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Baro: Initial R3 Driver Implementation #303

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Baro: Initial R3 Driver Implementation #303

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36e9780
Write proof-of-concept rev3 interrupt callbacks
266-750Balloons Jul 16, 2026
3408dc4
Update interrupt callbacks for compatibility with BARO_EVENT
266-750Balloons Jul 26, 2026
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2 changes: 1 addition & 1 deletion driver
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Submodule driver updated 3 files
+15 −9 baro/baro.c
+113 −18 baro/baro.h
+375 −0 baro/baro_r3.c
24 changes: 24 additions & 0 deletions init/rev3/config/Src/stm32h7xx_it.c
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Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,9 @@
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "stm32h7xx_it.h"
#include "baro.h"
#include "sdr_pin_defines_A0010.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
Expand Down Expand Up @@ -213,5 +216,26 @@ void OTG_HS_IRQHandler(void)
}

/* USER CODE BEGIN 1 */
#if 0 // This is Proof-of-Concept Code, disabled to prevent breaking builds
void HAL_SPI_TxCpltCallback( SPI_HandleTypeDef *hspi ) {
if ( hspi == &( BARO_SPI ) ) {
baro_IT_handler(BARO_EVENT_TX_CPLT);
}
}

void HAL_SPI_TxRxCpltCallback( SPI_HandleTypeDef *hspi ) {
if ( hspi == &( BARO_SPI ) ) {
baro_IT_handler(BARO_EVENT_TXRX_CPLT);
}
}

HAL_TIM_OC_DelayElapsedCallback( TIM_HandleTypeDef *htim ) {

@ETSells ETSells Jul 16, 2026

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i dont love the idea of having a separate timer for this. we should consider scheduling a task (cc: @NArmistead) or checking the condition synchronously

also missing return type

@266-750Balloons 266-750Balloons Jul 16, 2026

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This wouldn't actually be a separate timer; it is just using the existing microsecond timer. You can reconfigure the channel to fire at a certain time with a feature normally used for PWM implementation and stuff, output capture. The microseconds timer has something like 4 different channels.

I do agree though that instead of my own implementation, it may be sensible to one day implement some sort of functionality in timer.c

// TODO add MICRO_TIM and BARO_TIM_CHANNEL macros to rev3 pin defines
if ( htim->Instance == MICRO_TIM ) {
if( htim->Channel == BARO_TIM_CHANNEL ) {
baro_IT_handler(BARO_EVENT_DELAY_ELAPSED);
}
}
}
#endif
/* USER CODE END 1 */
2 changes: 1 addition & 1 deletion mod
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Submodule mod updated 2 files
+1 −0 error_sdr/error_sdr.h
+3 −3 sensor/sensor.c