Diff: imu.h

Revision:

1:7cf70724bdb0

Parent:

0:35bba382318b

--- a/imu.h	Thu Jun 21 07:00:40 2018 +0000
+++ b/imu.h	Thu Jun 21 08:46:30 2018 +0000
@@ -56,32 +56,83 @@
 #define DEFAULT_ADDRESS     GYRO_ADDRESS
 #define WHO_AM_I_VAL        0x73 //identity of MPU9250 is 0x71. identity of MPU9255 is 0x73.
 
-    typedef struct
-    {
-        int16_t X;
-        int16_t Y;
-        int16_t Z;
-    }MPU9250_TypeDef;
-    
-    typedef struct
-    {
-        int16_t X_Off_Err;
-        int16_t Y_Off_Err;
-        int16_t Z_Off_Err;
-    }MPU9250_TypeDef_Off;
-    
-    typedef struct
-    {
-        uint8_t Index;
-        int16_t AvgBuffer[8];
-    }MPU9250_AvgTypeDef;
+
+// define BMP180 register address
+//****************************************
+#define BMP180_ADDR       0xEE     // default I2C address  
+
+/* ---- Registers ---- */
+#define CAL_AC1           0xAA  // R   Calibration data (16 bits)
+#define CAL_AC2           0xAC  // R   Calibration data (16 bits)
+#define CAL_AC3           0xAE  // R   Calibration data (16 bits)    
+#define CAL_AC4           0xB0  // R   Calibration data (16 bits)
+#define CAL_AC5           0xB2  // R   Calibration data (16 bits)
+#define CAL_AC6           0xB4  // R   Calibration data (16 bits)
+#define CAL_B1            0xB6  // R   Calibration data (16 bits)
+#define CAL_B2            0xB8  // R   Calibration data (16 bits)
+#define CAL_MB            0xBA  // R   Calibration data (16 bits)
+#define CAL_MC            0xBC  // R   Calibration data (16 bits)
+#define CAL_MD            0xBE  // R   Calibration data (16 bits)
+#define CONTROL           0xF4  // W   Control register 
+#define CONTROL_OUTPUT    0xF6  // R   Output registers 0xF6=MSB, 0xF7=LSB, 0xF8=XLSB
+
+// BMP180 Modes
+#define MODE_ULTRA_LOW_POWER    0 //oversampling=0, internalsamples=1, maxconvtimepressure=4.5ms, avgcurrent=3uA, RMSnoise_hPA=0.06, RMSnoise_m=0.5
+#define MODE_STANDARD           1 //oversampling=1, internalsamples=2, maxconvtimepressure=7.5ms, avgcurrent=5uA, RMSnoise_hPA=0.05, RMSnoise_m=0.4
+#define MODE_HIGHRES            2 //oversampling=2, internalsamples=4, maxconvtimepressure=13.5ms, avgcurrent=7uA, RMSnoise_hPA=0.04, RMSnoise_m=0.3
+#define MODE_ULTRA_HIGHRES      3 //oversampling=3, internalsamples=8, maxconvtimepressure=25.5ms, avgcurrent=12uA, RMSnoise_hPA=0.03, RMSnoise_m=0.25
+
+// Control register
+#define READ_TEMPERATURE        0x2E 
+#define READ_PRESSURE           0x34 
+//Other
+#define MSLP                    102025          // Mean Sea Level Pressure = 1013.25 hPA (1hPa = 100Pa = 1mbar)
+#define LOCAL_ADS_ALTITUDE      2500            //mm     altitude of your position now
+#define PRESSURE_OFFSET         0               //Pa    Offset
 
+/*********************************************/
+// struct
+typedef struct
+{
+    int16_t X;
+    int16_t Y;
+    int16_t Z;
+}MPU9250_TypeDef;
+
+typedef struct
+{
+    int16_t X_Off_Err;
+    int16_t Y_Off_Err;
+    int16_t Z_Off_Err;
+}MPU9250_TypeDef_Off;
+
+typedef struct
+{
+    uint8_t Index;
+    int16_t AvgBuffer[8];
+}MPU9250_AvgTypeDef;
+
+typedef struct
+{
+    uint8_t Index;
+    int32_t AvgBuffer[8];
+}BMP180_AvgTypeDef;
+
+enum
+{
+    START_TEMPERATURE_MEASUREMENT = 0,
+    READ_UT_AND_START_PRESSURE_MEASUREMENT,
+    READ_UP_CAL_TRUE_PRESSURE_TEMPERATURE,
+};
+/*******************************************************/
 class IMU 
 {
     
     public:
+    //IMU
     void IMU_Init();
     void IMU_GetYawPitchRoll(float*Angles);
+    
     //MPU9255
     void MPU9250_Init();
     void MPU9250_READ_ACCEL();
@@ -91,14 +142,32 @@
     void MPU9250_CalAvgValue(uint8_t *pIndex, int16_t *pAvgBuffer, int16_t InVal, int32_t *pOutVal);
     void MPU9250_InitGyrOffset();
     
-    int16_t accel[3], gyro[3], magn[3];
+    //BMP180
+    void CalTemperatureAndPressureAndAltitude(void);
+    void BMP180_Init(void);
+    void BMP180_StartTemperatureMeasurement(void);
+    void BMP180_StartPressureMeasurement(void);
+    void BMP180_ReadUncompensatedTemperature(void);
+    void BMP180_ReadUncompensatedPressure(void);
+    void BMP180_CalculateTrueTemperature(int32_t *pTrueTemperature);
+    void BMP180_CalculateTruePressure(int32_t *pTruePressure);
+    void BMP180_LocalpressureAvg(int32_t *pVal);
+    void BMP180_PressureAtSeaLevel(void);
+    void BMP180_CalculateAbsoluteAltitude(int32_t *pAltitude, int32_t PressureVal);
+    void BMP180_ReadCalibrationData(void);
+    void BMP180_SetOversample(void);
+    
+    int32_t PressureVal, TemperatureVal, AltitudeVal;
     
     private:
+    //IMU
+    float   q0, q1, q2, q3;
     
+    //MPU9250
     char    BUF[10];
-    //int16_t accel[3], gyro[3], magn[3];
+    int16_t accel[3], gyro[3], magn[3];
     float   angles[3];
-    float   q0, q1, q2, q3;
+
     MPU9250_TypeDef     MPU9250_Offset;//={0};
     MPU9250_TypeDef_Off MPU9250_Magn_Offset;//={0};
     
@@ -106,10 +175,18 @@
     void    IMU_AHRSupdate(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz);
     void    IMU_GetQuater(void);
     
-    //void    MPU9250_CalAvgValue(uint8_t *pIndex, int16_t *pAvgBuffer, int16_t InVal, int32_t *pOutVal);
+    //BMP180
+    //int32_t PressureVal, TemperatureVal, AltitudeVal;
+    int16_t AC1, AC2, AC3, B1, B2, MB, MC, MD, _oss;  
+    uint16_t AC4, AC5, AC6;
+    int32_t B5, UT, UP, Pressure0; 
     
+    void BMP180_CalAvgValue(uint8_t *pIndex, int32_t *pAvgBuffer, int32_t InVal, int32_t *pOutVal);
+
+    //I2C
     void    I2C_WriteOneByte(uint8_t DevAddr, uint8_t RegAddr, uint8_t Data);
     uint8_t I2C_ReadOneByte(uint8_t DevAddr, uint8_t RegAddr);
+    void    BMP180_ReadReg(uint8_t RegAddr, uint8_t Num, char *pBuffer);
 };
 
 #endif
\ No newline at end of file