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Sensors.cpp
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#include "Arduino.h"
#include "config.h"
#include "def.h"
#include "types.h"
#include "MultiWii.h"
#include "Alarms.h"
#include "EEPROM.h"
#include "IMU.h"
#include "LCD.h"
#include "Sensors.h"
static void Device_Mag_getADC();
static void Baro_init();
static void Mag_init();
static void ACC_init();
// ************************************************************************************************************
// board orientation and setup
// ************************************************************************************************************
//default board orientation
#if !defined(ACC_ORIENTATION)
#define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = X; imu.accADC[PITCH] = Y; imu.accADC[YAW] = Z;}
#endif
#if !defined(GYRO_ORIENTATION)
#define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = X; imu.gyroADC[PITCH] = Y; imu.gyroADC[YAW] = Z;}
#endif
#if !defined(MAG_ORIENTATION)
#define MAG_ORIENTATION(X, Y, Z) {imu.magADC[ROLL] = X; imu.magADC[PITCH] = Y; imu.magADC[YAW] = Z;}
#endif
//ITG3200 / ITG3205 / ITG3050 / MPU6050 / MPU3050 Gyro LPF setting
#if defined(GYRO_LPF_256HZ) || defined(GYRO_LPF_188HZ) || defined(GYRO_LPF_98HZ) || defined(GYRO_LPF_42HZ) || defined(GYRO_LPF_20HZ) || defined(GYRO_LPF_10HZ) || defined(GYRO_LPF_5HZ)
#if defined(GYRO_LPF_256HZ)
#define GYRO_DLPF_CFG 0
#endif
#if defined(GYRO_LPF_188HZ)
#define GYRO_DLPF_CFG 1
#endif
#if defined(GYRO_LPF_98HZ)
#define GYRO_DLPF_CFG 2
#endif
#if defined(GYRO_LPF_42HZ)
#define GYRO_DLPF_CFG 3
#endif
#if defined(GYRO_LPF_20HZ)
#define GYRO_DLPF_CFG 4
#endif
#if defined(GYRO_LPF_10HZ)
#define GYRO_DLPF_CFG 5
#endif
#if defined(GYRO_LPF_5HZ)
#define GYRO_DLPF_CFG 6
#endif
#else
#define GYRO_DLPF_CFG 0 //Default settings LPF 256Hz/8000Hz sample
#endif
static uint8_t rawADC[6];
#if defined(WMP)
static uint32_t neutralizeTime = 0;
#endif
// ************************************************************************************************************
// I2C general functions
// ************************************************************************************************************
void i2c_init(void) {
#if defined(INTERNAL_I2C_PULLUPS)
I2C_PULLUPS_ENABLE
#else
I2C_PULLUPS_DISABLE
#endif
TWSR = 0; // no prescaler => prescaler = 1
TWBR = ((F_CPU / 400000) - 16) / 2; // set the I2C clock rate to 400kHz
TWCR = 1<<TWEN; // enable twi module, no interrupt
i2c_errors_count = 0;
}
void __attribute__ ((noinline)) waitTransmissionI2C(uint8_t twcr) {
TWCR = twcr;
uint8_t count = 255;
while (!(TWCR & (1<<TWINT))) {
count--;
if (count==0) { //we are in a blocking state => we don't insist
TWCR = 0; //and we force a reset on TWINT register
#if defined(WMP)
neutralizeTime = micros(); //we take a timestamp here to neutralize the value during a short delay
#endif
i2c_errors_count++;
break;
}
}
}
void i2c_rep_start(uint8_t address) {
waitTransmissionI2C((1<<TWINT) | (1<<TWSTA) | (1<<TWEN)); // send REPEAT START condition and wait until transmission completed
TWDR = address; // send device address
waitTransmissionI2C((1<<TWINT) | (1<<TWEN)); // wail until transmission completed
}
void i2c_stop(void) {
TWCR = (1 << TWINT) | (1 << TWEN) | (1 << TWSTO);
// while(TWCR & (1<<TWSTO)); // <- can produce a blocking state with some WMP clones
}
void i2c_write(uint8_t data ) {
TWDR = data; // send data to the previously addressed device
waitTransmissionI2C((1<<TWINT) | (1<<TWEN));
}
uint8_t i2c_readAck() {
waitTransmissionI2C((1<<TWINT) | (1<<TWEN) | (1<<TWEA));
return TWDR;
}
uint8_t i2c_readNak() {
waitTransmissionI2C((1<<TWINT) | (1<<TWEN));
uint8_t r = TWDR;
i2c_stop();
return r;
}
void i2c_read_reg_to_buf(uint8_t add, uint8_t reg, uint8_t *buf, uint8_t size) {
i2c_rep_start(add<<1); // I2C write direction
i2c_write(reg); // register selection
i2c_rep_start((add<<1) | 1); // I2C read direction
uint8_t *b = buf;
while (--size) *b++ = i2c_readAck(); // acknowledge all but the final byte
*b = i2c_readNak();
}
void i2c_getSixRawADC(uint8_t add, uint8_t reg) {
i2c_read_reg_to_buf(add, reg, rawADC, 6);
}
void i2c_writeReg(uint8_t add, uint8_t reg, uint8_t val) {
i2c_rep_start(add<<1); // I2C write direction
i2c_write(reg); // register selection
i2c_write(val); // value to write in register
i2c_stop();
}
uint8_t i2c_readReg(uint8_t add, uint8_t reg) {
uint8_t val;
i2c_read_reg_to_buf(add, reg, &val, 1);
return val;
}
// ****************
// GYRO common part
// ****************
void GYRO_Common() {
static int16_t previousGyroADC[3] = {0,0,0};
static int32_t g[3];
uint8_t axis, tilt=0;
#if defined MMGYRO
// Moving Average Gyros by Magnetron1
//---------------------------------------------------
static int16_t mediaMobileGyroADC[3][MMGYROVECTORLENGTH];
static int32_t mediaMobileGyroADCSum[3];
static uint8_t mediaMobileGyroIDX;
//---------------------------------------------------
#endif
if (calibratingG>0) {
for (axis = 0; axis < 3; axis++) {
if (calibratingG == 512) { // Reset g[axis] at start of calibration
g[axis]=0;
#if defined(GYROCALIBRATIONFAILSAFE)
previousGyroADC[axis] = imu.gyroADC[axis];
}
if (calibratingG % 10 == 0) {
if(abs(imu.gyroADC[axis] - previousGyroADC[axis]) > 8) tilt=1;
previousGyroADC[axis] = imu.gyroADC[axis];
#endif
}
g[axis] +=imu.gyroADC[axis]; // Sum up 512 readings
gyroZero[axis]=g[axis]>>9;
if (calibratingG == 1) {
SET_ALARM_BUZZER(ALRM_FAC_CONFIRM, ALRM_LVL_CONFIRM_ELSE);
}
}
#if defined(GYROCALIBRATIONFAILSAFE)
if(tilt) {
calibratingG=1000;
LEDPIN_ON;
} else {
calibratingG--;
LEDPIN_OFF;
}
return;
#else
calibratingG--;
#endif
}
#ifdef MMGYRO
mediaMobileGyroIDX = ++mediaMobileGyroIDX % conf.mmgyro;
for (axis = 0; axis < 3; axis++) {
imu.gyroADC[axis] -= gyroZero[axis];
mediaMobileGyroADCSum[axis] -= mediaMobileGyroADC[axis][mediaMobileGyroIDX];
//anti gyro glitch, limit the variation between two consecutive readings
mediaMobileGyroADC[axis][mediaMobileGyroIDX] = constrain(imu.gyroADC[axis],previousGyroADC[axis]-800,previousGyroADC[axis]+800);
mediaMobileGyroADCSum[axis] += mediaMobileGyroADC[axis][mediaMobileGyroIDX];
imu.gyroADC[axis] = mediaMobileGyroADCSum[axis] / conf.mmgyro;
#else
for (axis = 0; axis < 3; axis++) {
imu.gyroADC[axis] -= gyroZero[axis];
//anti gyro glitch, limit the variation between two consecutive readings
imu.gyroADC[axis] = constrain(imu.gyroADC[axis],previousGyroADC[axis]-800,previousGyroADC[axis]+800);
#endif
previousGyroADC[axis] = imu.gyroADC[axis];
}
#if defined(SENSORS_TILT_45DEG_LEFT)
int16_t temp = ((imu.gyroADC[PITCH] - imu.gyroADC[ROLL] )*7)/10;
imu.gyroADC[ROLL] = ((imu.gyroADC[ROLL] + imu.gyroADC[PITCH])*7)/10;
imu.gyroADC[PITCH]= temp;
#endif
#if defined(SENSORS_TILT_45DEG_RIGHT)
int16_t temp = ((imu.gyroADC[PITCH] + imu.gyroADC[ROLL] )*7)/10;
imu.gyroADC[ROLL] = ((imu.gyroADC[ROLL] - imu.gyroADC[PITCH])*7)/10;
imu.gyroADC[PITCH]= temp;
#endif
}
// ****************
// ACC common part
// ****************
void ACC_Common() {
static int32_t a[3];
if (calibratingA>0) {
calibratingA--;
for (uint8_t axis = 0; axis < 3; axis++) {
if (calibratingA == 511) a[axis]=0; // Reset a[axis] at start of calibration
a[axis] +=imu.accADC[axis]; // Sum up 512 readings
global_conf.accZero[axis] = a[axis]>>9; // Calculate average, only the last itteration where (calibratingA == 0) is relevant
}
if (calibratingA == 0) {
global_conf.accZero[YAW] -= ACC_1G; // shift Z down by ACC_1G and store values in EEPROM at end of calibration
conf.angleTrim[ROLL] = 0;
conf.angleTrim[PITCH] = 0;
writeGlobalSet(1); // write accZero in EEPROM
}
}
#if defined(INFLIGHT_ACC_CALIBRATION)
static int32_t b[3];
static int16_t accZero_saved[3] = {0,0,0};
static int16_t angleTrim_saved[2] = {0, 0};
//Saving old zeropoints before measurement
if (InflightcalibratingA==50) {
accZero_saved[ROLL] = global_conf.accZero[ROLL] ;
accZero_saved[PITCH] = global_conf.accZero[PITCH];
accZero_saved[YAW] = global_conf.accZero[YAW] ;
angleTrim_saved[ROLL] = conf.angleTrim[ROLL] ;
angleTrim_saved[PITCH] = conf.angleTrim[PITCH] ;
}
if (InflightcalibratingA>0) {
for (uint8_t axis = 0; axis < 3; axis++) {
// Reset a[axis] at start of calibration
if (InflightcalibratingA == 50) b[axis]=0;
// Sum up 50 readings
b[axis] +=imu.accADC[axis];
// Clear global variables for next reading
imu.accADC[axis]=0;
global_conf.accZero[axis]=0;
}
//all values are measured
if (InflightcalibratingA == 1) {
AccInflightCalibrationActive = 0;
AccInflightCalibrationMeasurementDone = 1;
SET_ALARM_BUZZER(ALRM_FAC_CONFIRM, ALRM_LVL_CONFIRM_1); //buzzer for indicatiing the end of calibration
// recover saved values to maintain current flight behavior until new values are transferred
global_conf.accZero[ROLL] = accZero_saved[ROLL] ;
global_conf.accZero[PITCH] = accZero_saved[PITCH];
global_conf.accZero[YAW] = accZero_saved[YAW] ;
conf.angleTrim[ROLL] = angleTrim_saved[ROLL] ;
conf.angleTrim[PITCH] = angleTrim_saved[PITCH] ;
}
InflightcalibratingA--;
}
// Calculate average, shift Z down by ACC_1G and store values in EEPROM at end of calibration
if (AccInflightCalibrationSavetoEEProm == 1){ //the copter is landed, disarmed and the combo has been done again
AccInflightCalibrationSavetoEEProm = 0;
global_conf.accZero[ROLL] = b[ROLL]/50;
global_conf.accZero[PITCH] = b[PITCH]/50;
global_conf.accZero[YAW] = b[YAW]/50-ACC_1G;
conf.angleTrim[ROLL] = 0;
conf.angleTrim[PITCH] = 0;
writeGlobalSet(1); // write accZero in EEPROM
}
#endif
imu.accADC[ROLL] -= global_conf.accZero[ROLL] ;
imu.accADC[PITCH] -= global_conf.accZero[PITCH];
imu.accADC[YAW] -= global_conf.accZero[YAW] ;
#if defined(SENSORS_TILT_45DEG_LEFT)
int16_t temp = ((imu.accADC[PITCH] - imu.accADC[ROLL] )*7)/10;
imu.accADC[ROLL] = ((imu.accADC[ROLL] + imu.accADC[PITCH])*7)/10;
imu.accADC[PITCH] = temp;
#endif
#if defined(SENSORS_TILT_45DEG_RIGHT)
int16_t temp = ((imu.accADC[PITCH] + imu.accADC[ROLL] )*7)/10;
imu.accADC[ROLL] = ((imu.accADC[ROLL] - imu.accADC[PITCH])*7)/10;
imu.accADC[PITCH] = temp;
#endif
}
// ************************************************************************************************************
// BARO section
// ************************************************************************************************************
#if BARO
static void Baro_Common() {
static int32_t baroHistTab[BARO_TAB_SIZE];
static uint8_t baroHistIdx;
uint8_t indexplus1 = (baroHistIdx + 1);
if (indexplus1 == BARO_TAB_SIZE) indexplus1 = 0;
baroHistTab[baroHistIdx] = baroPressure;
baroPressureSum += baroHistTab[baroHistIdx];
baroPressureSum -= baroHistTab[indexplus1];
baroHistIdx = indexplus1;
}
#endif
// ************************************************************************************************************
// I2C Barometer BOSCH BMP085
// ************************************************************************************************************
// I2C adress: 0x77 (7bit)
// principle:
// 1) read the calibration register (only once at the initialization)
// 2) read uncompensated temperature (not mandatory at every cycle)
// 3) read uncompensated pressure
// 4) raw temp + raw pressure => calculation of the adjusted pressure
// the following code uses the maximum precision setting (oversampling setting 3)
// ************************************************************************************************************
#if defined(BMP085)
#define BMP085_ADDRESS 0x77
static struct {
// sensor registers from the BOSCH BMP085 datasheet
int16_t ac1, ac2, ac3;
uint16_t ac4, ac5, ac6;
int16_t b1, b2, mb, mc, md;
union {uint16_t val; uint8_t raw[2]; } ut; //uncompensated T
union {uint32_t val; uint8_t raw[4]; } up; //uncompensated P
uint8_t state;
uint32_t deadline;
} bmp085_ctx;
#define OSS 3
/* transform a series of bytes from big endian to little
endian and vice versa. */
void swap_endianness(void *buf, size_t size) {
/* we swap in-place, so we only have to
* place _one_ element on a temporary tray
*/
uint8_t tray;
uint8_t *from;
uint8_t *to;
/* keep swapping until the pointers have assed each other */
for (from = (uint8_t*)buf, to = &from[size-1]; from < to; from++, to--) {
tray = *from;
*from = *to;
*to = tray;
}
}
void i2c_BMP085_readCalibration(){
delay(10);
//read calibration data in one go
size_t s_bytes = (uint8_t*)&bmp085_ctx.md - (uint8_t*)&bmp085_ctx.ac1 + sizeof(bmp085_ctx.ac1);
i2c_read_reg_to_buf(BMP085_ADDRESS, 0xAA, (uint8_t*)&bmp085_ctx.ac1, s_bytes);
// now fix endianness
int16_t *p;
for (p = &bmp085_ctx.ac1; p <= &bmp085_ctx.md; p++) {
swap_endianness(p, sizeof(*p));
}
}
// read uncompensated temperature value: send command first
void i2c_BMP085_UT_Start(void) {
i2c_writeReg(BMP085_ADDRESS,0xf4,0x2e);
i2c_rep_start(BMP085_ADDRESS<<1);
i2c_write(0xF6);
i2c_stop();
}
// read uncompensated pressure value: send command first
void i2c_BMP085_UP_Start () {
i2c_writeReg(BMP085_ADDRESS,0xf4,0x34+(OSS<<6)); // control register value for oversampling setting 3
i2c_rep_start(BMP085_ADDRESS<<1); //I2C write direction => 0
i2c_write(0xF6);
i2c_stop();
}
// read uncompensated pressure value: read result bytes
// the datasheet suggests a delay of 25.5 ms (oversampling settings 3) after the send command
void i2c_BMP085_UP_Read () {
i2c_rep_start((BMP085_ADDRESS<<1) | 1);//I2C read direction => 1
bmp085_ctx.up.raw[2] = i2c_readAck();
bmp085_ctx.up.raw[1] = i2c_readAck();
bmp085_ctx.up.raw[0] = i2c_readNak();
}
// read uncompensated temperature value: read result bytes
// the datasheet suggests a delay of 4.5 ms after the send command
void i2c_BMP085_UT_Read() {
i2c_rep_start((BMP085_ADDRESS<<1) | 1);//I2C read direction => 1
bmp085_ctx.ut.raw[1] = i2c_readAck();
bmp085_ctx.ut.raw[0] = i2c_readNak();
}
void i2c_BMP085_Calculate() {
int32_t x1, x2, x3, b3, b5, b6, p, tmp;
uint32_t b4, b7;
// Temperature calculations
x1 = ((int32_t)bmp085_ctx.ut.val - bmp085_ctx.ac6) * bmp085_ctx.ac5 >> 15;
x2 = ((int32_t)bmp085_ctx.mc << 11) / (x1 + bmp085_ctx.md);
b5 = x1 + x2;
baroTemperature = (b5 * 10 + 8) >> 4; // in 0.01 degC (same as MS561101BA temperature)
// Pressure calculations
b6 = b5 - 4000;
x1 = (bmp085_ctx.b2 * (b6 * b6 >> 12)) >> 11;
x2 = bmp085_ctx.ac2 * b6 >> 11;
x3 = x1 + x2;
tmp = bmp085_ctx.ac1;
tmp = (tmp*4 + x3) << OSS;
b3 = (tmp+2)/4;
x1 = bmp085_ctx.ac3 * b6 >> 13;
x2 = (bmp085_ctx.b1 * (b6 * b6 >> 12)) >> 16;
x3 = ((x1 + x2) + 2) >> 2;
b4 = (bmp085_ctx.ac4 * (uint32_t)(x3 + 32768)) >> 15;
b7 = ((uint32_t) (bmp085_ctx.up.val >> (8-OSS)) - b3) * (50000 >> OSS);
p = b7 < 0x80000000 ? (b7 * 2) / b4 : (b7 / b4) * 2;
x1 = (p >> 8) * (p >> 8);
x1 = (x1 * 3038) >> 16;
x2 = (-7357 * p) >> 16;
baroPressure = p + ((x1 + x2 + 3791) >> 4);
}
void Baro_init() {
delay(10);
i2c_BMP085_readCalibration();
delay(5);
i2c_BMP085_UT_Start();
bmp085_ctx.deadline = currentTime+5000;
}
//return 0: no data available, no computation ; 1: new value available ; 2: no new value, but computation time
uint8_t Baro_update() { // first UT conversion is started in init procedure
if (currentTime < bmp085_ctx.deadline) return 0;
bmp085_ctx.deadline = currentTime+6000; // 1.5ms margin according to the spec (4.5ms T convetion time)
if (bmp085_ctx.state == 0) {
i2c_BMP085_UT_Read();
i2c_BMP085_UP_Start();
bmp085_ctx.state = 1;
Baro_Common();
bmp085_ctx.deadline += 21000; // 6000+21000=27000 1.5ms margin according to the spec (25.5ms P convetion time with OSS=3)
return 1;
} else {
i2c_BMP085_UP_Read();
i2c_BMP085_UT_Start();
i2c_BMP085_Calculate();
bmp085_ctx.state = 0;
return 2;
}
}
#endif
#if defined(BMP280)
#define BME280_DIG_T1_LSB_REG 0x88
#define BME280_DIG_T1_MSB_REG 0x89
#define BME280_DIG_T2_LSB_REG 0x8A
#define BME280_DIG_T2_MSB_REG 0x8B
#define BME280_DIG_T3_LSB_REG 0x8C
#define BME280_DIG_T3_MSB_REG 0x8D
#define BME280_DIG_P1_LSB_REG 0x8E
#define BME280_DIG_P1_MSB_REG 0x8F
#define BME280_DIG_P2_LSB_REG 0x90
#define BME280_DIG_P2_MSB_REG 0x91
#define BME280_DIG_P3_LSB_REG 0x92
#define BME280_DIG_P3_MSB_REG 0x93
#define BME280_DIG_P4_LSB_REG 0x94
#define BME280_DIG_P4_MSB_REG 0x95
#define BME280_DIG_P5_LSB_REG 0x96
#define BME280_DIG_P5_MSB_REG 0x97
#define BME280_DIG_P6_LSB_REG 0x98
#define BME280_DIG_P6_MSB_REG 0x99
#define BME280_DIG_P7_LSB_REG 0x9A
#define BME280_DIG_P7_MSB_REG 0x9B
#define BME280_DIG_P8_LSB_REG 0x9C
#define BME280_DIG_P8_MSB_REG 0x9D
#define BME280_DIG_P9_LSB_REG 0x9E
#define BME280_DIG_P9_MSB_REG 0x9F
#define BME280_CTRL_MEAS_REG 0xF4 //Ctrl Measure Reg
#define BME280_CONFIG_REG 0xF5 //Configuration Reg
#define BME280_PRESSURE_MSB_REG 0xF7 //Pressure MSB
#define BME280_PRESSURE_LSB_REG 0xF8 //Pressure LSB
#define BME280_PRESSURE_XLSB_REG 0xF9 //Pressure XLSB
#define BME280_TEMPERATURE_MSB_REG 0xFA //Temperature MSB
#define BME280_TEMPERATURE_LSB_REG 0xFB //Temperature LSB
#define BME280_TEMPERATURE_XLSB_REG 0xFC //Temperature XLSB
#define BME280_HUMIDITY_MSB_REG 0xFD //Humidity MSB
#define BME280_HUMIDITY_LSB_REG 0xFE //Humidity LSB
#define BMP280_ADDRESS 0x76
//static int32_t pressure;
int32_t t_fine;
static struct {
// sensor registers from the BOSCH BMP280 datasheet
int16_t t2, t3, p2, p3, p4, p5, p6, p7, p8, p9;
uint16_t t1, p1;
union {uint16_t val; uint8_t raw[2]; } ut; //uncompensated T
union {uint32_t val; uint8_t raw[4]; } up; //uncompensated P
uint8_t state;
uint32_t deadline;
} bmp280_ctx;
void i2c_BMP280_readCalibration(){
delay(10);
bmp280_ctx.t1 = ((uint16_t)((i2c_readReg(BMP280_ADDRESS,BME280_DIG_T1_MSB_REG) << 8) + i2c_readReg(BMP280_ADDRESS,BME280_DIG_T1_LSB_REG)));
bmp280_ctx.t2 = ((int16_t)((i2c_readReg(BMP280_ADDRESS,BME280_DIG_T2_MSB_REG) << 8) + i2c_readReg(BMP280_ADDRESS,BME280_DIG_T2_LSB_REG)));
bmp280_ctx.t3 = ((int16_t)((i2c_readReg(BMP280_ADDRESS,BME280_DIG_T3_MSB_REG) << 8) + i2c_readReg(BMP280_ADDRESS,BME280_DIG_T3_LSB_REG)));
bmp280_ctx.p1 = ((uint16_t)((i2c_readReg(BMP280_ADDRESS,BME280_DIG_P1_MSB_REG) << 8) + i2c_readReg(BMP280_ADDRESS,BME280_DIG_P1_LSB_REG)));
bmp280_ctx.p2 = ((int16_t)((i2c_readReg(BMP280_ADDRESS,BME280_DIG_P2_MSB_REG) << 8) + i2c_readReg(BMP280_ADDRESS,BME280_DIG_P2_LSB_REG)));
bmp280_ctx.p3 = ((int16_t)((i2c_readReg(BMP280_ADDRESS,BME280_DIG_P3_MSB_REG) << 8) + i2c_readReg(BMP280_ADDRESS,BME280_DIG_P3_LSB_REG)));
bmp280_ctx.p4 = ((int16_t)((i2c_readReg(BMP280_ADDRESS,BME280_DIG_P4_MSB_REG) << 8) + i2c_readReg(BMP280_ADDRESS,BME280_DIG_P4_LSB_REG)));
bmp280_ctx.p5 = ((int16_t)((i2c_readReg(BMP280_ADDRESS,BME280_DIG_P5_MSB_REG) << 8) + i2c_readReg(BMP280_ADDRESS,BME280_DIG_P5_LSB_REG)));
bmp280_ctx.p6 = ((int16_t)((i2c_readReg(BMP280_ADDRESS,BME280_DIG_P6_MSB_REG) << 8) + i2c_readReg(BMP280_ADDRESS,BME280_DIG_P6_LSB_REG)));
bmp280_ctx.p7 = ((int16_t)((i2c_readReg(BMP280_ADDRESS,BME280_DIG_P7_MSB_REG) << 8) + i2c_readReg(BMP280_ADDRESS,BME280_DIG_P7_LSB_REG)));
bmp280_ctx.p8 = ((int16_t)((i2c_readReg(BMP280_ADDRESS,BME280_DIG_P8_MSB_REG) << 8) + i2c_readReg(BMP280_ADDRESS,BME280_DIG_P8_LSB_REG)));
bmp280_ctx.p9 = ((int16_t)((i2c_readReg(BMP280_ADDRESS,BME280_DIG_P9_MSB_REG) << 8) + i2c_readReg(BMP280_ADDRESS,BME280_DIG_P9_LSB_REG)));
}
// read a 16 bit register
int16_t i2c_BMP280_readIntRegister(uint8_t r) {
union {int16_t val; uint8_t raw[2]; } data;
i2c_rep_start(BMP280_ADDRESS + 0);
i2c_write(r);
i2c_rep_start(BMP280_ADDRESS + 1);//I2C read direction => 1
data.raw[1] = i2c_readAck();
data.raw[0] = i2c_readNak();
return data.val;
}
float i2c_BMP280_Calculate() {
int32_t adc_P = ((uint32_t)i2c_readReg(BMP280_ADDRESS,BME280_PRESSURE_MSB_REG) << 12) | ((uint32_t)i2c_readReg(BMP280_ADDRESS,BME280_PRESSURE_LSB_REG) << 4) | ((i2c_readReg(BMP280_ADDRESS,BME280_PRESSURE_XLSB_REG) >> 4) & 0x0F);
int64_t var1, var2, p_acc;
var1 = ((int64_t)t_fine) - 128000;
var2 = var1 * var1 * (int64_t)bmp280_ctx.p6;
var2 = var2 + ((var1 * (int64_t)bmp280_ctx.p5)<<17);
var2 = var2 + (((int64_t)bmp280_ctx.p4)<<35);
var1 = ((var1 * var1 * (int64_t)bmp280_ctx.p3)>>8) + ((var1 * (int64_t)bmp280_ctx.p2)<<12);
var1 = (((((int64_t)1)<<47)+var1))*((int64_t)bmp280_ctx.p1)>>33;
if (var1 == 0) { return 0; }
p_acc = 1048576 - adc_P;
p_acc = (((p_acc<<31) - var2)*3125)/var1;
var1 = (((int64_t)bmp280_ctx.p9) * (p_acc>>13) * (p_acc>>13)) >> 25;
var2 = (((int64_t)bmp280_ctx.p8) * p_acc) >> 19;
p_acc = ((p_acc + var1 + var2) >> 8) + (((int64_t)bmp280_ctx.p7)<<4);
if(p_acc > 0){
baroPressure = (float)p_acc / 256.0;
//debug[0] = baroPressure;
}
return baroPressure;
}
void i2c_BMP280_UT_Start() { }
void i2c_BMP280_UT_Read() {
int32_t adc_T = ((uint32_t)i2c_readReg(BMP280_ADDRESS,BME280_TEMPERATURE_MSB_REG) << 12) | ((uint32_t)i2c_readReg(BMP280_ADDRESS,BME280_TEMPERATURE_LSB_REG) << 4) | ((i2c_readReg(BMP280_ADDRESS,BME280_TEMPERATURE_XLSB_REG) >> 4) & 0x0F);
int64_t var1, var2;
var1 = ((((adc_T>>3) - ((int32_t)bmp280_ctx.t1<<1))) * ((int32_t)bmp280_ctx.t2)) >> 11;
var2 = (((((adc_T>>4) - ((int32_t)bmp280_ctx.t1)) * ((adc_T>>4) - ((int32_t)bmp280_ctx.t1))) >> 12) * ((int32_t)bmp280_ctx.t3)) >> 14;
t_fine = var1 + var2;
//if(t_fine > 0){
float output = (t_fine * 5 + 128) >> 8;
baroTemperature = output;
debug[1] = baroTemperature;
//}
//readRegister(0xD0);
i2c_readReg(BMP280_ADDRESS,0xD0);
}
void i2c_BMP280_UP_Start () { }
void i2c_BMP280_UP_Read () {
float heightOutput = 0;
heightOutput = ((float)-45846.2)*(pow(((float)i2c_BMP280_Calculate()/(float)101325), 0.190263) - (float)1);
debug[2] = heightOutput;
//BaroAlt = heightOutput;
}
void Baro_init() {
i2c_BMP280_readCalibration();
uint8_t dataToWrite = 0;
i2c_writeReg(BMP280_ADDRESS,BME280_CTRL_MEAS_REG,0x00);
dataToWrite = (2 << 0x5) & 0xE0; //tStandby
dataToWrite |= (2 << 0x02) & 0x1C; //filter
i2c_writeReg(BMP280_ADDRESS,BME280_CONFIG_REG,dataToWrite);
dataToWrite = (1 << 0x5) & 0xE0; //tempOverSample
dataToWrite |= (5 << 0x02) & 0x1C; //pressOverSample
dataToWrite |= (3) & 0x03; //runMode
i2c_writeReg(BMP280_ADDRESS,BME280_CTRL_MEAS_REG,dataToWrite);
//readRegister(0xD0);
i2c_readReg(BMP280_ADDRESS,0xD0);
i2c_BMP280_UT_Read();
i2c_BMP280_UP_Read();
}
uint8_t Baro_update() {
if (currentTime < bmp280_ctx.deadline) return;
bmp280_ctx.deadline = currentTime;
TWBR = ((16000000L / 400000L) - 16) / 2; // change the I2C clock rate to 400kHz, BMP280 is ok with this speed
switch (bmp280_ctx.state) {
case 0:
i2c_BMP280_UT_Start();
bmp280_ctx.state++; bmp280_ctx.deadline += 4600;
break;
case 1:
i2c_BMP280_UT_Read();
bmp280_ctx.state++;
break;
case 2:
i2c_BMP280_UP_Start();
bmp280_ctx.state++; bmp280_ctx.deadline += 14000;
break;
case 3:
i2c_BMP280_UP_Read();
//i2c_BMP280_Calculate();
//BaroAlt = (1.0f - pow(baroPressure/101325.0f, 0.190295f)) * 4433000.0f; //centimeter
debug[3] = ((1.0f - pow(baroPressure/101325.0f, 0.190295f)) * 4433000.0f)/100; //centimeter
bmp280_ctx.state = 0; bmp280_ctx.deadline += 5000;
Baro_Common();
break;
}
return 0;
}
#endif
// ************************************************************************************************************
// I2C Barometer MS561101BA
// ************************************************************************************************************
//
// specs are here: http://www.meas-spec.com/downloads/MS5611-01BA03.pdf
// useful info on pages 7 -> 12
#if defined(MS561101BA)
#if !defined(MS561101BA_ADDRESS)
#define MS561101BA_ADDRESS 0x77 //CBR=0 0xEE I2C address when pin CSB is connected to LOW (GND)
//#define MS561101BA_ADDRESS 0x76 //CBR=1 0xEC I2C address when pin CSB is connected to HIGH (VCC)
#endif
// registers of the device
#define MS561101BA_PRESSURE 0x40
#define MS561101BA_TEMPERATURE 0x50
#define MS561101BA_RESET 0x1E
// OSR (Over Sampling Ratio) constants
#define MS561101BA_OSR_256 0x00
#define MS561101BA_OSR_512 0x02
#define MS561101BA_OSR_1024 0x04
#define MS561101BA_OSR_2048 0x06
#define MS561101BA_OSR_4096 0x08
#define OSR MS561101BA_OSR_4096
static struct {
// sensor registers from the MS561101BA datasheet
uint16_t c[7];
uint32_t ut; //uncompensated T
uint32_t up; //uncompensated P
uint8_t state;
uint16_t deadline;
} ms561101ba_ctx;
static void Baro_init() {
//reset
i2c_writeReg(MS561101BA_ADDRESS, MS561101BA_RESET, 0);
delay(100);
//read calibration data
union {uint16_t val; uint8_t raw[2]; } data;
for(uint8_t i=0;i<6;i++) {
i2c_rep_start(MS561101BA_ADDRESS<<1);
i2c_write(0xA2+2*i);
i2c_rep_start((MS561101BA_ADDRESS<<1) | 1);//I2C read direction => 1
data.raw[1] = i2c_readAck(); // read a 16 bit register
data.raw[0] = i2c_readNak();
ms561101ba_ctx.c[i+1] = data.val;
}
}
// read uncompensated temperature or pressure value: send command first
static void i2c_MS561101BA_UT_or_UP_Start(uint8_t reg) {
i2c_rep_start(MS561101BA_ADDRESS<<1); // I2C write direction
i2c_write(reg); // register selection
i2c_stop();
}
static void i2c_MS561101BA_UT_or_UP_Read(uint32_t* val) {
union {uint32_t val; uint8_t raw[4]; } data;
i2c_rep_start(MS561101BA_ADDRESS<<1);
i2c_write(0);
i2c_rep_start((MS561101BA_ADDRESS<<1) | 1);
data.raw[2] = i2c_readAck();
data.raw[1] = i2c_readAck();
data.raw[0] = i2c_readNak();
*val = data.val;
}
// use float approximation instead of int64_t intermediate values
// does not use 2nd order compensation under -15 deg
static void i2c_MS561101BA_Calculate() {
int32_t delt;
float dT = (int32_t)ms561101ba_ctx.ut - (int32_t)((uint32_t)ms561101ba_ctx.c[5] << 8);
float off = ((uint32_t)ms561101ba_ctx.c[2] <<16) + ((dT * ms561101ba_ctx.c[4]) /((uint32_t)1<<7));
float sens = ((uint32_t)ms561101ba_ctx.c[1] <<15) + ((dT * ms561101ba_ctx.c[3]) /((uint32_t)1<<8));
delt = (dT * ms561101ba_ctx.c[6])/((uint32_t)1<<23);
baroTemperature = delt + 2000;
if (delt < 0) { // temperature lower than 20st.C
delt *= 5 * delt;
off -= delt>>1;
sens -= delt>>2;
}
baroPressure = (( (ms561101ba_ctx.up * sens ) /((uint32_t)1<<21)) - off)/((uint32_t)1<<15);
}
//return 0: no data available, no computation ; 1: new value available or no new value but computation time
uint8_t Baro_update() { // first UT conversion is started in init procedure
uint32_t* rawValPointer;
uint8_t commandRegister;
if (ms561101ba_ctx.state == 2) { // a third state is introduced here to isolate calculate() and smooth timecycle spike
ms561101ba_ctx.state = 0;
i2c_MS561101BA_Calculate();
return 1;
}
if ((int16_t)(currentTime - ms561101ba_ctx.deadline)<0) return 0; // the initial timer is not initialized, but in any case, no more than 65ms to wait.
ms561101ba_ctx.deadline = currentTime+10000; // UT and UP conversion take 8.5ms so we do next reading after 10ms
if (ms561101ba_ctx.state == 0) {
Baro_Common(); // moved here for less timecycle spike, goes after i2c_MS561101BA_Calculate
rawValPointer = &ms561101ba_ctx.ut;
commandRegister = MS561101BA_PRESSURE + OSR;
} else {
rawValPointer = &ms561101ba_ctx.up;
commandRegister = MS561101BA_TEMPERATURE + OSR;
}
ms561101ba_ctx.state++;
i2c_MS561101BA_UT_or_UP_Read(rawValPointer); // get the 24bit resulting from a UP of UT command request. Nothing interresting for the first cycle because we don't initiate a command in Baro_init()
i2c_MS561101BA_UT_or_UP_Start(commandRegister); // send the next command to get UP or UT value after at least 8.5ms
return 1;
}
#endif
// ************************************************************************************************************
// I2C Accelerometer MMA7455
// ************************************************************************************************************
#if defined(MMA7455)
#if !defined(MMA7455_ADDRESS)
#define MMA7455_ADDRESS 0x1D
#endif
void ACC_init () {
delay(10);
i2c_writeReg(MMA7455_ADDRESS,0x16,0x21);
}
void ACC_getADC () {
i2c_getSixRawADC(MMA7455_ADDRESS,0x00);
ACC_ORIENTATION( ((int8_t(rawADC[1])<<8) | int8_t(rawADC[0])) ,
((int8_t(rawADC[3])<<8) | int8_t(rawADC[2])) ,
((int8_t(rawADC[5])<<8) | int8_t(rawADC[4])) );
ACC_Common();
}
#endif
// ************************************************************************************************************
// I2C Accelerometer MMA8451Q
// ************************************************************************************************************
#if defined(MMA8451Q)
#if !defined(MMA8451Q_ADDRESS)
#define MMA8451Q_ADDRESS 0x1C
//#define MMA8451Q_ADDRESS 0x1D
#endif
void ACC_init () {
delay(10);
i2c_writeReg(MMA8451Q_ADDRESS,0x2A,0x05); // wake up & low noise
delay(10);
i2c_writeReg(MMA8451Q_ADDRESS,0x0E,0x02); // full scale range
}
void ACC_getADC () {
i2c_getSixRawADC(MMA8451Q_ADDRESS,0x00);
ACC_ORIENTATION( ((rawADC[1]<<8) | rawADC[0])/32 ,
((rawADC[3]<<8) | rawADC[2])/32 ,
((rawADC[5]<<8) | rawADC[4])/32);
ACC_Common();
}
#endif
// ************************************************************************************************************
// I2C Accelerometer ADXL345
// ************************************************************************************************************
// I2C adress: 0x3A (8bit) 0x1D (7bit)
// Resolution: 10bit (Full range - 14bit, but this is autoscaling 10bit ADC to the range +- 16g)
// principle:
// 1) CS PIN must be linked to VCC to select the I2C mode
// 2) SD0 PIN must be linked to VCC to select the right I2C adress
// 3) bit b00000100 must be set on register 0x2D to read data (only once at the initialization)
// 4) bits b00001011 must be set on register 0x31 to select the data format (only once at the initialization)
// ************************************************************************************************************
#if defined(ADXL345)
#if !defined(ADXL345_ADDRESS)
#define ADXL345_ADDRESS 0x1D
//#define ADXL345_ADDRESS 0x53 //WARNING: Conflicts with a Wii Motion plus!
#endif
void ACC_init () {
delay(10);
i2c_writeReg(ADXL345_ADDRESS,0x2D,1<<3); // register: Power CTRL -- value: Set measure bit 3 on
i2c_writeReg(ADXL345_ADDRESS,0x31,0x0B); // register: DATA_FORMAT -- value: Set bits 3(full range) and 1 0 on (+/- 16g-range)
i2c_writeReg(ADXL345_ADDRESS,0x2C,0x09); // register: BW_RATE -- value: rate=50hz, bw=20hz
}
void ACC_getADC () {
i2c_getSixRawADC(ADXL345_ADDRESS,0x32);
ACC_ORIENTATION( ((rawADC[1]<<8) | rawADC[0]) ,
((rawADC[3]<<8) | rawADC[2]) ,
((rawADC[5]<<8) | rawADC[4]) );
ACC_Common();
}
#endif
// ************************************************************************************************************
// I2C Accelerometer BMA180
// ************************************************************************************************************
// I2C adress: 0x80 (8bit) 0x40 (7bit) (SDO connection to VCC)
// I2C adress: 0x82 (8bit) 0x41 (7bit) (SDO connection to VDDIO)
// Resolution: 14bit
//
// Control registers:
//
// 0x20 bw_tcs: | bw<3:0> | tcs<3:0> |
// | 150Hz | xxxxxxxx |
// 0x30 tco_z: | tco_z<5:0> | mode_config<1:0> |
// | xxxxxxxxxx | 00 |
// 0x35 offset_lsb1: | offset_x<3:0> | range<2:0> | smp_skip |
// | xxxxxxxxxxxxx | 8G: 101 | xxxxxxxx |
// ************************************************************************************************************
#if defined(BMA180)
#if !defined(BMA180_ADDRESS)
#define BMA180_ADDRESS 0x40
//#define BMA180_ADDRESS 0x41
#endif
void ACC_init () {
delay(10);
//default range 2G: 1G = 4096 unit.
i2c_writeReg(BMA180_ADDRESS,0x0D,1<<4); // register: ctrl_reg0 -- value: set bit ee_w to 1 to enable writing
delay(5);
uint8_t control = i2c_readReg(BMA180_ADDRESS, 0x20);
control = control & 0x0F; // save tcs register
//control = control | (0x01 << 4); // register: bw_tcs reg: bits 4-7 to set bw -- value: set low pass filter to 20Hz
control = control | (0x00 << 4); // set low pass filter to 10Hz (bits value = 0000xxxx)
i2c_writeReg(BMA180_ADDRESS, 0x20, control);
delay(5);
control = i2c_readReg(BMA180_ADDRESS, 0x30);
control = control & 0xFC; // save tco_z register
control = control | 0x00; // set mode_config to 0
i2c_writeReg(BMA180_ADDRESS, 0x30, control);
delay(5);
control = i2c_readReg(BMA180_ADDRESS, 0x35);
control = control & 0xF1; // save offset_x and smp_skip register
control = control | (0x05 << 1); // set range to 8G
i2c_writeReg(BMA180_ADDRESS, 0x35, control);
delay(5);
}
void ACC_getADC () {
i2c_getSixRawADC(BMA180_ADDRESS,0x02);
//usefull info is on the 14 bits [2-15] bits /4 => [0-13] bits /4 => 12 bit resolution
ACC_ORIENTATION( ((rawADC[1]<<8) | rawADC[0])>>4 ,
((rawADC[3]<<8) | rawADC[2])>>4 ,
((rawADC[5]<<8) | rawADC[4])>>4 );
ACC_Common();
}
#endif
// ************************************************************************************************************
// I2C Accelerometer BMA280
// ************************************************************************************************************
#if defined(BMA280)
#if !defined(BMA280_ADDRESS)
#define BMA280_ADDRESS 0x18 // SDO PIN on GND
//#define BMA280_ADDRESS 0x19 // SDO PIN on Vddio
#endif
void ACC_init () {
delay(10);
i2c_writeReg(BMA280_ADDRESS, 0x10, 0x09); //set BW to 15,63Hz
delay(5);
i2c_writeReg(BMA280_ADDRESS, 0x0F, 0x08); //set range to 8G
}
void ACC_getADC () {
i2c_getSixRawADC(BMA280_ADDRESS,0x02);
//usefull info is on the 14 bits [2-15] bits /4 => [0-13] bits /4 => 12 bit resolution
ACC_ORIENTATION( ((rawADC[1]<<8) | rawADC[0])>>4 ,
((rawADC[3]<<8) | rawADC[2])>>4 ,
((rawADC[5]<<8) | rawADC[4])>>4 );
ACC_Common();
}
#endif
// ************************************************************************************************************
// I2C Accelerometer BMA020
// ************************************************************************************************************
// I2C adress: 0x70 (8bit)
// Resolution: 10bit
// Control registers:
//
// Datasheet: After power on reset or soft reset it is recommended to set the SPI4-bit to the correct value.
// 0x80 = SPI four-wire = Default setting
// | 0x15: | SPI4 | enable_adv_INT | new_data_INT | latch_INT | shadow_dis | wake_up_pause<1:0> | wake_up |
// | | 1 | 0 | 0 | 0 | 0 | 00 | 0 |
//
// | 0x14: | reserved <2:0> | range <1:0> | bandwith <2:0> |
// | | !!Calibration!! | 2g | 25Hz |
//
// ************************************************************************************************************
#if defined(BMA020)
void ACC_init(){
i2c_writeReg(0x38,0x15,0x80); // set SPI4 bit
uint8_t control = i2c_readReg(0x70, 0x14);
control = control & 0xE0; // save bits 7,6,5
control = control | (0x02 << 3); // Range 8G (10)
control = control | 0x00; // Bandwidth 25 Hz 000
i2c_writeReg(0x38,0x14,control);
}
void ACC_getADC(){
i2c_getSixRawADC(0x38,0x02);
ACC_ORIENTATION( ((rawADC[1]<<8) | rawADC[0])>>6 ,
((rawADC[3]<<8) | rawADC[2])>>6 ,
((rawADC[5]<<8) | rawADC[4])>>6 );
ACC_Common();
}
#endif
// ************************************************************************
// LIS3LV02 I2C Accelerometer
// ************************************************************************
#if defined(LIS3LV02)
#define LIS3A 0x1D
void ACC_init(){
i2c_writeReg(LIS3A ,0x20 ,0xD7 ); // CTRL_REG1 1101 0111 Pwr on, 160Hz
i2c_writeReg(LIS3A ,0x21 ,0x50 ); // CTRL_REG2 0100 0000 Littl endian, 12 Bit, Boot
}
void ACC_getADC(){
i2c_getSixRawADC(LIS3A,0x28+0x80);
ACC_ORIENTATION( ((rawADC[1]<<8) | rawADC[0])>>2 ,
((rawADC[3]<<8) | rawADC[2])>>2 ,
((rawADC[5]<<8) | rawADC[4])>>2);
ACC_Common();
}
#endif
// ************************************************************************************************************
// I2C Accelerometer LSM303DLx
// ************************************************************************************************************