mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-04 13:55:40 +08:00
[peripherals] add bmp085 peripheral
and use it on the lisa_m baro_board
This commit is contained in:
Felix Ruess
@@ -181,6 +181,7 @@ LISA_M_BARO ?= BARO_BOARD_BMP085
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ap.srcs += peripherals/ms5611_i2c.c
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ap.srcs += peripherals/ms5611_i2c.c
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ap.srcs += subsystems/sensors/baro_ms5611_i2c.c
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ap.srcs += subsystems/sensors/baro_ms5611_i2c.c
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else ifeq ($(LISA_M_BARO), BARO_BOARD_BMP085)
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else ifeq ($(LISA_M_BARO), BARO_BOARD_BMP085)
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ap.srcs += peripherals/bmp085.c
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ap.srcs += $(SRC_BOARD)/baro_board.c
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ap.srcs += $(SRC_BOARD)/baro_board.c
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ap.CFLAGS += -DUSE_I2C2
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ap.CFLAGS += -DUSE_I2C2
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endif
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endif
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@@ -1,193 +1,81 @@
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/*
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* Copyright (C) 2013 Felix Ruess <felix.ruess@gmail.com>
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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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*
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||||||
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* You should have received a copy of the GNU General Public License
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||||||
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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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/** @file boards/lisa_m/baro_board.c
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* Baro board interface for Bosch BMP085 on LisaM I2C2 with EOC check.
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*/
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#include "subsystems/sensors/baro.h"
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#include "subsystems/sensors/baro.h"
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#include <libopencm3/stm32/f1/gpio.h>
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#include "peripherals/bmp085_regs.h"
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#include <libopencm3/stm32/gpio.h>
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#include "led.h"
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struct Baro baro;
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struct Baro baro;
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struct BaroBoard baro_board;
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struct Bmp085 baro_bmp085;
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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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static bool_t baro_eoc(void)
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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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{
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baro_trans.buf[0] = addr;
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return gpio_get(GPIOB, GPIO0);
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baro_trans.buf[1] = value;
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i2c_transmit(&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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i2c_transceive(&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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i2c_transceive(&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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}
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void baro_init(void) {
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void baro_init(void) {
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baro.status = BS_UNINITIALIZED;
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baro.status = BS_UNINITIALIZED;
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baro.absolute = 0;
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baro.absolute = 0;
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baro.differential = 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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bmp085_init(&baro_bmp085, &i2c2, BMP085_SLAVE_ADDR);
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/* setup eoc check function */
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baro_bmp085.eoc = &baro_eoc;
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gpio_clear(GPIOB, GPIO0);
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gpio_clear(GPIOB, GPIO0);
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gpio_set_mode(GPIOB, GPIO_MODE_INPUT,
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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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GPIO_CNF_INPUT_PULL_UPDOWN, GPIO0);
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}
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}
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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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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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if (baro_bmp085.initialized) {
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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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baro.status = BS_RUNNING;
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break;
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bmp085_periodic(&baro_bmp085);
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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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else
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bmp085_read_eeprom_calib(&baro_bmp085);
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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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static 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))
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void baro_event(void (*b_abs_handler)(void))
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{
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{
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if (baro_board.status == LBS_READING &&
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bmp085_event(&baro_bmp085);
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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_bmp085.data_available) {
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if (baro_trans.status == I2CTransSuccess) {
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baro.absolute = baro_bmp085.pressure;
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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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b_abs_handler();
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tmp = tmp >> (8 - BMP085_OSS);
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baro_bmp085.data_available = FALSE;
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baro.absolute = baro_apply_calibration(tmp);
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b_abs_handler();
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#ifdef ROTORCRAFT_BARO_LED
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}
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RunOnceEvery(10,LED_TOGGLE(ROTORCRAFT_BARO_LED));
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}
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#endif
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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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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_board.temp = (calibration.b5 + 8) >> 4;
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}
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}
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}
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}
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}
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@@ -12,52 +12,10 @@
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// for right now we abuse this file for the ms5611 baro on aspirin as well
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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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#if !BARO_MS5611_I2C && !BARO_MS5611
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#include "mcu_periph/i2c.h"
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#include "peripherals/bmp085.h"
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// absolute addr
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extern struct Bmp085 baro_bmp085;
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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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int32_t temp; ///< temperature in 0.1C
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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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#endif // !BARO_MS5611_xx
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@@ -0,0 +1,191 @@
|
|||||||
|
/*
|
||||||
|
* Copyright (C) 2010 Martin Mueller
|
||||||
|
* Copyright (C) 2013 Felix Ruess <felix.ruess@gmail.com>
|
||||||
|
*
|
||||||
|
* 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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/** @file peripherals/bmp085.c
|
||||||
|
* Bosch BMP085 driver interface.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include "peripherals/bmp085.h"
|
||||||
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#include "peripherals/bmp085_regs.h"
|
||||||
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|
||||||
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|
||||||
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static int32_t bmp085_compensated_temperature(struct Bmp085Calib* calib, int32_t raw)
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||||||
|
{
|
||||||
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int32_t x1 = (raw - calib->ac6) * calib->ac5 / (1<<15);
|
||||||
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int32_t x2 = (calib->mc << 11) / (x1 + calib->md);
|
||||||
|
calib->b5 = x1 + x2;
|
||||||
|
return (calib->b5 + 8) >> 4;
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
/** Apply temp calibration and sensor calibration to raw measurement to get Pa
|
||||||
|
* (from BMP085 datasheet)
|
||||||
|
*/
|
||||||
|
static int32_t bmp085_compensated_pressure(struct Bmp085Calib* calib, int32_t raw)
|
||||||
|
{
|
||||||
|
int32_t b6 = calib->b5 - 4000;
|
||||||
|
int32_t x1 = (calib->b2 * (b6 * b6 >> 12)) >> 11;
|
||||||
|
int32_t x2 = calib->ac2 * b6 >> 11;
|
||||||
|
int32_t x3 = x1 + x2;
|
||||||
|
int32_t b3 = (((calib->ac1 * 4 + x3) << BMP085_OSS) + 2)/4;
|
||||||
|
x1 = calib->ac3 * b6 >> 13;
|
||||||
|
x2 = (calib->b1 * (b6 * b6 >> 12)) >> 16;
|
||||||
|
x3 = ((x1 + x2) + 2) >> 2;
|
||||||
|
uint32_t b4 = (calib->ac4 * (uint32_t) (x3 + 32768)) >> 15;
|
||||||
|
uint32_t b7 = (raw - b3) * (50000 >> BMP085_OSS);
|
||||||
|
int32_t p = b7 < 0x80000000 ? (b7 * 2) / b4 : (b7 / b4) * 2;
|
||||||
|
x1 = (p >> 8) * (p >> 8);
|
||||||
|
x1 = (x1 * 3038) >> 16;
|
||||||
|
x2 = (-7357 * p) >> 16;
|
||||||
|
return p + ((x1 + x2 + 3791) >> 4);
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Dummy function to always return TRUE on EndOfConversion check.
|
||||||
|
* Ensure proper timing trough frequency of bmp085_periodic instead!
|
||||||
|
*/
|
||||||
|
static bool_t bmp085_eoc_true(void)
|
||||||
|
{
|
||||||
|
return TRUE;
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
void bmp085_read_eeprom_calib(struct Bmp085* bmp)
|
||||||
|
{
|
||||||
|
if (bmp->status == BMP085_STATUS_UNINIT) {
|
||||||
|
bmp->initialized = FALSE;
|
||||||
|
bmp->i2c_trans.buf[0] = BMP085_EEPROM_AC1;
|
||||||
|
i2c_transceive(bmp->i2c_p, &(bmp->i2c_trans), bmp->i2c_trans.slave_addr, 1, 22);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
void bmp085_init(struct Bmp085* bmp, struct i2c_periph *i2c_p, uint8_t addr)
|
||||||
|
{
|
||||||
|
/* set i2c_peripheral */
|
||||||
|
bmp->i2c_p = i2c_p;
|
||||||
|
|
||||||
|
/* slave address */
|
||||||
|
bmp->i2c_trans.slave_addr = addr;
|
||||||
|
/* set initial status: Success or Done */
|
||||||
|
bmp->i2c_trans.status = I2CTransDone;
|
||||||
|
|
||||||
|
bmp->data_available = FALSE;
|
||||||
|
bmp->initialized = FALSE;
|
||||||
|
bmp->status = BMP085_STATUS_UNINIT;
|
||||||
|
|
||||||
|
/* by default assign EOC function that always returns TRUE
|
||||||
|
* ensure proper timing through frequeny of bmp_periodic!
|
||||||
|
*/
|
||||||
|
bmp->eoc = &bmp085_eoc_true;
|
||||||
|
}
|
||||||
|
|
||||||
|
void bmp085_periodic(struct Bmp085* bmp)
|
||||||
|
{
|
||||||
|
switch (bmp->status) {
|
||||||
|
case BMP085_STATUS_IDLE:
|
||||||
|
/* start temp measurement */
|
||||||
|
bmp->i2c_trans.buf[0] = BMP085_CTRL_REG;
|
||||||
|
bmp->i2c_trans.buf[1] = BMP085_START_TEMP;
|
||||||
|
i2c_transmit(bmp->i2c_p, &bmp->i2c_trans, bmp->i2c_trans.slave_addr, 2);
|
||||||
|
bmp->status = BMP085_STATUS_START_TEMP;
|
||||||
|
break;
|
||||||
|
|
||||||
|
case BMP085_STATUS_START_TEMP:
|
||||||
|
/* read temp measurement */
|
||||||
|
if (bmp->eoc()) {
|
||||||
|
bmp->i2c_trans.buf[0] = BMP085_DAT_MSB;
|
||||||
|
i2c_transceive(bmp->i2c_p, &bmp->i2c_trans, bmp->i2c_trans.slave_addr, 1, 2);
|
||||||
|
bmp->status = BMP085_STATUS_READ_TEMP;
|
||||||
|
}
|
||||||
|
break;
|
||||||
|
|
||||||
|
case BMP085_STATUS_START_PRESS:
|
||||||
|
/* read press measurement */
|
||||||
|
if (bmp->eoc()) {
|
||||||
|
bmp->i2c_trans.buf[0] = BMP085_DAT_MSB;
|
||||||
|
i2c_transceive(bmp->i2c_p, &bmp->i2c_trans, bmp->i2c_trans.slave_addr, 1, 3);
|
||||||
|
bmp->status = BMP085_STATUS_READ_PRESS;
|
||||||
|
}
|
||||||
|
break;
|
||||||
|
|
||||||
|
default:
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void bmp085_event(struct Bmp085* bmp)
|
||||||
|
{
|
||||||
|
if (bmp->i2c_trans.status == I2CTransSuccess) {
|
||||||
|
switch (bmp->status) {
|
||||||
|
case BMP085_STATUS_UNINIT:
|
||||||
|
bmp->calib.ac1 = (bmp->i2c_trans.buf[0] << 8) | bmp->i2c_trans.buf[1];
|
||||||
|
bmp->calib.ac2 = (bmp->i2c_trans.buf[2] << 8) | bmp->i2c_trans.buf[3];
|
||||||
|
bmp->calib.ac3 = (bmp->i2c_trans.buf[4] << 8) | bmp->i2c_trans.buf[5];
|
||||||
|
bmp->calib.ac4 = (bmp->i2c_trans.buf[6] << 8) | bmp->i2c_trans.buf[7];
|
||||||
|
bmp->calib.ac5 = (bmp->i2c_trans.buf[8] << 8) | bmp->i2c_trans.buf[9];
|
||||||
|
bmp->calib.ac6 = (bmp->i2c_trans.buf[10] << 8) | bmp->i2c_trans.buf[11];
|
||||||
|
bmp->calib.b1 = (bmp->i2c_trans.buf[12] << 8) | bmp->i2c_trans.buf[13];
|
||||||
|
bmp->calib.b2 = (bmp->i2c_trans.buf[14] << 8) | bmp->i2c_trans.buf[15];
|
||||||
|
bmp->calib.mb = (bmp->i2c_trans.buf[16] << 8) | bmp->i2c_trans.buf[17];
|
||||||
|
bmp->calib.mc = (bmp->i2c_trans.buf[18] << 8) | bmp->i2c_trans.buf[19];
|
||||||
|
bmp->calib.md = (bmp->i2c_trans.buf[20] << 8) | bmp->i2c_trans.buf[21];
|
||||||
|
bmp->status = BMP085_STATUS_IDLE;
|
||||||
|
bmp->initialized = TRUE;
|
||||||
|
break;
|
||||||
|
|
||||||
|
case BMP085_STATUS_READ_TEMP:
|
||||||
|
/* get uncompensated temperature */
|
||||||
|
bmp->ut = (bmp->i2c_trans.buf[0] << 8) | bmp->i2c_trans.buf[1];
|
||||||
|
bmp->temperature = bmp085_compensated_temperature(&(bmp->calib), bmp->ut);
|
||||||
|
/* start high res pressure measurement */
|
||||||
|
bmp->i2c_trans.buf[0] = BMP085_CTRL_REG;
|
||||||
|
bmp->i2c_trans.buf[1] = BMP085_START_P3;
|
||||||
|
i2c_transmit(bmp->i2c_p, &bmp->i2c_trans, bmp->i2c_trans.slave_addr, 2);
|
||||||
|
bmp->status = BMP085_STATUS_START_PRESS;
|
||||||
|
break;
|
||||||
|
|
||||||
|
case BMP085_STATUS_READ_PRESS:
|
||||||
|
/* get uncompensated pressure */
|
||||||
|
bmp->up = (bmp->i2c_trans.buf[0]<<16) |
|
||||||
|
(bmp->i2c_trans.buf[1] << 8) |
|
||||||
|
bmp->i2c_trans.buf[2];
|
||||||
|
bmp->up = bmp->up >> (8 - BMP085_OSS);
|
||||||
|
bmp->pressure = bmp085_compensated_pressure(&(bmp->calib), bmp->up);
|
||||||
|
bmp->data_available = TRUE;
|
||||||
|
bmp->status = BMP085_STATUS_IDLE;
|
||||||
|
break;
|
||||||
|
|
||||||
|
default:
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
else if (bmp->i2c_trans.status == I2CTransFailed) {
|
||||||
|
/* try again */
|
||||||
|
if (bmp->initialized)
|
||||||
|
bmp->status = BMP085_STATUS_IDLE;
|
||||||
|
else
|
||||||
|
bmp->status = BMP085_STATUS_UNINIT;
|
||||||
|
bmp->i2c_trans.status = I2CTransDone;
|
||||||
|
}
|
||||||
|
}
|
||||||
@@ -0,0 +1,81 @@
|
|||||||
|
/*
|
||||||
|
* Copyright (C) 2010 Martin Mueller
|
||||||
|
* Copyright (C) 2013 Felix Ruess <felix.ruess@gmail.com>
|
||||||
|
*
|
||||||
|
* 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 peripherals/bmp085.h
|
||||||
|
* Bosch BMP085 driver interface.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef BMP085_H
|
||||||
|
#define BMP085_H
|
||||||
|
|
||||||
|
#include "mcu_periph/i2c.h"
|
||||||
|
#include "std.h"
|
||||||
|
|
||||||
|
enum Bmp085Status {
|
||||||
|
BMP085_STATUS_UNINIT,
|
||||||
|
BMP085_STATUS_IDLE,
|
||||||
|
BMP085_STATUS_START_TEMP,
|
||||||
|
BMP085_STATUS_READ_TEMP,
|
||||||
|
BMP085_STATUS_START_PRESS,
|
||||||
|
BMP085_STATUS_READ_PRESS
|
||||||
|
};
|
||||||
|
|
||||||
|
struct Bmp085Calib {
|
||||||
|
// These values come from EEPROM on sensor
|
||||||
|
int16_t ac1;
|
||||||
|
int16_t ac2;
|
||||||
|
int16_t ac3;
|
||||||
|
uint16_t ac4;
|
||||||
|
uint16_t ac5;
|
||||||
|
uint16_t ac6;
|
||||||
|
int16_t b1;
|
||||||
|
int16_t b2;
|
||||||
|
int16_t mb;
|
||||||
|
int16_t mc;
|
||||||
|
int16_t md;
|
||||||
|
|
||||||
|
// These values are calculated
|
||||||
|
int32_t b5;
|
||||||
|
};
|
||||||
|
|
||||||
|
typedef bool_t (*Bmp085EOC)(void);
|
||||||
|
|
||||||
|
struct Bmp085 {
|
||||||
|
struct i2c_periph *i2c_p;
|
||||||
|
struct i2c_transaction i2c_trans;
|
||||||
|
Bmp085EOC eoc; ///< function to check End Of Conversion
|
||||||
|
enum Bmp085Status status; ///< state machine status
|
||||||
|
bool_t initialized; ///< config done flag
|
||||||
|
volatile bool_t data_available; ///< data ready flag
|
||||||
|
struct Bmp085Calib calib;
|
||||||
|
int32_t ut; ///< uncompensated temperature
|
||||||
|
int32_t up; ///< uncompensated pressure
|
||||||
|
int32_t temperature; ///< temperature in 0.1 deg Celcius
|
||||||
|
int32_t pressure; ///< pressure in Pascal
|
||||||
|
};
|
||||||
|
|
||||||
|
extern void bmp085_read_eeprom_calib(struct Bmp085* bmp);
|
||||||
|
extern void bmp085_init(struct Bmp085* bmp, struct i2c_periph *i2c_p, uint8_t addr);
|
||||||
|
extern void bmp085_periodic(struct Bmp085* bmp);
|
||||||
|
extern void bmp085_event(struct Bmp085* bmp);
|
||||||
|
|
||||||
|
#endif
|
||||||
@@ -0,0 +1,59 @@
|
|||||||
|
/*
|
||||||
|
* Copyright (C) 2010 Martin Mueller
|
||||||
|
* Copyright (C) 2013 Felix Ruess <felix.ruess@gmail.com>
|
||||||
|
*
|
||||||
|
* 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 peripherals/bmp085_regs.h
|
||||||
|
* Bosch BMP085 register definitions.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef BMP085_REGS_H
|
||||||
|
#define BMP085_REGS_H
|
||||||
|
|
||||||
|
#define BMP085_EEPROM_AC1 0xAA
|
||||||
|
#define BMP085_EEPROM_AC2 0xAC
|
||||||
|
#define BMP085_EEPROM_AC3 0xAE
|
||||||
|
#define BMP085_EEPROM_AC4 0xB0
|
||||||
|
#define BMP085_EEPROM_AC5 0xB2
|
||||||
|
#define BMP085_EEPROM_AC6 0xB4
|
||||||
|
#define BMP085_EEPROM_B1 0xB6
|
||||||
|
#define BMP085_EEPROM_B2 0xB8
|
||||||
|
#define BMP085_EEPROM_MB 0xBA
|
||||||
|
#define BMP085_EEPROM_MC 0xBC
|
||||||
|
#define BMP085_EEPROM_MD 0xBE
|
||||||
|
|
||||||
|
#define BMP085_CTRL_REG 0xF4
|
||||||
|
|
||||||
|
#define BMP085_START_TEMP 0x2E
|
||||||
|
#define BMP085_START_P0 0x34
|
||||||
|
#define BMP085_START_P1 0x74
|
||||||
|
#define BMP085_START_P2 0xB4
|
||||||
|
#define BMP085_START_P3 0xF4
|
||||||
|
|
||||||
|
#define BMP085_DAT_MSB 0xF6
|
||||||
|
#define BMP085_DAT_LSB 0xF7
|
||||||
|
#define BMP085_DAT_XLSB 0xF8
|
||||||
|
|
||||||
|
/// Over sample setting (0-3)
|
||||||
|
#define BMP085_OSS 3
|
||||||
|
|
||||||
|
#define BMP085_SLAVE_ADDR 0xEE
|
||||||
|
|
||||||
|
#endif
|
||||||
Reference in New Issue
Block a user