Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-05-21 03:43:26 +08:00
Code Issues Actions 27 Packages Projects Releases Wiki Activity

add Measurement Specialties MS5611-01BA pressure/temperature sensor

Browse Source
This commit is contained in:
Martin Mueller
2011-05-21 21:41:50 +02:00
parent f0e845b20a
commit 7e9f4fd7b1
4 changed files with 309 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
conf/messages.xml
+18 -2
View File
@@ -761,8 +761,24 @@
<field name="temp" type="float" unit="deg_celsius" format="%.2f"/>
</message>
<!--116 is free -->
<!--117 is free -->
<message name="BARO_MS5611" id="116">
<field name="d1" type="uint32"/>
<field name="d2" type="uint32"/>
<field name="pressure" type="float" unit="hPa" format="%.2f"/>
<field name="temp" type="float" unit="deg_celsius" format="%.2f"/>
</message>
<message name="MS5611_COEFF" id="117">
<field name="c0" type="uint16"/>
<field name="c1" type="uint16"/>
<field name="c2" type="uint16"/>
<field name="c3" type="uint16"/>
<field name="c4" type="uint16"/>
<field name="c5" type="uint16"/>
<field name="c6" type="uint16"/>
<field name="c7" type="uint16"/>
</message>
<!--118 is free -->
<!--119 is free -->
conf/modules/baro_ms5611_i2c.xml
+21
View File
@@ -0,0 +1,21 @@
<!DOCTYPE module SYSTEM "module.dtd">
<!--
Measurement Specialties MS5611-01BA pressure sensor (I2C)
@param MS5611_I2C_DEV i2c device (default i2c0)
-->
<module name="baro_ms5611_i2c" dir="sensors">
<header>
<file name="baro_ms5611_i2c.h"/>
</header>
<init fun="baro_ms5611_init()"/>
<periodic fun="baro_ms5611_periodic()" freq="4" delay="0"/>
<periodic fun="baro_ms5611_d1()" freq="4" delay="1"/>
<periodic fun="baro_ms5611_d2()" freq="4" delay="2"/>
<event fun="baro_ms5611_event()"/>
<makefile target="ap">
<file name="baro_ms5611_i2c.c"/>
</makefile>
</module>
sw/airborne/modules/sensors/baro_ms5611_i2c.c
+235
View File
@@ -0,0 +1,235 @@
/*
* $Id$
*
* 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 baro_ms5611_i2c.c
* \brief Measurement Specialties (Intersema) MS5611-01BA pressure/temperature sensor interface for I2C
*
*/
#include "modules/sensors/baro_ms5611_i2c.h"
#include "sys_time.h"
#include "mcu_periph/i2c.h"
#include "mcu_periph/uart.h"
#include "messages.h"
#include "downlink.h"
#ifndef DOWNLINK_DEVICE
#define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE
#endif
#ifndef MS5611_I2C_DEV
#define MS5611_I2C_DEV i2c0
#endif
/* address can be 0xEC or 0xEE (CSB\ high = 0xEC) */
#define MS5611_SLAVE_ADDR 0xEC
#if PERIODIC_FREQUENCY > 60
#error baro_ms5611_i2c assumes a PERIODIC_FREQUENCY of 60Hz
#endif
struct i2c_transaction ms5611_trans;
uint8_t ms5611_status;
uint16_t ms5611_c[PROM_NB];
uint32_t ms5611_d1, ms5611_d2;
int32_t prom_cnt;
float fbaroms, ftempms;
static int8_t baro_ms5611_crc(uint16_t* prom) {
int32_t i, j;
uint32_t res = 0;
uint8_t crc = prom[7] & 0xF;
prom[7] &= 0xFF00;
for (i = 0; i < 16; i++) {
if (i & 1) res ^= ((prom[i>>1]) & 0x00FF);
else res ^= (prom[i>>1]>>8);
for (j = 8; j > 0; j--) {
if (res & 0x8000) res ^= 0x1800;
res <<= 1;
}
}
prom[7] |= crc;
if (crc == ((res >> 12) & 0xF)) return 0;
else return -1;
}
void baro_ms5611_init(void) {
ms5611_status = MS5611_UNINIT;
prom_cnt = 0;
}
void baro_ms5611_periodic( void ) {
if (cpu_time_sec > 1) {
if (ms5611_status >= MS5611_IDLE) {
/* start D1 conversion */
ms5611_status = MS5611_CONV_D1;
ms5611_trans.buf[0] = MS5611_START_CONV_D1;
I2CTransmit(MS5611_I2C_DEV, ms5611_trans, MS5611_SLAVE_ADDR, 1);
RunOnceEvery((4*30), DOWNLINK_SEND_MS5611_COEFF(DefaultChannel,
&ms5611_c[0], &ms5611_c[1], &ms5611_c[2], &ms5611_c[3],
&ms5611_c[4], &ms5611_c[5], &ms5611_c[6], &ms5611_c[7]));
}
else if (ms5611_status == MS5611_UNINIT) {
/* reset sensor */
ms5611_status = MS5611_RESET;
ms5611_trans.buf[0] = MS5611_SOFT_RESET;
I2CTransmit(MS5611_I2C_DEV, ms5611_trans, MS5611_SLAVE_ADDR, 1);
}
else if (ms5611_status == MS5611_RESET_OK) {
/* start getting prom data */
ms5611_status = MS5611_PROM;
ms5611_trans.buf[0] = MS5611_PROM_READ | (prom_cnt << 1);
I2CTransceive(MS5611_I2C_DEV, ms5611_trans, MS5611_SLAVE_ADDR, 1, 2);
}
}
}
void baro_ms5611_d1( void ) {
if (cpu_time_sec > 1) {
if (ms5611_status == MS5611_CONV_D1_OK) {
/* read D1 adc */
ms5611_status = MS5611_ADC_D1;
ms5611_trans.buf[0] = MS5611_ADC_READ;
I2CTransceive(MS5611_I2C_DEV, ms5611_trans, MS5611_SLAVE_ADDR, 1, 3);
}
}
}
void baro_ms5611_d2( void ) {
if (cpu_time_sec > 1) {
if (ms5611_status == MS5611_CONV_D2_OK) {
/* read D2 adc */
ms5611_status = MS5611_ADC_D2;
ms5611_trans.buf[0] = MS5611_ADC_READ;
I2CTransceive(MS5611_I2C_DEV, ms5611_trans, MS5611_SLAVE_ADDR, 1, 3);
}
}
}
void baro_ms5611_event( void ) {
if (ms5611_trans.status == I2CTransSuccess) {
switch (ms5611_status) {
case MS5611_RESET:
ms5611_status = MS5611_RESET_OK;
ms5611_trans.status = I2CTransDone;
break;
case MS5611_PROM:
/* read prom data */
ms5611_c[prom_cnt++] = (ms5611_trans.buf[0] << 8) | ms5611_trans.buf[1];
if (prom_cnt < PROM_NB) {
/* get next prom data */
ms5611_trans.buf[0] = MS5611_PROM_READ | (prom_cnt << 1);
I2CTransceive(MS5611_I2C_DEV, ms5611_trans, MS5611_SLAVE_ADDR, 1, 2);
}
else {
/* done reading prom */
ms5611_trans.status = I2CTransDone;
/* check prom crc */
if (baro_ms5611_crc(ms5611_c) == 0) {
DOWNLINK_SEND_MS5611_COEFF(DefaultChannel,
&ms5611_c[0], &ms5611_c[1], &ms5611_c[2], &ms5611_c[3],
&ms5611_c[4], &ms5611_c[5], &ms5611_c[6], &ms5611_c[7]);
ms5611_status = MS5611_IDLE;
}
else {
/* checksum error, try again */
baro_ms5611_init();
}
}
break;
case MS5611_CONV_D1:
ms5611_status = MS5611_CONV_D1_OK;
ms5611_trans.status = I2CTransDone;
break;
case MS5611_ADC_D1:
/* read D1 (pressure) */
ms5611_d1 = (ms5611_trans.buf[0] << 16) |
(ms5611_trans.buf[1] << 8) |
ms5611_trans.buf[2];
/* start D2 conversion */
ms5611_status = MS5611_CONV_D2;
ms5611_trans.buf[0] = MS5611_START_CONV_D2;
I2CTransmit(MS5611_I2C_DEV, ms5611_trans, MS5611_SLAVE_ADDR, 1);
break;
case MS5611_CONV_D2:
ms5611_status = MS5611_CONV_D2_OK;
ms5611_trans.status = I2CTransDone;
break;
case MS5611_ADC_D2: {
int64_t dt, baroms, tempms, off, sens, t2, off2, sens2;
/* read D2 (temperature) */
ms5611_d2 = (ms5611_trans.buf[0] << 16) |
(ms5611_trans.buf[1] << 8) |
ms5611_trans.buf[2];
ms5611_status = MS5611_IDLE;
ms5611_trans.status = I2CTransDone;
/* difference between actual and ref temperature */
dt = ms5611_d2 - (int64_t)ms5611_c[5] * (1<<8);
/* actual temperature */
tempms = 2000 + ((int64_t)dt * ms5611_c[6]) / (1<<23);
/* offset at actual temperature */
off = ((int64_t)ms5611_c[2] * (1<<16)) + ((int64_t)ms5611_c[4] * dt) / (1<<7);
/* sensitivity at actual temperature */
sens = ((int64_t)ms5611_c[1] * (1<<15)) + ((int64_t)ms5611_c[3] * dt) / (1<<8);
/* second order temperature compensation */
if (tempms < 2000) {
t2 = (dt*dt) / (1<<31);
off2 = 5 * ((int64_t)(tempms-2000)*(tempms-2000)) / (1<<1);
sens2 = 5 * ((int64_t)(tempms-2000)*(tempms-2000)) / (1<<2);
if (tempms < -1500) {
off2 = off2 + 7 * (int64_t)(tempms+1500)*(tempms+1500);
sens2 = sens2 + 11 * ((int64_t)(tempms+1500)*(tempms+1500)) / (1<<1);
}
tempms = tempms - t2;
off = off - off2;
sens = sens - sens2;
}
/* temperature compensated pressure */
baroms = (((int64_t)ms5611_d1 * sens) / (1<<21) - off) / (1<<15);
#ifdef SENSOR_SYNC_SEND
ftempms = tempms / 100.;
fbaroms = baroms / 100.;
DOWNLINK_SEND_BARO_MS5611(DefaultChannel,
&ms5611_d1, &ms5611_d2, &fbaroms, &ftempms);
#endif
break;
}
default:
ms5611_trans.status = I2CTransDone;
break;
}
}
}
sw/airborne/modules/sensors/baro_ms5611_i2c.h
+35
View File
@@ -0,0 +1,35 @@
#ifndef BARO_MS56111_I2C_H
#define BARO_MS56111_I2C_H
#include "std.h"
/* we use OSR=4096 for maximum resolution */
#define MS5611_SOFT_RESET 0x1E
#define MS5611_PROM_READ 0xA0
#define MS5611_START_CONV_D1 0x48
#define MS5611_START_CONV_D2 0x58
#define MS5611_ADC_READ 0x00
#define PROM_NB 8
enum ms5611_stat{
MS5611_UNINIT,
MS5611_RESET,
MS5611_RESET_OK,
MS5611_PROM,
MS5611_IDLE,
MS5611_CONV_D1,
MS5611_CONV_D1_OK,
MS5611_ADC_D1,
MS5611_CONV_D2,
MS5611_CONV_D2_OK,
MS5611_ADC_D2
};
void baro_ms5611_init(void);
void baro_ms5611_periodic(void);
void baro_ms5611_d1(void);
void baro_ms5611_d2(void);
void baro_ms5611_event(void);
#endif