philip/MDH-UAV-Control-System
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Added some comments.

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Added some comments to the barometer code. More will be added.
This commit is contained in:
Jonas Holmberg 2016-11-08 09:25:52 +01:00
parent 195b311b88
commit fcc0bd41ae
2 changed files with 94 additions and 39 deletions
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34
UAV-ControlSystem/inc/drivers/barometer.h
View File

@ -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();

99
UAV-ControlSystem/src/drivers/barometer.c
View File

@ -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 FTMETERS 0.3048 //convert feet to meters
#define SEA_PRESS 1013.25 //default sea level pressure level in mb
#define FTMETERS 0.3048 //convert feet to meters
#define CALIBRATION_VAL_AMOUNT 30
I2C_HandleTypeDef baroI2C_handle;
DMA_HandleTypeDef baroI2C_Rx_DMA_handle;
DMA_HandleTypeDef baroI2C_Tx_DMA_handle;
I2C_SOFT_handle_t baroI2C_soft_handle;
I2C_HandleTypeDef baroI2C_handle; //Handle for the HW i2c (NOT USED ATM)
DMA_HandleTypeDef baroI2C_Rx_DMA_handle; //Dma handle receive (NOT USED ATM)
DMA_HandleTypeDef baroI2C_Tx_DMA_handle; //Dma handle for transmit (NOT USED ATM)
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)
double baro_Temperature; // compensated temperature value (degC)
double baro_Altitude; // altitude (ft)
double baro_S; // sea level barometer (mB)
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};
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; //Counter for the amount of calibration samples
int calibrationSamplesIterator = 0; //Iterator for when going through all the samples
/* 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
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:
* INFORMATION:
***********************************************************************/
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;
}