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mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-26 09:43:57 -04:00

AP_Baro: BMP085 driver done, but untested

This commit is contained in:
Andrew Tridgell 2015-01-05 22:00:32 +11:00
parent 5bb57a31f7
commit f1891cea1f
4 changed files with 64 additions and 126 deletions

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@ -241,6 +241,11 @@ void AP_Baro::init(void)
#elif HAL_BARO_DEFAULT == HAL_BARO_HIL
drivers[0] = new AP_Baro_HIL(*this);
_num_drivers = 1;
#elif HAL_BARO_DEFAULT == HAL_BARO_BMP085
{
drivers[0] = new AP_Baro_BMP085(*this);
_num_drivers = 1;
}
#elif HAL_BARO_DEFAULT == HAL_BARO_MS5611
{
drivers[0] = new AP_Baro_MS5611(*this, new AP_SerialBus_I2C(MS5611_I2C_ADDR));

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@ -149,7 +149,7 @@ private:
#include "AP_Baro_Backend.h"
#include "AP_Baro_MS5611.h"
//#include "AP_Baro_BMP085.h"
#include "AP_Baro_BMP085.h"
#include "AP_Baro_HIL.h"
#include "AP_Baro_PX4.h"

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@ -1,5 +1,4 @@
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#if 0
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
@ -15,42 +14,16 @@
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
* APM_BMP085.cpp - Arduino Library for BMP085 absolute pressure sensor
* Code by Jordi Mu<EFBFBD>oz and Jose Julio. DIYDrones.com
* Sensor is conected to I2C port
* Sensor End of Conversion (EOC) pin is PC7 (30)
*
* Variables:
* RawTemp : Raw temperature data
* RawPress : Raw pressure data
*
* Temp : Calculated temperature (in 0.1<EFBFBD>C units)
* Press : Calculated pressure (in Pa units)
*
* Methods:
* Init() : Initialization of I2C and read sensor calibration data
* Read() : Read sensor data and calculate Temperature and Pressure
* This function is optimized so the main host don<EFBFBD>t need to wait
* You can call this function in your main loop
* It returns a 1 if there are new data.
*
* Internal functions:
* Command_ReadTemp(): Send commando to read temperature
* Command_ReadPress(): Send commando to read Pressure
* ReadTemp() : Read temp register
* ReadPress() : Read press register
*
*
*/
BMP085 barometer driver. Based on original code by Jordi Munoz and
Jose Julio
// AVR LibC Includes
#include <inttypes.h>
#include <AP_Common.h>
#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
Substantially modified by Andrew Tridgell
*/
#include <AP_HAL.h>
#include "AP_Baro_BMP085.h"
#include <AP_Common.h>
#include "AP_Baro.h"
extern const AP_HAL::HAL& hal;
@ -74,25 +47,36 @@ extern const AP_HAL::HAL& hal;
// oversampling 3 gives 26ms conversion time. We then average
#define OVERSAMPLING 3
// Public Methods //////////////////////////////////////////////////////////////
bool AP_Baro_BMP085::init()
/*
constructor
*/
AP_Baro_BMP085::AP_Baro_BMP085(AP_Baro &baro) :
AP_Baro_Backend(baro),
_instance(0),
_temp_sum(0),
_press_sum(0),
_count(0),
BMP085_State(0),
ac1(0), ac2(0), ac3(0), b1(0), b2(0), mb(0), mc(0), md(0),
ac4(0), ac5(0), ac6(0),
_retry_time(0)
{
uint8_t buff[22];
// get pointer to i2c bus semaphore
AP_HAL::Semaphore* i2c_sem = hal.i2c->get_semaphore();
AP_HAL::Semaphore *i2c_sem = hal.i2c->get_semaphore();
// take i2c bus sempahore
if (!i2c_sem->take(HAL_SEMAPHORE_BLOCK_FOREVER))
return false;
if (!i2c_sem->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
hal.scheduler->panic(PSTR("BMP085: unable to get semaphore"));
}
hal.gpio->pinMode(BMP085_EOC, HAL_GPIO_INPUT);// End Of Conversion (PC7) input
// End Of Conversion (PC7) input
hal.gpio->pinMode(BMP085_EOC, HAL_GPIO_INPUT);
// We read the calibration data registers
if (hal.i2c->readRegisters(BMP085_ADDRESS, 0xAA, 22, buff) != 0) {
_flags.healthy = false;
i2c_sem->give();
return false;
hal.scheduler->panic(PSTR("BMP085: bad calibration registers"));
}
ac1 = ((int16_t)buff[0] << 8) | buff[1];
@ -110,17 +94,14 @@ bool AP_Baro_BMP085::init()
_last_press_read_command_time = 0;
_last_temp_read_command_time = 0;
_instance = _frontend.register_sensor();
//Send a command to read Temp
Command_ReadTemp();
BMP085_State = 0;
// init raw temo
RawTemp = 0;
_flags.healthy = true;
i2c_sem->give();
return true;
}
// Read the sensor. This is a state machine
@ -141,8 +122,9 @@ void AP_Baro_BMP085::accumulate(void)
if (BMP085_State == 0) {
ReadTemp();
} else {
ReadPress();
Calculate();
if (ReadPress()) {
Calculate();
}
}
BMP085_State++;
if (BMP085_State == 5) {
@ -156,76 +138,58 @@ void AP_Baro_BMP085::accumulate(void)
}
// Read the sensor using accumulated data
uint8_t AP_Baro_BMP085::read()
/*
transfer data to the frontend
*/
void AP_Baro_BMP085::update(void)
{
if (_count == 0 && BMP_DATA_READY()) {
accumulate();
}
if (_count == 0) {
return 0;
return;
}
_last_update = hal.scheduler->millis();
Temp = 0.1f * _temp_sum / _count;
Press = _press_sum / _count;
float temperature = 0.1f * _temp_sum / _count;
float pressure = _press_sum / _count;
_count = 0;
_temp_sum = 0;
_press_sum = 0;
return 1;
_copy_to_frontend(_instance, pressure, temperature);
}
float AP_Baro_BMP085::get_pressure() {
return Press;
}
float AP_Baro_BMP085::get_temperature() const {
return Temp;
}
// Private functions: /////////////////////////////////////////////////////////
// Send command to Read Pressure
void AP_Baro_BMP085::Command_ReadPress()
{
// Mode 0x34+(OVERSAMPLING << 6) is osrs=3 when OVERSAMPLING=3 => 25.5ms conversion time
uint8_t res = hal.i2c->writeRegister(BMP085_ADDRESS, 0xF4,
0x34+(OVERSAMPLING << 6));
hal.i2c->writeRegister(BMP085_ADDRESS, 0xF4,
0x34+(OVERSAMPLING << 6));
_last_press_read_command_time = hal.scheduler->millis();
if (res != 0) {
_flags.healthy = false;
}
}
// Read Raw Pressure values
void AP_Baro_BMP085::ReadPress()
bool AP_Baro_BMP085::ReadPress()
{
uint8_t buf[3];
if (!_flags.healthy && hal.scheduler->millis() < _retry_time) {
return;
}
if (hal.i2c->readRegisters(BMP085_ADDRESS, 0xF6, 3, buf) != 0) {
_retry_time = hal.scheduler->millis() + 1000;
hal.i2c->setHighSpeed(false);
_flags.healthy = false;
return;
return false;
}
RawPress = (((uint32_t)buf[0] << 16)
| ((uint32_t)buf[1] << 8)
| ((uint32_t)buf[2])) >> (8 - OVERSAMPLING);
return true;
}
// Send Command to Read Temperature
void AP_Baro_BMP085::Command_ReadTemp()
{
if (hal.i2c->writeRegister(BMP085_ADDRESS, 0xF4, 0x2E) != 0) {
_flags.healthy = false;
}
hal.i2c->writeRegister(BMP085_ADDRESS, 0xF4, 0x2E);
_last_temp_read_command_time = hal.scheduler->millis();
}
@ -235,20 +199,14 @@ void AP_Baro_BMP085::ReadTemp()
uint8_t buf[2];
int32_t _temp_sensor;
if (!_flags.healthy && hal.scheduler->millis() < _retry_time) {
return;
}
if (hal.i2c->readRegisters(BMP085_ADDRESS, 0xF6, 2, buf) != 0) {
_retry_time = hal.scheduler->millis() + 1000;
hal.i2c->setHighSpeed(false);
_flags.healthy = false;
return;
}
_temp_sensor = buf[0];
_temp_sensor = (_temp_sensor << 8) | buf[1];
RawTemp = _temp_filter.apply(_temp_sensor);
RawTemp = _temp_sensor;
}
@ -296,5 +254,3 @@ void AP_Baro_BMP085::Calculate()
_count /= 2;
}
}
#endif

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@ -2,65 +2,42 @@
#ifndef __AP_BARO_BMP085_H__
#define __AP_BARO_BMP085_H__
#define PRESS_FILTER_SIZE 2
#include "AP_Baro.h"
#include <AverageFilter.h>
class AP_Baro_BMP085 : public AP_Baro
class AP_Baro_BMP085 : public AP_Baro_Backend
{
public:
AP_Baro_BMP085() :
RawPress(0),
RawTemp(0),
_temp_sum(0.0f),
_press_sum(0.0f),
_count(0),
Temp(0.0f),
Press(0.0f),
_last_press_read_command_time(0),
_last_temp_read_command_time(0),
BMP085_State(0),
ac1(0), ac2(0), ac3(0), b1(0), b2(0), mb(0), mc(0), md(0),
ac4(0), ac5(0), ac6(0),
_retry_time(0)
{
}; // Constructor
// Constructor
AP_Baro_BMP085(AP_Baro &baro);
/* AP_Baro public interface: */
bool init();
uint8_t read();
void accumulate(void);
float get_pressure();
float get_temperature() const;
void update();
void accumulate(void);
private:
int32_t RawPress;
int32_t RawTemp;
uint8_t _instance;
float _temp_sum;
float _press_sum;
uint8_t _count;
float Temp;
float Press;
// Flymaple has no EOC pin, so use times instead
uint32_t _last_press_read_command_time;
uint32_t _last_temp_read_command_time;
// State machine
uint8_t BMP085_State;
// Internal calibration registers
int16_t ac1, ac2, ac3, b1, b2, mb, mc, md;
uint16_t ac4, ac5, ac6;
AverageFilterInt32_Size4 _temp_filter;
uint32_t _retry_time;
int32_t RawPress;
int32_t RawTemp;
void Command_ReadPress();
void Command_ReadTemp();
void ReadPress();
bool ReadPress();
void ReadTemp();
void Calculate();
};