[paparazzi-commits] [5561] changed for new baro

[antoine drouin]

Revision: 5561
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5561
Author:   poine
Date:     2010-08-22 01:20:58 +0000 (Sun, 22 Aug 2010)
Log Message:
-----------
changed for new baro

Modified Paths:
--------------
    paparazzi3/trunk/sw/airborne/booz/booz2_ins.c
    paparazzi3/trunk/sw/airborne/booz/booz2_main.c
    paparazzi3/trunk/sw/airborne/booz/booz2_telemetry.h

Modified: paparazzi3/trunk/sw/airborne/booz/booz2_ins.c
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/booz2_ins.c       2010-08-22 01:20:19 UTC 
(rev 5560)
+++ paparazzi3/trunk/sw/airborne/booz/booz2_ins.c       2010-08-22 01:20:58 UTC 
(rev 5561)
@@ -25,7 +25,7 @@
 #include "booz2_ins.h"
 
 #include "booz_imu.h"
-#include "booz2_analog_baro.h"
+#include "rotorcraft/baro.h"
 #include "booz_gps.h"
 
 #include "airframe.h"
@@ -150,7 +150,7 @@
   float z_accel_float = ACCEL_FLOAT_OF_BFP(accel_ltp.z);
 
 #ifdef USE_VFF
-  if (booz2_analog_baro_status == BOOZ2_ANALOG_BARO_RUNNING && 
booz_ins_baro_initialised) {
+  if (baro.status == BS_RUNNING && booz_ins_baro_initialised) {
     b2_vff_propagate(z_accel_float);
     booz_ins_ltp_accel.z = ACCEL_BFP_OF_REAL(b2_vff_zdotdot);
     booz_ins_ltp_speed.z = SPEED_BFP_OF_REAL(b2_vff_zdot);
@@ -178,16 +178,16 @@
 
 void booz_ins_update_baro() {
 #ifdef USE_VFF
-  if (booz2_analog_baro_status == BOOZ2_ANALOG_BARO_RUNNING) {
+  if (baro.status == BS_RUNNING) {
     if (!booz_ins_baro_initialised) {
-      booz_ins_qfe = booz2_analog_baro_value;
+      booz_ins_qfe = baro.absolute;
       booz_ins_baro_initialised = TRUE;
     }
-    booz_ins_baro_alt = (((int32_t)booz2_analog_baro_value - booz_ins_qfe) * 
BOOZ_INS_BARO_SENS_NUM)/BOOZ_INS_BARO_SENS_DEN;
+    booz_ins_baro_alt = ((baro.absolute - booz_ins_qfe) * 
BOOZ_INS_BARO_SENS_NUM)/BOOZ_INS_BARO_SENS_DEN;
     float alt_float = POS_FLOAT_OF_BFP(booz_ins_baro_alt);
     if (booz_ins_vf_realign) {
       booz_ins_vf_realign = FALSE;
-      booz_ins_qfe = booz2_analog_baro_value;
+      booz_ins_qfe = baro.absolute;
       b2_vff_realign(0.);
       booz_ins_ltp_accel.z = ACCEL_BFP_OF_REAL(b2_vff_zdotdot);
       booz_ins_ltp_speed.z = SPEED_BFP_OF_REAL(b2_vff_zdot);

Modified: paparazzi3/trunk/sw/airborne/booz/booz2_main.c
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/booz2_main.c      2010-08-22 01:20:19 UTC 
(rev 5560)
+++ paparazzi3/trunk/sw/airborne/booz/booz2_main.c      2010-08-22 01:20:58 UTC 
(rev 5561)
@@ -41,7 +41,8 @@
 #include "booz_imu.h"
 #include "booz_gps.h"
 
-#include "booz2_analog_baro.h"
+#include "rotorcraft/baro.h"
+
 #include "booz2_battery.h"
 
 #include "booz_fms.h"
@@ -68,7 +69,8 @@
 #endif
 
 static inline void on_gyro_accel_event( void );
-static inline void on_baro_event( void );
+static inline void on_baro_abs_event( void );
+static inline void on_baro_dif_event( void );
 static inline void on_gps_event( void );
 static inline void on_mag_event( void );
 
@@ -102,8 +104,7 @@
   actuators_init();
   radio_control_init();
 
-  booz2_analog_init();
-  booz2_analog_baro_init();
+  baro_init();
 
 #if defined USE_CAM || USE_DROP
   booz2_pwm_init_hw();
@@ -163,11 +164,12 @@
     {                                                                  \
       LED_PERIODIC();                                                  \
     },                                                                 \
+    { baro_periodic();
+    },                                                                 \
     {},                                                                        
\
     {},                                                                        
\
     {},                                                                        
\
     {},                                                                        
\
-    {},                                                                        
\
     {                                                                  \
       Booz2TelemetryPeriodic();                                                
\
     }                                                                  \
@@ -204,7 +206,7 @@
 
   BoozImuEvent(on_gyro_accel_event, on_mag_event);
 
-  Booz2AnalogBaroEvent(on_baro_event);
+  BaroEvent(on_baro_abs_event, on_baro_dif_event);
 
 #ifdef USE_GPS
   BoozGpsEvent(on_gps_event);
@@ -240,11 +242,14 @@
   }
 }
 
-static inline void on_baro_event( void ) {
+static inline void on_baro_abs_event( void ) {
   booz_ins_update_baro();
 }
 
+static inline void on_baro_dif_event( void ) {
 
+}
+
 static inline void on_gps_event(void) {
   booz_ins_update_gps();
 }

Modified: paparazzi3/trunk/sw/airborne/booz/booz2_telemetry.h
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/booz2_telemetry.h 2010-08-22 01:20:19 UTC 
(rev 5560)
+++ paparazzi3/trunk/sw/airborne/booz/booz2_telemetry.h 2010-08-22 01:20:58 UTC 
(rev 5561)
@@ -170,13 +170,24 @@
                              &booz_imu.mag_unscaled.z);                \
   }
 
-#define PERIODIC_SEND_BOOZ2_BARO_RAW(_chan) {                          \
+/* FIXME: make that depend on board */
+#define PERIODIC_SEND_BOOZ_BARO_RAW(_chan) {                           \
     DOWNLINK_SEND_BOOZ2_BARO_RAW(_chan,                                        
\
-                                &booz2_analog_baro_offset,             \
-                                &booz2_analog_baro_value,              \
-                                &booz2_analog_baro_value_filtered);    \
+                                &baro_board.offset,                    \
+                                &baro.absolute,                        \
+                                &baro_board.value_filtered);           \
   }
 
+
+#define PERIODIC_SEND_BARO_RAW(_chan) {                                        
\
+    DOWNLINK_SEND_BARO_RAW(_chan,                                      \
+                          &baro.absolute,                              \
+                          &baro.differential);                         \
+  }
+
+
+
+
 #include "booz_stabilization.h"
 #define PERIODIC_SEND_BOOZ2_RATE_LOOP(_chan) {                          \
     DOWNLINK_SEND_BOOZ2_RATE_LOOP(_chan,                                \