Added some comments.

Added some comments to the barometer code. More will be added.

UAV-ControlSystem/inc/drivers/barometer.h

@@ -8,18 +8,50 @@
 #ifndef DRIVERS_BAROMETER_H_
 #define DRIVERS_BAROMETER_H_
 
+typedef enum {
+	CALCSTATE_D2_CALCULATION = 0,	//Tell the sensor that we want to read D2
+	CALCSTATE_D2_READ,				//Read D2 from the sensor
+	CALCSTATE_D1_CALCULATION,		//Tell the sensor that we want to read D1
+	CALCSTATE_D1_READ,				//Read D1 from the sensor
+	CALCSTATE_CALCULATE_PTA			//preassure, temp, altidute calc
+}calculationState;
 
+/***********************************************************************
+ * BRIEF:       Initializes the barometer.
+ * INFORMATION: Initializes the barometer and it needs to be called
+ *              before anything else when using the barometer.
+ ***********************************************************************/
 bool barometer_init();
 
+/***********************************************************************
+ * BRIEF:       Resets the barometer.
+ * INFORMATION: Resets the barometer needs to be called after the init
+ ***********************************************************************/
 bool barometer_reset();
 
+/***********************************************************************
+ * BRIEF:
+ * INFORMATION:
+ ***********************************************************************/
 void barometer_CaclulateValues();
 
+/***********************************************************************
+ * BRIEF:
+ * INFORMATION:
+ ***********************************************************************/
 double barometer_GetCurrentPreassure();
 
+/***********************************************************************
+ * BRIEF:
+ * INFORMATION:
+ ***********************************************************************/
 double barometer_GetCurrentTemperature();
 
-float barometer_GetCurrentAltitudeBasedOnSeaLevel();
+/***********************************************************************
+ * BRIEF:
+ * INFORMATION:
+ ***********************************************************************/
+float barometer_GetCurrentAltitude();
 
 
 

UAV-ControlSystem/src/drivers/barometer.c

@@ -13,7 +13,7 @@
 #include "drivers/i2c_soft.h"
 #include "drivers/failsafe_toggles.h"
 
-#define Device_address_1		0x56
+#define Device_address_1		0x56 //Address of our device, not really important in this case
 
 #define ADDR_WRITE 				0xEE // Module address write mode
 #define ADDR_READ 				0xEF // Module address read mode
@@ -31,38 +31,37 @@
 #define CMD_ADC_4096 			0x08 // ADC OSR=4096
 #define CMD_PROM_RD 			0xA0 // Prom read command
 
-#define SEA_PRESS   1013.25                 //default sea level pressure level in mb
+#define SEA_PRESS   			1013.25 //default sea level pressure level in mb
-#define FTMETERS    0.3048                  //convert feet to meters
+#define FTMETERS    			0.3048  //convert feet to meters
 
 #define CALIBRATION_VAL_AMOUNT	30
 
-I2C_HandleTypeDef baroI2C_handle;
+I2C_HandleTypeDef baroI2C_handle;				 //Handle for the HW i2c (NOT USED ATM)
-DMA_HandleTypeDef baroI2C_Rx_DMA_handle;
+DMA_HandleTypeDef baroI2C_Rx_DMA_handle;		 //Dma handle receive (NOT USED ATM)
-DMA_HandleTypeDef baroI2C_Tx_DMA_handle;
+DMA_HandleTypeDef baroI2C_Tx_DMA_handle;		 //Dma handle for transmit (NOT USED ATM)
-I2C_SOFT_handle_t baroI2C_soft_handle;
+I2C_SOFT_handle_t baroI2C_soft_handle;			 //Handle for the SW i2c
 
-uint8_t sampleAmount;
+uint8_t sampleAmount;							 //The amount of samples to be used when by the barometer to calculate the needed variables
+double baro_Preassure;                      	 // compensated pressure value (mB)
+double baro_Temperature;                    	 // compensated temperature value (degC)
+double baro_Altitude;                       	 // altitude
+double baro_S;                       		     // sea level barometer (mB)
 
-double baro_Preassure;                       // compensated pressure value (mB)
+float altitudeCalibrationValue = 0;				 //Value used as calibration value
-double baro_Temperature;                       // compensated temperature value (degC)
+float calibrationSamples[CALIBRATION_VAL_AMOUNT];//array of stored values to be used for calibration, only samples calibration values when machine is not armed
-double baro_Altitude;                       // altitude (ft)
+int calibrationSamplesCount = 0;				 //Counter for the amount of calibration samples
-double baro_S;                       		// sea level barometer (mB)
+int calibrationSamplesIterator = 0;				 //Iterator for when going through all the samples
-
-float altitudeCalibrationValue = 0;			//Value used as calibration value
-float calibrationSamples[CALIBRATION_VAL_AMOUNT]; //array of stored values to be used for calibration, only samples calibration values when machine is not armed
-int calibrationSamplesCount = 0;
-int calibrationSamplesIterator = 0;
-
-//TODO: remove when not used for testing any more
-uint32_t tempTestCounterStart = 0;
-
-uint8_t cobuf[3] = {0};
 
 /* address: 0 = factory data and the setup
  * address: 1-6 = calibration coefficients
  * address: 7 = serial code and CRC */
-uint32_t coefficients_arr[8];                  //coefficient storage
+uint32_t coefficients_arr[8];                    //coefficient storage
+uint8_t cobuf[3] = {0};							 //Array used when writing and reading data over the I2C
 
+/***********************************************************************
+ * BRIEF:
+ * INFORMATION:
+ ***********************************************************************/
 void barometer_addCalibrationSample()
 {
 	//fisrt check if the amount of samples is greater than the array
@@ -80,6 +79,10 @@ void barometer_addCalibrationSample()
 	calibrationSamplesIterator ++;
 }
 
+/***********************************************************************
+ * BRIEF:
+ * INFORMATION:
+ ***********************************************************************/
 bool barometer_Calibrate()
 {
 	//Check if any calibration values exist
@@ -108,6 +111,10 @@ bool barometer_Calibrate()
 	return true;
 }
 
+/***********************************************************************
+ * BRIEF:
+ * INFORMATION:
+ ***********************************************************************/
 bool barometer_init()
 {
 	//Set the sample rate of the data that will be calculated on the barometer peripheral
@@ -118,12 +125,16 @@ bool barometer_init()
 	i2c_soft_Init(I2C1, &baroI2C_soft_handle);
 #endif
 #ifdef BARO_USE_I2C_HARD
-
+	//Todo: needs implementation
 #endif
 
 	return true;
 }
 
+/***********************************************************************
+ * BRIEF:
+ * INFORMATION:
+ ***********************************************************************/
 bool barometer_reset()
 {
 	/* Send a reset command to the baromter
@@ -142,6 +153,8 @@ bool barometer_reset()
 #endif
 
 #ifdef BARO_USE_I2C_HARD
+	//Todo: needs implementation
+
 	uint8_t cobuf2[3] = {0};
 		/* Change to hardware polling mode */
 	cobuf2[0] = CMD_ADC_CONV + (CMD_ADC_D2 + sampleAmount);
@@ -193,21 +206,17 @@ bool barometer_reset()
 
 	/* Set the inital calibration value */
 	barometer_Calibrate();
+
 	//force bakc the iscalibrated status to false
 	flags_Clear_ID(systemFlags_barometerIsCalibrated_id);
 
-	tempTestCounterStart = clock_get_ms();
 	return true;
 }
 
-typedef enum {
+/***********************************************************************
-	CALCSTATE_D2_CALCULATION = 0,	//Tell the sensor that we want to read D2
+ * BRIEF:
-	CALCSTATE_D2_READ,				//Read D2 from the sensor
+ * INFORMATION:
-	CALCSTATE_D1_CALCULATION,		//Tell the sensor that we want to read D1
+ ***********************************************************************/
-	CALCSTATE_D1_READ,				//Read D1 from the sensor
-	CALCSTATE_CALCULATE_PTA			//preassure, temp, altidute calc
-}calculationState;
-
 void barometer_CalculatePTA(uint32_t D1, uint32_t D2)
 {
 	/* calculate dT, difference between actual and reference temp: (D2 - C5 * 2^8) */
@@ -247,6 +256,10 @@ void barometer_CalculatePTA(uint32_t D1, uint32_t D2)
 	baro_Altitude = (flags_IsSet_ID(systemFlags_barometerIsCalibrated_id)) ? (feet * FTMETERS) - altitudeCalibrationValue : (feet * FTMETERS);
 }
 
+/***********************************************************************
+ * BRIEF:
+ * INFORMATION:
+ ***********************************************************************/
 void barometer_CaclulateValues()
 {
 	/*the calculation is in need of different states. This is because the
@@ -254,7 +267,8 @@ void barometer_CaclulateValues()
 	 * use a delay wait we need to do parts of the calculation every time
 	 * the function is called. The "delay" is handled by the period of
 	 * the task that handles the calculation. It cant have a period faster
-	 * that 10 ms, or the wait will not be enough in some cases according
+	 * that 10 ms or 5ms or 2.5 ms and so on, depending on the CMD_ADC_ assigned
+	 *  to the variable "sampleAmount"  The wait will not be enough in some cases according
 	 * to the datasheet of the sensor http://www.amsys.info/sheets/amsys.en.ms5611_01ba03.pdf*/
 	static uint8_t currentCalculationState = CALCSTATE_D2_CALCULATION;
 	static uint32_t D1 = 0;
@@ -262,7 +276,6 @@ void barometer_CaclulateValues()
 	uint8_t cobuf[3] = {0};
 	uint32_t startTime;
 	uint32_t endTime;
-//balbalblablalbalb
 
 	//If the machine is armed and not calibrated we perform a calibraton
 	if (!flags_IsSet_ID(systemFlags_barometerIsCalibrated_id))
@@ -273,8 +286,6 @@ void barometer_CaclulateValues()
 		}
 	}
 
-
-
 	switch (currentCalculationState)
 	{
 		case CALCSTATE_D2_CALCULATION:
@@ -365,17 +376,29 @@ void barometer_CaclulateValues()
 
 }
 
+/***********************************************************************
+ * BRIEF:
+ * INFORMATION:
+ ***********************************************************************/
 double barometer_GetCurrentPreassure()
 {
 	return baro_Preassure;
 }
 
+/***********************************************************************
+ * BRIEF:
+ * INFORMATION:
+ ***********************************************************************/
 double barometer_GetCurrentTemperature()
 {
 	return baro_Temperature;
 }
 
-float barometer_GetCurrentAltitudeBasedOnSeaLevel()
+/***********************************************************************
+ * BRIEF:
+ * INFORMATION:
+ ***********************************************************************/
+float barometer_GetCurrentAltitude()
 {
 	return baro_Altitude;
 }