All mbed code for control over dive planes, pump motor, valve motor, BCUs, UART interface, etc.
Dependencies: mbed ESC mbed MODDMA
Diff: robotic_fish_6/MS5837/MS5837.cpp
- Revision:
- 0:c3a329a5b05d
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/robotic_fish_6/MS5837/MS5837.cpp Tue Jan 14 19:17:05 2020 +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 +}