Prof Greg Egan / Mbed 2 deprecated UAVXArm-GKE

UAVX Multicopter Flight Controller.

Dependencies:   mbed

baro.c@0:62a1c91a859a, 2011-02-18 (annotated)

Committer:
gke
Date:
Fri Feb 18 22:28:05 2011 +0000
Revision:
0:62a1c91a859a
Child:
1:1e3318a30ddd
First release

Who changed what in which revision?

UserRevisionLine numberNew contents of line
gke 0:62a1c91a859a 1 // ===============================================================================================
gke 0:62a1c91a859a 2 // = UAVXArm Quadrocopter Controller =
gke 0:62a1c91a859a 3 // = Copyright (c) 2008 by Prof. Greg Egan =
gke 0:62a1c91a859a 4 // = Original V3.15 Copyright (c) 2007 Ing. Wolfgang Mahringer =
gke 0:62a1c91a859a 5 // = http://code.google.com/p/uavp-mods/ http://uavp.ch =
gke 0:62a1c91a859a 6 // ===============================================================================================
gke 0:62a1c91a859a 7
gke 0:62a1c91a859a 8 // This is part of UAVXArm.
gke 0:62a1c91a859a 9
gke 0:62a1c91a859a 10 // UAVXArm is free software: you can redistribute it and/or modify it under the terms of the GNU
gke 0:62a1c91a859a 11 // General Public License as published by the Free Software Foundation, either version 3 of the
gke 0:62a1c91a859a 12 // License, or (at your option) any later version.
gke 0:62a1c91a859a 13
gke 0:62a1c91a859a 14 // UAVXArm is distributed in the hope that it will be useful,but WITHOUT ANY WARRANTY; without
gke 0:62a1c91a859a 15 // even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
gke 0:62a1c91a859a 16 // See the GNU General Public License for more details.
gke 0:62a1c91a859a 17
gke 0:62a1c91a859a 18 // You should have received a copy of the GNU General Public License along with this program.
gke 0:62a1c91a859a 19 // If not, see http://www.gnu.org/licenses/
gke 0:62a1c91a859a 20
gke 0:62a1c91a859a 21 #include "UAVXArm.h"
gke 0:62a1c91a859a 22
gke 0:62a1c91a859a 23 // Barometers Freescale TI ADC and Bosch BMP085 3.8MHz, Bosch SMD500 400KHz
gke 0:62a1c91a859a 24
gke 0:62a1c91a859a 25 #define BARO_MIN_CLIMB 150.0 // M minimum available barometer climb from origin
gke 0:62a1c91a859a 26 #define BARO_MIN_DESCENT -50.0 //M minimum available barometer descent from origin
gke 0:62a1c91a859a 27
gke 0:62a1c91a859a 28 void GetBaroAltitude(void);
gke 0:62a1c91a859a 29 void InitBarometer(void);
gke 0:62a1c91a859a 30
gke 0:62a1c91a859a 31 void ShowBaroType(void);
gke 0:62a1c91a859a 32 void BaroTest(void);
gke 0:62a1c91a859a 33
gke 0:62a1c91a859a 34 #define BaroROCFilter HardFilter
gke 0:62a1c91a859a 35
gke 0:62a1c91a859a 36 uint16 BaroPressure, BaroTemperature;
gke 0:62a1c91a859a 37 boolean AcquiringPressure;
gke 0:62a1c91a859a 38 int16 BaroOffsetDAC;
gke 0:62a1c91a859a 39
gke 0:62a1c91a859a 40 #define BARO_BUFF_SIZE 4
gke 0:62a1c91a859a 41
gke 0:62a1c91a859a 42 struct {
gke 0:62a1c91a859a 43 uint8 Head, Tail;
gke 0:62a1c91a859a 44 int24 B[BARO_BUFF_SIZE];
gke 0:62a1c91a859a 45 } BaroQ;
gke 0:62a1c91a859a 46
gke 0:62a1c91a859a 47 int32 OriginBaroPressure, CompBaroPressure;
gke 0:62a1c91a859a 48 real32 BaroRelAltitude, BaroRelAltitudeP;
gke 0:62a1c91a859a 49 i16u BaroVal;
gke 0:62a1c91a859a 50 int8 BaroType;
gke 0:62a1c91a859a 51 int16 BaroClimbAvailable, BaroDescentAvailable;
gke 0:62a1c91a859a 52 int16 AltitudeUpdateRate;
gke 0:62a1c91a859a 53 int8 BaroRetries;
gke 0:62a1c91a859a 54
gke 0:62a1c91a859a 55 real32 FakeBaroRelAltitude;
gke 0:62a1c91a859a 56 int8 SimulateCycles = 0;
gke 0:62a1c91a859a 57
gke 0:62a1c91a859a 58 void ShowBaroType(void) {
gke 0:62a1c91a859a 59 switch ( BaroType ) {
gke 0:62a1c91a859a 60 case BaroMPX4115:
gke 0:62a1c91a859a 61 TxString("MPX4115\r\n");
gke 0:62a1c91a859a 62 break;
gke 0:62a1c91a859a 63 case BaroSMD500:
gke 0:62a1c91a859a 64 TxString("SMD500\r\n");
gke 0:62a1c91a859a 65 break;
gke 0:62a1c91a859a 66 case BaroBMP085:
gke 0:62a1c91a859a 67 TxString("BMP085\r\n");
gke 0:62a1c91a859a 68 break;
gke 0:62a1c91a859a 69 case BaroUnknown:
gke 0:62a1c91a859a 70 TxString("None\r\n");
gke 0:62a1c91a859a 71 break;
gke 0:62a1c91a859a 72 default:
gke 0:62a1c91a859a 73 break;
gke 0:62a1c91a859a 74 }
gke 0:62a1c91a859a 75 } // ShowBaro
gke 0:62a1c91a859a 76
gke 0:62a1c91a859a 77 void BaroTest(void) {
gke 0:62a1c91a859a 78 TxString("\r\nAltitude test\r\n");
gke 0:62a1c91a859a 79
gke 0:62a1c91a859a 80 TxString("Initialising\r\n");
gke 0:62a1c91a859a 81
gke 0:62a1c91a859a 82 InitBarometer();
gke 0:62a1c91a859a 83
gke 0:62a1c91a859a 84 while ( F.BaroAltitudeValid && ! F.NewBaroValue )
gke 0:62a1c91a859a 85 GetBaroAltitude();
gke 0:62a1c91a859a 86
gke 0:62a1c91a859a 87 TxString("\r\nType:\t");
gke 0:62a1c91a859a 88 ShowBaroType();
gke 0:62a1c91a859a 89
gke 0:62a1c91a859a 90 TxString("Init Retries:\t");
gke 0:62a1c91a859a 91 TxVal32((int32)BaroRetries - 2, 0, ' '); // always minimum of 2
gke 0:62a1c91a859a 92 if ( BaroRetries >= BARO_INIT_RETRIES )
gke 0:62a1c91a859a 93 TxString(" FAILED Init.\r\n");
gke 0:62a1c91a859a 94 else
gke 0:62a1c91a859a 95 TxNextLine();
gke 0:62a1c91a859a 96
gke 0:62a1c91a859a 97 if ( BaroType == BaroMPX4115 ) {
gke 0:62a1c91a859a 98 TxString("Range :\t");
gke 0:62a1c91a859a 99 TxVal32((int32) BaroDescentAvailable * 10.0, 1, ' ');
gke 0:62a1c91a859a 100 TxString("-> ");
gke 0:62a1c91a859a 101 TxVal32((int32) BaroClimbAvailable * 10.0, 1, 'M');
gke 0:62a1c91a859a 102 TxString(" {Offset ");
gke 0:62a1c91a859a 103 TxVal32((int32)BaroOffsetDAC, 0,'}');
gke 0:62a1c91a859a 104 if (( BaroClimbAvailable < BARO_MIN_CLIMB ) || (BaroDescentAvailable > BARO_MIN_DESCENT))
gke 0:62a1c91a859a 105 TxString(" Bad climb or descent range - offset adjustment?");
gke 0:62a1c91a859a 106 TxNextLine();
gke 0:62a1c91a859a 107 }
gke 0:62a1c91a859a 108
gke 0:62a1c91a859a 109 if ( !F.BaroAltitudeValid ) goto BAerror;
gke 0:62a1c91a859a 110
gke 0:62a1c91a859a 111 while ( !F.NewBaroValue )
gke 0:62a1c91a859a 112 GetBaroAltitude();
gke 0:62a1c91a859a 113 F.NewBaroValue = false;
gke 0:62a1c91a859a 114
gke 0:62a1c91a859a 115 TxString("Alt.: \t");
gke 0:62a1c91a859a 116 TxVal32(BaroRelAltitude * 10.0, 1, ' ');
gke 0:62a1c91a859a 117 TxString("M\r\n");
gke 0:62a1c91a859a 118
gke 0:62a1c91a859a 119 TxString("\r\nR.Finder: \t");
gke 0:62a1c91a859a 120 if ( F.RangefinderAltitudeValid ) {
gke 0:62a1c91a859a 121 GetRangefinderAltitude();
gke 0:62a1c91a859a 122 TxVal32(RangefinderAltitude * 100.0, 2, ' ');
gke 0:62a1c91a859a 123 TxString("M\r\n");
gke 0:62a1c91a859a 124 } else
gke 0:62a1c91a859a 125 TxString("no rangefinder\r\n");
gke 0:62a1c91a859a 126
gke 0:62a1c91a859a 127 TxString("\r\nAmbient :\t");
gke 0:62a1c91a859a 128 TxVal32((int32)AmbientTemperature.i16, 1, ' ');
gke 0:62a1c91a859a 129 TxString("C\r\n");
gke 0:62a1c91a859a 130
gke 0:62a1c91a859a 131 return;
gke 0:62a1c91a859a 132 BAerror:
gke 0:62a1c91a859a 133 TxString("FAIL\r\n");
gke 0:62a1c91a859a 134 } // BaroTest
gke 0:62a1c91a859a 135
gke 0:62a1c91a859a 136 void GetBaroAltitude(void) {
gke 0:62a1c91a859a 137 static real32 Temp, AltChange;
gke 0:62a1c91a859a 138
gke 0:62a1c91a859a 139 if ( BaroType == BaroMPX4115 )
gke 0:62a1c91a859a 140 GetFreescaleBaroAltitude();
gke 0:62a1c91a859a 141 else
gke 0:62a1c91a859a 142 GetBoschBaroAltitude();
gke 0:62a1c91a859a 143
gke 0:62a1c91a859a 144 if ( F.NewBaroValue ) {
gke 0:62a1c91a859a 145 #ifdef SIMULATE
gke 0:62a1c91a859a 146 if ( State == InFlight ) {
gke 0:62a1c91a859a 147 if ( ++SimulateCycles >= AltitudeUpdateRate ) {
gke 0:62a1c91a859a 148 FakeBaroRelAltitude += ( DesiredThrottle - CruiseThrottle ) + Comp[Alt];
gke 0:62a1c91a859a 149 if ( FakeBaroRelAltitude < -5.0 )
gke 0:62a1c91a859a 150 FakeBaroRelAltitude = 0.0;
gke 0:62a1c91a859a 151
gke 0:62a1c91a859a 152 SimulateCycles = 0;
gke 0:62a1c91a859a 153
gke 0:62a1c91a859a 154 ROC = FakeBaroRelAltitude - BaroRelAltitudeP;
gke 0:62a1c91a859a 155 BaroRelAltitudeP = FakeBaroRelAltitude;
gke 0:62a1c91a859a 156 }
gke 0:62a1c91a859a 157 BaroRelAltitude = FakeBaroRelAltitude;
gke 0:62a1c91a859a 158 }
gke 0:62a1c91a859a 159 #else
gke 0:62a1c91a859a 160
gke 0:62a1c91a859a 161 AltChange = BaroRelAltitude - BaroRelAltitudeP;
gke 0:62a1c91a859a 162 Temp = AltChange * AltitudeUpdateRate;
gke 0:62a1c91a859a 163
gke 0:62a1c91a859a 164 if ( fabs( Temp ) > BARO_SANITY_CHECK_MPS ) {
gke 0:62a1c91a859a 165 BaroRelAltitude = BaroRelAltitudeP; // use previous value
gke 0:62a1c91a859a 166 Temp = 0;
gke 0:62a1c91a859a 167 Stats[BaroFailS]++;
gke 0:62a1c91a859a 168 }
gke 0:62a1c91a859a 169
gke 0:62a1c91a859a 170 Temp = Limit( Temp , -BARO_SANITY_CHECK_MPS, BARO_SANITY_CHECK_MPS );
gke 0:62a1c91a859a 171 ROC = ROC * 0.9 + Temp * 0.1;
gke 0:62a1c91a859a 172 BaroRelAltitudeP = BaroRelAltitude;
gke 0:62a1c91a859a 173
gke 0:62a1c91a859a 174 #endif // SIMULATE
gke 0:62a1c91a859a 175
gke 0:62a1c91a859a 176 if ( State == InFlight ) {
gke 0:62a1c91a859a 177 if ( ROC > Stats[MaxROCS] )
gke 0:62a1c91a859a 178 Stats[MaxROCS] = ROC;
gke 0:62a1c91a859a 179 else
gke 0:62a1c91a859a 180 if ( ROC < Stats[MinROCS] )
gke 0:62a1c91a859a 181 Stats[MinROCS] = ROC;
gke 0:62a1c91a859a 182
gke 0:62a1c91a859a 183 if ( BaroRelAltitude > Stats[BaroRelAltitudeS] )
gke 0:62a1c91a859a 184 Stats[BaroRelAltitudeS] = BaroRelAltitude;
gke 0:62a1c91a859a 185 }
gke 0:62a1c91a859a 186 }
gke 0:62a1c91a859a 187
gke 0:62a1c91a859a 188 } // GetBaroAltitude
gke 0:62a1c91a859a 189
gke 0:62a1c91a859a 190 void InitBarometer(void) {
gke 0:62a1c91a859a 191 BaroRelAltitude = BaroRelAltitudeP = CompBaroPressure = OriginBaroPressure = 0;
gke 0:62a1c91a859a 192 BaroType = BaroUnknown;
gke 0:62a1c91a859a 193
gke 0:62a1c91a859a 194 Comp[Alt] = AltDiffSum = AltDSum = 0;
gke 0:62a1c91a859a 195 F.BaroAltitudeValid= true; // optimistic
gke 0:62a1c91a859a 196
gke 0:62a1c91a859a 197 if ( IsFreescaleBaroActive() )
gke 0:62a1c91a859a 198 InitFreescaleBarometer();
gke 0:62a1c91a859a 199 else
gke 0:62a1c91a859a 200 if ( IsBoschBaroActive() )
gke 0:62a1c91a859a 201 InitBoschBarometer();
gke 0:62a1c91a859a 202 else {
gke 0:62a1c91a859a 203 F.BaroAltitudeValid = F.HoldingAlt = false;
gke 0:62a1c91a859a 204 Stats[BaroFailS]++;
gke 0:62a1c91a859a 205 }
gke 0:62a1c91a859a 206 } // InitBarometer
gke 0:62a1c91a859a 207
gke 0:62a1c91a859a 208 // -----------------------------------------------------------
gke 0:62a1c91a859a 209
gke 0:62a1c91a859a 210 // Freescale ex Motorola MPX4115 Barometer with ADS7823 12bit ADC
gke 0:62a1c91a859a 211
gke 0:62a1c91a859a 212 void SetFreescaleMCP4725(int16);
gke 0:62a1c91a859a 213 void SetFreescaleOffset(void);
gke 0:62a1c91a859a 214 void ReadFreescaleBaro(void);
gke 0:62a1c91a859a 215 real32 FreescaleToDM(int24);
gke 0:62a1c91a859a 216 void GetFreescaleBaroAltitude(void);
gke 0:62a1c91a859a 217 boolean IsFreescaleBaroActive(void);
gke 0:62a1c91a859a 218 void InitFreescaleBarometer(void);
gke 0:62a1c91a859a 219
gke 0:62a1c91a859a 220 void SetFreescaleMCP4725(int16 d) {
gke 0:62a1c91a859a 221 static i16u dd;
gke 0:62a1c91a859a 222 static uint8 r;
gke 0:62a1c91a859a 223
gke 0:62a1c91a859a 224 dd.u16 = d << 4; // left align
gke 0:62a1c91a859a 225
gke 0:62a1c91a859a 226 I2CBARO.start();
gke 0:62a1c91a859a 227 r = I2CBARO.write(MCP4725_WR) != I2C_ACK;
gke 0:62a1c91a859a 228 r = I2CBARO.write(MCP4725_CMD) != I2C_ACK;
gke 0:62a1c91a859a 229 r = I2CBARO.write(dd.b1) != I2C_ACK;
gke 0:62a1c91a859a 230 r = I2CBARO.write(dd.b0) != I2C_ACK;
gke 0:62a1c91a859a 231 I2CBARO.stop();
gke 0:62a1c91a859a 232
gke 0:62a1c91a859a 233 } // SetFreescaleMCP4725
gke 0:62a1c91a859a 234
gke 0:62a1c91a859a 235 void SetFreescaleOffset(void) {
gke 0:62a1c91a859a 236 // Steve Westerfeld
gke 0:62a1c91a859a 237 // 470 Ohm, 1uF RC 0.47mS use 2mS for settling?
gke 0:62a1c91a859a 238
gke 0:62a1c91a859a 239 TxString("\r\nOffset \tPressure\r\n");
gke 0:62a1c91a859a 240
gke 0:62a1c91a859a 241 BaroOffsetDAC = MCP4725_MAX;
gke 0:62a1c91a859a 242
gke 0:62a1c91a859a 243 SetFreescaleMCP4725(BaroOffsetDAC);
gke 0:62a1c91a859a 244
gke 0:62a1c91a859a 245 Delay1mS(20); // initial settling
gke 0:62a1c91a859a 246 ReadFreescaleBaro();
gke 0:62a1c91a859a 247
gke 0:62a1c91a859a 248 while ( (BaroVal.u16 < (uint16)(((uint24)ADS7823_MAX*4L*7L)/10L) )
gke 0:62a1c91a859a 249 && (BaroOffsetDAC > 20) ) { // first loop gets close
gke 0:62a1c91a859a 250 BaroOffsetDAC -= 20; // approach at 20 steps out of 4095
gke 0:62a1c91a859a 251 SetFreescaleMCP4725(BaroOffsetDAC);
gke 0:62a1c91a859a 252 Delay1mS(20);
gke 0:62a1c91a859a 253 ReadFreescaleBaro();
gke 0:62a1c91a859a 254 TxVal32(BaroOffsetDAC,0,HT);
gke 0:62a1c91a859a 255 TxVal32(BaroVal.u16,0,' ');
gke 0:62a1c91a859a 256 TxNextLine();
gke 0:62a1c91a859a 257 LEDYellow_TOG;
gke 0:62a1c91a859a 258 }
gke 0:62a1c91a859a 259
gke 0:62a1c91a859a 260 BaroOffsetDAC += 20; // move back up to come at it a little slower
gke 0:62a1c91a859a 261 SetFreescaleMCP4725(BaroOffsetDAC);
gke 0:62a1c91a859a 262 Delay1mS(100);
gke 0:62a1c91a859a 263 ReadFreescaleBaro();
gke 0:62a1c91a859a 264
gke 0:62a1c91a859a 265 while ( (BaroVal.u16 < (uint16)(((uint24)ADS7823_MAX*4L*3L)/4L) ) && (BaroOffsetDAC > 2) ) {
gke 0:62a1c91a859a 266 BaroOffsetDAC -= 2;
gke 0:62a1c91a859a 267 SetFreescaleMCP4725(BaroOffsetDAC);
gke 0:62a1c91a859a 268 Delay1mS(10);
gke 0:62a1c91a859a 269 ReadFreescaleBaro();
gke 0:62a1c91a859a 270 TxVal32(BaroOffsetDAC,0,HT);
gke 0:62a1c91a859a 271 TxVal32(BaroVal.u16,0,' ');
gke 0:62a1c91a859a 272 TxNextLine();
gke 0:62a1c91a859a 273 LEDYellow_TOG;
gke 0:62a1c91a859a 274 }
gke 0:62a1c91a859a 275
gke 0:62a1c91a859a 276 Delay1mS(200); // wait for caps to settle
gke 0:62a1c91a859a 277 F.BaroAltitudeValid = BaroOffsetDAC > 0;
gke 0:62a1c91a859a 278
gke 0:62a1c91a859a 279 } // SetFreescaleOffset
gke 0:62a1c91a859a 280
gke 0:62a1c91a859a 281 void ReadFreescaleBaro(void) {
gke 0:62a1c91a859a 282 static char B[8];
gke 0:62a1c91a859a 283 static i16u B0, B1, B2, B3;
gke 0:62a1c91a859a 284
gke 0:62a1c91a859a 285 mS[BaroUpdate] = mSClock() + ADS7823_TIME_MS;
gke 0:62a1c91a859a 286
gke 0:62a1c91a859a 287 I2CBARO.start(); // start conversion
gke 0:62a1c91a859a 288
gke 0:62a1c91a859a 289 if ( I2CBARO.write(ADS7823_WR) != I2C_ACK ) goto FSError;
gke 0:62a1c91a859a 290 if ( I2CBARO.write(ADS7823_CMD) != I2C_ACK ) goto FSError;
gke 0:62a1c91a859a 291
gke 0:62a1c91a859a 292 I2CBARO.read(ADS7823_RD, B, 8); // read block of 4 baro samples
gke 0:62a1c91a859a 293
gke 0:62a1c91a859a 294 B0.b0 = B[1];
gke 0:62a1c91a859a 295 B0.b1 = B[0];
gke 0:62a1c91a859a 296 B1.b0 = B[3];
gke 0:62a1c91a859a 297 B1.b1 = B[2];
gke 0:62a1c91a859a 298 B2.b0 = B[5];
gke 0:62a1c91a859a 299 B2.b1 = B[4];
gke 0:62a1c91a859a 300 B3.b0 = B[7];
gke 0:62a1c91a859a 301 B3.b1 = B[6];
gke 0:62a1c91a859a 302
gke 0:62a1c91a859a 303 BaroVal.u16 = (uint16)16380 - ( B0.u16 + B1.u16 + B2.u16 + B3.u16 );
gke 0:62a1c91a859a 304
gke 0:62a1c91a859a 305 F.BaroAltitudeValid = true;
gke 0:62a1c91a859a 306
gke 0:62a1c91a859a 307 return;
gke 0:62a1c91a859a 308
gke 0:62a1c91a859a 309 FSError:
gke 0:62a1c91a859a 310 I2CBARO.stop();
gke 0:62a1c91a859a 311
gke 0:62a1c91a859a 312 F.BaroAltitudeValid = F.HoldingAlt = false;
gke 0:62a1c91a859a 313 if ( State == InFlight ) {
gke 0:62a1c91a859a 314 Stats[BaroFailS]++;
gke 0:62a1c91a859a 315 F.BaroFailure = true;
gke 0:62a1c91a859a 316 }
gke 0:62a1c91a859a 317 return;
gke 0:62a1c91a859a 318 } // ReadFreescaleBaro
gke 0:62a1c91a859a 319
gke 0:62a1c91a859a 320 real32 FreescaleToDM(int24 p) { // decreasing pressure is increase in altitude negate and rescale to metre altitude
gke 0:62a1c91a859a 321 return( -( (real32)p * 0.8 ) / (real32)P[BaroScale] );
gke 0:62a1c91a859a 322 } // FreescaleToDM
gke 0:62a1c91a859a 323
gke 0:62a1c91a859a 324 void GetFreescaleBaroAltitude(void) {
gke 0:62a1c91a859a 325 static int24 BaroPressure;
gke 0:62a1c91a859a 326
gke 0:62a1c91a859a 327 if ( mSClock() >= mS[BaroUpdate] ) {
gke 0:62a1c91a859a 328 ReadFreescaleBaro();
gke 0:62a1c91a859a 329 if ( F.BaroAltitudeValid ) {
gke 0:62a1c91a859a 330 BaroPressure = (int24)BaroVal.u16; // sum of 4 samples
gke 0:62a1c91a859a 331
gke 0:62a1c91a859a 332 BaroRelAltitude = FreescaleToDM(BaroPressure - OriginBaroPressure);
gke 0:62a1c91a859a 333
gke 0:62a1c91a859a 334 F.NewBaroValue = F.BaroAltitudeValid;
gke 0:62a1c91a859a 335 }
gke 0:62a1c91a859a 336 }
gke 0:62a1c91a859a 337
gke 0:62a1c91a859a 338 } // GetFreescaleBaroAltitude
gke 0:62a1c91a859a 339
gke 0:62a1c91a859a 340 boolean IsFreescaleBaroActive(void) { // check for Freescale Barometer
gke 0:62a1c91a859a 341
gke 0:62a1c91a859a 342 I2CBARO.start();
gke 0:62a1c91a859a 343 if ( I2CBARO.write(ADS7823_ID) != I2C_ACK ) goto FreescaleInactive;
gke 0:62a1c91a859a 344
gke 0:62a1c91a859a 345 BaroType = BaroMPX4115;
gke 0:62a1c91a859a 346 I2CBARO.stop();
gke 0:62a1c91a859a 347
gke 0:62a1c91a859a 348 TrackMinI2CRate(400000);
gke 0:62a1c91a859a 349
gke 0:62a1c91a859a 350 return(true);
gke 0:62a1c91a859a 351
gke 0:62a1c91a859a 352 FreescaleInactive:
gke 0:62a1c91a859a 353 I2CBARO.stop();
gke 0:62a1c91a859a 354 return(false);
gke 0:62a1c91a859a 355
gke 0:62a1c91a859a 356 } // IsFreescaleBaroActive
gke 0:62a1c91a859a 357
gke 0:62a1c91a859a 358 void InitFreescaleBarometer(void) {
gke 0:62a1c91a859a 359 static int16 BaroOriginAltitude, MinAltitude;
gke 0:62a1c91a859a 360 real32 Error;
gke 0:62a1c91a859a 361 static int24 BaroPressureP;
gke 0:62a1c91a859a 362
gke 0:62a1c91a859a 363 AltitudeUpdateRate = 1000L/ADS7823_TIME_MS;
gke 0:62a1c91a859a 364
gke 0:62a1c91a859a 365 BaroTemperature = 0;
gke 0:62a1c91a859a 366 Error = ( (int16)P[BaroScale] * 20 ) / 16; // 0.2M
gke 0:62a1c91a859a 367 BaroPressure = 0;
gke 0:62a1c91a859a 368
gke 0:62a1c91a859a 369 BaroRetries = 0;
gke 0:62a1c91a859a 370 do {
gke 0:62a1c91a859a 371 BaroPressureP = BaroPressure;
gke 0:62a1c91a859a 372
gke 0:62a1c91a859a 373 SetFreescaleOffset();
gke 0:62a1c91a859a 374
gke 0:62a1c91a859a 375 while ( mSClock() < mS[BaroUpdate] ) {};
gke 0:62a1c91a859a 376 ReadFreescaleBaro();
gke 0:62a1c91a859a 377 BaroPressure = (int24)BaroVal.u16;
gke 0:62a1c91a859a 378 } while ( ( ++BaroRetries < BARO_INIT_RETRIES )
gke 0:62a1c91a859a 379 && ( abs((int16)(BaroPressure - BaroPressureP)) > Error ) );
gke 0:62a1c91a859a 380
gke 0:62a1c91a859a 381 F.BaroAltitudeValid = BaroRetries < BARO_INIT_RETRIES;
gke 0:62a1c91a859a 382
gke 0:62a1c91a859a 383 OriginBaroPressure = BaroPressure;
gke 0:62a1c91a859a 384
gke 0:62a1c91a859a 385 BaroRelAltitudeP = BaroRelAltitude = 0.0;
gke 0:62a1c91a859a 386
gke 0:62a1c91a859a 387 MinAltitude = FreescaleToDM((int24)ADS7823_MAX*4);
gke 0:62a1c91a859a 388 BaroOriginAltitude = FreescaleToDM(OriginBaroPressure);
gke 0:62a1c91a859a 389 BaroDescentAvailable = MinAltitude - BaroOriginAltitude;
gke 0:62a1c91a859a 390 BaroClimbAvailable = -BaroOriginAltitude;
gke 0:62a1c91a859a 391
gke 0:62a1c91a859a 392 //F.BaroAltitudeValid &= (( BaroClimbAvailable >= BARO_MIN_CLIMB )
gke 0:62a1c91a859a 393 // && (BaroDescentAvailable <= BARO_MIN_DESCENT));
gke 0:62a1c91a859a 394
gke 0:62a1c91a859a 395 #ifdef SIMULATE
gke 0:62a1c91a859a 396 FakeBaroRelAltitude = 0;
gke 0:62a1c91a859a 397 #endif // SIMULATE
gke 0:62a1c91a859a 398
gke 0:62a1c91a859a 399 } // InitFreescaleBarometer
gke 0:62a1c91a859a 400
gke 0:62a1c91a859a 401 // -----------------------------------------------------------
gke 0:62a1c91a859a 402
gke 0:62a1c91a859a 403 // Bosch SMD500 and BMP085 Barometers
gke 0:62a1c91a859a 404
gke 0:62a1c91a859a 405 void StartBoschBaroADC(boolean);
gke 0:62a1c91a859a 406 int24 CompensatedBoschPressure(uint16, uint16);
gke 0:62a1c91a859a 407
gke 0:62a1c91a859a 408 void GetBoschBaroAltitude(void);
gke 0:62a1c91a859a 409 boolean IsBoschBaroActive(void);
gke 0:62a1c91a859a 410 void InitBoschBarometer(void);
gke 0:62a1c91a859a 411
gke 0:62a1c91a859a 412 // SMD500 9.5mS (T) 34mS (P)
gke 0:62a1c91a859a 413 // BMP085 4.5mS (T) 25.5mS (P) OSRS=3
gke 0:62a1c91a859a 414 #define BOSCH_TEMP_TIME_MS 11 // 10 increase to make P+T acq time ~50mS
gke 0:62a1c91a859a 415 //#define BMP085_PRESS_TIME_MS 26
gke 0:62a1c91a859a 416 //#define SMD500_PRESS_TIME_MS 34
gke 0:62a1c91a859a 417 #define BOSCH_PRESS_TIME_MS 38
gke 0:62a1c91a859a 418 #define BOSCH_PRESS_TEMP_TIME_MS 50 // pressure and temp time + overheads
gke 0:62a1c91a859a 419
gke 0:62a1c91a859a 420 void StartBoschBaroADC(boolean ReadPressure) {
gke 0:62a1c91a859a 421 static uint8 TempOrPress;
gke 0:62a1c91a859a 422
gke 0:62a1c91a859a 423 if ( ReadPressure ) {
gke 0:62a1c91a859a 424 TempOrPress = BOSCH_PRESS;
gke 0:62a1c91a859a 425 mS[BaroUpdate] = mSClock() + BOSCH_PRESS_TIME_MS;
gke 0:62a1c91a859a 426 } else {
gke 0:62a1c91a859a 427 mS[BaroUpdate] = mSClock() + BOSCH_TEMP_TIME_MS;
gke 0:62a1c91a859a 428 if ( BaroType == BaroBMP085 )
gke 0:62a1c91a859a 429 TempOrPress = BOSCH_TEMP_BMP085;
gke 0:62a1c91a859a 430 else
gke 0:62a1c91a859a 431 TempOrPress = BOSCH_TEMP_SMD500;
gke 0:62a1c91a859a 432 }
gke 0:62a1c91a859a 433
gke 0:62a1c91a859a 434 I2CBARO.start();
gke 0:62a1c91a859a 435 if ( I2CBARO.write(BOSCH_ID) != I2C_ACK ) goto SBerror;
gke 0:62a1c91a859a 436
gke 0:62a1c91a859a 437 // access control register, start measurement
gke 0:62a1c91a859a 438 if ( I2CBARO.write(BOSCH_CTL) != I2C_ACK ) goto SBerror;
gke 0:62a1c91a859a 439
gke 0:62a1c91a859a 440 // select 32kHz input, measure temperature
gke 0:62a1c91a859a 441 if ( I2CBARO.write(TempOrPress) != I2C_ACK ) goto SBerror;
gke 0:62a1c91a859a 442 I2CBARO.stop();
gke 0:62a1c91a859a 443
gke 0:62a1c91a859a 444 F.BaroAltitudeValid = true;
gke 0:62a1c91a859a 445 return;
gke 0:62a1c91a859a 446
gke 0:62a1c91a859a 447 SBerror:
gke 0:62a1c91a859a 448 I2CBARO.stop();
gke 0:62a1c91a859a 449 F.BaroAltitudeValid = F.HoldingAlt = false;
gke 0:62a1c91a859a 450 return;
gke 0:62a1c91a859a 451 } // StartBoschBaroADC
gke 0:62a1c91a859a 452
gke 0:62a1c91a859a 453 void ReadBoschBaro(void) {
gke 0:62a1c91a859a 454 // Possible I2C protocol error - split read of ADC
gke 0:62a1c91a859a 455 I2CBARO.start();
gke 0:62a1c91a859a 456 if ( I2CBARO.write(BOSCH_ID) != I2C_ACK ) goto RVerror;
gke 0:62a1c91a859a 457 if ( I2CBARO.write(BOSCH_ADC_MSB) != I2C_ACK ) goto RVerror;
gke 0:62a1c91a859a 458 I2CBARO.start(); // restart
gke 0:62a1c91a859a 459 if ( I2CBARO.write(BOSCH_ID+1) != I2C_ACK ) goto RVerror;
gke 0:62a1c91a859a 460 BaroVal.b1 = I2CBARO.read(I2C_NACK);
gke 0:62a1c91a859a 461 I2CBARO.stop();
gke 0:62a1c91a859a 462
gke 0:62a1c91a859a 463 I2CBARO.start();
gke 0:62a1c91a859a 464 if ( I2CBARO.write(BOSCH_ID) != I2C_ACK ) goto RVerror;
gke 0:62a1c91a859a 465 if ( I2CBARO.write(BOSCH_ADC_LSB) != I2C_ACK ) goto RVerror;
gke 0:62a1c91a859a 466 I2CBARO.start(); // restart
gke 0:62a1c91a859a 467 if ( I2CBARO.write(BOSCH_ID+1) != I2C_ACK ) goto RVerror;
gke 0:62a1c91a859a 468 BaroVal.b0 = I2CBARO.read(I2C_NACK);
gke 0:62a1c91a859a 469 I2CBARO.stop();
gke 0:62a1c91a859a 470
gke 0:62a1c91a859a 471 F.BaroAltitudeValid = true;
gke 0:62a1c91a859a 472 return;
gke 0:62a1c91a859a 473
gke 0:62a1c91a859a 474 RVerror:
gke 0:62a1c91a859a 475 I2CBARO.stop();
gke 0:62a1c91a859a 476
gke 0:62a1c91a859a 477 F.BaroAltitudeValid = F.HoldingAlt = false;
gke 0:62a1c91a859a 478 if ( State == InFlight ) {
gke 0:62a1c91a859a 479 Stats[BaroFailS]++;
gke 0:62a1c91a859a 480 F.BaroFailure = true;
gke 0:62a1c91a859a 481 }
gke 0:62a1c91a859a 482 return;
gke 0:62a1c91a859a 483 } // ReadBoschBaro
gke 0:62a1c91a859a 484
gke 0:62a1c91a859a 485 #define BOSCH_BMP085_TEMP_COEFF 62L
gke 0:62a1c91a859a 486 #define BOSCH_SMD500_TEMP_COEFF 50L
gke 0:62a1c91a859a 487
gke 0:62a1c91a859a 488 int24 CompensatedBoschPressure(uint16 BaroPress, uint16 BaroTemp) {
gke 0:62a1c91a859a 489 static int24 BaroTempComp;
gke 0:62a1c91a859a 490
gke 0:62a1c91a859a 491 if ( BaroType == BaroBMP085 )
gke 0:62a1c91a859a 492 BaroTempComp = (BaroTemp * BOSCH_BMP085_TEMP_COEFF + 64L) >> 7;
gke 0:62a1c91a859a 493 else
gke 0:62a1c91a859a 494 BaroTempComp = (BaroTemp * BOSCH_SMD500_TEMP_COEFF + 8L) >> 4;
gke 0:62a1c91a859a 495
gke 0:62a1c91a859a 496 return ((int24)BaroPress + BaroTempComp - OriginBaroPressure);
gke 0:62a1c91a859a 497
gke 0:62a1c91a859a 498 } // CompensatedBoschPressure
gke 0:62a1c91a859a 499
gke 0:62a1c91a859a 500 void GetBoschBaroAltitude(void) {
gke 0:62a1c91a859a 501 static int24 Temp;
gke 0:62a1c91a859a 502
gke 0:62a1c91a859a 503 if ( mSClock() >= mS[BaroUpdate] ) {
gke 0:62a1c91a859a 504 ReadBoschBaro();
gke 0:62a1c91a859a 505 if ( F.BaroAltitudeValid )
gke 0:62a1c91a859a 506 if ( AcquiringPressure ) {
gke 0:62a1c91a859a 507 BaroPressure = (int24)BaroVal.u16;
gke 0:62a1c91a859a 508 AcquiringPressure = false;
gke 0:62a1c91a859a 509 } else {
gke 0:62a1c91a859a 510 BaroTemperature = (int24)BaroVal.u16;
gke 0:62a1c91a859a 511 AcquiringPressure = true;
gke 0:62a1c91a859a 512
gke 0:62a1c91a859a 513 Temp = CompensatedBoschPressure(BaroPressure, BaroTemperature);
gke 0:62a1c91a859a 514 CompBaroPressure -= BaroQ.B[BaroQ.Head];
gke 0:62a1c91a859a 515 BaroQ.B[BaroQ.Head] = Temp;
gke 0:62a1c91a859a 516 CompBaroPressure += Temp;
gke 0:62a1c91a859a 517 BaroQ.Head = (BaroQ.Head + 1) & (BARO_BUFF_SIZE -1);
gke 0:62a1c91a859a 518
gke 0:62a1c91a859a 519 // Pressure queue has 4 entries corresponding to an average delay at 20Hz of 0.1Sec
gke 0:62a1c91a859a 520 // decreasing pressure is increase in altitude negate and rescale to decimetre altitude
gke 0:62a1c91a859a 521
gke 0:62a1c91a859a 522 BaroRelAltitude = - ( (real32)CompBaroPressure * (real32)P[BaroScale] ) / 1280.0;
gke 0:62a1c91a859a 523
gke 0:62a1c91a859a 524 F.NewBaroValue = F.BaroAltitudeValid;
gke 0:62a1c91a859a 525 }
gke 0:62a1c91a859a 526 else {
gke 0:62a1c91a859a 527 AcquiringPressure = true;
gke 0:62a1c91a859a 528 Stats[BaroFailS]++;
gke 0:62a1c91a859a 529 }
gke 0:62a1c91a859a 530
gke 0:62a1c91a859a 531 StartBoschBaroADC(AcquiringPressure);
gke 0:62a1c91a859a 532 }
gke 0:62a1c91a859a 533 } // GetBoschBaroAltitude
gke 0:62a1c91a859a 534
gke 0:62a1c91a859a 535 boolean IsBoschBaroActive(void) { // check for Bosch Barometers
gke 0:62a1c91a859a 536 static uint8 r;
gke 0:62a1c91a859a 537
gke 0:62a1c91a859a 538 I2CBARO.start();
gke 0:62a1c91a859a 539 if ( I2CBARO.write(BOSCH_ID) != I2C_ACK ) goto BoschInactive;
gke 0:62a1c91a859a 540 if ( I2CBARO.write(BOSCH_TYPE) != I2C_ACK ) goto BoschInactive;
gke 0:62a1c91a859a 541 I2CBARO.start(); // restart
gke 0:62a1c91a859a 542 if ( I2CBARO.write(BOSCH_ID+1) != I2C_ACK ) goto BoschInactive;
gke 0:62a1c91a859a 543 r = I2CBARO.read(I2C_NACK);
gke 0:62a1c91a859a 544 I2CBARO.stop();
gke 0:62a1c91a859a 545
gke 0:62a1c91a859a 546 if (r == BOSCH_ID_BMP085 )
gke 0:62a1c91a859a 547 BaroType = BaroBMP085;
gke 0:62a1c91a859a 548 else
gke 0:62a1c91a859a 549 BaroType = BaroSMD500;
gke 0:62a1c91a859a 550
gke 0:62a1c91a859a 551 TrackMinI2CRate(400000);
gke 0:62a1c91a859a 552
gke 0:62a1c91a859a 553 return(true);
gke 0:62a1c91a859a 554
gke 0:62a1c91a859a 555 BoschInactive:
gke 0:62a1c91a859a 556 return(false);
gke 0:62a1c91a859a 557
gke 0:62a1c91a859a 558 } // IsBoschBaroActive
gke 0:62a1c91a859a 559
gke 0:62a1c91a859a 560 void InitBoschBarometer(void) {
gke 0:62a1c91a859a 561 int8 s;
gke 0:62a1c91a859a 562 int24 Temp, CompBaroPressureP;
gke 0:62a1c91a859a 563
gke 0:62a1c91a859a 564 AltitudeUpdateRate = 1000L / BOSCH_PRESS_TEMP_TIME_MS;
gke 0:62a1c91a859a 565
gke 0:62a1c91a859a 566 F.NewBaroValue = false;
gke 0:62a1c91a859a 567 CompBaroPressure = 0;
gke 0:62a1c91a859a 568
gke 0:62a1c91a859a 569 TxString("Temp. \tPressure\r\n");
gke 0:62a1c91a859a 570
gke 0:62a1c91a859a 571 BaroRetries = 0;
gke 0:62a1c91a859a 572 do { // occasional I2C misread of Temperature so keep doing it until the Origin is stable!!
gke 0:62a1c91a859a 573 CompBaroPressureP = CompBaroPressure;
gke 0:62a1c91a859a 574 CompBaroPressure = BaroQ.Head = 0;
gke 0:62a1c91a859a 575
gke 0:62a1c91a859a 576 AcquiringPressure = true;
gke 0:62a1c91a859a 577 StartBoschBaroADC(AcquiringPressure); // Pressure
gke 0:62a1c91a859a 578
gke 0:62a1c91a859a 579 for ( s = 0; s < 4; s++ ) {
gke 0:62a1c91a859a 580 while ( mSClock() < mS[BaroUpdate] );
gke 0:62a1c91a859a 581 ReadBoschBaro(); // Pressure
gke 0:62a1c91a859a 582 BaroPressure = BaroVal.u16;
gke 0:62a1c91a859a 583
gke 0:62a1c91a859a 584 AcquiringPressure = !AcquiringPressure;
gke 0:62a1c91a859a 585 StartBoschBaroADC(AcquiringPressure); // Temperature
gke 0:62a1c91a859a 586 while ( mSClock() < mS[BaroUpdate] );
gke 0:62a1c91a859a 587 ReadBoschBaro();
gke 0:62a1c91a859a 588 BaroTemperature = BaroVal.u16;
gke 0:62a1c91a859a 589
gke 0:62a1c91a859a 590 TxVal32(BaroTemperature,0,HT);
gke 0:62a1c91a859a 591 TxVal32(BaroPressure,0,0);
gke 0:62a1c91a859a 592 TxNextLine();
gke 0:62a1c91a859a 593
gke 0:62a1c91a859a 594 Temp = CompensatedBoschPressure(BaroPressure, BaroTemperature);
gke 0:62a1c91a859a 595 BaroQ.B[s] = Temp;
gke 0:62a1c91a859a 596 CompBaroPressure += Temp;
gke 0:62a1c91a859a 597
gke 0:62a1c91a859a 598 AcquiringPressure = !AcquiringPressure;
gke 0:62a1c91a859a 599 StartBoschBaroADC(AcquiringPressure);
gke 0:62a1c91a859a 600 }
gke 0:62a1c91a859a 601
gke 0:62a1c91a859a 602 } while ( ( ++BaroRetries < BARO_INIT_RETRIES ) && ( abs(CompBaroPressure - CompBaroPressureP) > 12 ) ); // stable within ~0.5M
gke 0:62a1c91a859a 603
gke 0:62a1c91a859a 604 OriginBaroPressure = SRS32(CompBaroPressure, 2);
gke 0:62a1c91a859a 605
gke 0:62a1c91a859a 606 F.BaroAltitudeValid = BaroRetries < BARO_INIT_RETRIES;
gke 0:62a1c91a859a 607 BaroRelAltitudeP = BaroRelAltitude = 0.0;
gke 0:62a1c91a859a 608
gke 0:62a1c91a859a 609 #ifdef SIMULATE
gke 0:62a1c91a859a 610 FakeBaroRelAltitude = 0.0;
gke 0:62a1c91a859a 611 #endif // SIMULATE
gke 0:62a1c91a859a 612
gke 0:62a1c91a859a 613 } // InitBoschBarometer