bool ms5611Detect(baro_t *baro)
{
GPIO_InitTypeDef GPIO_InitStructure;
bool ack = false;
uint8_t sig,i;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_13; // PC13 (BMP085's XCLR reset input, which we use to disable it)
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_Init(GPIOC, &GPIO_InitStructure);
BMP085_OFF;
delay(50); // Crashpilot 100ms No idea how long the chip takes to power-up, but let's make it 10ms
// BMP085 is disabled. If we have a MS5611, it will reply. if no reply, means either we have BMP085 or no baro at all.
ack = i2cRead(MS5611_ADDR, CMD_PROM_RD, 1, &sig);
if (!ack) return false;
delay(50);
for (i = 0; i < 5; i++) ms5611_reset(); // Reset the damn thing a few times
for (i = 0; i < PROM_NB; i++) ms5611_c[i] = ms5611_prom(i); // read all coefficients // read 8 words word:0 = ID; word:1-6 = C1-C6; word:7 = ChkSum
if (ms5611_crc(ms5611_c) != 0) return false; // check crc, bail out if wrong - we are probably talking to BMP085 w/o XCLR line!
// baro->ut_delay = 10000; // baro->up_delay = 10000; // baro->repeat_delay = 4000;
baro->ut_delay = 9500;
baro->up_delay = 9500;
baro->repeat_delay = 1;
baro->start_ut = ms5611_start_ut;
baro->get_ut = ms5611_get_ut;
baro->start_up = ms5611_start_up;
baro->get_up = ms5611_get_up;
baro->calculate = ms5611_calculate;
delay(50);
for (i = 0; i < 10; i++) ms5611_reset(); // Reset the damn thing a few times
delay(50);
return true;
}
bool ms5611Detect(baro_t *baro)
{
bool ack = false;
uint8_t sig;
int i;
delay(10); // No idea how long the chip takes to power-up, but let's make it 10ms
ack = i2cRead(BARO_I2C_INSTANCE, MS5611_ADDR, CMD_PROM_RD, 1, &sig);
if (!ack)
return false;
ms5611_reset();
// read all coefficients
for (i = 0; i < PROM_NB; i++)
ms5611_c[i] = ms5611_prom(i);
// check crc, bail out if wrong - we are probably talking to BMP085 w/o XCLR line!
if (ms5611_crc(ms5611_c) != 0)
return false;
// TODO prom + CRC
baro->ut_delay = 10000;
baro->up_delay = 10000;
baro->start_ut = ms5611_start_ut;
baro->get_ut = ms5611_get_ut;
baro->start_up = ms5611_start_up;
baro->get_up = ms5611_get_up;
baro->calculate = ms5611_calculate;
return true;
}
bool ms5611Init()
{
bool ack = false;
uint8_t sig;
int i;
ack = i2cRead(MS5611_ADDR, CMD_PROM_RD, 1, &sig);
if (!ack)
return false;
ms5611_reset();
// read all coefficients
for (i = 0; i < PROM_NB; i++)
ms5611_c[i] = ms5611_prom(i);
// check crc, bail out if wrong - we are probably talking to BMP085 w/o XCLR line!
if (ms5611_crc(ms5611_c) != 0)
return false;
// TODO prom + CRC
baro.ut_delay = 10000;
baro.up_delay = 10000; //us
baro.start_ut = ms5611_start_ut;
baro.get_ut = ms5611_get_ut;
baro.start_up = ms5611_start_up;
baro.get_up = ms5611_get_up;
baro.calculate = ms5611_calculate;
return true;
}
bool ms5611Detect(baro_t *baro)
{
GPIO_InitTypeDef GPIO_InitStructure;
bool ack = false;
uint8_t sig;
int i;
// PC13 (BMP085's XCLR reset input, which we use to disable it)
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_13;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_Init(GPIOC, &GPIO_InitStructure);
BMP085_OFF;
delay(10); // No idea how long the chip takes to power-up, but let's make it 10ms
// BMP085 is disabled. If we have a MS5611, it will reply. if no reply, means either
// we have BMP085 or no baro at all.
ack = i2cRead(MS5611_ADDR, CMD_PROM_RD, 1, &sig);
if (!ack)
return false;
ms5611_reset();
// read all coefficients
for (i = 0; i < PROM_NB; i++)
ms5611_c[i] = ms5611_prom(i);
// check crc, bail out if wrong - we are probably talking to BMP085 w/o XCLR line!
if (ms5611_crc(ms5611_c) != 0)
return false;
// TODO prom + CRC
baro->ut_delay = 10000;
baro->up_delay = 10000;
baro->repeat_delay = 4000;
baro->start_ut = ms5611_start_ut;
baro->get_ut = ms5611_get_ut;
baro->start_up = ms5611_start_up;
baro->get_up = ms5611_get_up;
baro->calculate = ms5611_calculate;
return true;
}
THD_FUNCTION(scMS5611Thread, arg)
{
systime_t sleep_until;
systime_t interval_st = MS2ST(ms5611_interval_ms);
(void)arg;
chRegSetThreadName(__func__);
SC_LOG_PRINTF("d: ms5611 init\r\n");
// We need to give a bit of time to the chip until we can ask it to shut down
// i2c not ready initially? (This is inherited from the LSM9DS0 driver)
chThdSleepMilliseconds(20);
ms5611_reset();
chThdSleepMilliseconds(100);
ms5611_reset();
chThdSleepMilliseconds(100);
ms5611_reset();
chThdSleepMilliseconds(100);
ms5611_read_prom();
uint8_t ref_crc = ms5611_prom[MS5611_PROM_SIZE - 1] & 0x0F;
uint8_t calc_crc = ms5611_calc_crc();
if (ref_crc != calc_crc) {
SC_LOG_PRINTF("e: ms5611 crc failure: 0x%x vs 0x%x\r\n", ref_crc, calc_crc);
}
sleep_until = chVTGetSystemTime() + interval_st;
// Loop initiating measurements and waiting for results
while (!chThdShouldTerminateX()) {
systime_t now = chVTGetSystemTime();
systime_t wait_time = sleep_until - now;
uint32_t temp;
uint32_t pres;
msg_t msg;
// Using a semaphore allows to cancel the sleep outside the thread
if (chBSemWaitTimeout(&ms5611_wait_sem, wait_time) != MSG_TIMEOUT) {
continue;
}
sleep_until += interval_st;
now = chVTGetSystemTime();
temp = ms5611_read(true);
if (chThdShouldTerminateX()) {
break;
}
pres = ms5611_read(false);
chMtxLock(&data_mtx);
ms5611_temp = temp;
ms5611_pres = pres;
ms5611_time_st = now;
chMtxUnlock(&data_mtx);
// Notify main app about new measurements being available
msg = sc_event_msg_create_type(SC_EVENT_TYPE_MS5611_AVAILABLE);
sc_event_msg_post(msg, SC_EVENT_MSG_POST_FROM_NORMAL);
}
}
/*
* Initialise the MS5611.
* (Public)
*
* Sends a RESET and then reads in the calibration data.
*
* Call this once system startup, before attempting ms5611_read.
*
* cal_data should be a pointer to some memory to store the calibration in.
*/
void ms5611_init(MS5611CalData* cal_data)
{
ms5611_reset();
ms5611_read_cal(cal_data);
}
