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Add support for new BMP280 barometer

This commit is contained in:
Richard Lehey 2015-06-02 01:48:13 +09:00 committed by Dominic Clifton
parent 85ba1eb0bd
commit 501c83f851
5 changed files with 245 additions and 2 deletions
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212
src/main/drivers/barometer_bmp280.c Normal file
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@ -0,0 +1,212 @@
/*
* This file is part of Cleanflight.
*
* Cleanflight 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.
*
* Cleanflight 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 Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdbool.h>
#include <stdint.h>
#include <platform.h>
#include "build_config.h"
#include "barometer.h"
#include "system.h"
#include "bus_i2c.h"
#include "barometer_bmp280.h"
#ifdef BARO
// BMP280, address 0x76
#define BMP280_I2C_ADDR (0x76)
#define BMP280_DEFAULT_CHIP_ID (0x58)
#define BMP280_CHIP_ID_REG (0xD0) /* Chip ID Register */
#define BMP280_RST_REG (0xE0) /* Softreset Register */
#define BMP280_STAT_REG (0xF3) /* Status Register */
#define BMP280_CTRL_MEAS_REG (0xF4) /* Ctrl Measure Register */
#define BMP280_CONFIG_REG (0xF5) /* Configuration Register */
#define BMP280_PRESSURE_MSB_REG (0xF7) /* Pressure MSB Register */
#define BMP280_PRESSURE_LSB_REG (0xF8) /* Pressure LSB Register */
#define BMP280_PRESSURE_XLSB_REG (0xF9) /* Pressure XLSB Register */
#define BMP280_TEMPERATURE_MSB_REG (0xFA) /* Temperature MSB Reg */
#define BMP280_TEMPERATURE_LSB_REG (0xFB) /* Temperature LSB Reg */
#define BMP280_TEMPERATURE_XLSB_REG (0xFC) /* Temperature XLSB Reg */
#define BMP280_FORCED_MODE (0x01)
#define BMP280_TEMPERATURE_CALIB_DIG_T1_LSB_REG (0x88)
#define BMP280_PRESSURE_TEMPERATURE_CALIB_DATA_LENGTH (24)
#define BMP280_DATA_FRAME_SIZE (6)
#define BMP280_OVERSAMP_SKIPPED (0x00)
#define BMP280_OVERSAMP_1X (0x01)
#define BMP280_OVERSAMP_2X (0x02)
#define BMP280_OVERSAMP_4X (0x03)
#define BMP280_OVERSAMP_8X (0x04)
#define BMP280_OVERSAMP_16X (0x05)
// configure pressure and temperature oversampling, forced sampling mode
#define BMP280_PRESSURE_OSR (BMP280_OVERSAMP_8X)
#define BMP280_TEMPERATURE_OSR (BMP280_OVERSAMP_1X)
#define BMP280_MODE (BMP280_PRESSURE_OSR << 2 | BMP280_TEMPERATURE_OSR << 5 | BMP280_FORCED_MODE)
#define T_INIT_MAX (20)
// 20/16 = 1.25 ms
#define T_MEASURE_PER_OSRS_MAX (37)
// 37/16 = 2.3125 ms
#define T_SETUP_PRESSURE_MAX (10)
// 10/16 = 0.625 ms
typedef struct bmp280_calib_param_t {
uint16_t dig_T1; /* calibration T1 data */
int16_t dig_T2; /* calibration T2 data */
int16_t dig_T3; /* calibration T3 data */
uint16_t dig_P1; /* calibration P1 data */
int16_t dig_P2; /* calibration P2 data */
int16_t dig_P3; /* calibration P3 data */
int16_t dig_P4; /* calibration P4 data */
int16_t dig_P5; /* calibration P5 data */
int16_t dig_P6; /* calibration P6 data */
int16_t dig_P7; /* calibration P7 data */
int16_t dig_P8; /* calibration P8 data */
int16_t dig_P9; /* calibration P9 data */
int32_t t_fine; /* calibration t_fine data */
} bmp280_calib_param_t;
static uint8_t bmp280_chip_id = 0;
static bool bmp280InitDone = false;
static bmp280_calib_param_t bmp280_cal;
// uncompensated pressure and temperature
static int32_t bmp280_up = 0;
static int32_t bmp280_ut = 0;
static void bmp280_start_ut(void);
static void bmp280_get_ut(void);
static void bmp280_start_up(void);
static void bmp280_get_up(void);
static void bmp280_calculate(int32_t *pressure, int32_t *temperature);
bool bmp280Detect(baro_t *baro)
{
if (bmp280InitDone)
return true;
delay(20);
i2cRead(BMP280_I2C_ADDR, BMP280_CHIP_ID_REG, 1, &bmp280_chip_id); /* read Chip Id */
if (bmp280_chip_id != BMP280_DEFAULT_CHIP_ID)
return false;
// read calibration
i2cRead(BMP280_I2C_ADDR, BMP280_TEMPERATURE_CALIB_DIG_T1_LSB_REG, 24, (uint8_t *)&bmp280_cal);
// set oversampling + power mode (forced), and start sampling
i2cWrite(BMP280_I2C_ADDR, BMP280_CTRL_MEAS_REG, BMP280_MODE);
bmp280InitDone = true;
// these are dummy as temperature is measured as part of pressure
baro->ut_delay = 0;
baro->get_ut = bmp280_get_ut;
baro->start_ut = bmp280_start_ut;
// only _up part is executed, and gets both temperature and pressure
baro->up_delay = ((T_INIT_MAX + T_MEASURE_PER_OSRS_MAX * (((1 << BMP280_TEMPERATURE_OSR) >> 1) + ((1 << BMP280_PRESSURE_OSR) >> 1)) + (BMP280_PRESSURE_OSR ? T_SETUP_PRESSURE_MAX : 0) + 15) / 16) * 1000;
baro->start_up = bmp280_start_up;
baro->get_up = bmp280_get_up;
baro->calculate = bmp280_calculate;
return true;
}
static void bmp280_start_ut(void)
{
// dummy
}
static void bmp280_get_ut(void)
{
// dummy
}
static void bmp280_start_up(void)
{
// start measurement
// set oversampling + power mode (forced), and start sampling
i2cWrite(BMP280_I2C_ADDR, BMP280_CTRL_MEAS_REG, BMP280_MODE);
}
static void bmp280_get_up(void)
{
uint8_t data[BMP280_DATA_FRAME_SIZE];
// read data from sensor
i2cRead(BMP280_I2C_ADDR, BMP280_PRESSURE_MSB_REG, BMP280_DATA_FRAME_SIZE, data);
bmp280_up = (int32_t)((((uint32_t)(data[0])) << 12) | (((uint32_t)(data[1])) << 4) | ((uint32_t)data[2] >> 4));
bmp280_ut = (int32_t)((((uint32_t)(data[3])) << 12) | (((uint32_t)(data[4])) << 4) | ((uint32_t)data[5] >> 4));
}
// Returns temperature in DegC, float precision. Output value of “51.23” equals 51.23 DegC.
// t_fine carries fine temperature as global value
float bmp280_compensate_T(int32_t adc_T)
{
float var1, var2, T;
var1 = (((float)adc_T) / 16384.0f - ((float)bmp280_cal.dig_T1) / 1024.0f) * ((float)bmp280_cal.dig_T2);
var2 = ((((float)adc_T) / 131072.0f - ((float)bmp280_cal.dig_T1) / 8192.0f) * (((float)adc_T) / 131072.0f - ((float)bmp280_cal.dig_T1) / 8192.0f)) * ((float)bmp280_cal.dig_T3);
bmp280_cal.t_fine = (int32_t)(var1 + var2);
T = (var1 + var2) / 5120.0f;
return T;
}
// Returns pressure in Pa as float. Output value of “96386.2” equals 96386.2 Pa = 963.862 hPa
float bmp280_compensate_P(int32_t adc_P)
{
float var1, var2, p;
var1 = ((float)bmp280_cal.t_fine / 2.0f) - 64000.0f;
var2 = var1 * var1 * ((float)bmp280_cal.dig_P6) / 32768.0f;
var2 = var2 + var1 * ((float)bmp280_cal.dig_P5) * 2.0f;
var2 = (var2 / 4.0f) + (((float)bmp280_cal.dig_P4) * 65536.0f);
var1 = (((float)bmp280_cal.dig_P3) * var1 * var1 / 524288.0f + ((float)bmp280_cal.dig_P2) * var1) / 524288.0f;
var1 = (1.0f + var1 / 32768.0f) * ((float)bmp280_cal.dig_P1);
if (var1 == 0.0f)
return 0.0f; // avoid exception caused by division by zero
p = 1048576.0f - (float)adc_P;
p = (p - (var2 / 4096.0f)) * 6250.0f / var1;
var1 = ((float)bmp280_cal.dig_P9) * p * p / 2147483648.0f;
var2 = p * ((float)bmp280_cal.dig_P8) / 32768.0f;
p = p + (var1 + var2 + ((float)bmp280_cal.dig_P7)) / 16.0f;
return p;
}
static void bmp280_calculate(int32_t *pressure, int32_t *temperature)
{
// calculate
float t, p;
t = bmp280_compensate_T(bmp280_ut);
p = bmp280_compensate_P(bmp280_up);
if (pressure)
*pressure = (int32_t)p;
if (temperature)
*temperature = (int32_t)t * 100;
}
#endif

21
src/main/drivers/barometer_bmp280.h Normal file
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@ -0,0 +1,21 @@
/*
* This file is part of Cleanflight.
*
* Cleanflight 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.
*
* Cleanflight 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 Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
bool bmp280Detect(baro_t *baro);

2
src/main/io/serial_cli.c
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@ -192,7 +192,7 @@ static const char * const sensorTypeNames[] = {
static const char * const sensorHardwareNames[4][11] = {
{ "", "None", "MPU6050", "L3G4200D", "MPU3050", "L3GD20", "MPU6000", "MPU6500", "FAKE", NULL },
{ "", "None", "ADXL345", "MPU6050", "MMA845x", "BMA280", "LSM303DLHC", "MPU6000", "MPU6500", "FAKE", NULL },
{ "", "None", "BMP085", "MS5611", NULL },
{ "", "None", "BMP085", "MS5611", "BMP280", NULL },
{ "", "None", "HMC5883", "AK8975", NULL }
};
#endif

3
src/main/sensors/barometer.h
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@ -21,7 +21,8 @@ typedef enum {
BARO_DEFAULT = 0,
BARO_NONE = 1,
BARO_BMP085 = 2,
BARO_MS5611 = 3
BARO_MS5611 = 3,
BARO_BMP280 = 4
} baroSensor_e;
#define BARO_SAMPLE_COUNT_MAX 48

9
src/main/sensors/initialisation.c
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@ -48,6 +48,7 @@
#include "drivers/barometer.h"
#include "drivers/barometer_bmp085.h"
#include "drivers/barometer_bmp280.h"
#include "drivers/barometer_ms5611.h"
#include "drivers/compass.h"
@ -448,6 +449,14 @@ static void detectBaro(baroSensor_e baroHardwareToUse)
baroHardware = BARO_BMP085;
break;
}
#endif
; // fallthough
case BARO_BMP280:
#ifdef USE_BARO_BMP280
if (bmp280Detect(&baro)) {
baroHardware = BARO_BMP280;
break;
}
#endif
case BARO_NONE:
baroHardware = BARO_NONE;