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[paparazzi-commits] [6186] Have the good old MS5534A as module.
|
From: |
Martin Mueller |
|
Subject: |
[paparazzi-commits] [6186] Have the good old MS5534A as module. |
|
Date: |
Tue, 19 Oct 2010 20:54:52 +0000 |
Revision: 6186
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=6186
Author: mmm
Date: 2010-10-19 20:54:52 +0000 (Tue, 19 Oct 2010)
Log Message:
-----------
Have the good old MS5534A as module. It still works :-)
Modified Paths:
--------------
paparazzi3/trunk/conf/airframes/mm/fixed-wing/funjetmm.xml
paparazzi3/trunk/sw/airborne/ap_downlink.h
paparazzi3/trunk/sw/airborne/main_ap.c
Added Paths:
-----------
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/spi.makefile
paparazzi3/trunk/conf/modules/baro_MS5534A.xml
paparazzi3/trunk/sw/airborne/modules/sensors/baro_MS5534A.c
paparazzi3/trunk/sw/airborne/modules/sensors/baro_MS5534A.h
Removed Paths:
-------------
paparazzi3/trunk/sw/airborne/arch/lpc21/baro_MS5534A.c
paparazzi3/trunk/sw/airborne/arch/lpc21/baro_MS5534A.h
Modified: paparazzi3/trunk/conf/airframes/mm/fixed-wing/funjetmm.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/mm/fixed-wing/funjetmm.xml 2010-10-19
19:26:31 UTC (rev 6185)
+++ paparazzi3/trunk/conf/airframes/mm/fixed-wing/funjetmm.xml 2010-10-19
20:54:52 UTC (rev 6186)
@@ -24,7 +24,6 @@
<define name="ALT_KALMAN"/>
<define name="WIND_INFO"/>
<define name="WIND_INFO_RET"/>
- <define name="USE_I2C0"/>
</target>
<subsystem name="radio_control" type="ppm"/>
@@ -42,7 +41,7 @@
<param name="GPS_BAUD" value="B38400"/>
</subsystem>
<subsystem name="navigation"/>
- <subsystem name="i2c"/>
+ <subsystem name="spi"/>
</firmware>
<firmware name="setup">
@@ -55,9 +54,10 @@
<!-- modules -->
<modules>
- <load name="baro_bmp.xml"/>
+ <load name="baro_MS5534A.xml"/>
+ <!--load name="baro_bmp.xml"/>
<load name="baro_scp_i2c.xml"/>
- <!--load name="light_temt.xml"/>
+ <load name="light_temt.xml"/>
<load name="humid_hih.xml"/>
<load name="temp_tmp102.xml"/>
<load name="temp_lm75.xml"/>
Added: paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/spi.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/spi.makefile
(rev 0)
+++ paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/spi.makefile
2010-10-19 20:54:52 UTC (rev 6186)
@@ -0,0 +1,5 @@
+#generic spi driver
+$(TARGET).CFLAGS += -DUSE_SPI
+
+ap.srcs += spi.c $(SRC_ARCH)/spi_hw.c
+sim.srcs += spi.c $(SRC_ARCH)/spi_hw.c
Added: paparazzi3/trunk/conf/modules/baro_MS5534A.xml
===================================================================
--- paparazzi3/trunk/conf/modules/baro_MS5534A.xml
(rev 0)
+++ paparazzi3/trunk/conf/modules/baro_MS5534A.xml 2010-10-19 20:54:52 UTC
(rev 6186)
@@ -0,0 +1,21 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="baro_MS5534A" dir="sensors">
+ <header>
+ <file name="baro_MS5534A.h"/>
+ </header>
+ <init fun="baro_MS5534A_init()"/>
+ <periodic fun="baro_MS5534A_send()" freq="20"/>
+ <event fun="baro_MS5534A_event()"/>
+ <makefile>
+ <file name="baro_MS5534A.c"/>
+ <flag name="USE_BARO_MS5534A"/>
+ <flag name="USE_SPI_SLAVE0"/>
+ <flag name="SPI_MASTER"/>
+ <define name="BARO_MS5534A_W1" value="0xAC20"/>
+ <define name="BARO_MS5534A_W2" value="0x87D9"/>
+ <define name="BARO_MS5534A_W3" value="0x8D9C"/>
+ <define name="BARO_MS5534A_W4" value="0xB080"/>
+ </makefile>
+</module>
+
Modified: paparazzi3/trunk/sw/airborne/ap_downlink.h
===================================================================
--- paparazzi3/trunk/sw/airborne/ap_downlink.h 2010-10-19 19:26:31 UTC (rev
6185)
+++ paparazzi3/trunk/sw/airborne/ap_downlink.h 2010-10-19 20:54:52 UTC (rev
6186)
@@ -181,7 +181,7 @@
#endif
#ifdef USE_BARO_MS5534A
-#include "baro_MS5534A.h"
+//#include "baro_MS5534A.h"
#define PERIODIC_SEND_BARO_MS5534A(_chan) DOWNLINK_SEND_BARO_MS5534A(_chan,
&baro_MS5534A_pressure, &baro_MS5534A_temp, &baro_MS5534A_z)
#else
#define PERIODIC_SEND_BARO_MS5534A(_chan) {}
Deleted: paparazzi3/trunk/sw/airborne/arch/lpc21/baro_MS5534A.c
===================================================================
--- paparazzi3/trunk/sw/airborne/arch/lpc21/baro_MS5534A.c 2010-10-19
19:26:31 UTC (rev 6185)
+++ paparazzi3/trunk/sw/airborne/arch/lpc21/baro_MS5534A.c 2010-10-19
20:54:52 UTC (rev 6186)
@@ -1,251 +0,0 @@
-/*
- * $Id$
- *
- * Copyright (C) 2007 ENAC
- *
- * 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 baro_MS5534A.c
- * \brief Handling of the MS5534a pressure sensor
- *
- */
-
-#include "baro_MS5534A.h"
-#include "spi.h"
-#include "uart.h"
-#ifndef BARO_NO_DOWNLINK
-#include "ap_downlink.h"
-#endif
-#include "nav.h"
-
-bool_t baro_MS5534A_do_reset;
-uint32_t baro_MS5534A_pressure;
-uint16_t baro_MS5534A_temp;
-bool_t baro_MS5534A_available;
-bool_t alt_baro_enabled;
-uint32_t baro_MS5534A_ground_pressure;
-float baro_MS5534A_r;
-float baro_MS5534A_sigma2;
-float baro_MS5534A_z;
-
-
-#define STATUS_INIT1 0
-#define STATUS_INIT2 1
-#define STATUS_INIT3 2
-#define STATUS_INIT4 3
-#define STATUS_MEASURE_PRESSURE 4
-#define STATUS_MEASURE_TEMPERATURE 5
-#define STATUS_RESET 6
-
-static uint8_t status;
-static bool_t status_read_data;
-static uint16_t words[4];
-
-#define InitStatus() (status <= STATUS_INIT4)
-
-#define NextStatus() { \
- if (status_read_data) { \
- status++; if (status > STATUS_MEASURE_TEMPERATURE) status =
STATUS_MEASURE_PRESSURE; \
- }; \
- status_read_data = !status_read_data; \
-}
-
-#define CMD_INIT 0x1D
-#define CMD_MEASUREMENT 0x0F
-
-#define CMD_W1 0x50
-#define CMD_W2 0x60
-#define CMD_W3 0x90
-#define CMD_W4 0xA0
-#define CMD_PRESSURE 0x40
-#define CMD_TEMPERATURE 0x20
-static uint8_t cmds[6] = {CMD_W1, CMD_W2, CMD_W3, CMD_W4, CMD_PRESSURE,
CMD_TEMPERATURE};
-static uint8_t reset[3] = {0x15, 0x55, 0x40};
-
-
-
-static uint8_t buf_input[3];
-static uint8_t buf_output[3];
-
-#define Uint16(buf_input) (buf_input[0] << 8 | buf_input[1])
-
-/* PWM prescaler, set PWM input clock to 15MHz, PWM_CLK = PCLK / PWM_PRESCALER
*/
-
-#if (PCLK == 15000000)
-#define PWM_PRESCALER 1
-#else
-
-#if (PCLK == 30000000)
-#define PWM_PRESCALER 2
-#else
-
-#if (PCLK == 60000000)
-#define PWM_PRESCALER 4
-#else
-
-#error unknown PCLK frequency
-#endif
-#endif
-#endif
-
-#define MS5534A_MCLK 32768
-#define PWM_PERIOD ((PCLK / PWM_PRESCALER) / MS5534A_MCLK)
-#define PWM_DUTY (PWM_PERIOD / 2)
-
-
-static void calibration( void );
-
-void baro_MS5534A_init( void ) {
- /* 32768Hz on PWM2 */
- /* Configure P0.7 pin as PWM */
- PINSEL0 &= ~(_BV(14));
- PINSEL0 |= _BV(15);
-
- /* No prescaler */
- PWMPR = PWM_PRESCALER-1;
-
- /* To get 32768Hz from a base frequency of 15MHz */
- PWMMR0 = PWM_PERIOD;
- PWMMR2 = PWM_DUTY;
-
- PWMLER = PWMLER_LATCH0 | PWMLER_LATCH2;
- PWMTCR = PWMTCR_COUNTER_ENABLE | PWMTCR_PWM_ENABLE;
- PWMPCR = PWMPCR_ENA2;
-
-#ifdef BARO_MS5534A_W1
- words[0] = BARO_MS5534A_W1;
- words[1] = BARO_MS5534A_W2;
- words[2] = BARO_MS5534A_W3;
- words[3] = BARO_MS5534A_W4;
-
- status = STATUS_MEASURE_PRESSURE;
- status_read_data = FALSE;
-
- calibration();
-#else
- status = STATUS_INIT1;
- status_read_data = FALSE;
-#endif
-
-
-
- baro_MS5534A_available = FALSE;
- alt_baro_enabled = FALSE;
-
- baro_MS5534A_ground_pressure = 101300;
- baro_MS5534A_r = 20.;
- baro_MS5534A_sigma2 = 1;
- baro_MS5534A_do_reset = FALSE;
-}
-
-void baro_MS5534A_reset( void ) {
- status = STATUS_INIT1;
- status_read_data = FALSE;
-}
-
-/* To be called not faster than 30Hz */
-void baro_MS5534A_send(void) {
- if (!SpiCheckAvailable()) {
- SpiOverRun();
- return;
- }
-
- if (status == STATUS_RESET) {
- uint8_t i;
- for(i = 0; i < 3; i++)
- buf_output[i] = reset[i];
- spi_buffer_length = 3;
- } else {
- if (status_read_data) {
- buf_output[0] = buf_output[1] = 0;
- } else {
- buf_output[0] = (InitStatus() ? CMD_INIT : CMD_MEASUREMENT);
- buf_output[1] = cmds[status];
- }
- spi_buffer_length = 2;
- }
-
- spi_buffer_input = (uint8_t*)&buf_input;
- spi_buffer_output = (uint8_t*)&buf_output;
- if (status_read_data)
- SpiSetCPHA();
- else
- SpiClrCPHA();
- SpiStart();
-}
-
-static uint16_t d1, d2;
-static uint16_t c1, c2, c3, c4, ut1, c6;
-
-
-static void calibration( void ) {
- /* End of init, configuration (page 11) */
- c1 = words[0] >> 1;
- c2 = ((words[2] & 0x3f) << 6) | (words[3] & 0x3f);
- c3 = words[3] >> 6;
- c4 = words[2] >> 6;
- uint16_t c5 = ((words[0] & 0x1) << 10) | (words[1] >> 6);
- c6 = words[1] & 0x3f;
-
- ut1 = (c5 << 3) + 20224;
-
-#ifndef BARO_NO_DOWNLINK
- DOWNLINK_SEND_BARO_WORDS(DefaultChannel, &words[0], &words[1], &words[2],
&words[3]);
-#endif
-}
-
-
-
-/* Handle the SPI message, i.e. store the received values in variables */
-void baro_MS5534A_event_task( void ) {
- if (status_read_data) {
- switch (status) {
- case STATUS_MEASURE_PRESSURE:
- d1 = Uint16(buf_input);
- break;
- case STATUS_MEASURE_TEMPERATURE:
- d2 = Uint16(buf_input);
- /* Compute pressure and temp (page 10) */
- int16_t dT = d2 - ut1;
- baro_MS5534A_temp = 200 + (dT*(c6+50)) / (1 << 10);
- int16_t off = c2*4 + ((c4-512)*dT)/(1 << 12);
- uint32_t sens = c1 + (c3*dT)/(1<<10) + 24576;
- uint16_t x = (sens*(d1-7168))/(1<<14) - off;
- // baro_MS5534A = ((x*10)>>5) + 250*10;
- baro_MS5534A_pressure = ((x*100)>>5) + 250*100;
- baro_MS5534A_available = TRUE;
-
- break;
- case STATUS_RESET:
- break;
- default: /* Init status */
- words[status] = Uint16(buf_input);
- if (status == STATUS_INIT4) {
- calibration();
- }
- }
- } /* else nothing to read */
-
- NextStatus();
- if (!status_read_data) {
- /* Ask next conversion now */
- baro_MS5534A_send();
- }
-}
Deleted: paparazzi3/trunk/sw/airborne/arch/lpc21/baro_MS5534A.h
===================================================================
--- paparazzi3/trunk/sw/airborne/arch/lpc21/baro_MS5534A.h 2010-10-19
19:26:31 UTC (rev 6185)
+++ paparazzi3/trunk/sw/airborne/arch/lpc21/baro_MS5534A.h 2010-10-19
20:54:52 UTC (rev 6186)
@@ -1,58 +0,0 @@
-/*
- * $Id$
- *
- * Copyright (C) 2007 ENAC
- *
- * 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 baro_MS5534A.h
- * \brief Handling of the MS5534a pressure sensor
- *
- */
-
-#ifndef BARO_MS5534A_H
-#define BARO_MS5534A_H
-
-#include "std.h"
-
-#ifdef USE_BARO_MS5534A
-
-extern bool_t baro_MS5534A_do_reset;
-extern bool_t baro_MS5534A_available;
-extern uint32_t baro_MS5534A_pressure;
-extern uint16_t baro_MS5534A_temp;
-extern bool_t alt_baro_enabled;
-extern uint32_t baro_MS5534A_ground_pressure;
-extern float baro_MS5534A_r;
-extern float baro_MS5534A_sigma2;
-extern float baro_MS5534A_z;
-
-void baro_MS5534A_init(void);
-void baro_MS5534A_reset(void);
-
-/* To be called not faster than 30Hz */
-void baro_MS5534A_send(void);
-
-/* Set baro_MS5534A_available when pressure and temp are readable */
-void baro_MS5534A_event_task( void );
-
-#endif // USE_BARO_MS5534A
-
-#endif // BARO_MS5534A_H
Modified: paparazzi3/trunk/sw/airborne/main_ap.c
===================================================================
--- paparazzi3/trunk/sw/airborne/main_ap.c 2010-10-19 19:26:31 UTC (rev
6185)
+++ paparazzi3/trunk/sw/airborne/main_ap.c 2010-10-19 20:54:52 UTC (rev
6186)
@@ -91,10 +91,6 @@
#include "srf08.h"
#endif
-#ifdef USE_BARO_MS5534A
-#include "baro_MS5534A.h"
-#endif
-
#ifdef USE_MAX11040
#include "max11040.h"
#endif
@@ -573,12 +569,6 @@
#error "Only 20 and 60 allowed for CONTROL_RATE"
#endif
-#ifdef USE_BARO_MS5534A
- if (!_20Hz) {
- baro_MS5534A_send();
- }
-#endif
-
#ifdef USE_I2C0
// I2C0 scheduler
switch (_20Hz) {
@@ -763,10 +753,6 @@
IO0SET = _BV(AEROCOMM_DATA_PIN);
#endif
-#ifdef USE_BARO_MS5534A
- baro_MS5534A_init();
-#endif
-
power_switch = FALSE;
/************ Multi-uavs status ***************/
@@ -892,20 +878,7 @@
}
#endif
-#ifdef USE_BARO_MS5534A
- if (spi_message_received) {
- /* Got a message on SPI. */
- spi_message_received = FALSE;
- baro_MS5534A_event_task();
- if (baro_MS5534A_available) {
- 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);
- }
- }
- }
-#elif defined(USE_BARO_ETS)
+#if defined(USE_BARO_ETS)
if (baro_ets_updated) {
baro_ets_updated = FALSE;
if (baro_ets_valid) {
Copied: paparazzi3/trunk/sw/airborne/modules/sensors/baro_MS5534A.c (from rev
6185, paparazzi3/trunk/sw/airborne/arch/lpc21/baro_MS5534A.c)
===================================================================
--- paparazzi3/trunk/sw/airborne/modules/sensors/baro_MS5534A.c
(rev 0)
+++ paparazzi3/trunk/sw/airborne/modules/sensors/baro_MS5534A.c 2010-10-19
20:54:52 UTC (rev 6186)
@@ -0,0 +1,269 @@
+/*
+ * $Id$
+ *
+ * Copyright (C) 2007 ENAC
+ *
+ * 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 baro_MS5534A.c
+ * \brief Handling of the MS5534a pressure sensor
+ *
+ * uses: MOSI, MISO, SCK and 32kHz @ P0.7 with 5V for the -A type
+ */
+
+#include "baro_MS5534A.h"
+#include "spi.h"
+#include "uart.h"
+#ifndef BARO_NO_DOWNLINK
+#include "ap_downlink.h"
+#endif
+#include "nav.h"
+#include "estimator.h"
+
+bool_t baro_MS5534A_do_reset;
+uint32_t baro_MS5534A_pressure;
+uint16_t baro_MS5534A_temp;
+bool_t baro_MS5534A_available;
+bool_t alt_baro_enabled;
+uint32_t baro_MS5534A_ground_pressure;
+float baro_MS5534A_r;
+float baro_MS5534A_sigma2;
+float baro_MS5534A_z;
+
+
+#define STATUS_INIT1 0
+#define STATUS_INIT2 1
+#define STATUS_INIT3 2
+#define STATUS_INIT4 3
+#define STATUS_MEASURE_PRESSURE 4
+#define STATUS_MEASURE_TEMPERATURE 5
+#define STATUS_RESET 6
+
+static uint8_t status;
+static bool_t status_read_data;
+static uint16_t words[4];
+
+#define InitStatus() (status <= STATUS_INIT4)
+
+#define NextStatus() { \
+ if (status_read_data) { \
+ status++; if (status > STATUS_MEASURE_TEMPERATURE) status =
STATUS_MEASURE_PRESSURE; \
+ }; \
+ status_read_data = !status_read_data; \
+}
+
+#define CMD_INIT 0x1D
+#define CMD_MEASUREMENT 0x0F
+
+#define CMD_W1 0x50
+#define CMD_W2 0x60
+#define CMD_W3 0x90
+#define CMD_W4 0xA0
+#define CMD_PRESSURE 0x40
+#define CMD_TEMPERATURE 0x20
+static uint8_t cmds[6] = {CMD_W1, CMD_W2, CMD_W3, CMD_W4, CMD_PRESSURE,
CMD_TEMPERATURE};
+static uint8_t reset[3] = {0x15, 0x55, 0x40};
+
+
+
+static uint8_t buf_input[3];
+static uint8_t buf_output[3];
+
+#define Uint16(buf_input) (buf_input[0] << 8 | buf_input[1])
+
+/* PWM prescaler, set PWM input clock to 15MHz, PWM_CLK = PCLK / PWM_PRESCALER
*/
+
+#if (PCLK == 15000000)
+#define PWM_PRESCALER 1
+#else
+
+#if (PCLK == 30000000)
+#define PWM_PRESCALER 2
+#else
+
+#if (PCLK == 60000000)
+#define PWM_PRESCALER 4
+#else
+
+#error unknown PCLK frequency
+#endif
+#endif
+#endif
+
+#define MS5534A_MCLK 32768
+#define PWM_PERIOD ((PCLK / PWM_PRESCALER) / MS5534A_MCLK)
+#define PWM_DUTY (PWM_PERIOD / 2)
+
+
+static void calibration( void );
+
+void baro_MS5534A_init( void ) {
+ /* 32768Hz on PWM2 */
+ /* Configure P0.7 pin as PWM */
+ PINSEL0 &= ~(_BV(14));
+ PINSEL0 |= _BV(15);
+
+ /* No prescaler */
+ PWMPR = PWM_PRESCALER-1;
+
+ /* To get 32768Hz from a base frequency of 15MHz */
+ PWMMR0 = PWM_PERIOD;
+ PWMMR2 = PWM_DUTY;
+
+ PWMLER = PWMLER_LATCH0 | PWMLER_LATCH2;
+ PWMTCR = PWMTCR_COUNTER_ENABLE | PWMTCR_PWM_ENABLE;
+ PWMPCR = PWMPCR_ENA2;
+
+#ifdef BARO_MS5534A_W1
+ words[0] = BARO_MS5534A_W1;
+ words[1] = BARO_MS5534A_W2;
+ words[2] = BARO_MS5534A_W3;
+ words[3] = BARO_MS5534A_W4;
+
+ status = STATUS_MEASURE_PRESSURE;
+ status_read_data = FALSE;
+
+ calibration();
+#else
+ status = STATUS_INIT1;
+ status_read_data = FALSE;
+#endif
+
+
+
+ baro_MS5534A_available = FALSE;
+ alt_baro_enabled = FALSE;
+
+ baro_MS5534A_ground_pressure = 101300;
+ baro_MS5534A_r = 20.;
+ baro_MS5534A_sigma2 = 1;
+ baro_MS5534A_do_reset = FALSE;
+}
+
+void baro_MS5534A_reset( void ) {
+ status = STATUS_INIT1;
+ status_read_data = FALSE;
+}
+
+/* To be called not faster than 30Hz */
+void baro_MS5534A_send(void) {
+ if (!SpiCheckAvailable()) {
+ SpiOverRun();
+ return;
+ }
+
+ if (status == STATUS_RESET) {
+ uint8_t i;
+ for(i = 0; i < 3; i++)
+ buf_output[i] = reset[i];
+ spi_buffer_length = 3;
+ } else {
+ if (status_read_data) {
+ buf_output[0] = buf_output[1] = 0;
+ } else {
+ buf_output[0] = (InitStatus() ? CMD_INIT : CMD_MEASUREMENT);
+ buf_output[1] = cmds[status];
+ }
+ spi_buffer_length = 2;
+ }
+
+ spi_buffer_input = (uint8_t*)&buf_input;
+ spi_buffer_output = (uint8_t*)&buf_output;
+ if (status_read_data)
+ SpiSetCPHA();
+ else
+ SpiClrCPHA();
+ SpiStart();
+}
+
+static uint16_t d1, d2;
+static uint16_t c1, c2, c3, c4, ut1, c6;
+
+
+static void calibration( void ) {
+ /* End of init, configuration (page 11) */
+ c1 = words[0] >> 1;
+ c2 = ((words[2] & 0x3f) << 6) | (words[3] & 0x3f);
+ c3 = words[3] >> 6;
+ c4 = words[2] >> 6;
+ uint16_t c5 = ((words[0] & 0x1) << 10) | (words[1] >> 6);
+ c6 = words[1] & 0x3f;
+
+ ut1 = (c5 << 3) + 20224;
+
+#ifndef BARO_NO_DOWNLINK
+ DOWNLINK_SEND_BARO_WORDS(DefaultChannel, &words[0], &words[1], &words[2],
&words[3]);
+#endif
+}
+
+
+
+/* Handle the SPI message, i.e. store the received values in variables */
+void baro_MS5534A_event_task( void ) {
+ if (status_read_data) {
+ switch (status) {
+ case STATUS_MEASURE_PRESSURE:
+ d1 = Uint16(buf_input);
+ break;
+ case STATUS_MEASURE_TEMPERATURE:
+ d2 = Uint16(buf_input);
+ /* Compute pressure and temp (page 10) */
+ int16_t dT = d2 - ut1;
+ baro_MS5534A_temp = 200 + (dT*(c6+50)) / (1 << 10);
+ int16_t off = c2*4 + ((c4-512)*dT)/(1 << 12);
+ uint32_t sens = c1 + (c3*dT)/(1<<10) + 24576;
+ uint16_t x = (sens*(d1-7168))/(1<<14) - off;
+ // baro_MS5534A = ((x*10)>>5) + 250*10;
+ baro_MS5534A_pressure = ((x*100)>>5) + 250*100;
+ baro_MS5534A_available = TRUE;
+
+ break;
+ case STATUS_RESET:
+ break;
+ default: /* Init status */
+ words[status] = Uint16(buf_input);
+ if (status == STATUS_INIT4) {
+ calibration();
+ }
+ }
+ } /* else nothing to read */
+
+ NextStatus();
+ if (!status_read_data) {
+ /* Ask next conversion now */
+ baro_MS5534A_send();
+ }
+}
+
+void baro_MS5534A_event( void ) {
+ if (spi_message_received) {
+ /* Got a message on SPI. */
+ spi_message_received = FALSE;
+ baro_MS5534A_event_task();
+ if (baro_MS5534A_available) {
+ 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);
+ }
+ }
+ }
+}
+
Copied: paparazzi3/trunk/sw/airborne/modules/sensors/baro_MS5534A.h (from rev
6185, paparazzi3/trunk/sw/airborne/arch/lpc21/baro_MS5534A.h)
===================================================================
--- paparazzi3/trunk/sw/airborne/modules/sensors/baro_MS5534A.h
(rev 0)
+++ paparazzi3/trunk/sw/airborne/modules/sensors/baro_MS5534A.h 2010-10-19
20:54:52 UTC (rev 6186)
@@ -0,0 +1,61 @@
+/*
+ * $Id$
+ *
+ * Copyright (C) 2007 ENAC
+ *
+ * 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 baro_MS5534A.h
+ * \brief Handling of the MS5534a pressure sensor
+ *
+ */
+
+#ifndef BARO_MS5534A_H
+#define BARO_MS5534A_H
+
+#include "std.h"
+
+#ifdef USE_BARO_MS5534A
+
+extern bool_t baro_MS5534A_do_reset;
+extern bool_t baro_MS5534A_available;
+extern uint32_t baro_MS5534A_pressure;
+extern uint16_t baro_MS5534A_temp;
+extern bool_t alt_baro_enabled;
+extern uint32_t baro_MS5534A_ground_pressure;
+extern float baro_MS5534A_r;
+extern float baro_MS5534A_sigma2;
+extern float baro_MS5534A_z;
+
+void baro_MS5534A_init(void);
+void baro_MS5534A_reset(void);
+
+/* To be called not faster than 30Hz */
+void baro_MS5534A_send(void);
+
+/* Set baro_MS5534A_available when pressure and temp are readable */
+void baro_MS5534A_event_task( void );
+
+void baro_MS5534A_event( void );
+
+#endif // USE_BARO_MS5534A
+
+#endif // BARO_MS5534A_H
+
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- [paparazzi-commits] [6186] Have the good old MS5534A as module.,
Martin Mueller <=