static inline bool_t ins_configure( void ) {
switch (ins_init_status) {
case INS_VN100_SET_BAUD :
last_send_packet.RegID = VN100_REG_SBAUD;
spi_buffer_length = 4+VN100_REG_SBAUD_SIZE;
ins_init_status++;
break;
case INS_VN100_SET_ADOR :
last_send_packet.RegID = VN100_REG_ADOR;
spi_buffer_length = 4+VN100_REG_ADOR_SIZE;
ins_init_status++;
break;
case INS_VN100_SET_ADOF :
last_send_packet.RegID = VN100_REG_ADOF;
spi_buffer_length = 4+VN100_REG_ADOF_SIZE;
ins_init_status++;
break;
case INS_VN100_READY :
return TRUE;
}
last_send_packet.CmdID = VN100_CmdID_WriteRegister;
spi_buffer_input = (uint8_t*)&last_received_packet;
spi_buffer_output = (uint8_t*)&last_send_packet;
SpiSelectSlave0();
SpiStart();
return FALSE;
}
void baro_init( void ) {
mcp355x_init();
SpiSelectSlave0(); // never unselect this slave (continious conversion mode)
baro.status = BS_UNINITIALIZED;
baro.absolute = 0;
baro.differential = 0; /* not handled on this board */
#ifdef ROTORCRAFT_BARO_LED
LED_OFF(ROTORCRAFT_BARO_LED);
#endif
startup_cnt = STARTUP_COUNTER;
}
void ins_periodic_task( void ) {
if (!SpiCheckAvailable()) {
SpiOverRun();
return;
}
if (!ins_configure()) return;
// Fill request for QMR
last_send_packet.CmdID = VN100_CmdID_ReadRegister;
last_send_packet.RegID = VN100_REG_YMR;
spi_buffer_input = (uint8_t*)&last_received_packet;
spi_buffer_output = (uint8_t*)&last_send_packet;
spi_buffer_length = 4+VN100_REG_YMR_SIZE;
SpiSelectSlave0();
SpiStart();
}
