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Code Issues Releases Activity

BMP085 Sensor now working completely.

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@261 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
gussy 2010-03-06 14:20:42 +00:00 committed by gussy
parent fd889b918b
commit cafed0a148
2 changed files with 25 additions and 23 deletions
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9
flight/OpenPilot/System/openpilot.c
View File

@ -34,6 +34,9 @@
/* Local Variables */
static uint8_t sdcard_available;
FILEINFO File;
char Buffer[1024];
uint32_t Cache;
/* Function Prototypes */
static void TaskTick(void *pvParameters);
@ -102,7 +105,7 @@ int main()
/* Create a FreeRTOS task */
xTaskCreate(TaskTick, (signed portCHAR *)"Test", configMINIMAL_STACK_SIZE , NULL, 1, NULL);
xTaskCreate(TaskTesting, (signed portCHAR *)"TaskTesting", configMINIMAL_STACK_SIZE , NULL, 1, NULL);
xTaskCreate(TaskTesting, (signed portCHAR *)"TaskTesting", configMINIMAL_STACK_SIZE , NULL, 4, NULL);
//xTaskCreate(TaskServos, (signed portCHAR *)"Servos", configMINIMAL_STACK_SIZE , NULL, 4, NULL);
//xTaskCreate(TaskSDCard, (signed portCHAR *)"SDCard", configMINIMAL_STACK_SIZE, NULL, (tskIDLE_PRIORITY + 2), NULL);
@ -148,12 +151,12 @@ static void TaskTesting(void *pvParameters)
PIOS_BMP085_StartADC(TemperatureConv);
xSemaphoreTake(PIOS_BMP085_EOC, xTimeout);
PIOS_BMP085_ReadADC();
PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "Temp: %u\r", PIOS_BMP085_GetTemperature());
PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "%u\r", PIOS_BMP085_GetTemperature());
PIOS_BMP085_StartADC(PressureConv);
xSemaphoreTake(PIOS_BMP085_EOC, xTimeout);
PIOS_BMP085_ReadADC();
PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "Pressure: %u\r", PIOS_BMP085_GetPressure());
PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "%u\r", PIOS_BMP085_GetPressure());
vTaskDelay(xDelay);

39
flight/PiOS/Common/pios_bmp085.c
View File

@ -159,6 +159,9 @@ void PIOS_BMP085_StartADC(ConversionTypeTypeDef Type)
void PIOS_BMP085_ReadADC(void)
{
uint8_t Data[3];
Data[0] = 0;
Data[1] = 0;
Data[2] = 0;
/* Read and store the 16bit result */
if(CurrentRead == TemperatureConv) {
@ -166,37 +169,33 @@ void PIOS_BMP085_ReadADC(void)
PIOS_BMP085_Read(BMP085_ADC_MSB, Data, 2);
RawTemperature = ((Data[0] << 8) | Data[1]);
X1 = (RawTemperature - CalibData.AC6) * (CalibData.AC5 / pow(2, 15));
X2 = ((int32_t)CalibData.MC * pow(2, 11)) / (X1 + CalibData.MD);
X1 = (RawTemperature - CalibData.AC6) * CalibData.AC5 >> 15;
X2 = ((int32_t)CalibData.MC << 11) / (X1 + CalibData.MD);
B5 = X1 + X2;
Temperature = (B5 + 8) >> 4;
} else {
/* Read the pressure conversion */
PIOS_BMP085_Read(BMP085_ADC_MSB, Data, 3);
RawPressure = ((Data[0] << 16) | (Data[1] << 8) | Data[2]) >> (8 - BMP085_OVERSAMPLING);
PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "UP = %d\r", RawPressure);
B6 = B5 - 4000;
X1 = (CalibData.B2 * (B6 * (B6 / pow(2, 12)))) / pow(2, 11);
X2 = CalibData.AC2 * (B6 / pow(2, 11));
X1 = (CalibData.B2 * (B6 * B6 >> 12)) >> 11;
X2 = CalibData.AC2 * B6 >> 11;
X3 = X1 + X2;
B3 = (((int32_t)CalibData.AC1 * 4 + X3) << (BMP085_OVERSAMPLING + 2)) / 2;
X1 = (CalibData.AC3 * B6) / pow(2, 13);
X2 = (CalibData.B1 * (B6 * (B6 / pow(2, 12)))) / pow(2, 16);
X3 = ((X1 + X2) + 2) / 4;
B4 = (CalibData.AC4 * (uint32_t)(X3 + 32768)) / pow(2, 15);
B7 = (RawPressure - B3) * 50000;
B3 = ((((int32_t) CalibData.AC1 * 4 + X3) << BMP085_OVERSAMPLING) + 2) >> 2;
X1 = CalibData.AC3 * B6 >> 13;
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 >> BMP085_OVERSAMPLING);
P = B7 < 0x80000000 ? (B7 * 2) / B4 : (B7 / B4) * 2;
//PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "P = %d\r", P);
X1 = (P / pow(2, 8)) * (P / pow(2, 8));
//PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "X1 = %d\r", X1);
X1 = (X1 * 3038) / pow(2, 16);
//PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "X1 = %d\r", X1);
X2 = (-7357 * P) / pow(2, 16);
//PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "X2 = %d\r", X2);
Pressure = P + ((X1 + X2 + 3791) / pow(2, 4));
//Altitude = 44330 * (1 - (pow((101300/BMP085_P0), (1/5.255))));
X1 = (P >> 8) * (P >> 8);
X1 = (X1 * 3038) >> 16;
X2 = (-7357 * P) >> 16;
Pressure = P + ((X1 + X2 + 3791) >> 4);
//Altitude = 44330 * (1 - (pow((Pressure/BMP085_P0), (1/5.255))));
//PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "Altitude = %u\r", Altitude);
}
}