diff --git a/Makefile b/Makefile
index 5ed84d62e7..76fd4484bb 100644
--- a/Makefile
+++ b/Makefile
@@ -59,6 +59,7 @@ COMMON_SRC = startup_stm32f10x_md_gcc.S \
NAZE_SRC = drv_adc.c \
drv_adxl345.c \
drv_bmp085.c \
+ drv_ms5611.c \
drv_hcsr04.c \
drv_hmc5883l.c \
drv_ledring.c \
diff --git a/baseflight.uvproj b/baseflight.uvproj
index f93959b363..a0d36a958a 100755
--- a/baseflight.uvproj
+++ b/baseflight.uvproj
@@ -630,6 +630,11 @@
1
.\src\drv_l3g4200d.c
+
+ drv_ms5611.c
+ 1
+ .\src\drv_ms5611.c
+
@@ -1424,6 +1429,11 @@
1
.\src\drv_l3g4200d.c
+
+ drv_ms5611.c
+ 1
+ .\src\drv_ms5611.c
+
@@ -2402,6 +2412,11 @@
1
.\src\drv_l3g4200d.c
+
+ drv_ms5611.c
+ 1
+ .\src\drv_ms5611.c
+
diff --git a/obj/baseflight.hex b/obj/baseflight.hex
index eda35e0f18..ffa5665707 100644
--- a/obj/baseflight.hex
+++ b/obj/baseflight.hex
@@ -1,83 +1,83 @@
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@@ -87,7 +87,7 @@
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diff --git a/src/board.h b/src/board.h
index 686d5b275d..6dbe1ef8d1 100755
--- a/src/board.h
+++ b/src/board.h
@@ -51,6 +51,7 @@ typedef enum {
typedef void (* sensorInitFuncPtr)(void); // sensor init prototype
typedef void (* sensorReadFuncPtr)(int16_t *data); // sensor read and align prototype
+typedef int32_t (* baroCalculateFuncPtr)(void); // baro calculation (returns altitude in cm based on static data collected)
typedef void (* uartReceiveCallbackPtr)(uint16_t data); // used by uart2 driver to return frames to app
typedef uint16_t (* rcReadRawDataPtr)(uint8_t chan); // used by receiver driver to return channel data
@@ -62,6 +63,18 @@ typedef struct sensor_t
sensorReadFuncPtr temperature;
} sensor_t;
+typedef struct baro_t
+{
+ uint16_t ut_delay;
+ uint16_t up_delay;
+ uint16_t repeat_delay;
+ sensorInitFuncPtr start_ut;
+ sensorInitFuncPtr get_ut;
+ sensorInitFuncPtr start_up;
+ sensorInitFuncPtr get_up;
+ baroCalculateFuncPtr calculate;
+} baro_t;
+
#define digitalHi(p, i) { p->BSRR = i; }
#define digitalLo(p, i) { p->BRR = i; }
#define digitalToggle(p, i) { p->ODR ^= i; }
@@ -133,6 +146,7 @@ typedef struct sensor_t
#include "drv_adc.h"
#include "drv_adxl345.h"
#include "drv_bmp085.h"
+#include "drv_ms5611.h"
#include "drv_hmc5883l.h"
#include "drv_i2c.h"
#include "drv_ledring.h"
diff --git a/src/cli.c b/src/cli.c
index 9e1fb522a8..a3e7a8b756 100644
--- a/src/cli.c
+++ b/src/cli.c
@@ -30,7 +30,7 @@ const char *mixerNames[] = {
"TRI", "QUADP", "QUADX", "BI",
"GIMBAL", "Y6", "HEX6",
"FLYING_WING", "Y4", "HEX6X", "OCTOX8", "OCTOFLATP", "OCTOFLATX",
- "AIRPLANE", "HELI_120_CCPM", "HELI_90_DEG", "VTAIL4", NULL
+ "AIRPLANE", "HELI_120_CCPM", "HELI_90_DEG", "VTAIL4", "CUSTOM", NULL
};
// sync this with AvailableFeatures enum from board.h
diff --git a/src/drv_bmp085.c b/src/drv_bmp085.c
index 6cb49150de..31571b2c57 100755
--- a/src/drv_bmp085.c
+++ b/src/drv_bmp085.c
@@ -35,10 +35,8 @@ typedef struct {
uint8_t mode;
uint8_t chip_id, ml_version, al_version;
uint8_t dev_addr;
- uint8_t sensortype;
int32_t param_b5;
int16_t oversampling_setting;
- int16_t smd500_t_resolution, smd500_masterclock;
} bmp085_t;
#define BMP085_I2C_ADDR 0x77
@@ -64,8 +62,6 @@ typedef struct {
#define BMP085_ML_VERSION__MSK 0x0F
#define BMP085_ML_VERSION__REG BMP085_VERSION_REG
-
-
#define BMP085_AL_VERSION__POS 4
#define BMP085_AL_VERSION__LEN 4
#define BMP085_AL_VERSION__MSK 0xF0
@@ -79,16 +75,24 @@ typedef struct {
#define SMD500_PARAM_MI 3791 //calibration parameter
static bmp085_t bmp085 = { { 0, } };
-static bmp085_t *p_bmp085 = &bmp085; /**< pointer to SMD500 / BMP085 device area */
static bool bmp085InitDone = false;
+static uint16_t bmp085_ut; // static result of temperature measurement
+static uint32_t bmp085_up; // static result of pressure measurement
static void bmp085_get_cal_param(void);
+static void bmp085_start_ut(void);
+static void bmp085_get_ut(void);
+static void bmp085_start_up(void);
+static void bmp085_get_up(void);
+static int16_t bmp085_get_temperature(uint32_t ut);
+static int32_t bmp085_get_pressure(uint32_t up);
+static int32_t bmp085_calculate(void);
-bool bmp085Init(void)
+bool bmp085Detect(baro_t *baro)
{
GPIO_InitTypeDef GPIO_InitStructure;
- EXTI_InitTypeDef EXTI_InitStructure;
- NVIC_InitTypeDef NVIC_InitStructure;
+ EXTI_InitTypeDef EXTI_InitStructure;
+ NVIC_InitTypeDef NVIC_InitStructure;
uint8_t data;
if (bmp085InitDone)
@@ -119,49 +123,34 @@ bool bmp085Init(void)
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
- delay(12); // datasheet says 10ms, we'll be careful and do 12.
+ delay(20); // datasheet says 10ms, we'll be careful and do 20. this is after ms5611 driver kills us, so longer the better.
- p_bmp085->sensortype = E_SENSOR_NOT_DETECTED;
- p_bmp085->dev_addr = BMP085_I2C_ADDR; /* preset BMP085 I2C_addr */
- i2cRead(p_bmp085->dev_addr, BMP085_CHIP_ID__REG, 1, &data); /* read Chip Id */
- p_bmp085->chip_id = BMP085_GET_BITSLICE(data, BMP085_CHIP_ID);
- p_bmp085->oversampling_setting = 3;
+ i2cRead(BMP085_I2C_ADDR, BMP085_CHIP_ID__REG, 1, &data); /* read Chip Id */
+ bmp085.chip_id = BMP085_GET_BITSLICE(data, BMP085_CHIP_ID);
+ bmp085.oversampling_setting = 3;
- if (p_bmp085->chip_id == BMP085_CHIP_ID) { /* get bitslice */
- p_bmp085->sensortype = BOSCH_PRESSURE_BMP085;
-
- i2cRead(p_bmp085->dev_addr, BMP085_VERSION_REG, 1, &data); /* read Version reg */
- p_bmp085->ml_version = BMP085_GET_BITSLICE(data, BMP085_ML_VERSION); /* get ML Version */
- p_bmp085->al_version = BMP085_GET_BITSLICE(data, BMP085_AL_VERSION); /* get AL Version */
+ if (bmp085.chip_id == BMP085_CHIP_ID) { /* get bitslice */
+ i2cRead(BMP085_I2C_ADDR, BMP085_VERSION_REG, 1, &data); /* read Version reg */
+ bmp085.ml_version = BMP085_GET_BITSLICE(data, BMP085_ML_VERSION); /* get ML Version */
+ bmp085.al_version = BMP085_GET_BITSLICE(data, BMP085_AL_VERSION); /* get AL Version */
bmp085_get_cal_param(); /* readout bmp085 calibparam structure */
bmp085InitDone = true;
+ baro->ut_delay = 4600;
+ baro->up_delay = 26000;
+ baro->repeat_delay = 5000;
+ baro->start_ut = bmp085_start_ut;
+ baro->get_ut = bmp085_get_ut;
+ baro->start_up = bmp085_start_up;
+ baro->get_up = bmp085_get_up;
+ baro->calculate = bmp085_calculate;
return true;
}
-
+ BARO_OFF;
return false;
}
-int16_t bmp085_read_temperature(void)
-{
- convDone = false;
- bmp085_start_ut();
- if (!convDone)
- convOverrun++;
- return bmp085_get_temperature(bmp085_get_ut());
-}
-
-int32_t bmp085_read_pressure(void)
-{
- convDone = false;
- bmp085_start_up();
- if (!convDone)
- convOverrun++;
- return bmp085_get_pressure(bmp085_get_up());
-}
-
// #define BMP_TEMP_OSS 4
-
-int16_t bmp085_get_temperature(uint32_t ut)
+static int16_t bmp085_get_temperature(uint32_t ut)
{
int16_t temperature;
int32_t x1, x2;
@@ -169,12 +158,10 @@ int16_t bmp085_get_temperature(uint32_t ut)
static uint32_t temp;
#endif
- if (p_bmp085->sensortype == BOSCH_PRESSURE_BMP085) {
- x1 = (((int32_t) ut - (int32_t) p_bmp085->cal_param.ac6) * (int32_t) p_bmp085->cal_param.ac5) >> 15;
- x2 = ((int32_t) p_bmp085->cal_param.mc << 11) / (x1 + p_bmp085->cal_param.md);
- p_bmp085->param_b5 = x1 + x2;
- }
- temperature = ((p_bmp085->param_b5 + 8) >> 4); // temperature in 0.1°C
+ x1 = (((int32_t) ut - (int32_t) bmp085.cal_param.ac6) * (int32_t) bmp085.cal_param.ac5) >> 15;
+ x2 = ((int32_t) bmp085.cal_param.mc << 11) / (x1 + bmp085.cal_param.md);
+ bmp085.param_b5 = x1 + x2;
+ temperature = ((bmp085.param_b5 + 8) >> 4); // temperature in 0.1°C
#ifdef BMP_TEMP_OSS
temp *= (1 << BMP_TEMP_OSS) - 1; // multiply the temperature variable by 3 - we have tau == 1/4
@@ -186,31 +173,31 @@ int16_t bmp085_get_temperature(uint32_t ut)
#endif
}
-int32_t bmp085_get_pressure(uint32_t up)
+static int32_t bmp085_get_pressure(uint32_t up)
{
int32_t pressure, x1, x2, x3, b3, b6;
uint32_t b4, b7;
- b6 = p_bmp085->param_b5 - 4000;
+ b6 = bmp085.param_b5 - 4000;
// *****calculate B3************
x1 = (b6 * b6) >> 12;
- x1 *= p_bmp085->cal_param.b2;
+ x1 *= bmp085.cal_param.b2;
x1 >>= 11;
- x2 = (p_bmp085->cal_param.ac2 * b6);
+ x2 = (bmp085.cal_param.ac2 * b6);
x2 >>= 11;
x3 = x1 + x2;
- b3 = (((((int32_t)p_bmp085->cal_param.ac1) * 4 + x3) << p_bmp085->oversampling_setting) + 2) >> 2;
+ b3 = (((((int32_t)bmp085.cal_param.ac1) * 4 + x3) << bmp085.oversampling_setting) + 2) >> 2;
// *****calculate B4************
- x1 = (p_bmp085->cal_param.ac3 * b6) >> 13;
- x2 = (p_bmp085->cal_param.b1 * ((b6 * b6) >> 12) ) >> 16;
+ x1 = (bmp085.cal_param.ac3 * b6) >> 13;
+ x2 = (bmp085.cal_param.b1 * ((b6 * b6) >> 12) ) >> 16;
x3 = ((x1 + x2) + 2) >> 2;
- b4 = (p_bmp085->cal_param.ac4 * (uint32_t) (x3 + 32768)) >> 15;
+ b4 = (bmp085.cal_param.ac4 * (uint32_t) (x3 + 32768)) >> 15;
- b7 = ((uint32_t)(up - b3) * (50000 >> p_bmp085->oversampling_setting));
+ b7 = ((uint32_t)(up - b3) * (50000 >> bmp085.oversampling_setting));
if (b7 < 0x80000000) {
pressure = (b7 << 1) / b4;
} else {
@@ -226,15 +213,14 @@ int32_t bmp085_get_pressure(uint32_t up)
return pressure;
}
-void bmp085_start_ut(void)
+static void bmp085_start_ut(void)
{
convDone = false;
- i2cWrite(p_bmp085->dev_addr, BMP085_CTRL_MEAS_REG, BMP085_T_MEASURE);
+ i2cWrite(BMP085_I2C_ADDR, BMP085_CTRL_MEAS_REG, BMP085_T_MEASURE);
}
-uint16_t bmp085_get_ut(void)
+static void bmp085_get_ut(void)
{
- uint16_t ut;
uint8_t data[2];
uint16_t timeout = 10000;
@@ -246,27 +232,25 @@ uint16_t bmp085_get_ut(void)
__NOP();
}
#endif
- i2cRead(p_bmp085->dev_addr, BMP085_ADC_OUT_MSB_REG, 2, data);
- ut = (data[0] << 8) | data[1];
- return ut;
+ i2cRead(BMP085_I2C_ADDR, BMP085_ADC_OUT_MSB_REG, 2, data);
+ bmp085_ut = (data[0] << 8) | data[1];
}
-void bmp085_start_up(void)
+static void bmp085_start_up(void)
{
uint8_t ctrl_reg_data;
- ctrl_reg_data = BMP085_P_MEASURE + (p_bmp085->oversampling_setting << 6);
+ ctrl_reg_data = BMP085_P_MEASURE + (bmp085.oversampling_setting << 6);
convDone = false;
- i2cWrite(p_bmp085->dev_addr, BMP085_CTRL_MEAS_REG, ctrl_reg_data);
+ i2cWrite(BMP085_I2C_ADDR, BMP085_CTRL_MEAS_REG, ctrl_reg_data);
}
/** read out up for pressure conversion
depending on the oversampling ratio setting up can be 16 to 19 bit
\return up parameter that represents the uncompensated pressure value
*/
-uint32_t bmp085_get_up(void)
+static void bmp085_get_up(void)
{
- uint32_t up = 0;
uint8_t data[3];
uint16_t timeout = 10000;
@@ -278,31 +262,35 @@ uint32_t bmp085_get_up(void)
__NOP();
}
#endif
- i2cRead(p_bmp085->dev_addr, BMP085_ADC_OUT_MSB_REG, 3, data);
- up = (((uint32_t) data[0] << 16) | ((uint32_t) data[1] << 8) | (uint32_t) data[2]) >> (8 - p_bmp085->oversampling_setting);
+ i2cRead(BMP085_I2C_ADDR, BMP085_ADC_OUT_MSB_REG, 3, data);
+ bmp085_up = (((uint32_t) data[0] << 16) | ((uint32_t) data[1] << 8) | (uint32_t) data[2]) >> (8 - bmp085.oversampling_setting);
+}
- return up;
+static int32_t bmp085_calculate(void)
+{
+ bmp085_get_temperature(bmp085_ut);
+ return bmp085_get_pressure(bmp085_up);
}
static void bmp085_get_cal_param(void)
{
uint8_t data[22];
- i2cRead(p_bmp085->dev_addr, BMP085_PROM_START__ADDR, BMP085_PROM_DATA__LEN, data);
+ i2cRead(BMP085_I2C_ADDR, BMP085_PROM_START__ADDR, BMP085_PROM_DATA__LEN, data);
/*parameters AC1-AC6*/
- p_bmp085->cal_param.ac1 = (data[0] <<8) | data[1];
- p_bmp085->cal_param.ac2 = (data[2] <<8) | data[3];
- p_bmp085->cal_param.ac3 = (data[4] <<8) | data[5];
- p_bmp085->cal_param.ac4 = (data[6] <<8) | data[7];
- p_bmp085->cal_param.ac5 = (data[8] <<8) | data[9];
- p_bmp085->cal_param.ac6 = (data[10] <<8) | data[11];
+ bmp085.cal_param.ac1 = (data[0] << 8) | data[1];
+ bmp085.cal_param.ac2 = (data[2] << 8) | data[3];
+ bmp085.cal_param.ac3 = (data[4] << 8) | data[5];
+ bmp085.cal_param.ac4 = (data[6] << 8) | data[7];
+ bmp085.cal_param.ac5 = (data[8] << 8) | data[9];
+ bmp085.cal_param.ac6 = (data[10] << 8) | data[11];
/*parameters B1,B2*/
- p_bmp085->cal_param.b1 = (data[12] <<8) | data[13];
- p_bmp085->cal_param.b2 = (data[14] <<8) | data[15];
+ bmp085.cal_param.b1 = (data[12] << 8) | data[13];
+ bmp085.cal_param.b2 = (data[14] << 8) | data[15];
/*parameters MB,MC,MD*/
- p_bmp085->cal_param.mb = (data[16] <<8) | data[17];
- p_bmp085->cal_param.mc = (data[18] <<8) | data[19];
- p_bmp085->cal_param.md = (data[20] <<8) | data[21];
+ bmp085.cal_param.mb = (data[16] << 8) | data[17];
+ bmp085.cal_param.mc = (data[18] << 8) | data[19];
+ bmp085.cal_param.md = (data[20] << 8) | data[21];
}
diff --git a/src/drv_bmp085.h b/src/drv_bmp085.h
index 5488cdf4ea..3c063fae26 100755
--- a/src/drv_bmp085.h
+++ b/src/drv_bmp085.h
@@ -1,15 +1,3 @@
#pragma once
-bool bmp085Init(void);
-
-// polled versions
-int16_t bmp085_read_temperature(void);
-int32_t bmp085_read_pressure(void);
-
-// interrupt versions
-void bmp085_start_ut(void);
-uint16_t bmp085_get_ut(void);
-void bmp085_start_up(void);
-uint32_t bmp085_get_up(void);
-int16_t bmp085_get_temperature(uint32_t ut);
-int32_t bmp085_get_pressure(uint32_t up);
+bool bmp085Detect(baro_t *baro);
diff --git a/src/drv_ms5611.c b/src/drv_ms5611.c
new file mode 100644
index 0000000000..b53e34a758
--- /dev/null
+++ b/src/drv_ms5611.c
@@ -0,0 +1,180 @@
+#include "board.h"
+
+// MS5611, Standard address 0x77
+#define MS5611_ADDR 0x77
+// Autodetect: turn off BMP085 while initializing ms5611 and check PROM crc to confirm device
+#define BMP085_OFF digitalLo(BARO_GPIO, BARO_PIN);
+#define BMP085_ON digitalHi(BARO_GPIO, BARO_PIN);
+
+#define CMD_RESET 0x1E // ADC reset command
+#define CMD_ADC_READ 0x00 // ADC read command
+#define CMD_ADC_CONV 0x40 // ADC conversion command
+#define CMD_ADC_D1 0x00 // ADC D1 conversion
+#define CMD_ADC_D2 0x10 // ADC D2 conversion
+#define CMD_ADC_256 0x00 // ADC OSR=256
+#define CMD_ADC_512 0x02 // ADC OSR=512
+#define CMD_ADC_1024 0x04 // ADC OSR=1024
+#define CMD_ADC_2048 0x06 // ADC OSR=2048
+#define CMD_ADC_4096 0x08 // ADC OSR=4096
+#define CMD_PROM_RD 0xA0 // Prom read command
+#define PROM_NB 8
+
+static void ms5611_reset(void);
+static uint16_t ms5611_prom(int8_t coef_num);
+static int8_t ms5611_crc(uint16_t *prom);
+static uint32_t ms5611_read_adc(void);
+static void ms5611_start_ut(void);
+static void ms5611_get_ut(void);
+static void ms5611_start_up(void);
+static void ms5611_get_up(void);
+static int32_t ms5611_calculate(void);
+
+static uint32_t ms5611_ut; // static result of temperature measurement
+static uint32_t ms5611_up; // static result of pressure measurement
+static uint16_t ms5611_c[PROM_NB]; // on-chip ROM
+static uint8_t ms5611_osr = CMD_ADC_4096;
+
+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;
+}
+
+static void ms5611_reset(void)
+{
+ i2cWrite(MS5611_ADDR, CMD_RESET, 1);
+ delayMicroseconds(2800);
+}
+
+static uint16_t ms5611_prom(int8_t coef_num)
+{
+ uint8_t rxbuf[2] = { 0, 0 };
+ i2cRead(MS5611_ADDR, CMD_PROM_RD + coef_num * 2, 2, rxbuf); // send PROM READ command
+ return rxbuf[0] << 8 | rxbuf[1];
+}
+
+static int8_t ms5611_crc(uint16_t *prom)
+{
+ int32_t i, j;
+ uint32_t res = 0;
+ uint8_t zero = 1;
+ uint8_t crc = prom[7] & 0xF;
+ prom[7] &= 0xFF00;
+
+ // if eeprom is all zeros, we're probably fucked - BUT this will return valid CRC lol
+ for (i = 0; i < 8; i++) {
+ if (prom[i] != 0)
+ zero = 0;
+ }
+ if (zero)
+ return -1;
+
+ for (i = 0; i < 16; i++) {
+ if (i & 1)
+ res ^= ((prom[i >> 1]) & 0x00FF);
+ else
+ res ^= (prom[i >> 1] >> 8);
+ for (j = 8; j > 0; j--) {
+ if (res & 0x8000)
+ res ^= 0x1800;
+ res <<= 1;
+ }
+ }
+ prom[7] |= crc;
+ if (crc == ((res >> 12) & 0xF))
+ return 0;
+
+ return -1;
+}
+
+static uint32_t ms5611_read_adc(void)
+{
+ uint8_t rxbuf[3];
+ i2cRead(MS5611_ADDR, CMD_ADC_READ, 3, rxbuf); // read ADC
+ return (rxbuf[0] << 16) | (rxbuf[1] << 8) | rxbuf[2];
+}
+
+static void ms5611_start_ut(void)
+{
+ i2cWrite(MS5611_ADDR, CMD_ADC_CONV + CMD_ADC_D2 + ms5611_osr, 1); // D2 (temperature) conversion start!
+}
+
+static void ms5611_get_ut(void)
+{
+ ms5611_ut = ms5611_read_adc();
+}
+
+static void ms5611_start_up(void)
+{
+ i2cWrite(MS5611_ADDR, CMD_ADC_CONV + CMD_ADC_D1 + ms5611_osr, 1); // D1 (pressure) conversion start!
+}
+
+static void ms5611_get_up(void)
+{
+ ms5611_up = ms5611_read_adc();
+}
+
+static int32_t ms5611_calculate(void)
+{
+ int32_t temperature, off2 = 0, sens2 = 0, delt;
+ int32_t pressure;
+
+ int32_t dT = ms5611_ut - ((uint32_t)ms5611_c[5] << 8);
+ int64_t off = ((uint32_t)ms5611_c[2] << 16) + (((int64_t)dT * ms5611_c[4]) >> 7);
+ int64_t sens = ((uint32_t)ms5611_c[1] << 15) + (((int64_t)dT * ms5611_c[3]) >> 8);
+ temperature = 2000 + (((int64_t)dT * ms5611_c[6]) >> 23);
+
+ if (temperature < 2000) { // temperature lower than 20degC
+ delt = temperature - 2000;
+ delt = delt * delt;
+ off2 = (5 * delt) >> 1;
+ sens2 = (5 * delt) >> 2;
+ if (temperature < -1500) { // temperature lower than -15degC
+ delt = temperature + 1500;
+ delt = delt * delt;
+ off2 += 7 * delt;
+ sens2 += (11 * delt) >> 1;
+ }
+ }
+ off -= off2;
+ sens -= sens2;
+ pressure = (((ms5611_up * sens ) >> 21) - off) >> 15;
+ return pressure;
+}
diff --git a/src/drv_ms5611.h b/src/drv_ms5611.h
new file mode 100644
index 0000000000..26cc371b85
--- /dev/null
+++ b/src/drv_ms5611.h
@@ -0,0 +1,3 @@
+#pragma once
+
+bool ms5611Detect(baro_t *baro);
diff --git a/src/drv_pwm.c b/src/drv_pwm.c
index 73f935b6ef..666e9b138c 100755
--- a/src/drv_pwm.c
+++ b/src/drv_pwm.c
@@ -139,15 +139,6 @@ enum {
TYPE_S = 0x80,
};
-typedef struct {
- uint8_t port;
- uint8_t type;
-} pwmPortConfig_t;
-
-#define MAX_MOTORS 12
-#define MAX_SERVOS 8
-#define MAX_INPUTS 8
-
static pwmPortData_t pwmPorts[MAX_PORTS];
static uint16_t captures[MAX_INPUTS];
static pwmPortData_t *motors[MAX_MOTORS];
@@ -159,68 +150,68 @@ static uint8_t numInputs = 0;
extern int16_t failsafeCnt;
static const uint8_t multiPPM[] = {
- PWM1 | TYPE_IP,
- PWM9 | TYPE_M, // Swap to servo if needed
- PWM10 | TYPE_M, // Swap to servo if needed
+ PWM1 | TYPE_IP, // PPM input
+ PWM9 | TYPE_M, // Swap to servo if needed
+ PWM10 | TYPE_M, // Swap to servo if needed
PWM11 | TYPE_M,
PWM12 | TYPE_M,
PWM13 | TYPE_M,
PWM14 | TYPE_M,
- PWM5 | TYPE_M, // Swap to servo if needed
- PWM6 | TYPE_M, // Swap to servo if needed
- PWM7 | TYPE_M, // Swap to servo if needed
- PWM8 | TYPE_M, // Swap to servo if needed
+ PWM5 | TYPE_M, // Swap to servo if needed
+ PWM6 | TYPE_M, // Swap to servo if needed
+ PWM7 | TYPE_M, // Swap to servo if needed
+ PWM8 | TYPE_M, // Swap to servo if needed
0xFF
};
static const uint8_t multiPWM[] = {
- PWM1 | TYPE_IW,
+ PWM1 | TYPE_IW, // input #1
PWM2 | TYPE_IW,
PWM3 | TYPE_IW,
PWM4 | TYPE_IW,
PWM5 | TYPE_IW,
PWM6 | TYPE_IW,
PWM7 | TYPE_IW,
- PWM8 | TYPE_IW,
- PWM9 | TYPE_M, // Swap to servo if needed
- PWM10 | TYPE_M, // Swap to servo if needed
- PWM11 | TYPE_M,
+ PWM8 | TYPE_IW, // input #8
+ PWM9 | TYPE_M, // motor #1 or servo #1 (swap to servo if needed)
+ PWM10 | TYPE_M, // motor #2 or servo #2 (swap to servo if needed)
+ PWM11 | TYPE_M, // motor #1 or #3
PWM12 | TYPE_M,
PWM13 | TYPE_M,
- PWM14 | TYPE_M,
+ PWM14 | TYPE_M, // motor #4 or #6
0xFF
};
static const uint8_t airPPM[] = {
- PWM1 | TYPE_IP,
- PWM5 | TYPE_S,
- PWM6 | TYPE_S,
- PWM7 | TYPE_S,
- PWM8 | TYPE_S,
- PWM9 | TYPE_M,
- PWM10 | TYPE_M,
- PWM11 | TYPE_S,
+ PWM1 | TYPE_IP, // PPM input
+ PWM9 | TYPE_M, // motor #1
+ PWM10 | TYPE_M, // motor #2
+ PWM11 | TYPE_S, // servo #1
PWM12 | TYPE_S,
PWM13 | TYPE_S,
- PWM14 | TYPE_S,
+ PWM14 | TYPE_S, // servo #4
+ PWM5 | TYPE_S, // servo #5
+ PWM6 | TYPE_S,
+ PWM7 | TYPE_S,
+ PWM8 | TYPE_S, // servo #8
0xFF
};
static const uint8_t airPWM[] = {
- PWM1 | TYPE_IW,
+ PWM1 | TYPE_IW, // input #1
PWM2 | TYPE_IW,
PWM3 | TYPE_IW,
PWM4 | TYPE_IW,
PWM5 | TYPE_IW,
PWM6 | TYPE_IW,
PWM7 | TYPE_IW,
- PWM8 | TYPE_IW,
- PWM9 | TYPE_M,
- PWM10 | TYPE_M,
- PWM11 | TYPE_S,
+ PWM8 | TYPE_IW, // input #8
+ PWM9 | TYPE_M, // motor #1
+ PWM10 | TYPE_M, // motor #2
+ PWM11 | TYPE_S, // servo #1
PWM12 | TYPE_S,
PWM13 | TYPE_S,
- PWM14 | TYPE_S,
+ PWM14 | TYPE_S, // servo #4
0xFF
};
diff --git a/src/drv_pwm.h b/src/drv_pwm.h
index 7681390ac9..72c0489b50 100755
--- a/src/drv_pwm.h
+++ b/src/drv_pwm.h
@@ -1,5 +1,9 @@
#pragma once
+#define MAX_MOTORS 12
+#define MAX_SERVOS 8
+#define MAX_INPUTS 8
+
typedef struct drv_pwm_config_t {
bool enableInput;
bool usePPM;
diff --git a/src/main.c b/src/main.c
index c09c74bb5d..e24b427cc9 100755
--- a/src/main.c
+++ b/src/main.c
@@ -26,7 +26,6 @@ int main(void)
#endif
-
#if 0
// using this to write asm for bootloader :)
RCC->APB2ENR |= RCC_APB2Periph_GPIOB | RCC_APB2Periph_AFIO; // GPIOB + AFIO
diff --git a/src/mixer.c b/src/mixer.c
index a24cf0c6b2..869117e37c 100755
--- a/src/mixer.c
+++ b/src/mixer.c
@@ -3,13 +3,27 @@
static uint8_t numberMotor = 4;
uint8_t useServo = 0;
-int16_t motor[8];
+
+int16_t motor[MAX_MOTORS];
int16_t servo[8] = { 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500 };
+typedef struct {
+ uint8_t enabled; // is this mix channel enabled
+ float throttle; // proportion of throttle affect
+ float pitch;
+ float roll;
+ float yaw;
+} mixerPower_t;
+
+static mixerPower_t customMixer[12];
+
void mixerInit(void)
{
+ int i;
+
// enable servos for mixes that require them. note, this shifts motor counts.
- if (cfg.mixerConfiguration == MULTITYPE_BI || cfg.mixerConfiguration == MULTITYPE_TRI || cfg.mixerConfiguration == MULTITYPE_GIMBAL || cfg.mixerConfiguration == MULTITYPE_FLYING_WING)
+ if (cfg.mixerConfiguration == MULTITYPE_BI || cfg.mixerConfiguration == MULTITYPE_TRI || cfg.mixerConfiguration == MULTITYPE_FLYING_WING ||
+ cfg.mixerConfiguration == MULTITYPE_AIRPLANE || cfg.mixerConfiguration == MULTITYPE_GIMBAL)
useServo = 1;
// if we want camstab/trig, that also enabled servos. this is kinda lame. maybe rework feature bits later.
if (feature(FEATURE_SERVO_TILT))
@@ -19,12 +33,16 @@ void mixerInit(void)
case MULTITYPE_GIMBAL:
numberMotor = 0;
break;
+
+ case MULTITYPE_AIRPLANE:
case MULTITYPE_FLYING_WING:
numberMotor = 1;
break;
+
case MULTITYPE_BI:
numberMotor = 2;
break;
+
case MULTITYPE_TRI:
numberMotor = 3;
break;
@@ -47,6 +65,14 @@ void mixerInit(void)
case MULTITYPE_OCTOFLATX:
numberMotor = 8;
break;
+
+ case MULTITYPE_CUSTOM:
+ numberMotor = 0;
+ for (i = 0; i < MAX_MOTORS; i++) {
+ if (customMixer[i].enabled)
+ numberMotor++;
+ }
+ break;
}
}
@@ -55,15 +81,31 @@ void writeServos(void)
if (!useServo)
return;
- if (cfg.mixerConfiguration == MULTITYPE_TRI || cfg.mixerConfiguration == MULTITYPE_BI) {
- /* One servo on Motor #4 */
- pwmWriteServo(0, servo[4]);
- if (cfg.mixerConfiguration == MULTITYPE_BI)
+ switch (cfg.mixerConfiguration) {
+ case MULTITYPE_BI:
+ pwmWriteServo(0, servo[4]);
pwmWriteServo(1, servo[5]);
- } else {
- /* Two servos for camstab or FLYING_WING */
- pwmWriteServo(0, servo[0]);
- pwmWriteServo(1, servo[1]);
+ break;
+
+ case MULTITYPE_TRI:
+ pwmWriteServo(0, servo[5]);
+ break;
+
+ case MULTITYPE_AIRPLANE:
+
+ break;
+
+ case MULTITYPE_FLYING_WING:
+
+ break;
+
+ default:
+ // Two servos for SERVO_TILT, if enabled
+ if (feature(FEATURE_SERVO_TILT)) {
+ pwmWriteServo(0, servo[0]);
+ pwmWriteServo(1, servo[1]);
+ }
+ break;
}
}
@@ -87,7 +129,57 @@ void writeAllMotors(int16_t mc)
writeMotors();
}
-#define PIDMIX(X,Y,Z) rcCommand[THROTTLE] + axisPID[ROLL] * X + axisPID[PITCH] * Y + cfg.yaw_direction * axisPID[YAW] * Z
+#define PIDMIX(R, P, Y) rcCommand[THROTTLE] + axisPID[ROLL] * R + axisPID[PITCH] * P + cfg.yaw_direction * axisPID[YAW] * Y
+
+static void airplaneMixer(void)
+{
+#if 0
+ uint16_t servomid[8];
+ int16_t flaperons[2] = { 0, 0 };
+
+ for (i = 0; i < 8; i++) {
+ servomid[i] = 1500 + cfg.servotrim[i]; // servo center is 1500?
+ }
+
+ if (!f.ARMED)
+ motor[0] = cfg.mincommand; // Kill throttle when disarmed
+ else
+ motor[0] = rcData[THROTTLE];
+
+ if (cfg.flaperons) {
+
+
+ }
+
+ if (cfg.flaps) {
+ int16_t flap = 1500 - constrain(rcData[cfg.flaps], cfg.servoendpoint_low[2], cfg.servoendpoint_high[2]);
+ static int16_t slowFlaps = flap;
+
+ if (cfg.flapspeed) {
+ if (slowFlaps < flap) {
+ slowFlaps += cfg.flapspeed;
+ } else if (slowFlaps > flap) {
+ slowFlaps -= cfg.flapspeed;
+ }
+ } else {
+ slowFlaps = flap;
+ }
+ servo[2] = servomid[2] + (slowFlaps * cfg.servoreverse[2]);
+ }
+
+ if (f.PASSTHRU_MODE) { // Direct passthru from RX
+ servo[3] = servomid[3] + ((rcCommand[ROLL] + flapperons[0]) * cfg.servoreverse[3]); // Wing 1
+ servo[4] = servomid[4] + ((rcCommand[ROLL] + flapperons[1]) * cfg.servoreverse[4]); // Wing 2
+ servo[5] = servomid[5] + (rcCommand[YAW] * cfg.servoreverse[5]); // Rudder
+ servo[6] = servomid[6] + (rcCommand[PITCH] * cfg.servoreverse[6]); // Elevator
+ } else { // Assisted modes (gyro only or gyro+acc according to AUX configuration in Gui
+ servo[3] = (servomid[3] + ((axisPID[ROLL] + flapperons[0]) * cfg.servoreverse[3])); // Wing 1
+ servo[4] = (servomid[4] + ((axisPID[ROLL] + flapperons[1]) * cfg.servoreverse[4])); // Wing 2
+ servo[5] = (servomid[5] + (axisPID[YAW] * cfg.servoreverse[5])); // Rudder
+ servo[6] = (servomid[6] + (axisPID[PITCH] * cfg.servoreverse[6])); // Elevator
+ }
+#endif
+}
void mixTable(void)
{
@@ -112,7 +204,7 @@ void mixTable(void)
motor[0] = PIDMIX(0, +4 / 3, 0); //REAR
motor[1] = PIDMIX(-1, -2 / 3, 0); //RIGHT
motor[2] = PIDMIX(+1, -2 / 3, 0); //LEFT
- servo[4] = constrain(cfg.tri_yaw_middle + cfg.yaw_direction * axisPID[YAW], cfg.tri_yaw_min, cfg.tri_yaw_max); //REAR
+ servo[5] = constrain(cfg.tri_yaw_middle + cfg.yaw_direction * axisPID[YAW], cfg.tri_yaw_min, cfg.tri_yaw_max); //REAR
break;
case MULTITYPE_QUADP:
@@ -155,21 +247,12 @@ void mixTable(void)
break;
case MULTITYPE_HEX6X:
-#if 0
- motor[0] = PIDMIX(-1 / 2, +1 / 2, +1); //REAR_R
- motor[1] = PIDMIX(-1 / 2, -1 / 2, +1); //FRONT_R
- motor[2] = PIDMIX(+1 / 2, +1 / 2, -1); //REAR_L
- motor[3] = PIDMIX(+1 / 2, -1 / 2, -1); //FRONT_L
- motor[4] = PIDMIX(-1, +0, -1); //RIGHT
- motor[5] = PIDMIX(+1, +0, +1); //LEFT
-#else
motor[0] = PIDMIX(-4/5,+9/10,+1); //REAR_R
motor[1] = PIDMIX(-4/5,-9/10,+1); //FRONT_R
motor[2] = PIDMIX(+4/5,+9/10,-1); //REAR_L
motor[3] = PIDMIX(+4/5,-9/10,-1); //FRONT_L
motor[4] = PIDMIX(-4/5 ,+0 ,-1); //RIGHT
motor[5] = PIDMIX(+4/5 ,+0 ,+1); //LEFT
-#endif
break;
case MULTITYPE_OCTOX8:
@@ -216,6 +299,23 @@ void mixTable(void)
servo[0] = constrain(cfg.gimbal_pitch_mid + cfg.gimbal_pitch_gain * angle[PITCH] / 16 + rcCommand[PITCH], cfg.gimbal_pitch_min, cfg.gimbal_pitch_max);
servo[1] = constrain(cfg.gimbal_roll_mid + cfg.gimbal_roll_gain * angle[ROLL] / 16 + rcCommand[ROLL], cfg.gimbal_roll_min, cfg.gimbal_roll_max);
break;
+
+ case MULTITYPE_AIRPLANE:
+ airplaneMixer();
+ break;
+
+ case MULTITYPE_FLYING_WING:
+ motor[0] = rcCommand[THROTTLE];
+ if (f.PASSTHRU_MODE) { // do not use sensors for correction, simple 2 channel mixing
+ int p = 0, r = 0;
+ servo[0] = p * (rcData[PITCH] - cfg.midrc) + r * (rcData[ROLL] - cfg.midrc);
+ servo[1] = p * (rcData[PITCH] - cfg.midrc) + r * (rcData[ROLL] - cfg.midrc);
+ } else { // use sensors to correct (gyro only or gyro+acc)
+ int p = 0, r = 0;
+ servo[0] = p * axisPID[PITCH] + r * axisPID[ROLL];
+ servo[1] = p * axisPID[PITCH] + r * axisPID[ROLL];
+ }
+ break;
}
// do camstab
diff --git a/src/mw.h b/src/mw.h
index d1568aaa3e..b8264ae37c 100755
--- a/src/mw.h
+++ b/src/mw.h
@@ -30,14 +30,15 @@ typedef enum MultiType
MULTITYPE_FLYING_WING = 8, // UNSUPPORTED, do not select!
MULTITYPE_Y4 = 9,
MULTITYPE_HEX6X = 10,
- MULTITYPE_OCTOX8 = 11,
- MULTITYPE_OCTOFLATP = 12, // the GUI is the same for all 8 motor configs
- MULTITYPE_OCTOFLATX = 13, // the GUI is the same for all 8 motor configs
- MULTITYPE_AIRPLANE = 14,
- MULTITYPE_HELI_120_CCPM = 15, // simple model
- MULTITYPE_HELI_90_DEG = 16, // simple model
+ MULTITYPE_OCTOX8 = 11, // Java GUI is same for the next 3 configs
+ MULTITYPE_OCTOFLATP = 12, // MultiWinGui shows this differently
+ MULTITYPE_OCTOFLATX = 13, // MultiWinGui shows this differently
+ MULTITYPE_AIRPLANE = 14, // airplane / singlecopter / dualcopter
+ MULTITYPE_HELI_120_CCPM = 15,
+ MULTITYPE_HELI_90_DEG = 16,
MULTITYPE_VTAIL4 = 17,
- MULTITYPE_LAST = 18
+ MULTITYPE_CUSTOM = 18, // no current GUI displays this
+ MULTITYPE_LAST = 19
} MultiType;
typedef enum GimbalFlags {
@@ -148,6 +149,8 @@ typedef struct config_t {
uint16_t mincommand; // This is the value for the ESCs when they are not armed. In some cases, this value must be lowered down to 900 for some specific ESCs
uint16_t motor_pwm_rate; // The update rate of motor outputs (50-498Hz)
uint16_t servo_pwm_rate; // The update rate of servo outputs (50-498Hz)
+ int16_t servotrim[8]; // Adjust Servo MID Offset & Swash angles
+ int8_t servoreverse[8]; // Invert servos by setting -1
// mixer-related configuration
int8_t yaw_direction;
@@ -215,17 +218,16 @@ extern uint16_t calibratingA;
extern uint16_t calibratingG;
extern int16_t heading;
extern int16_t annex650_overrun_count;
-extern int32_t pressure;
extern int32_t BaroAlt;
extern int16_t sonarAlt;
extern int32_t EstAlt;
-extern int32_t AltHold;
-extern int16_t errorAltitudeI;
-extern int16_t BaroPID;
+extern int32_t AltHold;
+extern int16_t errorAltitudeI;
+extern int16_t BaroPID;
extern int16_t headFreeModeHold;
extern int16_t zVelocity;
extern int16_t heading, magHold;
-extern int16_t motor[8];
+extern int16_t motor[MAX_MOTORS];
extern int16_t servo[8];
extern int16_t rcData[8];
extern uint8_t vbat;
@@ -255,6 +257,7 @@ extern config_t cfg;
extern flags_t f;
extern sensor_t acc;
extern sensor_t gyro;
+extern baro_t baro;
// main
void loop(void);
diff --git a/src/sensors.c b/src/sensors.c
index ae782d1976..80b0acf482 100755
--- a/src/sensors.c
+++ b/src/sensors.c
@@ -17,6 +17,7 @@ extern float magneticDeclination;
sensor_t acc; // acc access functions
sensor_t gyro; // gyro access functions
+baro_t baro; // barometer access functions
uint8_t accHardware = ACC_DEFAULT; // which accel chip is used/detected
#ifdef FY90Q
@@ -85,17 +86,25 @@ retry:
}
}
- // Detect what else is available
- if (!bmp085Init())
- sensorsClear(SENSOR_BARO);
+#ifdef BARO
+ // Detect what pressure sensors are available. baro->update() is set to sensor-specific update function
+ if (!ms5611Detect(&baro)) {
+ // ms5611 disables BMP085, and tries to initialize + check PROM crc. if this works, we have a baro
+ if (!bmp085Detect(&baro)) {
+ // if both failed, we don't have anything
+ sensorsClear(SENSOR_BARO);
+ }
+ }
+#endif
+
+#ifdef MAG
if (!hmc5883lDetect())
sensorsClear(SENSOR_MAG);
+#endif
- // Now time to init them, acc first
+ // Now time to init things, acc first
if (sensors(SENSOR_ACC))
acc.init();
- if (sensors(SENSOR_BARO))
- bmp085Init();
// this is safe because either mpu6050 or mpu3050 or lg3d20 sets it, and in case of fail, we never get here.
gyro.init();
@@ -234,13 +243,10 @@ void ACC_getADC(void)
}
#ifdef BARO
-static uint32_t baroDeadline = 0;
-static uint8_t baroState = 0;
-static uint16_t baroUT = 0;
-static uint32_t baroUP = 0;
-
void Baro_update(void)
{
+ static uint32_t baroDeadline = 0;
+ static uint8_t state = 0;
int32_t pressure;
if ((int32_t)(currentTime - baroDeadline) < 0)
@@ -248,28 +254,27 @@ void Baro_update(void)
baroDeadline = currentTime;
- switch (baroState) {
+ switch (state) {
case 0:
- bmp085_start_ut();
- baroState++;
- baroDeadline += 4600;
+ baro.start_ut();
+ state++;
+ baroDeadline += baro.ut_delay;
break;
case 1:
- baroUT = bmp085_get_ut();
- baroState++;
+ baro.get_ut();
+ state++;
break;
case 2:
- bmp085_start_up();
- baroState++;
- baroDeadline += 26000;
+ baro.start_up();
+ state++;
+ baroDeadline += baro.up_delay;
break;
case 3:
- baroUP = bmp085_get_up();
- bmp085_get_temperature(baroUT);
- pressure = bmp085_get_pressure(baroUP);
+ baro.get_up();
+ pressure = baro.calculate();
BaroAlt = (1.0f - pow(pressure / 101325.0f, 0.190295f)) * 4433000.0f; // centimeter
- baroState = 0;
- baroDeadline += 5000;
+ state = 0;
+ baroDeadline += baro.repeat_delay;
break;
}
}