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Baro fixes, cleanups and improvements. 

* Add BARO debug mode.
* BMP085 - Fix EOC and XCLR initialisation.
* BMP085 - update previously dead code.
* BMP280 - Move t_fine out of the calibration data, since their usage is mixed.
* BMP280 - Move static_assert closer to definition.
This commit is contained in:
Dominic Clifton 2019-01-06 01:35:46 +01:00
parent 7cd030559d
commit eea9242d7b
7 changed files with 48 additions and 29 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
src/main/build/debug.c
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@ -90,4 +90,5 @@ const char * const debugModeNames[DEBUG_COUNT] = {
"CRSF_LINK_STATISTICS_UPLINK",
"CRSF_LINK_STATISTICS_PWR",
"CRSF_LINK_STATISTICS_DOWN",
"BARO",
};

1
src/main/build/debug.h
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@ -106,6 +106,7 @@ typedef enum {
DEBUG_CRSF_LINK_STATISTICS_UPLINK,
DEBUG_CRSF_LINK_STATISTICS_PWR,
DEBUG_CRSF_LINK_STATISTICS_DOWN,
DEBUG_BARO,
DEBUG_COUNT
} debugType_e;

32
src/main/drivers/barometer/barometer_bmp085.c
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@ -39,7 +39,7 @@
#ifdef USE_BARO
#if defined(BARO_EOC_GPIO)
#if defined(BARO_EOC_PIN)
static IO_t eocIO;
@ -53,7 +53,6 @@ void bmp085_extiHandler(extiCallbackRec_t* cb)
isConversionComplete = true;
}
bool bmp085TestEOCConnected(const bmp085Config_t *config);
# endif
typedef struct {
@ -164,7 +163,7 @@ bool bmp085Detect(const bmp085Config_t *config, baroDev_t *baro)
bool ack;
bool defaultAddressApplied = false;
#if defined(BARO_EOC_GPIO)
#if defined(BARO_EOC_PIN)
IO_t eocIO = IO_NONE;
#endif
@ -174,14 +173,13 @@ bool bmp085Detect(const bmp085Config_t *config, baroDev_t *baro)
bmp085InitXclrIO(config);
BMP085_ON; // enable baro
#if defined(BARO_EOC_GPIO) && defined(USE_EXTI)
#if defined(BARO_EOC_PIN) && defined(USE_EXTI)
if (config && config->eocIO) {
eocIO = IOGetByTag(config->eocIO);
// EXTI interrupt for barometer EOC
IOInit(eocIO, OWNER_BARO_EXTI, 0);
IOConfigGPIO(eocIO, Mode_IN_FLOATING);
EXTIHandlerInit(&bmp085_extiCallbackRec, bmp085_extiHandler);
EXTIConfig(eocIO, &bmp085_extiCallbackRec, NVIC_PRIO_BARO_EXTI, IOCFG_IN_FLOATING, EXTI_TRIGGER_RISING);
EXTIHandlerInit(&baro->exti, bmp085_extiHandler);
EXTIConfig(eocIO, &baro->exti, NVIC_PRIO_BARO_EXTI, IOCFG_IN_FLOATING, EXTI_TRIGGER_RISING);
EXTIEnable(eocIO, true);
}
#else
@ -215,15 +213,15 @@ bool bmp085Detect(const bmp085Config_t *config, baroDev_t *baro)
baro->start_up = bmp085_start_up;
baro->get_up = bmp085_get_up;
baro->calculate = bmp085_calculate;
#if defined(BARO_EOC_GPIO)
isEOCConnected = bmp085TestEOCConnected(config);
#if defined(BARO_EOC_PIN)
isEOCConnected = bmp085TestEOCConnected(baro, config);
#endif
bmp085InitDone = true;
return true;
}
}
#if defined(BARO_EOC_GPIO)
#if defined(BARO_EOC_PIN)
if (eocIO)
EXTIRelease(eocIO);
#endif
@ -292,7 +290,7 @@ static int32_t bmp085_get_pressure(uint32_t up)
static void bmp085_start_ut(baroDev_t *baro)
{
#if defined(BARO_EOC_GPIO)
#if defined(BARO_EOC_PIN)
isConversionComplete = false;
#endif
busWriteRegister(&baro->busdev, BMP085_CTRL_MEAS_REG, BMP085_T_MEASURE);
@ -302,7 +300,7 @@ static void bmp085_get_ut(baroDev_t *baro)
{
uint8_t data[2];
#if defined(BARO_EOC_GPIO)
#if defined(BARO_EOC_PIN)
// return old baro value if conversion time exceeds datasheet max when EOC is connected
if ((isEOCConnected) && (!isConversionComplete)) {
return;
@ -319,7 +317,7 @@ static void bmp085_start_up(baroDev_t *baro)
ctrl_reg_data = BMP085_P_MEASURE + (bmp085.oversampling_setting << 6);
#if defined(BARO_EOC_GPIO)
#if defined(BARO_EOC_PIN)
isConversionComplete = false;
#endif
@ -334,7 +332,7 @@ static void bmp085_get_up(baroDev_t *baro)
{
uint8_t data[3];
#if defined(BARO_EOC_GPIO)
#if defined(BARO_EOC_PIN)
// return old baro value if conversion time exceeds datasheet max when EOC is connected
if ((isEOCConnected) && (!isConversionComplete)) {
return;
@ -381,13 +379,13 @@ static void bmp085_get_cal_param(busDevice_t *busdev)
bmp085.cal_param.md = (data[20] << 8) | data[21];
}
#if defined(BARO_EOC_GPIO)
bool bmp085TestEOCConnected(const bmp085Config_t *config)
#if defined(BARO_EOC_PIN)
bool bmp085TestEOCConnected(baroDev_t *baro, const bmp085Config_t *config)
{
UNUSED(config);
if (!bmp085InitDone && eocIO) {
bmp085_start_ut();
bmp085_start_ut(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

4
src/main/drivers/barometer/barometer_bmp085.h
View File

@ -32,8 +32,8 @@ typedef struct bmp085Config_s {
bool bmp085Detect(const bmp085Config_t *config, baroDev_t *baro);
void bmp085Disable(const bmp085Config_t *config);
#if defined(BARO_EOC_GPIO)
bool bmp085TestEOCConnected(const bmp085Config_t *config);
#if defined(BARO_EOC_PIN)
bool bmp085TestEOCConnected(baroDev_t *baro, const bmp085Config_t *config);
#endif
#ifdef UNIT_TEST

15
src/main/drivers/barometer/barometer_bmp280.c
View File

@ -52,8 +52,9 @@ typedef struct bmp280_calib_param_s {
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;
} __attribute__((packed)) bmp280_calib_param_t; // packed as we read directly from the device into this structure.
STATIC_UNIT_TESTED int32_t t_fine; /* calibration t_fine data */
static uint8_t bmp280_chip_id = 0;
STATIC_UNIT_TESTED bmp280_calib_param_t bmp280_cal;
@ -70,6 +71,8 @@ STATIC_UNIT_TESTED void bmp280_calculate(int32_t *pressure, int32_t *temperature
void bmp280BusInit(busDevice_t *busdev)
{
STATIC_ASSERT(sizeof(bmp280_calib_param_t) == BMP280_PRESSURE_TEMPERATURE_CALIB_DATA_LENGTH, bmp280_calibration_structure_incorrectly_packed);
#ifdef USE_BARO_SPI_BMP280
if (busdev->bustype == BUSTYPE_SPI) {
IOHi(busdev->busdev_u.spi.csnPin); // Disable
@ -125,7 +128,7 @@ bool bmp280Detect(baroDev_t *baro)
}
// read calibration
busReadRegisterBuffer(busdev, BMP280_TEMPERATURE_CALIB_DIG_T1_LSB_REG, (uint8_t *)&bmp280_cal, 24);
busReadRegisterBuffer(busdev, BMP280_TEMPERATURE_CALIB_DIG_T1_LSB_REG, (uint8_t *)&bmp280_cal, sizeof(bmp280_calib_param_t));
// set oversampling + power mode (forced), and start sampling
busWriteRegister(busdev, BMP280_CTRL_MEAS_REG, BMP280_MODE);
@ -180,8 +183,8 @@ static int32_t bmp280_compensate_T(int32_t adc_T)
var1 = ((((adc_T >> 3) - ((int32_t)bmp280_cal.dig_T1 << 1))) * ((int32_t)bmp280_cal.dig_T2)) >> 11;
var2 = (((((adc_T >> 4) - ((int32_t)bmp280_cal.dig_T1)) * ((adc_T >> 4) - ((int32_t)bmp280_cal.dig_T1))) >> 12) * ((int32_t)bmp280_cal.dig_T3)) >> 14;
bmp280_cal.t_fine = var1 + var2;
T = (bmp280_cal.t_fine * 5 + 128) >> 8;
t_fine = var1 + var2;
T = (t_fine * 5 + 128) >> 8;
return T;
}
@ -191,7 +194,7 @@ static int32_t bmp280_compensate_T(int32_t adc_T)
static uint32_t bmp280_compensate_P(int32_t adc_P)
{
int64_t var1, var2, p;
var1 = ((int64_t)bmp280_cal.t_fine) - 128000;
var1 = ((int64_t)t_fine) - 128000;
var2 = var1 * var1 * (int64_t)bmp280_cal.dig_P6;
var2 = var2 + ((var1*(int64_t)bmp280_cal.dig_P5) << 17);
var2 = var2 + (((int64_t)bmp280_cal.dig_P4) << 35);

17
src/main/sensors/barometer.c
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@ -26,6 +26,8 @@
#ifdef USE_BARO
#include "build/debug.h"
#include "common/maths.h"
#include "pg/pg.h"
@ -102,7 +104,7 @@ void pgResetFn_barometerConfig(barometerConfig_t *barometerConfig)
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_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);
@ -183,7 +185,7 @@ bool baroDetect(baroDev_t *dev, baroSensor_e baroHardwareToUse)
{
const bmp085Config_t *bmp085Config = NULL;
#if defined(BARO_XCLR_GPIO) && defined(BARO_EOC_GPIO)
#if defined(BARO_XCLR_PIN) && defined(BARO_EOC_PIN)
static const bmp085Config_t defaultBMP085Config = {
.xclrIO = IO_TAG(BARO_XCLR_PIN),
.eocIO = IO_TAG(BARO_EOC_PIN),
@ -324,6 +326,10 @@ uint32_t baroUpdate(void)
{
static barometerState_e state = BAROMETER_NEEDS_SAMPLES;
if (debugMode == DEBUG_BARO) {
debug[0] = state;
}
switch (state) {
default:
case BAROMETER_NEEDS_SAMPLES:
@ -340,6 +346,13 @@ uint32_t baroUpdate(void)
baro.baroPressure = baroPressure;
baro.baroTemperature = baroTemperature;
baroPressureSum = recalculateBarometerTotal(barometerConfig()->baro_sample_count, baroPressureSum, baroPressure);
if (debugMode == DEBUG_BARO) {
debug[1] = baroTemperature;
debug[2] = baroPressure;
debug[3] = baroPressureSum;
}
state = BAROMETER_NEEDS_SAMPLES;
return baro.dev.ut_delay;
break;

7
src/test/unit/baro_bmp280_unittest.cc
View File

@ -27,6 +27,7 @@ void bmp280_calculate(int32_t *pressure, int32_t *temperature);
extern uint32_t bmp280_up;
extern uint32_t bmp280_ut;
extern int32_t t_fine; /* calibration t_fine data */
typedef struct bmp280_calib_param_s {
uint16_t dig_T1; /* calibration T1 data */
@ -41,8 +42,7 @@ typedef struct bmp280_calib_param_s {
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;
} __attribute__((packed)) bmp280_calib_param_t; // packed as we read directly from the device into this structure.
bmp280_calib_param_t bmp280_cal;
}
@ -58,6 +58,7 @@ TEST(baroBmp280Test, TestBmp280Calculate)
int32_t pressure, temperature;
bmp280_up = 415148; // Digital pressure value
bmp280_ut = 519888; // Digital temperature value
t_fine = 0;
// and
bmp280_cal.dig_T1 = 27504;
@ -87,6 +88,7 @@ TEST(baroBmp280Test, TestBmp280CalculateHighP)
int32_t pressure, temperature;
bmp280_up = 215148; // Digital pressure value
bmp280_ut = 519888; // Digital temperature value
t_fine = 0;
// and
bmp280_cal.dig_T1 = 27504;
@ -116,6 +118,7 @@ TEST(baroBmp280Test, TestBmp280CalculateZeroP)
int32_t pressure, temperature;
bmp280_up = 415148; // Digital pressure value
bmp280_ut = 519888; // Digital temperature value
t_fine = 0;
// and
bmp280_cal.dig_T1 = 27504;