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Updates to BMP085 readings.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@260 ebee16cc-31ac-478f-84a7-5cbb03baadba
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gussy
gussy
parent
7cd8f93d5c
commit
fd889b918b
@ -80,6 +80,7 @@
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#define PIOS_BMP085_EOC_CLK RCC_APB2Periph_GPIOC
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#define PIOS_BMP085_EOC_EXTI_LINE EXTI_Line15
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#define PIOS_BMP085_EOC_IRQn EXTI15_10_IRQn
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#define PIOS_BMP085_EOC_PRIO PIOS_IRQ_PRIO_HIGH
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//-------------------------
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// PIOS_USART1 (TELEM)
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@ -33,9 +33,6 @@
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/* Global Variables */
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/* Local Variables */
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#define STRING_MAX 1024
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static uint8_t line_buffer[STRING_MAX];
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static uint16_t line_ix;
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static uint8_t sdcard_available;
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/* Function Prototypes */
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@ -105,7 +102,7 @@ int main()
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/* Create a FreeRTOS task */
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xTaskCreate(TaskTick, (signed portCHAR *)"Test", configMINIMAL_STACK_SIZE , NULL, 1, NULL);
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xTaskCreate(TaskTesting, (signed portCHAR *)"TaskTesting", configMINIMAL_STACK_SIZE , NULL, 4, NULL);
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xTaskCreate(TaskTesting, (signed portCHAR *)"TaskTesting", configMINIMAL_STACK_SIZE , NULL, 1, NULL);
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//xTaskCreate(TaskServos, (signed portCHAR *)"Servos", configMINIMAL_STACK_SIZE , NULL, 4, NULL);
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//xTaskCreate(TaskSDCard, (signed portCHAR *)"SDCard", configMINIMAL_STACK_SIZE, NULL, (tskIDLE_PRIORITY + 2), NULL);
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@ -143,16 +140,29 @@ static void TaskTick(void *pvParameters)
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static void TaskTesting(void *pvParameters)
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{
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portTickType xDelay = 1000 / portTICK_RATE_MS;
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portTickType xTimeout = 1 / portTICK_RATE_MS;
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portTickType xTimeout = 10 / portTICK_RATE_MS;
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for(;;)
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{
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/* This blocks the task until the BMP085 EOC */
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PIOS_BMP085_StartADC(TemperatureConv);
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xSemaphoreTake(PIOS_BMP085_EOC, xTimeout);
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PIOS_BMP085_ReadADC();
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PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "Temp: %u\r", PIOS_BMP085_GetTemperature());
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PIOS_BMP085_StartADC(PressureConv);
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xSemaphoreTake(PIOS_BMP085_EOC, xTimeout);
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PIOS_BMP085_ReadADC();
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PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "Pressure: %u\r", PIOS_BMP085_GetPressure());
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vTaskDelay(xDelay);
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/* This blocks the task until there is something on the buffer */
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xSemaphoreTake(PIOS_USART1_Buffer, portMAX_DELAY);
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/*xSemaphoreTake(PIOS_USART1_Buffer, portMAX_DELAY);
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int32_t len = PIOS_COM_ReceiveBufferUsed(COM_USART1);
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for(int32_t i = 0; i < len; i++) {
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PIOS_COM_SendFormattedString(COM_DEBUG_USART, ">%c\r", PIOS_COM_ReceiveBuffer(COM_USART1));
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}
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}*/
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//int32_t state = PIOS_USB_CableConnected();
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//PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "State: %d\r", state);
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@ -47,12 +47,19 @@ Example of how to use this module:
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/* Glocal Variables */
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ConversionTypeTypeDef CurrentRead;
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xSemaphoreHandle PIOS_BMP085_EOC;
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/* Local Variables */
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static BMP085CalibDataTypeDef CalibData;
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static volatile uint32_t RawPressure;
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static volatile uint32_t RawTemperature;
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static portBASE_TYPE xHigherPriorityTaskWoken;
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/* Straight from the datasheet */
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static int32_t X1, X2, X3, B3, B5, B6, P;
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static uint32_t B4, B7;
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static uint16_t RawTemperature;
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static uint32_t RawPressure;
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static uint32_t Pressure;
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static uint16_t Temperature;
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static uint32_t Altitude;
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/**
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@ -82,8 +89,8 @@ void PIOS_BMP085_Init(void)
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/* Enable and set EOC EXTI Interrupt to the lowest priority */
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NVIC_InitStructure.NVIC_IRQChannel = PIOS_BMP085_EOC_IRQn;
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NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 15;
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NVIC_InitStructure.NVIC_IRQChannelSubPriority = 15;
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NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = PIOS_BMP085_EOC_PRIO;
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NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
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NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
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NVIC_Init(&NVIC_InitStructure);
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@ -121,6 +128,8 @@ void PIOS_BMP085_Init(void)
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PIOS_COM_SendFormattedString(COM_DEBUG_USART, "MB = %d\r", CalibData.MB);
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PIOS_COM_SendFormattedString(COM_DEBUG_USART, "MC = %d\r", CalibData.MC);
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PIOS_COM_SendFormattedString(COM_DEBUG_USART, "MD = %d\r", CalibData.MD);
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vSemaphoreCreateBinary(PIOS_BMP085_EOC);
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}
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@ -132,9 +141,9 @@ void PIOS_BMP085_Init(void)
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void PIOS_BMP085_StartADC(ConversionTypeTypeDef Type)
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{
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/* Start the conversion */
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if(Type == Temperature) {
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if(Type == TemperatureConv) {
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PIOS_BMP085_Write(BMP085_CTRL_ADDR, BMP085_TEMP_ADDR);
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} else if(Type == Pressure) {
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} else if(Type == PressureConv) {
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PIOS_BMP085_Write(BMP085_CTRL_ADDR, BMP085_PRES_ADDR);
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}
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@ -143,7 +152,7 @@ void PIOS_BMP085_StartADC(ConversionTypeTypeDef Type)
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/**
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* Read the ADC conversion value (once ADC converion has completed)
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* Read the ADC conversion value (once ADC conversion has completed)
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* \param[in] PresOrTemp BMP085_PRES_ADDR or BMP085_TEMP_ADDR
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* \return Raw ADC value
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*/
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@ -152,68 +161,55 @@ void PIOS_BMP085_ReadADC(void)
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uint8_t Data[3];
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/* Read and store the 16bit result */
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if(CurrentRead == Temperature) {
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if(CurrentRead == TemperatureConv) {
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/* Read the temperature conversion */
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PIOS_BMP085_Read(BMP085_ADC_MSB, Data, 2);
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RawTemperature = ((Data[0] << 8) | Data[1]);
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X1 = (RawTemperature - CalibData.AC6) * (CalibData.AC5 / pow(2, 15));
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X2 = ((int32_t)CalibData.MC * pow(2, 11)) / (X1 + CalibData.MD);
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B5 = X1 + X2;
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Temperature = (B5 + 8) >> 4;
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} else {
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/* Read the pressure conversion */
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PIOS_BMP085_Read(BMP085_ADC_MSB, Data, 3);
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RawPressure = ((Data[0] << 16) | (Data[1] << 8) | Data[2]) >> (8 - BMP085_OVERSAMPLING);
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PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "UP = %d\r", RawPressure);
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B6 = B5 - 4000;
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X1 = (CalibData.B2 * (B6 * (B6 / pow(2, 12)))) / pow(2, 11);
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X2 = CalibData.AC2 * (B6 / pow(2, 11));
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X3 = X1 + X2;
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B3 = (((int32_t)CalibData.AC1 * 4 + X3) << (BMP085_OVERSAMPLING + 2)) / 2;
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X1 = (CalibData.AC3 * B6) / pow(2, 13);
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X2 = (CalibData.B1 * (B6 * (B6 / pow(2, 12)))) / pow(2, 16);
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X3 = ((X1 + X2) + 2) / 4;
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B4 = (CalibData.AC4 * (uint32_t)(X3 + 32768)) / pow(2, 15);
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B7 = (RawPressure - B3) * 50000;
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P = B7 < 0x80000000 ? (B7 * 2) / B4 : (B7 / B4) * 2;
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//PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "P = %d\r", P);
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X1 = (P / pow(2, 8)) * (P / pow(2, 8));
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//PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "X1 = %d\r", X1);
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X1 = (X1 * 3038) / pow(2, 16);
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//PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "X1 = %d\r", X1);
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X2 = (-7357 * P) / pow(2, 16);
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//PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "X2 = %d\r", X2);
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Pressure = P + ((X1 + X2 + 3791) / pow(2, 4));
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//Altitude = 44330 * (1 - (pow((101300/BMP085_P0), (1/5.255))));
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//PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "Altitude = %u\r", Altitude);
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}
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}
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/**
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* Get the converted raw values
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* \param[out] Pressure Pointer to the pressure variable
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* \param[out] Altitude Pointer to the altitude variable
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* \param[out] Temperature Pointer to the temperature variable
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*/
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void PIOS_BMP085_GetValues(uint16_t *Pressure, uint16_t *Altitude, uint16_t *Temperature)
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int16_t PIOS_BMP085_GetTemperature(void)
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{
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uint16_t Pre = 0;
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uint16_t Alt = 0;
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uint16_t Temp = 0;
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/* Straight from the datasheet */
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int32_t X1, X2, X3, B3, B5, B6, P;
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uint32_t B4, B7;
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/* Convert Temperature */
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X1 = (RawTemperature - CalibData.AC6) * (CalibData.AC5 >> 15);
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X2 = ((int32_t) CalibData.MC << 11) / (X1 + CalibData.MD);
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B5 = X1 + X2;
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//Temperature = (B5 + 8) >> 4;
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Temp = (B5 + 8) >> 4;
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PIOS_COM_SendFormattedString(COM_DEBUG_USART, "UT = %u\r", RawTemperature);
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PIOS_COM_SendFormattedString(COM_DEBUG_USART, "X1 = %u\r", X1);
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PIOS_COM_SendFormattedString(COM_DEBUG_USART, "X2 = %u\r", X2);
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/* Calculate Pressure */
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B6 = B5 - 4000;
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X1 = (CalibData.B2 * (B6 * B6 >> 12)) >> 11;
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X2 = CalibData.AC2 * B6 >> 11;
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X3 = X1 + X2;
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B3 = ((int32_t) CalibData.AC1 * 4 + X3 + 2) >> 2;
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X1 = CalibData.AC3 * B6 >> 13;
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X2 = (CalibData.B1 * (B6 * B6 >> 12)) >> 16;
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X3 = ((X1 + X2) + 2) >> 2;
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B4 = (CalibData.AC4 * (uint32_t) (X3 + 32768)) >> 15;
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B7 = (RawPressure - B3) * 50000;
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P = B7 < 0x80000000 ? (B7 * 2) / B4 : (B7 / B4) * 2;
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X1 = (P >> 8) * (P >> 8);
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X1 = (X1 * 3038) >> 16;
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X2 = (-7357 * P) >> 16;
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//Pressure = P + ((X1 + X2 + 3791) >> 4);
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Pre = P + ((X1 + X2 + 3791) >> 4);
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/* Calculate Altitude */
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//Altitude = (uint16_t) 44330 * (1 - (pow((*Pressure/BMP085_P0), (1/5.255))));
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PIOS_COM_SendFormattedString(COM_DEBUG_USART, "T = %u P = %u A = %u\r", Temp, Pre, Alt);
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return Temperature;
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}
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int32_t PIOS_BMP085_GetPressure(void)
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{
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return Pressure;
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}
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/**
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* Reads one or more bytes into a buffer
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@ -299,7 +295,8 @@ void EXTI15_10_IRQHandler(void)
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{
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if(EXTI_GetITStatus(PIOS_BMP085_EOC_EXTI_LINE) != RESET) {
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/* Read the ADC Value */
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PIOS_BMP085_ReadADC();
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//PIOS_BMP085_ReadADC();
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xSemaphoreGiveFromISR(PIOS_BMP085_EOC, &xHigherPriorityTaskWoken);
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/* Clear the EOC EXTI line pending bit */
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EXTI_ClearITPendingBit(PIOS_BMP085_EOC_EXTI_LINE);
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@ -101,6 +101,8 @@ int32_t PIOS_USB_HID_Init(uint32_t mode)
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return -1;
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}
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vSemaphoreCreateBinary(PIOS_HID_Buffer);
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return 0; /* No error */
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}
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@ -31,11 +31,10 @@
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#define BMP085_CALIB_ADDR 0xAA
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#define BMP085_CALIB_LEN 22
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#define BMP085_CTRL_ADDR 0xF4
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#define BMP085_OVERSAMPLING 0
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#define BMP085_OVERSAMPLING 2
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#define BMP085_PRES_ADDR (0x34 + (BMP085_OVERSAMPLING << 6))
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#define BMP085_TEMP_ADDR 0x2E
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#define BMP085_ADC_MSB 0xF6
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#define BMP085_ADC_LSB 0xF7
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#define BMP085_P0 101325
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/* Local Types */
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@ -54,16 +53,20 @@ typedef struct {
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} BMP085CalibDataTypeDef;
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typedef enum {
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Pressure,
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Temperature
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PressureConv,
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TemperatureConv
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} ConversionTypeTypeDef;
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/* Global Variables */
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extern xSemaphoreHandle PIOS_BMP085_EOC;
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/* Public Functions */
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void PIOS_BMP085_Init(void);
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void PIOS_BMP085_StartADC(ConversionTypeTypeDef Type);
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void PIOS_BMP085_ReadADC(void);
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void PIOS_BMP085_GetValues(uint16_t *Pressure, uint16_t *Altitude, uint16_t *Temperature);
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int32_t PIOS_BMP085_Read(uint8_t address, uint8_t *buffer, uint8_t len);
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int32_t PIOS_BMP085_Write(uint8_t address, uint8_t buffer);
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extern void PIOS_BMP085_Init(void);
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extern void PIOS_BMP085_StartADC(ConversionTypeTypeDef Type);
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extern void PIOS_BMP085_ReadADC(void);
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extern int16_t PIOS_BMP085_GetTemperature(void);
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extern int32_t PIOS_BMP085_GetPressure(void);
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extern int32_t PIOS_BMP085_Read(uint8_t address, uint8_t *buffer, uint8_t len);
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extern int32_t PIOS_BMP085_Write(uint8_t address, uint8_t buffer);
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#endif /* PIOS_BMP085_H */
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