Add calibration data inside the BMP085 drive.
git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@10830 35acf78f-673a-0410-8e92-d51de3d6d3f4
This commit is contained in:
Theodore Ateba
parent
c5d032c264
commit
aada1a7ea6
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@ -51,22 +51,6 @@
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/* Driver local variables and types. */
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/*==========================================================================*/
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/**
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* @brief Variables for Temperature and Pressure measurement.
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*/
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static int16_t ac1;
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static int16_t ac2;
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static int16_t ac3;
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static int16_t b1;
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static int16_t b2;
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static int16_t mb;
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static int16_t mc;
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static int16_t md;
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static uint16_t ac4;
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static uint16_t ac5;
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static uint16_t ac6;
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static int32_t b5;
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/*==========================================================================*/
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/* Driver local functions. */
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/*==========================================================================*/
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@ -136,17 +120,17 @@ static msg_t bmp085ReadCoefficient(BMP085Driver *devp, uint8_t reg) {
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#endif /* BMP085_SHARED_I2C */
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if (msg == MSG_OK) {
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ac1 = ((rxbuf[ 0] << 8) | rxbuf[ 1]);
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ac2 = ((rxbuf[ 2] << 8) | rxbuf[ 3]);
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ac3 = ((rxbuf[ 4] << 8) | rxbuf[ 5]);
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ac4 = ((rxbuf[ 6] << 8) | rxbuf[ 7]);
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ac5 = ((rxbuf[ 8] << 8) | rxbuf[ 9]);
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ac6 = ((rxbuf[10] << 8) | rxbuf[11]);
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b1 = ((rxbuf[12] << 8) | rxbuf[13]);
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b2 = ((rxbuf[14] << 8) | rxbuf[15]);
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mb = ((rxbuf[16] << 8) | rxbuf[17]);
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mc = ((rxbuf[18] << 8) | rxbuf[19]);
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md = ((rxbuf[20] << 8) | rxbuf[21]);
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devp->calibrationdata.ac1 = ((rxbuf[ 0] << 8) | rxbuf[ 1]);
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devp->calibrationdata.ac2 = ((rxbuf[ 2] << 8) | rxbuf[ 3]);
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devp->calibrationdata.ac3 = ((rxbuf[ 4] << 8) | rxbuf[ 5]);
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devp->calibrationdata.ac4 = ((rxbuf[ 6] << 8) | rxbuf[ 7]);
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devp->calibrationdata.ac5 = ((rxbuf[ 8] << 8) | rxbuf[ 9]);
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devp->calibrationdata.ac6 = ((rxbuf[10] << 8) | rxbuf[11]);
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devp->calibrationdata.b1 = ((rxbuf[12] << 8) | rxbuf[13]);
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devp->calibrationdata.b2 = ((rxbuf[14] << 8) | rxbuf[15]);
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devp->calibrationdata.mb = ((rxbuf[16] << 8) | rxbuf[17]);
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devp->calibrationdata.mc = ((rxbuf[18] << 8) | rxbuf[19]);
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devp->calibrationdata.md = ((rxbuf[20] << 8) | rxbuf[21]);
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}
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return msg;
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@ -155,28 +139,30 @@ static msg_t bmp085ReadCoefficient(BMP085Driver *devp, uint8_t reg) {
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/**
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* @brief Calcul the true temperature.
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*
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* @param[in] devp pointer to the BMP085 device driver sensor
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* @param[in] ut uncompensated temperature
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* @param[out] ctp pointer of the compensated temperature
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*/
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static void calcul_t(int32_t ut, float *ctp) {
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static void calcul_t(BMP085Driver *devp, int32_t ut, float *ctp) {
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int32_t x1, x2;
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/* Converting the temperature value. */
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x1 = ((ut - ac6) * ac5) >> 15;
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x2 = (mc << 11) / (x1 + md);
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b5 = x1 + x2;
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*ctp = (float)((b5 + 8) >> 4)*BMP085_T_RES;
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x1 = ((ut - devp->calibrationdata.ac6) * devp->calibrationdata.ac5) >> 15;
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x2 = (devp->calibrationdata.mc << 11) / (x1 + devp->calibrationdata.md);
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devp->calibrationdata.b5 = x1 + x2;
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*ctp = (float)((devp->calibrationdata.b5 + 8) >> 4)*BMP085_T_RES;
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}
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/**
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* @brief Calcul the true pressure.
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*
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* @param[in] devp pointer to the BMP085 device driver sensor
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* @param[in] up uncompensated pressure
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* @param[in] oss over sampling setting
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* @param[out] cpp pointer of the compensated pressure
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*/
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static void calcul_p(int32_t up, uint8_t oss, float *cpp) {
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static void calcul_p(BMP085Driver *devp, int32_t up, uint8_t oss, float *cpp) {
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int32_t press;
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int32_t x1,x2,x3;
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@ -184,15 +170,15 @@ static void calcul_p(int32_t up, uint8_t oss, float *cpp) {
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uint32_t b4,b7;
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/* Converting the pressure value. */
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b6 = b5 - 4000;
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x1 = (b2 * ((b6 * b6) >> 12)) >> 11;
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x2 = (ac2 * b6) >> 11;
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b6 = devp->calibrationdata.b5 - 4000;
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x1 = (devp->calibrationdata.b2 * ((b6 * b6) >> 12)) >> 11;
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x2 = (devp->calibrationdata.ac2 * b6) >> 11;
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x3 = x1 + x2;
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b3 = ((((int32_t)ac1 * 4 + x3) << oss) + 2) >> 2;
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x1 = ((ac3)*b6) >> 13;
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x2 = (b1 * (b6*b6 >> 12)) >> 16;
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b3 = ((((int32_t)devp->calibrationdata.ac1 * 4 + x3) << oss) + 2) >> 2;
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x1 = ((devp->calibrationdata.ac3)*b6) >> 13;
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x2 = (devp->calibrationdata.b1 * (b6*b6 >> 12)) >> 16;
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x3 = ((x1 + x2) + 2) >> 2;
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b4 = ac4 * (uint32_t)(x3 + 32768) >> 15;
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b4 = devp->calibrationdata.ac4 * (uint32_t)(x3 + 32768) >> 15;
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b7 = ((uint32_t)up - b3)*(50000 >> oss);
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if (b7 < 0x80000000)
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@ -217,18 +203,15 @@ static msg_t start_t_measurement(BMP085Driver *devp) {
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uint8_t txbuf[2] = {BMP085_AD_CR, BMP085_CR_T_VAL};
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if ((devp)->config->thermocfg != NULL) {
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i2cAcquireBus(devp->config->i2cp);
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msg_t msg = bmp085I2CWriteRegister(devp->config->i2cp, txbuf, 2);
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i2cReleaseBus(devp->config->i2cp);
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/* Conversion time for the temperature. */
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chThdSleepMilliseconds(BMP085_THERMO_CT_LOW);
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//chThdSleepMilliseconds(devp->config.tct); // TODO: use this instead of the top line:
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return msg;
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}
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else
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return MSG_RESET;
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}
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/**
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@ -242,7 +225,7 @@ static msg_t start_p_measurement(BMP085Driver *devp) {
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uint8_t oss, delay;
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uint8_t txbuf[2];
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oss = devp->config->barocfg->oss;
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oss = devp->config->oss;
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txbuf[0] = BMP085_AD_CR;
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/* Check the oss according the bmp085 mode. */
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@ -332,7 +315,7 @@ static msg_t acquire_up(BMP085Driver *devp, int32_t *upress) {
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msg_t msg;
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/* Get the oversampling setting from the driver configuratioin. */
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oss = devp->config->barocfg->oss;
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oss = devp->config->oss;
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/* Start the pressure measurement. */
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start_p_measurement(devp);
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@ -486,18 +469,14 @@ static msg_t sens_read_raw(void *ip, int32_t axes[]) {
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int32_t* bp = axes;
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msg_t msg;
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if (((BMP085Driver *)ip)->config->barocfg != NULL) {
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msg = baro_read_raw(ip, bp);
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if (msg != MSG_OK)
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return msg;
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bp += BMP085_BARO_NUMBER_OF_AXES;
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}
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if (((BMP085Driver *)ip)->config->thermocfg != NULL) {
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msg = thermo_read_raw(ip, bp);
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}
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return msg;
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}
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@ -522,10 +501,10 @@ static msg_t baro_read_cooked(void *ip, float axes[]) {
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"baro_read_cooked(), invalid state");
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msg = baro_read_raw(ip, raw);
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oss = ((BMP085Driver *)ip)->config->barocfg->oss;
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oss = ((BMP085Driver *)ip)->config->oss;
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for (i = 0; i < BMP085_BARO_NUMBER_OF_AXES; i++)
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calcul_p(raw[i], oss, &axes[i]);
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calcul_p(ip, raw[i], oss, &axes[i]);
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return msg;
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}
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@ -550,7 +529,7 @@ static msg_t thermo_read_cooked(void *ip, float axes[]) {
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msg = thermo_read_raw(ip, raw);
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for (i = 0; i < BMP085_THERMO_NUMBER_OF_AXES; i++)
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calcul_t(raw[i], &axes[i]);
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calcul_t(ip, raw[i], &axes[i]);
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return msg;
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}
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@ -568,16 +547,12 @@ static msg_t sens_read_cooked(void *ip, float axes[]) {
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float* bp = axes;
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msg_t msg;
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if (((BMP085Driver *)ip)->config->barocfg != NULL) {
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msg = baro_read_cooked(ip, bp);
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if (msg != MSG_OK)
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return msg;
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bp += BMP085_BARO_NUMBER_OF_AXES;
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}
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if (((BMP085Driver *)ip)->config->thermocfg != NULL)
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msg = thermo_read_cooked(ip, bp);
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return msg;
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@ -45,7 +45,7 @@
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/**
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* @brief BMP085 driver version string.
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*/
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#define EX_BMP085_VERSION "1.0.0"
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#define EX_BMP085_VERSION "1.0.1"
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/**
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* @brief BMP085 driver version major number.
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@ -60,7 +60,7 @@
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/**
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* @brief BMP085 driver version patch number.
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*/
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#define EX_BMP085_PATCH 0
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#define EX_BMP085_PATCH 1
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/** @}*/
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/**
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@ -134,21 +134,12 @@
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#endif
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/**
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* @brief BMP085 barometer subsystem advanced configurations switch.
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* @brief BMP085 sensor subsystem advanced configurations switch.
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* @details If set to @p TRUE more configurations are available.
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* @note The default is @p FALSE.
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* @note The default is @p TRUE.
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*/
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#if !defined(BMP085_BARO_USE_ADVANCED) || defined(__DOXYGEN__)
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#define BMP085_BARO_USE_ADVANCED FALSE
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#endif
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/**
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* @brief BMP085 thermometer subsystem advanced configurations switch.
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* @details If set to @p TRUE more configurations are available.
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* @note The default is @p FALSE.
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*/
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#if !defined(BMP085_THERMO_USE_ADVANCED) || defined(__DOXYGEN__)
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#define BMP085_THERMO_USE_ADVANCED FALSE
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#if !defined(BMP085_USE_ADVANCED) || defined(__DOXYGEN__)
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#define BMP085_USE_ADVANCED TRUE
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#endif
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/**
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@ -214,24 +205,23 @@ typedef enum {
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}bmp085_baro_oss_t;
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/**
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* @brief BMP085 barometer subsystem configuration structure.
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* @brief BMP085 barometer subsystem calibration data.
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*/
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typedef struct {
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/**
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* @brief BMP085 barometer subsystem pressure conversion time.
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*/
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bmp085_baro_ct_t ct;
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int16_t ac1;
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int16_t ac2;
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int16_t ac3;
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int16_t b1;
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int16_t b2;
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int16_t mb;
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int16_t mc;
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int16_t md;
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uint16_t ac4;
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uint16_t ac5;
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uint16_t ac6;
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int32_t b5;
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} bmp085_cd_t;
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/**
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* @brief BMP085 barometer subsystem mode.
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*/
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bmp085_baro_mode_t mode;
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/**
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* @brief BMP085 barometer subsystem oversampling setting.
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*/
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bmp085_baro_oss_t oss;
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} BMP085BaroConfig;
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/** @} */
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/**
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@ -249,15 +239,6 @@ typedef enum {
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BMP085_THERMO_CT_LUHR = 0x1A /**< Conv time in ultra high res. mode. */
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} bmp085_thermo_ct_t;
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/**
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* @brief BMP085 thermometer subsystem configuration structure.
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*/
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typedef struct {
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/**
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* @brief BMP085 thermometer subsystem temperature conversion time.
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*/
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bmp085_thermo_ct_t conversionTime;
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} BMP085ThermoConfig;
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/** @} */
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/**
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@ -278,6 +259,7 @@ typedef enum {
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* @brief BMP085 configuration structure.
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*/
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typedef struct {
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#if BMP085_USE_I2C || defined(__DOXYGEN__)
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/**
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* @brief I2C driver associated to this BMP085.
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*/
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@ -287,16 +269,44 @@ typedef struct {
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* @brief I2C configuration associated to this BMP085 subsystem.
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*/
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const I2CConfig *i2ccfg;
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#endif /* BMP085_USE_I2C */
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/**
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* @brief HTS221 initial sensitivity.
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* @note Value are respectively related to hygrometer
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* and thermometer.
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*/
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float* sensitivity;
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/**
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* @brief HTS221 initial bias.
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* @note Value are respectively related to hygrometer
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* and thermometer.
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*/
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float* bias;
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/**
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* @brief HTS221 output data rate selection.
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*/
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float* outputdatarate;
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#if BMP085_USE_ADVANCED || defined(__DOXYGEN__)
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/**
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* @brief BMP085 barometer subsystem pressure conversion time.
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*/
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bmp085_baro_ct_t bct;
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/**
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* @brief BMP085 barometer subsystem configuration structure
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* @brief BMP085 barometer subsystem mode.
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*/
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const BMP085BaroConfig *barocfg;
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bmp085_baro_mode_t mode;
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/**
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* @brief BMP085 thermometer subsystem configuration structure
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* @brief BMP085 barometer subsystem oversampling setting.
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*/
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const BMP085ThermoConfig *thermocfg;
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bmp085_baro_oss_t oss;
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/**
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* @brief BMP085 thermometer subsystem temperature conversion time.
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*/
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bmp085_thermo_ct_t tct;
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#endif /* BMP085_USE_ADVANCED */
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} BMP085Config;
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/**
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@ -351,8 +361,13 @@ struct BMP085THERMOVMT {
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/* Current thermometer sensitivity. */ \
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float thermosensitivity[BMP085_THERMO_NUMBER_OF_AXES]; \
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/* Thermometer bias data. */ \
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int32_t thermobias[BMP085_THERMO_NUMBER_OF_AXES];
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int32_t thermobias[BMP085_THERMO_NUMBER_OF_AXES]; \
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/* BMP085 calibration data. */ \
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bmp085_cd_t calibrationdata;
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/**
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* @brief BMP085 driver structure.
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*/
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struct BMP085Driver {
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/** @brief BaseSensor Virtual Methods Table. */
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const struct BaseSensorVMT *vmt_basesensor;
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@ -360,7 +375,7 @@ struct BMP085Driver {
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const struct BaseBarometerVMT *vmt_basebarometer;
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/** @brief BaseThermometer Virtual Methods Table. */
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const struct BaseThermometerVMT *vmt_basethermometer;
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_bmp085_data
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_bmp085_data;
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};
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/** @} */
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