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Code Issues Releases Activity

Fix the BMP085 interrupt handler and get it producing data. Driver needs some

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work to abstract away the actual calculation of altitude from pressure and
temperature.
This commit is contained in:
James Cotton 2011-08-13 16:10:45 -05:00
parent 62f51fc92d
commit 80c2d45d93
6 changed files with 65 additions and 51 deletions
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28
flight/INS/ins.c
View File

@ -448,9 +448,11 @@ uint32_t total_conversion_blocks;
int32_t gyro_error;
int16_t gyro[3];
int16_t gyro[4];
int16_t mag[3];
float altitude;
int32_t pressure;
int main()
{
gps_data.quality = -1;
@ -481,18 +483,26 @@ int main()
//if(PIOS_BMA180_Test() != 0)
// panic(2);
//if(PIOS_HMC5883_Test() != 0)
// panic(3);
if(PIOS_HMC5883_Test() != 0)
panic(3);
//if(PIOS_BMP085_Test() != 0)
// panic(4);
if(PIOS_BMP085_Test() != 0)
panic(4);
uint32_t count = 500;
while(count--) {
gyro_error = PIOS_IMU3000_ReadGyros(gyro);
// if(PIOS_HMC5883_NewDataAvailable())
// PIOS_HMC5883_ReadMag(mag);
// pressure = PIOS_BMP085_GetPressure();
// Update the pressure data
PIOS_BMP085_StartADC(PressureConv);
PIOS_DELAY_WaitmS(50);
if(PIOS_BMP085_ReadADC() == 0) {
pressure = PIOS_BMP085_GetPressure();
altitude = 44330.0 * (1.0 - powf((float) pressure / BMP085_P0, (1.0 / 5.255)));
}
PIOS_IMU3000_ReadGyros(gyro);
PIOS_DELAY_WaitmS(50);
PIOS_HMC5883_ReadMag(mag);
PIOS_DELAY_WaitmS(50);
}

10
flight/INS/pios_board.c
View File

@ -663,8 +663,8 @@ static const struct pios_bmp085_cfg pios_bmp085_cfg = {
},
},
.eoc_exti = {
// .pin_source = GPIO_PinSource2,
// .port_source = GPIO_PortSourceGPIOC,
.pin_source = EXTI_PinSource2,
.port_source = EXTI_PortSourceGPIOC,
.init = {
.EXTI_Line = EXTI_Line2, // matches above GPIO pin
.EXTI_Mode = EXTI_Mode_Interrupt,
@ -674,7 +674,7 @@ static const struct pios_bmp085_cfg pios_bmp085_cfg = {
},
.eoc_irq = {
.init = {
.NVIC_IRQChannel = EXTI15_10_IRQn,
.NVIC_IRQChannel = EXTI2_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
@ -745,8 +745,8 @@ void PIOS_Board_Init(void) {
/*PIOS_BMA180_Attach(pios_spi_accel_id);
PIOS_BMA180_Init(&pios_bma180_cfg);*/
PIOS_IMU3000_Init(&pios_imu3000_cfg);
/*PIOS_HMC5883_Init(&pios_hmc5883_cfg);
PIOS_BMP085_Init(&pios_bmp085_cfg);*/
PIOS_HMC5883_Init(&pios_hmc5883_cfg);
PIOS_BMP085_Init(&pios_bmp085_cfg);
/* Set up the SPI interface to the OP board */

8
flight/PiOS/STM32F2xx/pios_bma180.c
View File

@ -54,6 +54,8 @@ static const struct pios_bma180_cfg * dev_cfg;
*/
void PIOS_BMA180_Init(const struct pios_bma180_cfg * cfg)
{
dev_cfg = cfg; // store config before enabling interrupt
fifoBuf_init(&pios_bma180_fifo, (uint8_t *) pios_bma180_buffer, sizeof(pios_bma180_buffer));
/* Configure EOC pin as input floating */
@ -73,8 +75,6 @@ void PIOS_BMA180_Init(const struct pios_bma180_cfg * cfg)
PIOS_BMA180_SetRange(BMA_RANGE_8G);
PIOS_DELAY_WaituS(50);
PIOS_BMA180_EnableIrq();
dev_cfg = cfg;
}
/**
@ -339,9 +339,9 @@ void PIOS_BMA180_IRQHandler(void)
*/
void EXTI4_IRQHandler(void)
{
if (EXTI_GetITStatus(EXTI_Line4) != RESET) {
if (EXTI_GetITStatus(dev_cfg->eoc_exti.init.EXTI_Line) != RESET) {
PIOS_BMA180_IRQHandler();
EXTI_ClearITPendingBit(EXTI_Line4);
EXTI_ClearITPendingBit(dev_cfg->eoc_exti.init.EXTI_Line);
}
}

62
flight/PiOS/STM32F2xx/pios_bmp085.c
View File

@ -63,22 +63,18 @@ static int32_t PIOS_BMP085_Write(uint8_t address, uint8_t buffer);
// Move into proper driver structure with cfg stored
static uint32_t oversampling;
const struct pios_bmp085_cfg * dev_cfg;
static const struct pios_bmp085_cfg * dev_cfg;
/**
* Initialise the BMP085 sensor
*/
void PIOS_BMP085_Init(const struct pios_bmp085_cfg * cfg)
{
#if defined(PIOS_INCLUDE_FREERTOS)
/* Semaphore used by ISR to signal End-Of-Conversion */
vSemaphoreCreateBinary(PIOS_BMP085_EOC);
/* Must start off empty so that first transfer waits for EOC */
xSemaphoreTake(PIOS_BMP085_EOC, portMAX_DELAY);
#else
PIOS_BMP085_EOC = 0;
#endif
oversampling = cfg->oversampling;
dev_cfg = cfg; // Store cfg before enabling interrupt
/* Configure EOC pin as input floating */
GPIO_Init(cfg->drdy.gpio, &cfg->drdy.init);
@ -89,17 +85,10 @@ void PIOS_BMP085_Init(const struct pios_bmp085_cfg * cfg)
/* Enable and set EOC EXTI Interrupt to the lowest priority */
NVIC_Init(&cfg->eoc_irq.init);
oversampling = cfg->oversampling;
dev_cfg = cfg;
/* Configure anothing GPIO pin pin as output to set address */
GPIO_Init(cfg->xclr.gpio, &cfg->xclr.init);
GPIO_SetBits(cfg->xclr.gpio,cfg->xclr.init.GPIO_Pin);
/* Configure anothing GPIO pin pin as input floating */
/* WHAT DID THIS DO?
GPIO_Init(cfg->drdy.gpio, &cfg->drdy.init);
GPIO_InitStructure.GPIO_Pin = PIOS_BMP085_XCLR_GPIO_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_Init(PIOS_BMP085_XCLR_GPIO_PORT, &GPIO_InitStructure);
*/
/* Read all 22 bytes of calibration data in one transfer, this is a very optimized way of doing things */
uint8_t Data[BMP085_CALIB_LEN];
while (PIOS_BMP085_Read(BMP085_CALIB_ADDR, Data, BMP085_CALIB_LEN) != 0)
@ -126,10 +115,13 @@ void PIOS_BMP085_Init(const struct pios_bmp085_cfg * cfg)
/**
* Start the ADC conversion
* \param[in] PresOrTemp BMP085_PRES_ADDR or BMP085_TEMP_ADDR
* \return Raw ADC value
* \return 0 for success, -1 for failure (conversion completed and not read)
*/
void PIOS_BMP085_StartADC(ConversionTypeTypeDef Type)
int32_t PIOS_BMP085_StartADC(ConversionTypeTypeDef Type)
{
if(PIOS_BMP085_EOC)
return -1;
/* Start the conversion */
if (Type == TemperatureConv) {
while (PIOS_BMP085_Write(BMP085_CTRL_ADDR, BMP085_TEMP_ADDR) != 0)
@ -140,25 +132,33 @@ void PIOS_BMP085_StartADC(ConversionTypeTypeDef Type)
}
CurrentRead = Type;
return 0;
}
/**
* Read the ADC conversion value (once ADC conversion has completed)
* \param[in] PresOrTemp BMP085_PRES_ADDR or BMP085_TEMP_ADDR
* \return Raw ADC value
* \return 0 if successfully read the ADC, -1 if failed
*/
void PIOS_BMP085_ReadADC(void)
int32_t PIOS_BMP085_ReadADC(void)
{
uint8_t Data[3];
Data[0] = 0;
Data[1] = 0;
Data[2] = 0;
if(!PIOS_BMP085_EOC)
return -1;
PIOS_BMP085_EOC = 0;
/* Read and store the 16bit result */
if (CurrentRead == TemperatureConv) {
/* Read the temperature conversion */
while (PIOS_BMP085_Read(BMP085_ADC_MSB, Data, 2) != 0)
continue;
if (PIOS_BMP085_Read(BMP085_ADC_MSB, Data, 2) != 0)
return -1;
RawTemperature = ((Data[0] << 8) | Data[1]);
X1 = (RawTemperature - CalibData.AC6) * CalibData.AC5 >> 15;
@ -167,8 +167,8 @@ void PIOS_BMP085_ReadADC(void)
Temperature = (B5 + 8) >> 4;
} else {
/* Read the pressure conversion */
while (PIOS_BMP085_Read(BMP085_ADC_MSB, Data, 3) != 0)
continue;
if (PIOS_BMP085_Read(BMP085_ADC_MSB, Data, 3) != 0)
return -1;
RawPressure = ((Data[0] << 16) | (Data[1] << 8) | Data[2]) >> (8 - oversampling);
B6 = B5 - 4000;
@ -188,6 +188,7 @@ void PIOS_BMP085_ReadADC(void)
X2 = (-7357 * P) >> 16;
Pressure = P + ((X1 + X2 + 3791) >> 4);
}
return 0;
}
int16_t PIOS_BMP085_GetTemperature(void)
@ -294,14 +295,17 @@ int32_t PIOS_BMP085_Test()
}
/**
* Handle external lines 15 to 10 interrupt requests
* Handle external line 2 interrupt requests
*/
void EXTI15_10_IRQHandler(void)
uint32_t bmp_eocs = 0;
void EXTI2_IRQHandler(void)
{
if (EXTI_GetITStatus(dev_cfg->eoc_exti.init.EXTI_Line) != RESET) {
/* Read the ADC Value */
PIOS_BMP085_EOC=1;
bmp_eocs++;
/* Clear the EXTI line pending bit */
EXTI_ClearITPendingBit(dev_cfg->eoc_exti.init.EXTI_Line);
}

4
flight/PiOS/STM32F2xx/pios_hmc5883.c
View File

@ -59,6 +59,8 @@ static const struct pios_hmc5883_cfg * dev_cfg;
*/
void PIOS_HMC5883_Init(const struct pios_hmc5883_cfg * cfg)
{
dev_cfg = cfg; // store config before enabling interrupt
/* Configure EOC pin as input floating */
GPIO_Init(cfg->drdy.gpio, &cfg->drdy.init);
@ -80,8 +82,6 @@ void PIOS_HMC5883_Init(const struct pios_hmc5883_cfg * cfg)
PIOS_Assert(val == 0);
pios_hmc5883_data_ready = false;
dev_cfg = cfg;
}
/**

4
flight/PiOS/inc/pios_bmp085.h
View File

@ -82,8 +82,8 @@ struct pios_bmp085_cfg {
/* Public Functions */
extern void PIOS_BMP085_Init(const struct pios_bmp085_cfg * cfg);
extern void PIOS_BMP085_StartADC(ConversionTypeTypeDef Type);
extern void PIOS_BMP085_ReadADC(void);
extern int32_t PIOS_BMP085_StartADC(ConversionTypeTypeDef Type);
extern int32_t PIOS_BMP085_ReadADC(void);
extern int16_t PIOS_BMP085_GetTemperature(void);
extern int32_t PIOS_BMP085_GetPressure(void);
extern int32_t PIOS_BMP085_Test();