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[peripherals] refactor baro mpl3115

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This commit is contained in:
Felix Ruess
2013-09-13 21:39:12 +02:00
parent d38ad852b6
commit b424bbac49
7 changed files with 160 additions and 142 deletions
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conf/firmwares/subsystems/shared/baro_board.makefile
-2
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@@ -104,8 +104,6 @@ else ifeq ($(BOARD), px4fmu)
# apogee baro
else ifeq ($(BOARD), apogee)
ap.CFLAGS += -DUSE_I2C1
ap.CFLAGS += -DMPL3115_I2C_DEV=i2c1
ap.CFLAGS += -DMPL3115_ALT_MODE=0
ap.srcs += peripherals/mpl3115.c
ap.srcs += $(SRC_BOARD)/baro_board.c
conf/modules/baro_mpl3115.xml
+5 -2
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@@ -3,7 +3,10 @@
<module name="baro_mpl3115" dir="sensors">
<doc>
<description>Baro MPL3115A2 (I2C)</description>
<define name="MPL3115_I2C_DEV" value="i2cX" description="select which i2c peripheral to use (default i2c0)"/>
<define name="BARO_MPL3115_I2C_DEV" value="i2cX" description="select which i2c peripheral to use (default i2c0)"/>
<define name="BARO_MPL3115_I2C_SLAVE_ADDR" value="0xC0" description="i2c address (default factory: 0xC0)"/>
<define name="BARO_MPL3115_SENDER_ID" value="20" description="ABI sender id"/>
<define name="SENSOR_SYNC_SEND" description="flag to enable sending BARO_MPL3115 message on every new measurement"/>
</doc>
<header>
@@ -13,7 +16,7 @@
<periodic fun="baro_mpl3115_read_periodic()" freq="5."/>
<event fun="baro_mpl3115_read_event()"/>
<makefile>
<makefile target="ap">
<file name="baro_mpl3115.c"/>
<file name="mpl3115.c" dir="peripherals"/>
</makefile>
sw/airborne/boards/apogee/baro_board.c
+10 -8
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@@ -44,8 +44,10 @@
#define BARO_STARTUP_COUNTER 200
uint16_t startup_cnt;
struct Mpl3115 apogee_baro;
void baro_init( void ) {
mpl3115_init();
mpl3115_init(&apogee_baro, &i2c1, MPL3115_I2C_ADDR);
#ifdef BARO_LED
LED_OFF(BARO_LED);
#endif
@@ -57,10 +59,10 @@ void baro_periodic( void ) {
// Baro is slave of the MPU, only start reading it after MPU is configured
if (imu_apogee.mpu.config.initialized) {
if (startup_cnt > 0 && mpl3115_data_available) {
if (startup_cnt > 0 && apogee_baro.data_available) {
// Run some loops to get correct readings from the adc
--startup_cnt;
mpl3115_data_available = FALSE;
apogee_baro.data_available = FALSE;
#ifdef BARO_LED
LED_TOGGLE(BARO_LED);
if (startup_cnt == 0) {
@@ -69,18 +71,18 @@ void baro_periodic( void ) {
#endif
}
// Read the sensor
Mpl3115Periodic();
mpl3115_periodic(&apogee_baro);
}
}
void apogee_baro_event(void) {
mpl3115_event();
if (mpl3115_data_available) {
mpl3115_event(&apogee_baro);
if (apogee_baro.data_available) {
if (startup_cnt == 0) {
float pressure = ((float)mpl3115_pressure/(1<<2));
float pressure = ((float)apogee_baro.pressure/(1<<4));
AbiSendMsgBARO_ABS(APOGEE_BARO_SENDER_ID, &pressure);
}
mpl3115_data_available = FALSE;
apogee_baro.data_available = FALSE;
}
}
sw/airborne/modules/sensors/baro_mpl3115.c
+24 -7
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@@ -17,10 +17,17 @@
* 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_mpl3155.c
*
* Module for the baro MPL3115A2 from Freescale (i2c)
*
*/
#include "modules/sensors/baro_mpl3115.h"
#include "peripherals/mpl3115.h"
#include "subsystems/abi.h"
//Messages
@@ -32,29 +39,39 @@
#define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE
#endif
#ifndef BARO_MPL3115_I2C_DEV
#define BARO_MPL3115_I2C_DEV i2c0
#endif
#ifndef BARO_MPL3115_I2C_SLAVE_ADDR
#define BARO_MPL3115_I2C_SLAVE_ADDR MPL3115_I2C_ADDR
#endif
#ifndef BARO_MPL3115_SENDER_ID
#define BARO_MPL3115_SENDER_ID 20
#endif
struct Mpl3115 baro_mpl;
void baro_mpl3115_init( void ) {
mpl3115_init();
mpl3115_init(&baro_mpl, &BARO_MPL3115_I2C_DEV, BARO_MPL3115_I2C_SLAVE_ADDR);
}
void baro_mpl3115_read_periodic( void ) {
Mpl3115Periodic();
mpl3115_periodic(&baro_mpl);
}
void baro_mpl3115_read_event( void ) {
mpl3115_event();
if (mpl3115_data_available) {
float pressure = (float)mpl3115_pressure;
mpl3115_event(&baro_mpl);
if (baro_mpl.data_available) {
float pressure = (float)baro_mpl.pressure/(1<<4);
AbiSendMsgBARO_ABS(BARO_MPL3115_SENDER_ID, &pressure);
#ifdef SENSOR_SYNC_SEND
DOWNLINK_SEND_MPL3115_BARO(DefaultChannel, DefaultDevice, &mpl3115_pressure, &mpl3115_temperature, &mpl3115_alt);
DOWNLINK_SEND_MPL3115_BARO(DefaultChannel, DefaultDevice, &baro_mpl.pressure, &baro_mpl.temperature, &baro_mpl.alt);
#endif
mpl3115_data_available = FALSE;
baro_mpl.data_available = FALSE;
}
}
sw/airborne/modules/sensors/baro_mpl3115.h
+6 -2
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@@ -17,14 +17,18 @@
* 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_mpl3155.h
*
* Module for the baro MPL3115A2 from Freescale (i2c)
*
*/
#ifndef BARO_MPL3115_H
#define BARO_MPL3115_H
#include "peripherals/mpl3115.h"
extern void baro_mpl3115_init( void );
extern void baro_mpl3115_read_periodic( void );
extern void baro_mpl3115_read_event( void );
sw/airborne/peripherals/mpl3115.c
+90 -89
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@@ -27,57 +27,50 @@
#include "peripherals/mpl3115.h"
#include "std.h"
#define MPL_CONF_UNINIT 0
#define MPL_CONF_PT_DATA 1
#define MPL_CONF_CTRL1 2
#define MPL_CONF_DONE 3
// Data ready flag
volatile bool_t mpl3115_data_available;
// Data
uint32_t mpl3115_pressure;
int16_t mpl3115_temperature;
float mpl3115_alt;
// I2C transaction for reading and configuring
struct i2c_transaction mpl3115_trans;
// I2C transaction for conversion request
struct i2c_transaction mpl3115_req_trans;
// Init flag
bool_t mpl3115_initialized;
uint8_t mpl3115_init_status;
void mpl3115_init(void)
void mpl3115_init(struct Mpl3115 *mpl, struct i2c_periph *i2c_p, uint8_t addr)
{
mpl3115_trans.status = I2CTransDone;
mpl3115_req_trans.status = I2CTransDone;
mpl3115_initialized = FALSE;
mpl3115_init_status = MPL_CONF_UNINIT;
mpl3115_pressure = 0;
mpl3115_temperature = 0;
mpl3115_alt = 0.;
/* set i2c_peripheral */
mpl->i2c_p = i2c_p;
/* slave address */
mpl->trans.slave_addr = addr;
mpl->trans.status = I2CTransDone;
mpl->req_trans.status = I2CTransDone;
mpl->initialized = FALSE;
mpl->init_status = MPL_CONF_UNINIT;
/* by default disable raw mode and set pressure mode */
mpl->raw_mode = FALSE;
mpl->alt_mode = FALSE;
mpl->pressure = 0;
mpl->temperature = 0;
mpl->altitude = 0.;
}
// Configuration function called once before normal use
static void mpl3115_send_config(void)
static void mpl3115_send_config(struct Mpl3115 *mpl)
{
switch (mpl3115_init_status) {
switch (mpl->init_status) {
case MPL_CONF_PT_DATA:
mpl3115_trans.buf[0] = MPL3115_REG_PT_DATA_CFG;
mpl3115_trans.buf[1] = MPL3115_PT_DATA_CFG;
i2c_transmit(&MPL3115_I2C_DEV, &mpl3115_trans, MPL3115_I2C_ADDR, 2);
mpl3115_init_status++;
mpl->trans.buf[0] = MPL3115_REG_PT_DATA_CFG;
mpl->trans.buf[1] = MPL3115_PT_DATA_CFG;
i2c_transmit(mpl->i2c_p, &mpl->trans, mpl->trans.slave_addr, 2);
mpl->init_status++;
break;
case MPL_CONF_CTRL1:
mpl3115_trans.buf[0] = MPL3115_REG_CTRL_REG1;
mpl3115_trans.buf[1] = MPL3115_CTRL_REG1;
i2c_transmit(&MPL3115_I2C_DEV, &mpl3115_trans, MPL3115_I2C_ADDR, 2);
mpl3115_init_status++;
mpl->trans.buf[0] = MPL3115_REG_CTRL_REG1;
mpl->trans.buf[1] = ((MPL3115_OVERSAMPLING<<3) | (mpl->raw_mode<<6) |
(mpl->alt_mode<<7));
i2c_transmit(mpl->i2c_p, &mpl->trans, mpl->trans.slave_addr, 2);
mpl->init_status++;
break;
case MPL_CONF_DONE:
mpl3115_initialized = TRUE;
mpl3115_trans.status = I2CTransDone;
mpl->initialized = TRUE;
mpl->trans.status = I2CTransDone;
break;
default:
break;
@@ -85,77 +78,85 @@ static void mpl3115_send_config(void)
}
// Configure
void mpl3115_configure(void)
void mpl3115_configure(struct Mpl3115 *mpl)
{
if (mpl3115_init_status == MPL_CONF_UNINIT) {
mpl3115_init_status++;
if (mpl3115_trans.status == I2CTransSuccess || mpl3115_trans.status == I2CTransDone) {
mpl3115_send_config();
if (mpl->init_status == MPL_CONF_UNINIT) {
mpl->init_status++;
if (mpl->trans.status == I2CTransSuccess || mpl->trans.status == I2CTransDone) {
mpl3115_send_config(mpl);
}
}
}
// Normal reading
void mpl3115_read(void)
void mpl3115_read(struct Mpl3115 *mpl)
{
// ask for a reading and then prepare next conversion
if (mpl3115_initialized && mpl3115_trans.status == I2CTransDone) {
mpl3115_trans.buf[0] = MPL3115_REG_STATUS;
i2c_transceive(&MPL3115_I2C_DEV, &mpl3115_trans, MPL3115_I2C_ADDR, 1, 6);
if (mpl3115_req_trans.status == I2CTransDone) {
mpl3115_req_trans.buf[0] = MPL3115_REG_CTRL_REG1;
mpl3115_req_trans.buf[1] = MPL3115_CTRL_REG1 | MPL3115_OST_BIT;
i2c_transmit(&MPL3115_I2C_DEV, &mpl3115_req_trans, MPL3115_I2C_ADDR, 2);
if (mpl->initialized && mpl->trans.status == I2CTransDone) {
mpl->trans.buf[0] = MPL3115_REG_STATUS;
i2c_transceive(mpl->i2c_p, &mpl->trans, mpl->trans.slave_addr, 1, 6);
if (mpl->req_trans.status == I2CTransDone) {
mpl->req_trans.buf[0] = MPL3115_REG_CTRL_REG1;
mpl->req_trans.buf[1] = ((MPL3115_OVERSAMPLING<<3) | (mpl->raw_mode<<6) |
(mpl->alt_mode<<7) | MPL3115_OST_BIT);
i2c_transmit(mpl->i2c_p, &mpl->trans, mpl->trans.slave_addr, 2);
}
}
}
void mpl3115_event(void)
void mpl3115_event(struct Mpl3115 *mpl)
{
if (mpl3115_initialized) {
if (mpl3115_trans.status == I2CTransFailed) {
mpl3115_trans.status = I2CTransDone;
if (mpl->initialized) {
if (mpl->trans.status == I2CTransFailed) {
mpl->trans.status = I2CTransDone;
}
else if (mpl3115_trans.status == I2CTransSuccess) {
else if (mpl->trans.status == I2CTransSuccess) {
// Successfull reading and new pressure data available
if (mpl3115_trans.buf[0] & (1<<2)) {
#if MPL3115_RAW_OUTPUT
// New data available
mpl3115_pressure = ((uint32_t)mpl3115_trans.buf[1]<<16)|((uint16_t)mpl3115_trans.buf[2]<<8)|mpl3115_trans.buf[3];
mpl3115_temperature = ((int16_t)mpl3115_trans.buf[4]<<8)|mpl3115_trans.buf[5];
mpl3115_data_available = TRUE;
#else // Not in raw mode
#if MPL3115_ALT_MODE
uint32_t tmp = ((uint32_t)mpl3115_trans.buf[1]<<16)|((uint16_t)mpl3115_trans.buf[2]<<8)|mpl3115_trans.buf[3];
mpl3115_alt = (float)(tmp>>4)/(1<<4);
tmp = ((int16_t)mpl3115_trans.buf[4]<<8)|mpl3115_trans.buf[5];
mpl3115_temperature = (tmp>>4);
mpl3115_data_available = TRUE;
#else // Pressure mode
uint32_t tmp = ((uint32_t)mpl3115_trans.buf[1]<<16)|((uint16_t)mpl3115_trans.buf[2]<<8)|mpl3115_trans.buf[3];
mpl3115_pressure = (tmp>>4);
tmp = ((int16_t)mpl3115_trans.buf[4]<<8)|mpl3115_trans.buf[5];
mpl3115_temperature = (tmp>>4);
mpl3115_data_available = TRUE;
#endif // end alt mode
#endif // end raw mode
if (mpl->trans.buf[0] & (1<<2)) {
if (mpl->raw_mode) {
// New data available
mpl->pressure = (((uint32_t)mpl->trans.buf[1]<<16) |
((uint16_t)mpl->trans.buf[2]<<8) |
mpl->trans.buf[3]);
mpl->temperature = ((int16_t)mpl->trans.buf[4]<<8) | mpl->trans.buf[5];
}
else { // not in raw mode
uint32_t tmp = (((uint32_t)mpl->trans.buf[1]<<16) |
((uint16_t)mpl->trans.buf[2]<<8) |
mpl->trans.buf[3]);
if (mpl->alt_mode) {
mpl->altitude = (float)(tmp>>4) / (1<<4);
}
else { // Pressure mode
mpl->pressure = (tmp>>4);
}
tmp = ((int16_t)mpl->trans.buf[4]<<8) | mpl->trans.buf[5];
mpl->temperature = (tmp>>4);
}
mpl->data_available = TRUE;
}
mpl3115_trans.status = I2CTransDone;
mpl->trans.status = I2CTransDone;
}
}
else if (!mpl3115_initialized && mpl3115_init_status != MPL_CONF_UNINIT) { // Configuring
if (mpl3115_trans.status == I2CTransSuccess || mpl3115_trans.status == I2CTransDone) {
mpl3115_trans.status = I2CTransDone;
mpl3115_send_config();
else if (!mpl->initialized && mpl->init_status != MPL_CONF_UNINIT) { // Configuring
if (mpl->trans.status == I2CTransSuccess || mpl->trans.status == I2CTransDone) {
mpl->trans.status = I2CTransDone;
mpl3115_send_config(mpl);
}
if (mpl3115_trans.status == I2CTransFailed) {
mpl3115_init_status--;
mpl3115_trans.status = I2CTransDone;
mpl3115_send_config(); // Retry config (TODO max retry)
if (mpl->trans.status == I2CTransFailed) {
mpl->init_status--;
mpl->trans.status = I2CTransDone;
mpl3115_send_config(mpl); // Retry config (TODO max retry)
}
}
if (mpl3115_req_trans.status == I2CTransSuccess || mpl3115_req_trans.status == I2CTransFailed) {
mpl3115_req_trans.status = I2CTransDone;
if (mpl->req_trans.status == I2CTransSuccess || mpl->req_trans.status == I2CTransFailed) {
mpl->req_trans.status = I2CTransDone;
}
}
void mpl3115_periodic(struct Mpl3115 *mpl) {
if (mpl->initialized)
mpl3115_read(mpl);
else
mpl3115_configure(mpl);
}
sw/airborne/peripherals/mpl3115.h
+25 -32
View File
@@ -34,11 +34,6 @@
/* Device address (8 bits) */
#define MPL3115_I2C_ADDR 0xC0
/* Default I2C device */
#ifndef MPL3115_I2C_DEV
#define MPL3115_I2C_DEV i2c0
#endif
/* Registers */
#define MPL3115_REG_STATUS 0x00
#define MPL3115_REG_OUT_P_MSB 0x01
@@ -63,36 +58,34 @@
#ifndef MPL3115_OVERSAMPLING
#define MPL3115_OVERSAMPLING 0x5 // Oversample ratio (0x5: 130ms between data sample)
#endif
#ifndef MPL3115_RAW_OUTPUT
#define MPL3115_RAW_OUTPUT 0x0 // Raw output (disable alt mode if true)
#endif
#ifndef MPL3115_ALT_MODE
#define MPL3115_ALT_MODE 0x1 // 0: baro, 1: alti (disable by raw mode)
#endif
#define MPL3115_CTRL_REG1 ((MPL3115_OVERSAMPLING<<3)|(MPL3115_RAW_OUTPUT<<6)|(MPL3115_ALT_MODE<<7))
// Config done flag
extern bool_t mpl3115_initialized;
// Data ready flag
extern volatile bool_t mpl3115_data_available;
// Data
extern uint32_t mpl3115_pressure; ///< absolute pressure in Pascal
extern int16_t mpl3115_temperature;
extern float mpl3115_alt;
// I2C transaction structure
//extern struct i2c_transaction mpl3115_trans;
enum Mpl3115Status {
MPL_CONF_UNINIT,
MPL_CONF_PT_DATA,
MPL_CONF_CTRL1,
MPL_CONF_DONE
};
struct Mpl3115 {
struct i2c_periph *i2c_p;
struct i2c_transaction trans; ///< I2C transaction for reading and configuring
struct i2c_transaction req_trans; ///< I2C transaction for conversion request
enum Mpl3115Status init_status;
bool_t initialized; ///< config done flag
volatile bool_t data_available; ///< data ready flag
bool_t raw_mode; ///< set to TRUE to enable raw output
bool_t alt_mode; ///< set to TRUE to enable altitude output (otherwise pressure)
int16_t temperature; ///< temperature in 1/16 degrees Celcius
uint32_t pressure; ///< pressure in 1/16 Pascal
float altitude; ///< altitude in meters
};
// Functions
extern void mpl3115_init(void);
extern void mpl3115_configure(void);
extern void mpl3115_read(void);
extern void mpl3115_event(void);
// Macro for using MPL3115 in periodic function
#define Mpl3115Periodic() { \
if (mpl3115_initialized) mpl3115_read(); \
else mpl3115_configure(); \
}
extern void mpl3115_init(struct Mpl3115 *mpl, struct i2c_periph *i2c_p, uint8_t addr);
extern void mpl3115_configure(struct Mpl3115 *mpl);
extern void mpl3115_read(struct Mpl3115 *mpl);
extern void mpl3115_event(struct Mpl3115 *mpl);
extern void mpl3115_periodic(struct Mpl3115 *mpl);
#endif // MPL3115_H