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[peripheral] add ms5611 i2c and spi peripherals

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This commit is contained in:
Felix Ruess
2013-08-23 00:31:14 +02:00
parent 8817bd54dc
commit f9b7ee211f
9 changed files with 733 additions and 72 deletions
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sw/airborne/boards/lisa_m/baro_ms5611_i2c.c
+9 -1
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@@ -5,7 +5,7 @@
* Utah State University, http://aggieair.usu.edu/
*/
#include "subsystems/sensors/baro.h"
#include "peripherals/ms5611.h"
#include "peripherals/ms5611_regs.h"
#include "led.h"
#include "std.h"
#include "mcu_periph/sys_time.h"
@@ -15,6 +15,14 @@
#define MS5611_I2C_DEV i2c2
#endif
/* default i2c address
* when CSB is set to GND addr is 0xEE
* when CSB is set to VCC addr is 0xEC
*
* Note: Aspirin 2.1 has CSB bound to GND.
*/
#define MS5611_SLAVE_ADDR 0xEE
#ifdef DEBUG
#ifndef DOWNLINK_DEVICE
#define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE
sw/airborne/boards/lisa_m/baro_ms5611_spi.c
+10 -1
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@@ -5,7 +5,7 @@
* Utah State University, http://aggieair.usu.edu/
*/
#include "subsystems/sensors/baro.h"
#include "peripherals/ms5611.h"
#include "peripherals/ms5611_regs.h"
#include "led.h"
#include "std.h"
#include "mcu_periph/sys_time.h"
@@ -14,6 +14,15 @@
#ifndef MS5611_SPI_DEV
#define MS5611_SPI_DEV spi2
#endif
/* SPI SLAVE3 is on pin PC13
* Aspirin 2.2 has ms5611 on SPI bus
*/
#ifndef MS5611_SLAVE_DEV
#define MS5611_SLAVE_DEV SPI_SLAVE3
#endif
#define MS5611_BUFFER_LENGTH 4
#ifdef DEBUG
sw/airborne/peripherals/ms5611.c
+91
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@@ -0,0 +1,91 @@
/*
* Copyright (C) 2011 Martin Mueller <martinmm@pfump.org>
* 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/ms5611.c
*
* MS5611 barometer driver common functions (I2C and SPI).
*/
#include "peripherals/ms5611.h"
#include "std.h"
/**
* Check if CRC of PROM data is OK.
* @return TRUE if OK, FALSE otherwise
*/
bool_t ms5611_prom_crc_ok(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 TRUE;
else
return FALSE;
}
/**
* Calculate temperature and compensated pressure.
*/
void ms5611_calc(struct Ms5611Data* ms) {
int64_t dt, tempms, off, sens, t2, off2, sens2;
/* difference between actual and ref temperature */
dt = ms->d2 - (int64_t)ms->c[5] * (1<<8);
/* actual temperature */
tempms = 2000 + ((int64_t)dt * ms->c[6]) / (1<<23);
/* offset at actual temperature */
off = ((int64_t)ms->c[2] * (1<<16)) + ((int64_t)ms->c[4] * dt) / (1<<7);
/* sensitivity at actual temperature */
sens = ((int64_t)ms->c[1] * (1<<15)) + ((int64_t)ms->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 in deg Celsius with 0.01 degC resolultion */
ms->temperature = (int32_t)tempms;
/* temperature compensated pressure in Pascal (0.01mbar) */
ms->pressure = (uint32_t)((((int64_t)ms->d1 * sens) / (1<<21) - off) / (1<<15));
}
sw/airborne/peripherals/ms5611.h
+31 -70
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@@ -1,6 +1,5 @@
/*
*
* Copyright (C) 2012 Piotr Esden-Tempski
* Copyright (C) 2013 Felix Ruess <felix.ruess@gmail.com>
*
* This file is part of paparazzi.
*
@@ -20,82 +19,44 @@
* Boston, MA 02111-1307, USA.
*/
/* Register definition for MS5611
/**
* @file peripherals/ms5611.h
*
* MS5611 barometer driver common interface (I2C and SPI).
*/
#ifndef MS5611_H
#define MS5611_H
/* default i2c address
* when CSB is set to GND addr is 0xEE
* when CSB is set to VCC addr is 0xEC
*
* Note: Aspirin 2.1 has CSB bound to GND.
*/
#define MS5611_SLAVE_ADDR 0xEE
#include "std.h"
/* FIXME: For backwards compatibility with Aspirin driver (it doesnt talk to baro either) */
#define MS5611_ADDR0 0x77
#define MS5611_ADDR1 0x76
/* Include address and register definition */
#include "peripherals/ms5611_regs.h"
/* SPI SLAVE3 is on pin PC13
* Aspirin 2.2 has ms5611 on SPI bus
*/
#ifndef MS5611_SLAVE_DEV
#define MS5611_SLAVE_DEV SPI_SLAVE3
#endif
/* Number of 16bit calibration coefficients */
#define PROM_NB 8
/* OSR definitions */
#define MS5611_OSR256 0x02
#define MS5611_OSR512 0x02
#define MS5611_OSR1024 0x04
#define MS5611_OSR2048 0x06
#define MS5611_OSR4096 0x08
/* D1 Register defines */
#define MS5611_REG_D1R 0x40 // Request D1 (pressure) conversion
#define MS5611_REG_D1(_osr) (MS5611_REG_D1R | _osr)
#define MS5611_REG_D1OSR256 MS5611_REG_D1(MS5611_ORS256)
#define MS5611_REG_D1OSR512 MS5611_REG_D1(MS5611_OSR512)
#define MS5611_REG_D1OSR1024 MS5611_REG_D1(MS5611_OSR1024)
#define MS5611_REG_D1OSR2048 MS5611_REG_D1(MS5611_OSR2048)
#define MS5611_REG_D1OSR4096 MS5611_REG_D1(MS5611_OSR4096)
/* D2 register defines */
#define MS5611_REG_D2R 0x50 // Request D2 (temperature) conversion
#define MS5611_REG_D2(_osr) (MS5611_REG_D2R | _osr)
#define MS5611_REG_D2OSR256 MS5611_REG_D2(MS5611_ORS256)
#define MS5611_REG_D2OSR512 MS5611_REG_D2(MS5611_OSR512)
#define MS5611_REG_D2OSR1024 MS5611_REG_D2(MS5611_OSR1024)
#define MS5611_REG_D2OSR2048 MS5611_REG_D2(MS5611_OSR2048)
#define MS5611_REG_D2OSR4096 MS5611_REG_D2(MS5611_OSR4096)
/* Commands */
#define MS5611_ADC_READ 0x00 // Read converted value
#define MS5611_SOFT_RESET 0x1E // Reset command
#define MS5611_PROM_READ 0xA0 // Start reading PROM
#define MS5611_START_CONV_D1 MS5611_REG_D1OSR4096 /* we use OSR=4096 for maximum resolution */
#define MS5611_START_CONV_D2 MS5611_REG_D2OSR4096 /* we use OSR=4096 for maximum resolution */
/* FIXME: backwards compatibility with Aspirin driver */
#define MS5611_REG_RESET MS5611_SOFT_RESET
#define MS5611_REG_ADCREAD MS5611_ADC_READ
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
enum Ms5611Status {
MS5611_STATUS_UNINIT,
MS5611_STATUS_RESET,
MS5611_STATUS_RESET_OK,
MS5611_STATUS_PROM,
MS5611_STATUS_IDLE,
MS5611_STATUS_CONV_D1,
MS5611_STATUS_CONV_D1_OK,
MS5611_STATUS_ADC_D1,
MS5611_STATUS_CONV_D2,
MS5611_STATUS_CONV_D2_OK,
MS5611_STATUS_ADC_D2
};
struct Ms5611Data {
uint32_t pressure; ///< pressure in Pascal (0.01mbar)
int32_t temperature; ///< temperature with 0.01 degrees Celsius resolution
uint16_t c[PROM_NB];
uint32_t d1;
uint32_t d2;
};
extern bool_t ms5611_prom_crc_ok(uint16_t* prom);
extern void ms5611_calc(struct Ms5611Data* ms);
#endif /* MS5611_H */
sw/airborne/peripherals/ms5611_i2c.c
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@@ -0,0 +1,189 @@
/*
* Copyright (C) 2011 Martin Mueller <martinmm@pfump.org>
* 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/ms5611_i2c.c
* Measurement Specialties (Intersema) MS5611-01BA pressure/temperature sensor interface for I2C.
*
*/
#include "peripherals/ms5611_i2c.h"
void ms5611_i2c_init(struct Ms5611_I2c *ms, struct i2c_periph *i2c_p, uint8_t addr)
{
/* set i2c_peripheral */
ms->i2c_p = i2c_p;
/* slave address */
ms->i2c_trans.slave_addr = addr;
/* set inital status: Success or Done */
ms->i2c_trans.status = I2CTransDone;
ms->data_available = FALSE;
ms->initialized = FALSE;
ms->status = MS5611_STATUS_UNINIT;
ms->prom_cnt = 0;
}
void ms5611_i2c_start_configure(struct Ms5611_I2c *ms)
{
if (ms->status == MS5611_STATUS_UNINIT) {
ms->i2c_trans.buf[0] = MS5611_SOFT_RESET;
i2c_transmit(ms->i2c_p, &(ms->i2c_trans), ms->i2c_trans.slave_addr, 1);
ms->status = MS5611_STATUS_RESET;
}
}
void ms5611_i2c_start_conversion(struct Ms5611_I2c *ms)
{
if (ms->status == MS5611_STATUS_IDLE &&
ms->i2c_trans.status == I2CTransDone) {
/* start D1 conversion */
ms->i2c_trans.buf[0] = MS5611_START_CONV_D1;
i2c_transmit(ms->i2c_p, &(ms->i2c_trans), ms->i2c_trans.slave_addr, 1);
ms->status = MS5611_STATUS_CONV_D1;
}
}
/**
* Periodic function to ensure proper delay after triggering reset or conversion.
* Should run at 100Hz max.
* Typical conversion time is 8.22ms at max resolution.
*/
void ms5611_i2c_periodic_check(struct Ms5611_I2c *ms)
{
switch (ms->status) {
case MS5611_STATUS_RESET:
ms->status = MS5611_STATUS_RESET_OK;
break;
case MS5611_STATUS_RESET_OK:
if (ms->i2c_trans.status == I2CTransDone) {
/* start getting prom data */
ms->i2c_trans.buf[0] = MS5611_PROM_READ | (ms->prom_cnt << 1);
i2c_transceive(ms->i2c_p, &(ms->i2c_trans), ms->i2c_trans.slave_addr, 1, 2);
ms->status = MS5611_STATUS_PROM;
}
break;
case MS5611_STATUS_CONV_D1:
ms->status = MS5611_STATUS_CONV_D1_OK;
break;
case MS5611_STATUS_CONV_D1_OK:
if (ms->i2c_trans.status == I2CTransDone) {
/* read D1 adc */
ms->i2c_trans.buf[0] = MS5611_ADC_READ;
i2c_transceive(ms->i2c_p, &(ms->i2c_trans), ms->i2c_trans.slave_addr, 1, 3);
ms->status = MS5611_STATUS_ADC_D1;
}
break;
case MS5611_STATUS_CONV_D2:
ms->status = MS5611_STATUS_CONV_D2_OK;
break;
case MS5611_STATUS_CONV_D2_OK:
if (ms->i2c_trans.status == I2CTransDone) {
/* read D2 adc */
ms->i2c_trans.buf[0] = MS5611_ADC_READ;
i2c_transceive(ms->i2c_p, &(ms->i2c_trans), ms->i2c_trans.slave_addr, 1, 3);
ms->status = MS5611_STATUS_ADC_D2;
}
break;
default:
break;
}
}
void ms5611_i2c_event(struct Ms5611_I2c *ms) {
if (ms->initialized) {
if (ms->i2c_trans.status == I2CTransFailed) {
ms->i2c_trans.status = I2CTransDone;
}
else if (ms->i2c_trans.status == I2CTransSuccess) {
// Successfull reading
switch (ms->status) {
case MS5611_STATUS_PROM:
/* read prom data */
ms->data.c[ms->prom_cnt++] = (ms->i2c_trans.buf[0] << 8) |
ms->i2c_trans.buf[1];
if (ms->prom_cnt < PROM_NB) {
/* get next prom data */
ms->i2c_trans.buf[0] = MS5611_PROM_READ | (ms->prom_cnt << 1);
i2c_transceive(ms->i2c_p, &(ms->i2c_trans), ms->i2c_trans.slave_addr, 1, 2);
}
else {
/* done reading prom, check prom crc */
if (ms5611_prom_crc_ok(ms->data.c)) {
ms->initialized = TRUE;
ms->status = MS5611_STATUS_IDLE;
}
else {
/* checksum error, try again */
ms->prom_cnt = 0;
ms->status = MS5611_STATUS_UNINIT;
}
}
break;
case MS5611_STATUS_ADC_D1:
/* read D1 (pressure) */
ms->data.d1 = (ms->i2c_trans.buf[0] << 16) |
(ms->i2c_trans.buf[1] << 8) |
ms->i2c_trans.buf[2];
/* start D2 conversion */
ms->i2c_trans.buf[0] = MS5611_START_CONV_D2;
i2c_transmit(ms->i2c_p, &(ms->i2c_trans), ms->i2c_trans.slave_addr, 1);
ms->status = MS5611_STATUS_CONV_D2;
break;
case MS5611_STATUS_ADC_D2:
/* read D2 (temperature) */
ms->data.d2 = (ms->i2c_trans.buf[0] << 16) |
(ms->i2c_trans.buf[1] << 8) |
ms->i2c_trans.buf[2];
/* calculate temp and pressure from measurements */
ms5611_calc(&(ms->data));
ms->status = MS5611_STATUS_IDLE;
ms->data_available = TRUE;
break;
default:
break;
}
ms->i2c_trans.status = I2CTransDone;
}
}
else if (ms->status != MS5611_STATUS_UNINIT) { // Configuring but not yet initialized
switch (ms->i2c_trans.status) {
case I2CTransFailed:
/* try again */
ms->prom_cnt = 0;
ms->status = MS5611_STATUS_UNINIT;
case I2CTransSuccess:
case I2CTransDone:
ms->i2c_trans.status = I2CTransDone;
break;
default:
break;
}
}
}
sw/airborne/peripherals/ms5611_i2c.h
+63
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@@ -0,0 +1,63 @@
/*
* 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/ms5611_i2c.h
*
* Measurement Specialties (Intersema) MS5611-01BA pressure/temperature sensor interface for I2C.
*/
#ifndef MS5611_I2C_H
#define MS5611_I2C_H
#include "mcu_periph/i2c.h"
/* Include common MS5611 definitions */
#include "peripherals/ms5611.h"
struct Ms5611_I2c {
struct i2c_periph *i2c_p;
struct i2c_transaction i2c_trans;
enum Ms5611Status status;
bool_t initialized; ///< config done flag
volatile bool_t data_available; ///< data ready flag
struct Ms5611Data data;
int32_t prom_cnt; ///< number of bytes read from PROM
};
// Functions
extern void ms5611_i2c_init(struct Ms5611_I2c* ms, struct i2c_periph* i2c_p, uint8_t addr);
extern void ms5611_i2c_start_configure(struct Ms5611_I2c* ms);
extern void ms5611_i2c_start_conversion(struct Ms5611_I2c* ms);
extern void ms5611_i2c_periodic_check(struct Ms5611_I2c* ms);
extern void ms5611_i2c_event(struct Ms5611_I2c* ms);
/// convenience function: trigger read or start configuration if not already initialized
static inline void ms5611_i2c_periodic(struct Ms5611_I2c* ms) {
if (ms->initialized)
ms5611_i2c_start_conversion(ms);
else
ms5611_i2c_start_configure(ms);
ms5611_i2c_periodic_check(ms);
}
#endif /* MS5611_I2C_H */
sw/airborne/peripherals/ms5611_regs.h
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@@ -0,0 +1,72 @@
/*
* Copyright (C) 2012 Piotr Esden-Tempski
*
* 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/ms5611_regs.h
* Register definitions for MS5611 barometer.
*/
#ifndef MS5611_REGS_H
#define MS5611_REGS_H
/** default i2c address
* when CSB is set to GND addr is 0xEE
* when CSB is set to VCC addr is 0xEC
*/
#define MS5611_I2C_SLAVE_ADDR 0xEE
#define MS5611_I2C_SLAVE_ADDR_ALT 0xEC
/* Number of 16bit calibration coefficients */
#define PROM_NB 8
/* OSR definitions */
#define MS5611_OSR256 0x02
#define MS5611_OSR512 0x02
#define MS5611_OSR1024 0x04
#define MS5611_OSR2048 0x06
#define MS5611_OSR4096 0x08
/* D1 Register defines */
#define MS5611_REG_D1R 0x40 // Request D1 (pressure) conversion
#define MS5611_REG_D1(_osr) (MS5611_REG_D1R | _osr)
#define MS5611_REG_D1OSR256 MS5611_REG_D1(MS5611_ORS256)
#define MS5611_REG_D1OSR512 MS5611_REG_D1(MS5611_OSR512)
#define MS5611_REG_D1OSR1024 MS5611_REG_D1(MS5611_OSR1024)
#define MS5611_REG_D1OSR2048 MS5611_REG_D1(MS5611_OSR2048)
#define MS5611_REG_D1OSR4096 MS5611_REG_D1(MS5611_OSR4096)
/* D2 register defines */
#define MS5611_REG_D2R 0x50 // Request D2 (temperature) conversion
#define MS5611_REG_D2(_osr) (MS5611_REG_D2R | _osr)
#define MS5611_REG_D2OSR256 MS5611_REG_D2(MS5611_ORS256)
#define MS5611_REG_D2OSR512 MS5611_REG_D2(MS5611_OSR512)
#define MS5611_REG_D2OSR1024 MS5611_REG_D2(MS5611_OSR1024)
#define MS5611_REG_D2OSR2048 MS5611_REG_D2(MS5611_OSR2048)
#define MS5611_REG_D2OSR4096 MS5611_REG_D2(MS5611_OSR4096)
/* Commands */
#define MS5611_ADC_READ 0x00 // Read converted value
#define MS5611_SOFT_RESET 0x1E // Reset command
#define MS5611_PROM_READ 0xA0 // Start reading PROM
#define MS5611_START_CONV_D1 MS5611_REG_D1OSR4096 /* we use OSR=4096 for maximum resolution */
#define MS5611_START_CONV_D2 MS5611_REG_D2OSR4096 /* we use OSR=4096 for maximum resolution */
#endif /* MS5611_REGS_H */
sw/airborne/peripherals/ms5611_spi.c
+203
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@@ -0,0 +1,203 @@
/*
* Copyright (C) 2011 Martin Mueller <martinmm@pfump.org>
* 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/ms5611_spi.c
* Measurement Specialties (Intersema) MS5611-01BA pressure/temperature sensor interface for SPI.
*
*/
#include "peripherals/ms5611_spi.h"
void ms5611_spi_init(struct Ms5611_Spi *ms, struct spi_periph *spi_p, uint8_t slave_idx)
{
/* set spi_peripheral */
ms->spi_p = spi_p;
/* configure spi transaction */
ms->spi_trans.cpol = SPICpolIdleHigh;
ms->spi_trans.cpha = SPICphaEdge2;
ms->spi_trans.dss = SPIDss8bit;
ms->spi_trans.bitorder = SPIMSBFirst;
ms->spi_trans.cdiv = SPIDiv64;
ms->spi_trans.select = SPISelectUnselect;
ms->spi_trans.slave_idx = slave_idx;
ms->spi_trans.output_length = 1;
ms->spi_trans.input_length = 4;
ms->spi_trans.before_cb = NULL;
ms->spi_trans.after_cb = NULL;
ms->spi_trans.input_buf = ms->rx_buf;
ms->spi_trans.output_buf = ms->tx_buf;
/* set inital status: Success or Done */
ms->spi_trans.status = SPITransDone;
ms->data_available = FALSE;
ms->initialized = FALSE;
ms->status = MS5611_STATUS_UNINIT;
ms->prom_cnt = 0;
}
void ms5611_spi_start_configure(struct Ms5611_Spi *ms)
{
if (ms->status == MS5611_STATUS_UNINIT) {
ms->tx_buf[0] = MS5611_SOFT_RESET;
spi_submit(ms->spi_p, &(ms->spi_trans));
ms->status = MS5611_STATUS_RESET;
}
}
void ms5611_spi_start_conversion(struct Ms5611_Spi *ms)
{
if (ms->status == MS5611_STATUS_IDLE &&
ms->spi_trans.status == SPITransDone) {
/* start D1 conversion */
ms->tx_buf[0] = MS5611_START_CONV_D1;
spi_submit(ms->spi_p, &(ms->spi_trans));
ms->status = MS5611_STATUS_CONV_D1;
}
}
/**
* Periodic function to ensure proper delay after triggering reset or conversion.
* Should run at 100Hz max.
* Typical conversion time is 8.22ms at max resolution.
*/
void ms5611_spi_periodic_check(struct Ms5611_Spi *ms)
{
switch (ms->status) {
case MS5611_STATUS_RESET:
ms->status = MS5611_STATUS_RESET_OK;
break;
case MS5611_STATUS_RESET_OK:
if (ms->spi_trans.status == SPITransDone) {
/* start getting prom data */
ms->tx_buf[0] = MS5611_PROM_READ | (ms->prom_cnt << 1);
spi_submit(ms->spi_p, &(ms->spi_trans));
ms->status = MS5611_STATUS_PROM;
}
break;
case MS5611_STATUS_CONV_D1:
ms->status = MS5611_STATUS_CONV_D1_OK;
break;
case MS5611_STATUS_CONV_D1_OK:
if (ms->spi_trans.status == SPITransDone) {
/* read D1 adc */
ms->tx_buf[0] = MS5611_ADC_READ;
spi_submit(ms->spi_p, &(ms->spi_trans));
ms->status = MS5611_STATUS_ADC_D1;
}
break;
case MS5611_STATUS_CONV_D2:
ms->status = MS5611_STATUS_CONV_D2_OK;
break;
case MS5611_STATUS_CONV_D2_OK:
if (ms->spi_trans.status == SPITransDone) {
/* read D2 adc */
ms->tx_buf[0] = MS5611_ADC_READ;
spi_submit(ms->spi_p, &(ms->spi_trans));
ms->status = MS5611_STATUS_ADC_D2;
}
break;
default:
break;
}
}
void ms5611_spi_event(struct Ms5611_Spi *ms) {
if (ms->initialized) {
if (ms->spi_trans.status == SPITransFailed) {
ms->spi_trans.status = SPITransDone;
}
else if (ms->spi_trans.status == SPITransSuccess) {
// Successfull reading
switch (ms->status) {
case MS5611_STATUS_PROM:
/* read prom data */
ms->data.c[ms->prom_cnt++] = (ms->rx_buf[1] << 8) |
ms->rx_buf[2];
if (ms->prom_cnt < PROM_NB) {
/* get next prom data */
ms->tx_buf[0] = MS5611_PROM_READ | (ms->prom_cnt << 1);
spi_submit(ms->spi_p, &(ms->spi_trans));
}
else {
/* done reading prom, check prom crc */
if (ms5611_prom_crc_ok(ms->data.c)) {
ms->initialized = TRUE;
ms->status = MS5611_STATUS_IDLE;
}
else {
/* checksum error, try again */
ms->prom_cnt = 0;
ms->status = MS5611_STATUS_UNINIT;
}
}
break;
case MS5611_STATUS_ADC_D1:
/* read D1 (pressure) */
ms->data.d1 = (ms->rx_buf[1] << 16) |
(ms->rx_buf[2] << 8) |
ms->rx_buf[3];
/* start D2 conversion */
ms->tx_buf[0] = MS5611_START_CONV_D2;
spi_submit(ms->spi_p, &(ms->spi_trans));
ms->status = MS5611_STATUS_CONV_D2;
break;
case MS5611_STATUS_ADC_D2:
/* read D2 (temperature) */
ms->data.d2 = (ms->rx_buf[1] << 16) |
(ms->rx_buf[2] << 8) |
ms->rx_buf[3];
/* calculate temp and pressure from measurements */
ms5611_calc(&(ms->data));
ms->status = MS5611_STATUS_IDLE;
ms->data_available = TRUE;
break;
default:
break;
}
ms->spi_trans.status = SPITransDone;
}
}
else if (ms->status != MS5611_STATUS_UNINIT) { // Configuring but not yet initialized
switch (ms->spi_trans.status) {
case SPITransFailed:
/* try again */
ms->prom_cnt = 0;
ms->status = MS5611_STATUS_UNINIT;
case SPITransSuccess:
case SPITransDone:
ms->spi_trans.status = SPITransDone;
break;
default:
break;
}
}
}
sw/airborne/peripherals/ms5611_spi.h
+65
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@@ -0,0 +1,65 @@
/*
* 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/ms5611_spi.h
*
* Measurement Specialties (Intersema) MS5611-01BA pressure/temperature sensor interface for SPI.
*/
#ifndef MS5611_SPI_H
#define MS5611_SPI_H
#include "mcu_periph/spi.h"
/* Include common MS5611 definitions */
#include "peripherals/ms5611.h"
struct Ms5611_Spi {
struct spi_periph *spi_p;
struct spi_transaction spi_trans;
volatile uint8_t tx_buf[1];
volatile uint8_t rx_buf[4];
enum Ms5611Status status;
bool_t initialized; ///< config done flag
volatile bool_t data_available; ///< data ready flag
struct Ms5611Data data;
int32_t prom_cnt; ///< number of bytes read from PROM
};
// Functions
extern void ms5611_spi_init(struct Ms5611_Spi* ms, struct spi_periph* spi_p, uint8_t addr);
extern void ms5611_spi_start_configure(struct Ms5611_Spi* ms);
extern void ms5611_spi_start_conversion(struct Ms5611_Spi* ms);
extern void ms5611_spi_periodic_check(struct Ms5611_Spi* ms);
extern void ms5611_spi_event(struct Ms5611_Spi* ms);
/// convenience function: trigger read or start configuration if not already initialized
static inline void ms5611_spi_periodic(struct Ms5611_Spi* ms) {
if (ms->initialized)
ms5611_spi_start_conversion(ms);
else
ms5611_spi_start_configure(ms);
ms5611_spi_periodic_check(ms);
}
#endif /* MS5611_SPI_H */