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https://github.com/paparazzi/paparazzi.git
synced 2026-05-24 05:45:59 +08:00
[lisa_m] baro: resurrect the bmp085 driver that Michal removed
This is again the default with Lisa/M, three baro drivers to choose: - BARO_BOARD_BMP085 (default) - BARO_MS5611_SPI - BARO_MS5611_I2C To use the MS5611 on the Aspirin IMU, configure it in your firmware section, e.g.: <configure name="LISA_M_BARO" value="BARO_MS5611_SPI"/>
This commit is contained in:
Felix Ruess
@@ -147,17 +147,18 @@ ap.srcs += $(SRC_BOARD)/baro_board.c
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# Lisa/M and Lia baro
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else ifeq ($(BOARD), lisa_m)
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# defaults to i2c baro
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LISA_M_BARO ?= BARO_I2C
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ifeq ($(LISA_M_BARO), BARO_SPI)
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# defaults to i2c baro bmp085 on the board
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LISA_M_BARO ?= BARO_BOARD_BMP085
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ifeq ($(LISA_M_BARO), BARO_MS5611_SPI)
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include $(CFG_SHARED)/spi.makefile
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ap.CFLAGS += -DUSE_SPI2 -DUSE_SPI_SLAVE3
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ap.srcs += $(SRC_BOARD)/baro_board_spi.c
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else ifeq ($(LISA_M_BARO), BARO_I2C)
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ap.srcs += $(SRC_BOARD)/baro_ms5611_spi.c
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else ifeq ($(LISA_M_BARO), BARO_MS5611_I2C)
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ap.CFLAGS += -DUSE_I2C2
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ap.srcs += $(SRC_BOARD)/baro_board_i2c.c
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else ifeq ($(LISA_M_BARO), BARO_ASPIRIN)
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ap.srcs += $(SRC_BOARD)/baro_ms5611_i2c.c
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else ifeq ($(LISA_M_BARO), BARO_BOARD_BMP085)
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ap.srcs += $(SRC_BOARD)/baro_board.c
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ap.CFLAGS += -DUSE_I2C2
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endif
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ap.CFLAGS += -D$(LISA_M_BARO)
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@@ -1,24 +1,195 @@
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/**
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* Generic barometer interface, assuming the barometer is read through Aspirin IMU directly
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*
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* Edit by: Michal Podhradsky, michal.podhradsky@aggiemail.usu.edu
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* Utah State University, http://aggieair.usu.edu/
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*/
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#include "subsystems/sensors/baro.h"
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#include "baro_board.h"
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#include <libopencm3/stm32/f1/gpio.h>
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struct Baro baro;
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struct BaroBoard baro_board;
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struct i2c_transaction baro_trans;
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struct bmp085_baro_calibration calibration;
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#define BMP085_SAMPLE_PERIOD_MS (3 + (2 << BMP085_OSS) * 3)
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#define BMP085_SAMPLE_PERIOD (BMP075_SAMPLE_PERIOD_MS >> 1)
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// FIXME: BARO DRDY connected to PB0 for lisa/m
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static inline void bmp085_write_reg(uint8_t addr, uint8_t value)
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{
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baro_trans.buf[0] = addr;
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baro_trans.buf[1] = value;
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I2CTransmit(i2c2, baro_trans, BMP085_ADDR, 2);
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// FIXME, no while loops without timeout!!
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while (baro_trans.status == I2CTransPending || baro_trans.status == I2CTransRunning);
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}
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static inline void bmp085_read_reg16(uint8_t addr)
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{
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baro_trans.buf[0] = addr;
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I2CTransceive(i2c2, baro_trans, BMP085_ADDR, 1, 2);
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}
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static inline int16_t bmp085_read_reg16_blocking(uint8_t addr, uint32_t timeout)
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{
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uint32_t time = 0;
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bmp085_read_reg16(addr);
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while (baro_trans.status == I2CTransPending || baro_trans.status == I2CTransRunning) {
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if ((time == timeout) && (timeout != 0)) {
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return 0; /* Timeout of the i2c read */
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} else {
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time++;
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}
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}
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return ((baro_trans.buf[0] << 8) | baro_trans.buf[1]);
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}
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static inline void bmp085_read_reg24(uint8_t addr)
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{
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baro_trans.buf[0] = addr;
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I2CTransceive(i2c2, baro_trans, BMP085_ADDR, 1, 3);
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}
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static void bmp085_baro_read_calibration(void)
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{
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calibration.ac1 = bmp085_read_reg16_blocking(0xAA, 10000); // AC1
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calibration.ac2 = bmp085_read_reg16_blocking(0xAC, 10000); // AC2
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calibration.ac3 = bmp085_read_reg16_blocking(0xAE, 10000); // AC3
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calibration.ac4 = bmp085_read_reg16_blocking(0xB0, 10000); // AC4
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calibration.ac5 = bmp085_read_reg16_blocking(0xB2, 10000); // AC5
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calibration.ac6 = bmp085_read_reg16_blocking(0xB4, 10000); // AC6
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calibration.b1 = bmp085_read_reg16_blocking(0xB6, 10000); // B1
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calibration.b2 = bmp085_read_reg16_blocking(0xB8, 10000); // B2
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calibration.mb = bmp085_read_reg16_blocking(0xBA, 10000); // MB
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calibration.mc = bmp085_read_reg16_blocking(0xBC, 10000); // MC
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calibration.md = bmp085_read_reg16_blocking(0xBE, 10000); // MD
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}
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void baro_init(void) {
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baro.status = BS_UNINITIALIZED;
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baro.absolute = 0;
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baro.differential = 0;
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baro_board.status = LBS_UNINITIALIZED;
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bmp085_baro_read_calibration();
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/* STM32 specific (maybe this is a LISA/M specific driver anyway?) */
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gpio_clear(GPIOB, GPIO0);
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gpio_set_mode(GPIOB, GPIO_MODE_INPUT,
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GPIO_CNF_INPUT_PULL_UPDOWN, GPIO0);
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}
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void baro_periodic(void) {}
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void baro_event(void (*b_abs_handler)(void), void (*b_diff_handler)(void)){
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b_abs_handler();
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b_diff_handler();
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static inline int baro_eoc(void)
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{
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return gpio_get(GPIOB, GPIO0);
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}
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static inline void bmp085_request_pressure(void)
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{
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bmp085_write_reg(0xF4, 0x34 + (BMP085_OSS << 6));
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}
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static inline void bmp085_request_temp(void)
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{
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bmp085_write_reg(0xF4, 0x2E);
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}
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static inline void bmp085_read_pressure(void)
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{
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bmp085_read_reg24(0xF6);
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}
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static inline void bmp085_read_temp(void)
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{
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bmp085_read_reg16(0xF6);
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}
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void baro_periodic(void) {
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// check that nothing is in progress
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if (baro_trans.status == I2CTransPending) return;
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if (baro_trans.status == I2CTransRunning) return;
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if (!i2c_idle(&i2c2)) return;
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switch (baro_board.status) {
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case LBS_UNINITIALIZED:
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baro_board_send_reset();
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baro_board.status = LBS_REQUEST;
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baro.status = BS_RUNNING;
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break;
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case LBS_REQUEST:
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bmp085_request_pressure();
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baro_board.status = LBS_READ;
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break;
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case LBS_READ:
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if (baro_eoc()) {
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bmp085_read_pressure();
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baro_board.status = LBS_READING;
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}
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break;
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case LBS_REQUEST_TEMP:
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bmp085_request_temp();
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baro_board.status = LBS_READ_TEMP;
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break;
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case LBS_READ_TEMP:
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if (baro_eoc()) {
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bmp085_read_temp();
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baro_board.status = LBS_READING_TEMP;
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}
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break;
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default:
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break;
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}
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}
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void baro_board_send_reset(void) {
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// This is a NOP at the moment
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}
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// Apply temp calibration and sensor calibration to raw measurement to get Pa (from BMP085 datasheet)
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int32_t baro_apply_calibration(int32_t raw)
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{
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int32_t b6 = calibration.b5 - 4000;
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int x1 = (calibration.b2 * (b6 * b6 >> 12)) >> 11;
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int x2 = calibration.ac2 * b6 >> 11;
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int32_t x3 = x1 + x2;
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int32_t b3 = (((calibration.ac1 * 4 + x3) << BMP085_OSS) + 2)/4;
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x1 = calibration.ac3 * b6 >> 13;
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x2 = (calibration.b1 * (b6 * b6 >> 12)) >> 16;
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x3 = ((x1 + x2) + 2) >> 2;
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uint32_t b4 = (calibration.ac4 * (uint32_t) (x3 + 32768)) >> 15;
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uint32_t b7 = (raw - b3) * (50000 >> BMP085_OSS);
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int32_t p = b7 < 0x80000000 ? (b7 * 2) / b4 : (b7 / b4) * 2;
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x1 = (p >> 8) * (p >> 8);
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x1 = (x1 * 3038) >> 16;
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x2 = (-7357 * p) >> 16;
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return p + ((x1 + x2 + 3791) >> 4);
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}
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void baro_event(void (*b_abs_handler)(void), void (*b_diff_handler)(void))
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{
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if (baro_board.status == LBS_READING &&
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baro_trans.status != I2CTransPending && baro_trans.status != I2CTransRunning) {
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baro_board.status = LBS_REQUEST_TEMP;
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if (baro_trans.status == I2CTransSuccess) {
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int32_t tmp = (baro_trans.buf[0]<<16) | (baro_trans.buf[1] << 8) | baro_trans.buf[2];
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tmp = tmp >> (8 - BMP085_OSS);
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baro.absolute = baro_apply_calibration(tmp);
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b_abs_handler();
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}
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}
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if (baro_board.status == LBS_READING_TEMP &&
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baro_trans.status != I2CTransPending && baro_trans.status != I2CTransRunning) {
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baro_board.status = LBS_REQUEST;
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if (baro_trans.status == I2CTransSuccess) {
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// abuse differential to store temp in 0.1C for now
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int32_t tmp = (baro_trans.buf[0] << 8) | baro_trans.buf[1];
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int32_t x1 = ((tmp - calibration.ac6) * calibration.ac5) >> 15;
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int32_t x2 = (calibration.mc << 11) / (x1 + calibration.md);
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calibration.b5 = x1 + x2;
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baro.differential = (calibration.b5 + 8) >> 4;
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b_diff_handler();
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}
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}
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}
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@@ -1,15 +1,67 @@
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/**
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* Generic barometer interface, assuming the barometer is read through Aspirin IMU directly
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/*
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* board specific fonctions for the lisa_m board
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*
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* Edit by: Michal Podhradsky, michal.podhradsky@aggiemail.usu.edu
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* Utah State University, http://aggieair.usu.edu/
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*/
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#ifndef BOARDS_LIA_BARO_H
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#define BOARDS_LIA_BARO_H
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#ifndef BOARDS_LISA_M_BARO_H
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#define BOARDS_LISA_M_BARO_H
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#include "std.h"
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// for right now we abuse this file for the ms5611 baro on aspirin as well
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#if !BARO_MS5611_I2C && !BARO_MS5611
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#include "mcu_periph/i2c.h"
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// absolute addr
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#define BMP085_ADDR 0xEE
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// Over sample setting (0-3)
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#define BMP085_OSS 3
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enum LisaBaroStatus {
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LBS_UNINITIALIZED,
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LBS_REQUEST,
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LBS_READING,
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LBS_READ,
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LBS_REQUEST_TEMP,
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LBS_READING_TEMP,
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LBS_READ_TEMP,
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};
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struct BaroBoard {
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enum LisaBaroStatus status;
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};
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struct bmp085_baro_calibration {
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// These values come from EEPROM on sensor
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int16_t ac1;
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int16_t ac2;
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int16_t ac3;
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uint16_t ac4;
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uint16_t ac5;
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uint16_t ac6;
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int16_t b1;
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int16_t b2;
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int16_t mb;
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int16_t mc;
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int16_t md;
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// These values are calculated
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int32_t b5;
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};
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extern struct BaroBoard baro_board;
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extern struct i2c_transaction baro_trans;
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extern struct bmp085_baro_calibration calibration;
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extern void baro_board_send_reset(void);
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extern void baro_board_send_config(void);
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#endif // !BARO_MS5611_xx
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extern void baro_event(void (*b_abs_handler)(void), void (*b_diff_handler)(void));
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#define BaroEvent(_b_abs_handler, _b_diff_handler) baro_event(_b_abs_handler,_b_diff_handler)
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#endif /* BOARDS_LIA_BARO_H */
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#endif /* BOARDS_LISA_M_BARO_H */
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+1
-1
@@ -190,7 +190,7 @@ void baro_event(void (*b_abs_handler)(void), void (*b_diff_handler)(void)){
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b_abs_handler();
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b_diff_handler();
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#ifdef EBUG
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#ifdef DEBUG
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ftempms = tempms / 100.;
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fbaroms = baroms / 100.;
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DOWNLINK_SEND_BARO_MS5611(DefaultChannel, DefaultDevice,
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