I have added new BMP280 barometer support in cleanflight

Makefile

@@ -296,6 +296,7 @@ NAZE_SRC	 = startup_stm32f10x_md_gcc.S \
 		   drivers/adc.c \
 		   drivers/adc_stm32f10x.c \
 		   drivers/barometer_bmp085.c \
+		   drivers/barometer_bmp280.c \
 		   drivers/barometer_ms5611.c \
 		   drivers/bus_spi.c \
 		   drivers/bus_i2c_stm32f10x.c \
@@ -337,6 +338,7 @@ EUSTM32F103RC_SRC	 = startup_stm32f10x_hd_gcc.S \
 		   drivers/adc.c \
 		   drivers/adc_stm32f10x.c \
 		   drivers/barometer_bmp085.c \
+		   drivers/barometer_bmp280.c \
 		   drivers/barometer_ms5611.c \
 		   drivers/bus_i2c_stm32f10x.c \
 		   drivers/bus_spi.c \
@@ -371,6 +373,7 @@ OLIMEXINO_SRC	 = startup_stm32f10x_md_gcc.S \
 		   drivers/adc.c \
 		   drivers/adc_stm32f10x.c \
 		   drivers/barometer_bmp085.c \
+		   drivers/barometer_bmp280.c \
 		   drivers/bus_i2c_stm32f10x.c \
 		   drivers/bus_spi.c \
 		   drivers/compass_hmc5883l.c \
@@ -431,6 +434,7 @@ CC3D_SRC	 = \
 		   drivers/adc.c \
 		   drivers/adc_stm32f10x.c \
 		   drivers/barometer_bmp085.c \
+		   drivers/barometer_bmp280.c \
 		   drivers/barometer_ms5611.c \
 		   drivers/bus_spi.c \
 		   drivers/bus_i2c_stm32f10x.c \
@@ -501,6 +505,7 @@ STM32F3DISCOVERY_SRC	 = \
 		   drivers/accgyro_mpu6050.c \
 		   drivers/accgyro_l3g4200d.c \
 		   drivers/barometer_ms5611.c \
+		   drivers/barometer_bmp280.c \
 		   drivers/compass_ak8975.c \
 		   $(HIGHEND_SRC) \
 		   $(COMMON_SRC)
@@ -527,6 +532,7 @@ SPARKY_SRC	 = \
 		   drivers/display_ug2864hsweg01.c \
 		   drivers/accgyro_mpu6050.c \
 		   drivers/barometer_ms5611.c \
+		   drivers/barometer_bmp280.c \
 		   drivers/compass_ak8975.c \
 		   drivers/serial_usb_vcp.c \
 		   $(HIGHEND_SRC) \
@@ -539,6 +545,7 @@ SPRACINGF3_SRC	 = \
 		   $(STM32F30x_COMMON_SRC) \
 		   drivers/accgyro_mpu6050.c \
 		   drivers/barometer_ms5611.c \
+		   drivers/barometer_bmp280.c \
 		   drivers/compass_ak8975.c \
 		   drivers/compass_hmc5883l.c \
 		   drivers/display_ug2864hsweg01.h \

src/main/drivers/barometer_bmp280.c

@@ -0,0 +1,212 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#include <platform.h>
+
+#include "build_config.h"
+
+#include "barometer.h"
+
+#include "system.h"
+#include "bus_i2c.h"
+
+#include "barometer_bmp280.h"
+
+#ifdef BARO
+
+// BMP280, address 0x76
+
+#define BMP280_I2C_ADDR                      (0x76)
+#define BMP280_DEFAULT_CHIP_ID               (0x58)
+
+#define BMP280_CHIP_ID_REG                   (0xD0)  /* Chip ID Register */
+#define BMP280_RST_REG                       (0xE0)  /* Softreset Register */
+#define BMP280_STAT_REG                      (0xF3)  /* Status Register */
+#define BMP280_CTRL_MEAS_REG                 (0xF4)  /* Ctrl Measure Register */
+#define BMP280_CONFIG_REG                    (0xF5)  /* Configuration Register */
+#define BMP280_PRESSURE_MSB_REG              (0xF7)  /* Pressure MSB Register */
+#define BMP280_PRESSURE_LSB_REG              (0xF8)  /* Pressure LSB Register */
+#define BMP280_PRESSURE_XLSB_REG             (0xF9)  /* Pressure XLSB Register */
+#define BMP280_TEMPERATURE_MSB_REG           (0xFA)  /* Temperature MSB Reg */
+#define BMP280_TEMPERATURE_LSB_REG           (0xFB)  /* Temperature LSB Reg */
+#define BMP280_TEMPERATURE_XLSB_REG          (0xFC)  /* Temperature XLSB Reg */
+#define BMP280_FORCED_MODE                   (0x01)
+
+#define BMP280_TEMPERATURE_CALIB_DIG_T1_LSB_REG             (0x88)
+#define BMP280_PRESSURE_TEMPERATURE_CALIB_DATA_LENGTH       (24)
+#define BMP280_DATA_FRAME_SIZE               (6)
+
+#define BMP280_OVERSAMP_SKIPPED          (0x00)
+#define BMP280_OVERSAMP_1X               (0x01)
+#define BMP280_OVERSAMP_2X               (0x02)
+#define BMP280_OVERSAMP_4X               (0x03)
+#define BMP280_OVERSAMP_8X               (0x04)
+#define BMP280_OVERSAMP_16X              (0x05)
+
+// configure pressure and temperature oversampling, forced sampling mode
+#define BMP280_PRESSURE_OSR              (BMP280_OVERSAMP_8X)
+#define BMP280_TEMPERATURE_OSR           (BMP280_OVERSAMP_1X)
+#define BMP280_MODE                      (BMP280_PRESSURE_OSR << 2 | BMP280_TEMPERATURE_OSR << 5 | BMP280_FORCED_MODE)
+
+#define T_INIT_MAX                       (20)
+// 20/16 = 1.25 ms
+#define T_MEASURE_PER_OSRS_MAX           (37)
+// 37/16 = 2.3125 ms
+#define T_SETUP_PRESSURE_MAX             (10)
+// 10/16 = 0.625 ms
+
+typedef struct bmp280_calib_param_t {
+    uint16_t dig_T1; /* calibration T1 data */
+    int16_t dig_T2; /* calibration T2 data */
+    int16_t dig_T3; /* calibration T3 data */
+    uint16_t dig_P1; /* calibration P1 data */
+    int16_t dig_P2; /* calibration P2 data */
+    int16_t dig_P3; /* calibration P3 data */
+    int16_t dig_P4; /* calibration P4 data */
+    int16_t dig_P5; /* calibration P5 data */
+    int16_t dig_P6; /* calibration P6 data */
+    int16_t dig_P7; /* calibration P7 data */
+    int16_t dig_P8; /* calibration P8 data */
+    int16_t dig_P9; /* calibration P9 data */
+    int32_t t_fine; /* calibration t_fine data */
+} bmp280_calib_param_t;
+
+static uint8_t bmp280_chip_id = 0;
+static bool bmp280InitDone = false;
+static bmp280_calib_param_t bmp280_cal;
+// uncompensated pressure and temperature
+static int32_t bmp280_up = 0;
+static int32_t bmp280_ut = 0;
+
+static void bmp280_start_ut(void);
+static void bmp280_get_ut(void);
+static void bmp280_start_up(void);
+static void bmp280_get_up(void);
+static void bmp280_calculate(int32_t *pressure, int32_t *temperature);
+
+bool bmp280Detect(baro_t *baro)
+{
+    if (bmp280InitDone)
+        return true;
+
+    delay(20);
+
+    i2cRead(BMP280_I2C_ADDR, BMP280_CHIP_ID_REG, 1, &bmp280_chip_id);  /* read Chip Id */
+    if (bmp280_chip_id != BMP280_DEFAULT_CHIP_ID)
+        return false;
+
+    // read calibration
+    i2cRead(BMP280_I2C_ADDR, BMP280_TEMPERATURE_CALIB_DIG_T1_LSB_REG, 24, (uint8_t *)&bmp280_cal);
+    // set oversampling + power mode (forced), and start sampling
+    i2cWrite(BMP280_I2C_ADDR, BMP280_CTRL_MEAS_REG, BMP280_MODE);
+
+    bmp280InitDone = true;
+
+    // these are dummy as temperature is measured as part of pressure
+    baro->ut_delay = 0;
+    baro->get_ut = bmp280_get_ut;
+    baro->start_ut = bmp280_start_ut;
+
+    // only _up part is executed, and gets both temperature and pressure
+    baro->up_delay = ((T_INIT_MAX + T_MEASURE_PER_OSRS_MAX * (((1 << BMP280_TEMPERATURE_OSR) >> 1) + ((1 << BMP280_PRESSURE_OSR) >> 1)) + (BMP280_PRESSURE_OSR ? T_SETUP_PRESSURE_MAX : 0) + 15) / 16) * 1000;
+    baro->start_up = bmp280_start_up;
+    baro->get_up = bmp280_get_up;
+    baro->calculate = bmp280_calculate;
+
+    return true;
+}
+
+static void bmp280_start_ut(void)
+{
+    // dummy
+}
+
+static void bmp280_get_ut(void)
+{
+    // dummy
+}
+
+static void bmp280_start_up(void)
+{
+    // start measurement
+    // set oversampling + power mode (forced), and start sampling
+    i2cWrite(BMP280_I2C_ADDR, BMP280_CTRL_MEAS_REG, BMP280_MODE);
+}
+
+static void bmp280_get_up(void)
+{
+    uint8_t data[BMP280_DATA_FRAME_SIZE];
+
+    // read data from sensor
+    i2cRead(BMP280_I2C_ADDR, BMP280_PRESSURE_MSB_REG, BMP280_DATA_FRAME_SIZE, data);
+    bmp280_up = (int32_t)((((uint32_t)(data[0])) << 12) | (((uint32_t)(data[1])) << 4) | ((uint32_t)data[2] >> 4));
+    bmp280_ut = (int32_t)((((uint32_t)(data[3])) << 12) | (((uint32_t)(data[4])) << 4) | ((uint32_t)data[5] >> 4));
+}
+
+// Returns temperature in DegC, float precision. Output value of �51.23� equals 51.23 DegC.
+// t_fine carries fine temperature as global value
+float bmp280_compensate_T(int32_t adc_T)
+{
+    float var1, var2, T;
+
+    var1 = (((float)adc_T) / 16384.0f - ((float)bmp280_cal.dig_T1) / 1024.0f) * ((float)bmp280_cal.dig_T2);
+    var2 = ((((float)adc_T) / 131072.0f - ((float)bmp280_cal.dig_T1) / 8192.0f) * (((float)adc_T) / 131072.0f - ((float)bmp280_cal.dig_T1) / 8192.0f)) * ((float)bmp280_cal.dig_T3);
+    bmp280_cal.t_fine = (int32_t)(var1 + var2);
+    T = (var1 + var2) / 5120.0f;
+
+    return T;
+}
+
+// Returns pressure in Pa as float. Output value of �96386.2� equals 96386.2 Pa = 963.862 hPa
+float bmp280_compensate_P(int32_t adc_P)
+{
+    float var1, var2, p;
+    var1 = ((float)bmp280_cal.t_fine / 2.0f) - 64000.0f;
+    var2 = var1 * var1 * ((float)bmp280_cal.dig_P6) / 32768.0f;
+    var2 = var2 + var1 * ((float)bmp280_cal.dig_P5) * 2.0f;
+    var2 = (var2 / 4.0f) + (((float)bmp280_cal.dig_P4) * 65536.0f);
+    var1 = (((float)bmp280_cal.dig_P3) * var1 * var1 / 524288.0f + ((float)bmp280_cal.dig_P2) * var1) / 524288.0f;
+    var1 = (1.0f + var1 / 32768.0f) * ((float)bmp280_cal.dig_P1);
+    if (var1 == 0.0f)
+        return 0.0f; // avoid exception caused by division by zero
+
+    p = 1048576.0f - (float)adc_P;
+    p = (p - (var2 / 4096.0f)) * 6250.0f / var1;
+    var1 = ((float)bmp280_cal.dig_P9) * p * p / 2147483648.0f;
+    var2 = p * ((float)bmp280_cal.dig_P8) / 32768.0f;
+    p = p + (var1 + var2 + ((float)bmp280_cal.dig_P7)) / 16.0f;
+
+    return p;
+}
+
+static void bmp280_calculate(int32_t *pressure, int32_t *temperature)
+{
+    // calculate
+    float t, p;
+    t = bmp280_compensate_T(bmp280_ut);
+    p = bmp280_compensate_P(bmp280_up);
+
+    if (pressure)
+        *pressure = (int32_t)p;
+    if (temperature)
+        *temperature = (int32_t)t * 100;
+}
+
+#endif

src/main/drivers/barometer_bmp280.h

@@ -0,0 +1,21 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+bool bmp280Detect(baro_t *baro);
+

src/main/sensors/barometer.h

@@ -21,7 +21,8 @@ typedef enum {
     BARO_NONE = 0,
     BARO_DEFAULT = 1,
     BARO_BMP085 = 2,
-    BARO_MS5611 = 3
+    BARO_MS5611 = 3,
+    BARO_BMP280 = 4
 } baroSensor_e;
 
 #define BARO_SAMPLE_COUNT_MAX   48

src/main/sensors/initialisation.c

@@ -42,6 +42,7 @@
 
 #include "drivers/barometer.h"
 #include "drivers/barometer_bmp085.h"
+#include "drivers/barometer_bmp280.h"
 #include "drivers/barometer_ms5611.h"
 
 #include "drivers/compass.h"
@@ -456,6 +457,14 @@ static void detectBaro()
                 baroHardware = BARO_BMP085;
                 break;
             }
+#endif
+	    ; // fallthough
+        case BARO_BMP280:
+#ifdef USE_BARO_BMP280
+            if (bmp280Detect(&baro)) {
+                baroHardware = BARO_BMP280;
+                break;
+            }
 #endif
         case BARO_NONE:
             baroHardware = BARO_NONE;

src/main/target/CC3D/target.h

@@ -58,6 +58,7 @@
 #define BARO
 #define USE_BARO_MS5611
 #define USE_BARO_BMP085
+#define USE_BARO_BMP280
 
 // External I2C MAG
 #define MAG

src/main/target/CHEBUZZF3/target.h

@@ -58,6 +58,7 @@
 
 #define BARO
 #define USE_BARO_MS5611
+#define USE_BARO_BMP280
 
 #define MAG
 #define USE_MAG_AK8975

src/main/target/EUSTM32F103RC/target.h

@@ -65,6 +65,7 @@
 #define BARO
 #define USE_BARO_MS5611
 #define USE_BARO_BMP085
+#define USE_BARO_BMP280
 
 #define MAG
 #define USE_MAG_HMC5883

src/main/target/NAZE/target.h

@@ -107,6 +107,7 @@
 #define BARO
 #define USE_BARO_MS5611
 #define USE_BARO_BMP085
+#define USE_BARO_BMP280
 
 #define MAG
 #define USE_MAG_HMC5883

src/main/target/OLIMEXINO/target.h

@@ -59,6 +59,7 @@
 #define BARO
 //#define USE_BARO_MS5611
 #define USE_BARO_BMP085
+#define USE_BARO_BMP280
 
 #define MAG
 #define USE_MAG_HMC5883

src/main/target/PORT103R/target.h

@@ -88,6 +88,7 @@
 #define BARO
 #define USE_BARO_MS5611
 #define USE_BARO_BMP085
+#define USE_BARO_BMP280
 
 #define MAG
 #define USE_MAG_HMC5883

src/main/target/SPARKY/target.h

@@ -41,6 +41,7 @@
 
 #define BARO
 #define USE_BARO_MS5611
+#define USE_BARO_BMP280
 
 #define MAG
 #define USE_MAG_AK8975

src/main/target/SPRACINGF3/target.h

@@ -49,6 +49,7 @@
 
 #define BARO
 #define USE_BARO_MS5611
+#define USE_BARO_BMP280
 
 #define MAG
 #define USE_MAG_AK8975