[paparazzi-commits] [6289] remove old baro ets files, is a module now

[Felix Ruess]

Revision: 6289
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=6289
Author:   flixr
Date:     2010-10-27 23:40:48 +0000 (Wed, 27 Oct 2010)
Log Message:
-----------
remove old baro ets files, is a module now

Removed Paths:
-------------
    paparazzi3/trunk/sw/airborne/baro_ets.c
    paparazzi3/trunk/sw/airborne/baro_ets.h

Deleted: paparazzi3/trunk/sw/airborne/baro_ets.c
===================================================================
--- paparazzi3/trunk/sw/airborne/baro_ets.c     2010-10-27 21:57:37 UTC (rev 
6288)
+++ paparazzi3/trunk/sw/airborne/baro_ets.c     2010-10-27 23:40:48 UTC (rev 
6289)
@@ -1,144 +0,0 @@
-/*
- * Driver for the EagleTree Systems Altitude Sensor
- * Has only been tested with V3 of the sensor hardware
- *
- * Notes:
- * Connect directly to TWOG/Tiny I2C port. Multiple sensors can be chained 
together.
- * Sensor should be in the proprietary mode (default) and not in 3rd party 
mode.
- * Pitch gains may need to be updated.
- * See conf/airframes/easystar2.xml for a configuration example.
- *
- *
- * Sensor module wire assignments:
- * Red wire: 5V
- * White wire: Ground
- * Yellow wire: SDA
- * Brown wire: SCL
- *
- * Copyright (C) 2009 Vassilis Varveropoulos
- *
- * 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.
- */
-
-#include "baro_ets.h"
-#include "i2c.h"
-#include <math.h>
-
-#ifdef SITL
-#include "gps.h"
-#endif
-
-#define BARO_ETS_ADDR 0xE8
-#define BARO_ETS_REG 0x07
-#define BARO_ETS_SCALE 0.32
-#define BARO_ETS_OFFSET_MAX 30000
-#define BARO_ETS_OFFSET_MIN 10
-#define BARO_ETS_OFFSET_NBSAMPLES_INIT 20
-#define BARO_ETS_OFFSET_NBSAMPLES_AVRG 40
-#define BARO_ETS_R 0.5
-#define BARO_ETS_SIGMA2 0.1
-
-// Global variables
-uint16_t baro_ets_adc;
-uint16_t baro_ets_offset;
-bool_t baro_ets_valid;
-float baro_ets_altitude;
-bool_t baro_ets_updated;
-bool_t baro_ets_enabled;
-float baro_ets_r;
-float baro_ets_sigma2;
-
-// Local variables
-volatile bool_t baro_ets_i2c_done;
-bool_t baro_ets_offset_init;
-uint32_t baro_ets_offset_tmp;
-uint16_t baro_ets_cnt;
-
-void baro_ets_init( void ) {
-  baro_ets_adc = 0;
-  baro_ets_altitude = 0.0;
-  baro_ets_offset = 0;
-  baro_ets_offset_tmp = 0;
-  baro_ets_i2c_done = TRUE;
-  baro_ets_valid = TRUE;
-  baro_ets_offset_init = FALSE;
-  baro_ets_enabled = TRUE;
-  baro_ets_updated = FALSE;
-  baro_ets_cnt = BARO_ETS_OFFSET_NBSAMPLES_INIT + 
BARO_ETS_OFFSET_NBSAMPLES_AVRG;
-  baro_ets_r = BARO_ETS_R;
-  baro_ets_sigma2 = BARO_ETS_SIGMA2;
-  i2c0_buf[0] = 0;
-  i2c0_buf[1] = 0;  
-}
-
-void baro_ets_read( void ) {
-  // Initiate next read
-  i2c0_buf[0] = 0;
-  i2c0_buf[1] = 0;
-  i2c0_receive(BARO_ETS_ADDR, 2, &baro_ets_i2c_done);
-}      
-        
-void baro_ets_periodic( void ) {
-#ifndef SITL
-  // Read raw value
-  if (i2c0_status == I2C_IDLE) {
-    // Get raw altimeter from buffer
-    baro_ets_adc = ((uint16_t)(i2c0_buf[1]) << 8) | (uint16_t)(i2c0_buf[0]);
-    // Check if this is valid altimeter
-    if (baro_ets_adc == 0)
-      baro_ets_valid = FALSE;
-    else
-      baro_ets_valid = TRUE;
-  }
-  // Continue only if a new altimeter value was received  
-  if (baro_ets_valid) {
-    // Calculate offset average if not done already
-    if (!baro_ets_offset_init) {
-      --baro_ets_cnt;
-      // Check if averaging completed
-      if (baro_ets_cnt == 0) {
-        // Calculate average
-        baro_ets_offset = (uint16_t)(baro_ets_offset_tmp / 
BARO_ETS_OFFSET_NBSAMPLES_AVRG);
-        // Limit offset
-        if (baro_ets_offset < BARO_ETS_OFFSET_MIN)
-          baro_ets_offset = BARO_ETS_OFFSET_MIN;
-        if (baro_ets_offset > BARO_ETS_OFFSET_MAX)
-          baro_ets_offset = BARO_ETS_OFFSET_MAX;
-        baro_ets_offset_init = TRUE;
-      }
-      // Check if averaging needs to continue
-      else if (baro_ets_cnt <= BARO_ETS_OFFSET_NBSAMPLES_AVRG)
-        baro_ets_offset_tmp += baro_ets_adc;
-    }    
-    // Convert raw to m/s
-    if (baro_ets_offset_init)
-      baro_ets_altitude = BARO_ETS_SCALE * 
(float)(baro_ets_offset-baro_ets_adc);
-    else
-      baro_ets_altitude = 0.0;
-  } else {
-    baro_ets_altitude = 0.0;
-  }
-#else // SITL
-  baro_ets_adc = 0;
-  baro_ets_altitude = gps_alt / 100.0;
-  baro_ets_valid = TRUE;
-#endif
-  // New value available
-  baro_ets_updated = TRUE;
-}
-

Deleted: paparazzi3/trunk/sw/airborne/baro_ets.h
===================================================================
--- paparazzi3/trunk/sw/airborne/baro_ets.h     2010-10-27 21:57:37 UTC (rev 
6288)
+++ paparazzi3/trunk/sw/airborne/baro_ets.h     2010-10-27 23:40:48 UTC (rev 
6289)
@@ -1,25 +0,0 @@
-/*
- * Driver for the EagleTree Systems Altitude Sensor
- */
-
-#ifndef BARO_ETS_H
-#define BARO_ETS_H
-
-#include "std.h"
-
-#define BARO_ETS_DT 0.05
-
-extern void baro_ets_periodic( void );
-extern void baro_ets_read( void );
-extern void baro_ets_init( void );
-
-extern uint16_t baro_ets_adc;
-extern uint16_t baro_ets_offset;
-extern bool_t baro_ets_valid;
-extern bool_t baro_ets_updated;
-extern bool_t baro_ets_enabled;
-extern float baro_ets_altitude;
-extern float baro_ets_r;
-extern float baro_ets_sigma2;
-
-#endif // BARO_ETS_H