jetfishteam
Test for MS5803 and MS5837 pressure sensors (pressure and temp readings) and QEI testing for encoder.
Revision 0:f8bc804eadbc, committed 2016-03-20
- Comitter:
- alex93
- Date:
- Sun Mar 20 03:05:25 2016 +0000
- Commit message:
- Test for MS5803 and MS5837 pressure sensors (pressure and temp readings) and QEI testing for encoder.
Changed in this revision
diff -r 000000000000 -r f8bc804eadbc MS5803.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MS5803.lib Sun Mar 20 03:05:25 2016 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/teams/jetfishteam/code/MS5803/#ff505486c804
diff -r 000000000000 -r f8bc804eadbc MS5837/MS5837.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/MS5837/MS5837.cpp Sun Mar 20 03:05:25 2016 +0000
@@ -0,0 +1,100 @@
+#include <stdlib.h>
+#include "MS5837.h"
+
+
+/*
+ * Sensor operating function according data sheet
+ */
+
+void MS5837::MS5837Init(void)
+{
+ MS5837Reset();
+ MS5837ReadProm();
+ return;
+}
+
+/* Send soft reset to the sensor */
+void MS5837::MS5837Reset(void)
+{
+ /* transmit out 1 byte reset command */
+ ms5837_tx_data[0] = ms5837_reset;
+ if ( i2c.write( device_address, ms5837_tx_data, 1 ) );
+ //printf("send soft reset");
+ wait_ms(20);
+}
+
+/* read the sensor calibration data from rom */
+void MS5837::MS5837ReadProm(void)
+{
+ uint8_t i,j;
+ for (i=0; i<8; i++) {
+ j = i;
+ ms5837_tx_data[0] = ms5837_PROMread + (j<<1);
+ if ( i2c.write( device_address, ms5837_tx_data, 1 ) );
+ if ( i2c.read( device_address, ms5837_rx_data, 2 ) );
+ C[i] = ms5837_rx_data[1] + (ms5837_rx_data[0]<<8);
+ }
+}
+
+/* Start the sensor pressure conversion */
+void MS5837::MS5837ConvertD1(void)
+{
+ ms5837_tx_data[0] = ms5837_convD1;
+ if ( i2c.write( device_address, ms5837_tx_data, 1 ) );
+}
+
+/* Start the sensor temperature conversion */
+void MS5837:: MS5837ConvertD2(void)
+{
+ ms5837_tx_data[0] = ms5837_convD2;
+ if ( i2c.write( device_address, ms5837_tx_data, 1 ) );
+}
+
+/* Read the previous started conversion results */
+int32_t MS5837::MS5837ReadADC(void)
+{
+ int32_t adc;
+ wait_ms(150);
+ ms5837_tx_data[0] = ms5837_ADCread;
+ if ( i2c.write( device_address, ms5837_tx_data, 1 ) );
+ if ( i2c.read( device_address, ms5837_rx_data, 3 ) );
+ adc = ms5837_rx_data[2] + (ms5837_rx_data[1]<<8) + (ms5837_rx_data[0]<<16);
+ return (adc);
+}
+
+/* return the results */
+float MS5837::MS5837_Pressure (void)
+{
+ return P_MS5837;
+}
+float MS5837::MS5837_Temperature (void)
+{
+ return T_MS5837;
+}
+
+/* Sensor reading and calculation procedure */
+void MS5837::Barometer_MS5837(void)
+{
+ int32_t dT, temp;
+ int64_t OFF, SENS, press;
+
+ //no need to do this everytime!
+ //MS5837Reset(); // reset the sensor
+ //MS5837ReadProm(); // read the calibration values
+
+
+ MS5837ConvertD1(); // start pressure conversion
+ D1 = MS5837ReadADC(); // read the pressure value
+ MS5837ConvertD2(); // start temperature conversion
+ D2 = MS5837ReadADC(); // read the temperature value
+
+ /* calculation according MS5837-01BA data sheet DA5837-01BA_006 */
+ dT = D2 - (C[5]* 256);
+ OFF = (int64_t)C[2] * (1<<16) + ((int64_t)dT * (int64_t)C[4]) / (1<<7);
+ SENS = (int64_t)C[1] * (1<<15) + ((int64_t)dT * (int64_t)C[3]) / (1<<8);
+
+ temp = 2000 + (dT * C[6]) / (1<<23);
+ T_MS5837 = (float) temp / 100.0f; // result of temperature in deg C in this var
+ press = (((int64_t)D1 * SENS) / (1<<21) - OFF) / (1<<13);
+ P_MS5837 = (float) press / 10.0f; // result of pressure in mBar in this var
+}
diff -r 000000000000 -r f8bc804eadbc MS5837/MS5837.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/MS5837/MS5837.h Sun Mar 20 03:05:25 2016 +0000
@@ -0,0 +1,64 @@
+#include "mbed.h"
+
+#ifndef MS5837_H
+#define MS5837_H
+
+#define MS5837_RX_DEPTH 3 //
+#define MS5837_TX_DEPTH 2 //
+
+// choose your connection here
+#define ms5837_addr_no_CS 0x76 //0b1110110
+
+#define ms5837_reset 0x1E // Sensor Reset
+
+#define ms5837_convD1_256 0x40 // Convert D1 OSR 256
+#define ms5837_convD1_512 0x42 // Convert D1 OSR 512
+#define ms5837_convD1_1024 0x44 // Convert D1 OSR 1024
+#define ms5837_convD1_2048 0x46 // Convert D1 OSR 2048
+#define ms5837_convD1_4096 0x48 // Convert D1 OSR 4096
+#define ms5837_convD1_8192 0x4A // Convert D1 OSR 8192
+
+#define ms5837_convD1 ms5837_convD1_4096 // choose your sampling rate here
+
+#define ms5837_convD2_256 0x50 // Convert D2 OSR 256
+#define ms5837_convD2_512 0x52 // Convert D2 OSR 512
+#define ms5837_convD2_1024 0x54 // Convert D2 OSR 1024
+#define ms5837_convD2_2048 0x56 // Convert D2 OSR 2048
+#define ms5837_convD2_4096 0x58 // Convert D2 OSR 4096
+#define ms5837_convD2_8192 0x5A // Convert D2 OSR 8192
+
+#define ms5837_convD2 ms5837_convD2_4096 // choose your sampling rate here
+
+#define ms5837_ADCread 0x00 // read ADC command
+#define ms5837_PROMread 0xA0 // read PROM command base address
+
+class MS5837{
+private:
+ int D1, D2, Temp, C[8];
+ float T_MS5837, P_MS5837;
+ /* Data buffers */
+ char ms5837_rx_data[MS5837_RX_DEPTH];
+ char ms5837_tx_data[MS5837_TX_DEPTH];
+
+public:
+ MS5837 (PinName sda, PinName scl,
+ char ms5837_addr = ms5837_addr_no_CS )
+ : i2c( sda, scl ), device_address( ms5837_addr << 1 ) {
+ }
+ void MS5837Init(void);
+ void MS5837Reset(void);
+ void MS5837ReadProm(void);
+ void MS5837ConvertD1(void);
+ void MS5837ConvertD2(void);
+ int32_t MS5837ReadADC(void);
+ float MS5837_Pressure (void);
+ float MS5837_Temperature (void);
+ void Barometer_MS5837(void);
+
+
+private:
+ I2C i2c;
+ char device_address;
+
+};
+#endif
diff -r 000000000000 -r f8bc804eadbc QEI.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/QEI.lib Sun Mar 20 03:05:25 2016 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/aberk/code/QEI/#5c2ad81551aa
diff -r 000000000000 -r f8bc804eadbc main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Sun Mar 20 03:05:25 2016 +0000
@@ -0,0 +1,97 @@
+/*********************************************************************************
+* This code initializes the MS5803 and MS5837 pressure sensors on pins used
+* during testing (in March 2016 version of fish, the Open ROV IMU/Pressure Sensor
+* is connected to p28/p27, whereas this code uses both p28/p27 and p9/p10). It
+* constantly prints out the pressure and temperature readings of the two sensors.
+* It also establishes a QEI object on pins 25 and 24 from the encoder and
+* constantly prints the revolutions.
+*********************************************************************************/
+
+#include "mbed.h"
+#include "MS5803.h"
+#include "MS5837.h"
+#include "QEI.h"
+using namespace std;
+
+Serial pc(USBTX, USBRX);
+
+// Motor Driver
+AnalogIn pot(p15);
+PwmOut enable(p26);
+
+// Hall Sensor
+InterruptIn hallVoltage(p8);
+DigitalOut led2(LED2);
+
+// QEI
+QEI wheel(p25, p24, NC, 12); // 12=counts per revolution of motor shaft for the encoder
+
+void flip() {
+ led2 = !led2;
+}
+
+int main() {
+ // set serial transfer rate
+ pc.baud(9600);
+
+ // Initialize big pressure sensor
+ MS5803 big_sensor = MS5803(p28, p27, ms5803_addrCH);
+ big_sensor.MS5803Init();
+ float pressure_big;
+ float temp_big;
+
+ // Initialize small pressure sensor
+ MS5837 small_sensor = MS5837(p9, p10, ms5837_addr_no_CS);
+ small_sensor.MS5837Init();
+ float pressure_small;
+ float temp_small;
+
+ // Motor & QEI initialization
+ wheel.reset();
+ enable.period(.000001);
+ int count = 0;
+ int previousHallVoltage = 0;
+
+ while(1) {
+ hallVoltage.rise(&flip);
+ hallVoltage.fall(&flip);
+
+ // Update big pressure sensor
+ big_sensor.Barometer_MS5803();
+ pressure_big = big_sensor.MS5803_Pressure();
+ temp_big = big_sensor.MS5803_Temperature();
+ pc.printf("Big Sensor Pressure: %f\n", pressure_big);
+ pc.printf("Big Sensor Temperature: %f\n", temp_big);
+
+ // Update small pressure sensor
+ small_sensor.Barometer_MS5837();
+ pressure_small = small_sensor.MS5837_Pressure();
+ temp_small = small_sensor.MS5837_Temperature();
+ pc.printf("Small Sensor Pressure: %f\n", pressure_small);
+ pc.printf("Small Sensor Temperature: %f\n\n", temp_small);
+
+// // Simply feedback loop for speed, changing values every 5 revolutions as detected by hall sensor
+// if (count < 5) {
+// enable = pot; //PWM enable output is proportional to analog pot input
+// } else if (count < 10) {
+// enable = pot/2;
+// } else {
+// enable = pot;
+// count = 0;
+// }
+// if (previousHallVoltage==1 && hallVoltage==0) {
+// count += 1;
+// pc.printf("\n\n----END OF REVOLUTION----\nNumber of pulses: %i\n", wheel.getPulses());
+// wheel.reset();
+// }
+// if (hallVoltage) {
+// led2 = 1;
+// previousHallVoltage = 1;
+// } else {
+// led2 = 0;
+// previousHallVoltage = 0;
+// }
+
+ pc.printf("Pulses is: %i\n", wheel.getPulses());
+ }
+}
diff -r 000000000000 -r f8bc804eadbc mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Sun Mar 20 03:05:25 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/4f6c30876dfa \ No newline at end of file