High resolution barometer and altimeter using i2c mode
Fork of ms5611 by
ms5611.cpp@12:af100556f99e, 2016-05-30 (annotated)
- Committer:
- Decimus
- Date:
- Mon May 30 08:10:56 2016 +0000
- Revision:
- 12:af100556f99e
- Parent:
- 11:e0417b67a4b5
[+] Some renaming ang adding getGyro
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
loopsva | 0:f97f410d4a21 | 1 | //! |
loopsva | 0:f97f410d4a21 | 2 | //! @file an520_I2C.c,v |
loopsva | 0:f97f410d4a21 | 3 | //! |
loopsva | 0:f97f410d4a21 | 4 | //! Copyright (c) 2009 MEAS Switzerland |
loopsva | 0:f97f410d4a21 | 5 | //! |
loopsva | 0:f97f410d4a21 | 6 | //! |
loopsva | 0:f97f410d4a21 | 7 | //! |
loopsva | 0:f97f410d4a21 | 8 | //! @brief This C code is for starter reference only. It is written for the |
loopsva | 0:f97f410d4a21 | 9 | //! MEAS Switzerland MS56xx pressure sensor modules and Atmel Atmega644p |
loopsva | 0:f97f410d4a21 | 10 | //! microcontroller. |
loopsva | 0:f97f410d4a21 | 11 | //! |
loopsva | 0:f97f410d4a21 | 12 | //! @version 1.0 $Id: an520_I2C.c,v 1.0 |
loopsva | 0:f97f410d4a21 | 13 | //! |
loopsva | 0:f97f410d4a21 | 14 | //! @todo |
loopsva | 0:f97f410d4a21 | 15 | |
loopsva | 0:f97f410d4a21 | 16 | #include "mbed.h" |
loopsva | 0:f97f410d4a21 | 17 | #include "ms5611.h" |
loopsva | 0:f97f410d4a21 | 18 | |
loopsva | 5:0d7b229474c6 | 19 | double P; // compensated pressure value (mB) |
loopsva | 5:0d7b229474c6 | 20 | double T; // compensated temperature value (degC) |
loopsva | 5:0d7b229474c6 | 21 | double A; // altitude (ft) |
loopsva | 5:0d7b229474c6 | 22 | double S; // sea level barometer (mB) |
loopsva | 2:05804ed70748 | 23 | |
loopsva | 2:05804ed70748 | 24 | uint32_t C[8]; //coefficient storage |
loopsva | 2:05804ed70748 | 25 | |
loopsva | 0:f97f410d4a21 | 26 | //--------------------------------------------------------------------------------------------------------------------------------------// |
loopsva | 7:90ee2168baa7 | 27 | // Constructor and destructor - default to be compatible with legacy m5611 driver |
loopsva | 0:f97f410d4a21 | 28 | |
loopsva | 0:f97f410d4a21 | 29 | ms5611::ms5611(PinName sda, PinName scl) : _i2c(sda, scl) { |
loopsva | 6:41c370fa1f7b | 30 | _i2c.frequency(400000); |
loopsva | 7:90ee2168baa7 | 31 | _i2cWAddr = MS5611_ADDR_W; |
loopsva | 7:90ee2168baa7 | 32 | _i2cRAddr = MS5611_ADDR_R; |
Decimus | 12:af100556f99e | 33 | step = 1; |
loopsva | 7:90ee2168baa7 | 34 | } |
loopsva | 7:90ee2168baa7 | 35 | |
loopsva | 7:90ee2168baa7 | 36 | //--------------------------------------------------------------------------------------------------------------------------------------// |
loopsva | 7:90ee2168baa7 | 37 | // Constructor and destructor - new, to allow for user to select i2c address based on CSB pin |
loopsva | 7:90ee2168baa7 | 38 | |
loopsva | 7:90ee2168baa7 | 39 | ms5611::ms5611(PinName sda, PinName scl, CSBpolarity CSBpin) : _i2c(sda, scl) { |
loopsva | 7:90ee2168baa7 | 40 | _i2c.frequency(400000); |
loopsva | 7:90ee2168baa7 | 41 | _i2cWAddr = MS5611_ADDR_W; |
loopsva | 7:90ee2168baa7 | 42 | _i2cRAddr = MS5611_ADDR_R; |
loopsva | 7:90ee2168baa7 | 43 | if(CSBpin == CSBpin_1) { |
loopsva | 7:90ee2168baa7 | 44 | _i2cWAddr -= 2; |
loopsva | 7:90ee2168baa7 | 45 | _i2cRAddr -= 2; |
loopsva | 7:90ee2168baa7 | 46 | |
loopsva | 7:90ee2168baa7 | 47 | } |
Decimus | 12:af100556f99e | 48 | step = 1; |
loopsva | 0:f97f410d4a21 | 49 | } |
loopsva | 0:f97f410d4a21 | 50 | |
loopsva | 0:f97f410d4a21 | 51 | //******************************************************** |
loopsva | 0:f97f410d4a21 | 52 | //! @brief send I2C start condition and the address byte |
loopsva | 0:f97f410d4a21 | 53 | //! |
loopsva | 0:f97f410d4a21 | 54 | //! @return 0 |
loopsva | 0:f97f410d4a21 | 55 | //******************************************************** |
loopsva | 0:f97f410d4a21 | 56 | |
loopsva | 11:e0417b67a4b5 | 57 | int32_t ms5611::m_i2c_start(bool readMode) { |
loopsva | 11:e0417b67a4b5 | 58 | int32_t twst; |
loopsva | 0:f97f410d4a21 | 59 | _i2c.start(); |
loopsva | 0:f97f410d4a21 | 60 | if(readMode == true) { |
loopsva | 7:90ee2168baa7 | 61 | twst = m_i2c_write(_i2cRAddr); |
loopsva | 0:f97f410d4a21 | 62 | } else { |
loopsva | 7:90ee2168baa7 | 63 | twst = m_i2c_write(_i2cWAddr); |
loopsva | 0:f97f410d4a21 | 64 | } |
loopsva | 0:f97f410d4a21 | 65 | return(twst); |
loopsva | 0:f97f410d4a21 | 66 | } |
loopsva | 0:f97f410d4a21 | 67 | |
loopsva | 0:f97f410d4a21 | 68 | //******************************************************** |
loopsva | 0:f97f410d4a21 | 69 | //! @brief send I2C stop condition |
loopsva | 0:f97f410d4a21 | 70 | //! |
loopsva | 0:f97f410d4a21 | 71 | //! @return none |
loopsva | 0:f97f410d4a21 | 72 | //******************************************************** |
loopsva | 0:f97f410d4a21 | 73 | |
loopsva | 11:e0417b67a4b5 | 74 | void ms5611::m_i2c_stop() { |
loopsva | 0:f97f410d4a21 | 75 | _i2c.stop(); |
loopsva | 0:f97f410d4a21 | 76 | } |
loopsva | 0:f97f410d4a21 | 77 | |
loopsva | 0:f97f410d4a21 | 78 | //******************************************************** |
loopsva | 0:f97f410d4a21 | 79 | //! @brief send I2C stop condition |
loopsva | 0:f97f410d4a21 | 80 | //! |
loopsva | 0:f97f410d4a21 | 81 | //! @return remote ack status |
loopsva | 0:f97f410d4a21 | 82 | //******************************************************** |
loopsva | 0:f97f410d4a21 | 83 | |
loopsva | 11:e0417b67a4b5 | 84 | uint8_t ms5611::m_i2c_write(uint8_t data) { |
loopsva | 11:e0417b67a4b5 | 85 | uint8_t twst = _i2c.write(data); |
loopsva | 0:f97f410d4a21 | 86 | return(twst); |
loopsva | 0:f97f410d4a21 | 87 | } |
loopsva | 0:f97f410d4a21 | 88 | |
loopsva | 0:f97f410d4a21 | 89 | //******************************************************** |
loopsva | 0:f97f410d4a21 | 90 | //! @brief read I2C byte with acknowledgment |
loopsva | 0:f97f410d4a21 | 91 | //! |
loopsva | 0:f97f410d4a21 | 92 | //! @return read byte |
loopsva | 0:f97f410d4a21 | 93 | //******************************************************** |
loopsva | 0:f97f410d4a21 | 94 | |
loopsva | 11:e0417b67a4b5 | 95 | uint8_t ms5611::m_i2c_readAck() { |
loopsva | 11:e0417b67a4b5 | 96 | uint8_t twst = _i2c.read(1); |
loopsva | 0:f97f410d4a21 | 97 | return(twst); |
loopsva | 0:f97f410d4a21 | 98 | } |
loopsva | 0:f97f410d4a21 | 99 | |
loopsva | 0:f97f410d4a21 | 100 | //******************************************************** |
loopsva | 0:f97f410d4a21 | 101 | //! @brief read I2C byte without acknowledgment |
loopsva | 0:f97f410d4a21 | 102 | //! |
loopsva | 0:f97f410d4a21 | 103 | //! @return read byte |
loopsva | 0:f97f410d4a21 | 104 | //******************************************************** |
loopsva | 0:f97f410d4a21 | 105 | |
loopsva | 11:e0417b67a4b5 | 106 | uint8_t ms5611::m_i2c_readNak() { |
loopsva | 11:e0417b67a4b5 | 107 | uint8_t twst = _i2c.read(0); |
loopsva | 0:f97f410d4a21 | 108 | return(twst); |
loopsva | 0:f97f410d4a21 | 109 | } |
loopsva | 0:f97f410d4a21 | 110 | |
loopsva | 0:f97f410d4a21 | 111 | //******************************************************** |
loopsva | 0:f97f410d4a21 | 112 | //! @brief send command using I2C hardware interface |
loopsva | 0:f97f410d4a21 | 113 | //! |
loopsva | 0:f97f410d4a21 | 114 | //! @return none |
loopsva | 0:f97f410d4a21 | 115 | //******************************************************** |
loopsva | 0:f97f410d4a21 | 116 | |
loopsva | 11:e0417b67a4b5 | 117 | void ms5611::m_i2c_send(uint8_t cmd) { |
loopsva | 11:e0417b67a4b5 | 118 | uint8_t ret; |
loopsva | 2:05804ed70748 | 119 | ret = m_i2c_start(false); |
loopsva | 2:05804ed70748 | 120 | if(!(ret)) { |
loopsva | 0:f97f410d4a21 | 121 | m_i2c_stop(); |
loopsva | 2:05804ed70748 | 122 | } else { |
loopsva | 0:f97f410d4a21 | 123 | ret = m_i2c_write(cmd); |
loopsva | 0:f97f410d4a21 | 124 | m_i2c_stop(); |
loopsva | 0:f97f410d4a21 | 125 | } |
loopsva | 0:f97f410d4a21 | 126 | } |
loopsva | 0:f97f410d4a21 | 127 | |
loopsva | 0:f97f410d4a21 | 128 | //******************************************************** |
loopsva | 0:f97f410d4a21 | 129 | //! @brief send reset sequence |
loopsva | 0:f97f410d4a21 | 130 | //! |
loopsva | 0:f97f410d4a21 | 131 | //! @return none |
loopsva | 0:f97f410d4a21 | 132 | //******************************************************** |
loopsva | 0:f97f410d4a21 | 133 | |
loopsva | 0:f97f410d4a21 | 134 | void ms5611::cmd_reset() { |
loopsva | 8:461f68bc94f2 | 135 | #if defined MS5611i2cLOWLEVEL |
loopsva | 2:05804ed70748 | 136 | m_i2c_send(MS5611_CMD_RESET); |
loopsva | 8:461f68bc94f2 | 137 | #else |
loopsva | 8:461f68bc94f2 | 138 | cobuf[0] = MS5611_CMD_RESET; |
loopsva | 8:461f68bc94f2 | 139 | _i2c.write(_i2cWAddr, cobuf, 1, false); |
loopsva | 8:461f68bc94f2 | 140 | #endif |
loopsva | 2:05804ed70748 | 141 | wait_ms(4); |
loopsva | 0:f97f410d4a21 | 142 | loadCoefs(); |
loopsva | 0:f97f410d4a21 | 143 | } |
loopsva | 0:f97f410d4a21 | 144 | |
loopsva | 0:f97f410d4a21 | 145 | //******************************************************** |
loopsva | 0:f97f410d4a21 | 146 | //! @brief preform adc conversion |
loopsva | 0:f97f410d4a21 | 147 | //! |
loopsva | 0:f97f410d4a21 | 148 | //! @return 24bit result |
loopsva | 0:f97f410d4a21 | 149 | //******************************************************** |
loopsva | 0:f97f410d4a21 | 150 | |
loopsva | 11:e0417b67a4b5 | 151 | uint64_t ms5611::cmd_adc(uint8_t cmd) { |
loopsva | 11:e0417b67a4b5 | 152 | uint64_t temp = 0; |
Decimus | 12:af100556f99e | 153 | if( step & 0b101 ){ // or 0b1 either 0b100 |
loopsva | 11:e0417b67a4b5 | 154 | #if defined MS5611i2cLOWLEVEL |
Decimus | 12:af100556f99e | 155 | m_i2c_send(MS5611_CMD_ADC_CONV + cmd); |
loopsva | 11:e0417b67a4b5 | 156 | #else |
Decimus | 12:af100556f99e | 157 | cobuf[0] = 0; |
Decimus | 12:af100556f99e | 158 | cobuf[1] = 0; |
Decimus | 12:af100556f99e | 159 | cobuf[2] = 0; |
Decimus | 12:af100556f99e | 160 | cobuf[0] = MS5611_CMD_ADC_CONV + cmd; |
Decimus | 12:af100556f99e | 161 | _i2c.write(_i2cWAddr, cobuf, 1, false); |
loopsva | 8:461f68bc94f2 | 162 | #endif |
Decimus | 12:af100556f99e | 163 | /* |
Decimus | 12:af100556f99e | 164 | switch (cmd & 0x0f) { |
Decimus | 12:af100556f99e | 165 | case MS5611_CMD_ADC_256 : wait_us(900); break; |
Decimus | 12:af100556f99e | 166 | case MS5611_CMD_ADC_512 : wait_ms(3); break; |
Decimus | 12:af100556f99e | 167 | case MS5611_CMD_ADC_1024: wait_ms(4); break; |
Decimus | 12:af100556f99e | 168 | case MS5611_CMD_ADC_2048: wait_ms(6); break; |
Decimus | 12:af100556f99e | 169 | case MS5611_CMD_ADC_4096: wait_ms(10); break; |
Decimus | 12:af100556f99e | 170 | } |
Decimus | 12:af100556f99e | 171 | */ |
Decimus | 12:af100556f99e | 172 | step = step<<1; // will be 0b10 or 0b1000 |
Decimus | 12:af100556f99e | 173 | return 0; |
loopsva | 0:f97f410d4a21 | 174 | } |
Decimus | 12:af100556f99e | 175 | else if( step & 0b1010 ){ // or 0b10 either 0b1000 |
loopsva | 8:461f68bc94f2 | 176 | #if defined MS5611i2cLOWLEVEL |
Decimus | 12:af100556f99e | 177 | m_i2c_send(MS5611_CMD_ADC_READ); |
Decimus | 12:af100556f99e | 178 | m_i2c_start(true); |
Decimus | 12:af100556f99e | 179 | temp = m_i2c_readAck(); |
Decimus | 12:af100556f99e | 180 | temp = (temp << 8) | m_i2c_readAck(); |
Decimus | 12:af100556f99e | 181 | temp = (temp << 8) | m_i2c_readNak(); |
Decimus | 12:af100556f99e | 182 | m_i2c_stop(); |
loopsva | 8:461f68bc94f2 | 183 | #else |
Decimus | 12:af100556f99e | 184 | cobuf[0] = MS5611_CMD_ADC_READ; |
Decimus | 12:af100556f99e | 185 | _i2c.write(_i2cWAddr, cobuf, 1, true); |
Decimus | 12:af100556f99e | 186 | cobuf[0] = 0; |
Decimus | 12:af100556f99e | 187 | _i2c.read(_i2cRAddr, cobuf, 3, false); |
Decimus | 12:af100556f99e | 188 | temp = (cobuf[0] << 16) | (cobuf[1] << 8) | cobuf[2]; |
Decimus | 12:af100556f99e | 189 | #endif |
Decimus | 12:af100556f99e | 190 | step = step<<1; // will be 0b100 or 0b10000 |
Decimus | 12:af100556f99e | 191 | return temp; |
Decimus | 12:af100556f99e | 192 | } |
Decimus | 12:af100556f99e | 193 | return 0; |
loopsva | 0:f97f410d4a21 | 194 | } |
loopsva | 0:f97f410d4a21 | 195 | |
loopsva | 0:f97f410d4a21 | 196 | //******************************************************** |
loopsva | 0:f97f410d4a21 | 197 | //! @brief Read calibration coefficients |
loopsva | 0:f97f410d4a21 | 198 | //! |
loopsva | 0:f97f410d4a21 | 199 | //! @return coefficient |
loopsva | 0:f97f410d4a21 | 200 | //******************************************************** |
loopsva | 0:f97f410d4a21 | 201 | |
loopsva | 11:e0417b67a4b5 | 202 | uint32_t ms5611::cmd_prom(uint8_t coef_num) { |
loopsva | 11:e0417b67a4b5 | 203 | uint32_t rC = 0; |
loopsva | 11:e0417b67a4b5 | 204 | #if defined MS5611i2cLOWLEVEL |
loopsva | 11:e0417b67a4b5 | 205 | m_i2c_send(MS5611_CMD_PROM_RD + coef_num * 2); // send PROM READ command |
loopsva | 11:e0417b67a4b5 | 206 | m_i2c_start(true); |
loopsva | 11:e0417b67a4b5 | 207 | rC = m_i2c_readAck(); |
loopsva | 11:e0417b67a4b5 | 208 | rC = (rC << 8) | m_i2c_readNak(); |
loopsva | 11:e0417b67a4b5 | 209 | m_i2c_stop(); |
loopsva | 11:e0417b67a4b5 | 210 | #else |
loopsva | 0:f97f410d4a21 | 211 | cobuf[0] = 0; |
loopsva | 0:f97f410d4a21 | 212 | cobuf[1] = 0; |
loopsva | 8:461f68bc94f2 | 213 | cobuf[0] = MS5611_CMD_PROM_RD + coef_num * 2; |
loopsva | 8:461f68bc94f2 | 214 | _i2c.write(_i2cWAddr, cobuf, 1, true); |
loopsva | 8:461f68bc94f2 | 215 | cobuf[0] = 0; |
loopsva | 11:e0417b67a4b5 | 216 | _i2c.read(_i2cRAddr, cobuf, 2, false); |
loopsva | 11:e0417b67a4b5 | 217 | rC = (cobuf[0] << 8) | cobuf[1]; |
loopsva | 8:461f68bc94f2 | 218 | #endif |
loopsva | 0:f97f410d4a21 | 219 | return rC; |
loopsva | 0:f97f410d4a21 | 220 | } |
loopsva | 0:f97f410d4a21 | 221 | |
loopsva | 0:f97f410d4a21 | 222 | //******************************************************** |
loopsva | 0:f97f410d4a21 | 223 | //! @brief calculate the CRC code |
loopsva | 0:f97f410d4a21 | 224 | //! |
loopsva | 0:f97f410d4a21 | 225 | //! @return crc code |
loopsva | 0:f97f410d4a21 | 226 | //******************************************************** |
loopsva | 0:f97f410d4a21 | 227 | |
loopsva | 11:e0417b67a4b5 | 228 | uint8_t ms5611::crc4(uint32_t n_prom[]) { |
loopsva | 11:e0417b67a4b5 | 229 | uint32_t n_rem; |
loopsva | 11:e0417b67a4b5 | 230 | uint32_t crc_read; |
loopsva | 11:e0417b67a4b5 | 231 | uint8_t n_bit; |
loopsva | 0:f97f410d4a21 | 232 | n_rem = 0x00; |
loopsva | 2:05804ed70748 | 233 | crc_read = n_prom[7]; |
loopsva | 2:05804ed70748 | 234 | n_prom[7]=(0xFF00 & (n_prom[7])); |
loopsva | 2:05804ed70748 | 235 | for (int cnt = 0; cnt < 16; cnt++) { |
loopsva | 0:f97f410d4a21 | 236 | if (cnt%2 == 1) { |
loopsva | 11:e0417b67a4b5 | 237 | n_rem ^= (uint16_t) ((n_prom[cnt>>1]) & 0x00FF); |
loopsva | 0:f97f410d4a21 | 238 | } else { |
loopsva | 11:e0417b67a4b5 | 239 | n_rem ^= (uint16_t) (n_prom[cnt>>1]>>8); |
loopsva | 0:f97f410d4a21 | 240 | } |
loopsva | 0:f97f410d4a21 | 241 | for (n_bit = 8; n_bit > 0; n_bit--) { |
loopsva | 0:f97f410d4a21 | 242 | if (n_rem & (0x8000)) { |
loopsva | 0:f97f410d4a21 | 243 | n_rem = (n_rem << 1) ^ 0x3000; |
loopsva | 0:f97f410d4a21 | 244 | } else { |
loopsva | 0:f97f410d4a21 | 245 | n_rem = (n_rem << 1); |
loopsva | 0:f97f410d4a21 | 246 | } |
loopsva | 0:f97f410d4a21 | 247 | } |
loopsva | 0:f97f410d4a21 | 248 | } |
loopsva | 2:05804ed70748 | 249 | n_rem= (0x000F & (n_rem >> 12)); |
loopsva | 2:05804ed70748 | 250 | n_prom[7]=crc_read; |
loopsva | 0:f97f410d4a21 | 251 | return (n_rem ^ 0x0); |
loopsva | 2:05804ed70748 | 252 | } |
loopsva | 2:05804ed70748 | 253 | |
loopsva | 0:f97f410d4a21 | 254 | /* |
loopsva | 0:f97f410d4a21 | 255 | The CRC code is calculated and written in factory with the LSB byte in the prom n_prom[7] set to 0x00 (see |
loopsva | 0:f97f410d4a21 | 256 | Coefficient table below). It is thus important to clear those bytes from the calculation buffer before proceeding |
loopsva | 0:f97f410d4a21 | 257 | with the CRC calculation itself: |
loopsva | 0:f97f410d4a21 | 258 | n_prom[7]=(0xFF00 & (n_prom[7])); //CRC byte is replaced by 0 |
loopsva | 0:f97f410d4a21 | 259 | As a simple test of the CRC code, the following coefficient table could be used: |
loopsva | 11:e0417b67a4b5 | 260 | uint32_t nprom[] = {0x3132,0x3334,0x3536,0x3738,0x3940,0x4142,0x4344,0x4500}; |
loopsva | 0:f97f410d4a21 | 261 | the resulting calculated CRC should be 0xB. |
loopsva | 0:f97f410d4a21 | 262 | |
loopsva | 0:f97f410d4a21 | 263 | DB 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 |
loopsva | 0:f97f410d4a21 | 264 | Addr |
loopsva | 0:f97f410d4a21 | 265 | 0 16 bit reserved for manufacturer |
loopsva | 0:f97f410d4a21 | 266 | 1 Coefficient 1 (16 bit unsigned) |
loopsva | 0:f97f410d4a21 | 267 | 2 Coefficient 2 (16 bit unsigned) |
loopsva | 0:f97f410d4a21 | 268 | 3 Coefficient 3 (16 bit unsigned) |
loopsva | 0:f97f410d4a21 | 269 | 4 Coefficient 4 (16 bit unsigned) |
loopsva | 0:f97f410d4a21 | 270 | 5 Coefficient 5 (16 bit unsigned) |
loopsva | 0:f97f410d4a21 | 271 | 6 Coefficient 6 (16 bit unsigned) |
loopsva | 0:f97f410d4a21 | 272 | 7 0 0 0 0 CRC(0x0) |
loopsva | 0:f97f410d4a21 | 273 | */ |
loopsva | 0:f97f410d4a21 | 274 | /* |
loopsva | 0:f97f410d4a21 | 275 | //Returns 0x0b as per AP520_004 |
loopsva | 2:05804ed70748 | 276 | C[0] = 0x3132; |
loopsva | 2:05804ed70748 | 277 | C[1] = 0x3334; |
loopsva | 2:05804ed70748 | 278 | C[2] = 0x3536; |
loopsva | 2:05804ed70748 | 279 | C[3] = 0x3738; |
loopsva | 2:05804ed70748 | 280 | C[4] = 0x3940; |
loopsva | 2:05804ed70748 | 281 | C[5] = 0x4142; |
loopsva | 2:05804ed70748 | 282 | C[6] = 0x4344; |
loopsva | 2:05804ed70748 | 283 | C[7] = 0x4546; |
loopsva | 0:f97f410d4a21 | 284 | n_crc = ms.crc4(C); // calculate the CRC |
loopsva | 0:f97f410d4a21 | 285 | pc.printf("testing CRC: 0x%x\n", n_crc); |
loopsva | 0:f97f410d4a21 | 286 | */ |
loopsva | 2:05804ed70748 | 287 | |
loopsva | 0:f97f410d4a21 | 288 | //******************************************************** |
loopsva | 0:f97f410d4a21 | 289 | //! @brief load all calibration coefficients |
loopsva | 0:f97f410d4a21 | 290 | //! |
loopsva | 0:f97f410d4a21 | 291 | //! @return none |
loopsva | 0:f97f410d4a21 | 292 | //******************************************************** |
loopsva | 0:f97f410d4a21 | 293 | |
loopsva | 0:f97f410d4a21 | 294 | void ms5611::loadCoefs() { |
loopsva | 0:f97f410d4a21 | 295 | for (int i = 0; i < 8; i++){ |
loopsva | 0:f97f410d4a21 | 296 | wait_ms(50); |
loopsva | 2:05804ed70748 | 297 | C[i] = cmd_prom(i); |
loopsva | 0:f97f410d4a21 | 298 | } |
loopsva | 11:e0417b67a4b5 | 299 | uint8_t n_crc = crc4(C); |
loopsva | 0:f97f410d4a21 | 300 | } |
loopsva | 0:f97f410d4a21 | 301 | |
loopsva | 0:f97f410d4a21 | 302 | //******************************************************** |
loopsva | 0:f97f410d4a21 | 303 | //! @brief calculate temperature and pressure |
loopsva | 0:f97f410d4a21 | 304 | //! |
loopsva | 0:f97f410d4a21 | 305 | //! @return none |
loopsva | 0:f97f410d4a21 | 306 | //******************************************************** |
loopsva | 0:f97f410d4a21 | 307 | |
Decimus | 12:af100556f99e | 308 | uint8_t ms5611::calcPT() { |
Decimus | 12:af100556f99e | 309 | if( step & 0b11 ){ // or 0b1 either 0b10 |
Decimus | 12:af100556f99e | 310 | D2 = cmd_adc(MS5611_CMD_ADC_D2 + MS5611_CMD_ADC_2048); // read D2 |
Decimus | 12:af100556f99e | 311 | } |
Decimus | 12:af100556f99e | 312 | if( step & 0b1100 ){ // or 0b10 either 0b100 |
Decimus | 12:af100556f99e | 313 | D1 = cmd_adc(MS5611_CMD_ADC_D1 + MS5611_CMD_ADC_2048); // read D1 |
Decimus | 12:af100556f99e | 314 | } |
Decimus | 12:af100556f99e | 315 | if( step & 0b10000 ){ |
Decimus | 12:af100556f99e | 316 | int64_t dT = D2 - ((uint64_t)C[5] << 8); |
Decimus | 12:af100556f99e | 317 | int64_t OFF = ((uint32_t)C[2] << 16) + ((dT * (C[4]) >> 7)); //was OFF = (C[2] << 17) + dT * C[4] / (1 << 6); |
Decimus | 12:af100556f99e | 318 | int64_t SENS = ((uint32_t)C[1] << 15) + ((dT * (C[3]) >> 8)); //was SENS = (C[1] << 16) + dT * C[3] / (1 << 7); |
Decimus | 12:af100556f99e | 319 | int32_t TEMP = 2000 + (int64_t)dT * (int64_t)C[6] / (int64_t)(1 << 23); |
Decimus | 12:af100556f99e | 320 | T = (double) TEMP / 100.0; |
loopsva | 0:f97f410d4a21 | 321 | |
Decimus | 12:af100556f99e | 322 | if(TEMP < 2000) { // if temperature lower than +20 Celsius |
Decimus | 12:af100556f99e | 323 | int64_t T1 = ((int64_t)TEMP - 2000) * ((int64_t)TEMP - 2000); |
Decimus | 12:af100556f99e | 324 | int64_t OFF1 = (5 * T1) >> 1; |
Decimus | 12:af100556f99e | 325 | int64_t SENS1 = (5 * T1) >> 2; |
loopsva | 2:05804ed70748 | 326 | |
Decimus | 12:af100556f99e | 327 | if(TEMP < -1500) { // if temperature lower than -15 Celsius |
Decimus | 12:af100556f99e | 328 | T1 = ((int64_t)TEMP + 1500) * ((int64_t)TEMP + 1500); |
Decimus | 12:af100556f99e | 329 | OFF1 += 7 * T1; |
Decimus | 12:af100556f99e | 330 | SENS1 += 11 * T1 >> 1; |
Decimus | 12:af100556f99e | 331 | } |
Decimus | 12:af100556f99e | 332 | OFF -= OFF1; |
Decimus | 12:af100556f99e | 333 | SENS -= SENS1; |
Decimus | 12:af100556f99e | 334 | } |
Decimus | 12:af100556f99e | 335 | P = (double)(((((int64_t)D1 * SENS ) >> 21) - OFF) / (double) (1 << 15)) / 100.0; |
Decimus | 12:af100556f99e | 336 | step = 1; |
Decimus | 12:af100556f99e | 337 | return 1; |
loopsva | 2:05804ed70748 | 338 | } |
Decimus | 12:af100556f99e | 339 | return 0; |
loopsva | 0:f97f410d4a21 | 340 | } |
loopsva | 0:f97f410d4a21 | 341 | |
loopsva | 0:f97f410d4a21 | 342 | //******************************************************** |
loopsva | 0:f97f410d4a21 | 343 | //! @brief calculate temperature |
loopsva | 0:f97f410d4a21 | 344 | //! |
loopsva | 0:f97f410d4a21 | 345 | //! @return double temperature degC |
loopsva | 0:f97f410d4a21 | 346 | //******************************************************** |
loopsva | 0:f97f410d4a21 | 347 | |
loopsva | 0:f97f410d4a21 | 348 | double ms5611::calcTemp() { |
loopsva | 0:f97f410d4a21 | 349 | calcPT(); |
loopsva | 0:f97f410d4a21 | 350 | return(T); |
loopsva | 0:f97f410d4a21 | 351 | } |
loopsva | 0:f97f410d4a21 | 352 | |
loopsva | 0:f97f410d4a21 | 353 | //******************************************************** |
loopsva | 3:c2d1b0d432ad | 354 | //! @brief calculate pressure |
loopsva | 0:f97f410d4a21 | 355 | //! |
loopsva | 0:f97f410d4a21 | 356 | //! @return double barometric pressure millibar |
loopsva | 0:f97f410d4a21 | 357 | //******************************************************** |
loopsva | 0:f97f410d4a21 | 358 | |
loopsva | 0:f97f410d4a21 | 359 | double ms5611::calcPressure() { |
loopsva | 0:f97f410d4a21 | 360 | calcPT(); |
loopsva | 0:f97f410d4a21 | 361 | return(P); |
loopsva | 2:05804ed70748 | 362 | } |
loopsva | 3:c2d1b0d432ad | 363 | |
loopsva | 3:c2d1b0d432ad | 364 | //******************************************************** |
loopsva | 3:c2d1b0d432ad | 365 | //! @brief get pressure, no calculation |
loopsva | 3:c2d1b0d432ad | 366 | //! |
loopsva | 3:c2d1b0d432ad | 367 | //! @return double barometric pressure millibar |
loopsva | 3:c2d1b0d432ad | 368 | //******************************************************** |
loopsva | 3:c2d1b0d432ad | 369 | |
loopsva | 3:c2d1b0d432ad | 370 | double ms5611::getPressure() { |
Decimus | 12:af100556f99e | 371 | //calcPT(); |
loopsva | 3:c2d1b0d432ad | 372 | return(P); |
loopsva | 3:c2d1b0d432ad | 373 | } |
loopsva | 3:c2d1b0d432ad | 374 | |
Decimus | 12:af100556f99e | 375 | float ms5611::getAltitude() { |
Decimus | 12:af100556f99e | 376 | A = (1 - pow(P/(double)1013.250, 0.190295)) * 44330.0; |
Decimus | 12:af100556f99e | 377 | //A = (1 - (pow((P / (double)sea_pressure), 0.190284))) * 145366.45; |
Decimus | 12:af100556f99e | 378 | return((float)A); |
Decimus | 12:af100556f99e | 379 | } |
Decimus | 12:af100556f99e | 380 | |
loopsva | 3:c2d1b0d432ad | 381 | //******************************************************** |
loopsva | 5:0d7b229474c6 | 382 | //! @brief get altitude from known sea level barometer, |
loopsva | 5:0d7b229474c6 | 383 | //! @ no pre-pressure calculation |
loopsva | 3:c2d1b0d432ad | 384 | //! |
loopsva | 3:c2d1b0d432ad | 385 | //! @enter float sea level barometer |
loopsva | 3:c2d1b0d432ad | 386 | //! @return float altitude in feet |
loopsva | 3:c2d1b0d432ad | 387 | //******************************************************** |
loopsva | 3:c2d1b0d432ad | 388 | |
loopsva | 3:c2d1b0d432ad | 389 | float ms5611::getAltitudeFT(float sea_pressure) { |
loopsva | 3:c2d1b0d432ad | 390 | A = (1 - (pow((P / (double)sea_pressure), 0.190284))) * 145366.45; |
loopsva | 3:c2d1b0d432ad | 391 | return((float)A); |
loopsva | 3:c2d1b0d432ad | 392 | } |
loopsva | 5:0d7b229474c6 | 393 | |
loopsva | 5:0d7b229474c6 | 394 | //******************************************************** |
loopsva | 5:0d7b229474c6 | 395 | //! @brief get sea level pressure from known altitude(ft), |
loopsva | 5:0d7b229474c6 | 396 | //! @ no pre-pressure calculation |
loopsva | 5:0d7b229474c6 | 397 | //! |
loopsva | 5:0d7b229474c6 | 398 | //! @enter float known altitude in feet |
loopsva | 5:0d7b229474c6 | 399 | //! @return float seal level barometer in mb |
loopsva | 5:0d7b229474c6 | 400 | //******************************************************** |
loopsva | 5:0d7b229474c6 | 401 | |
loopsva | 5:0d7b229474c6 | 402 | float ms5611::getSeaLevelBaroFT(float known_alt) { |
loopsva | 5:0d7b229474c6 | 403 | S = pow(pow((P * INHG), 0.190284) + 0.00001313 * known_alt , 5.2553026) * MB; |
loopsva | 5:0d7b229474c6 | 404 | return((float)S); |
loopsva | 5:0d7b229474c6 | 405 | } |
loopsva | 5:0d7b229474c6 | 406 | |
loopsva | 5:0d7b229474c6 | 407 | //******************************************************** |
loopsva | 5:0d7b229474c6 | 408 | //! @brief get sea level pressure from known altitude(m), |
loopsva | 5:0d7b229474c6 | 409 | //! @ no pre-pressure calculation |
loopsva | 5:0d7b229474c6 | 410 | //! |
loopsva | 5:0d7b229474c6 | 411 | //! @enter float known altitude in meters |
loopsva | 5:0d7b229474c6 | 412 | //! @return float seal level barometer in mb |
loopsva | 5:0d7b229474c6 | 413 | //******************************************************** |
loopsva | 5:0d7b229474c6 | 414 | |
loopsva | 5:0d7b229474c6 | 415 | float ms5611::getSeaLevelBaroM(float known_alt) { |
loopsva | 5:0d7b229474c6 | 416 | S = pow(pow((P * INHG), 0.190284) + 0.00001313 * known_alt * FTMETERS , 5.2553026) * MB; |
loopsva | 5:0d7b229474c6 | 417 | return((float)S); |
loopsva | 5:0d7b229474c6 | 418 | } |