Revision 0:2ee0bc82e7b8, committed 2017-03-29

Comitter:

TaylorGy

Date:

Wed Mar 29 03:09:38 2017 +0000

Commit message:

driver for HP20x sensor

Changed in this revision

diff -r 000000000000 -r 2ee0bc82e7b8 driver_mbed_HP20x.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/driver_mbed_HP20x.cpp	Wed Mar 29 03:09:38 2017 +0000
@@ -0,0 +1,266 @@
+/*
+ * File name  : HP20x_dev.cpp
+ * Description: Driver for I2C PRECISION BAROMETER AND ALTIMETER [HP206C]
+ * Author     : Oliver Wang from Seeed studio
+ * Version    : V0.1
+ * Create Time: 2014/04
+ * Change Log :
+*/
+
+/****************************************************************************/
+/***        Include files                                                 ***/
+/****************************************************************************/
+#include "driver_mbed_HP20x.h"
+// #include <Wire.h>
+// #include <Arduino.h>
+#include "driver_mbed_KalmanFilter.h"
+/****************************************************************************/
+/***       Local Variable                                                 ***/
+/****************************************************************************/
+HP20x_dev HP20x;
+I2C i2c_HP20x(PB_3, PB_10);
+
+/****************************************************************************/
+/***       Class member Functions                                         ***/
+/****************************************************************************/
+/*
+ **@ Function name: HP20x_dev
+ **@ Description: Constructor
+ **@ Input: none
+ **@ OutPut: none
+ **@ Retval: none
+*/
+HP20x_dev::HP20x_dev()
+{
+    OSR_CFG = HP20X_CONVERT_OSR1024;
+    OSR_ConvertTime = 25; 
+}
+
+/*
+ **@ Function name: begin
+ **@ Description: Initialize HP20x_dev
+ **@ Input: none
+ **@ OutPut: none
+ **@ Retval: none
+*/
+void HP20x_dev::begin()
+{
+  // Wire.begin();
+  /* Reset HP20x_dev */
+  HP20x.HP20X_IIC_WriteCmd(HP20X_SOFT_RST);
+}
+
+/*
+ **@ Function name: isAvailable
+ **@ Description: Indicate whether it's available
+ **@ Input: none
+ **@ OutPut: none
+ **@ Retval: uchar 
+*/
+uchar HP20x_dev::isAvailable()
+{
+  uchar ret = HP20x.HP20X_IIC_ReadReg(REG_PARA);
+  return ret;
+}
+/*
+ **@ Function name: ReadTemperature
+ **@ Description: Read Temperature from HP20x_dev
+ **@ Input:
+ **@ OutPut:
+ **@ Retval:
+*/
+ulong HP20x_dev::ReadTemperature(void)
+{
+     
+	HP20X_IIC_WriteCmd(HP20X_WR_CONVERT_CMD|OSR_CFG);	//ADC convert
+ 
+    wait_ms(int(OSR_ConvertTime));			                    //difference OSR_CFG will be difference OSR_ConvertTime
+    HP20X_IIC_WriteCmd(HP20X_READ_T);      
+    ulong Temperature = HP20X_IIC_ReadData();
+    return Temperature;		
+}
+
+/*
+ **@ Function name: ReadPressure
+ **@ Description: Read Pressure value
+ **@ Input:
+ **@ OutPut: 
+ **@ Retval: value
+*/
+ 
+ulong HP20x_dev::ReadPressure(void)
+{
+    HP20X_IIC_WriteCmd(HP20X_WR_CONVERT_CMD|OSR_CFG);
+    wait_ms(int(OSR_ConvertTime));
+    HP20X_IIC_WriteCmd(HP20X_READ_P);
+    ulong Pressure = HP20X_IIC_ReadData();             
+    return Pressure;
+} 
+
+/*
+ **@ Function name: ReadAltitude
+ **@ Description: Read Pressure value
+ **@ Input:
+ **@ OutPut: 
+ **@ Retval: value
+*/
+ulong HP20x_dev::ReadAltitude(void)
+{
+    HP20X_IIC_WriteCmd(HP20X_READ_A);
+    ulong Altitude = HP20X_IIC_ReadData();   
+    return Altitude;		
+} 
+ 
+/*
+void ReadPressureAndTemperature(void)
+{
+        HP20X_IIC_WriteCmd(HP20X_WR_CONVERT_CMD|OSR_CFG);
+        Timer_Delayxms(OSR_ConvertTime*2);
+        HP20X_IIC_WriteCmd(HP20X_READ_PT);
+        
+        Temperature=HP20X_IIC_ReadData();
+       
+        Pressure=HP20X_IIC_ReadData3byte();       
+}
+
+void IIC_ReadAltitudeAndTemperature(void)
+{
+
+       HP20X_IIC_WriteCmd(HP20X_WR_CONVERT_CMD|OSR_CFG);
+       Timer_Delayxms(OSR_ConvertTime*2);
+       HP20X_IIC_WriteCmd(HP20X_READ_AT);
+        
+        Temperature=HP20X_IIC_ReadData();
+        IIC_ACK();
+        Altitude=HP20X_IIC_ReadData3byte();
+        IIC_NoAck();      
+        IIC_Stop();  
+                   
+}*/
+/****************************************************************************/
+/***       Local Functions                                                ***/
+/****************************************************************************/
+
+/*
+ **@ Function name: HP20X_IIC_WriteCmd
+ **@ Description:
+ **@ Input:
+ **@ OutPut:
+ **@ Retval:
+*/
+void HP20x_dev::HP20X_IIC_WriteCmd(uchar uCmd)
+{		
+	/* Port to arduino */
+	// Wire.beginTransmission(HP20X_I2C_DEV_ID);
+	// Wire.write(uCmd);
+	// Wire.endTransmission();
+	char cmd = uCmd;
+	i2c_HP20x.write(HP20X_I2C_DEV_ID, &cmd, 1);
+}
+
+/*
+ **@ Function name: HP20X_IIC_ReadReg
+ **@ Description:
+ **@ Input:
+ **@ OutPut:
+ **@ Retval:  
+*/
+uchar HP20x_dev::HP20X_IIC_ReadReg(uchar bReg)
+{
+    /* Port to arduino */
+    char Temp;
+	
+	/* Send a register reading command */
+    HP20X_IIC_WriteCmd(bReg|HP20X_RD_REG_MODE);	
+	 
+	// Wire.requestFrom(HP20X_I2C_DEV_ID, 1);	 
+	// while(Wire.available())
+	// {
+	//     Temp = Wire.read();
+	// }
+	i2c_HP20x.read(HP20X_I2C_DEV_ID, &Temp, 1);
+	 
+	return Temp;
+} 
+/*
+ **@ Function name: HP20X_IIC_WriteReg
+ **@ Description:
+ **@ Input:
+ **@ OutPut:
+ **@ Retval:
+*/
+void HP20x_dev::HP20X_IIC_WriteReg(uchar bReg,uchar bData)
+{       
+	// Wire.beginTransmission(HP20X_I2C_DEV_ID);
+	// Wire.write(bReg|HP20X_WR_REG_MODE);
+	// Wire.write(bData);
+	// Wire.endTransmission();
+	char cmd[2];
+	cmd[0] = bReg|HP20X_WR_REG_MODE;
+	cmd[1] = bData;
+	i2c_HP20x.write(HP20X_I2C_DEV_ID, cmd, 2);
+}
+
+
+/*
+ **@ Function name: HP20X_IIC_ReadData
+ **@ Description:
+ **@ Input:
+ **@ OutPut:
+ **@ Retval:
+*/
+ulong HP20x_dev::HP20X_IIC_ReadData(void)
+{                        
+	/* Port to arduino */	 
+	ulong Temp = HP20X_IIC_ReadData3byte(); 
+	return Temp;
+}
+
+/*
+ **@ Function name: HP20X_IIC_ReadData3byte
+ **@ Description:
+ **@ Input:
+ **@ OutPut:
+ **@ Retval:
+*/
+ulong HP20x_dev::HP20X_IIC_ReadData3byte(void)
+{	
+	ulong TempData = 0;
+	char tmpArray[3];
+	
+	/* Require three bytes from slave */
+	// Wire.requestFrom(HP20X_I2C_DEV_ID, 3);      
+
+ //    while(Wire.available())     // slave may send less than requested
+ //    { 
+ //      uchar c = Wire.read();    // receive a byte as character	  	  
+	//   tmpArray[cnt] = (ulong)c;
+	//   cnt++;
+	// }
+	i2c_HP20x.read(HP20X_I2C_DEV_ID, tmpArray, 3);
+	
+	/* MSB */
+	TempData = tmpArray[0]<<16 | tmpArray[1]<<8 | tmpArray[2];
+
+	
+    if(TempData&0x800000)
+    {
+	    TempData|=0xff000000;
+	}
+
+ /* 	// 24 bit to 32 bit 
+	if(TempData&0x800000)
+	{
+	  // 1:minus 
+	  TempData |= 0x80000000;
+	  TempData &= 0xff7fffff;
+	}
+	else
+	{
+	  // 0:plus 
+	  //do noting
+	}  */
+	return TempData;
+} 
+
+/**************************************END OF FILE**************************************/
\ No newline at end of file

diff -r 000000000000 -r 2ee0bc82e7b8 driver_mbed_HP20x.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/driver_mbed_HP20x.h	Wed Mar 29 03:09:38 2017 +0000
@@ -0,0 +1,106 @@
+/*
+ * File name  : HP20x_dev.h
+ * Description: Driver for I2C PRECISION BAROMETER AND ALTIMETER [HP206C]
+ * Author     : Oliver Wang from Seeed studio
+ * Version    : V0.1
+ * Create Time: 2014/04
+ * Change Log :
+*/
+#ifndef _HP20X_DEV_H
+#define _HP20X_DEV_H
+/****************************************************************************/
+/***        Including Files                                               ***/
+/****************************************************************************/
+// #include <Wire.h>
+// #include <Arduino.h>
+#include "mbed.h"
+/****************************************************************************/
+/***        Macro Definitions                                             ***/
+/****************************************************************************/
+typedef unsigned int    uint;
+typedef unsigned char   uchar;
+typedef unsigned long   ulong;
+
+// #define HP20X_I2C_DEV_ID       (0xEC)>>1    //CSB PIN is VDD level(address is 0x76)
+// #define HP20X_I2C_DEV_ID2      (0XEE)>>1    //CSB PIN is GND level(address is 0x77)
+
+const int HP20X_I2C_DEV_ID = 0xEC;
+const int HP20X_I2C_DEV_ID2 = 0xEE;
+
+#define HP20X_SOFT_RST         0x06
+#define HP20X_WR_CONVERT_CMD   0x40
+#define HP20X_CONVERT_OSR4096  0<<2
+#define HP20X_CONVERT_OSR2048  1<<2
+#define HP20X_CONVERT_OSR1024  2<<2
+#define HP20X_CONVERT_OSR512   3<<2
+#define HP20X_CONVERT_OSR256   4<<2
+#define HP20X_CONVERT_OSR128   5<<2
+
+#define HP20X_READ_P           0x30   //read_p command
+#define HP20X_READ_A           0x31   //read_a command
+#define HP20X_READ_T           0x32   //read_t command
+#define HP20X_READ_PT          0x10   //read_pt command
+#define HP20X_READ_AT          0x11   //read_at command
+#define HP20X_READ_CAL		   0X28	  //RE-CAL ANALOG
+
+#define HP20X_WR_REG_MODE      0xC0
+#define HP20X_RD_REG_MODE      0x80
+
+#define ERR_WR_DEVID_NACK       0x01    
+#define ERR_RD_DEVID_NACK       0x02    
+#define ERR_WR_REGADD_NACK      0x04   
+#define ERR_WR_REGCMD_NACK      0x08   
+#define ERR_WR_DATA_NACK        0x10     
+#define ERR_RD_DATA_MISMATCH    0x20 
+
+#define I2C_DID_WR_MASK         0xFE
+#define I2C_DID_RD_MASK         0x01
+
+#define T_WIN_EN                0X01
+#define PA_WIN_EN               0X02
+#define T_TRAV_EN               0X04
+#define PA_TRAV_EN              0X08
+#define PA_RDY_EN               0X20
+#define T_RDY_EN                0X10
+
+#define T_WIN_CFG               0X01
+#define PA_WIN_CFG              0X02
+#define PA_MODE_P               0X00
+#define PA_MODE_A               0X40
+
+#define T_TRAV_CFG              0X04
+
+#define OK_HP20X_DEV            0X80		//HP20x_dev successfully initialized
+#define REG_PARA                0X0F        //Status register
+
+/****************************************************************************/
+/***        Class Definitions                                             ***/
+/****************************************************************************/
+class HP20x_dev
+{
+  /* Public variables and functions */
+  public:
+    uchar OSR_CFG;
+	uint  OSR_ConvertTime;
+    /* Constructor */
+    HP20x_dev();	
+	void begin();
+	uchar isAvailable();
+	
+	/* Read sensor data */
+	ulong ReadTemperature(void);
+	ulong ReadPressure(void);
+	ulong ReadAltitude(void);
+	
+  /* Private variables and functions */
+  private:
+    /* Write a command to HP20x */
+	void HP20X_IIC_WriteCmd(uchar uCmd);	
+	/* Read register value */
+	uchar HP20X_IIC_ReadReg(uchar bReg);	
+	void HP20X_IIC_WriteReg(uchar bReg,uchar bData);	 	
+	ulong HP20X_IIC_ReadData(void);
+	ulong HP20X_IIC_ReadData3byte(void);
+};
+extern HP20x_dev HP20x;
+#endif
\ No newline at end of file

diff -r 000000000000 -r 2ee0bc82e7b8 driver_mbed_KalmanFilter.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/driver_mbed_KalmanFilter.cpp	Wed Mar 29 03:09:38 2017 +0000
@@ -0,0 +1,93 @@
+/*
+ * File name  : KalmanFilter.cpp
+ * Description: Kalman Filter class 
+ * Author     : Oliver Wang from Seeed studio
+ * Version    : V0.1
+ * Create Time: 2014/04
+ * Change Log :
+*/
+
+/****************************************************************************/
+/***        Include files                                                 ***/
+/****************************************************************************/
+// #include <Arduino.h>
+#include <driver_mbed_KalmanFilter.h>
+// #include <inttypes.h>
+#include <stdlib.h>
+#include <stdio.h>
+
+AnalogIn ain(D0);
+/* random number table */
+float Rand_Table[100]={
+0.5377,1.8339,-2.2588,0.8622,0.3188,-1.3077,-0.4336,0.342,3.5784, 
+2.7694,-1.3499,3.0349,0.7254,-0.0631,0.7147,-0.2050,-0.1241,1.4897, 
+1.4090,1.4172,0.6715,-1.2075,0.7172,1.6302,0.4889,1.0347,0.7269, 
+-0.3034,0.2939,-0.7873,0.8884,-1.1471,-1.0689,-0.8095,-2.9443,1.4384, 
+0.3252,-0.7549,1.3703,-1.7115,-0.1022,-0.2414,0.3192,0.3129,-0.8649, 
+-0.0301,-0.1649,0.6277,1.0933,1.1093,-0.8637,0.0774,-1.2141,-1.1135, 
+-0.0068,1.5326,-0.7697,0.3714,-0.2256,1.1174,-1.0891,0.0326,0.5525, 
+1.1006,1.5442,0.0859,-1.4916,-0.7423,-1.0616,2.3505,-0.6156,0.7481, 
+-0.1924,0.8886,-0.7648,-1.4023,-1.4224,0.4882,-0.1774,-0.1961,1.4193, 
+0.2916,0.1978,1.5877,-0.8045,0.6966,0.8351,-0.2437,0.2157,-1.1658, 
+-1.1480,0.1049,0.7223,2.5855,-0.6669,0.1873,-0.0825,-1.9330,-0.439, 
+-1.7947};
+
+/* Extern variables */
+KalmanFilter kalmanFilter;
+
+KalmanFilter::KalmanFilter()
+{
+    X_pre = 0;
+	P_pre = 0;	 
+	X_post = 0;
+	P_post = 0;
+	K_cur = 0;
+}
+
+float KalmanFilter::Gaussian_Noise_Cov(void)
+{
+    int index = 0;
+	float tmp[10]={0.0};
+	float average = 0.0;
+	float sum = 0.0;
+	/* Initialize random number generator */
+	srand((int)ain.read());
+	/* Get random number */
+	for(int i=0; i<10; i++)
+	{
+	    index = (int)rand()%100;
+        tmp[i] = Rand_Table[index];
+        sum += tmp[i];		
+	}
+	
+	/* Calculate average */
+	average = sum/10;
+	
+	/* Calculate Variance */
+	float Variance = 0.0;		
+	for(int j = 0; j < 10; j++)
+	{
+	    Variance += (tmp[j]-average)*(tmp[j]-average);
+	}
+	Variance/=10.0;
+	
+	return Variance;
+}
+
+float KalmanFilter::Filter(float origin)
+{
+    float modelNoise = 0.0;
+	float observeNoise = 0.0;
+	
+	/* Get model and observe Noise */
+	modelNoise = Gaussian_Noise_Cov();
+	observeNoise = Gaussian_Noise_Cov();
+	
+	/* Algorithm */
+	X_pre = X_post;
+	P_pre = P_post + modelNoise;
+	K_cur = P_pre/(P_pre + observeNoise);
+	P_post = (1 - K_cur)*P_pre;
+	X_post = X_pre + K_cur*(origin - X_pre);
+	return X_post;
+}

diff -r 000000000000 -r 2ee0bc82e7b8 driver_mbed_KalmanFilter.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/driver_mbed_KalmanFilter.h	Wed Mar 29 03:09:38 2017 +0000
@@ -0,0 +1,38 @@
+/*
+ * File name  : kalmanFilter.h
+ * Description:  
+ * Author     : Oliver Wang from Seeed studio
+ * Version    : V0.1
+ * Create Time: 2014/04
+ * Change Log :
+*/
+
+#ifndef _KALMANFILTER_H
+#define _KALMANFILTER_H
+/****************************************************************************/
+/***        Include files                                                 ***/
+/****************************************************************************/
+// #include <Arduino.h>
+// #include <inttypes.h>
+#include "mbed.h"
+/****************************************************************************/
+/***        Local variables                                               ***/
+/****************************************************************************/
+
+
+/****************************************************************************/
+/***        Class Definitions                                             ***/
+/****************************************************************************/
+class KalmanFilter
+{
+    public:
+	  KalmanFilter();	 
+	  float Filter(float);
+	private:
+	/* variables */
+	float X_pre, X_post, P_pre, P_post, K_cur; 
+	float Gaussian_Noise_Cov(void);
+	
+};
+extern KalmanFilter kalmanFilter;
+#endif
\ No newline at end of file