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Code Issues Releases Activity

OP-1: Small fixes to reading/writing from sensor.

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@256 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
gussy 2010-03-06 06:09:18 +00:00 committed by gussy
parent 53a64f8dba
commit 5e70edb021
1 changed files with 20 additions and 15 deletions
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35
flight/PiOS/Common/pios_bmp085.c
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@ -51,8 +51,8 @@ ConversionTypeTypeDef CurrentRead;
/* Local Variables */
static BMP085CalibDataTypeDef CalibData;
static uint16_t RawPressure;
static uint32_t RawTemperature;
static volatile uint32_t RawPressure;
static volatile uint32_t RawTemperature;
/**
@ -78,14 +78,14 @@ void PIOS_BMP085_Init(void)
EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising;
EXTI_InitStructure.EXTI_LineCmd = ENABLE;
//EXTI_Init(&EXTI_InitStructure);
EXTI_Init(&EXTI_InitStructure);
/* Enable and set EOC EXTI Interrupt to the lowest priority */
NVIC_InitStructure.NVIC_IRQChannel = PIOS_BMP085_EOC_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 15;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 15;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
//NVIC_Init(&NVIC_InitStructure);
NVIC_Init(&NVIC_InitStructure);
/* Read all 22 bytes of calibration data in one transfer, this is a very optimised way of doing things */
uint8_t Data[BMP085_CALIB_LEN];
@ -172,15 +172,23 @@ void PIOS_BMP085_ReadADC(void)
*/
void PIOS_BMP085_GetValues(uint16_t *Pressure, uint16_t *Altitude, uint16_t *Temperature)
{
uint16_t Pre = 0;
uint16_t Alt = 0;
uint16_t Temp = 0;
/* Straight from the datasheet */
int32_t X1, X2, X3, B3, B5, B6, P;
uint32_t B4, B7;
/* Convert Temperature */
X1 = (RawTemperature - CalibData.AC6) * CalibData.AC5 >> 15;
X1 = (RawTemperature - CalibData.AC6) * (CalibData.AC5 >> 15);
X2 = ((int32_t) CalibData.MC << 11) / (X1 + CalibData.MD);
B5 = X1 + X2;
*Temperature = (B5 + 8) >> 4;
//Temperature = (B5 + 8) >> 4;
Temp = (B5 + 8) >> 4;
PIOS_COM_SendFormattedString(COM_DEBUG_USART, "UT = %u\r", RawTemperature);
PIOS_COM_SendFormattedString(COM_DEBUG_USART, "X1 = %u\r", X1);
PIOS_COM_SendFormattedString(COM_DEBUG_USART, "X2 = %u\r", X2);
/* Calculate Pressure */
B6 = B5 - 4000;
@ -192,15 +200,18 @@ void PIOS_BMP085_GetValues(uint16_t *Pressure, uint16_t *Altitude, uint16_t *Tem
X2 = (CalibData.B1 * (B6 * B6 >> 12)) >> 16;
X3 = ((X1 + X2) + 2) >> 2;
B4 = (CalibData.AC4 * (uint32_t) (X3 + 32768)) >> 15;
B7 = ((uint32_t) RawPressure - B3) * 50000;
B7 = (RawPressure - B3) * 50000;
P = B7 < 0x80000000 ? (B7 * 2) / B4 : (B7 / B4) * 2;
X1 = (P >> 8) * (P >> 8);
X1 = (X1 * 3038) >> 16;
X2 = (-7357 * P) >> 16;
*Pressure = P + ((X1 + X2 + 3791) >> 4);
//Pressure = P + ((X1 + X2 + 3791) >> 4);
Pre = P + ((X1 + X2 + 3791) >> 4);
/* Calculate Altitude */
*Altitude = (uint16_t) 44330 * (1 - (pow((*Pressure/BMP085_P0), (1/5.255))));
//Altitude = (uint16_t) 44330 * (1 - (pow((*Pressure/BMP085_P0), (1/5.255))));
PIOS_COM_SendFormattedString(COM_DEBUG_USART, "T = %u P = %u A = %u\r", Temp, Pre, Alt);
}
@ -287,17 +298,11 @@ int32_t PIOS_BMP085_Write(uint8_t address, uint8_t buffer)
void EXTI15_10_IRQHandler(void)
{
if(EXTI_GetITStatus(PIOS_BMP085_EOC_EXTI_LINE) != RESET) {
/* Disable interrupts */
PIOS_IRQ_Disable();
/* Read the ADC Value */
PIOS_BMP085_ReadADC();
/* Clear the EOC EXTI line pending bit */
EXTI_ClearITPendingBit(PIOS_BMP085_EOC_EXTI_LINE);
/* Enable interrupts */
PIOS_IRQ_Enable();
}
}