Merge branch 'baro_peripherals'

closes paparazzi#515
LingxiaoJIA · Aug 28, 2013 · 11b48b4 · 11b48b4
2 parents f7d26c3 + c959335
commit 11b48b4
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Showing 30 changed files with 1,736 additions and 1,204 deletions.
diff --git a/conf/firmwares/rotorcraft.makefile b/conf/firmwares/rotorcraft.makefile
@@ -172,13 +172,18 @@ LISA_M_BARO ?= BARO_BOARD_BMP085
   ifeq ($(LISA_M_BARO), BARO_MS5611_SPI)
     include $(CFG_SHARED)/spi_master.makefile
     ap.CFLAGS += -DUSE_SPI2 -DUSE_SPI_SLAVE3
-    ap.srcs += $(SRC_BOARD)/baro_ms5611_spi.c
+    ap.srcs += peripherals/ms5611.c
+    ap.srcs += peripherals/ms5611_spi.c
+    ap.srcs += subsystems/sensors/baro_ms5611_spi.c
   else ifeq ($(LISA_M_BARO), BARO_MS5611_I2C)
     ap.CFLAGS += -DUSE_I2C2
-    ap.srcs += $(SRC_BOARD)/baro_ms5611_i2c.c
+    ap.srcs += peripherals/ms5611.c
+    ap.srcs += peripherals/ms5611_i2c.c
+    ap.srcs += subsystems/sensors/baro_ms5611_i2c.c
   else ifeq ($(LISA_M_BARO), BARO_BOARD_BMP085)
+	ap.srcs += peripherals/bmp085.c
     ap.srcs += $(SRC_BOARD)/baro_board.c
-	ap.CFLAGS += -DUSE_I2C2
+    ap.CFLAGS += -DUSE_I2C2
   endif
   ap.CFLAGS += -D$(LISA_M_BARO)
 
@@ -189,10 +194,14 @@ LIA_BARO ?= BARO_MS5611_SPI
   ifeq ($(LIA_BARO), BARO_MS5611_SPI)
     include $(CFG_SHARED)/spi_master.makefile
     ap.CFLAGS += -DUSE_SPI2 -DUSE_SPI_SLAVE3
-    ap.srcs += boards/lisa_m/baro_ms5611_spi.c
+    ap.srcs += peripherals/ms5611.c
+    ap.srcs += peripherals/ms5611_spi.c
+    ap.srcs += subsystems/sensors/baro_ms5611_spi.c
   else ifeq ($(LIA_BARO), BARO_MS5611_I2C)
     ap.CFLAGS += -DUSE_I2C2
-    ap.srcs += boards/lisa_m/baro_ms5611_i2c.c
+    ap.srcs += peripherals/ms5611.c
+    ap.srcs += peripherals/ms5611_i2c.c
+    ap.srcs += subsystems/sensors/baro_ms5611_i2c.c
   endif
   ap.CFLAGS += -D$(LIA_BARO)
 
@@ -206,7 +215,10 @@ ap.srcs += $(SRC_BOARD)/baro_board.c
 
 # krooz baro
 else ifeq ($(BOARD), krooz)
-ap.srcs += $(SRC_BOARD)/baro_board.c
+ap.CFLAGS += -DMS5611_I2C_DEV=i2c2 -DMS5611_SLAVE_ADDR=0xEC
+ap.srcs += peripherals/ms5611.c
+ap.srcs += peripherals/ms5611_i2c.c
+ap.srcs += subsystems/sensors/baro_ms5611_i2c.c
 
 # apogee baro
 else ifeq ($(BOARD), apogee)

diff --git a/conf/firmwares/subsystems/shared/imu_krooz_sd.makefile b/conf/firmwares/subsystems/shared/imu_krooz_sd.makefile
@@ -14,11 +14,9 @@ IMU_KROOZ_I2C_DEV=i2c2
 IMU_KROOZ_CFLAGS += -DUSE_I2C -DUSE_I2C2 -DI2C2_CLOCK_SPEED=400000
 
 IMU_KROOZ_CFLAGS += -DIMU_KROOZ_I2C_DEV=$(IMU_KROOZ_I2C_DEV)
-IMU_KROOZ_CFLAGS += -DMS5611_I2C_DEV=$(IMU_KROOZ_I2C_DEV) -DMS5611_SLAVE_ADDR=0xEC
 IMU_KROOZ_SRCS += peripherals/mpu60x0.c
 IMU_KROOZ_SRCS += peripherals/mpu60x0_i2c.c
 IMU_KROOZ_SRCS += peripherals/hmc58xx.c
-IMU_KROOZ_SRCS += modules/sensors/baro_ms5611_i2c.c
 
 AHRS_PROPAGATE_FREQUENCY ?= 512
 AHRS_CORRECT_FREQUENCY ?= 512

diff --git a/conf/modules/baro_bmp.xml b/conf/modules/baro_bmp.xml
@@ -10,10 +10,11 @@
     <file name="baro_bmp.h"/>
   </header>
   <init fun="baro_bmp_init()"/>
-  <periodic fun="baro_bmp_periodic()" freq="8"/>
+  <periodic fun="baro_bmp_periodic()" freq="15"/>
   <event fun="baro_bmp_event()"/>
-  <makefile>
+  <makefile target="ap">
     <file name="baro_bmp.c"/>
+    <file name="bmp085.c" dir="peripherals"/>
   </makefile>
 </module>
 
diff --git a/conf/modules/baro_ms5611_i2c.xml b/conf/modules/baro_ms5611_i2c.xml
@@ -13,12 +13,13 @@
     <file name="baro_ms5611_i2c.h"/>
   </header>
   <init fun="baro_ms5611_init()"/>
-  <periodic fun="baro_ms5611_periodic()" freq="4" delay="0"/>
-  <periodic fun="baro_ms5611_d1()" freq="4" delay="1"/>
-  <periodic fun="baro_ms5611_d2()" freq="4" delay="2"/>
+  <periodic fun="baro_ms5611_read()" freq="4"/>
+  <periodic fun="baro_ms5611_periodic_check()" freq="40"/>
   <event fun="baro_ms5611_event()"/>
   <makefile target="ap">
     <file name="baro_ms5611_i2c.c"/>
+    <file name="ms5611.c" dir="peripherals"/>
+    <file name="ms5611_i2c.c" dir="peripherals"/>
   </makefile>
 </module>
 
diff --git a/conf/modules/baro_ms5611_spi.xml b/conf/modules/baro_ms5611_spi.xml
@@ -0,0 +1,25 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="baro_ms5611_spi" dir="sensors">
+  <doc>
+    <description>
+      Baro MS5611 (SPI)
+      Measurement Specialties MS5611-01BA pressure sensor (SPI)
+    </description>
+    <define name="MS5611_SPI_DEV" value="spiX" description="select spi peripheral to use (default spi1)"/>
+    <define name="MS5611_SLAVE_DEV" value="SPI_SLAVE0" description="SPI slave select index"/>
+    <define name="SENSOR_SYNC_SEND" description="flag to enable sending BARO_MS5611 message on every new measurement"/>
+  </doc>
+  <header>
+    <file name="baro_ms5611_spi.h"/>
+  </header>
+  <init fun="baro_ms5611_init()"/>
+  <periodic fun="baro_ms5611_read()" freq="4"/>
+  <periodic fun="baro_ms5611_periodic_check()" freq="40"/>
+  <event fun="baro_ms5611_event()"/>
+  <makefile target="ap">
+    <file name="baro_ms5611_spi.c"/>
+    <file name="ms5611.c" dir="peripherals"/>
+    <file name="ms5611_spi.c" dir="peripherals"/>
+  </makefile>
+</module>
diff --git a/sw/airborne/boards/krooz/baro_board.c b/sw/airborne/boards/krooz/baro_board.c
diff --git a/sw/airborne/boards/krooz/baro_board.h b/sw/airborne/boards/krooz/baro_board.h
@@ -1,30 +1,14 @@
 
 /*
- * board specific fonctions for the KroozSD board
+ * board specific interface for the KroozSD board
  *
+ * It uses the subsystems/sensors/baro_ms5611_i2c.c driver
  */
 
 #ifndef BOARDS_KROOZ_BARO_H
 #define BOARDS_KROOZ_BARO_H
 
-#include "std.h"
-#include "mcu_periph/i2c.h"
-#include "modules/sensors/baro_ms5611_i2c.h"
-#include "math/pprz_algebra_int.h"
-
-//#include "led.h"
-
-static inline void baro_event(void (*b_abs_handler)(void), void (*b_diff_handler)(void))
-{
-  baro_ms5611_event();
-  if(baro_ms5611_valid) {
-    baro.status = BS_RUNNING;
-    baro.absolute = (int32_t)baroms;
-    b_abs_handler();
-    baro_ms5611_valid = FALSE;
-  }
-}
-
-#define BaroEvent(_b_abs_handler, _b_diff_handler) baro_event(_b_abs_handler,_b_diff_handler)
+extern void baro_event(void (*b_abs_handler)(void));
+#define BaroEvent(_b_abs_handler, _b_diff_handler) baro_event(_b_abs_handler)
 
 #endif /* BOARDS_KROOZ_SD_BARO_H */
diff --git a/sw/airborne/boards/lia/baro_board.h b/sw/airborne/boards/lia/baro_board.h
@@ -9,8 +9,8 @@
 
 #include "std.h"
 
-extern void baro_event(void (*b_abs_handler)(void), void (*b_diff_handler)(void));
+extern void baro_event(void (*b_abs_handler)(void));
 
-#define BaroEvent(_b_abs_handler, _b_diff_handler) baro_event(_b_abs_handler,_b_diff_handler)
+#define BaroEvent(_b_abs_handler, _b_diff_handler) baro_event(_b_abs_handler)
 
 #endif /* BOARDS_LIA_BARO_H */