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ff73ab5a80
Added PIOS_I2C into AHRS code. Added PIOS_HMC5843 Module. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@617 ebee16cc-31ac-478f-84a7-5cbb03baadba
253 lines
7.8 KiB
C
253 lines
7.8 KiB
C
/**
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******************************************************************************
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*
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* @file pios_bmp085.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief BMP085 Pressure Sensor Routines
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* @see The GNU Public License (GPL) Version 3
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* @defgroup PIOS_BMP085 BMP085 Functions
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* @{
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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/* Project Includes */
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#include "pios.h"
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#if defined(PIOS_INCLUDE_BMP085)
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#if !defined(PIOS_INCLUDE_EXTI)
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#error PIOS_EXTI Must be included in the project!
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#endif
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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 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 volatile uint16_t RawTemperature;
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static volatile uint32_t RawPressure;
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static volatile uint32_t Pressure;
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static volatile uint16_t Temperature;
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/**
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* Initialise the BMP085 sensor
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*/
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void PIOS_BMP085_Init(void)
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{
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GPIO_InitTypeDef GPIO_InitStructure;
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EXTI_InitTypeDef EXTI_InitStructure;
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NVIC_InitTypeDef NVIC_InitStructure;
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/* Enable EOC GPIO clock */
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RCC_APB2PeriphClockCmd(PIOS_BMP085_EOC_CLK | RCC_APB2Periph_AFIO, ENABLE);
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/* Configure EOC pin as input floating */
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GPIO_InitStructure.GPIO_Pin = PIOS_BMP085_EOC_GPIO_PIN;
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
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GPIO_Init(PIOS_BMP085_EOC_GPIO_PORT, &GPIO_InitStructure);
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/* Configure the End Of Conversion (EOC) interrupt */
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GPIO_EXTILineConfig(PIOS_BMP085_EOC_PORT_SOURCE, PIOS_BMP085_EOC_PIN_SOURCE);
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EXTI_InitStructure.EXTI_Line = PIOS_BMP085_EOC_EXTI_LINE;
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EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
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EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising;
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EXTI_InitStructure.EXTI_LineCmd = ENABLE;
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EXTI_Init(&EXTI_InitStructure);
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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 = 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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/* Read all 22 bytes of calibration data in one transfer, this is a very optimised way of doing things */
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uint8_t Data[BMP085_CALIB_LEN];
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PIOS_BMP085_Read(BMP085_CALIB_ADDR, Data, BMP085_CALIB_LEN);
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/* Parameters AC1-AC6 */
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CalibData.AC1 = (Data[0] << 8) | Data[1];
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CalibData.AC2 = (Data[2] << 8) | Data[3];
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CalibData.AC3 = (Data[4] << 8) | Data[5];
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CalibData.AC4 = (Data[6] << 8) | Data[7];
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CalibData.AC5 = (Data[8] << 8) | Data[9];
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CalibData.AC6 = (Data[10] << 8) | Data[11];
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/* Parameters B1, B2 */
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CalibData.B1 = (Data[12] << 8) | Data[13];
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CalibData.B2 = (Data[14] << 8) | Data[15];
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/* Parameters MB, MC, MD */
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CalibData.MB = (Data[16] << 8) | Data[17];
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CalibData.MC = (Data[18] << 8) | Data[19];
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CalibData.MD = (Data[20] << 8) | Data[21];
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/* Semaphore used by ISR to signal End-Of-Conversion */
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vSemaphoreCreateBinary(PIOS_BMP085_EOC);
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/* Must start off empty so that first transfer waits for EOC */
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xSemaphoreTake(PIOS_BMP085_EOC, portMAX_DELAY);
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}
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/**
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* Start the ADC conversion
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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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void PIOS_BMP085_StartADC(ConversionTypeTypeDef Type)
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{
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/* Start the conversion */
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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 == PressureConv) {
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PIOS_BMP085_Write(BMP085_CTRL_ADDR, BMP085_PRES_ADDR);
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}
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CurrentRead = Type;
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}
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/**
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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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void PIOS_BMP085_ReadADC(void)
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{
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uint8_t Data[3];
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Data[0] = 0;
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Data[1] = 0;
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Data[2] = 0;
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/* Read and store the 16bit result */
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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 >> 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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} 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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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) << BMP085_OVERSAMPLING) + 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 = ((uint32_t)RawPressure - B3) * (50000 >> BMP085_OVERSAMPLING);
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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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}
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}
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int16_t PIOS_BMP085_GetTemperature(void)
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{
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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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* \param[in] address BMP085 register address (depends on size)
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* \param[out] buffer destination buffer
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* \param[in] len number of bytes which should be read
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* \return 0 if operation was successful
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* \return -1 if error during I2C transfer
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* \return -2 if BMP085 blocked by another task (retry it!)
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* \return -4 if invalid length
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*/
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int32_t PIOS_BMP085_Read(uint8_t address, uint8_t *buffer, uint8_t len)
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{
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/* Try to get the I2C peripheral */
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if(PIOS_I2C_LockDevice(0) < 0) {
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/* Request a retry */
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return -2;
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}
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/* Send I2C address and EEPROM address */
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/* To avoid issues copy address into temporary buffer */
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uint8_t addr_buffer[1] = {(uint8_t)address};
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int32_t error = PIOS_I2C_Transfer(I2C_Write_WithoutStop, BMP085_I2C_ADDR, addr_buffer, 1);
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/* Now receive byte(s) */
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if(!error) {
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error = PIOS_I2C_Transfer(I2C_Read, BMP085_I2C_ADDR, buffer, len);
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}
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/* Release I2C peripheral */
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PIOS_I2C_UnlockDevice();
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/* Return error status */
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return error < 0 ? -1 : 0;
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}
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/**
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* Writes one or more bytes to the BMP085
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* \param[in] address Register address
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* \param[in] buffer source buffer
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* \return 0 if operation was successful
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* \return -1 if error during I2C transfer
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* \return -2 if BMP085 blocked by another task (retry it!)
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*/
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int32_t PIOS_BMP085_Write(uint8_t address, uint8_t buffer)
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{
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/* Try to get the IIC peripheral */
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if(PIOS_I2C_LockDevice(0) < 0) {
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/* Request a retry */
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return -2;
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}
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/* Send I2C address and data */
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uint8_t WriteBuffer[2];
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WriteBuffer[0] = address;
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WriteBuffer[1] = buffer;
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int32_t error = PIOS_I2C_Transfer(I2C_Write, BMP085_I2C_ADDR, WriteBuffer, 2);
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/* Release I2C peripheral */
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PIOS_I2C_UnlockDevice();
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/* Return error status */
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return error < 0 ? -1 : 0;
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}
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#endif
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