BMP388 - Add support for BMP388 barometer. (#8481)
BMP388 - Add support for BMP388 barometer.
This commit is contained in:
Michael Keller
GitHub
commit
5da85ef4a4
|
|
@ -135,7 +135,7 @@ const char * const lookupTableGyroHardware[] = {
|
|||
#if defined(USE_SENSOR_NAMES) || defined(USE_BARO)
|
||||
// sync with baroSensor_e
|
||||
const char * const lookupTableBaroHardware[] = {
|
||||
"AUTO", "NONE", "BMP085", "MS5611", "BMP280", "LPS", "QMP6988"
|
||||
"AUTO", "NONE", "BMP085", "MS5611", "BMP280", "LPS", "QMP6988", "BMP388"
|
||||
};
|
||||
#endif
|
||||
#if defined(USE_SENSOR_NAMES) || defined(USE_MAG)
|
||||
|
|
|
|||
|
|
@ -21,14 +21,19 @@
|
|||
#pragma once
|
||||
|
||||
#include "drivers/bus.h" // XXX
|
||||
#include "drivers/exti.h"
|
||||
|
||||
struct baroDev_s;
|
||||
|
||||
typedef void (*baroOpFuncPtr)(struct baroDev_s *baro); // baro start operation
|
||||
typedef void (*baroCalculateFuncPtr)(int32_t *pressure, int32_t *temperature); // baro calculation (filled params are pressure and temperature)
|
||||
|
||||
// the 'u' in these variable names means 'uncompensated', 't' is temperature, 'p' pressure.
|
||||
typedef struct baroDev_s {
|
||||
busDevice_t busdev;
|
||||
#ifdef USE_EXTI
|
||||
extiCallbackRec_t exti;
|
||||
#endif
|
||||
uint16_t ut_delay;
|
||||
uint16_t up_delay;
|
||||
baroOpFuncPtr start_ut;
|
||||
|
|
|
|||
|
|
@ -46,7 +46,7 @@ static bool isEOCConnected = false;
|
|||
static IO_t eocIO;
|
||||
static extiCallbackRec_t exti;
|
||||
|
||||
static void bmp085_extiHandler(extiCallbackRec_t* cb)
|
||||
static void bmp085ExtiHandler(extiCallbackRec_t* cb)
|
||||
{
|
||||
UNUSED(cb);
|
||||
isConversionComplete = true;
|
||||
|
|
@ -120,14 +120,14 @@ static bool bmp085InitDone = false;
|
|||
STATIC_UNIT_TESTED uint16_t bmp085_ut; // static result of temperature measurement
|
||||
STATIC_UNIT_TESTED uint32_t bmp085_up; // static result of pressure measurement
|
||||
|
||||
static void bmp085_get_cal_param(busDevice_t *busdev);
|
||||
static void bmp085_start_ut(baroDev_t *baro);
|
||||
static void bmp085_get_ut(baroDev_t *baro);
|
||||
static void bmp085_start_up(baroDev_t *baro);
|
||||
static void bmp085_get_up(baroDev_t *baro);
|
||||
static int32_t bmp085_get_temperature(uint32_t ut);
|
||||
static int32_t bmp085_get_pressure(uint32_t up);
|
||||
STATIC_UNIT_TESTED void bmp085_calculate(int32_t *pressure, int32_t *temperature);
|
||||
static void bmp085ReadCalibrarionParameters(busDevice_t *busdev);
|
||||
static void bmp085StartUT(baroDev_t *baro);
|
||||
static void bmp085GetUT(baroDev_t *baro);
|
||||
static void bmp085StartUP(baroDev_t *baro);
|
||||
static void bmp085GetUP(baroDev_t *baro);
|
||||
static int32_t bmp085GetTemperature(uint32_t ut);
|
||||
static int32_t bmp085GetPressure(uint32_t up);
|
||||
STATIC_UNIT_TESTED void bmp085Calculate(int32_t *pressure, int32_t *temperature);
|
||||
|
||||
static bool bmp085TestEOCConnected(baroDev_t *baro, const bmp085Config_t *config);
|
||||
|
||||
|
|
@ -159,7 +159,7 @@ bool bmp085Detect(const bmp085Config_t *config, baroDev_t *baro)
|
|||
|
||||
eocIO = IOGetByTag(config->eocTag);
|
||||
IOInit(eocIO, OWNER_BARO_EOC, 0);
|
||||
EXTIHandlerInit(&exti, bmp085_extiHandler);
|
||||
EXTIHandlerInit(&exti, bmp085ExtiHandler);
|
||||
EXTIConfig(eocIO, &exti, NVIC_PRIO_BARO_EXTI, IOCFG_IN_FLOATING, EXTI_TRIGGER_RISING);
|
||||
EXTIEnable(eocIO, true);
|
||||
#else
|
||||
|
|
@ -185,14 +185,14 @@ bool bmp085Detect(const bmp085Config_t *config, baroDev_t *baro)
|
|||
busReadRegisterBuffer(busdev, BMP085_VERSION_REG, &data, 1); /* read Version reg */
|
||||
bmp085.ml_version = BMP085_GET_BITSLICE(data, BMP085_ML_VERSION); /* get ML Version */
|
||||
bmp085.al_version = BMP085_GET_BITSLICE(data, BMP085_AL_VERSION); /* get AL Version */
|
||||
bmp085_get_cal_param(busdev); /* readout bmp085 calibparam structure */
|
||||
bmp085ReadCalibrarionParameters(busdev); /* readout bmp085 calibparam structure */
|
||||
baro->ut_delay = UT_DELAY;
|
||||
baro->up_delay = UP_DELAY;
|
||||
baro->start_ut = bmp085_start_ut;
|
||||
baro->get_ut = bmp085_get_ut;
|
||||
baro->start_up = bmp085_start_up;
|
||||
baro->get_up = bmp085_get_up;
|
||||
baro->calculate = bmp085_calculate;
|
||||
baro->start_ut = bmp085StartUT;
|
||||
baro->get_ut = bmp085GetUT;
|
||||
baro->start_up = bmp085StartUP;
|
||||
baro->get_up = bmp085GetUP;
|
||||
baro->calculate = bmp085Calculate;
|
||||
|
||||
isEOCConnected = bmp085TestEOCConnected(baro, config);
|
||||
|
||||
|
|
@ -217,7 +217,7 @@ bool bmp085Detect(const bmp085Config_t *config, baroDev_t *baro)
|
|||
return false;
|
||||
}
|
||||
|
||||
static int32_t bmp085_get_temperature(uint32_t ut)
|
||||
static int32_t bmp085GetTemperature(uint32_t ut)
|
||||
{
|
||||
int32_t temperature;
|
||||
int32_t x1, x2;
|
||||
|
|
@ -230,7 +230,7 @@ static int32_t bmp085_get_temperature(uint32_t ut)
|
|||
return temperature;
|
||||
}
|
||||
|
||||
static int32_t bmp085_get_pressure(uint32_t up)
|
||||
static int32_t bmp085GetPressure(uint32_t up)
|
||||
{
|
||||
int32_t pressure, x1, x2, x3, b3, b6;
|
||||
uint32_t b4, b7;
|
||||
|
|
@ -270,14 +270,14 @@ static int32_t bmp085_get_pressure(uint32_t up)
|
|||
return pressure;
|
||||
}
|
||||
|
||||
static void bmp085_start_ut(baroDev_t *baro)
|
||||
static void bmp085StartUT(baroDev_t *baro)
|
||||
{
|
||||
isConversionComplete = false;
|
||||
|
||||
busWriteRegister(&baro->busdev, BMP085_CTRL_MEAS_REG, BMP085_T_MEASURE);
|
||||
}
|
||||
|
||||
static void bmp085_get_ut(baroDev_t *baro)
|
||||
static void bmp085GetUT(baroDev_t *baro)
|
||||
{
|
||||
uint8_t data[2];
|
||||
|
||||
|
|
@ -290,7 +290,7 @@ static void bmp085_get_ut(baroDev_t *baro)
|
|||
bmp085_ut = (data[0] << 8) | data[1];
|
||||
}
|
||||
|
||||
static void bmp085_start_up(baroDev_t *baro)
|
||||
static void bmp085StartUP(baroDev_t *baro)
|
||||
{
|
||||
uint8_t ctrl_reg_data;
|
||||
|
||||
|
|
@ -305,7 +305,7 @@ static void bmp085_start_up(baroDev_t *baro)
|
|||
depending on the oversampling ratio setting up can be 16 to 19 bit
|
||||
\return up parameter that represents the uncompensated pressure value
|
||||
*/
|
||||
static void bmp085_get_up(baroDev_t *baro)
|
||||
static void bmp085GetUP(baroDev_t *baro)
|
||||
{
|
||||
uint8_t data[3];
|
||||
|
||||
|
|
@ -319,19 +319,19 @@ static void bmp085_get_up(baroDev_t *baro)
|
|||
>> (8 - bmp085.oversampling_setting);
|
||||
}
|
||||
|
||||
STATIC_UNIT_TESTED void bmp085_calculate(int32_t *pressure, int32_t *temperature)
|
||||
STATIC_UNIT_TESTED void bmp085Calculate(int32_t *pressure, int32_t *temperature)
|
||||
{
|
||||
int32_t temp, press;
|
||||
|
||||
temp = bmp085_get_temperature(bmp085_ut);
|
||||
press = bmp085_get_pressure(bmp085_up);
|
||||
temp = bmp085GetTemperature(bmp085_ut);
|
||||
press = bmp085GetPressure(bmp085_up);
|
||||
if (pressure)
|
||||
*pressure = press;
|
||||
if (temperature)
|
||||
*temperature = temp;
|
||||
}
|
||||
|
||||
static void bmp085_get_cal_param(busDevice_t *busdev)
|
||||
static void bmp085ReadCalibrarionParameters(busDevice_t *busdev)
|
||||
{
|
||||
uint8_t data[22];
|
||||
busReadRegisterBuffer(busdev, BMP085_PROM_START__ADDR, data, BMP085_PROM_DATA__LEN);
|
||||
|
|
@ -365,7 +365,7 @@ static bool bmp085TestEOCConnected(baroDev_t *baro, const bmp085Config_t *config
|
|||
return false;
|
||||
}
|
||||
|
||||
bmp085_start_ut(baro);
|
||||
bmp085StartUT(baro);
|
||||
delayMicroseconds(UT_DELAY * 2); // wait twice as long as normal, just to be sure
|
||||
|
||||
// conversion should have finished now so check if EOC is high
|
||||
|
|
|
|||
|
|
@ -22,8 +22,6 @@
|
|||
|
||||
#include "drivers/io_types.h"
|
||||
|
||||
#define BMP085_I2C_ADDR 0x77
|
||||
|
||||
typedef struct bmp085Config_s {
|
||||
ioTag_t xclrTag;
|
||||
ioTag_t eocTag;
|
||||
|
|
|
|||
|
|
@ -39,6 +39,46 @@
|
|||
|
||||
#if defined(USE_BARO) && (defined(USE_BARO_BMP280) || defined(USE_BARO_SPI_BMP280))
|
||||
|
||||
|
||||
#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_s {
|
||||
uint16_t dig_T1; /* calibration T1 data */
|
||||
int16_t dig_T2; /* calibration T2 data */
|
||||
|
|
@ -64,12 +104,12 @@ STATIC_UNIT_TESTED bmp280_calib_param_t bmp280_cal;
|
|||
int32_t bmp280_up = 0;
|
||||
int32_t bmp280_ut = 0;
|
||||
|
||||
static void bmp280_start_ut(baroDev_t *baro);
|
||||
static void bmp280_get_ut(baroDev_t *baro);
|
||||
static void bmp280_start_up(baroDev_t *baro);
|
||||
static void bmp280_get_up(baroDev_t *baro);
|
||||
static void bmp280StartUT(baroDev_t *baro);
|
||||
static void bmp280GetUT(baroDev_t *baro);
|
||||
static void bmp280StartUP(baroDev_t *baro);
|
||||
static void bmp280GetUP(baroDev_t *baro);
|
||||
|
||||
STATIC_UNIT_TESTED void bmp280_calculate(int32_t *pressure, int32_t *temperature);
|
||||
STATIC_UNIT_TESTED void bmp280Calculate(int32_t *pressure, int32_t *temperature);
|
||||
|
||||
void bmp280BusInit(busDevice_t *busdev)
|
||||
{
|
||||
|
|
@ -135,37 +175,37 @@ bool bmp280Detect(baroDev_t *baro)
|
|||
|
||||
// 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;
|
||||
baro->get_ut = bmp280GetUT;
|
||||
baro->start_ut = bmp280StartUT;
|
||||
// only _up part is executed, and gets both temperature and pressure
|
||||
baro->start_up = bmp280_start_up;
|
||||
baro->get_up = bmp280_get_up;
|
||||
baro->start_up = bmp280StartUP;
|
||||
baro->get_up = bmp280GetUP;
|
||||
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->calculate = bmp280_calculate;
|
||||
baro->calculate = bmp280Calculate;
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
static void bmp280_start_ut(baroDev_t *baro)
|
||||
static void bmp280StartUT(baroDev_t *baro)
|
||||
{
|
||||
UNUSED(baro);
|
||||
// dummy
|
||||
}
|
||||
|
||||
static void bmp280_get_ut(baroDev_t *baro)
|
||||
static void bmp280GetUT(baroDev_t *baro)
|
||||
{
|
||||
UNUSED(baro);
|
||||
// dummy
|
||||
}
|
||||
|
||||
static void bmp280_start_up(baroDev_t *baro)
|
||||
static void bmp280StartUP(baroDev_t *baro)
|
||||
{
|
||||
// start measurement
|
||||
// set oversampling + power mode (forced), and start sampling
|
||||
busWriteRegister(&baro->busdev, BMP280_CTRL_MEAS_REG, BMP280_MODE);
|
||||
}
|
||||
|
||||
static void bmp280_get_up(baroDev_t *baro)
|
||||
static void bmp280GetUP(baroDev_t *baro)
|
||||
{
|
||||
uint8_t data[BMP280_DATA_FRAME_SIZE];
|
||||
|
||||
|
|
@ -177,7 +217,7 @@ static void bmp280_get_up(baroDev_t *baro)
|
|||
|
||||
// Returns temperature in DegC, resolution is 0.01 DegC. Output value of "5123" equals 51.23 DegC
|
||||
// t_fine carries fine temperature as global value
|
||||
static int32_t bmp280_compensate_T(int32_t adc_T)
|
||||
static int32_t bmp280CompensateTemperature(int32_t adc_T)
|
||||
{
|
||||
int32_t var1, var2, T;
|
||||
|
||||
|
|
@ -191,7 +231,7 @@ static int32_t bmp280_compensate_T(int32_t adc_T)
|
|||
|
||||
// Returns pressure in Pa as unsigned 32 bit integer in Q24.8 format (24 integer bits and 8 fractional bits).
|
||||
// Output value of "24674867" represents 24674867/256 = 96386.2 Pa = 963.862 hPa
|
||||
static uint32_t bmp280_compensate_P(int32_t adc_P)
|
||||
static uint32_t bmp280CompensatePressure(int32_t adc_P)
|
||||
{
|
||||
int64_t var1, var2, p;
|
||||
var1 = ((int64_t)t_fine) - 128000;
|
||||
|
|
@ -210,13 +250,13 @@ static uint32_t bmp280_compensate_P(int32_t adc_P)
|
|||
return (uint32_t)p;
|
||||
}
|
||||
|
||||
STATIC_UNIT_TESTED void bmp280_calculate(int32_t *pressure, int32_t *temperature)
|
||||
STATIC_UNIT_TESTED void bmp280Calculate(int32_t *pressure, int32_t *temperature)
|
||||
{
|
||||
// calculate
|
||||
int32_t t;
|
||||
uint32_t p;
|
||||
t = bmp280_compensate_T(bmp280_ut);
|
||||
p = bmp280_compensate_P(bmp280_up);
|
||||
t = bmp280CompensateTemperature(bmp280_ut);
|
||||
p = bmp280CompensatePressure(bmp280_up);
|
||||
|
||||
if (pressure)
|
||||
*pressure = (int32_t)(p / 256);
|
||||
|
|
|
|||
|
|
@ -20,43 +20,4 @@
|
|||
|
||||
#pragma once
|
||||
|
||||
#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
|
||||
|
||||
bool bmp280Detect(baroDev_t *baro);
|
||||
|
|
|
|||
|
|
@ -0,0 +1,409 @@
|
|||
/*
|
||||
* This file is part of Cleanflight and Betaflight.
|
||||
*
|
||||
* Cleanflight and Betaflight are free software. You can redistribute
|
||||
* this software and/or modify this software 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 and Betaflight are distributed in the hope that they
|
||||
* 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 this software.
|
||||
*
|
||||
* If not, see <http://www.gnu.org/licenses/>.
|
||||
*
|
||||
* BMP388 Driver author: Dominic Clifton
|
||||
*/
|
||||
|
||||
#include <stdbool.h>
|
||||
#include <stdint.h>
|
||||
|
||||
#include "platform.h"
|
||||
|
||||
#include "build/build_config.h"
|
||||
|
||||
#if defined(USE_BARO) && (defined(USE_BARO_BMP388) || defined(USE_BARO_SPI_BMP388))
|
||||
|
||||
#include "build/debug.h"
|
||||
|
||||
#include "common/maths.h"
|
||||
|
||||
#include "barometer.h"
|
||||
|
||||
#include "drivers/bus.h"
|
||||
#include "drivers/bus_i2c.h"
|
||||
#include "drivers/bus_i2c_busdev.h"
|
||||
#include "drivers/bus_spi.h"
|
||||
#include "drivers/io.h"
|
||||
#include "drivers/time.h"
|
||||
#include "drivers/nvic.h"
|
||||
|
||||
#include "barometer_bmp388.h"
|
||||
|
||||
|
||||
#define BMP388_I2C_ADDR (0x76) // same as BMP280/BMP180
|
||||
#define BMP388_DEFAULT_CHIP_ID (0x50) // from https://github.com/BoschSensortec/BMP3-Sensor-API/blob/master/bmp3_defs.h#L130
|
||||
|
||||
#define BMP388_CMD_REG (0x7E)
|
||||
#define BMP388_RESERVED_UPPER_REG (0x7D)
|
||||
// everything between BMP388_RESERVED_UPPER_REG and BMP388_RESERVED_LOWER_REG is reserved.
|
||||
#define BMP388_RESERVED_LOWER_REG (0x20)
|
||||
#define BMP388_CONFIG_REG (0x1F)
|
||||
#define BMP388_RESERVED_0x1E_REG (0x1E)
|
||||
#define BMP388_ODR_REG (0x1D)
|
||||
#define BMP388_OSR_REG (0x1C)
|
||||
#define BMP388_PWR_CTRL_REG (0x1B)
|
||||
#define BMP388_IF_CONFIG_REG (0x1A)
|
||||
#define BMP388_INT_CTRL_REG (0x19)
|
||||
#define BMP388_FIFO_CONFIG_2_REG (0x18)
|
||||
#define BMP388_FIFO_CONFIG_1_REG (0x17)
|
||||
#define BMP388_FIFO_WTM_1_REG (0x16)
|
||||
#define BMP388_FIFO_WTM_0_REG (0x15)
|
||||
#define BMP388_FIFO_DATA_REG (0x14)
|
||||
#define BMP388_FIFO_LENGTH_1_REG (0x13)
|
||||
#define BMP388_FIFO_LENGTH_0_REG (0x12)
|
||||
#define BMP388_INT_STATUS_REG (0x11)
|
||||
#define BMP388_EVENT_REG (0x10)
|
||||
#define BMP388_SENSORTIME_3_REG (0x0F) // BME780 only
|
||||
#define BMP388_SENSORTIME_2_REG (0x0E)
|
||||
#define BMP388_SENSORTIME_1_REG (0x0D)
|
||||
#define BMP388_SENSORTIME_0_REG (0x0C)
|
||||
#define BMP388_RESERVED_0x0B_REG (0x0B)
|
||||
#define BMP388_RESERVED_0x0A_REG (0x0A)
|
||||
|
||||
// see friendly register names below
|
||||
#define BMP388_DATA_5_REG (0x09)
|
||||
#define BMP388_DATA_4_REG (0x08)
|
||||
#define BMP388_DATA_3_REG (0x07)
|
||||
#define BMP388_DATA_2_REG (0x06)
|
||||
#define BMP388_DATA_1_REG (0x05)
|
||||
#define BMP388_DATA_0_REG (0x04)
|
||||
|
||||
#define BMP388_STATUS_REG (0x03)
|
||||
#define BMP388_ERR_REG (0x02)
|
||||
#define BMP388_RESERVED_0x01_REG (0x01)
|
||||
#define BMP388_CHIP_ID_REG (0x00)
|
||||
|
||||
// friendly register names, from datasheet 4.3.4
|
||||
#define BMP388_PRESS_MSB_23_16_REG BMP388_DATA_2_REG
|
||||
#define BMP388_PRESS_LSB_15_8_REG BMP388_DATA_1_REG
|
||||
#define BMP388_PRESS_XLSB_7_0_REG BMP388_DATA_0_REG
|
||||
|
||||
// friendly register names, from datasheet 4.3.5
|
||||
#define BMP388_TEMP_MSB_23_16_REG BMP388_DATA_5_REG
|
||||
#define BMP388_TEMP_LSB_15_8_REG BMP388_DATA_4_REG
|
||||
#define BMP388_TEMP_XLSB_7_0_REG BMP388_DATA_3_REG
|
||||
|
||||
#define BMP388_DATA_FRAME_LENGTH ((BMP388_DATA_5_REG - BMP388_DATA_0_REG) + 1) // +1 for inclusive
|
||||
|
||||
// from Datasheet 3.3
|
||||
#define BMP388_MODE_SLEEP (0x00)
|
||||
#define BMP388_MODE_FORCED (0x01)
|
||||
#define BMP388_MODE_NORMAL (0x02)
|
||||
|
||||
#define BMP388_CALIRATION_LOWER_REG (0x30) // See datasheet 4.3.19, "calibration data"
|
||||
#define BMP388_TRIMMING_NVM_PAR_T1_LSB_REG (0x31) // See datasheet 3.11.1 "Memory map trimming coefficients"
|
||||
#define BMP388_TRIMMING_NVM_PAR_P11_REG (0x45) // See datasheet 3.11.1 "Memory map trimming coefficients"
|
||||
#define BMP388_CALIRATION_UPPER_REG (0x57)
|
||||
|
||||
#define BMP388_TRIMMING_DATA_LENGTH ((BMP388_TRIMMING_NVM_PAR_P11_REG - BMP388_TRIMMING_NVM_PAR_T1_LSB_REG) + 1) // +1 for inclusive
|
||||
|
||||
#define BMP388_DATA_FRAME_SIZE (6)
|
||||
|
||||
#define BMP388_OVERSAMP_1X (0x00)
|
||||
#define BMP388_OVERSAMP_2X (0x01)
|
||||
#define BMP388_OVERSAMP_4X (0x02)
|
||||
#define BMP388_OVERSAMP_8X (0x03)
|
||||
#define BMP388_OVERSAMP_16X (0x04)
|
||||
#define BMP388_OVERSAMP_32X (0x05)
|
||||
|
||||
// INT_CTRL register
|
||||
#define BMP388_INT_OD_BIT 0
|
||||
#define BMP388_INT_LEVEL_BIT 1
|
||||
#define BMP388_INT_LATCH_BIT 2
|
||||
#define BMP388_INT_FWTM_EN_BIT 3
|
||||
#define BMP388_INT_FFULL_EN_BIT 4
|
||||
#define BMP388_INT_RESERVED_5_BIT 5
|
||||
#define BMP388_INT_DRDY_EN_BIT 6
|
||||
#define BMP388_INT_RESERVED_7_BIT 7
|
||||
|
||||
// OSR register
|
||||
#define BMP388_OSR_P_BIT 0 // to 2
|
||||
#define BMP388_OSR4_T_BIT 3 // to 5
|
||||
#define BMP388_OSR_P_MASK (0x03) // -----111
|
||||
#define BMP388_OSR4_T_MASK (0x38) // --111---
|
||||
|
||||
// configure pressure and temperature oversampling, forced sampling mode
|
||||
#define BMP388_PRESSURE_OSR (BMP388_OVERSAMP_8X)
|
||||
#define BMP388_TEMPERATURE_OSR (BMP388_OVERSAMP_1X)
|
||||
|
||||
// see Datasheet 3.11.1 Memory Map Trimming Coefficients
|
||||
typedef struct bmp388_calib_param_s {
|
||||
uint16_t T1;
|
||||
uint16_t T2;
|
||||
int8_t T3;
|
||||
int16_t P1;
|
||||
int16_t P2;
|
||||
int8_t P3;
|
||||
int8_t P4;
|
||||
uint16_t P5;
|
||||
uint16_t P6;
|
||||
int8_t P7;
|
||||
int8_t P8;
|
||||
int16_t P9;
|
||||
int8_t P10;
|
||||
int8_t P11;
|
||||
} __attribute__((packed)) bmp388_calib_param_t;
|
||||
|
||||
STATIC_ASSERT(sizeof(bmp388_calib_param_t) == BMP388_TRIMMING_DATA_LENGTH, bmp388_calibration_structure_incorrectly_packed);
|
||||
|
||||
static uint8_t bmp388_chip_id = 0;
|
||||
STATIC_UNIT_TESTED bmp388_calib_param_t bmp388_cal;
|
||||
// uncompensated pressure and temperature
|
||||
uint32_t bmp388_up = 0;
|
||||
uint32_t bmp388_ut = 0;
|
||||
STATIC_UNIT_TESTED int64_t t_lin = 0;
|
||||
|
||||
static void bmp388StartUT(baroDev_t *baro);
|
||||
static void bmp388GetUT(baroDev_t *baro);
|
||||
static void bmp388StartUP(baroDev_t *baro);
|
||||
static void bmp388GetUP(baroDev_t *baro);
|
||||
|
||||
STATIC_UNIT_TESTED void bmp388Calculate(int32_t *pressure, int32_t *temperature);
|
||||
|
||||
void bmp388_extiHandler(extiCallbackRec_t* cb)
|
||||
{
|
||||
#ifdef DEBUG
|
||||
static uint32_t bmp388ExtiCallbackCounter = 0;
|
||||
|
||||
bmp388ExtiCallbackCounter++;
|
||||
#endif
|
||||
|
||||
baroDev_t *baro = container_of(cb, baroDev_t, exti);
|
||||
|
||||
uint8_t intStatus = 0;
|
||||
busReadRegisterBuffer(&baro->busdev, BMP388_INT_STATUS_REG, &intStatus, 1);
|
||||
}
|
||||
|
||||
void bmp388BusInit(busDevice_t *busdev)
|
||||
{
|
||||
#ifdef USE_BARO_SPI_BMP388
|
||||
if (busdev->bustype == BUSTYPE_SPI) {
|
||||
IOHi(busdev->busdev_u.spi.csnPin); // Disable
|
||||
IOInit(busdev->busdev_u.spi.csnPin, OWNER_BARO_CS, 0);
|
||||
IOConfigGPIO(busdev->busdev_u.spi.csnPin, IOCFG_OUT_PP);
|
||||
spiBusSetDivisor(busdev, SPI_CLOCK_STANDARD);
|
||||
}
|
||||
#else
|
||||
UNUSED(busdev);
|
||||
#endif
|
||||
}
|
||||
|
||||
void bmp388BusDeinit(busDevice_t *busdev)
|
||||
{
|
||||
#ifdef USE_BARO_SPI_BMP388
|
||||
if (busdev->bustype == BUSTYPE_SPI) {
|
||||
spiPreinitByIO(busdev->busdev_u.spi.csnPin);
|
||||
}
|
||||
#else
|
||||
UNUSED(busdev);
|
||||
#endif
|
||||
}
|
||||
|
||||
void bmp388BeginForcedMeasurement(busDevice_t *busdev)
|
||||
{
|
||||
// enable pressure measurement, temperature measurement, set power mode and start sampling
|
||||
uint8_t mode = (BMP388_MODE_FORCED << 4) | (1 << 1) | (1 << 0);
|
||||
busWriteRegister(busdev, BMP388_PWR_CTRL_REG, mode);
|
||||
}
|
||||
|
||||
bool bmp388Detect(const bmp388Config_t *config, baroDev_t *baro)
|
||||
{
|
||||
delay(20);
|
||||
|
||||
#if defined(USE_EXTI)
|
||||
IO_t baroIntIO = IOGetByTag(config->eocTag);
|
||||
if (baroIntIO) {
|
||||
IOInit(baroIntIO, OWNER_BARO_EOC, 0);
|
||||
EXTIHandlerInit(&baro->exti, bmp388_extiHandler);
|
||||
EXTIConfig(baroIntIO, &baro->exti, NVIC_PRIO_BARO_EXTI, IOCFG_IN_FLOATING, EXTI_TRIGGER_RISING);
|
||||
EXTIEnable(baroIntIO, true);
|
||||
}
|
||||
#else
|
||||
UNUSED(config);
|
||||
#endif
|
||||
|
||||
busDevice_t *busdev = &baro->busdev;
|
||||
bool defaultAddressApplied = false;
|
||||
|
||||
bmp388BusInit(busdev);
|
||||
|
||||
if ((busdev->bustype == BUSTYPE_I2C) && (busdev->busdev_u.i2c.address == 0)) {
|
||||
// Default address for BMP388
|
||||
busdev->busdev_u.i2c.address = BMP388_I2C_ADDR;
|
||||
defaultAddressApplied = true;
|
||||
}
|
||||
|
||||
busReadRegisterBuffer(busdev, BMP388_CHIP_ID_REG, &bmp388_chip_id, 1);
|
||||
|
||||
if (bmp388_chip_id != BMP388_DEFAULT_CHIP_ID) {
|
||||
bmp388BusDeinit(busdev);
|
||||
if (defaultAddressApplied) {
|
||||
busdev->busdev_u.i2c.address = 0;
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
if (baroIntIO) {
|
||||
uint8_t intCtrlValue = (1 << BMP388_INT_DRDY_EN_BIT) | (0 << BMP388_INT_FFULL_EN_BIT) | (0 << BMP388_INT_FWTM_EN_BIT) | (0 << BMP388_INT_LATCH_BIT) | (1 << BMP388_INT_LEVEL_BIT) | (0 << BMP388_INT_OD_BIT);
|
||||
busWriteRegister(busdev, BMP388_INT_CTRL_REG, intCtrlValue);
|
||||
}
|
||||
|
||||
// read calibration
|
||||
busReadRegisterBuffer(busdev, BMP388_TRIMMING_NVM_PAR_T1_LSB_REG, (uint8_t *)&bmp388_cal, sizeof(bmp388_calib_param_t));
|
||||
|
||||
|
||||
// set oversampling
|
||||
busWriteRegister(busdev, BMP388_OSR_REG,
|
||||
((BMP388_PRESSURE_OSR << BMP388_OSR_P_BIT) & BMP388_OSR_P_MASK) |
|
||||
((BMP388_TEMPERATURE_OSR << BMP388_OSR4_T_BIT) & BMP388_OSR4_T_MASK)
|
||||
);
|
||||
|
||||
bmp388BeginForcedMeasurement(busdev);
|
||||
|
||||
// these are dummy as temperature is measured as part of pressure
|
||||
baro->ut_delay = 0;
|
||||
baro->get_ut = bmp388GetUT;
|
||||
baro->start_ut = bmp388StartUT;
|
||||
// only _up part is executed, and gets both temperature and pressure
|
||||
baro->start_up = bmp388StartUP;
|
||||
baro->get_up = bmp388GetUP;
|
||||
|
||||
// See datasheet 3.9.2 "Measurement rate in forced mode and normal mode"
|
||||
baro->up_delay = 234 +
|
||||
(392 + (powerf(2, BMP388_PRESSURE_OSR + 1) * 2000)) +
|
||||
(313 + (powerf(2, BMP388_TEMPERATURE_OSR + 1) * 2000));
|
||||
|
||||
baro->calculate = bmp388Calculate;
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
static void bmp388StartUT(baroDev_t *baro)
|
||||
{
|
||||
UNUSED(baro);
|
||||
// dummy
|
||||
}
|
||||
|
||||
static void bmp388GetUT(baroDev_t *baro)
|
||||
{
|
||||
UNUSED(baro);
|
||||
// dummy
|
||||
}
|
||||
|
||||
static void bmp388StartUP(baroDev_t *baro)
|
||||
{
|
||||
// start measurement
|
||||
bmp388BeginForcedMeasurement(&baro->busdev);
|
||||
}
|
||||
|
||||
static void bmp388GetUP(baroDev_t *baro)
|
||||
{
|
||||
uint8_t dataFrame[BMP388_DATA_FRAME_LENGTH];
|
||||
|
||||
// read data from sensor
|
||||
busReadRegisterBuffer(&baro->busdev, BMP388_DATA_0_REG, dataFrame, BMP388_DATA_FRAME_LENGTH);
|
||||
|
||||
bmp388_up = ((uint32_t)(dataFrame[0]) << 0) | ((uint32_t)(dataFrame[1]) << 8) | ((uint32_t)(dataFrame[2]) << 16);
|
||||
bmp388_ut = ((uint32_t)(dataFrame[3]) << 0) | ((uint32_t)(dataFrame[4]) << 8) | ((uint32_t)(dataFrame[5]) << 16);
|
||||
}
|
||||
|
||||
// Returns temperature in DegC, resolution is 0.01 DegC. Output value of "5123" equals 51.23 DegC
|
||||
static int64_t bmp388CompensateTemperature(uint32_t uncomp_temperature)
|
||||
{
|
||||
uint64_t partial_data1;
|
||||
uint64_t partial_data2;
|
||||
uint64_t partial_data3;
|
||||
int64_t partial_data4;
|
||||
int64_t partial_data5;
|
||||
int64_t partial_data6;
|
||||
int64_t comp_temp;
|
||||
|
||||
partial_data1 = uncomp_temperature - (256 * bmp388_cal.T1);
|
||||
partial_data2 = bmp388_cal.T2 * partial_data1;
|
||||
partial_data3 = partial_data1 * partial_data1;
|
||||
partial_data4 = (int64_t)partial_data3 * bmp388_cal.T3;
|
||||
partial_data5 = ((int64_t)(partial_data2 * 262144) + partial_data4);
|
||||
partial_data6 = partial_data5 / 4294967296;
|
||||
/* Update t_lin, needed for pressure calculation */
|
||||
t_lin = partial_data6;
|
||||
comp_temp = (int64_t)((partial_data6 * 25) / 16384);
|
||||
|
||||
return comp_temp;
|
||||
}
|
||||
|
||||
static uint64_t bmp388CompensatePressure(uint32_t uncomp_pressure)
|
||||
{
|
||||
int64_t partial_data1;
|
||||
int64_t partial_data2;
|
||||
int64_t partial_data3;
|
||||
int64_t partial_data4;
|
||||
int64_t partial_data5;
|
||||
int64_t partial_data6;
|
||||
int64_t offset;
|
||||
int64_t sensitivity;
|
||||
uint64_t comp_press;
|
||||
|
||||
partial_data1 = t_lin * t_lin;
|
||||
partial_data2 = partial_data1 / 64;
|
||||
partial_data3 = (partial_data2 * t_lin) / 256;
|
||||
partial_data4 = (bmp388_cal.P8 * partial_data3) / 32;
|
||||
partial_data5 = (bmp388_cal.P7 * partial_data1) * 16;
|
||||
partial_data6 = (bmp388_cal.P6 * t_lin) * 4194304;
|
||||
offset = (bmp388_cal.P5 * 140737488355328) + partial_data4 + partial_data5 + partial_data6;
|
||||
|
||||
partial_data2 = (bmp388_cal.P4 * partial_data3) / 32;
|
||||
partial_data4 = (bmp388_cal.P3 * partial_data1) * 4;
|
||||
partial_data5 = (bmp388_cal.P2 - 16384) * t_lin * 2097152;
|
||||
sensitivity = ((bmp388_cal.P1 - 16384) * 70368744177664) + partial_data2 + partial_data4
|
||||
+ partial_data5;
|
||||
|
||||
partial_data1 = (sensitivity / 16777216) * uncomp_pressure;
|
||||
partial_data2 = bmp388_cal.P10 * t_lin;
|
||||
partial_data3 = partial_data2 + (65536 * bmp388_cal.P9);
|
||||
partial_data4 = (partial_data3 * uncomp_pressure) / 8192;
|
||||
partial_data5 = (partial_data4 * uncomp_pressure) / 512;
|
||||
partial_data6 = (int64_t)((uint64_t)uncomp_pressure * (uint64_t)uncomp_pressure);
|
||||
partial_data2 = (bmp388_cal.P11 * partial_data6) / 65536;
|
||||
partial_data3 = (partial_data2 * uncomp_pressure) / 128;
|
||||
partial_data4 = (offset / 4) + partial_data1 + partial_data5 + partial_data3;
|
||||
comp_press = (((uint64_t)partial_data4 * 25) / (uint64_t)1099511627776);
|
||||
|
||||
#ifdef DEBUG_BARO_BMP388
|
||||
debug[1] = ((comp_press & 0xFFFF0000) >> 32);
|
||||
debug[2] = ((comp_press & 0x0000FFFF) >> 0);
|
||||
#endif
|
||||
return comp_press;
|
||||
}
|
||||
|
||||
STATIC_UNIT_TESTED void bmp388Calculate(int32_t *pressure, int32_t *temperature)
|
||||
{
|
||||
// calculate
|
||||
int64_t t;
|
||||
int64_t p;
|
||||
|
||||
t = bmp388CompensateTemperature(bmp388_ut);
|
||||
p = bmp388CompensatePressure(bmp388_up);
|
||||
|
||||
if (pressure)
|
||||
*pressure = (int32_t)(p / 256);
|
||||
if (temperature)
|
||||
*temperature = t;
|
||||
}
|
||||
|
||||
#endif
|
||||
|
|
@ -0,0 +1,34 @@
|
|||
/*
|
||||
* This file is part of Cleanflight and Betaflight.
|
||||
*
|
||||
* Cleanflight and Betaflight are free software. You can redistribute
|
||||
* this software and/or modify this software 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 and Betaflight are distributed in the hope that they
|
||||
* 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 this software.
|
||||
*
|
||||
* If not, see <http://www.gnu.org/licenses/>.
|
||||
*
|
||||
* BMP388 Driver author: Dominic Clifton
|
||||
*
|
||||
* References:
|
||||
* BMP388 datasheet - https://ae-bst.resource.bosch.com/media/_tech/media/datasheets/BST-BMP388-DS001.pdf
|
||||
* BMP3-Sensor-API - https://github.com/BoschSensortec/BMP3-Sensor-API
|
||||
* BMP280 Cleanflight driver
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
typedef struct bmp388Config_s {
|
||||
ioTag_t eocTag;
|
||||
} bmp388Config_t;
|
||||
|
||||
bool bmp388Detect(const bmp388Config_t *config, baroDev_t *baro);
|
||||
|
|
@ -219,13 +219,13 @@ static void lpsOff(busDevice_t *busdev)
|
|||
lpsWriteCommand(busdev, LPS_CTRL1, 0x00 | (0x01 << 2));
|
||||
}
|
||||
|
||||
static void lps_nothing(baroDev_t *baro)
|
||||
static void lpsNothing(baroDev_t *baro)
|
||||
{
|
||||
UNUSED(baro);
|
||||
return;
|
||||
}
|
||||
|
||||
static void lps_read(baroDev_t *baro)
|
||||
static void lpsRead(baroDev_t *baro)
|
||||
{
|
||||
uint8_t status = 0x00;
|
||||
lpsReadCommand(&baro->busdev, LPS_STATUS, &status, 1);
|
||||
|
|
@ -242,7 +242,7 @@ static void lps_read(baroDev_t *baro)
|
|||
}
|
||||
}
|
||||
|
||||
static void lps_calculate(int32_t *pressure, int32_t *temperature)
|
||||
static void lpsCalculate(int32_t *pressure, int32_t *temperature)
|
||||
{
|
||||
*pressure = (int32_t)rawP * 100 / 4096;
|
||||
*temperature = (int32_t)rawT * 10 / 48 + 4250;
|
||||
|
|
@ -284,14 +284,14 @@ bool lpsDetect(baroDev_t *baro)
|
|||
|
||||
baro->ut_delay = 1;
|
||||
baro->up_delay = 1000000 / 24;
|
||||
baro->start_ut = lps_nothing;
|
||||
baro->get_ut = lps_nothing;
|
||||
baro->start_up = lps_nothing;
|
||||
baro->get_up = lps_read;
|
||||
baro->calculate = lps_calculate;
|
||||
baro->start_ut = lpsNothing;
|
||||
baro->get_ut = lpsNothing;
|
||||
baro->start_up = lpsNothing;
|
||||
baro->get_up = lpsRead;
|
||||
baro->calculate = lpsCalculate;
|
||||
uint32_t timeout = millis();
|
||||
do {
|
||||
lps_read(baro);
|
||||
lpsRead(baro);
|
||||
if ((millis() - timeout) > 500) return false;
|
||||
} while (rawT == 0 && rawP == 0);
|
||||
rawT = 0;
|
||||
|
|
|
|||
|
|
@ -36,6 +36,9 @@
|
|||
#include "drivers/io.h"
|
||||
#include "drivers/time.h"
|
||||
|
||||
// MS5611, Standard address 0x77
|
||||
#define MS5611_I2C_ADDR 0x77
|
||||
|
||||
#define CMD_RESET 0x1E // ADC reset command
|
||||
#define CMD_ADC_READ 0x00 // ADC read command
|
||||
#define CMD_ADC_CONV 0x40 // ADC conversion command
|
||||
|
|
@ -49,15 +52,15 @@
|
|||
#define CMD_PROM_RD 0xA0 // Prom read command
|
||||
#define PROM_NB 8
|
||||
|
||||
static void ms5611_reset(busDevice_t *busdev);
|
||||
static uint16_t ms5611_prom(busDevice_t *busdev, int8_t coef_num);
|
||||
STATIC_UNIT_TESTED int8_t ms5611_crc(uint16_t *prom);
|
||||
static uint32_t ms5611_read_adc(busDevice_t *busdev);
|
||||
static void ms5611_start_ut(baroDev_t *baro);
|
||||
static void ms5611_get_ut(baroDev_t *baro);
|
||||
static void ms5611_start_up(baroDev_t *baro);
|
||||
static void ms5611_get_up(baroDev_t *baro);
|
||||
STATIC_UNIT_TESTED void ms5611_calculate(int32_t *pressure, int32_t *temperature);
|
||||
static void ms5611Reset(busDevice_t *busdev);
|
||||
static uint16_t ms5611Prom(busDevice_t *busdev, int8_t coef_num);
|
||||
STATIC_UNIT_TESTED int8_t ms5611CRC(uint16_t *prom);
|
||||
static uint32_t ms5611ReadAdc(busDevice_t *busdev);
|
||||
static void ms5611StartUT(baroDev_t *baro);
|
||||
static void ms5611GetUT(baroDev_t *baro);
|
||||
static void ms5611StartUP(baroDev_t *baro);
|
||||
static void ms5611GetUP(baroDev_t *baro);
|
||||
STATIC_UNIT_TESTED void ms5611Calculate(int32_t *pressure, int32_t *temperature);
|
||||
|
||||
STATIC_UNIT_TESTED uint32_t ms5611_ut; // static result of temperature measurement
|
||||
STATIC_UNIT_TESTED uint32_t ms5611_up; // static result of pressure measurement
|
||||
|
|
@ -115,25 +118,25 @@ bool ms5611Detect(baroDev_t *baro)
|
|||
goto fail;
|
||||
}
|
||||
|
||||
ms5611_reset(busdev);
|
||||
ms5611Reset(busdev);
|
||||
|
||||
// read all coefficients
|
||||
for (i = 0; i < PROM_NB; i++)
|
||||
ms5611_c[i] = ms5611_prom(busdev, i);
|
||||
ms5611_c[i] = ms5611Prom(busdev, i);
|
||||
|
||||
// check crc, bail out if wrong - we are probably talking to BMP085 w/o XCLR line!
|
||||
if (ms5611_crc(ms5611_c) != 0) {
|
||||
if (ms5611CRC(ms5611_c) != 0) {
|
||||
goto fail;
|
||||
}
|
||||
|
||||
// TODO prom + CRC
|
||||
baro->ut_delay = 10000;
|
||||
baro->up_delay = 10000;
|
||||
baro->start_ut = ms5611_start_ut;
|
||||
baro->get_ut = ms5611_get_ut;
|
||||
baro->start_up = ms5611_start_up;
|
||||
baro->get_up = ms5611_get_up;
|
||||
baro->calculate = ms5611_calculate;
|
||||
baro->start_ut = ms5611StartUT;
|
||||
baro->get_ut = ms5611GetUT;
|
||||
baro->start_up = ms5611StartUP;
|
||||
baro->get_up = ms5611GetUP;
|
||||
baro->calculate = ms5611Calculate;
|
||||
|
||||
return true;
|
||||
|
||||
|
|
@ -147,14 +150,14 @@ fail:;
|
|||
return false;
|
||||
}
|
||||
|
||||
static void ms5611_reset(busDevice_t *busdev)
|
||||
static void ms5611Reset(busDevice_t *busdev)
|
||||
{
|
||||
busWriteRegister(busdev, CMD_RESET, 1);
|
||||
|
||||
delayMicroseconds(2800);
|
||||
}
|
||||
|
||||
static uint16_t ms5611_prom(busDevice_t *busdev, int8_t coef_num)
|
||||
static uint16_t ms5611Prom(busDevice_t *busdev, int8_t coef_num)
|
||||
{
|
||||
uint8_t rxbuf[2] = { 0, 0 };
|
||||
|
||||
|
|
@ -163,7 +166,7 @@ static uint16_t ms5611_prom(busDevice_t *busdev, int8_t coef_num)
|
|||
return rxbuf[0] << 8 | rxbuf[1];
|
||||
}
|
||||
|
||||
STATIC_UNIT_TESTED int8_t ms5611_crc(uint16_t *prom)
|
||||
STATIC_UNIT_TESTED int8_t ms5611CRC(uint16_t *prom)
|
||||
{
|
||||
int32_t i, j;
|
||||
uint32_t res = 0;
|
||||
|
|
@ -193,7 +196,7 @@ STATIC_UNIT_TESTED int8_t ms5611_crc(uint16_t *prom)
|
|||
return -1;
|
||||
}
|
||||
|
||||
static uint32_t ms5611_read_adc(busDevice_t *busdev)
|
||||
static uint32_t ms5611ReadAdc(busDevice_t *busdev)
|
||||
{
|
||||
uint8_t rxbuf[3];
|
||||
|
||||
|
|
@ -202,27 +205,27 @@ static uint32_t ms5611_read_adc(busDevice_t *busdev)
|
|||
return (rxbuf[0] << 16) | (rxbuf[1] << 8) | rxbuf[2];
|
||||
}
|
||||
|
||||
static void ms5611_start_ut(baroDev_t *baro)
|
||||
static void ms5611StartUT(baroDev_t *baro)
|
||||
{
|
||||
busWriteRegister(&baro->busdev, CMD_ADC_CONV + CMD_ADC_D2 + ms5611_osr, 1); // D2 (temperature) conversion start!
|
||||
}
|
||||
|
||||
static void ms5611_get_ut(baroDev_t *baro)
|
||||
static void ms5611GetUT(baroDev_t *baro)
|
||||
{
|
||||
ms5611_ut = ms5611_read_adc(&baro->busdev);
|
||||
ms5611_ut = ms5611ReadAdc(&baro->busdev);
|
||||
}
|
||||
|
||||
static void ms5611_start_up(baroDev_t *baro)
|
||||
static void ms5611StartUP(baroDev_t *baro)
|
||||
{
|
||||
busWriteRegister(&baro->busdev, CMD_ADC_CONV + CMD_ADC_D1 + ms5611_osr, 1); // D1 (pressure) conversion start!
|
||||
}
|
||||
|
||||
static void ms5611_get_up(baroDev_t *baro)
|
||||
static void ms5611GetUP(baroDev_t *baro)
|
||||
{
|
||||
ms5611_up = ms5611_read_adc(&baro->busdev);
|
||||
ms5611_up = ms5611ReadAdc(&baro->busdev);
|
||||
}
|
||||
|
||||
STATIC_UNIT_TESTED void ms5611_calculate(int32_t *pressure, int32_t *temperature)
|
||||
STATIC_UNIT_TESTED void ms5611Calculate(int32_t *pressure, int32_t *temperature)
|
||||
{
|
||||
uint32_t press;
|
||||
int64_t temp;
|
||||
|
|
|
|||
|
|
@ -20,7 +20,4 @@
|
|||
|
||||
#pragma once
|
||||
|
||||
// MS5611, Standard address 0x77
|
||||
#define MS5611_I2C_ADDR 0x77
|
||||
|
||||
bool ms5611Detect(baroDev_t *baro);
|
||||
|
|
|
|||
|
|
@ -92,12 +92,12 @@ STATIC_UNIT_TESTED qmp6988_calib_param_t qmp6988_cal;
|
|||
int32_t qmp6988_up = 0;
|
||||
int32_t qmp6988_ut = 0;
|
||||
|
||||
static void qmp6988_start_ut(baroDev_t *baro);
|
||||
static void qmp6988_get_ut(baroDev_t *baro);
|
||||
static void qmp6988_start_up(baroDev_t *baro);
|
||||
static void qmp6988_get_up(baroDev_t *baro);
|
||||
static void qmp6988StartUT(baroDev_t *baro);
|
||||
static void qmp6988GetUT(baroDev_t *baro);
|
||||
static void qmp6988StartUP(baroDev_t *baro);
|
||||
static void qmp6988GetUP(baroDev_t *baro);
|
||||
|
||||
STATIC_UNIT_TESTED void qmp6988_calculate(int32_t *pressure, int32_t *temperature);
|
||||
STATIC_UNIT_TESTED void qmp6988Calculate(int32_t *pressure, int32_t *temperature);
|
||||
|
||||
void qmp6988BusInit(busDevice_t *busdev)
|
||||
{
|
||||
|
|
@ -261,36 +261,36 @@ bool qmp6988Detect(baroDev_t *baro)
|
|||
|
||||
// these are dummy as temperature is measured as part of pressure
|
||||
baro->ut_delay = 0;
|
||||
baro->get_ut = qmp6988_get_ut;
|
||||
baro->start_ut = qmp6988_start_ut;
|
||||
baro->get_ut = qmp6988GetUT;
|
||||
baro->start_ut = qmp6988StartUT;
|
||||
// only _up part is executed, and gets both temperature and pressure
|
||||
baro->start_up = qmp6988_start_up;
|
||||
baro->get_up = qmp6988_get_up;
|
||||
baro->start_up = qmp6988StartUP;
|
||||
baro->get_up = qmp6988GetUP;
|
||||
baro->up_delay = ((T_INIT_MAX + T_MEASURE_PER_OSRS_MAX * (((1 << QMP6988_TEMPERATURE_OSR) >> 1) + ((1 << QMP6988_PRESSURE_OSR) >> 1)) + (QMP6988_PRESSURE_OSR ? T_SETUP_PRESSURE_MAX : 0) + 15) / 16) * 1000;
|
||||
baro->calculate = qmp6988_calculate;
|
||||
baro->calculate = qmp6988Calculate;
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
static void qmp6988_start_ut(baroDev_t *baro)
|
||||
static void qmp6988StartUT(baroDev_t *baro)
|
||||
{
|
||||
UNUSED(baro);
|
||||
// dummy
|
||||
}
|
||||
|
||||
static void qmp6988_get_ut(baroDev_t *baro)
|
||||
static void qmp6988GetUT(baroDev_t *baro)
|
||||
{
|
||||
UNUSED(baro);
|
||||
// dummy
|
||||
}
|
||||
|
||||
static void qmp6988_start_up(baroDev_t *baro)
|
||||
static void qmp6988StartUP(baroDev_t *baro)
|
||||
{
|
||||
// start measurement
|
||||
busWriteRegister(&baro->busdev, QMP6988_CTRL_MEAS_REG, QMP6988_PWR_SAMPLE_MODE);
|
||||
}
|
||||
|
||||
static void qmp6988_get_up(baroDev_t *baro)
|
||||
static void qmp6988GetUP(baroDev_t *baro)
|
||||
{
|
||||
uint8_t data[QMP6988_DATA_FRAME_SIZE];
|
||||
|
||||
|
|
@ -302,7 +302,7 @@ static void qmp6988_get_up(baroDev_t *baro)
|
|||
|
||||
// Returns temperature in DegC, resolution is 0.01 DegC. Output value of "5123" equals 51.23 DegC
|
||||
// t_fine carries fine temperature as global value
|
||||
static float qmp6988_compensate_T(int32_t adc_T)
|
||||
static float qmp6988CompensateTemperature(int32_t adc_T)
|
||||
{
|
||||
int32_t var1;
|
||||
float T;
|
||||
|
|
@ -315,12 +315,12 @@ static float qmp6988_compensate_T(int32_t adc_T)
|
|||
|
||||
|
||||
|
||||
STATIC_UNIT_TESTED void qmp6988_calculate(int32_t *pressure, int32_t *temperature)
|
||||
STATIC_UNIT_TESTED void qmp6988Calculate(int32_t *pressure, int32_t *temperature)
|
||||
{
|
||||
float tr,pr;
|
||||
int32_t Dp;
|
||||
|
||||
tr = qmp6988_compensate_T(qmp6988_ut);
|
||||
tr = qmp6988CompensateTemperature(qmp6988_ut);
|
||||
Dp = qmp6988_up - 1024*1024*8;
|
||||
|
||||
pr = qmp6988_cal.Coe_b00+qmp6988_cal.Coe_bt1*tr+qmp6988_cal.Coe_bp1*Dp+qmp6988_cal.Coe_b11*tr*Dp+qmp6988_cal.Coe_bt2*tr*tr+qmp6988_cal.Coe_bp2*Dp*Dp+qmp6988_cal.Coe_b12*Dp*tr*tr
|
||||
|
|
|
|||
|
|
@ -40,6 +40,7 @@
|
|||
#include "drivers/barometer/barometer.h"
|
||||
#include "drivers/barometer/barometer_bmp085.h"
|
||||
#include "drivers/barometer/barometer_bmp280.h"
|
||||
#include "drivers/barometer/barometer_bmp388.h"
|
||||
#include "drivers/barometer/barometer_qmp6988.h"
|
||||
#include "drivers/barometer/barometer_fake.h"
|
||||
#include "drivers/barometer/barometer_ms5611.h"
|
||||
|
|
@ -69,11 +70,17 @@ void pgResetFn_barometerConfig(barometerConfig_t *barometerConfig)
|
|||
//
|
||||
// 1. If DEFAULT_BARO_xxx is defined, use it.
|
||||
// 2. Determine default based on USE_BARO_xxx
|
||||
// a. Precedence is in the order of popularity; BMP280, MS5611 then BMP085, then
|
||||
// a. Precedence is in the order of popularity; BMP388, BMP280, MS5611 then BMP085, then
|
||||
// b. If SPI variant is specified, it is likely onboard, so take it.
|
||||
|
||||
#if !(defined(DEFAULT_BARO_SPI_BMP280) || defined(DEFAULT_BARO_BMP280) || defined(DEFAULT_BARO_SPI_MS5611) || defined(DEFAULT_BARO_MS5611) || defined(DEFAULT_BARO_BMP085) || defined(DEFAULT_BARO_SPI_LPS) || defined(DEFAULT_BARO_SPI_QMP6988) || defined(DEFAULT_BARO_QMP6988))
|
||||
#if defined(USE_BARO_BMP280) || defined(USE_BARO_SPI_BMP280)
|
||||
#if !(defined(DEFAULT_BARO_SPI_BMP388) || defined(DEFAULT_BARO_BMP388) || defined(DEFAULT_BARO_SPI_BMP280) || defined(DEFAULT_BARO_BMP280) || defined(DEFAULT_BARO_SPI_MS5611) || defined(DEFAULT_BARO_MS5611) || defined(DEFAULT_BARO_BMP085) || defined(DEFAULT_BARO_SPI_LPS) || defined(DEFAULT_BARO_SPI_QMP6988) || defined(DEFAULT_BARO_QMP6988))
|
||||
#if defined(USE_BARO_BMP388) || defined(USE_BARO_SPI_BMP388)
|
||||
#if defined(USE_BARO_SPI_BMP388)
|
||||
#define DEFAULT_BARO_SPI_BMP388
|
||||
#else
|
||||
#define DEFAULT_BARO_BMP388
|
||||
#endif
|
||||
#elif defined(USE_BARO_BMP280) || defined(USE_BARO_SPI_BMP280)
|
||||
#if defined(USE_BARO_SPI_BMP280)
|
||||
#define DEFAULT_BARO_SPI_BMP280
|
||||
#else
|
||||
|
|
@ -98,13 +105,13 @@ void pgResetFn_barometerConfig(barometerConfig_t *barometerConfig)
|
|||
#endif
|
||||
#endif
|
||||
|
||||
#if defined(DEFAULT_BARO_SPI_BMP280) || defined(DEFAULT_BARO_SPI_MS5611) || defined(DEFAULT_BARO_SPI_QMP6988) || defined(DEFAULT_BARO_SPI_LPS)
|
||||
#if defined(DEFAULT_BARO_SPI_BMP388) || defined(DEFAULT_BARO_SPI_BMP280) || defined(DEFAULT_BARO_SPI_MS5611) || defined(DEFAULT_BARO_SPI_QMP6988) || defined(DEFAULT_BARO_SPI_LPS)
|
||||
barometerConfig->baro_bustype = BUSTYPE_SPI;
|
||||
barometerConfig->baro_spi_device = SPI_DEV_TO_CFG(spiDeviceByInstance(BARO_SPI_INSTANCE));
|
||||
barometerConfig->baro_spi_csn = IO_TAG(BARO_CS_PIN);
|
||||
barometerConfig->baro_i2c_device = I2C_DEV_TO_CFG(I2CINVALID);
|
||||
barometerConfig->baro_i2c_address = 0;
|
||||
#elif defined(DEFAULT_BARO_MS5611) || defined(DEFAULT_BARO_BMP280) || defined(DEFAULT_BARO_BMP085) || defined(DEFAULT_BARO_QMP6988)
|
||||
#elif defined(DEFAULT_BARO_MS5611) || defined(DEFAULT_BARO_BMP388) || defined(DEFAULT_BARO_BMP280) || defined(DEFAULT_BARO_BMP085) ||defined(DEFAULT_BARO_QMP6988)
|
||||
// All I2C devices shares a default config with address = 0 (per device default)
|
||||
barometerConfig->baro_bustype = BUSTYPE_I2C;
|
||||
barometerConfig->baro_i2c_device = I2C_DEV_TO_CFG(BARO_I2C_INSTANCE);
|
||||
|
|
@ -147,7 +154,7 @@ bool baroDetect(baroDev_t *dev, baroSensor_e baroHardwareToUse)
|
|||
|
||||
baroSensor_e baroHardware = baroHardwareToUse;
|
||||
|
||||
#if !defined(USE_BARO_BMP085) && !defined(USE_BARO_MS5611) && !defined(USE_BARO_SPI_MS5611) && !defined(USE_BARO_BMP280) && !defined(USE_BARO_SPI_BMP280)&& !defined(USE_BARO_QMP6988) && !defined(USE_BARO_SPI_QMP6988)
|
||||
#if !defined(USE_BARO_BMP085) && !defined(USE_BARO_MS5611) && !defined(USE_BARO_SPI_MS5611) && !defined(USE_BARO_BMP388) && !defined(USE_BARO_BMP280) && !defined(USE_BARO_SPI_BMP280)&& !defined(USE_BARO_QMP6988) && !defined(USE_BARO_SPI_QMP6988)
|
||||
UNUSED(dev);
|
||||
#endif
|
||||
|
||||
|
|
@ -218,6 +225,23 @@ bool baroDetect(baroDev_t *dev, baroSensor_e baroHardwareToUse)
|
|||
#endif
|
||||
FALLTHROUGH;
|
||||
|
||||
case BARO_BMP388:
|
||||
#if defined(USE_BARO_BMP388) || defined(USE_BARO_SPI_BMP388)
|
||||
{
|
||||
static bmp388Config_t defaultBMP388Config;
|
||||
|
||||
defaultBMP388Config.eocTag = barometerConfig()->baro_eoc_tag;
|
||||
|
||||
static const bmp388Config_t *bmp388Config = &defaultBMP388Config;
|
||||
|
||||
if (bmp388Detect(bmp388Config, dev)) {
|
||||
baroHardware = BARO_BMP388;
|
||||
break;
|
||||
}
|
||||
}
|
||||
#endif
|
||||
FALLTHROUGH;
|
||||
|
||||
case BARO_BMP280:
|
||||
#if defined(USE_BARO_BMP280) || defined(USE_BARO_SPI_BMP280)
|
||||
if (bmp280Detect(dev)) {
|
||||
|
|
|
|||
|
|
@ -30,7 +30,8 @@ typedef enum {
|
|||
BARO_MS5611 = 3,
|
||||
BARO_BMP280 = 4,
|
||||
BARO_LPS = 5,
|
||||
BARO_QMP6988 = 6
|
||||
BARO_QMP6988 = 6,
|
||||
BARO_BMP388 = 7
|
||||
} baroSensor_e;
|
||||
|
||||
#define BARO_SAMPLE_COUNT_MAX 48
|
||||
|
|
|
|||
|
|
@ -61,6 +61,9 @@
|
|||
#define USE_BARO
|
||||
#define USE_FAKE_BARO
|
||||
#define USE_BARO_MS5611
|
||||
#define USE_BARO_SPI_BMP388
|
||||
#define BARO_SPI_INSTANCE SPI1
|
||||
#define BARO_CS_PIN SPI1_NSS_PIN
|
||||
|
||||
#define USABLE_TIMER_CHANNEL_COUNT 11
|
||||
|
||||
|
|
|
|||
|
|
@ -6,6 +6,7 @@ TARGET_SRC = \
|
|||
drivers/accgyro/accgyro_mpu6050.c \
|
||||
drivers/barometer/barometer_fake.c \
|
||||
drivers/barometer/barometer_ms5611.c \
|
||||
drivers/barometer/barometer_bmp388.c \
|
||||
drivers/compass/compass_fake.c \
|
||||
drivers/compass/compass_hmc5883l.c \
|
||||
drivers/compass/compass_qmc5883l.c \
|
||||
|
|
|
|||
|
|
@ -61,6 +61,7 @@
|
|||
#define USE_BARO
|
||||
#define USE_FAKE_BARO
|
||||
#define USE_BARO_MS5611
|
||||
#define USE_BARO_BMP388
|
||||
|
||||
#define USABLE_TIMER_CHANNEL_COUNT 9
|
||||
|
||||
|
|
|
|||
|
|
@ -6,6 +6,7 @@ TARGET_SRC = \
|
|||
drivers/accgyro/accgyro_mpu6050.c \
|
||||
drivers/barometer/barometer_fake.c \
|
||||
drivers/barometer/barometer_ms5611.c \
|
||||
drivers/barometer/barometer_bmp388.c \
|
||||
drivers/compass/compass_fake.c \
|
||||
drivers/compass/compass_hmc5883l.c \
|
||||
drivers/compass/compass_qmc5883l.c \
|
||||
|
|
|
|||
|
|
@ -147,8 +147,10 @@
|
|||
#define HMC5883_CS_PIN NONE
|
||||
|
||||
#define USE_BARO
|
||||
#define USE_BARO_LPS
|
||||
#define USE_BARO_BMP085
|
||||
#define USE_BARO_BMP280
|
||||
#define USE_BARO_BMP388
|
||||
#define USE_BARO_MS5611
|
||||
#define USE_BARO_SPI_BMP280
|
||||
#define BMP280_SPI_INSTANCE NULL
|
||||
|
|
|
|||
|
|
@ -21,6 +21,7 @@ TARGET_SRC = \
|
|||
drivers/accgyro/accgyro_mpu6050.c \
|
||||
drivers/barometer/barometer_bmp085.c \
|
||||
drivers/barometer/barometer_bmp280.c \
|
||||
drivers/barometer/barometer_bmp388.c \
|
||||
drivers/barometer/barometer_ms5611.c \
|
||||
drivers/compass/compass_hmc5883l.c \
|
||||
drivers/max7456.c \
|
||||
|
|
|
|||
|
|
@ -60,6 +60,8 @@
|
|||
#define USE_BARO_SPI_MS5611
|
||||
#define USE_BARO_BMP280
|
||||
#define USE_BARO_SPI_BMP280
|
||||
#define USE_BARO_BMP388
|
||||
#define USE_BARO_SPI_BMP388
|
||||
#define USE_BARO_LPS
|
||||
#define USE_BARO_SPI_LPS
|
||||
#define USE_BARO_QMP6988
|
||||
|
|
|
|||
|
|
@ -65,6 +65,15 @@ baro_bmp280_unittest_DEFINES := \
|
|||
USE_BARO_BMP280= \
|
||||
USE_BARO_SPI_BMP280=
|
||||
|
||||
baro_bmp388_unittest_SRC := \
|
||||
$(USER_DIR)/common/maths.c \
|
||||
$(USER_DIR)/drivers/barometer/barometer_bmp388.c
|
||||
|
||||
baro_bmp388_unittest_DEFINES := \
|
||||
USE_EXTI= \
|
||||
USE_BARO_BMP388= \
|
||||
USE_BARO_SPI_BMP388=
|
||||
|
||||
baro_ms5611_unittest_SRC := \
|
||||
$(USER_DIR)/drivers/barometer/barometer_ms5611.c
|
||||
|
||||
|
|
|
|||
|
|
@ -23,7 +23,7 @@ extern "C" {
|
|||
#include "drivers/barometer/barometer.h"
|
||||
#include "drivers/bus.h"
|
||||
|
||||
void bmp280_calculate(int32_t *pressure, int32_t *temperature);
|
||||
void bmp280Calculate(int32_t *pressure, int32_t *temperature);
|
||||
|
||||
extern uint32_t bmp280_up;
|
||||
extern uint32_t bmp280_ut;
|
||||
|
|
@ -75,7 +75,7 @@ TEST(baroBmp280Test, TestBmp280Calculate)
|
|||
bmp280_cal.dig_P9 = 6000;
|
||||
|
||||
// when
|
||||
bmp280_calculate(&pressure, &temperature);
|
||||
bmp280Calculate(&pressure, &temperature);
|
||||
|
||||
// then
|
||||
EXPECT_EQ(100653, pressure); // 100653 Pa
|
||||
|
|
@ -105,7 +105,7 @@ TEST(baroBmp280Test, TestBmp280CalculateHighP)
|
|||
bmp280_cal.dig_P9 = 6000;
|
||||
|
||||
// when
|
||||
bmp280_calculate(&pressure, &temperature);
|
||||
bmp280Calculate(&pressure, &temperature);
|
||||
|
||||
// then
|
||||
EXPECT_EQ(135382, pressure); // 135385 Pa
|
||||
|
|
@ -135,7 +135,7 @@ TEST(baroBmp280Test, TestBmp280CalculateZeroP)
|
|||
bmp280_cal.dig_P9 = 6000;
|
||||
|
||||
// when
|
||||
bmp280_calculate(&pressure, &temperature);
|
||||
bmp280Calculate(&pressure, &temperature);
|
||||
|
||||
// then
|
||||
EXPECT_EQ(0, pressure); // P1=0 trips pressure to 0 Pa, avoiding division by zero
|
||||
|
|
|
|||
|
|
@ -0,0 +1,181 @@
|
|||
/*
|
||||
* 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 <stdint.h>
|
||||
|
||||
extern "C" {
|
||||
|
||||
#include "platform.h"
|
||||
#include "target.h"
|
||||
#include "drivers/barometer/barometer.h"
|
||||
#include "drivers/bus.h"
|
||||
|
||||
void bmp388Calculate(int32_t *pressure, int32_t *temperature);
|
||||
|
||||
extern uint32_t bmp388_up;
|
||||
extern uint32_t bmp388_ut;
|
||||
extern int64_t t_lin; // when temperature is calculated this is updated, the result is used in the pressure calculations
|
||||
|
||||
typedef struct bmp388_calib_param_s {
|
||||
uint16_t T1;
|
||||
uint16_t T2;
|
||||
int8_t T3;
|
||||
int16_t P1;
|
||||
int16_t P2;
|
||||
int8_t P3;
|
||||
int8_t P4;
|
||||
uint16_t P5;
|
||||
uint16_t P6;
|
||||
int8_t P7;
|
||||
int8_t P8;
|
||||
int16_t P9;
|
||||
int8_t P10;
|
||||
int8_t P11;
|
||||
} __attribute__((packed)) bmp388_calib_param_t; // packed as we read directly from the device into this structure.
|
||||
|
||||
bmp388_calib_param_t bmp388_cal;
|
||||
|
||||
} // extern "C"
|
||||
|
||||
|
||||
#include "unittest_macros.h"
|
||||
#include "gtest/gtest.h"
|
||||
|
||||
void baroBmp388ConfigureZeroCalibration(void)
|
||||
{
|
||||
bmp388_cal = {
|
||||
.T1 = 0,
|
||||
.T2 = 0,
|
||||
.T3 = 0,
|
||||
.P1 = 0,
|
||||
.P2 = 0,
|
||||
.P3 = 0,
|
||||
.P4 = 0,
|
||||
.P5 = 0,
|
||||
.P6 = 0,
|
||||
.P7 = 0,
|
||||
.P8 = 0,
|
||||
.P9 = 0,
|
||||
.P10 = 0,
|
||||
.P11 = 0
|
||||
};
|
||||
}
|
||||
|
||||
void baroBmp388ConfigureSampleCalibration(void)
|
||||
{
|
||||
bmp388_cal = {
|
||||
.T1 = 27772,
|
||||
.T2 = 18638,
|
||||
.T3 = -10,
|
||||
.P1 = 878,
|
||||
.P2 = -2023,
|
||||
.P3 = 35,
|
||||
.P4 = 0,
|
||||
.P5 = 24476,
|
||||
.P6 = 30501,
|
||||
.P7 = -13,
|
||||
.P8 = -10,
|
||||
.P9 = 16545,
|
||||
.P10 = 21,
|
||||
.P11 = -60
|
||||
};
|
||||
}
|
||||
|
||||
TEST(baroBmp388Test, TestBmp388CalculateWithZeroCalibration)
|
||||
{
|
||||
// given
|
||||
int32_t pressure, temperature;
|
||||
bmp388_up = 0; // uncompensated pressure value
|
||||
bmp388_ut = 0; // uncompensated temperature value
|
||||
t_lin = 0;
|
||||
|
||||
// and
|
||||
baroBmp388ConfigureZeroCalibration();
|
||||
|
||||
// when
|
||||
bmp388Calculate(&pressure, &temperature);
|
||||
|
||||
// then
|
||||
EXPECT_EQ(0, temperature);
|
||||
EXPECT_EQ(0, t_lin);
|
||||
|
||||
// and
|
||||
EXPECT_EQ(0, pressure);
|
||||
}
|
||||
|
||||
TEST(baroBmp388Test, TestBmp388CalculateWithSampleCalibration)
|
||||
{
|
||||
// given
|
||||
int32_t pressure, temperature;
|
||||
bmp388_up = 7323488; // uncompensated pressure value
|
||||
bmp388_ut = 9937920; // uncompensated temperature value
|
||||
t_lin = 0;
|
||||
|
||||
// and
|
||||
baroBmp388ConfigureSampleCalibration();
|
||||
|
||||
// when
|
||||
bmp388Calculate(&pressure, &temperature);
|
||||
|
||||
// then
|
||||
EXPECT_EQ(4880, temperature); // 48.80 degrees C
|
||||
EXPECT_NE(0, t_lin);
|
||||
|
||||
// and
|
||||
EXPECT_EQ(39535, pressure); // 39535 Pa
|
||||
}
|
||||
|
||||
// STUBS
|
||||
|
||||
extern "C" {
|
||||
|
||||
void delay(uint32_t) {}
|
||||
bool busReadRegisterBuffer(const busDevice_t*, uint8_t, uint8_t*, uint8_t) {return true;}
|
||||
bool busWriteRegister(const busDevice_t*, uint8_t, uint8_t) {return true;}
|
||||
|
||||
void spiBusSetDivisor() {
|
||||
}
|
||||
|
||||
void spiBusTransactionInit() {
|
||||
}
|
||||
|
||||
void spiPreinitByIO(IO_t) {
|
||||
}
|
||||
|
||||
void IOConfigGPIO() {
|
||||
}
|
||||
|
||||
void IOHi() {
|
||||
}
|
||||
|
||||
IO_t IOGetByTag(ioTag_t) {
|
||||
return IO_NONE;
|
||||
}
|
||||
|
||||
void IOInit() {
|
||||
}
|
||||
|
||||
void EXTIHandlerInit(extiCallbackRec_t *, extiHandlerCallback *) {
|
||||
}
|
||||
|
||||
void EXTIConfig(IO_t, extiCallbackRec_t *, int, ioConfig_t, extiTrigger_t) {
|
||||
}
|
||||
|
||||
void EXTIEnable(IO_t, bool) {
|
||||
}
|
||||
|
||||
|
||||
} // extern "C"
|
||||
|
|
@ -23,8 +23,8 @@ extern "C" {
|
|||
#include "drivers/barometer/barometer.h"
|
||||
#include "drivers/bus.h"
|
||||
|
||||
int8_t ms5611_crc(uint16_t *prom);
|
||||
void ms5611_calculate(int32_t *pressure, int32_t *temperature);
|
||||
int8_t ms5611CRC(uint16_t *prom);
|
||||
void ms5611Calculate(int32_t *pressure, int32_t *temperature);
|
||||
|
||||
extern uint16_t ms5611_c[8];
|
||||
extern uint32_t ms5611_up;
|
||||
|
|
@ -40,10 +40,10 @@ extern uint32_t ms5611_ut;
|
|||
TEST(baroMS5611Test, TestValidMs5611Crc)
|
||||
{
|
||||
// given
|
||||
uint16_t ms5611_prom[] = {0x3132,0x3334,0x3536,0x3738,0x3940,0x4142,0x4344,0x450B};
|
||||
uint16_t ms5611Prom[] = {0x3132,0x3334,0x3536,0x3738,0x3940,0x4142,0x4344,0x450B};
|
||||
|
||||
// when
|
||||
int8_t result = ms5611_crc(ms5611_prom);
|
||||
int8_t result = ms5611CRC(ms5611Prom);
|
||||
|
||||
// then
|
||||
EXPECT_EQ(0, result);
|
||||
|
|
@ -52,10 +52,10 @@ TEST(baroMS5611Test, TestValidMs5611Crc)
|
|||
TEST(baroMS5611Test, TestInvalidMs5611Crc)
|
||||
{
|
||||
// given
|
||||
uint16_t ms5611_prom[] = {0x3132,0x3334,0x3536,0x3738,0x3940,0x4142,0x4344,0x4500};
|
||||
uint16_t ms5611Prom[] = {0x3132,0x3334,0x3536,0x3738,0x3940,0x4142,0x4344,0x4500};
|
||||
|
||||
// when
|
||||
int8_t result = ms5611_crc(ms5611_prom);
|
||||
int8_t result = ms5611CRC(ms5611Prom);
|
||||
|
||||
// then
|
||||
EXPECT_EQ(-1, result);
|
||||
|
|
@ -64,10 +64,10 @@ TEST(baroMS5611Test, TestInvalidMs5611Crc)
|
|||
TEST(baroMS5611Test, TestMs5611AllZeroProm)
|
||||
{
|
||||
// given
|
||||
uint16_t ms5611_prom[] = {0x0000,0x0000,0x0000,0x0000,0x0000,0x0000,0x0000,0x0000};
|
||||
uint16_t ms5611Prom[] = {0x0000,0x0000,0x0000,0x0000,0x0000,0x0000,0x0000,0x0000};
|
||||
|
||||
// when
|
||||
int8_t result = ms5611_crc(ms5611_prom);
|
||||
int8_t result = ms5611CRC(ms5611Prom);
|
||||
|
||||
// then
|
||||
EXPECT_EQ(-1, result);
|
||||
|
|
@ -76,10 +76,10 @@ TEST(baroMS5611Test, TestMs5611AllZeroProm)
|
|||
TEST(baroMS5611Test, TestMs5611AllOnesProm)
|
||||
{
|
||||
// given
|
||||
uint16_t ms5611_prom[] = {0xFFFF,0xFFFF,0xFFFF,0xFFFF,0xFFFF,0xFFFF,0xFFFF,0xFFFF};
|
||||
uint16_t ms5611Prom[] = {0xFFFF,0xFFFF,0xFFFF,0xFFFF,0xFFFF,0xFFFF,0xFFFF,0xFFFF};
|
||||
|
||||
// when
|
||||
int8_t result = ms5611_crc(ms5611_prom);
|
||||
int8_t result = ms5611CRC(ms5611Prom);
|
||||
|
||||
// then
|
||||
EXPECT_EQ(-1, result);
|
||||
|
|
@ -96,7 +96,7 @@ TEST(baroMS5611Test, TestMs5611CalculatePressureGT20Deg)
|
|||
ms5611_ut = 8569150; // Digital temperature value from MS5611 datasheet
|
||||
|
||||
// when
|
||||
ms5611_calculate(&pressure, &temperature);
|
||||
ms5611Calculate(&pressure, &temperature);
|
||||
|
||||
// then
|
||||
EXPECT_EQ(2007, temperature); // 20.07 deg C
|
||||
|
|
@ -114,7 +114,7 @@ TEST(baroMS5611Test, TestMs5611CalculatePressureLT20Deg)
|
|||
ms5611_ut = 8069150; // Digital temperature value
|
||||
|
||||
// when
|
||||
ms5611_calculate(&pressure, &temperature);
|
||||
ms5611Calculate(&pressure, &temperature);
|
||||
|
||||
// then
|
||||
EXPECT_EQ(205, temperature); // 2.05 deg C
|
||||
|
|
@ -132,7 +132,7 @@ TEST(baroMS5611Test, TestMs5611CalculatePressureLTMinus15Deg)
|
|||
ms5611_ut = 7369150; // Digital temperature value
|
||||
|
||||
// when
|
||||
ms5611_calculate(&pressure, &temperature);
|
||||
ms5611Calculate(&pressure, &temperature);
|
||||
|
||||
// then
|
||||
EXPECT_EQ(-2710, temperature); // -27.10 deg C
|
||||
|
|
|
|||
Loading…
Reference in New Issue