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https://github.com/paparazzi/paparazzi.git
synced 2026-06-04 22:17:01 +08:00
[modules] baro_ms5611_i2c|spi modules using ms5611 peripheral
This commit is contained in:
Felix Ruess
@@ -13,12 +13,12 @@
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<file name="baro_ms5611_i2c.h"/>
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</header>
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<init fun="baro_ms5611_init()"/>
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<periodic fun="baro_ms5611_periodic()" freq="4" delay="0"/>
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<periodic fun="baro_ms5611_d1()" freq="4" delay="1"/>
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<periodic fun="baro_ms5611_d2()" freq="4" delay="2"/>
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<periodic fun="baro_ms5611_periodic()" freq="4"/>
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<event fun="baro_ms5611_event()"/>
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<makefile target="ap">
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<file name="baro_ms5611_i2c.c"/>
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<file name="ms5611.c" dir="peripherals"/>
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<file name="ms5611_i2c.c" dir="peripherals"/>
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</makefile>
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</module>
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@@ -0,0 +1,24 @@
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<!DOCTYPE module SYSTEM "module.dtd">
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<module name="baro_ms5611_spi" dir="sensors">
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<doc>
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<description>
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Baro MS5611 (SPI)
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Measurement Specialties MS5611-01BA pressure sensor (SPI)
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</description>
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<define name="MS5611_SPI_DEV" value="spiX" description="select spi peripheral to use (default spi1)"/>
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<define name="MS5611_SLAVE_DEV" value="SPI_SLAVE0" description="SPI slave select index"/>
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<define name="SENSOR_SYNC_SEND" description="flag to enable sending BARO_MS5611 message on every new measurement"/>
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</doc>
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<header>
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<file name="baro_ms5611_spi.h"/>
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</header>
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<init fun="baro_ms5611_init()"/>
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<periodic fun="baro_ms5611_periodic()" freq="4"/>
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<event fun="baro_ms5611_event()"/>
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<makefile target="ap">
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<file name="baro_ms5611_spi.c"/>
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<file name="ms5611.c" dir="peripherals"/>
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<file name="ms5611_spi.c" dir="peripherals"/>
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</makefile>
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</module>
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@@ -1,5 +1,5 @@
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/*
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* Copyright (C) 2011 Martin Mueller <martinmm@pfump.org>
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* Copyright (C) 2011-2013 The Paparazzi Team
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*
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* This file is part of paparazzi.
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*
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@@ -30,11 +30,9 @@
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#include "modules/sensors/baro_ms5611_i2c.h"
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#include "mcu_periph/sys_time.h"
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#include "mcu_periph/i2c.h"
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#include "mcu_periph/uart.h"
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#include "messages.h"
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#include "subsystems/datalink/downlink.h"
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#include "subsystems/nav.h"
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#ifndef DOWNLINK_DEVICE
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#define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE
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@@ -49,202 +47,63 @@
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#define MS5611_SLAVE_ADDR 0xEE
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#endif
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struct Ms5611_I2c baro_ms5611;
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struct i2c_transaction ms5611_trans;
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uint8_t ms5611_status;
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uint16_t ms5611_c[PROM_NB];
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uint32_t ms5611_d1, ms5611_d2;
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int32_t prom_cnt;
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int64_t baroms;
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float fbaroms, ftempms;
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float baro_ms5611_alt;
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bool_t baro_ms5611_alt_valid;
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bool_t baro_ms5611_enabled;
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bool_t baro_ms5611_valid;
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float baro_ms5611_r;
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float baro_ms5611_sigma2;
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static int8_t baro_ms5611_crc(uint16_t* prom) {
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int32_t i, j;
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uint32_t res = 0;
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uint8_t crc = prom[7] & 0xF;
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prom[7] &= 0xFF00;
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for (i = 0; i < 16; i++) {
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if (i & 1) res ^= ((prom[i>>1]) & 0x00FF);
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else res ^= (prom[i>>1]>>8);
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for (j = 8; j > 0; j--) {
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if (res & 0x8000) res ^= 0x1800;
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res <<= 1;
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}
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}
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prom[7] |= crc;
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if (crc == ((res >> 12) & 0xF)) return 0;
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else return -1;
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}
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void baro_ms5611_init(void) {
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ms5611_i2c_init(&baro_ms5611, &MS5611_I2C_DEV, MS5611_SLAVE_ADDR);
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baro_ms5611_enabled = TRUE;
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baro_ms5611_valid = FALSE;
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ms5611_status = MS5611_UNINIT;
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baro_ms5611_alt_valid = FALSE;
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baro_ms5611_r = BARO_MS5611_R;
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baro_ms5611_sigma2 = BARO_MS5611_SIGMA2;
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prom_cnt = 0;
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}
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void baro_ms5611_periodic( void ) {
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if (sys_time.nb_sec > 1) {
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if (ms5611_status >= MS5611_IDLE) {
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/* start D1 conversion */
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ms5611_status = MS5611_CONV_D1;
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ms5611_trans.buf[0] = MS5611_START_CONV_D1;
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i2c_transmit(&MS5611_I2C_DEV, &ms5611_trans, MS5611_SLAVE_ADDR, 1);
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/* call the convenience periodic that initializes the sensor and starts reading*/
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ms5611_i2c_periodic(&baro_ms5611);
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if (baro_ms5611.initialized) {
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RunOnceEvery((4*30), DOWNLINK_SEND_MS5611_COEFF(DefaultChannel, DefaultDevice,
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&ms5611_c[0], &ms5611_c[1], &ms5611_c[2], &ms5611_c[3],
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&ms5611_c[4], &ms5611_c[5], &ms5611_c[6], &ms5611_c[7]));
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}
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else if (ms5611_status == MS5611_UNINIT) {
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/* reset sensor */
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ms5611_status = MS5611_RESET;
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ms5611_trans.buf[0] = MS5611_SOFT_RESET;
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i2c_transmit(&MS5611_I2C_DEV, &ms5611_trans, MS5611_SLAVE_ADDR, 1);
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}
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else if (ms5611_status == MS5611_RESET_OK) {
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/* start getting prom data */
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ms5611_status = MS5611_PROM;
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ms5611_trans.buf[0] = MS5611_PROM_READ | (prom_cnt << 1);
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i2c_transceive(&MS5611_I2C_DEV, &ms5611_trans, MS5611_SLAVE_ADDR, 1, 2);
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&baro_ms5611.data.c[0],
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&baro_ms5611.data.c[1],
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&baro_ms5611.data.c[2],
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&baro_ms5611.data.c[3],
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&baro_ms5611.data.c[4],
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&baro_ms5611.data.c[5],
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&baro_ms5611.data.c[6],
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&baro_ms5611.data.c[7]));
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}
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}
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}
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void baro_ms5611_d1( void ) {
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if (sys_time.nb_sec > 1) {
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if (ms5611_status == MS5611_CONV_D1_OK) {
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/* read D1 adc */
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ms5611_status = MS5611_ADC_D1;
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ms5611_trans.buf[0] = MS5611_ADC_READ;
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i2c_transceive(&MS5611_I2C_DEV, &ms5611_trans, MS5611_SLAVE_ADDR, 1, 3);
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}
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}
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}
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void baro_ms5611_d2( void ) {
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if (sys_time.nb_sec > 1) {
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if (ms5611_status == MS5611_CONV_D2_OK) {
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/* read D2 adc */
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ms5611_status = MS5611_ADC_D2;
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ms5611_trans.buf[0] = MS5611_ADC_READ;
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i2c_transceive(&MS5611_I2C_DEV, &ms5611_trans, MS5611_SLAVE_ADDR, 1, 3);
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}
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}
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}
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void baro_ms5611_event( void ) {
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if (ms5611_trans.status == I2CTransSuccess) {
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switch (ms5611_status) {
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case MS5611_RESET:
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ms5611_status = MS5611_RESET_OK;
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ms5611_trans.status = I2CTransDone;
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break;
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ms5611_i2c_event(&baro_ms5611);
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case MS5611_PROM:
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/* read prom data */
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ms5611_c[prom_cnt++] = (ms5611_trans.buf[0] << 8) | ms5611_trans.buf[1];
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if (prom_cnt < PROM_NB) {
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/* get next prom data */
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ms5611_trans.buf[0] = MS5611_PROM_READ | (prom_cnt << 1);
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i2c_transceive(&MS5611_I2C_DEV, &ms5611_trans, MS5611_SLAVE_ADDR, 1, 2);
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}
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else {
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/* done reading prom */
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ms5611_trans.status = I2CTransDone;
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/* check prom crc */
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if (baro_ms5611_crc(ms5611_c) == 0) {
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DOWNLINK_SEND_MS5611_COEFF(DefaultChannel, DefaultDevice,
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&ms5611_c[0], &ms5611_c[1], &ms5611_c[2], &ms5611_c[3],
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&ms5611_c[4], &ms5611_c[5], &ms5611_c[6], &ms5611_c[7]);
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ms5611_status = MS5611_IDLE;
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}
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else {
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/* checksum error, try again */
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baro_ms5611_init();
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}
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}
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break;
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case MS5611_CONV_D1:
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ms5611_status = MS5611_CONV_D1_OK;
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ms5611_trans.status = I2CTransDone;
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break;
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case MS5611_ADC_D1:
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/* read D1 (pressure) */
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ms5611_d1 = (ms5611_trans.buf[0] << 16) |
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(ms5611_trans.buf[1] << 8) |
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ms5611_trans.buf[2];
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/* start D2 conversion */
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ms5611_status = MS5611_CONV_D2;
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ms5611_trans.buf[0] = MS5611_START_CONV_D2;
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i2c_transmit(&MS5611_I2C_DEV, &ms5611_trans, MS5611_SLAVE_ADDR, 1);
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break;
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case MS5611_CONV_D2:
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ms5611_status = MS5611_CONV_D2_OK;
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ms5611_trans.status = I2CTransDone;
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break;
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case MS5611_ADC_D2: {
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int64_t dt, tempms, off, sens, t2, off2, sens2;
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/* read D2 (temperature) */
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ms5611_d2 = (ms5611_trans.buf[0] << 16) |
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(ms5611_trans.buf[1] << 8) |
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ms5611_trans.buf[2];
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ms5611_status = MS5611_IDLE;
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ms5611_trans.status = I2CTransDone;
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/* difference between actual and ref temperature */
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dt = ms5611_d2 - (int64_t)ms5611_c[5] * (1<<8);
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/* actual temperature */
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tempms = 2000 + ((int64_t)dt * ms5611_c[6]) / (1<<23);
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/* offset at actual temperature */
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off = ((int64_t)ms5611_c[2] * (1<<16)) + ((int64_t)ms5611_c[4] * dt) / (1<<7);
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/* sensitivity at actual temperature */
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sens = ((int64_t)ms5611_c[1] * (1<<15)) + ((int64_t)ms5611_c[3] * dt) / (1<<8);
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/* second order temperature compensation */
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if (tempms < 2000) {
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t2 = (dt*dt) / (1<<31);
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off2 = 5 * ((int64_t)(tempms-2000)*(tempms-2000)) / (1<<1);
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sens2 = 5 * ((int64_t)(tempms-2000)*(tempms-2000)) / (1<<2);
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if (tempms < -1500) {
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off2 = off2 + 7 * (int64_t)(tempms+1500)*(tempms+1500);
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sens2 = sens2 + 11 * ((int64_t)(tempms+1500)*(tempms+1500)) / (1<<1);
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}
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tempms = tempms - t2;
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off = off - off2;
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sens = sens - sens2;
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}
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/* temperature compensated pressure */
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baroms = (((int64_t)ms5611_d1 * sens) / (1<<21) - off) / (1<<15);
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float tmp_float = baroms/101325.0; //pressure at sea level
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tmp_float = pow(tmp_float,0.190295); //eleva pressao ao expoente
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baro_ms5611_alt = 44330*(1.0-tmp_float); //altitude above MSL
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baro_ms5611_valid = TRUE;
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if (baro_ms5611.data_available) {
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float tmp_float = baro_ms5611.data.pressure / 101325.0; //pressure at sea level
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tmp_float = pow(tmp_float, 0.190295);
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baro_ms5611_alt = 44330 * (1.0 - tmp_float); //altitude above MSL
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baro_ms5611_alt_valid = TRUE;
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#ifdef SENSOR_SYNC_SEND
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ftempms = tempms / 100.;
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fbaroms = baroms / 100.;
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ftempms = baro_ms5611.data.temperature / 100.;
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fbaroms = baro_ms5611.data.pressure / 100.;
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DOWNLINK_SEND_BARO_MS5611(DefaultChannel, DefaultDevice,
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&ms5611_d1, &ms5611_d2, &fbaroms, &ftempms);
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&baro_ms5611.data.d1, &baro_ms5611.data.d2, &fbaroms, &ftempms);
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#endif
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break;
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}
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default:
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ms5611_trans.status = I2CTransDone;
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break;
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}
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}
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}
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@@ -2,46 +2,27 @@
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#define BARO_MS56111_I2C_H
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#include "std.h"
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#include "peripherals/ms5611_i2c.h"
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/* we use OSR=4096 for maximum resolution */
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#define MS5611_SOFT_RESET 0x1E
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#define MS5611_PROM_READ 0xA0
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#define MS5611_START_CONV_D1 0x48
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#define MS5611_START_CONV_D2 0x58
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#define MS5611_ADC_READ 0x00
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#define PROM_NB 8
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#define BARO_MS5611_DT 0.05
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#define BARO_MS5611_R 20
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#define BARO_MS5611_SIGMA2 1
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extern float baro_ms5611_alt;
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extern bool_t baro_ms5611_valid;
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extern bool_t baro_ms5611_enabled;
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extern float baro_ms5611_r;
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extern float baro_ms5611_sigma2;
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extern int64_t baroms;
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enum ms5611_stat{
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MS5611_UNINIT,
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MS5611_RESET,
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MS5611_RESET_OK,
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MS5611_PROM,
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MS5611_IDLE,
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MS5611_CONV_D1,
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MS5611_CONV_D1_OK,
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MS5611_ADC_D1,
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MS5611_CONV_D2,
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MS5611_CONV_D2_OK,
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MS5611_ADC_D2
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};
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extern float baro_ms5611_alt;
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extern bool_t baro_ms5611_alt_valid;
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extern bool_t baro_ms5611_enabled;
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extern struct Ms5611_I2c baro_ms5611;
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extern void baro_ms5611_init(void);
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extern void baro_ms5611_periodic(void);
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extern void baro_ms5611_d1(void);
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extern void baro_ms5611_d2(void);
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extern void baro_ms5611_event(void);
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#define BaroMs5611Update(_b) { if (baro_ms5611_valid) { _b = baro_ms5611_alt; baro_ms5611_valid = FALSE; } }
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#define BaroMs5611UpdatePressure(_b) { if (baro_ms5611.data_available) { _b = baro_ms5611.data.pressure; baro_ms5611.data_available = FALSE; } }
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#define BaroMs5611UpdateAlt(_b) { if (baro_ms5611.data_available) { _b = baro_ms5611_alt; baro_ms5611.data_available = FALSE; } }
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#endif
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@@ -0,0 +1,109 @@
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/*
|
||||
* Copyright (C) 2011-2013 The Paparazzi Team
|
||||
*
|
||||
* This file is part of paparazzi.
|
||||
*
|
||||
* paparazzi is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 2, or (at your option)
|
||||
* any later version.
|
||||
*
|
||||
* paparazzi is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with paparazzi; see the file COPYING. If not, write to
|
||||
* the Free Software Foundation, 59 Temple Place - Suite 330,
|
||||
* Boston, MA 02111-1307, USA.
|
||||
*
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||||
*/
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|
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/**
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* @file modules/sensors/baro_ms5611_spi.c
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* Measurement Specialties (Intersema) MS5611-01BA pressure/temperature sensor interface for SPI.
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*
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*/
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#include "modules/sensors/baro_ms5611_spi.h"
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#include "mcu_periph/sys_time.h"
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#include "mcu_periph/uart.h"
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#include "messages.h"
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#include "subsystems/datalink/downlink.h"
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#ifndef DOWNLINK_DEVICE
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#define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE
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#endif
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#ifndef MS5611_SPI_DEV
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#define MS5611_SPI_DEV spi1
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#endif
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#ifndef MS5611_SLAVE_DEV
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#define MS5611_SLAVE_DEV SPI_SLAVE0
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#endif
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struct Ms5611_Spi baro_ms5611;
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||||
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float fbaroms, ftempms;
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float baro_ms5611_alt;
|
||||
bool_t baro_ms5611_alt_valid;
|
||||
bool_t baro_ms5611_enabled;
|
||||
|
||||
float baro_ms5611_r;
|
||||
float baro_ms5611_sigma2;
|
||||
|
||||
|
||||
void baro_ms5611_init(void) {
|
||||
ms5611_spi_init(&baro_ms5611, &MS5611_SPI_DEV, MS5611_SLAVE_DEV);
|
||||
|
||||
baro_ms5611_enabled = TRUE;
|
||||
baro_ms5611_alt_valid = FALSE;
|
||||
|
||||
baro_ms5611_r = BARO_MS5611_R;
|
||||
baro_ms5611_sigma2 = BARO_MS5611_SIGMA2;
|
||||
}
|
||||
|
||||
void baro_ms5611_periodic( void ) {
|
||||
if (sys_time.nb_sec > 1) {
|
||||
|
||||
/* call the convenience periodic that initializes the sensor and starts reading*/
|
||||
ms5611_spi_periodic(&baro_ms5611);
|
||||
|
||||
if (baro_ms5611.initialized) {
|
||||
RunOnceEvery((4*30), DOWNLINK_SEND_MS5611_COEFF(DefaultChannel, DefaultDevice,
|
||||
&baro_ms5611.data.c[0],
|
||||
&baro_ms5611.data.c[1],
|
||||
&baro_ms5611.data.c[2],
|
||||
&baro_ms5611.data.c[3],
|
||||
&baro_ms5611.data.c[4],
|
||||
&baro_ms5611.data.c[5],
|
||||
&baro_ms5611.data.c[6],
|
||||
&baro_ms5611.data.c[7]));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void baro_ms5611_event( void ) {
|
||||
|
||||
ms5611_spi_event(&baro_ms5611);
|
||||
|
||||
if (baro_ms5611.data_available) {
|
||||
float tmp_float = baro_ms5611.data.pressure / 101325.0; //pressure at sea level
|
||||
tmp_float = pow(tmp_float, 0.190295);
|
||||
baro_ms5611_alt = 44330 * (1.0 - tmp_float); //altitude above MSL
|
||||
baro_ms5611_alt_valid = TRUE;
|
||||
|
||||
#ifdef SENSOR_SYNC_SEND
|
||||
ftempms = baro_ms5611.data.temperature / 100.;
|
||||
fbaroms = baro_ms5611.data.pressure / 100.;
|
||||
DOWNLINK_SEND_BARO_MS5611(DefaultChannel, DefaultDevice,
|
||||
&baro_ms5611.data.d1, &baro_ms5611.data.d2, &fbaroms, &ftempms);
|
||||
#endif
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,56 @@
|
||||
/*
|
||||
* Copyright (C) 2011 Martin Mueller <martinmm@pfump.org>
|
||||
*
|
||||
* This file is part of paparazzi.
|
||||
*
|
||||
* paparazzi is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 2, or (at your option)
|
||||
* any later version.
|
||||
*
|
||||
* paparazzi is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with paparazzi; see the file COPYING. If not, write to
|
||||
* the Free Software Foundation, 59 Temple Place - Suite 330,
|
||||
* Boston, MA 02111-1307, USA.
|
||||
*
|
||||
*/
|
||||
|
||||
/**
|
||||
* @file modules/sensors/baro_ms5611_spi.h
|
||||
* Measurement Specialties (Intersema) MS5611-01BA pressure/temperature sensor interface for SPI.
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef BARO_MS56111_SPI_H
|
||||
#define BARO_MS56111_SPI_H
|
||||
|
||||
#include "std.h"
|
||||
#include "peripherals/ms5611_spi.h"
|
||||
|
||||
|
||||
#define BARO_MS5611_DT 0.05
|
||||
#define BARO_MS5611_R 20
|
||||
#define BARO_MS5611_SIGMA2 1
|
||||
extern float baro_ms5611_r;
|
||||
extern float baro_ms5611_sigma2;
|
||||
|
||||
extern float baro_ms5611_alt;
|
||||
extern bool_t baro_ms5611_alt_valid;
|
||||
extern bool_t baro_ms5611_enabled;
|
||||
|
||||
extern struct Ms5611_Spi baro_ms5611;
|
||||
|
||||
extern void baro_ms5611_init(void);
|
||||
extern void baro_ms5611_periodic(void);
|
||||
extern void baro_ms5611_event(void);
|
||||
|
||||
#define BaroMs5611UpdatePressure(_b) { if (baro_ms5611.data_available) { _b = baro_ms5611.data.pressure; baro_ms5611.data_available = FALSE; } }
|
||||
|
||||
#define BaroMs5611UpdateAlt(_b) { if (baro_ms5611.data_available) { _b = baro_ms5611_alt; baro_ms5611.data_available = FALSE; } }
|
||||
|
||||
#endif
|
||||
Reference in New Issue
Block a user