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Adjusted the state machine to read the temperature less often (from twice a second to every 4 seconds). Added a small smoothing filter.

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2552 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-06-12 23:57:36 +00:00
parent 65345160d1
commit d2330b4239
2 changed files with 115 additions and 117 deletions
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205
libraries/APM_BMP085/APM_BMP085.cpp
View File

@ -54,43 +54,45 @@ APM_BMP085_Class::APM_BMP085_Class()
// Public Methods ////////////////////////////////////////////////////////////// // Public Methods //////////////////////////////////////////////////////////////
void APM_BMP085_Class::Init(int initialiseWireLib) void APM_BMP085_Class::Init(int initialiseWireLib)
{ {
byte buff[22]; byte buff[22];
int i=0; int i = 0;
pinMode(BMP085_EOC,INPUT); // End Of Conversion (PC7) input pinMode(BMP085_EOC, INPUT); // End Of Conversion (PC7) input
if( initialiseWireLib != 0 ) if( initialiseWireLib != 0 )
Wire.begin(); Wire.begin();
oss = 3; // Over Sampling setting 3 = High resolution
BMP085_State = 0; // Initial state oss = 3; // Over Sampling setting 3 = High resolution
BMP085_State = 0; // Initial state
// We read the calibration data registers // We read the calibration data registers
Wire.beginTransmission(BMP085_ADDRESS); Wire.beginTransmission(BMP085_ADDRESS);
Wire.send(0xAA); Wire.send(0xAA);
Wire.endTransmission(); Wire.endTransmission();
Wire.requestFrom(BMP085_ADDRESS, 22);
Wire.requestFrom(BMP085_ADDRESS, 22);
//Wire.endTransmission(); //Wire.endTransmission();
while(Wire.available()) while(Wire.available()){
{ buff[i] = Wire.receive(); // receive one byte
buff[i] = Wire.receive(); // receive one byte i++;
i++; }
}
ac1 = ((int)buff[0] << 8) | buff[1]; ac1 = ((int)buff[0] << 8) | buff[1];
ac2 = ((int)buff[2] << 8) | buff[3]; ac2 = ((int)buff[2] << 8) | buff[3];
ac3 = ((int)buff[4] << 8) | buff[5]; ac3 = ((int)buff[4] << 8) | buff[5];
ac4 = ((int)buff[6] << 8) | buff[7]; ac4 = ((int)buff[6] << 8) | buff[7];
ac5 = ((int)buff[8] << 8) | buff[9]; ac5 = ((int)buff[8] << 8) | buff[9];
ac6 = ((int)buff[10] << 8) | buff[11]; ac6 = ((int)buff[10] << 8) | buff[11];
b1 = ((int)buff[12] << 8) | buff[13]; b1 = ((int)buff[12] << 8) | buff[13];
b2 = ((int)buff[14] << 8) | buff[15]; b2 = ((int)buff[14] << 8) | buff[15];
mb = ((int)buff[16] << 8) | buff[17]; mb = ((int)buff[16] << 8) | buff[17];
mc = ((int)buff[18] << 8) | buff[19]; mc = ((int)buff[18] << 8) | buff[19];
md = ((int)buff[20] << 8) | buff[21]; md = ((int)buff[20] << 8) | buff[21];
//Send a command to read Temp //Send a command to read Temp
Command_ReadTemp(); Command_ReadTemp();
BMP085_State=1; BMP085_State = 1;
} }
@ -98,80 +100,78 @@ void APM_BMP085_Class::Init(int initialiseWireLib)
// We read one time Temperature (state=1) and then 4 times Pressure (states 2-5) // We read one time Temperature (state=1) and then 4 times Pressure (states 2-5)
uint8_t APM_BMP085_Class::Read() uint8_t APM_BMP085_Class::Read()
{ {
uint8_t result=0; uint8_t result = 0;
if (BMP085_State==1) if (BMP085_State == 1){
{ if (digitalRead(BMP085_EOC)){
if (digitalRead(BMP085_EOC)) ReadTemp(); // On state 1 we read temp
{
ReadTemp(); // On state 1 we read temp
BMP085_State++; BMP085_State++;
Command_ReadPress(); Command_ReadPress();
} }
} }else{
else if (BMP085_State == 40){
{ if (digitalRead(BMP085_EOC)){
if (BMP085_State==5)
{
if (digitalRead(BMP085_EOC))
{
ReadPress(); ReadPress();
Calculate(); Calculate();
BMP085_State = 1; // Start again from state=1
Command_ReadTemp(); // Read Temp BMP085_State = 1; // Start again from state = 1
result=1; // New pressure reading Command_ReadTemp(); // Read Temp
result = 1; // New pressure reading
} }
} }else{
else if (digitalRead(BMP085_EOC)){
{
if (digitalRead(BMP085_EOC))
{
ReadPress(); ReadPress();
Calculate(); Calculate();
BMP085_State++; BMP085_State++;
Command_ReadPress(); Command_ReadPress();
result=1; // New pressure reading result = 1; // New pressure reading
} }
} }
} }
return(result); return(result);
} }
// Send command to Read Pressure // Send command to Read Pressure
void APM_BMP085_Class::Command_ReadPress() void APM_BMP085_Class::Command_ReadPress()
{ {
Wire.beginTransmission(BMP085_ADDRESS); Wire.beginTransmission(BMP085_ADDRESS);
Wire.send(0xF4); Wire.send(0xF4);
Wire.send(0x34+(oss<<6)); //write_register(0xF4,0x34+(oversampling_setting<<6)); Wire.send(0x34+(oss << 6)); // write_register(0xF4, 0x34+(oversampling_setting << 6));
Wire.endTransmission(); Wire.endTransmission();
} }
// Read Raw Pressure values // Read Raw Pressure values
void APM_BMP085_Class::ReadPress() void APM_BMP085_Class::ReadPress()
{ {
byte msb; byte msb;
byte lsb; byte lsb;
byte xlsb; byte xlsb;
Wire.beginTransmission(BMP085_ADDRESS); Wire.beginTransmission(BMP085_ADDRESS);
Wire.send(0xF6); Wire.send(0xF6);
Wire.endTransmission(); Wire.endTransmission();
Wire.requestFrom(BMP085_ADDRESS, 3); // read a byte Wire.requestFrom(BMP085_ADDRESS, 3); // read a byte
while(!Wire.available()) {
while(!Wire.available()) {
// waiting // waiting
} }
msb = Wire.receive();
while(!Wire.available()) { msb = Wire.receive();
while(!Wire.available()) {
// waiting // waiting
} }
lsb = Wire.receive();
while(!Wire.available()) { lsb = Wire.receive();
while(!Wire.available()) {
// waiting // waiting
} }
xlsb = Wire.receive();
RawPress = (((long)msb<<16) | ((long)lsb<<8) | ((long)xlsb)) >> (8-oss); xlsb = Wire.receive();
RawPress = (((long)msb << 16) | ((long)lsb << 8) | ((long)xlsb)) >> (8 - oss);
} }
// Send Command to Read Temperature // Send Command to Read Temperature
@ -186,19 +186,21 @@ void APM_BMP085_Class::Command_ReadTemp()
// Read Raw Temperature values // Read Raw Temperature values
void APM_BMP085_Class::ReadTemp() void APM_BMP085_Class::ReadTemp()
{ {
byte tmp; byte tmp;
int16_t tmp2;
Wire.beginTransmission(BMP085_ADDRESS); Wire.beginTransmission(BMP085_ADDRESS);
Wire.send(0xF6); Wire.send(0xF6);
Wire.endTransmission(); Wire.endTransmission();
Wire.beginTransmission(BMP085_ADDRESS); Wire.beginTransmission(BMP085_ADDRESS);
Wire.requestFrom(BMP085_ADDRESS,2); Wire.requestFrom(BMP085_ADDRESS, 2);
while(!Wire.available()); // wait while(!Wire.available()); // wait
RawTemp = Wire.receive(); tmp2 = Wire.receive();
while(!Wire.available()); // wait while(!Wire.available()); // wait
tmp = Wire.receive(); tmp = Wire.receive();
RawTemp = RawTemp<<8 | tmp; RawTemp += tmp2 << 8 | tmp;
RawTemp = RawTemp >> 1;
} }
// Calculate Temperature and Pressure in real units. // Calculate Temperature and Pressure in real units.
@ -252,34 +254,29 @@ void APM_BMP085_HIL_Class::Init(int initialiseWireLib)
// Read the sensor. This is a state machine // Read the sensor. This is a state machine
// We read one time Temperature (state=1) and then 4 times Pressure (states 2-5) // We read one time Temperature (state = 1) and then 4 times Pressure (states 2-5)
uint8_t APM_BMP085_HIL_Class::Read() uint8_t APM_BMP085_HIL_Class::Read()
{ {
uint8_t result=0; uint8_t result = 0;
if (BMP085_State==1) if (BMP085_State == 1){
{ BMP085_State++;
BMP085_State++; }else{
}
else if (BMP085_State == 5){
{ BMP085_State = 1; // Start again from state = 1
if (BMP085_State==5) result = 1; // New pressure reading
{ }else{
BMP085_State = 1; // Start again from state=1 BMP085_State++;
result=1; // New pressure reading result = 1; // New pressure reading
}
else
{
BMP085_State++;
result=1; // New pressure reading
} }
} }
return(result); return(result);
} }
void APM_BMP085_HIL_Class::setHIL(float _Temp, float _Press) void APM_BMP085_HIL_Class::setHIL(float _Temp, float _Press)
{ {
// TODO: map floats to raw // TODO: map floats to raw
Temp = _Temp; Temp = _Temp;
Press = _Press; Press = _Press;
} }

1
libraries/APM_BMP085/APM_BMP085.h
View File

@ -15,6 +15,7 @@ class APM_BMP085_Class
void ReadPress(); void ReadPress();
void ReadTemp(); void ReadTemp();
void Calculate(); void Calculate();
public: public:
int32_t RawPress; int32_t RawPress;
int32_t RawTemp; int32_t RawTemp;