mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-20 11:28:58 +08:00
modify ads1114 driver to use 2 modules (same i2c bus for now)
add airspeed_ads1114 module modify baro_board module (baro for umarim) to use airspeed when airspeed_ads1114 is loaded
This commit is contained in:
Gautier Hattenberger
@@ -10,6 +10,8 @@
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<modules>
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<load name="baro_board.xml"/>
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<load name="airspeed_ads1114.xml"/>
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<!--load name="mcp355x.xml"/-->
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</modules>
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<firmware name="fixedwing">
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@@ -40,6 +42,8 @@
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<subsystem name="navigation"/>
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<!-- Sensors -->
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<subsystem name="gps" type="ublox"/>
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<!--subsystem name="spi"/-->
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</firmware>
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@@ -0,0 +1,18 @@
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<!DOCTYPE module SYSTEM "module.dtd">
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<!-- Module to extend the baro_board module with an airspeed sensor using ads1114 adc -->
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<module name="airspeed_ads1114" dir="sensors">
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<depend require="baro_board.xml"/>
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<header>
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<file name="airspeed_ads1114.h"/>
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</header>
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<periodic fun="airspeed_periodic()" freq="60."/>
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<makefile target="ap">
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<file name="airspeed_ads1114.c"/>
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<define name="USE_BARO_DIFF"/>
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<define name="USE_ADS1114_2"/>
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<define name="ADS1114_2_PGA" value="0x1"/> <!-- PGA gain = 1 (+/- 4.096V) -->
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</makefile>
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</module>
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@@ -12,6 +12,7 @@
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<define name="USE_BARO_AS_ALTIMETER"/>
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<file name="baro_board.c" dir="boards/$(BOARD)"/>
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<define name="ADS1114_I2C_DEVICE" value="i2c1"/>
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<define name="USE_ADS1114_1"/>
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<file name="ads1114.c" dir="peripherals"/>
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</makefile>
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</module>
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@@ -55,7 +55,7 @@ void baro_init( void ) {
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ads1114_init();
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baro.status = BS_UNINITIALIZED;
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baro.absolute = 0;
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baro.differential = 0; /* not handled on this board */
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baro.differential = 0; /* not handled on this board, use extra module (ex: airspeed_ads1114) */
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#ifdef USE_BARO_AS_ALTIMETER
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baro_alt = 0.;
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baro_alt_offset = 0.;
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@@ -66,7 +66,7 @@ void baro_init( void ) {
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void baro_periodic( void ) {
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#ifdef USE_BARO_AS_ALTIMETER
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if (baro.status == BS_UNINITIALIZED && ads1114_data_available) {
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if (baro.status == BS_UNINITIALIZED && BARO_ABS_ADS.data_available) {
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// IIR filter to compute an initial offset
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baro_alt_offset = (OFFSET_FILTER * baro_alt_offset + (float)baro.absolute) / (OFFSET_FILTER + 1);
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// decrease init counter
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@@ -75,7 +75,7 @@ void baro_periodic( void ) {
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}
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#endif
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// Read the ADC
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ads1114_read();
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ads1114_read(&BARO_ABS_ADS);
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}
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void baro_downlink_raw( void )
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@@ -35,6 +35,11 @@
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#define BARO_FILTER_GAIN 5
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/* There is no differential pressure on the board but
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* it can be available from an external sensor
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* */
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#define DIFF_FILTER_GAIN 5
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#ifdef USE_BARO_AS_ALTIMETER
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extern float baro_alt;
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extern float baro_alt_offset;
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@@ -43,15 +48,45 @@ extern float baro_alt_offset;
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extern void baro_downlink_raw( void );
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#define BARO_ABS_ADS ads1114_1
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#define BaroAbs(_ads, _handler) { \
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if (_ads.data_available) { \
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baro.absolute = (baro.absolute + BARO_FILTER_GAIN*Ads1114GetValue(_ads)) / (BARO_FILTER_GAIN+1); \
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if (baro.status == BS_RUNNING) { \
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_handler(); \
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_ads.data_available = FALSE; \
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} \
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} \
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}
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#ifndef BaroDiff // Allow custom redefinition ?
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#if USE_BARO_DIFF
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#ifndef BARO_DIFF_ADS
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#define BARO_DIFF_ADS ads1114_2
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#endif
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#define BaroDiff(_ads, _handler) { \
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if (_ads.data_available) { \
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baro.differential = (baro.differential + DIFF_FILTER_GAIN*Ads1114GetValue(_ads)) / (DIFF_FILTER_GAIN+1); \
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if (baro.status == BS_RUNNING) { \
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_handler(); \
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_ads.data_available = FALSE; \
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} \
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} \
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}
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#else // Not using differential with ADS1114
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#define BaroDiff(_a, _h) {}
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#endif
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#endif // ifndef BaroDiff
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#define BaroEvent(_b_abs_handler, _b_diff_handler) { \
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Ads1114Event(); \
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if (ads1114_data_available) { \
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baro.absolute = (baro.absolute + BARO_FILTER_GAIN*Ads1114GetValue()) / (BARO_FILTER_GAIN+1); \
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if (baro.status == BS_RUNNING) { \
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_b_abs_handler(); \
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ads1114_data_available = FALSE; \
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} \
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} \
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BaroAbs(BARO_ABS_ADS,_b_abs_handler); \
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BaroDiff(BARO_DIFF_ADS,_b_diff_handler); \
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}
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#endif // BOARDS_UMARIM_BARO_H
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@@ -0,0 +1,37 @@
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/*
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* Copyright (C) 2011 Gautier Hattenberger
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*
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* This file is part of paparazzi.
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*
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* paparazzi is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2, or (at your option)
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* any later version.
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*
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* paparazzi is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with paparazzi; see the file COPYING. If not, write to
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* the Free Software Foundation, 59 Temple Place - Suite 330,
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* Boston, MA 02111-1307, USA.
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*
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*/
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/*
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* Module to extend the baro_board module with an airspeed sensor
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* Init and event functions are handled by the baro_board module
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*/
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#include "modules/sensors/airspeed_ads1114.h"
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#include "subsystems/sensors/baro.h"
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#include "baro_board.h"
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void airspeed_periodic(void) {
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ads1114_read(&BARO_DIFF_ADS);
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}
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@@ -0,0 +1,32 @@
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/*
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* Copyright (C) 2011 Gautier Hattenberger
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*
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* This file is part of paparazzi.
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*
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* paparazzi is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2, or (at your option)
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* any later version.
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*
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* paparazzi is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with paparazzi; see the file COPYING. If not, write to
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* the Free Software Foundation, 59 Temple Place - Suite 330,
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* Boston, MA 02111-1307, USA.
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*
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*/
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/*
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* Module to extend the baro_board module with an airspeed sensor
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*/
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#ifndef AIRSPEED_ADS1114_H
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#define AIRSPEED_ADS1114_H
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extern void airspeed_periodic(void);
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#endif
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@@ -27,28 +27,44 @@
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#include "peripherals/ads1114.h"
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struct i2c_transaction ads1114_trans;
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bool_t ads1114_config_done;
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bool_t ads1114_data_available;
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#if USE_ADS1114_1
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struct ads1114_periph ads1114_1;
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#endif
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#if USE_ADS1114_2
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struct ads1114_periph ads1114_2;
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#endif
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void ads1114_init( void ) {
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/* configure the ads1114 */
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ads1114_trans.buf[0] = ADS1114_POINTER_CONFIG_REG;
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ads1114_trans.buf[1] = ADS1114_CONFIG_MSB;
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ads1114_trans.buf[2] = ADS1114_CONFIG_LSB;
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I2CTransmit(ADS1114_I2C_DEVICE, ads1114_trans, ADS1114_I2C_ADDR, 3);
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ads1114_config_done = FALSE;
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ads1114_data_available = FALSE;
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/* configure the ads1114_1 */
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#if USE_ADS1114_1
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ads1114_1.i2c_addr = ADS1114_1_I2C_ADDR;
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ads1114_1.trans.buf[0] = ADS1114_POINTER_CONFIG_REG;
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ads1114_1.trans.buf[1] = ADS1114_1_CONFIG_MSB;
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ads1114_1.trans.buf[2] = ADS1114_1_CONFIG_LSB;
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I2CTransmit(ADS1114_I2C_DEVICE, ads1114_1.trans, ADS1114_1_I2C_ADDR, 3);
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ads1114_1.config_done = FALSE;
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ads1114_1.data_available = FALSE;
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#endif
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/* configure the ads1114_2 */
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#if USE_ADS1114_2
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ads1114_2.i2c_addr = ADS1114_2_I2C_ADDR;
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ads1114_2.trans.buf[0] = ADS1114_POINTER_CONFIG_REG;
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ads1114_2.trans.buf[1] = ADS1114_2_CONFIG_MSB;
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ads1114_2.trans.buf[2] = ADS1114_2_CONFIG_LSB;
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I2CTransmit(ADS1114_I2C_DEVICE, ads1114_2.trans, ADS1114_2_I2C_ADDR, 3);
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ads1114_2.config_done = FALSE;
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ads1114_2.data_available = FALSE;
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#endif
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}
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void ads1114_read( void ) {
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void ads1114_read( struct ads1114_periph * p ) {
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// Config done with success
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// start new reading when previous is done (and read if success)
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if (ads1114_config_done && ads1114_trans.status == I2CTransDone) {
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ads1114_trans.buf[0] = ADS1114_POINTER_CONV_REG;
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I2CTransceive(ADS1114_I2C_DEVICE, ads1114_trans, ADS1114_I2C_ADDR, 1, 2);
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if (p->config_done && p->trans.status == I2CTransDone) {
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p->trans.buf[0] = ADS1114_POINTER_CONV_REG;
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I2CTransceive(ADS1114_I2C_DEVICE, p->trans, p->i2c_addr, 1, 2);
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}
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}
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@@ -32,66 +32,136 @@
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/* I2C slave address */
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#define ADS1114_I2C_ADDR 0x90 // slave address byte (I2c address(7bits) + R/W @ 0)
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#ifndef ADS1114_1_I2C_ADDR
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#define ADS1114_1_I2C_ADDR 0x90 // slave address byte (I2c address(7bits) + R/W @ 0)
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#endif
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#ifndef ADS1114_2_I2C_ADDR
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#define ADS1114_2_I2C_ADDR 0x92 // slave address byte (I2c address(7bits) + R/W @ 0)
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#endif
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/* I2C conf register */
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#define ADS1114_POINTER_CONV_REG 0x00 // access to the Conversion register (16bits)
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#define ADS1114_POINTER_CONFIG_REG 0x01 // access to the Configuration register (16bits)
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/* ADS1114 default conf */
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#ifndef ADS1114_OS
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#define ADS1114_OS 0x0 // Operational status
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/* ADS1114_1 default conf */
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#ifndef ADS1114_1_OS
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#define ADS1114_1_OS 0x0 // Operational status
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#endif
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#ifndef ADS1114_MUX
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#define ADS1114_MUX 0x0 // Input multiplexer
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#ifndef ADS1114_1_MUX
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#define ADS1114_1_MUX 0x0 // Input multiplexer
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#endif
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#ifndef ADS1114_PGA
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#define ADS1114_PGA 0x3 // Programable gain amplifier (= 4 with a Full Scale of +/- 1.024V)
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#ifndef ADS1114_1_PGA
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#define ADS1114_1_PGA 0x3 // Programable gain amplifier (= 4 with a Full Scale of +/- 1.024V)
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#endif
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#ifndef ADS1114_MODE
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#define ADS1114_MODE 0x0 // Continuous conversion mode
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#ifndef ADS1114_1_MODE
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#define ADS1114_1_MODE 0x0 // Continuous conversion mode
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#endif
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#ifndef ADS1114_DR
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#define ADS1114_DR 0x4 // Data rate (128 SPS)
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#ifndef ADS1114_1_DR
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#define ADS1114_1_DR 0x4 // Data rate (128 SPS)
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#endif
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#ifndef ADS1114_COMP_MODE
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#define ADS1114_COMP_MODE 0x0 // Comparator mode
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#ifndef ADS1114_1_COMP_MODE
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#define ADS1114_1_COMP_MODE 0x0 // Comparator mode
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#endif
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#ifndef ADS1114_COMP_POL
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#define ADS1114_COMP_POL 0x0 // Comparator polarity
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#ifndef ADS1114_1_COMP_POL
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#define ADS1114_1_COMP_POL 0x0 // Comparator polarity
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#endif
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#ifndef ADS1114_COMP_LAT
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#define ADS1114_COMP_LAT 0x0 // Latching comparator
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#ifndef ADS1114_1_COMP_LAT
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#define ADS1114_1_COMP_LAT 0x0 // Latching comparator
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#endif
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#ifndef ADS1114_COMP_QUE
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#define ADS1114_COMP_QUE 0x3 // Comparator queue (disable)
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#ifndef ADS1114_1_COMP_QUE
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#define ADS1114_1_COMP_QUE 0x3 // Comparator queue (disable)
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#endif
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#define ADS1114_CONFIG_MSB ((ADS1114_OS<<7)|(ADS1114_MUX<<4)|(ADS1114_PGA<<1)|(ADS1114_MODE))
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#define ADS1114_CONFIG_LSB ((ADS1114_DR<<5)|(ADS1114_COMP_MODE<<4)|(ADS1114_COMP_POL<<3)|(ADS1114_COMP_LAT<<2)|(ADS1114_COMP_QUE))
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#define ADS1114_1_CONFIG_MSB ((ADS1114_1_OS<<7)|(ADS1114_1_MUX<<4)|(ADS1114_1_PGA<<1)|(ADS1114_1_MODE))
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#define ADS1114_1_CONFIG_LSB ((ADS1114_1_DR<<5)|(ADS1114_1_COMP_MODE<<4)|(ADS1114_1_COMP_POL<<3)|(ADS1114_1_COMP_LAT<<2)|(ADS1114_1_COMP_QUE))
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/* ADS1114_1 default conf */
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#ifndef ADS1114_2_OS
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#define ADS1114_2_OS 0x0 // Operational status
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#endif
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#ifndef ADS1114_2_MUX
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#define ADS1114_2_MUX 0x0 // Input multiplexer
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#endif
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#ifndef ADS1114_2_PGA
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#define ADS1114_2_PGA 0x3 // Programable gain amplifier (= 4 with a Full Scale of +/- 1.024V)
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#endif
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#ifndef ADS1114_2_MODE
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#define ADS1114_2_MODE 0x0 // Continuous conversion mode
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#endif
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#ifndef ADS1114_2_DR
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#define ADS1114_2_DR 0x4 // Data rate (128 SPS)
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#endif
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#ifndef ADS1114_2_COMP_MODE
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#define ADS1114_2_COMP_MODE 0x0 // Comparator mode
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#endif
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#ifndef ADS1114_2_COMP_POL
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#define ADS1114_2_COMP_POL 0x0 // Comparator polarity
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#endif
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#ifndef ADS1114_2_COMP_LAT
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#define ADS1114_2_COMP_LAT 0x0 // Latching comparator
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#endif
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#ifndef ADS1114_2_COMP_QUE
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#define ADS1114_2_COMP_QUE 0x3 // Comparator queue (disable)
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#endif
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#define ADS1114_2_CONFIG_MSB ((ADS1114_2_OS<<7)|(ADS1114_2_MUX<<4)|(ADS1114_2_PGA<<1)|(ADS1114_2_MODE))
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#define ADS1114_2_CONFIG_LSB ((ADS1114_2_DR<<5)|(ADS1114_2_COMP_MODE<<4)|(ADS1114_2_COMP_POL<<3)|(ADS1114_2_COMP_LAT<<2)|(ADS1114_2_COMP_QUE))
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/* Default I2C device */
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// FIXME all ads on the same device for now
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#ifndef ADS1114_I2C_DEVICE
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#define ADS1114_I2C_DEVICE i2c1
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#endif
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extern struct i2c_transaction ads1114_trans;
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extern bool_t ads1114_config_done;
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extern bool_t ads1114_data_available;
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struct ads1114_periph {
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struct i2c_transaction trans;
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uint8_t i2c_addr;
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bool_t config_done;
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bool_t data_available;
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};
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#if USE_ADS1114_1
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extern struct ads1114_periph ads1114_1;
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#endif
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#if USE_ADS1114_2
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extern struct ads1114_periph ads1114_2;
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#endif
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extern void ads1114_init(void);
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extern void ads1114_read(void);
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extern void ads1114_read(struct ads1114_periph * p);
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#define Ads1114Event() { \
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if (!ads1114_config_done) { \
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if (ads1114_trans.status == I2CTransSuccess) { ads1114_config_done = TRUE; ads1114_trans.status = I2CTransDone; } \
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if (ads1114_trans.status == I2CTransFailed) { ads1114_trans.status = I2CTransDone; } \
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// Generic Event Macro
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#define _Ads1114Event(_p) {\
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if (!_p.config_done) { \
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if (_p.trans.status == I2CTransSuccess) { _p.config_done = TRUE; _p.trans.status = I2CTransDone; } \
|
||||
if (_p.trans.status == I2CTransFailed) { _p.trans.status = I2CTransDone; } \
|
||||
} else { \
|
||||
if (ads1114_trans.status == I2CTransSuccess) { ads1114_data_available = TRUE; ads1114_trans.status = I2CTransDone; } \
|
||||
if (ads1114_trans.status == I2CTransFailed) { ads1114_trans.status = I2CTransDone; } \
|
||||
}\
|
||||
if (_p.trans.status == I2CTransSuccess) { _p.data_available = TRUE; _p.trans.status = I2CTransDone; } \
|
||||
if (_p.trans.status == I2CTransFailed) { _p.trans.status = I2CTransDone; } \
|
||||
} \
|
||||
}
|
||||
|
||||
#define Ads1114GetValue() ((int16_t)(((int16_t)ads1114_trans.buf[0]<<8)|ads1114_trans.buf[1]))
|
||||
#if USE_ADS1114_1
|
||||
#define Ads1114_1Event() _Ads1114Event(ads1114_1)
|
||||
#else
|
||||
#define Ads1114_1Event() {}
|
||||
#endif
|
||||
|
||||
#if USE_ADS1114_2
|
||||
#define Ads1114_2Event() _Ads1114Event(ads1114_2)
|
||||
#else
|
||||
#define Ads1114_2Event() {}
|
||||
#endif
|
||||
|
||||
// Final event macro
|
||||
#define Ads1114Event() { \
|
||||
Ads1114_1Event(); \
|
||||
Ads1114_2Event(); \
|
||||
}
|
||||
|
||||
// Get value macro
|
||||
// @param ads1114 periph
|
||||
#define Ads1114GetValue(_p) ((int16_t)(((int16_t)_p.trans.buf[0]<<8)|_p.trans.buf[1]))
|
||||
|
||||
#endif // ADS_1114_H
|
||||
|
||||
Reference in New Issue
Block a user