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a2d8544931
to make the flight code compile again. Needs careful review, particularly all the fixes for the signed vs unsigned comparisons. +review OPReview-459
335 lines
8.8 KiB
C
335 lines
8.8 KiB
C
/**
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******************************************************************************
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* @addtogroup PIOS PIOS Core hardware abstraction layer
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* @{
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* @addtogroup PIOS_BMP085 BMP085 Functions
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* @brief Hardware functions to deal with the altitude pressure sensor
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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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*
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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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#include "pios.h"
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#ifdef PIOS_INCLUDE_BMP085
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#ifndef PIOS_INCLUDE_EXTI
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#error PIOS_EXTI must be included in the project
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#endif /* PIOS_INCLUDE_EXTI */
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/* Glocal Variables */
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ConversionTypeTypeDef CurrentRead;
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/* Local Variables */
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static BMP085CalibDataTypeDef CalibData;
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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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#ifdef PIOS_BMP085_HAS_GPIOS
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#if defined(PIOS_INCLUDE_FREERTOS)
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xSemaphoreHandle PIOS_BMP085_EOC;
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#else
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int32_t PIOS_BMP085_EOC;
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#endif
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void PIOS_BMP085_EndOfConversion (void)
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{
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#if defined(PIOS_INCLUDE_FREERTOS)
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portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
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#endif
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/* Read the ADC Value */
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#if defined(PIOS_INCLUDE_FREERTOS)
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xSemaphoreGiveFromISR(PIOS_BMP085_EOC, &xHigherPriorityTaskWoken);
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#else
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PIOS_BMP085_EOC=1;
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#endif
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#if defined(PIOS_INCLUDE_FREERTOS)
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/* Yield From ISR if needed */
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portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
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#endif
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}
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static const struct pios_exti_cfg pios_exti_bmp085_cfg __exti_config = {
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.vector = PIOS_BMP085_EndOfConversion,
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.line = PIOS_BMP085_EOC_EXTI_LINE,
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.pin = {
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.gpio = PIOS_BMP085_EOC_GPIO_PORT,
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.init = {
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.GPIO_Pin = PIOS_BMP085_EOC_GPIO_PIN,
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.GPIO_Mode = GPIO_Mode_IN_FLOATING,
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},
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},
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.irq = {
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.init = {
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.NVIC_IRQChannel = PIOS_BMP085_EOC_IRQn,
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.NVIC_IRQChannelPreemptionPriority = PIOS_BMP085_EOC_PRIO,
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.NVIC_IRQChannelSubPriority = 0,
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.NVIC_IRQChannelCmd = ENABLE,
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},
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},
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.exti = {
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.init = {
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.EXTI_Line = PIOS_BMP085_EOC_EXTI_LINE,
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.EXTI_Mode = EXTI_Mode_Interrupt,
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.EXTI_Trigger = EXTI_Trigger_Rising,
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.EXTI_LineCmd = ENABLE,
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},
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},
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};
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#endif /* PIOS_BMP085_HAS_GPIOS */
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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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#ifdef PIOS_BMP085_HAS_GPIOS
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#if defined(PIOS_INCLUDE_FREERTOS)
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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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#else
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PIOS_BMP085_EOC = 0;
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#endif
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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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if (PIOS_EXTI_Init(&pios_exti_bmp085_cfg)) {
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PIOS_Assert(0);
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}
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/* Configure XCLR pin as push/pull alternate funtion output */
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GPIO_InitTypeDef GPIO_InitStructure;
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GPIO_InitStructure.GPIO_Pin = PIOS_BMP085_XCLR_GPIO_PIN;
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
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GPIO_Init(PIOS_BMP085_XCLR_GPIO_PORT, &GPIO_InitStructure);
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#endif /* PIOS_BMP085_HAS_GPIOS */
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/* Read all 22 bytes of calibration data in one transfer, this is a very optimized way of doing things */
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uint8_t Data[BMP085_CALIB_LEN];
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while (PIOS_BMP085_Read(BMP085_CALIB_ADDR, Data, BMP085_CALIB_LEN) != 0)
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continue;
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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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}
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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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while (PIOS_BMP085_Write(BMP085_CTRL_ADDR, BMP085_TEMP_ADDR) != 0)
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continue;
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} else if (Type == PressureConv) {
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while (PIOS_BMP085_Write(BMP085_CTRL_ADDR, BMP085_PRES_ADDR) != 0)
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continue;
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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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while (PIOS_BMP085_Read(BMP085_ADC_MSB, Data, 2) != 0)
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continue;
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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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while (PIOS_BMP085_Read(BMP085_ADC_MSB, Data, 3) != 0)
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continue;
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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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bool PIOS_BMP085_Read(uint8_t address, uint8_t * buffer, uint8_t len)
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{
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uint8_t addr_buffer[] = {
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address,
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};
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const struct pios_i2c_txn txn_list[] = {
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{
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.info = __func__,
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.addr = BMP085_I2C_ADDR,
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.rw = PIOS_I2C_TXN_WRITE,
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.len = sizeof(addr_buffer),
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.buf = addr_buffer,
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}
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,
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{
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.info = __func__,
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.addr = BMP085_I2C_ADDR,
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.rw = PIOS_I2C_TXN_READ,
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.len = len,
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.buf = buffer,
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}
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};
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return PIOS_I2C_Transfer(PIOS_I2C_BMP085_ADAPTER, txn_list, NELEMENTS(txn_list));
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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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bool PIOS_BMP085_Write(uint8_t address, uint8_t buffer)
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{
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uint8_t data[] = {
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address,
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buffer,
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};
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const struct pios_i2c_txn txn_list[] = {
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{
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.info = __func__,
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.addr = BMP085_I2C_ADDR,
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.rw = PIOS_I2C_TXN_WRITE,
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.len = sizeof(data),
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.buf = data,
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}
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,
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};
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return PIOS_I2C_Transfer(PIOS_I2C_BMP085_ADAPTER, txn_list, NELEMENTS(txn_list));
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}
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/**
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* @brief Run self-test operation.
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* \return 0 if self-test failed
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* \return any non-0 number if test passed
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*/
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int32_t PIOS_BMP085_Test()
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{
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// TODO: Is there a better way to test this than just checking that pressure/temperature has changed?
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uint32_t passed = 1;
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uint32_t cur_value = 0;
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cur_value = Temperature;
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PIOS_BMP085_StartADC(TemperatureConv);
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PIOS_DELAY_WaitmS(5);
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PIOS_BMP085_ReadADC();
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if (cur_value == Temperature)
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passed = 0;
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cur_value=Pressure;
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PIOS_BMP085_StartADC(PressureConv);
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PIOS_DELAY_WaitmS(26);
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PIOS_BMP085_ReadADC();
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if (cur_value == Pressure)
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passed = 0;
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return passed;
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}
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#endif /* PIOS_INCLUDE_BMP085 */
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