Added AP_Baro and AP_Baro_MS5611 classes.

Incomplete and does not work.

libraries/AP_Baro/AP_Baro.h

@@ -0,0 +1,18 @@
+
+#ifndef __AP_BARO_H__
+#define __AP_BARO_H__
+
+class AP_Baro
+{
+    public:
+    AP_Baro() {}
+    virtual void    init() = 0;
+    virtual uint8_t update() = 0;
+    virtual int32_t get_pressure() = 0;
+    virtual float   get_temp() = 0;
+
+};
+
+#include "AP_Baro_MS5611.h"
+
+#endif // __AP_BARO_H__

libraries/AP_Baro/AP_Baro_MS5611.cpp

@@ -0,0 +1,96 @@
+
+#include "AP_Baro_MS5611.h"
+
+#include "WProgram.h"
+#include <SPI.h>
+
+/* For bringup: chip select tied to PJ0; arduino pin 63 */
+#define CS_PORT PORTJ
+#define CS_MASK 0x01;
+#define CS_ASSERT  do { CS_PORT |=  CS_MASK; } while (0)
+#define CS_RELEASE do { CS_PORT &= ~CS_MASK; } while (0)
+
+AP_Baro_MS5611::AP_Baro_MS5611() {}
+
+void AP_Baro_MS5611::init()
+{
+  _send_reset();
+  _start_conversion_D1();
+}
+
+/* Send reset transaction. */
+void AP_Baro_MS5611::_send_reset()
+{
+  CS_ASSERT;
+
+  byte resetcode = 0x1E;
+  byte garbage = SPI.transfer( resetcode );
+
+  delay(3);
+
+  CS_RELEASE;
+}
+
+void AP_Baro_MS5611::_start_conversion_D1()
+{
+  CS_ASSERT;
+
+  byte conversioncode = 0x48; // D1 OSR = 4096
+  byte garbage = SPI.transfer( conversioncode );
+ 
+  CS_RELEASE;
+}
+
+void AP_Baro_MS5611::_start_conversion_D2()
+{
+  CS_ASSERT;
+
+  byte conversioncode = 0x58; // D2 OSR = 4096
+  byte garbage = SPI.transfer( conversioncode );
+
+  CS_RELEASE;
+}
+
+bool AP_Baro_MS5611::_adc_read( int32_t * raw )
+{
+  CS_ASSERT;
+
+  byte readcode = 0x00; // Just write 0 to read adc.
+  byte garbage = SPI.transfer( readcode );
+  byte b1      = SPI.transfer( 0 );
+  byte b2      = SPI.transfer( 0 );
+  byte b3      = SPI.transfer( 0 );
+
+  CS_RELEASE;
+
+  int32_t result = (((int32_t) b1 ) << 16) |
+                   (((int32_t) b2 ) << 8 ) |
+                   ((int32_t) b3 );
+
+  // Result = 0 if we read before the conversion was complete
+  if (result != 0) {
+    *raw = result;
+    return true; 
+  }
+  return false;
+}
+
+uint8_t AP_Baro_MS5611::update()
+{
+  
+
+}
+
+int32_t AP_Baro_MS5611::get_pressure()
+{
+
+
+}
+
+float AP_Baro_MS5611::get_temp()
+{
+
+
+}
+
+

libraries/AP_Baro/AP_Baro_MS5611.h

@@ -0,0 +1,31 @@
+
+#ifndef __AP_BARO_MS5611_H__
+#define __AP_BARO_MS5611_H__
+
+#include <stdint.h>
+#include "AP_Baro.h"
+
+class AP_Baro_MS5611 : public AP_Baro
+{
+    public:
+    AP_Baro_MS5611();
+    void    init();
+    uint8_t update();
+    int32_t get_pressure();
+    float   get_temp();
+
+    
+    void _send_reset();
+    void _start_conversion_D1();
+    void _start_conversion_D2();
+    bool _adc_read(int32_t * value);
+
+    private:
+
+    int32_t _raw_pres;
+    int32_t _raw_temp;
+
+};
+
+#endif // __AP_BARO_MS5611_H__
+

libraries/AP_Baro/examples/AP_Baro_MS5611_test/AP_Baro_MS5611_test.pde

@@ -0,0 +1,68 @@
+
+#include <stdint.h>
+#include <FastSerial.h>
+#include <SPI.h>
+#include <AP_Baro.h> // ArduPilot Mega ADC Library
+
+FastSerialPort0(Serial);
+
+AP_Baro_MS5611 baro;
+
+void setup()
+{  
+	Serial.begin(115200, 128, 128);
+	Serial.println("ArduPilot Mega MeasSense Barometer library test");
+
+	delay(1000);
+
+  pinMode(63, OUTPUT);
+  digitalWrite(63, HIGH);
+  SPI.begin();
+  SPI.setClockDivider(SPI_CLOCK_DIV32); // 500khz for debugging, increase later
+
+  baro.init();
+}
+
+void loop()
+{
+    int32_t pres;
+    int32_t temp;
+
+    Serial.println("Start Conversions");
+
+    baro._start_conversion_D1();
+    delay(10);
+    bool res1 = baro._adc_read(&pres);
+    baro._start_conversion_D2();
+    delay(10);
+    bool res2 = baro._adc_read(&temp);
+
+    if (res1) {
+        Serial.printf("Pressure raw value %ld\r\n",pres);
+    } else {
+        Serial.println("ADC conversion D1 unsuccessful");
+    }
+
+    if (res2) {
+        Serial.printf("Temp raw value %ld\r\n",pres);
+    } else {
+        Serial.println("ADC conversion D2 unsuccessful");
+    }
+    
+    Serial.println("---");
+    delay(250);
+}
+
+void update_and_print()
+{
+    int32_t pres;
+    float temp;
+
+    baro.update();
+
+    pres = baro.get_pressure();
+    temp = baro.get_temp();
+    Serial.printf("p: %ld t: %f \r\n", pres, temp);
+
+    delay(100);
+}

libraries/AP_Baro/examples/AP_Baro_MS5611_test/Makefile

@@ -0,0 +1,2 @@
+BOARD	=	mega2560
+include ../../../AP_Common/Arduino.mk