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LibrePilot/flight/pios/common/pios_bmp280.c

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/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_BMP280 BMP280 Functions
* @brief Hardware functions to deal with the altitude pressure sensor
* @{
*
* @file pios_bmp280.c
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2017.
* dRonin, http://dRonin.org/, Copyright (C) 2015-2016
* Tau Labs, http://taulabs.org, Copyright (C) 2012-2014
* @brief BMP280 Pressure Sensor Routines
* @see The GNU Public License (GPL) Version 3
*
******************************************************************************/
/*
* This program 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 3 of the License, or
* (at your option) any later version.
*
* This program 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 this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "pios.h"
#ifdef PIOS_INCLUDE_BMP280
#include <pios_bmp280.h>
#include <pios_i2c.h>
#define BMP280_I2C_ADDR 0x76
#define BMP280_ID 0xD0
#define BMP280_RESET 0xE0
#define BMP280_STATUS 0xF3
#define BMP280_CTRL_MEAS 0xF4
#define BMP280_CONFIG 0xF5
#define BMP280_PRESS_MSB 0xF7
#define BMP280_PRESS_LSB 0xF8
#define BMP280_PRESS_XLSB 0xF9
#define BMP280_TEMP_MSB 0xFA
#define BMP280_TEMP_LSB 0xFB
#define BMP280_TEMP_XLSB 0xFC
#define BMP280_CAL_ADDR 0x88
#define BMP280_P0 101.3250f
#define BMP280_MODE_CONTINUOUS 0x03
#define BMP280_MODE_STANDBY 0x00
#define BMP280_MODE_FORCED 0x01
#define BMP280_T_STANDBY 500
#define BMP280_DEFAULT_CHIP_ID 0x58
#define BMP280_RESET_MAGIC 0xB6
#define BMP280_PRESSURE_TEMPERATURE_CALIB_DATA_LENGTH 24
#define BMP280_DATA_FRAME_SIZE 6
#define PIOS_BMP280_I2C_RETRIES 5
#define PIOS_BMP280_I2C_CONFIG_RETRY_DELAY 1000000
enum pios_bmp280_dev_magic {
PIOS_BMP280_DEV_MAGIC = 0x42323830
};
struct pios_bmp280_dev {
enum pios_bmp280_dev_magic magic;
uintptr_t i2c_id;
bool sensorIsAlive;
uint32_t conversionDelayUs;
uint32_t configTime;
uint32_t conversionStart;
uint8_t oversampling;
// compensation parameters
uint16_t digT1;
int16_t digT2;
int16_t digT3;
uint16_t digP1;
int16_t digP2;
int16_t digP3;
int16_t digP4;
int16_t digP5;
int16_t digP6;
int16_t digP7;
int16_t digP8;
int16_t digP9;
PIOS_SENSORS_1Axis_SensorsWithTemp results;
};
static int32_t PIOS_BMP280_Read(uintptr_t i2c_id, uint8_t address, uint8_t *buffer, uint8_t len);
static int32_t PIOS_BMP280_Write(uintptr_t i2c_id, uint8_t address, uint8_t buffer);
static int32_t PIOS_BMP280_Configure(struct pios_bmp280_dev *dev);
static int32_t PIOS_BMP280_ReadPTCompensated(struct pios_bmp280_dev *dev,
uint32_t *compensatedPressure,
int32_t *compensatedTemperature);
// sensor driver interface
static bool PIOS_BMP280_driver_Test(uintptr_t context);
static void PIOS_BMP280_driver_Reset(uintptr_t context);
static void PIOS_BMP280_driver_get_scale(float *scales, uint8_t size, uintptr_t context);
static void PIOS_BMP280_driver_fetch(void *, uint8_t size, uintptr_t context);
static bool PIOS_BMP280_driver_poll(uintptr_t context);
const PIOS_SENSORS_Driver PIOS_BMP280_Driver = {
.test = PIOS_BMP280_driver_Test,
.poll = PIOS_BMP280_driver_poll,
.fetch = PIOS_BMP280_driver_fetch,
.reset = PIOS_BMP280_driver_Reset,
.get_queue = NULL,
.get_scale = PIOS_BMP280_driver_get_scale,
.is_polled = true,
};
static bool PIOS_BMP280_Validate(struct pios_bmp280_dev *dev)
{
return dev && (dev->magic == PIOS_BMP280_DEV_MAGIC);
}
/**
* Initialise the BMP280 sensor
*/
void PIOS_BMP280_Init(const struct pios_bmp280_cfg *cfg, uint32_t i2c_device)
{
struct pios_bmp280_dev *dev = (struct pios_bmp280_dev *)pios_malloc(sizeof(*dev));
PIOS_Assert(dev);
dev->magic = PIOS_BMP280_DEV_MAGIC;
dev->i2c_id = i2c_device;
dev->sensorIsAlive = false;
dev->oversampling = cfg->oversampling;
switch (cfg->oversampling) {
case BMP280_STANDARD_RESOLUTION:
dev->conversionDelayUs = 13300 + BMP280_T_STANDBY;
break;
case BMP280_HIGH_RESOLUTION:
dev->conversionDelayUs = 22500 + BMP280_T_STANDBY;
break;
default:
case BMP280_ULTRA_HIGH_RESOLUTION:
dev->conversionDelayUs = 43200 + BMP280_T_STANDBY;
break;
}
PIOS_BMP280_Configure(dev);
PIOS_SENSORS_Register(&PIOS_BMP280_Driver, PIOS_SENSORS_TYPE_1AXIS_BARO, (uintptr_t)dev);
}
static int32_t PIOS_BMP280_Configure(struct pios_bmp280_dev *dev)
{
// read chip id?
uint8_t chip_id;
if (dev->sensorIsAlive) {
return 0;
}
if (PIOS_DELAY_DiffuS(dev->configTime) < PIOS_BMP280_I2C_CONFIG_RETRY_DELAY) { // Do not reinitialize too often
return -1;
}
dev->configTime = PIOS_DELAY_GetRaw();
dev->sensorIsAlive = (PIOS_BMP280_Read(dev->i2c_id, BMP280_ID, &chip_id, sizeof(chip_id)) == 0);
if (!dev->sensorIsAlive) {
return -1;
}
if (chip_id != BMP280_DEFAULT_CHIP_ID) {
return -2;
}
uint8_t data[BMP280_PRESSURE_TEMPERATURE_CALIB_DATA_LENGTH];
dev->sensorIsAlive = (PIOS_BMP280_Read(dev->i2c_id, BMP280_CAL_ADDR, data, BMP280_PRESSURE_TEMPERATURE_CALIB_DATA_LENGTH) == 0);
if (!dev->sensorIsAlive) {
return -1;
}
dev->digT1 = (data[1] << 8) | data[0];
dev->digT2 = (data[3] << 8) | data[2];
dev->digT3 = (data[5] << 8) | data[4];
dev->digP1 = (data[7] << 8) | data[6];
dev->digP2 = (data[9] << 8) | data[8];
dev->digP3 = (data[11] << 8) | data[10];
dev->digP4 = (data[13] << 8) | data[12];
dev->digP5 = (data[15] << 8) | data[14];
dev->digP6 = (data[17] << 8) | data[16];
dev->digP7 = (data[19] << 8) | data[18];
dev->digP8 = (data[21] << 8) | data[20];
dev->digP9 = (data[23] << 8) | data[22];
dev->sensorIsAlive = (PIOS_BMP280_Write(dev->i2c_id, BMP280_RESET, BMP280_RESET_MAGIC) == 0);
if (!dev->sensorIsAlive) {
return -1;
}
/* start conversion */
dev->sensorIsAlive = (PIOS_BMP280_Write(dev->i2c_id, BMP280_CTRL_MEAS, dev->oversampling | BMP280_MODE_CONTINUOUS) == 0);
dev->conversionStart = PIOS_DELAY_GetRaw();
return 0;
}
static int32_t PIOS_BMP280_ReadPTCompensated(struct pios_bmp280_dev *dev,
uint32_t *compensatedPressure,
int32_t *compensatedTemperature)
{
uint8_t data[BMP280_DATA_FRAME_SIZE];
/* Read and store results */
if (PIOS_BMP280_Read(dev->i2c_id, BMP280_PRESS_MSB, data, BMP280_DATA_FRAME_SIZE) != 0) {
return -1;
}
static int32_t T = 0;
int32_t raw_temperature = (int32_t)((((uint32_t)(data[3])) << 12) | (((uint32_t)(data[4])) << 4) | ((uint32_t)data[5] >> 4));
int32_t varT1, varT2;
varT1 = ((((raw_temperature >> 3) - ((int32_t)dev->digT1 << 1))) * ((int32_t)dev->digT2)) >> 11;
varT2 = (((((raw_temperature >> 4) - ((int32_t)dev->digT1)) * ((raw_temperature >> 4) - ((int32_t)dev->digT1))) >> 12) * ((int32_t)dev->digT3)) >> 14;
/* Filter T ourselves */
if (!T) {
T = (varT1 + varT2) * 5;
} else {
T = (varT1 + varT2) + (T * 4) / 5; // IIR Gain=5
}
*compensatedTemperature = T;
int32_t raw_pressure = (int32_t)((((uint32_t)(data[0])) << 12) | (((uint32_t)(data[1])) << 4) | ((uint32_t)data[2] >> 4));
if (raw_pressure == 0x80000) {
return 1;
}
int64_t varP1, varP2, P;
varP1 = ((int64_t)T / 5) - 128000;
varP2 = varP1 * varP1 * (int64_t)dev->digP6;
varP2 = varP2 + ((varP1 * (int64_t)dev->digP5) << 17);
varP2 = varP2 + (((int64_t)dev->digP4) << 35);
varP1 = ((varP1 * varP1 * (int64_t)dev->digP3) >> 8) + ((varP1 * (int64_t)dev->digP2) << 12);
varP1 = (((((int64_t)1) << 47) + varP1)) * ((int64_t)dev->digP1) >> 33;
if (varP1 == 0) {
return 1; // avoid exception caused by division by zero
}
P = 1048576 - raw_pressure;
P = (((P << 31) - varP2) * 3125) / varP1;
varP1 = (((int64_t)dev->digP9) * (P >> 13) * (P >> 13)) >> 25;
varP2 = (((int64_t)dev->digP8) * P) >> 19;
*compensatedPressure = (uint32_t)((P + varP1 + varP2) >> 8) + (((int64_t)dev->digP7) << 4);
return 0;
}
/**
* Reads one or more bytes into a buffer
* \param[in] the command indicating the address to read
* \param[out] buffer destination buffer
* \param[in] len number of bytes which should be read
* \return 0 if operation was successful
* \return -1 if error during I2C transfer
*/
static int32_t PIOS_BMP280_Read(uintptr_t i2c_id, uint8_t address, uint8_t *buffer, uint8_t len)
{
const struct pios_i2c_txn txn_list[] = {
{
.info = __func__,
.addr = BMP280_I2C_ADDR,
.rw = PIOS_I2C_TXN_WRITE,
.len = 1,
.buf = &address,
}
,
{
.info = __func__,
.addr = BMP280_I2C_ADDR,
.rw = PIOS_I2C_TXN_READ,
.len = len,
.buf = buffer,
}
};
for (uint8_t retry = PIOS_BMP280_I2C_RETRIES; retry > 0; --retry) {
if (PIOS_I2C_Transfer(i2c_id, txn_list, NELEMENTS(txn_list)) == 0) {
return 0;
}
}
return -1;
}
static int32_t PIOS_BMP280_Write(uintptr_t i2c_id, uint8_t address, uint8_t value)
{
uint8_t data[] = { address, value };
const struct pios_i2c_txn txn_list[] = {
{
.info = __func__,
.addr = BMP280_I2C_ADDR,
.rw = PIOS_I2C_TXN_WRITE,
.len = sizeof(data),
.buf = data,
}
};
for (uint8_t retry = PIOS_BMP280_I2C_RETRIES; retry > 0; --retry) {
if (PIOS_I2C_Transfer(i2c_id, txn_list, NELEMENTS(txn_list)) == 0) {
return 0;
}
}
return -1;
}
bool PIOS_BMP280_driver_Test(__attribute__((unused)) uintptr_t context)
{
return true;
}
static void PIOS_BMP280_driver_Reset(__attribute__((unused)) uintptr_t context)
{}
static void PIOS_BMP280_driver_get_scale(float *scales, uint8_t size, __attribute__((unused)) uintptr_t context)
{
PIOS_Assert(size > 0);
scales[0] = 1;
}
static void PIOS_BMP280_driver_fetch(void *data, __attribute__((unused)) uint8_t size, uintptr_t context)
{
struct pios_bmp280_dev *dev = (struct pios_bmp280_dev *)context;
PIOS_Assert(PIOS_BMP280_Validate(dev));
PIOS_Assert(data);
memcpy(data, (void *)&dev->results, sizeof(PIOS_SENSORS_1Axis_SensorsWithTemp));
}
static bool PIOS_BMP280_driver_poll(uintptr_t context)
{
struct pios_bmp280_dev *dev = (struct pios_bmp280_dev *)context;
PIOS_Assert(PIOS_BMP280_Validate(dev));
if (!dev->sensorIsAlive) {
if (PIOS_BMP280_Configure(dev) < 0) {
return false;
}
}
if (PIOS_DELAY_DiffuS(dev->conversionStart) < dev->conversionDelayUs) {
return false;
}
dev->conversionStart = PIOS_DELAY_GetRaw();
uint32_t cP = 0;
int32_t cT = 0;
int32_t res = PIOS_BMP280_ReadPTCompensated(dev, &cP, &cT);
dev->sensorIsAlive = (res >= 0);
if (res != 0) {
return false;
}
dev->results.temperature = ((float)cT) / 256.0f / 100.0f;
dev->results.sample = ((float)cP) / 256.0f;
return true;
}
#endif /* PIOS_INCLUDE_BMP280 */
/**
* @}
* @}
*/
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