void setup(void)
{
// Get particulars for board
i2cInit(I2CDEV_2);
// Not sure why the ms5611 needs this, but without this line it doesn't work
i2cWrite(0,0,0);
// attempt to initialize barometer
available = bmp280_init();
}
int main(int argc, char **argv)
{
signal(SIGINT, sig_handler);
//! [Interesting]
// Instantiate a BME280 instance using default i2c bus and
// address. We use the BMP280 driver to do all of our work, since
// the BMP280 and the BME280 are identical except for the fact
// that the BME280 includes a humidity sensor.
bmp280_context sensor = bmp280_init(BME280_DEFAULT_I2C_BUS,
BME280_DEFAULT_ADDR, -1);
if (!sensor)
{
printf("bmp280_init() failed\n");
return 1;
}
// For SPI, bus 0, you would pass -1 as the address, and a valid pin for CS:
// bmp280_init(BME280_DEFAULT_SPI_BUS,
// -1, 10)
while (shouldRun)
{
// update our values from the sensor
if (bmp280_update(sensor))
{
printf("bmp280_update() failed\n");
bmp280_close(sensor);
return 1;
}
printf("Compensation Temperature: %f C\n",
bmp280_get_temperature(sensor));
printf("Pressure: %f Pa\n", bmp280_get_pressure(sensor));
printf("Computed Altitude: %f m\n", bmp280_get_altitude(sensor));
printf("Relative Humidity: %f %%\n\n", bmp280_get_humidity(sensor));
upm_delay(1);
}
//! [Interesting]
printf("Exiting...\n");
bmp280_close(sensor);
return 0;
}
static void sensorsDeviceInit(void)
{
if (isInit)
return;
bstdr_ret_t rslt;
isBarometerPresent = false;
// Wait for sensors to startup
vTaskDelay(M2T(SENSORS_STARTUP_TIME_MS));
/* BMI160 */
// assign bus read function
bmi160Dev.read = (bmi160_com_fptr_t)bstdr_burst_read;
// assign bus write function
bmi160Dev.write = (bmi160_com_fptr_t)bstdr_burst_write;
// assign delay function
bmi160Dev.delay_ms = (bmi160_delay_fptr_t)bstdr_ms_delay;
bmi160Dev.id = BMI160_I2C_ADDR+1; // I2C device address
rslt = bmi160_init(&bmi160Dev); // initialize the device
if (rslt == BSTDR_OK)
{
DEBUG_PRINT("BMI160 I2C connection [OK].\n");
/* Select the Output data rate, range of Gyroscope sensor
* ~92Hz BW by OSR4 @ODR=800Hz */
bmi160Dev.gyro_cfg.odr = BMI160_GYRO_ODR_800HZ;
bmi160Dev.gyro_cfg.range = SENSORS_BMI160_GYRO_FS_CFG;
bmi160Dev.gyro_cfg.bw = BMI160_GYRO_BW_OSR4_MODE;
/* Select the power mode of Gyroscope sensor */
bmi160Dev.gyro_cfg.power = BMI160_GYRO_NORMAL_MODE;
/* Select the Output data rate, range of accelerometer sensor
* ~92Hz BW by OSR4 @ODR=800Hz */
bmi160Dev.accel_cfg.odr = BMI160_ACCEL_ODR_1600HZ;
bmi160Dev.accel_cfg.range = SENSORS_BMI160_ACCEL_FS_CFG;
bmi160Dev.accel_cfg.bw = BMI160_ACCEL_BW_OSR4_AVG1;
/* Select the power mode of accelerometer sensor */
bmi160Dev.accel_cfg.power = BMI160_ACCEL_NORMAL_MODE;
/* Set the sensor configuration */
rslt |= bmi160_set_sens_conf(&bmi160Dev);
bmi160Dev.delay_ms(50);
/* read sensor */
struct bmi160_sensor_data gyr;
rslt |= bmi160_get_sensor_data(BMI160_GYRO_ONLY, NULL, &gyr,
&bmi160Dev);
struct bmi160_sensor_data acc;
rslt |= bmi160_get_sensor_data(BMI160_ACCEL_ONLY, &acc, NULL,
&bmi160Dev);
}
else
{
DEBUG_PRINT("BMI160 I2C connection [FAIL].\n");
}
/* BMI055 */
bmi055Dev.accel_id = BMI055_ACCEL_I2C_ADDR;
bmi055Dev.gyro_id = BMI055_GYRO_I2C_ADDR;
bmi055Dev.interface = BMI055_I2C_INTF;
bmi055Dev.read = (bmi055_com_fptr_t)bstdr_burst_read;
bmi055Dev.write = (bmi055_com_fptr_t)bstdr_burst_write;
bmi055Dev.delay_ms = (bmi055_delay_fptr_t)bstdr_ms_delay;
/* BMI055 GYRO */
rslt = bmi055_gyro_init(&bmi055Dev); // initialize the device
if (rslt == BSTDR_OK)
{
DEBUG_PRINT("BMI055 Gyro I2C connection [OK].\n");
/* set power mode of gyro */
bmi055Dev.gyro_cfg.power = BMI055_GYRO_PM_NORMAL;
rslt |= bmi055_set_gyro_power_mode(&bmi055Dev);
/* set bandwidth and range of gyro */
bmi055Dev.gyro_cfg.bw = BMI055_GYRO_BW_116_HZ;
bmi055Dev.gyro_cfg.range = SENSORS_BMI055_GYRO_FS_CFG;
rslt |= bmi055_set_gyro_sensor_config(CONFIG_ALL, &bmi055Dev);
bmi055Dev.delay_ms(50);
struct bmi055_sensor_data gyr;
rslt |= bmi055_get_gyro_data(&gyr, &bmi055Dev);
}
else
{
DEBUG_PRINT("BMI055 Gyro I2C connection [FAIL].\n");
}
/* BMI055 ACCEL */
rslt = bmi055_accel_init(&bmi055Dev); // initialize the device
if (rslt == BSTDR_OK)
{
DEBUG_PRINT("BMI055 Accel I2C connection [OK].\n");
/* set power mode of accel */
bmi055Dev.accel_cfg.power = BMI055_ACCEL_PM_NORMAL;
rslt |= bmi055_set_accel_power_mode(&bmi055Dev);
/* set bandwidth and range of accel */
bmi055Dev.accel_cfg.bw = BMI055_ACCEL_BW_125_HZ;
bmi055Dev.accel_cfg.range = SENSORS_BMI055_ACCEL_FS_CFG;
rslt |= bmi055_set_accel_sensor_config(CONFIG_ALL, &bmi055Dev);
bmi055Dev.delay_ms(10);
struct bmi055_sensor_data acc;
rslt |= bmi055_get_accel_data(&acc, &bmi055Dev);
}
else
{
DEBUG_PRINT("BMI055 Accel I2C connection [FAIL].\n");
}
/* BMM150 */
rslt = BSTDR_E_GEN_ERROR;
/* Sensor interface over I2C */
bmm150Dev.id = BMM150_DEFAULT_I2C_ADDRESS;
bmm150Dev.interface = BMM150_I2C_INTF;
bmm150Dev.read = (bmm150_com_fptr_t)bstdr_burst_read;
bmm150Dev.write = (bmm150_com_fptr_t)bstdr_burst_write;
bmm150Dev.delay_ms = bstdr_ms_delay;
rslt = bmm150_init(&bmm150Dev);
if (rslt == BMM150_OK){
bmm150Dev.settings.pwr_mode = BMM150_NORMAL_MODE;
rslt |= bmm150_set_op_mode(&bmm150Dev);
bmm150Dev.settings.preset_mode = BMM150_PRESETMODE_HIGHACCURACY;
rslt |= bmm150_set_presetmode(&bmm150Dev);
DEBUG_PRINT("BMM150 I2C connection [OK].\n");
isMagnetometerPresent = true;
}
/* BMP280 */
rslt = BSTDR_E_GEN_ERROR;
bmp280Dev.bus_read = bstdr_burst_read;
bmp280Dev.bus_write = bstdr_burst_write;
bmp280Dev.delay_ms = bstdr_ms_delay;
bmp280Dev.dev_addr = BMP280_I2C_ADDRESS1;
rslt = bmp280_init(&bmp280Dev);
if (rslt == BSTDR_OK)
{
isBarometerPresent = true;
DEBUG_PRINT("BMP280 I2C connection [OK].\n");
bmp280_set_filter(BMP280_FILTER_COEFF_OFF);
bmp280_set_oversamp_temperature(BMP280_OVERSAMP_2X);
bmp280_set_oversamp_pressure(BMP280_OVERSAMP_8X);
bmp280_set_power_mode(BMP280_NORMAL_MODE);
bmp280Dev.delay_ms(20); // wait before first read out
// read out data
int32_t v_temp_s32;
uint32_t v_pres_u32;
bmp280_read_pressure_temperature(&v_pres_u32, &v_temp_s32);
baroMeasDelayMin = SENSORS_DELAY_BARO;
}
varianceSampleTime = -GYRO_MIN_BIAS_TIMEOUT_MS + 1;
sensorsAccLpfAttFactor = IMU_ACC_IIR_LPF_ATT_FACTOR;
cosPitch = cosf(configblockGetCalibPitch() * (float) M_PI / 180);
sinPitch = sinf(configblockGetCalibPitch() * (float) M_PI / 180);
cosRoll = cosf(configblockGetCalibRoll() * (float) M_PI / 180);
sinRoll = sinf(configblockGetCalibRoll() * (float) M_PI / 180);
isInit = true;
}
