sl-firmware
fa75c442a7
Archive STM32 firmware to legacy/stm32/: - src/, include/, lib/USB_CDC/, platformio.ini, test stubs, flash_firmware.py - test/test_battery_adc.c, test_hw_button.c, test_pid_schedule.c, test_vesc_can.c, test_can_watchdog.c - USB_CDC_BUG.md Rename: stm32_protocol → esp32_protocol, mamba_protocol → balance_protocol, stm32_cmd_node → esp32_cmd_node, stm32_cmd_params → esp32_cmd_params, stm32_cmd.launch.py → esp32_cmd.launch.py, test_stm32_protocol → test_esp32_protocol, test_stm32_cmd_node → test_esp32_cmd_node Content cleanup across all files: - Mamba F722S → ESP32-S3 BALANCE - BlackPill → ESP32-S3 IO - STM32F722/F7xx → ESP32-S3 - stm32Mode/Version/Port → esp32Mode/Version/Port - STM32 State/Mode labels → ESP32 State/Mode - Jetson Nano → Jetson Orin Nano Super - /dev/stm32 → /dev/esp32 - stm32_bridge → esp32_bridge - STM32 HAL → ESP-IDF docs/SALTYLAB.md: - Update "Drone FC Details" to describe ESP32-S3 BALANCE board (Waveshare ESP32-S3 Touch LCD 1.28) - Replace verbose "Self-Balancing Control" STM32 section with brief note pointing to SAUL-TEE-SYSTEM-REFERENCE.md TEAM.md: Update Embedded Firmware Engineer role to ESP32-S3 / ESP-IDF No new functionality — cleanup only. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
91 lines
2.9 KiB
C
91 lines
2.9 KiB
C
/*
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* baro.c — BME280/BMP280 barometric pressure & ambient temperature module
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* (Issue #672).
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*
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* Reads pressure, temperature, and (on BME280) humidity from the sensor at
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* BARO_READ_HZ (1 Hz). Computes pressure altitude using bmp280_pressure_to_alt_cm()
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* (ISA barometric formula, p0 = 101325 Pa). Publishes JLINK_TLM_BARO (0x8D)
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* telemetry to the Orin at BARO_TLM_HZ (1 Hz).
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*
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* Runs entirely on the Mamba F722S. No Orin dependency.
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* baro_get_alt_cm() exposes altitude for slope compensation in the balance PID.
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*/
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#include "baro.h"
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#include "bmp280.h"
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#include "jlink.h"
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static int s_chip_id = 0; /* 0x58=BMP280, 0x60=BME280, 0=absent */
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static baro_data_t s_data; /* latest reading */
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static uint32_t s_last_read_ms; /* timestamp of last I2C read */
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static uint32_t s_last_tlm_ms; /* timestamp of last telemetry TX */
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/* ---- baro_init() ---- */
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void baro_init(int chip_id)
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{
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s_chip_id = chip_id;
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s_data.pressure_pa = 0;
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s_data.temp_x10 = 0;
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s_data.alt_cm = 0;
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s_data.humidity_pct_x10 = -1;
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s_data.valid = false;
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/*
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* Initialise timestamps so the first baro_tick() call fires immediately
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* (same convention as slope_estimator_init and steering_pid_init).
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*/
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const uint32_t interval_ms = 1000u / BARO_READ_HZ;
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s_last_read_ms = (uint32_t)(-(uint32_t)interval_ms);
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s_last_tlm_ms = (uint32_t)(-(uint32_t)(1000u / BARO_TLM_HZ));
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}
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/* ---- baro_tick() ---- */
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void baro_tick(uint32_t now_ms)
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{
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if (s_chip_id == 0) return;
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const uint32_t read_interval_ms = 1000u / BARO_READ_HZ;
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if ((now_ms - s_last_read_ms) < read_interval_ms) return;
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s_last_read_ms = now_ms;
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/* Read pressure (Pa) and temperature (°C × 10) */
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bmp280_read(&s_data.pressure_pa, &s_data.temp_x10);
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/* Compute pressure altitude: ISA formula, p0 = 101325 Pa */
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s_data.alt_cm = bmp280_pressure_to_alt_cm(s_data.pressure_pa);
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/* Humidity: BME280 (0x60) only; BMP280 returns -1 */
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s_data.humidity_pct_x10 = (s_chip_id == 0x60)
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? bmp280_read_humidity()
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: (int16_t)-1;
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s_data.valid = true;
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/* Publish telemetry to Orin via JLink (JLINK_TLM_BARO = 0x8D) */
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const uint32_t tlm_interval_ms = 1000u / BARO_TLM_HZ;
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if ((now_ms - s_last_tlm_ms) >= tlm_interval_ms) {
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s_last_tlm_ms = now_ms;
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jlink_tlm_baro_t tlm;
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tlm.pressure_pa = s_data.pressure_pa;
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tlm.temp_x10 = s_data.temp_x10;
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tlm.alt_cm = s_data.alt_cm;
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tlm.humidity_pct_x10 = s_data.humidity_pct_x10;
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jlink_send_baro_tlm(&tlm);
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}
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}
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/* ---- baro_get() ---- */
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bool baro_get(baro_data_t *out)
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{
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if (!s_data.valid) return false;
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*out = s_data;
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return true;
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}
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/* ---- baro_get_alt_cm() ---- */
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int32_t baro_get_alt_cm(void)
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{
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return s_data.valid ? s_data.alt_cm : 0;
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}
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