[paparazzi-commits] [5015] Updates for CSC code (mainly pressure sensors)

[Allen Ibara]

Revision: 5015
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5015
Author:   aibara
Date:     2010-07-06 18:05:13 +0000 (Tue, 06 Jul 2010)
Log Message:
-----------
Updates for CSC code (mainly pressure sensors)

Modified Paths:
--------------
    paparazzi3/trunk/sw/airborne/csc/csc_adc.c
    paparazzi3/trunk/sw/airborne/csc/csc_ap_link.c
    paparazzi3/trunk/sw/airborne/csc/csc_ap_link.h
    paparazzi3/trunk/sw/airborne/csc/csc_baro.c
    paparazzi3/trunk/sw/airborne/csc/csc_msg_def.h

Modified: paparazzi3/trunk/sw/airborne/csc/csc_adc.c
===================================================================
--- paparazzi3/trunk/sw/airborne/csc/csc_adc.c  2010-07-06 18:01:44 UTC (rev 
5014)
+++ paparazzi3/trunk/sw/airborne/csc/csc_adc.c  2010-07-06 18:05:13 UTC (rev 
5015)
@@ -11,11 +11,13 @@
 #include "csc_servos.h"
 #include "sys_time.h"
 
-struct adc_buf adc_bufs[ADC_NB];
+#define ADC_NB_CSC 4
 
+struct adc_buf adc_bufs[ADC_NB_CSC];
+
 uint8_t vsupply;
 uint16_t adc_slider;
-uint16_t adc_values[ADC_NB];
+uint16_t adc_values[ADC_NB_CSC];
 
 #define ADC_VDIV 5.7
 #define ADC_VOLT 3.28
@@ -28,14 +30,12 @@
 #define ADC_VSUPPLY 0
 #define ADC_SLIDER 3
 
-#ifndef ADC_NB
-#define ADC_NB 2
-#endif
 
+
 void csc_adc_init(void)
 {
   adc_init(); 
-  for (int i = 0; i < ADC_NB; i++) {
+  for (int i = 0; i < ADC_NB_CSC; i++) {
     adc_buf_channel(i, &adc_bufs[i], ADC_AV_NB);
   }
 }
@@ -44,7 +44,7 @@
 {
   vsupply = adc_bufs[ADC_VSUPPLY].sum / adc_bufs[ADC_VSUPPLY].av_nb_sample / 
ADC_FACTOR * 10;
   adc_slider = adc_bufs[ADC_SLIDER].sum / adc_bufs[ADC_SLIDER].av_nb_sample;
-  for (int i = 0; i < ADC_NB; i++) {
+  for (int i = 0; i < ADC_NB_CSC; i++) {
     adc_values[i] = adc_bufs[i].sum / adc_bufs[i].av_nb_sample;
   }
 }

Modified: paparazzi3/trunk/sw/airborne/csc/csc_ap_link.c
===================================================================
--- paparazzi3/trunk/sw/airborne/csc/csc_ap_link.c      2010-07-06 18:01:44 UTC 
(rev 5014)
+++ paparazzi3/trunk/sw/airborne/csc/csc_ap_link.c      2010-07-06 18:05:13 UTC 
(rev 5015)
@@ -47,15 +47,15 @@
 }
 
 
-void csc_ap_link_send_airspeed(float airspeed1, float airspeed2)
+void csc_ap_link_send_pressure(float pressure1, float pressure2)
 {
 
-  struct CscAirspeedMsg msg;
+  struct CscPressureMsg msg;
 
-  msg.airspeed1 = airspeed1;
-  msg.airspeed2 = airspeed2;
+  msg.pressure1 = pressure1;
+  msg.pressure2 = pressure2;
 
-  csc_ap_send_msg(CSC_AIRSPEED_MSG_ID, (const uint8_t *) &msg, sizeof(msg));
+  csc_ap_send_msg(CSC_PRESSURE_MSG_ID, (const uint8_t *) &msg, sizeof(msg));
 }
 
 void csc_ap_link_send_baro(uint32_t pressure, uint16_t temperature, uint8_t 
status)

Modified: paparazzi3/trunk/sw/airborne/csc/csc_ap_link.h
===================================================================
--- paparazzi3/trunk/sw/airborne/csc/csc_ap_link.h      2010-07-06 18:01:44 UTC 
(rev 5014)
+++ paparazzi3/trunk/sw/airborne/csc/csc_ap_link.h      2010-07-06 18:05:13 UTC 
(rev 5015)
@@ -15,7 +15,7 @@
 void csc_ap_link_send_status(uint32_t loops, uint32_t msgs);
 void csc_ap_link_send_adc(float adc1, float adc2);
 void csc_ap_link_send_vane(float *vane_angle);
-void csc_ap_link_send_airspeed(float airspeed1, float airspeed2);
+void csc_ap_link_send_pressure(float pressure1, float pressure2);
 void csc_ap_link_send_baro(uint32_t pressure, uint16_t temp, uint8_t status);
 void csc_ap_link_set_servo_cmd_cb(void (* cb)(struct CscServoCmd *cmd));
 void csc_ap_link_set_motor_cmd_cb(void (* cb)(struct CscMotorMsg *msg));

Modified: paparazzi3/trunk/sw/airborne/csc/csc_baro.c
===================================================================
--- paparazzi3/trunk/sw/airborne/csc/csc_baro.c 2010-07-06 18:01:44 UTC (rev 
5014)
+++ paparazzi3/trunk/sw/airborne/csc/csc_baro.c 2010-07-06 18:05:13 UTC (rev 
5015)
@@ -8,6 +8,7 @@
 #include "messages.h"
 #include "downlink.h"
 #include "csc_booz2_ins.h"
+#include "csc_ap_link.h"
 
 #include "spi_hw.h"
 
@@ -37,7 +38,6 @@
 #define SS_IODIR IO0DIR
 #define SS_IOSET IO0SET
 #define SS_IOCLR IO0CLR
-#define SSEL1_PINSEL() PINSEL1 = (PINSEL1 & ~(3 << 28)) | (0 << 28)
 
 #define ScpSelect()   SetBit(SS_IOCLR,SS_PIN)
 #define ScpUnselect() SetBit(SS_IOSET,SS_PIN)
@@ -48,10 +48,10 @@
 #define DRDY1_IOPIN IO0PIN
 #define DRDY1_PINSEL() PINSEL0 = (PINSEL0 & ~(3 << 30)) | (0 << 30)
 
-#define SSP0_SCK_PINSEL() (PINSEL1 = (PINSEL1 & ~(3 << 2)) | (2 << 2))
-#define SSP0_MISO_PINSEL() (PINSEL1 = (PINSEL1 & ~(3 << 4)) | (2 << 4))
-#define SSP0_MOSI_PINSEL() (PINSEL1 = (PINSEL1 & ~(3 << 6)) | (2 << 6))
-#define SSP0_SSEL_PINSEL() (PINSEL1 = (PINSEL1 & ~(3 << 8)) | (2 << 8))
+#define SSP1_SCK_PINSEL() (PINSEL1 = (PINSEL1 & ~(3 << 2)) | (2 << 2))
+#define SSP1_MISO_PINSEL() (PINSEL1 = (PINSEL1 & ~(3 << 4)) | (2 << 4))
+#define SSP1_MOSI_PINSEL() (PINSEL1 = (PINSEL1 & ~(3 << 6)) | (2 << 6))
+#define SSP1_SSEL_PINSEL() (PINSEL1 = (PINSEL1 & ~(3 << 8)) | (2 << 8))
 
 static uint8_t baro_scp_read_reg_8(uint8_t regno)
 {
@@ -125,12 +125,10 @@
 void baro_scp_init( void )
 {
   
-  SSP0_SCK_PINSEL();
-  SSP0_MISO_PINSEL();
-  SSP0_MOSI_PINSEL();
-  SSP0_SSEL_PINSEL();
-  SSEL1_PINSEL();
-  SS_IODIR = SS_IODIR | _BV(SS_PIN);
+  SSP1_SCK_PINSEL();
+  SSP1_MISO_PINSEL();
+  SSP1_MOSI_PINSEL();
+  SSP1_SSEL_PINSEL();
   DRDY1_PINSEL();
   
   S1SPCR = _BV(3) | _BV(4) | _BV(5);
@@ -162,8 +160,6 @@
 
     //baro_scp_alt = 9000 - baro_scp_pressure * 0.00084366;
     baro_scp_status = STA_VALID;
-
-    csc_ap_link_send_baro(baro_scp_pressure, baro_scp_temperature, 
baro_scp_status);
   }
 }
 

Modified: paparazzi3/trunk/sw/airborne/csc/csc_msg_def.h
===================================================================
--- paparazzi3/trunk/sw/airborne/csc/csc_msg_def.h      2010-07-06 18:01:44 UTC 
(rev 5014)
+++ paparazzi3/trunk/sw/airborne/csc/csc_msg_def.h      2010-07-06 18:05:13 UTC 
(rev 5015)
@@ -19,7 +19,7 @@
 #define CSC_GPS_ACC_ID       9
 #define CSC_PROP2_CMD_ID       10
 #define CSC_VANE_MSG_ID       11
-#define CSC_AIRSPEED_MSG_ID   12
+#define CSC_PRESSURE_MSG_ID   12
 #define CSC_BARO_MSG_ID       13
 
 
@@ -81,9 +81,9 @@
   float vane_angle2;
 } __attribute__((packed));
 
-struct CscAirspeedMsg {
-  float airspeed1;
-  float airspeed2;
+struct CscPressureMsg {
+  float pressure1;
+  float pressure2;
 } __attribute__((packed));
 
 struct CscBaroMsg {