Revision 9:6104e8cdb3ec, committed 2015-07-14

Comitter:

loopsva

Date:

Tue Jul 14 16:19:59 2015 +0000

Parent:

8:461f68bc94f2

Commit message:

Fixed minor bugs when using low-level I2C routines. Hi-level I2C routines ok. Also added hooks for the MS5805 (untested).

Changed in this revision

--- a/ms5611.cpp	Tue Apr 28 23:36:22 2015 +0000
+++ b/ms5611.cpp	Tue Jul 14 16:19:59 2015 +0000
@@ -22,6 +22,7 @@
 double S;                       // sea level barometer (mB)
 
 uint32_t C[8];                  //coefficient storage
+int MStype = 0;
 
 //--------------------------------------------------------------------------------------------------------------------------------------//
 // Constructor and destructor - default to be compatible with legacy m5611 driver
@@ -39,7 +40,8 @@
         _i2c.frequency(400000);
         _i2cWAddr = MS5611_ADDR_W;
         _i2cRAddr = MS5611_ADDR_R;
-        if(CSBpin == CSBpin_1) {
+        MStype = CSBpin;
+        if((CSBpin == CSBpin_1) || (CSBpin == MS5805)) {
             _i2cWAddr -= 2;
             _i2cRAddr -= 2;
         
@@ -112,7 +114,7 @@
 //! @return none
 //********************************************************
 
-void ms5611::m_i2c_send(char cmd) {
+int ms5611::m_i2c_send(char cmd) {
     unsigned char ret;
     ret = m_i2c_start(false);
     if(!(ret)) {
@@ -121,6 +123,7 @@
         ret = m_i2c_write(cmd);
         m_i2c_stop();
     }
+    return(ret);
 }
 
 //********************************************************
@@ -129,16 +132,29 @@
 //! @return none
 //********************************************************
 
-void ms5611::cmd_reset() {
+int ms5611::cmd_reset() {
 #if defined  MS5611i2cLOWLEVEL
-    m_i2c_send(MS5611_CMD_RESET);
+    int ret = m_i2c_send(MS5611_CMD_RESET);
+    if(!(ret)) return(ret);
 #else
     char cobuf[1];
     cobuf[0] = MS5611_CMD_RESET;
-    _i2c.write(_i2cWAddr, cobuf, 1, false);
+    int ret = _i2c.write(_i2cWAddr, cobuf, 1, false);
+    if((ret)) return(0);
 #endif
+
+#ifdef RTOS_H
+    Thread::wait(4);
+#else
     wait_ms(4);
+#endif
+
     loadCoefs();
+#if defined  MS5611i2cLOWLEVEL
+    return(ret);
+#else
+    return(1);
+#endif
 }
 
 //********************************************************
@@ -148,33 +164,47 @@
 //********************************************************
 
 unsigned long ms5611::cmd_adc(char cmd) {
-    char cobuf[3];
-    cobuf[0] = 0;
-    cobuf[1] = 0;
-    cobuf[2] = 0;
-    unsigned int ret;
+    char cobuf[3] = {0, 0, 0};
     unsigned long temp = 0;
 #if defined  MS5611i2cLOWLEVEL
-    m_i2c_send(MS5611_CMD_ADC_CONV + cmd);
+    m_i2c_start(false);
+    m_i2c_write(MS5611_CMD_ADC_CONV + cmd);
+    m_i2c_stop();
 #else
     cobuf[0] = MS5611_CMD_ADC_CONV + cmd;
     _i2c.write(_i2cWAddr, cobuf, 1, false);
 #endif
     switch (cmd & 0x0f) {
+#ifdef RTOS_H
+        case MS5611_CMD_ADC_256 : Thread::wait(1); break;
+        case MS5611_CMD_ADC_512 : Thread::wait(3); break;
+        case MS5611_CMD_ADC_1024: Thread::wait(4); break;
+        case MS5611_CMD_ADC_2048: Thread::wait(6); break;
+        case MS5611_CMD_ADC_4096: Thread::wait(10); break;
+        case MS5805_CMD_ADC_8192: Thread::wait(19); break;
+#else
         case MS5611_CMD_ADC_256 : wait_us(900); break;
         case MS5611_CMD_ADC_512 : wait_ms(3); break;
         case MS5611_CMD_ADC_1024: wait_ms(4); break;
         case MS5611_CMD_ADC_2048: wait_ms(6); break;
         case MS5611_CMD_ADC_4096: wait_ms(10); break;
+        case MS5805_CMD_ADC_8192: wait_ms(19); break;
+#endif
     }
 #if defined  MS5611i2cLOWLEVEL
-    m_i2c_send(MS5611_CMD_ADC_READ);
+    m_i2c_start(false);
+    m_i2c_write(MS5611_CMD_ADC_READ);
+    m_i2c_start(true);
+    cobuf[0] = m_i2c_readAck();
+    cobuf[1] = m_i2c_readAck();
+    cobuf[2] = m_i2c_readNak();
+    m_i2c_stop();
 #else
     cobuf[0] = MS5611_CMD_ADC_READ;
     _i2c.write(_i2cWAddr, cobuf, 1, true);
     cobuf[0] = 0;
+    _i2c.read(_i2cRAddr, cobuf, 3, false);
 #endif    
-    ret = _i2c.read(_i2cRAddr, cobuf, 3, false);
     //if(ret) printf("\n*** ms5611 ADC Read Error ");
     temp = (cobuf[0] << 16) + (cobuf[1] << 8) + cobuf[2];
     return temp;
@@ -187,19 +217,21 @@
 //********************************************************
 
 unsigned int ms5611::cmd_prom(char coef_num) {
-    char cobuf[2];
-    unsigned int ret;
+    char cobuf[2] = {0, 0};
     unsigned int rC = 0;
-    cobuf[0] = 0;
-    cobuf[1] = 0;
 #if defined  MS5611i2cLOWLEVEL
-    m_i2c_send(MS5611_CMD_PROM_RD + coef_num * 2); // send PROM READ command
+    m_i2c_start(false);
+    m_i2c_write(MS5611_CMD_PROM_RD + coef_num * 2);// send PROM READ command
+    m_i2c_start(true);
+    cobuf[0] = m_i2c_readAck();
+    cobuf[1] = m_i2c_readNak();
+    m_i2c_stop();
 #else
     cobuf[0] = MS5611_CMD_PROM_RD + coef_num * 2;
     _i2c.write(_i2cWAddr, cobuf, 1, true);
     cobuf[0] = 0;
+    _i2c.read(_i2cRAddr, cobuf, 2, false);
 #endif
-    ret = _i2c.read(_i2cRAddr, cobuf, 2, false);
     //if(ret) printf("\n*** ms5611 PROM Read Error ");
     rC = cobuf[0] * 256 + cobuf[1];
     return rC;
@@ -212,12 +244,16 @@
 //********************************************************
 
 unsigned char ms5611::crc4(unsigned int n_prom[]) {
-    unsigned int n_rem;
-    unsigned int crc_read;
-    unsigned char n_bit;
-    n_rem = 0x00;
-    crc_read = n_prom[7];
-    n_prom[7]=(0xFF00 & (n_prom[7]));
+    unsigned int n_rem = 0;
+    unsigned int crc_read = 0;
+    unsigned char n_bit = 0;
+    if(MStype == ms5611::MS5805) {
+        n_prom[0] = (n_prom[0] & 0x0FFF);
+        n_prom[7] = 0;
+    } else {
+        crc_read = n_prom[7];
+        n_prom[7]=(0xFF00 & (n_prom[7]));
+    }
     for (int cnt = 0; cnt < 16; cnt++) {
             if (cnt%2 == 1) {
                 n_rem ^= (unsigned short) ((n_prom[cnt>>1]) & 0x00FF);
@@ -232,8 +268,10 @@
                 }
             }
         }
-    n_rem= (0x000F & (n_rem >> 12));
-    n_prom[7]=crc_read;
+    n_rem= ((n_rem >> 12) & 0x000F);
+    if(!(MStype == ms5611::MS5805)) {
+        n_prom[7]=crc_read;
+    }
     return (n_rem ^ 0x0);
 }
 
@@ -295,8 +333,16 @@
 //********************************************************   
      
 void ms5611::calcPT() {
-    int32_t D2 = cmd_adc(MS5611_CMD_ADC_D2 + MS5611_CMD_ADC_4096); // read D2
-    int32_t D1 = cmd_adc(MS5611_CMD_ADC_D1 + MS5611_CMD_ADC_4096); // read D1
+    int32_t D1 = 0;
+    int32_t D2 = 0;
+    if(MStype == ms5611::MS5805) {
+        D2 = cmd_adc(MS5611_CMD_ADC_D2 + MS5805_CMD_ADC_8192); // read D2
+        D1 = cmd_adc(MS5611_CMD_ADC_D1 + MS5805_CMD_ADC_8192); // read D1
+    } else {
+        D2 = cmd_adc(MS5611_CMD_ADC_D2 + MS5611_CMD_ADC_4096); // read D2
+        D1 = cmd_adc(MS5611_CMD_ADC_D1 + MS5611_CMD_ADC_4096); // read D1
+    }
+        
     int64_t dT = D2 - ((uint64_t)C[5] << 8);
     int64_t OFF  = ((uint32_t)C[2] << 16) + ((dT * (C[4]) >> 7));     //was  OFF  = (C[2] << 17) + dT * C[4] / (1 << 6);
     int64_t SENS = ((uint32_t)C[1] << 15) + ((dT * (C[3]) >> 8));     //was  SENS = (C[1] << 16) + dT * C[3] / (1 << 7);
@@ -304,18 +350,26 @@
     int32_t TEMP = 2000 + (int64_t)dT * (int64_t)C[6] / (int64_t)(1 << 23);
 
     if(TEMP < 2000) { // if temperature lower than 20 Celsius
-        float T1 = (TEMP - 2000) * (TEMP - 2000);
-        int64_t OFF1  = (5 * T1) / 2;
-        int64_t SENS1 = (5 * T1) / 4;
-
-        if(TEMP < -1500) { // if temperature lower than -15 Celsius
-            T1 = (TEMP + 1500) * (TEMP + 1500);
-            OFF1  += 7 * T1;
-            SENS1 += 11 * T1 / 2;
-        } 
+        float T1 = 0.0;
+        int64_t OFF1, SENS1  = 0;
+        if(MStype == ms5611::MS5805) {
+            T1 = 11 * ((dT * dT) >> 35);
+            OFF1  = 31 * ((TEMP - 2000) * (TEMP - 2000)) >> 3;
+            SENS1 = 63 * ((TEMP - 2000) * (TEMP - 2000)) >> 5;
+        } else {
+            T1 = (TEMP - 2000) * (TEMP - 2000);
+            OFF1  = (5 * T1) / 2;
+            SENS1 = (5 * T1) / 4;
+    
+            if(TEMP < -1500) { // if temperature lower than -15 Celsius
+                T1 = (TEMP + 1500) * (TEMP + 1500);
+                OFF1  += 7 * T1;
+                SENS1 += 11 * T1 / 2;
+            } 
+        }
         OFF -= OFF1;
         SENS -= SENS1;
-        T = (float)TEMP / 100; 
+        T = ((double)TEMP - T1)/ 100.0; 
     }
 //    int64_t P1 = ((((int64_t)D1 * SENS) >> 21) - OFF) >> 15;   
     P = ((((int64_t)D1 * SENS ) >> 21) - OFF) / (double) (1 << 15) / 100.0;
@@ -376,7 +430,7 @@
 //********************************************************  
 
 float ms5611::getSeaLevelBaroFT(float known_alt) {
-    S = pow(pow((P * INHG), 0.190284) + 0.00001313 * known_alt , 5.2553026) * MB;
+    S = pow(pow((P * MB_INHG_DOUBLE), 0.190284) + 0.00001313 * known_alt , 5.2553026) * INHG_MB_DOUBLE;
     return((float)S);
 } 
 
@@ -389,6 +443,7 @@
 //********************************************************  
 
 float ms5611::getSeaLevelBaroM(float known_alt) {
-    S = pow(pow((P * INHG), 0.190284) + 0.00001313 * known_alt * FTMETERS , 5.2553026) * MB;
+    S = pow(pow((P * MB_INHG_DOUBLE), 0.190284) + 0.00001313 * known_alt * FEET_METERS , 5.2553026) * INHG_MB_DOUBLE;
     return((float)S);
 } 
+

--- a/ms5611.h	Tue Apr 28 23:36:22 2015 +0000
+++ b/ms5611.h	Tue Jul 14 16:19:59 2015 +0000
@@ -3,18 +3,20 @@
 
 #include "mbed.h"
 
-#if(defined(TARGET_KL25Z) )//|| defined(TARGET_K64F))
+//IMPORTANT NOTE: First attempt at also using the MS5805.  This code is untested!!
+
+//    #define MS5611i2cLOWLEVEL   1           //if the use of low-level I2C routines is needed
+//    #warning "MS5611 using low level I2C routines"
+// IMPORTANT NOTE:  On the K64F, "ack/nack", returns from single byte i2c.write(int data) are opposite 
+//                  of i2c.write(int address, const char *data, int length, bool repeated=false)    
 
-    #define MS5611i2cLOWLEVEL   1           //if the use of low-level I2C routines is needed
-    #warning "MS5611 using low level I2C routines"
-    
-#endif
-
-#define SEA_PRESS   1013.25                 //default sea level pressure level in mb
-#define KNOWNALT    327.0                   //default known altitude, 5200 Franklin Dr., 94588
-#define INHG        0.02952998751           //convert mb to in/Hg constant
-#define MB          33.8638815              //convert in/Hg to mb constant
-#define FTMETERS    0.3048                  //convert feet to meters
+#define SEA_PRESS           1013.25         //default sea level pressure level in mb
+#define KNOWNALT            327.0           //default known altitude, 5200 Franklin Dr., 94588
+#define DEGC_DEGF_FLOAT     9.0 / 5.0 + 32.0//convert degrees C to degrees F
+#define METERS_FEET         3.2808399       //convert meters to feet
+#define FEET_METERS         0.3048006       //convert feet to meters
+#define MB_INHG_DOUBLE      0.02952998751   //convert millibars to inches_of_mercury
+#define INHG_MB_DOUBLE      33.8638815767   //convert inches_of_mercury to millibars
 
 
 /** Software routines to access the Measurement Specialties' MS5611-01BA03 
@@ -46,34 +48,40 @@
  * @code
  * #include "mbed.h"
  * #include "ms5611.h" 
- *
- * //ms5611 ms(p9, p10);                        // i2c pins used
- * ms5611 ms(p9, p10, ms5611::CSBpin_0);      // NEW!! with rev 7. User can set polarity of CSB pin
- * //ms5611 ms(p9, p10, ms5611::CSBpin_1);
- *
- * Serial pc(USBTX, USBRX);                   // local terminal interface
- *
- *
+ *  
+ * #define SDA  PTE25
+ * #define SCL  PTE24
+ *  
+ * //ms5611 ms(SDA, SCL);                        // i2c pins used, legacy default constructor
+ * ms5611 ms(SDA, SCL, ms5611::CSBpin_0);      // NEW!! with rev 7. User can set polarity of CSB pin
+ * //ms5611 ms(SDA, SCL, ms5611::CSBpin_1);
+ * //ms5611 ms(SDA, SCL, ms5611::MS5805);      // NEW!! with rev 8. Allow use of MS5805 as well
+ *  
+ * Serial pc(USBTX, USBRX);                    // local terminal interface
+ *  
  * int main (void) {
- *     pc.baud(921600);                        // set up USB serial speed
- *
+ *     pc.baud(230400);                        // set up USB serial speed
+ *  
  *     // set up the ms5611
- *     pc.printf("\n\nInitializing the MS5611..\n");
- *     ms.cmd_reset();
+ *     pc.printf("\n\nInitializing the MS5611..\r\n");
+ *     int msFlag = ms.cmd_reset();
+ *     if(!(msFlag)) {
+ *        pc.printf("MS5611 I2C error!!\r\n");
+ *        return(-1);
+ *    }
  *     pc.printf("Ready\n");
- *
+ *  
  *     while(1) {
  *         double Temp = ms.calcTemp();                         //calculate press and temp, then returns current temperature in degC
  *         double Press = ms.calcPressure();                    //calculate press and temp, then returns current pressure in mb
  *         double GetPress = ms.getPressure();                  //returns current pressure in mb. Does no calculations.  Ususally done after calcTemp()
  *         double Altitude = ms.getAltitudeFT(1013.25);         //enter pressure at sea level in mb, returns altitude in feet
  *         double PressSeaLvlFT = ms.getSeaLevelBaroFT(327.2);  //enter known altitude in feet, returns sea level pressure in mb
- *         double PressSeaLvlM = ms.getAltitudeFT(99.73);       //enter known altitude in meters, returns seal level pressure in mb
- *
- *         pc.printf("Temp: %.2f degC\n", Temp);    
- *         pc.printf("Barometer: %.1f mB  %.3f in/Hg\n", Press, Press * 0.0295301);
- *         pc.printf("Alt: %.1f ft\n", Altitude);
- *         pc.printf("Sea_Lvl: %.1f ft   %.2f m\n", PressSeaLvlFT, PressSeaLvlM);
+ *  
+ *         pc.printf("Temp:       %6.2f degC   %6.2f  degF\r\n", Temp, Temp * 9.0 / 5.0 + 32.0);    
+ *         pc.printf("Barometer: %7.2f mB    %8.3f in/Hg\r\n", Press, Press * MB_INHG_DOUBLE);
+ *         pc.printf("Sea_Lvl:   %7.2f mB    %8.3f in/Hg\r\n", PressSeaLvlFT, PressSeaLvlFT * MB_INHG_DOUBLE);
+ *         pc.printf("Alt:       %7.2f m     %7.2f  ft\r\n\r\n", Altitude, Altitude * FEET_METERS);
  *         wait(2.0);
  *     }
  * }
@@ -83,19 +91,20 @@
  
 //_____ M A C R O S
 
-#define MS5611_ADDR_W 0xEE // Module address write mode (CSBpin = 0);
-#define MS5611_ADDR_R 0xEF // Module address read mode
-#define MS5611_CMD_RESET 0x1E // ADC reset command
-#define MS5611_CMD_ADC_READ 0x00 // ADC read command
-#define MS5611_CMD_ADC_CONV 0x40 // ADC conversion command
-#define MS5611_CMD_ADC_D1 0x00 // ADC D1 conversion
-#define MS5611_CMD_ADC_D2 0x10 // ADC D2 conversion
-#define MS5611_CMD_ADC_256 0x00 // ADC OSR=256
-#define MS5611_CMD_ADC_512 0x02 // ADC OSR=512
-#define MS5611_CMD_ADC_1024 0x04 // ADC OSR=1024
-#define MS5611_CMD_ADC_2048 0x06 // ADC OSR=2048
-#define MS5611_CMD_ADC_4096 0x08 // ADC OSR=4096
-#define MS5611_CMD_PROM_RD 0xA0 // Prom read command
+#define MS5611_ADDR_W 0xEE          // Module address write mode (CSBpin = 0);
+#define MS5611_ADDR_R 0xEF          // Module address read mode
+#define MS5611_CMD_RESET 0x1E       // ADC reset command
+#define MS5611_CMD_ADC_READ 0x00    // ADC read command
+#define MS5611_CMD_ADC_CONV 0x40    // ADC conversion command
+#define MS5611_CMD_ADC_D1 0x00      // ADC D1 conversion
+#define MS5611_CMD_ADC_D2 0x10      // ADC D2 conversion
+#define MS5611_CMD_ADC_256 0x00     // ADC OSR=256
+#define MS5611_CMD_ADC_512 0x02     // ADC OSR=512
+#define MS5611_CMD_ADC_1024 0x04    // ADC OSR=1024
+#define MS5611_CMD_ADC_2048 0x06    // ADC OSR=2048
+#define MS5611_CMD_ADC_4096 0x08    // ADC OSR=4096
+#define MS5805_CMD_ADC_8192 0x0A    // ADC OSR=8192
+#define MS5611_CMD_PROM_RD 0xA0     // Prom read command
 
     /** Create ms5611 controller class
      *
@@ -106,16 +115,20 @@
 
 public:
     enum CSBpolarity {
-        CSBpin_0,  //CSB pin is grounded, I2C address is 0xEE and 0xEF
-        CSBpin_1,  //CSB pin is tied to Vdd, I2C address is 0xEC and 0xED
+        CSBpin_0,   //CSB pin is grounded, I2C address is 0xEE and 0xEF
+        CSBpin_1,   //CSB pin is tied to Vdd, I2C address is 0xEC and 0xED
+        MS5805,     //MS5805 fixed at 0EC and 0xED
     };
+    
     /** Create a MS5611 object using the specified I2C object
      *   - User fixed I2C address 0xEE, CSB pin = 0
      *   - This is the default legacy constructor
      * @param sda - mbed I2C interface pin
      * @param scl - mbed I2C interface pin
+     * @return NONE
      */
     ms5611(PinName sda, PinName scl);
+    
     /** Create a MS5611 object using the specified I2C object
      *   - User defined use of the CSB pin
      *   - CSB pin = 0, user set I2C address to 0xEE
@@ -124,53 +137,56 @@
      * @param scl - mbed I2C interface pin
      * @param ms5611::CSBpin_0 - CSB pin tied to ground
      * @param ms5611::CSBpin_1 - CSB pin tied to VDD
+     * @param ms5611::MS5805   - MS5805 has only one i2c address
+     * @return NONE
      */
     ms5611(PinName sda, PinName scl, CSBpolarity CSBpin);
+    
     /** Initialize the MS5611 and set up the coefficients
-     *    First - reset the MS5611
-     *    Second - load coefficient values from the MS5611 PROM
-     *    Third  - calculate coefficient checksum
-     *  This routine only needs to be run once at boot up
-     *
+     *   - First - reset the MS5611
+     *   - Second - load coefficient values from the MS5611 PROM
+     *   - Third  - calculate coefficient checksum
+     *   - This routine only needs to be run once at boot up
      * @param NONE
+     * @return int I2C ack/nack status
      */
-    void cmd_reset();
-    /** Calculate and return compensated temperature
-     *    Returns double temperature in degC
-     *
+    int cmd_reset();
+    
+    /** Calculates compensated temperature
      * @param NONE
+     * @return double temperature in degC
      */
     double calcTemp();
-    /** Calculate and return compensated barometric pressure
-     *    Returns double pressure in millibars
-     *
+    
+    /** Calculates compensated barometric pressure
      * @param NONE
+     * @return double pressure in millibars
      */
     double calcPressure();
-    /** Return compensated barometric pressure
-     *    Returns double pressure in millibars
-     *    DOES NOT RE-CALCULATE FIRST!!!
-     *    Saves time if you calcTemp(); first
-     *
+    
+    /** Get compensated barometric pressure
+     *  - DOES NOT RE-CALCULATE FIRST!!!
+     *  - Result only valid if you calcTemp(); first
      * @param NONE
+     * @eturn double pressure in millibars
      */
     double getPressure();
-    /** Calculate and returns altitude in feet
-     *    Returns float altitude in feet
-     *
+    
+    /** Calculates altitude in feet
      * @param float known pressure (mB) at sea level
+     * @return float altitude in feet
      */
     float getAltitudeFT(float sea_pressure);
-    /** Calculate and returns sea level baro
-     *    Returns float seal level barometer in feet
-     *
+    
+    /** Calculates sea level baro
      * @param float known altitude in feet
+     * @return float sea level barometer in feet
      */
     float getSeaLevelBaroFT(float known_alt);
-    /** Calculate and returns sea level baro
-     *    Returns float seal level barometer in meters
-     *
+    
+    /** Calculates sea level baro
      * @param float known altitude in meters
+     * @return float sea level barometer in meters
      */
     float getSeaLevelBaroM(float known_alt);
     
@@ -178,11 +194,12 @@
     char _i2cWAddr;
     char _i2cRAddr;
     int m_i2c_start(bool readMode);
+    int MStype;
     void m_i2c_stop(void);
     unsigned char m_i2c_write(unsigned char data);
     unsigned char m_i2c_readAck(void);
     unsigned char m_i2c_readNak(void);
-    void m_i2c_send(char cmd);
+    int m_i2c_send(char cmd);
     void loadCoefs();
     unsigned long cmd_adc(char cmd);
     unsigned int cmd_prom(char coef_num);