 92 insertions(+)
 create mode 100644 sw/airborne/lisa/test_baro2.c

diff --git a/conf/messages.xml b/conf/messages.xml
index c2356375b8..69c1c5ba7e 100644
--- a/conf/messages.xml
+++ b/conf/messages.xml
@@ -1404,6 +1404,10 @@
     <field name="omega" type="float" unit="rad/s" alt_unit="rpm" alt_unit_coef="9.549296584"/>
   </message>
 
+  <message name="BOOZ_BARO2_RAW" id="221">
+      <field name="abs"          type="int16"/>
+      <field name="diff"         type="int16"/>
+  </message>
 
   <message name="TIME" id="227">
     <field name="t" type="uint32"/>
diff --git a/sw/airborne/lisa/test_baro2.c b/sw/airborne/lisa/test_baro2.c
new file mode 100644
index 0000000000..eeb665ffc3
--- /dev/null
+++ b/sw/airborne/lisa/test_baro2.c
@@ -0,0 +1,88 @@
+/*
+ * $Id$
+ *  
+ * Copyright (C) 2009 Antoine Drouin <poinix@gmail.com>
+ *
+ * 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 "init_hw.h"
+#include "sys_time.h"
+
+#include "downlink.h"
+
+#include "lisa/lisa_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_periodic())
+      main_periodic_task();
+    main_event_task();
+  }
+
+  return 0;
+}
+
+static inline void main_init( void ) {
+  hw_init();
+  sys_time_init();
+  baro_init();
+}
+
+
+
+static inline void main_periodic_task( void ) {
+  
+  RunOnceEvery(2, {baro_periodic();});
+  LED_PERIODIC();
+  RunOnceEvery(256, {DOWNLINK_SEND_ALIVE(DefaultChannel, 16, MD5SUM);});
+}
+
+
+
+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_BOOZ_BARO2_RAW(DefaultChannel, &baro.abs_raw, &baro.diff_raw);});
+}