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[sensor] add new sensor mpl3115 (i2c baro)
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| <!DOCTYPE module SYSTEM "module.dtd"> | ||
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| <module name="baro_mpl3115" dir="sensors"> | ||
| <doc> | ||
| <description>Baro MPL3115A2 module (I2C)</description> | ||
| <define name="MPL3115_I2C_DEV" value="i2cX" description="select which i2c peripheral to use (default i2c0)"/> | ||
| </doc> | ||
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| <header> | ||
| <file name="baro_mpl3115.h"/> | ||
| </header> | ||
| <init fun="baro_mpl3115_init()"/> | ||
| <periodic fun="baro_mpl3115_read_periodic()" freq="5."/> | ||
| <event fun="baro_mpl3115_read_event()"/> | ||
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| <makefile> | ||
| <file name="baro_mpl3115.c"/> | ||
| <file name="mpl3115.c" dir="peripherals"/> | ||
| </makefile> | ||
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| </module> |
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| /* | ||
| * Copyright (C) 2012 Gautier Hattenberger (ENAC) | ||
| * | ||
| * This file is part of paparazzi. | ||
| * | ||
| * paparazzi 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 2, or (at your option) | ||
| * any later version. | ||
| * | ||
| * paparazzi 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 paparazzi; see the file COPYING. If not, write to | ||
| * the Free Software Foundation, 59 Temple Place - Suite 330, | ||
| * Boston, MA 02111-1307, USA. | ||
| * | ||
| */ | ||
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| #include "modules/sensors/baro_mpl3115.h" | ||
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| //Messages | ||
| #include "mcu_periph/uart.h" | ||
| #include "messages.h" | ||
| #include "subsystems/datalink/downlink.h" | ||
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| #ifndef DOWNLINK_DEVICE | ||
| #define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE | ||
| #endif | ||
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| void baro_mpl3115_init( void ) { | ||
| mpl3115_init(); | ||
| } | ||
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| void baro_mpl3115_read_periodic( void ) { | ||
| #ifdef SENSOR_SYNC_SEND | ||
| if (mpl3115_data_available) { | ||
| DOWNLINK_SEND_MPL3115_BARO(DefaultChannel, DefaultDevice, &mpl3115_pressure, &mpl3115_temperature, &mpl3115_alt); | ||
| } | ||
| #endif | ||
| Mpl3115Periodic(); | ||
| } | ||
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| void baro_mpl3115_read_event( void ) { | ||
| mpl3115_event(); | ||
| } | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,32 @@ | ||
| /* | ||
| * Copyright (C) 2012 Gautier Hattenberger (ENAC) | ||
| * | ||
| * This file is part of paparazzi. | ||
| * | ||
| * paparazzi 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 2, or (at your option) | ||
| * any later version. | ||
| * | ||
| * paparazzi 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 paparazzi; see the file COPYING. If not, write to | ||
| * the Free Software Foundation, 59 Temple Place - Suite 330, | ||
| * Boston, MA 02111-1307, USA. | ||
| * | ||
| */ | ||
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| #ifndef BARO_MPL3115_H | ||
| #define BARO_MPL3115_H | ||
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| #include "peripherals/mpl3115.h" | ||
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| extern void baro_mpl3115_init( void ); | ||
| extern void baro_mpl3115_read_periodic( void ); | ||
| extern void baro_mpl3115_read_event( void ); | ||
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| #endif |
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| @@ -0,0 +1,161 @@ | ||
| /* | ||
| * | ||
| * Copyright (C) 2011 Gautier Hattenberger | ||
| * | ||
| * This file is part of paparazzi. | ||
| * | ||
| * paparazzi 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 2, or (at your option) | ||
| * any later version. | ||
| * | ||
| * paparazzi 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 paparazzi; see the file COPYING. If not, write to | ||
| * the Free Software Foundation, 59 Temple Place - Suite 330, | ||
| * Boston, MA 02111-1307, USA. | ||
| */ | ||
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| /** @file peripherals/mpl3115.c | ||
| * Driver for MPL3115A2 baro sensor. | ||
| */ | ||
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| #include "peripherals/mpl3115.h" | ||
| #include "std.h" | ||
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| #define MPL_CONF_UNINIT 0 | ||
| #define MPL_CONF_PT_DATA 1 | ||
| #define MPL_CONF_CTRL1 2 | ||
| #define MPL_CONF_DONE 3 | ||
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| // Data ready flag | ||
| volatile bool_t mpl3115_data_available; | ||
| // Data | ||
| uint32_t mpl3115_pressure; | ||
| int16_t mpl3115_temperature; | ||
| float mpl3115_alt; | ||
| // I2C transaction for reading and configuring | ||
| struct i2c_transaction mpl3115_trans; | ||
| // I2C transaction for conversion request | ||
| struct i2c_transaction mpl3115_req_trans; | ||
| // Init flag | ||
| bool_t mpl3115_initialized; | ||
| uint8_t mpl3115_init_status; | ||
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| void mpl3115_init(void) | ||
| { | ||
| mpl3115_trans.status = I2CTransDone; | ||
| mpl3115_req_trans.status = I2CTransDone; | ||
| mpl3115_initialized = FALSE; | ||
| mpl3115_init_status = MPL_CONF_UNINIT; | ||
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| mpl3115_pressure = 0; | ||
| mpl3115_temperature = 0; | ||
| mpl3115_alt = 0.; | ||
| } | ||
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| // Configuration function called once before normal use | ||
| static void mpl3115_send_config(void) | ||
| { | ||
| switch (mpl3115_init_status) { | ||
| case MPL_CONF_PT_DATA: | ||
| mpl3115_trans.buf[0] = MPL3115_REG_PT_DATA_CFG; | ||
| mpl3115_trans.buf[1] = MPL3115_PT_DATA_CFG; | ||
| I2CTransmit(MPL3115_I2C_DEV, mpl3115_trans, MPL3115_I2C_ADDR, 2); | ||
| mpl3115_init_status++; | ||
| break; | ||
| case MPL_CONF_CTRL1: | ||
| mpl3115_trans.buf[0] = MPL3115_REG_CTRL_REG1; | ||
| mpl3115_trans.buf[1] = MPL3115_CTRL_REG1; | ||
| I2CTransmit(MPL3115_I2C_DEV, mpl3115_trans, MPL3115_I2C_ADDR, 2); | ||
| mpl3115_init_status++; | ||
| break; | ||
| case MPL_CONF_DONE: | ||
| mpl3115_initialized = TRUE; | ||
| mpl3115_trans.status = I2CTransDone; | ||
| break; | ||
| default: | ||
| break; | ||
| } | ||
| } | ||
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| // Configure | ||
| void mpl3115_configure(void) | ||
| { | ||
| if (mpl3115_init_status == MPL_CONF_UNINIT) { | ||
| mpl3115_init_status++; | ||
| if (mpl3115_trans.status == I2CTransSuccess || mpl3115_trans.status == I2CTransDone) { | ||
| mpl3115_send_config(); | ||
| } | ||
| } | ||
| } | ||
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| // Normal reading | ||
| void mpl3115_read(void) | ||
| { | ||
| // ask for a reading and then prepare next conversion | ||
| if (mpl3115_initialized && mpl3115_trans.status == I2CTransDone) { | ||
| mpl3115_trans.buf[0] = MPL3115_REG_STATUS; | ||
| I2CTransceive(MPL3115_I2C_DEV, mpl3115_trans, MPL3115_I2C_ADDR, 1, 6); | ||
| if (mpl3115_req_trans.status == I2CTransDone) { | ||
| mpl3115_req_trans.buf[0] = MPL3115_REG_CTRL_REG1; | ||
| mpl3115_req_trans.buf[1] = MPL3115_CTRL_REG1 | MPL3115_OST_BIT; | ||
| I2CTransmit(MPL3115_I2C_DEV, mpl3115_req_trans, MPL3115_I2C_ADDR, 2); | ||
| } | ||
| } | ||
| } | ||
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| void mpl3115_event(void) | ||
| { | ||
| if (mpl3115_initialized) { | ||
| if (mpl3115_trans.status == I2CTransFailed) { | ||
| mpl3115_trans.status = I2CTransDone; | ||
| } | ||
| else if (mpl3115_trans.status == I2CTransSuccess) { | ||
| // Successfull reading and new pressure data available | ||
| if (mpl3115_trans.buf[0] & (1<<2)) { | ||
| #if MPL3115_RAW_OUTPUT | ||
| // New data available | ||
| mpl3115_pressure = ((uint32_t)mpl3115_trans.buf[1]<<16)|((uint16_t)mpl3115_trans.buf[2]<<8)|mpl3115_trans.buf[3]; | ||
| mpl3115_temperature = ((int16_t)mpl3115_trans.buf[4]<<8)|mpl3115_trans.buf[5]; | ||
| mpl3115_data_available = TRUE; | ||
| #else // Not in raw mode | ||
| #if MPL3115_ALT_MODE | ||
| uint32_t tmp = ((uint32_t)mpl3115_trans.buf[1]<<16)|((uint16_t)mpl3115_trans.buf[2]<<8)|mpl3115_trans.buf[3]; | ||
| mpl3115_alt = (float)(tmp>>4)/(1<<4); | ||
| tmp = ((int16_t)mpl3115_trans.buf[4]<<8)|mpl3115_trans.buf[5]; | ||
| mpl3115_temperature = (tmp>>4); | ||
| mpl3115_data_available = TRUE; | ||
| #else // Pressure mode | ||
| uint32_t tmp = ((uint32_t)mpl3115_trans.buf[1]<<16)|((uint16_t)mpl3115_trans.buf[2]<<8)|mpl3115_trans.buf[3]; | ||
| mpl3115_pressure = (tmp>>4); | ||
| tmp = ((int16_t)mpl3115_trans.buf[4]<<8)|mpl3115_trans.buf[5]; | ||
| mpl3115_temperature = (tmp>>4); | ||
| mpl3115_data_available = TRUE; | ||
| #endif // end alt mode | ||
| #endif // end raw mode | ||
| } | ||
| mpl3115_trans.status = I2CTransDone; | ||
| } | ||
| } | ||
| else if (!mpl3115_initialized && mpl3115_init_status != MPL_CONF_UNINIT) { // Configuring | ||
| if (mpl3115_trans.status == I2CTransSuccess || mpl3115_trans.status == I2CTransDone) { | ||
| mpl3115_trans.status = I2CTransDone; | ||
| mpl3115_send_config(); | ||
| } | ||
| if (mpl3115_trans.status == I2CTransFailed) { | ||
| mpl3115_init_status--; | ||
| mpl3115_trans.status = I2CTransDone; | ||
| mpl3115_send_config(); // Retry config (TODO max retry) | ||
| } | ||
| } | ||
| if (mpl3115_req_trans.status == I2CTransSuccess || mpl3115_req_trans.status == I2CTransFailed) { | ||
| mpl3115_req_trans.status = I2CTransDone; | ||
| } | ||
| } | ||
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