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Baro: Initial R3 Driver Implementation #49

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Baro: Initial R3 Driver Implementation #49

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018daa4
Separate out rev 2 and rev 3 functionality (and slightly improve rev2
266-750Balloons Jul 15, 2026
c668361
Add some basic stuff for rev3 barometer implementation
266-750Balloons Jul 15, 2026
ac408c9
Write basic baro interrupt service routine
266-750Balloons Jul 15, 2026
b883838
Add more info on create_timer_interrupt
266-750Balloons Jul 16, 2026
8e1f268
Try to improve formatting of start_baro_read_IT.
266-750Balloons Jul 20, 2026
57a955f
Try to unf--- the baro.c whitespace
266-750Balloons Jul 21, 2026
bd1172c
Unf--- the whitespace in baro.h for the PR
266-750Balloons Jul 21, 2026
9e412c2
Unf--- the whitespace in baro.h for the PR
266-750Balloons Jul 21, 2026
b77a0d8
Fix one last wacky little baro.h whitespace thing
266-750Balloons Jul 21, 2026
6942560
Group rev 2 specific config options as recommended by ETSells
266-750Balloons Jul 21, 2026
ac664f1
Implement API rename recommended by ETSells
266-750Balloons Jul 21, 2026
ebd077e
Fix inconsistency in function spelling
266-750Balloons Jul 21, 2026
60dc30b
Add event support to the interrupt handler
266-750Balloons Jul 26, 2026
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24 changes: 15 additions & 9 deletions baro/baro.c
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Original file line number Diff line number Diff line change
Expand Up @@ -85,6 +85,12 @@ static BARO_STATUS write_reg
uint8_t data /* In: Register contents */
);

/* Configure/intialize the barometric pressure sensor */
static BARO_STATUS baro_config
(
BARO_CONFIG* config_ptr
);

/* Load the compensation data from the baro sensor */
static BARO_STATUS load_cal_data
(
Expand Down Expand Up @@ -236,7 +242,7 @@ return baro_status;
* Configure the barometric pressure sensor *
* *
*******************************************************************************/
BARO_STATUS baro_config
static BARO_STATUS baro_config
(
BARO_CONFIG* config_ptr
)
Expand Down Expand Up @@ -884,13 +890,13 @@ return baro_data_ready;
/*******************************************************************************
* *
* PROCEDURE: *
* start_baro_read_IT *
* baro_start_read_IT *
* *
* DESCRIPTION: *
* Receive baro data in interrupt mode. *
* *
*******************************************************************************/
BARO_STATUS start_baro_read_IT
BARO_STATUS baro_start_read_IT
(
void
)
Expand Down Expand Up @@ -934,7 +940,7 @@ else
return baro_status;
}

} /* start_baro_read_IT */
} /* baro_start_read_IT */


/*******************************************************************************
Expand All @@ -944,7 +950,7 @@ else
* *
* DESCRIPTION: *
* ISR for baro data reception. Heavy ISR. Consider moving processing to *
* get_baro_IT. *
* baro_get_IT. *
* *
*******************************************************************************/
BARO_STATUS baro_IT_handler
Expand Down Expand Up @@ -997,13 +1003,13 @@ return baro_status;
/*******************************************************************************
* *
* PROCEDURE: *
* get_baro_it *
* baro_get_IT *
* *
* DESCRIPTION: *
* Getter function for IT baro data. *
* *
*******************************************************************************/
BARO_STATUS get_baro_it
BARO_STATUS baro_get_IT
(
float* pres_ptr, /* o: pressure */
float* temp_ptr /* o: temperature */
Expand All @@ -1018,9 +1024,9 @@ if( !baro_data_ready )
*temp_ptr = baro_temp_proc;

return BARO_OK;
} /* get_baro_it */
} /* baro_get_IT */


/*******************************************************************************
* END OF FILE *
*******************************************************************************/
*******************************************************************************/
131 changes: 113 additions & 18 deletions baro/baro.h
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Original file line number Diff line number Diff line change
Expand Up @@ -30,10 +30,15 @@ extern "C" {

#include "stm32h7xx_hal.h"

#ifdef A0010
#include "sdr_pin_defines_A0010.h"
#endif

/*------------------------------------------------------------------------------
Macros
------------------------------------------------------------------------------*/

#ifdef A0002_REV2
/* I2C Device Params */
#define BARO_I2C_ADDR ( 0x76 << 1 ) /* 1110110 -> 0x76 */

Expand Down Expand Up @@ -80,7 +85,7 @@ extern "C" {
/* Baro sensor command codes */
#define BARO_CMD_RESET ( 0xB6 )
#define BARO_CMD_FIFO_FLUSH ( 0xB0 )

#endif

/*------------------------------------------------------------------------------
Typdefs
Expand All @@ -95,9 +100,18 @@ typedef enum _BARO_STATUS
BARO_UNRECOGNIZED_HAL_STATUS,
BARO_UNSUPPORTED_CONFIG ,
BARO_UNRECOGNIZED_CHIP_ID ,
#ifdef A00100 ,
/* If the CRC check on r3 baro memory fails */
BARO_INVALID_PROM,
#endif
BARO_ERROR ,
BARO_CAL_ERROR ,
#ifdef A0002_REV2
BARO_I2C_ERROR ,
#endif
#ifdef A0010
BARO_SPI_ERROR ,
#endif
BARO_CANNOT_RESET ,
BARO_FIFO_ERROR ,
BARO_BUSY
Expand All @@ -112,36 +126,76 @@ typedef enum _BARO_SENSOR_ENABLES
BARO_PRESS_TEMP_ENABLED = 3
} BARO_SENSOR_ENABLES;

#ifdef A0010
/* Interrupt events for R3 version of driver.
* Takes similar approach to telemetry in mod.
* Events are in order of when they occure.
* Some events occur multiple times per
* data acquisition cycle.
*/
typedef enum _BARO_EVENT
{
BARO_EVENT_START_READ = 0,
BARO_EVENT_TX_CPLT,
BARO_EVENT_DELAY_ELAPSED,
BARO_EVENT_TXRX_CPLT
} BARO_EVENT;
#endif

#ifdef A0002_REV2
/* Operating mode of baro sensor */
typedef enum _BARO_MODE
{
BARO_SLEEP_MODE = 0,
BARO_FORCED_MODE = 1,
BARO_NORMAL_MODE = 3
} BARO_MODE;

#endif

/* Pressure Sensor Oversampling Settings */
typedef enum _BARO_PRESS_OSR_SETTING
{
#ifdef A0002_REV2
BARO_PRESS_OSR_X1 = 0,
BARO_PRESS_OSR_X2 ,
BARO_PRESS_OSR_X4 ,
BARO_PRESS_OSR_X8 ,
BARO_PRESS_OSR_X16 ,
BARO_PRESS_OSR_X32
#endif
/* Prevent any possibility that vals get misinterpreted between revs */
#ifdef A0010
BARO_PRESS_OSR_X256 = 6,

@ETSells ETSells Jul 16, 2026

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are these really the only settings for rev 3? id assume much lower oversampling rates are possible

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

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As far as I can tell. At the very least, there are all that's mentioned in the datasheet.

BARO_PRESS_OSR_X512 ,
BARO_PRESS_OSR_X1024 ,
BARO_PRESS_OSR_X2048 ,
BARO_PRESS_OSR_X4096
#endif
} BARO_PRESS_OSR_SETTING;

/* Temperature Sensor Oversampling Settings */
typedef enum _BARO_TEMP_OSR_SETTING
{
#ifdef A0002_REV2
BARO_TEMP_OSR_X1 = 0,
BARO_TEMP_OSR_X2 ,
BARO_TEMP_OSR_X4 ,
BARO_TEMP_OSR_X8 ,
BARO_TEMP_OSR_X16 ,
BARO_TEMP_OSR_X32
#endif
/* Prevent any possibility that vals get misinterpreted between revs */
#ifdef A0010
BARO_TEMP_OSR_X256 = 6,
BARO_TEMP_OSR_X512 ,
BARO_TEMP_OSR_X1024 ,
BARO_TEMP_OSR_X2048 ,
BARO_TEMP_OSR_X4096
#endif
} BARO_TEMP_OSR_SETTING;


#ifdef A0002_REV2
/* Sample Frequency settings */
typedef enum _BARO_ODR_SETTING
{
Expand All @@ -168,30 +222,39 @@ typedef enum _BARO_IIR_SETTING
BARO_IIR_COEF_63 = 6,
BARO_IIR_COEF_127 = 7
} BARO_IIR_SETTING;

#endif

/* Baro sensor configuration settings struct */
typedef struct _BARO_CONFIG
{
/* Sensor enables */
BARO_SENSOR_ENABLES enable;

/* Operating mode */
BARO_MODE mode;

/* Pressure Oversampling setting */
BARO_PRESS_OSR_SETTING press_OSR_setting;

/* Temperature Oversampling setting */
BARO_TEMP_OSR_SETTING temp_OSR_setting;

#ifdef A0002_REV2
/* Operating mode */
BARO_MODE mode;

/* Sampling frequency */
BARO_ODR_SETTING ODR_setting;

/* IIR Filter Coefficient Selection */
BARO_IIR_SETTING IIR_setting;

#endif
} BARO_CONFIG;


/* These structs are static to the rev3 implementation.
* They should be for rev2 as well, but aren't.
* I'm leaving it this way for rev2 code because emulator
* depends on it.
*/
#ifdef A0002_REV2
/* Baro calibration data struct in integer format */
typedef struct _BARO_CAL_DATA_INT
{
Expand Down Expand Up @@ -239,7 +302,7 @@ typedef struct _BARO_CAL_DATA
float comp_temp;

} BARO_CAL_DATA;

#endif

/*------------------------------------------------------------------------------
Function Prototypes
Expand All @@ -250,20 +313,27 @@ BARO_STATUS baro_init
(
BARO_CONFIG* config_ptr
);

/* Configure/intialize the barometric pressure sensor */
BARO_STATUS baro_config

#ifdef A0002_REV2
/* verifies sensor can be accessed */
BARO_STATUS baro_get_device_id
(
BARO_CONFIG* config_ptr
uint8_t* baro_id
);
#endif

#ifdef A0010
/* verifies sensor can be accessed */
/* The serial is 12 bits on the rev 3 sensor */

@ETSells ETSells Jul 16, 2026

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tbh these don't need to be publically accessible APIs right? we could make these static for each so there's less platform dependent switching.

BARO_STATUS baro_get_device_id
(
uint8_t* baro_id
uint16_t* baro_id
);
#endif


/* Blocking implementations are not supported on r3 */
#ifdef A0002_REV2
/* gets pressure data from sensor */
BARO_STATUS baro_get_pressure
(
Expand All @@ -281,16 +351,41 @@ BARO_STATUS baro_get_altitude
(
void
);

#endif

/* returns the baro_data_ready flag */
bool baro_get_baro_data_ready
(
void
);

BARO_STATUS start_baro_read_IT();
BARO_STATUS baro_IT_handler();
BARO_STATUS get_baro_it(float* pres_ptr, float* temp_ptr);
BARO_STATUS baro_start_read_IT
(
void
);
BARO_STATUS baro_get_IT
(
float* pres_ptr,
float* temp_ptr
);

#ifdef A0002_REV2
BARO_STATUS baro_IT_handler
(
void
);
#endif
#ifdef A0010
/* R3 baro has more complicated data acquisition sequence.
* We thus need to prevent various race conditions;
* this required making a breaking API change.
* The approach is very similar to the telemetry module.
*/
BARO_STATUS baro_IT_handler
(
BARO_EVENT update_cause;
);
#endif


#ifdef __cplusplus
Expand All @@ -300,4 +395,4 @@ BARO_STATUS get_baro_it(float* pres_ptr, float* temp_ptr);

/*******************************************************************************
* END OF FILE *
*******************************************************************************/
*******************************************************************************/
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