mirror of
https://git.intern.spaceteamaachen.de/ALPAKA/driver-ms56xx.git
synced 2025-08-01 19:41:54 +00:00
Merge pull request 'feature/ms5611-support' (#3) from feature/ms5611-support into main
Reviewed-on: https://git.intern.spaceteamaachen.de/ALPAKA/driver-ms5607/pulls/3 Reviewed-by: carlwachter <carlwachter@noreply.git.intern.spaceteamaachen.de>
This commit is contained in:
carlwachter
commit
3a0d38bf7a
@ -1,9 +1,10 @@
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# Driver for the MS5607 pressure sensor
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# Driver for the MS56xx pressure sensor series
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## Usage
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1. The constructor takes an SpiDevice pointer and an instance from the OsrLevel enum
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2. The OsrLevel enum stores the possible values for the OSR (how fine the sensor measures or sth.)
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1. Initialize sensor with `init`.
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2. Read data with `getPressure` or `getTemperature`.
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3. Enjoy life.
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## TODO
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@ -1,123 +0,0 @@
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#ifndef STA_SENSORS_MS5607_HPP
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#define STA_SENSORS_MS5607_HPP
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#include<sta/spi/device.hpp>
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#include<sta/endian.hpp>
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#include<sta/stm32/delay.hpp>
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namespace sta {
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// Class to represent a MS5607 pressure sensor which is used with SPI
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class MS5607 {
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public:
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// Different OSR levels for the sensor
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enum OsrLevel {
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_256 = 0,
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_512 = 1,
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_1024 = 2,
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_2048 = 3,
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_4096 = 4
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};
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MS5607(SpiDevice* device, OsrLevel osr=OsrLevel::_1024);
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// Request Calculation of uncompensated pressure
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// Takes a few ms -> Call, then do sth. else, then get Pressure with function
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// If calculation already running, do nothing
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void requestAdcReadout(uint32_t curTime);
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// Function to get Pressure
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// Parameter should be Temperature in Celsius * 100 (e.g. 20.3 deg. C -> 2030)
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// If currently still processing, use old value
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// If currently not processing, start processing to minimize potential waiting times
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int32_t getPressure(int32_t temp, uint32_t curTime);
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// --- DEPRECATED ---
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// Parameterless version of function above
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// Calls getTemperature, to get temp
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// NOT RECOMMENDED
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int32_t getPressure();
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// Getter for temperature
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// Deprecated because of time constrains
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// NOT RECOMMENDED
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int32_t getTemperature();
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// --- DEPRECATED ---
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void changeOsrLevel(OsrLevel newOsr) {
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// Don't I need to write this to the sensor?
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this->osr_ = newOsr;
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}
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private:
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// Helper method to keep code clean
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void pulseCS(uint32_t ms=1) {
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this->device_->endTransmission();
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sta::delayMs(ms);
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this->device_->beginTransmission();
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}
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// Last Pressure Value measured; Used to give any output if still calculating ADC
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int32_t lastPresVal;
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// Value to store, when adc was started
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// On STM32 with HAL_GetTick() (Gives ms since startup)
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uint32_t adcStartTime;
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// To prevent calculation of adc without reading value
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bool presRead;
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// STA internal object for SPi abstraction
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SpiDevice* device_;
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OsrLevel osr_;
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// 6 Different constants; Includes Offsets, references etc.
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uint16_t sens, off, tcs, tco, t_ref, tempsens;
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// All possible commands to send to the sensor
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enum Operations {
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RESET = 0x1E,
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READ_PROM = 0xA2,
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D1_CONVERSION = 0x40,
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D2_CONVERSION = 0x50,
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ADC_RESULT = 0x00
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};
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// Request pure ADC converted values from the sensor
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// Calculations with offset required
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uint32_t readPressure();
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// Read temp should not be used, rather give temp from e.g. SCA3300 as parameter to readPres
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uint32_t readTemp();
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// Calculate pure ADC values to final pressure/temperature values
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int32_t calculatePressure(uint32_t d1, int32_t dT);
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int32_t calculateTemperature(uint32_t d2);
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int32_t reverseTempCalc(int32_t temp);
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void reset();
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void readPROM();
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// Constants for waiting
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const uint32_t RESET_DELAY = 2800; // in uS
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// Function to get the delay times needed for different OSR Levels
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// Values not found in datasheet (facepalm)
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// Thus partly googled, partly tested out
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static uint8_t delayTimes(OsrLevel level) {
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switch (level) {
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case _256:
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return 1;
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case _512:
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return 2;
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case _1024:
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return 3;
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case _2048:
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return 5;
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case _4096:
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return 10;
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}
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}
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};
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}
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#endif // ifndef STA_SENSORS_MS5607_HPP
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@ -1,6 +0,0 @@
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// Needed for sta/endian.hpp
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#define STA_MCU_LITTLE_ENDIAN
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// Needed for sta/stm32/delay.hpp
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#define STA_PLATFORM_STM32
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#define STA_STM32_DELAY_US_TIM
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262
include/sta/drivers/MS56xx.hpp
Normal file
262
include/sta/drivers/MS56xx.hpp
Normal file
@ -0,0 +1,262 @@
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#ifndef STA_SENSORS_MS5607_HPP
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#define STA_SENSORS_MS5607_HPP
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#include <sta/bus/spi/device.hpp>
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#include <sta/bus/i2c/device.hpp>
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#include <sta/time.hpp>
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#include <sta/endian.hpp>
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// Important: The pin CSB shall be connected to VDD or GND (do not leave unconnected!).
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/**
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* @brief MS56xx address when the CS pin is connected to GND.
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*
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*/
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#define MS56XX_ADDRESS_CS_LOW (uint8_t)0x77
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/**
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* @brief MS56xx address when the CS pin is connected to VDD.
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*
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*/
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#define MS56XX_ADDRESS_CS_HIGH (uint8_t)0x76
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namespace sta
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{
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/**
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* @brief Driver class for communicating with the MS56xx pressure sensor via SPI.
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*
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*/
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class MS56xx {
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public:
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/**
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* @brief Signature for delay msec function.
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*/
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using DelayUsFunc = void (*)(uint32_t);
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/**
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* @brief Represents the two different supported sensors.
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*
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*/
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enum Version
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{
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_MS5611,
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_MS5607
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};
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/**
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* @brief Different OSR levels for the sensor
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*
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*/
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enum OsrLevel {
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_256 = 0,
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_512 = 1,
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_1024 = 2,
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_2048 = 3,
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_4096 = 4
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};
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/**
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* @brief Different units supported by the pressure sensor.
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*
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*/
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enum Unit
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{
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hPa,
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Pa,
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mbar
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};
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/**
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* @brief The types of physical interfaces used for communication with the sensor.
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*
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*/
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enum Intf
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{
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SPI,
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I2C
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};
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/**
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* @brief All possible commands to send to the sensor
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*
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*/
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enum Operations
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{
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RESET = 0x1E,
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READ_PROM = 0xA0,
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D1_CONVERSION = 0x40,
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D2_CONVERSION = 0x50,
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ADC_RESULT = 0x00
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};
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/**
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* @brief Represents the two datatypes available for this sensor.
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*
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*/
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enum DataType
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{
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PRESSURE,
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TEMPERATURE
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};
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/**
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* @brief SPI driver for the MS56xx pressure sensor series.
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*
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* @param device The SPI device for bus communication.
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* @param version The version of the sensor that the driver is used for.
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* @param delay Function for triggering microsecond delays.
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* @param osr The oversampling rate for the sensor.
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*
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* @note Set PS pin to low for SPI. Maximum SPI frequency 20MHz, mode 0 and 3 are supported.
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*/
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MS56xx(SPIDevice * device, Version version, DelayUsFunc delay, OsrLevel osr = OsrLevel::_1024);
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/**
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* @brief I2C driver for the MS56xx pressure sensor series.
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*
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* @param device The I2C device for bus communication.
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* @param version The version of the sensor that the driver is used for.
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* @param delay Function for triggering microsecond delays.
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* @param osr The oversampling rate for the sensor.
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*
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* @note Set PS pin to high for I2C. Chip select pin represents LSB of address.
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*/
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MS56xx(I2CDevice * device, Version version, DelayUsFunc delay, OsrLevel osr = OsrLevel::_1024);
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/**
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* @brief Initialize the driver. Computes the pressure value at altitude 0.
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*
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* @return True if successful, false otherwise.
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*/
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bool init();
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/**
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* @brief Set the oversampling rate.
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*
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* @param osr The new oversampling rate.
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*/
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void setOsr(OsrLevel osr);
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/**
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* @brief Reads the current pressure value from the sensor. Obtains the temperature value from the interal sensor.
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*
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* @param unit Specifies the unit for the pressure measurement. Default is hPa.
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* @return float The measured value in the specified unit.
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*/
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float getPressure(Unit unit = Unit::hPa);
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/**
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* @brief Reads the current temperature value from the sensor.
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*
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* @return float The measured temperature.
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*/
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float getTemperature();
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/**
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* @brief Provide a reference pressure value at a reference altitude in order to estimate the sealevel pressure.
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*
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* @param pressRef The reference pressure value measured at a reference altitude.
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* @param altRef The reference altitude for the reference pressure.
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* @param unit The unit of the provided pressure value.
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*/
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void setPressureReference(float pressRef, float altRef, Unit unit = Unit::hPa);
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/**
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* @brief Estimate the current altitude based on the pressure readings.
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*
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* @return float The altitude estimate in meters.
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*/
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float getAltitudeEstimate();
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private:
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/**
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* @brief Reset the sensor.
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*
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*/
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void reset();
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/**
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* @brief Request an ADC readout from the sensor.
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*
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* @param type The type of data to read.
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*/
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void requestData(DataType type);
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/**
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* @brief Read all constants from the PROM
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*
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*/
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void readPROM();
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/**
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* @brief Initialize the constants used for conversion.
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*
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* @note This code was taken from https://github.com/RobTillaart/MS5611
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*
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*/
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void initConstants();
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/**
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* @brief Convert the pressure value given in Pa to a different unit.
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*
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* @param pressure A pressure value in Pa.
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* @param unit The desired unit.
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* @return float Returns the converted value.
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*/
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float convertPressure(float pressure, Unit unit);
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/**
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* @brief Small helper function for converting a uint8_t buffer to a single uint16_t.
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*
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* @param buffer A uint8_t of size 2. More bytes will be ignored.
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* @return uint16_t A single uint16_t containing the first buffer value as MSB and the second as LSB.
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*/
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uint16_t uint_8BufferTouint16_t(uint8_t* buffer);
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/**
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* @brief Function to get the delay times needed for different OSR Levels
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*
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* @param level The oversampling rate chosen
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* @return uint32_t Returs the delay time in uS.
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*/
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uint32_t osrDelay();
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private:
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/**
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* @brief Send a command to the sensor via the bus.
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*
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* @param command The command to send.
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* @return true if successful, false otherwise.
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*/
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bool busCommand(uint8_t command);
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/**
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* @brief Read data from one of the sensor's registers.
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*
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* @param reg The register to read from.
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* @param buffer The buffer to write the received data to.
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* @param length The number of bytes to read from the register.
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* @return true if successful, false otherwise.
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*/
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bool busRead(uint8_t reg, uint8_t * buffer, size_t length);
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private:
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// STA internal object for SPi abstraction
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Device * device_;
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Version version_;
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Version type_;
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DelayUsFunc delay_;
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OsrLevel osr_;
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Intf intf_;
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// Pressure at sealevel. Use the standard atmosphere per default.
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float sealevel_ = 1013.25;
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// The different constants; Includes Offsets, references etc.
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float C_[8];
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// Constants for waiting
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const uint32_t RESET_DELAY = 2800; // in uS
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};
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}
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#endif // ifndef STA_SENSORS_MS5607_HPP
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223
src/MS5607.cpp
223
src/MS5607.cpp
@ -1,223 +0,0 @@
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#include "sta/MS5607.hpp"
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namespace sta {
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// Forward declaration
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uint16_t uint_8BufferTouint16_t(uint8_t* buffer);
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MS5607::MS5607(SpiDevice* device, OsrLevel level) {
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this->device_ = device;
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this->osr_ = level;
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this->lastPresVal = -1;
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this->adcStartTime = -1;
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this->presRead = true;
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// Reset device on start-up
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this->reset();
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// Read the PROM e.g. constants
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this->readPROM();
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}
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void MS5607::requestAdcReadout(uint32_t time) {
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// Get current state of calculation
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if (time-adcStartTime < delayTimes(this->osr_) || !presRead) {
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// Time since last adc command is not enough
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return;
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}
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this->device_->beginTransmission();
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this->device_->transfer(MS5607::Operations::D1_CONVERSION + 2*this->osr_);
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this->device_->endTransmission();
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adcStartTime = time;
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presRead = false;
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}
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int32_t MS5607::getPressure(int32_t temp, uint32_t time) {
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if (time-adcStartTime < delayTimes(this->osr_) || presRead) {
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// Time since last adc command is not enough
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return lastPresVal;
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}
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uint8_t buffer[3] = { 0 };
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this->device_->beginTransmission();
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this->device_->transfer(MS5607::Operations::ADC_RESULT);
|
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this->device_->receive(buffer, 3);
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this->device_->endTransmission();
|
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this->presRead = true;
|
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uint32_t d1_val = buffer[0] << 16 | buffer[1] << 8 | buffer[2];
|
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this->requestAdcReadout(time);
|
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|
||||
return calculatePressure(d1_val, reverseTempCalc(temp));
|
||||
}
|
||||
|
||||
int32_t MS5607::reverseTempCalc(int32_t temp) {
|
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return this->tempsens;
|
||||
}
|
||||
|
||||
// DEPRECATED
|
||||
int32_t MS5607::getPressure() {
|
||||
// Get pure ADC value from the sensor
|
||||
uint32_t d1 = readPressure();
|
||||
|
||||
// Since pressure is temp-dependant, temperature needs to be polled
|
||||
// Could be too costly timewise, since 8ms is needed for the ADC
|
||||
// May need future optimisation
|
||||
uint32_t d2 = readTemp();
|
||||
int32_t dT = d2 - ( ((uint32_t)this->t_ref) << 8);
|
||||
|
||||
return calculatePressure(d1, dT);
|
||||
}
|
||||
|
||||
// DON'T USE
|
||||
uint32_t MS5607::readPressure() {
|
||||
// Request pressure value conversion
|
||||
this->device_->beginTransmission();
|
||||
this->device_->transfer(MS5607::Operations::D1_CONVERSION + 2*this->osr_);
|
||||
this->device_->endTransmission();
|
||||
|
||||
// Wait for ADC to finish
|
||||
// Could do sth. else and schedule continuation with scheduler in RTOS
|
||||
// TODO: Find out min
|
||||
sta::delayMs(10);
|
||||
|
||||
// Request readout of ADC value
|
||||
uint8_t d1Arr[3];
|
||||
this->device_->beginTransmission();
|
||||
this->device_->transfer(MS5607::Operations::ADC_RESULT);
|
||||
this->device_->receive(d1Arr, 3);
|
||||
this->device_->endTransmission();
|
||||
|
||||
// Convert into best possible type
|
||||
uint32_t res = 0;
|
||||
// Shifting may not be necessary, but idk w/o testing
|
||||
res |= d1Arr[0] | (d1Arr[1] << 8) | (d1Arr[2] << 16);
|
||||
return res;
|
||||
}
|
||||
|
||||
// Calculations from the Datasheet
|
||||
// Probably problems with type conversions
|
||||
// If we used Rust...
|
||||
int32_t MS5607::calculatePressure(uint32_t d1, int32_t dT) {
|
||||
int64_t offset = ( ((uint64_t)this->off) << 17) + ( ( ((uint64_t)this->tco) * dT ) >> 6);
|
||||
int64_t sensitivity = ( ((uint64_t)this->sens) << 16) + ( ( ((uint64_t)this->tcs) * dT ) >> 7);
|
||||
int32_t pres = ( (( ((uint64_t)d1) * sensitivity) >> 21) - offset ) >> 15;
|
||||
return pres;
|
||||
}
|
||||
|
||||
// NOT RECOMMENDED
|
||||
// USE TEMP FROM SCA3300 OR STH. ELSE
|
||||
int32_t MS5607::getTemperature() {
|
||||
// Get pure ADC value from the sensor
|
||||
uint32_t d2 = readTemp();
|
||||
|
||||
return calculateTemperature(d2);
|
||||
}
|
||||
|
||||
// OLD; DON'T USE
|
||||
uint32_t MS5607::readTemp() {
|
||||
// Request ADC conversion of temperature
|
||||
this->device_->beginTransmission();
|
||||
this->device_->transfer(MS5607::Operations::D2_CONVERSION + 2*this->osr_);
|
||||
this->device_->endTransmission();
|
||||
|
||||
// Wait for ADC to finish
|
||||
// Could do sth. else and schedule continuation with scheduler in RTOS
|
||||
// TODO: Test out min
|
||||
sta::delayMs(10);
|
||||
|
||||
|
||||
// Request ADC readout
|
||||
uint8_t d2Arr[3];
|
||||
this->device_->beginTransmission();
|
||||
this->device_->transfer(MS5607::Operations::ADC_RESULT);
|
||||
this->device_->receive(d2Arr, 3);
|
||||
this->device_->endTransmission();
|
||||
|
||||
// Convert into best possible type
|
||||
uint32_t res = 0;
|
||||
// Shifting may be unnecessary? Don't know really w/o testing
|
||||
res |= d2Arr[0] | d2Arr[1] << 8 | d2Arr[2] << 16;
|
||||
return res;
|
||||
}
|
||||
|
||||
// Calculations from the Datasheet
|
||||
// Probably problems with type conversions
|
||||
// If we used Rust...
|
||||
int32_t MS5607::calculateTemperature(uint32_t d2) {
|
||||
int32_t dT = d2 - ( ((uint32_t)this->t_ref) << 8);
|
||||
int32_t temp = 2000 + ((dT * ((uint32_t)this->tempsens)) >> 23);
|
||||
|
||||
// Further calculations for low (<20) and very low (<(-15)) could be possible
|
||||
// But I don't know whether they are necessary
|
||||
|
||||
return temp;
|
||||
}
|
||||
|
||||
// Reset sequence as described in datasheet
|
||||
void MS5607::reset() {
|
||||
this->device_->beginTransmission();
|
||||
this->device_->transfer(MS5607::Operations::RESET);
|
||||
this->device_->endTransmission();
|
||||
delayUs(MS5607::RESET_DELAY);
|
||||
}
|
||||
|
||||
// Read all constants from the PROM
|
||||
// May be moved to be called in reset() function in future
|
||||
// Request value x -> Read value x; Then request value y etc.
|
||||
// Could be optimized; Not as important since only needed once at start-up
|
||||
void MS5607::readPROM() {
|
||||
this->device_->beginTransmission();
|
||||
|
||||
this->device_->transfer(Operations::READ_PROM);
|
||||
uint8_t sensArr[2];
|
||||
this->device_->receive(sensArr, 2);
|
||||
this->sens = uint_8BufferTouint16_t(sensArr);
|
||||
|
||||
pulseCS();
|
||||
|
||||
this->device_->transfer(Operations::READ_PROM+2);
|
||||
uint8_t offArr[2];
|
||||
this->device_->receive(offArr, 2);
|
||||
this->off = uint_8BufferTouint16_t(offArr);
|
||||
|
||||
pulseCS();
|
||||
|
||||
this->device_->transfer(Operations::READ_PROM+4);
|
||||
uint8_t tcsArr[2];
|
||||
this->device_->receive(tcsArr, 2);
|
||||
this->sens = uint_8BufferTouint16_t(sensArr);
|
||||
|
||||
pulseCS();
|
||||
|
||||
this->device_->transfer(Operations::READ_PROM+6);
|
||||
uint8_t tcoArr[2];
|
||||
this->device_->receive(tcoArr, 2);
|
||||
this->tco = uint_8BufferTouint16_t(tcoArr);
|
||||
|
||||
pulseCS();
|
||||
|
||||
this->device_->transfer(Operations::READ_PROM+8);
|
||||
uint8_t t_refArr[2];
|
||||
this->device_->receive(t_refArr, 2);
|
||||
this->t_ref = uint_8BufferTouint16_t(t_refArr);
|
||||
|
||||
pulseCS();
|
||||
|
||||
this->device_->transfer(Operations::READ_PROM+0xA);
|
||||
uint8_t tempsensArr[2];
|
||||
this->device_->receive(tempsensArr, 2);
|
||||
this->tempsens = uint_8BufferTouint16_t(tempsensArr);
|
||||
|
||||
this->device_->endTransmission();
|
||||
}
|
||||
|
||||
// Helper function:
|
||||
// Take first bytes from buffer, swap them and store those in uint16_t
|
||||
// Swap may not be necessary
|
||||
uint16_t uint_8BufferTouint16_t(uint8_t* buffer) {
|
||||
return (buffer[0] << 8) | buffer[1];
|
||||
}
|
||||
}
|
||||
217
src/MS56xx.cpp
Normal file
217
src/MS56xx.cpp
Normal file
@ -0,0 +1,217 @@
|
||||
#include <sta/drivers/MS56xx.hpp>
|
||||
|
||||
#include <sta/debug/assert.hpp>
|
||||
#include <sta/debug/debug.hpp>
|
||||
#include <sta/lang.hpp>
|
||||
|
||||
#include <cmath>
|
||||
|
||||
|
||||
namespace sta
|
||||
{
|
||||
MS56xx::MS56xx(SPIDevice * device, Version version, DelayUsFunc delay, OsrLevel osr /* = OsrLevel::_1024 */)
|
||||
: device_{device},
|
||||
version_{version},
|
||||
delay_{delay},
|
||||
osr_{osr},
|
||||
intf_{Intf::SPI},
|
||||
C_{}
|
||||
{
|
||||
STA_ASSERT(device != nullptr);
|
||||
}
|
||||
|
||||
MS56xx::MS56xx(I2CDevice * device, Version version, DelayUsFunc delay, OsrLevel osr /* = OsrLevel::_1024 */)
|
||||
: device_{device},
|
||||
version_{version},
|
||||
delay_{delay},
|
||||
osr_{osr},
|
||||
intf_{Intf::I2C},
|
||||
C_{}
|
||||
{
|
||||
STA_ASSERT(device != nullptr);
|
||||
}
|
||||
|
||||
bool MS56xx::init()
|
||||
{
|
||||
// Reset device on start-up
|
||||
this->reset();
|
||||
|
||||
this->initConstants();
|
||||
|
||||
// Read the PROM e.g. constants
|
||||
this->readPROM();
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
void MS56xx::setOsr(OsrLevel osr)
|
||||
{
|
||||
osr_ = osr;
|
||||
}
|
||||
|
||||
void MS56xx::reset()
|
||||
{
|
||||
busCommand(MS56xx::Operations::RESET);
|
||||
delay_(MS56xx::RESET_DELAY);
|
||||
}
|
||||
|
||||
void MS56xx::requestData(DataType type)
|
||||
{
|
||||
Operations op = type == DataType::PRESSURE ? D1_CONVERSION : D2_CONVERSION;
|
||||
|
||||
// Request the ADC to read new data.
|
||||
busCommand(op + 2*this->osr_);
|
||||
|
||||
delay_(osrDelay());
|
||||
}
|
||||
|
||||
float MS56xx::getPressure(Unit unit /* = Unit::hPa */)
|
||||
{
|
||||
requestData(TEMPERATURE);
|
||||
uint8_t buffer[3] = { 0x00, 0x00, 0x00 };
|
||||
busRead(MS56xx::Operations::ADC_RESULT, buffer, 3);
|
||||
|
||||
uint32_t D2 = buffer[0] << 16 | buffer[1] << 8 | buffer[2];
|
||||
float dT_ = D2 - C_[5];
|
||||
|
||||
requestData(PRESSURE);
|
||||
busRead(MS56xx::Operations::ADC_RESULT, buffer, 3);
|
||||
uint32_t D1 = buffer[0] << 16 | buffer[1] << 8 | buffer[2];
|
||||
|
||||
float offset = C_[2] + dT_ * C_[4];
|
||||
float sens = C_[1] + dT_ * C_[3];
|
||||
|
||||
// The pressure in Pa.
|
||||
float pressure = (D1 * sens * 4.76837158203125E-7 - offset) * 3.0517578125E-5;
|
||||
|
||||
// Convert to desired unit.
|
||||
pressure = convertPressure(pressure, unit);
|
||||
|
||||
return pressure;
|
||||
}
|
||||
|
||||
float MS56xx::getTemperature()
|
||||
{
|
||||
requestData(TEMPERATURE);
|
||||
uint8_t buffer[3] = { 0x00, 0x00, 0x00 };
|
||||
busRead(MS56xx::Operations::ADC_RESULT, buffer, 3);
|
||||
|
||||
uint32_t D2 = buffer[0] << 16 | buffer[1] << 8 | buffer[2];
|
||||
|
||||
float dT_ = D2 - C_[5];
|
||||
float temperature = (2000 + dT_ * C_[6]) * 0.01;
|
||||
return temperature;
|
||||
}
|
||||
|
||||
void MS56xx::setPressureReference(float pressRef, float altRef, Unit unit /* = Unit::hPa */)
|
||||
{
|
||||
// Taken from: https://cdn-shop.adafruit.com/datasheets/BST-BMP180-DS000-09.pdf, page 17.
|
||||
sealevel_ = pressRef / (std::pow((1 - altRef / 44330), 5.255));
|
||||
}
|
||||
|
||||
float MS56xx::getAltitudeEstimate()
|
||||
{
|
||||
float pressure = getPressure(Unit::hPa);
|
||||
|
||||
// Taken from: https://cdn-shop.adafruit.com/datasheets/BST-BMP180-DS000-09.pdf, page 16
|
||||
float altitude = 44330 * (1 - std::pow(pressure / sealevel_, 1 / 5.255));
|
||||
|
||||
return altitude;
|
||||
}
|
||||
|
||||
void MS56xx::readPROM() {
|
||||
uint8_t buffer[2];
|
||||
|
||||
for (size_t i = 0; i < 7; i++)
|
||||
{
|
||||
busRead(Operations::READ_PROM + i*2, buffer, 2);
|
||||
|
||||
C_[i] *= uint_8BufferTouint16_t(buffer);
|
||||
}
|
||||
}
|
||||
|
||||
void MS56xx::initConstants()
|
||||
{
|
||||
C_[0] = 1;
|
||||
|
||||
switch (version_)
|
||||
{
|
||||
case _MS5607:
|
||||
C_[1] = 65536L;
|
||||
C_[2] = 131072;
|
||||
C_[3] = 0.0078125;
|
||||
C_[4] = 0.015625;
|
||||
C_[5] = 256;
|
||||
C_[6] = 1.1920928955078125E-7;
|
||||
|
||||
break;
|
||||
case _MS5611:
|
||||
C_[1] = 32768L;
|
||||
C_[2] = 65536L;
|
||||
C_[3] = 3.90625E-3;
|
||||
C_[4] = 0.0078125;
|
||||
C_[5] = 256;
|
||||
C_[6] = 1.1920928955078125E-7;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
inline float MS56xx::convertPressure(float pressure, Unit unit)
|
||||
{
|
||||
switch (unit)
|
||||
{
|
||||
case Unit::mbar:
|
||||
return pressure / 100.0f;
|
||||
case Unit::hPa:
|
||||
return pressure / 100.0f;
|
||||
case Unit::Pa:
|
||||
return pressure;
|
||||
default:
|
||||
STA_UNREACHABLE();
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
inline uint16_t MS56xx::uint_8BufferTouint16_t(uint8_t* buffer) {
|
||||
return (buffer[0] << 8) | buffer[1];
|
||||
}
|
||||
|
||||
bool MS56xx::busCommand(uint8_t command)
|
||||
{
|
||||
this->device_->beginTransmission();
|
||||
this->device_->transfer(command);
|
||||
this->device_->endTransmission();
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
uint32_t MS56xx::osrDelay() {
|
||||
// Delay times taken from:
|
||||
// https://www.amsys-sensor.com/downloads/notes/MS5XXX-C-code-example-for-MS56xx-MS57xx-MS58xx-AMSYS-an520e.pdf
|
||||
switch (osr_) {
|
||||
case _256:
|
||||
return 600;
|
||||
case _512:
|
||||
return 1200;
|
||||
case _1024:
|
||||
return 2300;
|
||||
case _2048:
|
||||
return 4600;
|
||||
case _4096:
|
||||
return 9100;
|
||||
default:
|
||||
STA_UNREACHABLE();
|
||||
}
|
||||
}
|
||||
|
||||
bool MS56xx::busRead(uint8_t reg, uint8_t * buffer, size_t length)
|
||||
{
|
||||
this->device_->beginTransmission();
|
||||
this->device_->transfer(reg);
|
||||
this->device_->receive(buffer, length);
|
||||
this->device_->endTransmission();
|
||||
|
||||
return true;
|
||||
}
|
||||
}
|
||||
Loading…
x
Reference in New Issue
Block a user