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e892dcb033
Since the EXTI and NVIC init routines automatically enable the IRQ when it is configured, it is possible for the EOC interrupt to fire immediately upon configuring the IRQ. Since the handler for the EOC interrupt (EXTI15_10_IRQHandler) does a xSemaphoreGiveFromISR, it is important to have the semaphore initialized prior to enabling the interrupt. Also, added missing include for altitude module. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@654 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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/* 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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/* 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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/* 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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}
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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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