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Sensors.ino
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// ************************************************************************************************************
// board orientation and setup
// ************************************************************************************************************
//default board orientation
#if !defined(ACC_ORIENTATION)
#define ACC_ORIENTATION(X, Y, Z) {accADC[ROLL] = X; accADC[PITCH] = Y; accADC[YAW] = Z;}
#endif
#if !defined(GYRO_ORIENTATION)
#define GYRO_ORIENTATION(X, Y, Z) {gyroADC[ROLL] = X; gyroADC[PITCH] = Y; gyroADC[YAW] = Z;}
#endif
#if !defined(MAG_ORIENTATION)
#define MAG_ORIENTATION(X, Y, Z) {magADC[ROLL] = X; magADC[PITCH] = Y; magADC[YAW] = Z;}
#endif
/*** I2C address ***/
#if !defined(MMA7455_ADDRESS)
#define MMA7455_ADDRESS 0x1D
#endif
#if !defined(ADXL345_ADDRESS)
#define ADXL345_ADDRESS 0x1D
//#define ADXL345_ADDRESS 0x53 //WARNING: Conflicts with a Wii Motion plus!
#endif
#if !defined(BMA180_ADDRESS)
#define BMA180_ADDRESS 0x40
//#define BMA180_ADDRESS 0x41
#endif
#if !defined(ITG3200_ADDRESS)
#define ITG3200_ADDRESS 0X68
//#define ITG3200_ADDRESS 0X69
#endif
#if !defined(MPU6050_ADDRESS)
#define MPU6050_ADDRESS 0x68 // address pin AD0 low (GND), default for FreeIMU v0.4 and InvenSense evaluation board
//#define MPU6050_ADDRESS 0x69 // address pin AD0 high (VCC)
#endif
#if !defined(MPU9150_ADDRESS)
#define MPU9150_ADDRESS 0x68 // address pin AD0 low (GND), default for FreeIMU v0.4 and InvenSense evaluation board
//#define MPU9150_ADDRESS 0x69 // address pin AD0 high (VCC)
//The MAG acquisition
#define MAG_ADDRESS 0x0C
#define MAG_DATA_REGISTER 0x03
#endif
#if !defined(MS561101BA_ADDRESS)
#define MS561101BA_ADDRESS 0x77 //CBR=0 0xEE I2C address when pin CSB is connected to LOW (GND)
//#define MS561101BA_ADDRESS 0x76 //CBR=1 0xEC I2C address when pin CSB is connected to HIGH (VCC)
#endif
//ITG3200 and ITG3205 Gyro LPF setting
#if defined(ITG3200_LPF_256HZ) || defined(ITG3200_LPF_188HZ) || defined(ITG3200_LPF_98HZ) || defined(ITG3200_LPF_42HZ) || defined(ITG3200_LPF_20HZ) || defined(ITG3200_LPF_10HZ)
#if defined(ITG3200_LPF_256HZ)
#define ITG3200_SMPLRT_DIV 0 //8000Hz
#define ITG3200_DLPF_CFG 0
#endif
#if defined(ITG3200_LPF_188HZ)
#define ITG3200_SMPLRT_DIV 0 //1000Hz
#define ITG3200_DLPF_CFG 1
#endif
#if defined(ITG3200_LPF_98HZ)
#define ITG3200_SMPLRT_DIV 0
#define ITG3200_DLPF_CFG 2
#endif
#if defined(ITG3200_LPF_42HZ)
#define ITG3200_SMPLRT_DIV 0
#define ITG3200_DLPF_CFG 3
#endif
#if defined(ITG3200_LPF_20HZ)
#define ITG3200_SMPLRT_DIV 0
#define ITG3200_DLPF_CFG 4
#endif
#if defined(ITG3200_LPF_10HZ)
#define ITG3200_SMPLRT_DIV 0
#define ITG3200_DLPF_CFG 5
#endif
#else
//Default settings LPF 256Hz/8000Hz sample
#define ITG3200_SMPLRT_DIV 0 //8000Hz
#define ITG3200_DLPF_CFG 0
#endif
//MPU6050 Gyro LPF setting
#if defined(MPU6050_LPF_256HZ) || defined(MPU6050_LPF_188HZ) || defined(MPU6050_LPF_98HZ) || defined(MPU6050_LPF_42HZ) || defined(MPU6050_LPF_20HZ) || defined(MPU6050_LPF_10HZ) || defined(MPU6050_LPF_5HZ)
#if defined(MPU6050_LPF_256HZ)
#define MPU6050_DLPF_CFG 0
#endif
#if defined(MPU6050_LPF_188HZ)
#define MPU6050_DLPF_CFG 1
#endif
#if defined(MPU6050_LPF_98HZ)
#define MPU6050_DLPF_CFG 2
#endif
#if defined(MPU6050_LPF_42HZ)
#define MPU6050_DLPF_CFG 3
#endif
#if defined(MPU6050_LPF_20HZ)
#define MPU6050_DLPF_CFG 4
#endif
#if defined(MPU6050_LPF_10HZ)
#define MPU6050_DLPF_CFG 5
#endif
#if defined(MPU6050_LPF_5HZ)
#define MPU6050_DLPF_CFG 6
#endif
#else
//Default settings LPF 256Hz/8000Hz sample
#define MPU6050_DLPF_CFG 0
#endif
//MPU9150 Gyro LPF setting
#if defined(MPU9150_LPF_256HZ) || defined(MPU9150_LPF_188HZ) || defined(MPU9150_LPF_98HZ) || defined(MPU9150_LPF_42HZ) || defined(MPU9150_LPF_20HZ) || defined(MPU9150_LPF_10HZ) || defined(MPU9150_LPF_5HZ)
#if defined(MPU9150_LPF_256HZ)
#define MPU9150_DLPF_CFG 0
#endif
#if defined(MPU9150_LPF_188HZ)
#define MPU9150_DLPF_CFG 1
#endif
#if defined(MPU9150_LPF_98HZ)
#define MPU9150_DLPF_CFG 2
#endif
#if defined(MPU9150_LPF_42HZ)
#define MPU9150_DLPF_CFG 3
#endif
#if defined(MPU9150_LPF_20HZ)
#define MPU9150_DLPF_CFG 4
#endif
#if defined(MPU9150_LPF_10HZ)
#define MPU9150_DLPF_CFG 5
#endif
#if defined(MPU9150_LPF_5HZ)
#define MPU9150_DLPF_CFG 6
#endif
#else
//Default settings LPF 256Hz/8000Hz sample
#define MPU9150_DLPF_CFG 0
#endif
#if defined(TINY_GPS) | defined(TINY_GPS_SONAR)
#define TINY_GPS_TWI_ADD 0x11
#include "tinygps.h"
#endif
uint8_t rawADC[6];
static uint32_t neutralizeTime = 0;
// ************************************************************************************************************
// I2C general functions
// ************************************************************************************************************
void i2c_init(void) {
#if defined(INTERNAL_I2C_PULLUPS)
I2C_PULLUPS_ENABLE
#else
I2C_PULLUPS_DISABLE
#endif
TWSR = 0; // no prescaler => prescaler = 1
TWBR = ((F_CPU / I2C_SPEED) - 16) / 2; // change the I2C clock rate
TWCR = 1<<TWEN; // enable twi module, no interrupt
}
void i2c_rep_start(uint8_t address) {
TWCR = (1<<TWINT) | (1<<TWSTA) | (1<<TWEN) ; // send REPEAT START condition
waitTransmissionI2C(); // wait until transmission completed
TWDR = address; // send device address
TWCR = (1<<TWINT) | (1<<TWEN);
waitTransmissionI2C(); // wail until transmission completed
}
void i2c_stop(void) {
TWCR = (1 << TWINT) | (1 << TWEN) | (1 << TWSTO);
// while(TWCR & (1<<TWSTO)); // <- can produce a blocking state with some WMP clones
}
void i2c_write(uint8_t data ) {
TWDR = data; // send data to the previously addressed device
TWCR = (1<<TWINT) | (1<<TWEN);
waitTransmissionI2C();
}
uint8_t i2c_read(uint8_t ack) {
TWCR = (1<<TWINT) | (1<<TWEN) | (ack? (1<<TWEA) : 0);
waitTransmissionI2C();
uint8_t r = TWDR;
if (!ack) i2c_stop();
return r;
}
uint8_t i2c_readAck() {
return i2c_read(1);
}
uint8_t i2c_readNak(void) {
return i2c_read(0);
}
void waitTransmissionI2C() {
uint16_t count = 255;
while (!(TWCR & (1<<TWINT))) {
count--;
if (count==0) { //we are in a blocking state => we don't insist
TWCR = 0; //and we force a reset on TWINT register
neutralizeTime = micros(); //we take a timestamp here to neutralize the value during a short delay
i2c_errors_count++;
break;
}
}
}
size_t i2c_read_to_buf(uint8_t add, void *buf, size_t size) {
i2c_rep_start((add<<1) | 1); // I2C read direction
size_t bytes_read = 0;
uint8_t *b = (uint8_t*)buf;
while (size--) {
/* acknowledge all but the final byte */
*b++ = i2c_read(size > 0);
/* TODO catch I2C errors here and abort */
bytes_read++;
}
return bytes_read;
}
size_t i2c_read_reg_to_buf(uint8_t add, uint8_t reg, void *buf, size_t size) {
i2c_rep_start(add<<1); // I2C write direction
i2c_write(reg); // register selection
return i2c_read_to_buf(add, buf, size);
}
/* transform a series of bytes from big endian to little
endian and vice versa. */
void swap_endianness(void *buf, size_t size) {
/* we swap in-place, so we only have to
* place _one_ element on a temporary tray
*/
uint8_t tray;
uint8_t *from;
uint8_t *to;
/* keep swapping until the pointers have assed each other */
for (from = (uint8_t*)buf, to = &from[size-1]; from < to; from++, to--) {
tray = *from;
*from = *to;
*to = tray;
}
}
void i2c_getSixRawADC(uint8_t add, uint8_t reg) {
i2c_read_reg_to_buf(add, reg, &rawADC, 6);
}
void i2c_writeReg(uint8_t add, uint8_t reg, uint8_t val) {
i2c_rep_start(add<<1); // I2C write direction
i2c_write(reg); // register selection
i2c_write(val); // value to write in register
i2c_stop();
}
uint8_t i2c_readReg(uint8_t add, uint8_t reg) {
uint8_t val;
i2c_read_reg_to_buf(add, reg, &val, 1);
return val;
}
// ****************
// GYRO common part
// ****************
void GYRO_Common() {
static int16_t previousGyroADC[3] = {0,0,0};
static int32_t g[3];
uint8_t axis;
#if defined MMGYRO
// Moving Average Gyros by Magnetron1
//---------------------------------------------------
static int16_t mediaMobileGyroADC[3][MMGYROVECTORLENGHT];
static int32_t mediaMobileGyroADCSum[3];
static uint8_t mediaMobileGyroIDX;
//---------------------------------------------------
#endif
if (calibratingG>0) {
for (axis = 0; axis < 3; axis++) {
// Reset g[axis] at start of calibration
if (calibratingG == 400) g[axis]=0;
// Sum up 400 readings
g[axis] +=gyroADC[axis];
// Clear global variables for next reading
gyroADC[axis]=0;
gyroZero[axis]=0;
if (calibratingG == 1) {
gyroZero[axis]=g[axis]/400;
blinkLED(10,15,1);
}
}
calibratingG--;
}
#ifdef MMGYRO
mediaMobileGyroIDX = ++mediaMobileGyroIDX % MMGYROVECTORLENGHT;
for (axis = 0; axis < 3; axis++) {
gyroADC[axis] -= gyroZero[axis];
mediaMobileGyroADCSum[axis] -= mediaMobileGyroADC[axis][mediaMobileGyroIDX];
//anti gyro glitch, limit the variation between two consecutive readings
mediaMobileGyroADC[axis][mediaMobileGyroIDX] = constrain(gyroADC[axis],previousGyroADC[axis]-800,previousGyroADC[axis]+800);
mediaMobileGyroADCSum[axis] += mediaMobileGyroADC[axis][mediaMobileGyroIDX];
gyroADC[axis] = mediaMobileGyroADCSum[axis] / MMGYROVECTORLENGHT;
#else
for (axis = 0; axis < 3; axis++) {
gyroADC[axis] -= gyroZero[axis];
//anti gyro glitch, limit the variation between two consecutive readings
gyroADC[axis] = constrain(gyroADC[axis],previousGyroADC[axis]-800,previousGyroADC[axis]+800);
#endif
previousGyroADC[axis] = gyroADC[axis];
}
}
// ****************
// ACC common part
// ****************
void ACC_Common() {
static int32_t a[3];
if (calibratingA>0) {
for (uint8_t axis = 0; axis < 3; axis++) {
// Reset a[axis] at start of calibration
if (calibratingA == 400) a[axis]=0;
// Sum up 400 readings
a[axis] +=accADC[axis];
// Clear global variables for next reading
accADC[axis]=0;
conf.accZero[axis]=0;
}
// Calculate average, shift Z down by acc_1G and store values in EEPROM at end of calibration
if (calibratingA == 1) {
conf.accZero[ROLL] = a[ROLL]/400;
conf.accZero[PITCH] = a[PITCH]/400;
conf.accZero[YAW] = a[YAW]/400-acc_1G; // for nunchuk 200=1G
conf.angleTrim[ROLL] = 0;
conf.angleTrim[PITCH] = 0;
writeParams(1); // write accZero in EEPROM
}
calibratingA--;
}
#if defined(INFLIGHT_ACC_CALIBRATION)
static int32_t b[3];
static int16_t accZero_saved[3] = {0,0,0};
static int16_t angleTrim_saved[2] = {0, 0};
//Saving old zeropoints before measurement
if (InflightcalibratingA==50) {
accZero_saved[ROLL] = conf.accZero[ROLL] ;
accZero_saved[PITCH] = conf.accZero[PITCH];
accZero_saved[YAW] = conf.accZero[YAW] ;
angleTrim_saved[ROLL] = conf.angleTrim[ROLL] ;
angleTrim_saved[PITCH] = conf.angleTrim[PITCH] ;
}
if (InflightcalibratingA>0) {
for (uint8_t axis = 0; axis < 3; axis++) {
// Reset a[axis] at start of calibration
if (InflightcalibratingA == 50) b[axis]=0;
// Sum up 50 readings
b[axis] +=accADC[axis];
// Clear global variables for next reading
accADC[axis]=0;
conf.accZero[axis]=0;
}
//all values are measured
if (InflightcalibratingA == 1) {
AccInflightCalibrationActive = 0;
AccInflightCalibrationMeasurementDone = 1;
#if defined(BUZZER)
toggleBeep = 2; //buzzer for indicatiing the end of calibration
#endif
// recover saved values to maintain current flight behavior until new values are transferred
conf.accZero[ROLL] = accZero_saved[ROLL] ;
conf.accZero[PITCH] = accZero_saved[PITCH];
conf.accZero[YAW] = accZero_saved[YAW] ;
conf.angleTrim[ROLL] = angleTrim_saved[ROLL] ;
conf.angleTrim[PITCH] = angleTrim_saved[PITCH] ;
}
InflightcalibratingA--;
}
// Calculate average, shift Z down by acc_1G and store values in EEPROM at end of calibration
if (AccInflightCalibrationSavetoEEProm == 1){ //the copter is landed, disarmed and the combo has been done again
AccInflightCalibrationSavetoEEProm = 0;
conf.accZero[ROLL] = b[ROLL]/50;
conf.accZero[PITCH] = b[PITCH]/50;
conf.accZero[YAW] = b[YAW]/50-acc_1G; // for nunchuk 200=1G
conf.angleTrim[ROLL] = 0;
conf.angleTrim[PITCH] = 0;
writeParams(1); // write accZero in EEPROM
}
#endif
accADC[ROLL] -= conf.accZero[ROLL] ;
accADC[PITCH] -= conf.accZero[PITCH];
accADC[YAW] -= conf.accZero[YAW] ;
}
// ************************************************************************************************************
// I2C Barometer BOSCH BMP085
// ************************************************************************************************************
// I2C adress: 0x77 (7bit)
// principle:
// 1) read the calibration register (only once at the initialization)
// 2) read uncompensated temperature (not mandatory at every cycle)
// 3) read uncompensated pressure
// 4) raw temp + raw pressure => calculation of the adjusted pressure
// the following code uses the maximum precision setting (oversampling setting 3)
// ************************************************************************************************************
#if defined(BMP085)
#define BMP085_ADDRESS 0x77
static int32_t pressure;
static struct {
// sensor registers from the BOSCH BMP085 datasheet
int16_t ac1, ac2, ac3;
uint16_t ac4, ac5, ac6;
int16_t b1, b2, mb, mc, md;
union {uint16_t val; uint8_t raw[2]; } ut; //uncompensated T
union {uint32_t val; uint8_t raw[4]; } up; //uncompensated P
uint8_t state;
uint32_t deadline;
} bmp085_ctx;
#define OSS 2 //we can get more unique samples and get better precision using average
void i2c_BMP085_readCalibration(){
delay(10);
//read calibration data in one go
size_t s_bytes = (uint8_t*)&bmp085_ctx.md - (uint8_t*)&bmp085_ctx.ac1 + sizeof(bmp085_ctx.ac1);
i2c_read_reg_to_buf(BMP085_ADDRESS, 0xAA, &bmp085_ctx.ac1, s_bytes);
// now fix endianness
int16_t *p;
for (p = &bmp085_ctx.ac1; p <= &bmp085_ctx.md; p++) {
swap_endianness(p, sizeof(*p));
}
}
void Baro_init() {
delay(10);
i2c_BMP085_readCalibration();
i2c_BMP085_UT_Start();
delay(5);
i2c_BMP085_UT_Read();
}
// read uncompensated temperature value: send command first
void i2c_BMP085_UT_Start() {
i2c_writeReg(BMP085_ADDRESS,0xf4,0x2e);
i2c_rep_start(BMP085_ADDRESS<<1);
i2c_write(0xF6);
i2c_stop();
}
// read uncompensated pressure value: send command first
void i2c_BMP085_UP_Start () {
i2c_writeReg(BMP085_ADDRESS,0xf4,0x34+(OSS<<6)); // control register value for oversampling setting 3
i2c_rep_start(BMP085_ADDRESS<<1); //I2C write direction => 0
i2c_write(0xF6);
i2c_stop();
}
// read uncompensated pressure value: read result bytes
// the datasheet suggests a delay of 25.5 ms (oversampling settings 3) after the send command
void i2c_BMP085_UP_Read () {
i2c_rep_start((BMP085_ADDRESS<<1) | 1);//I2C read direction => 1
bmp085_ctx.up.raw[2] = i2c_readAck();
bmp085_ctx.up.raw[1] = i2c_readAck();
bmp085_ctx.up.raw[0] = i2c_readNak();
}
// read uncompensated temperature value: read result bytes
// the datasheet suggests a delay of 4.5 ms after the send command
void i2c_BMP085_UT_Read() {
i2c_rep_start((BMP085_ADDRESS<<1) | 1);//I2C read direction => 1
bmp085_ctx.ut.raw[1] = i2c_readAck();
bmp085_ctx.ut.raw[0] = i2c_readNak();
}
void i2c_BMP085_Calculate() {
int32_t x1, x2, x3, b3, b5, b6, p, tmp;
uint32_t b4, b7;
// Temperature calculations
x1 = ((int32_t)bmp085_ctx.ut.val - bmp085_ctx.ac6) * bmp085_ctx.ac5 >> 15;
x2 = ((int32_t)bmp085_ctx.mc << 11) / (x1 + bmp085_ctx.md);
b5 = x1 + x2;
// Pressure calculations
b6 = b5 - 4000;
x1 = (bmp085_ctx.b2 * (b6 * b6 >> 12)) >> 11;
x2 = bmp085_ctx.ac2 * b6 >> 11;
x3 = x1 + x2;
tmp = bmp085_ctx.ac1;
tmp = (tmp*4 + x3) << OSS;
b3 = (tmp+2)/4;
x1 = bmp085_ctx.ac3 * b6 >> 13;
x2 = (bmp085_ctx.b1 * (b6 * b6 >> 12)) >> 16;
x3 = ((x1 + x2) + 2) >> 2;
b4 = (bmp085_ctx.ac4 * (uint32_t)(x3 + 32768)) >> 15;
b7 = ((uint32_t) (bmp085_ctx.up.val >> (8-OSS)) - b3) * (50000 >> OSS);
p = b7 < 0x80000000 ? (b7 * 2) / b4 : (b7 / b4) * 2;
x1 = (p >> 8) * (p >> 8);
x1 = (x1 * 3038) >> 16;
x2 = (-7357 * p) >> 16;
pressure = p + ((x1 + x2 + 3791) >> 4);
}
void Baro_update() {
if (currentTime < bmp085_ctx.deadline) return;
bmp085_ctx.deadline = currentTime;
TWBR = ((F_CPU / 400000L) - 16) / 2; // change the I2C clock rate to 400kHz, BMP085 is ok with this speed
switch (bmp085_ctx.state) {
case 0:
i2c_BMP085_UT_Start();
bmp085_ctx.state++; bmp085_ctx.deadline += 4600;
break;
case 1:
i2c_BMP085_UT_Read();
bmp085_ctx.state++;
break;
case 2:
i2c_BMP085_UP_Start();
bmp085_ctx.state++; bmp085_ctx.deadline += 14000;
break;
case 3:
i2c_BMP085_UP_Read();
i2c_BMP085_Calculate();
BaroAlt = (1.0f - pow(pressure/101325.0f, 0.190295f)) * 4433000.0f; //centimeter
bmp085_ctx.state = 0; bmp085_ctx.deadline += 5000;
break;
}
}
#endif
// ************************************************************************************************************
// I2C Barometer MS561101BA
// ************************************************************************************************************
//
// specs are here: http://www.meas-spec.com/downloads/MS5611-01BA03.pdf
// useful info on pages 7 -> 12
#if defined(MS561101BA)
// registers of the device
#define MS561101BA_PRESSURE 0x40
#define MS561101BA_TEMPERATURE 0x50
#define MS561101BA_RESET 0x1E
// OSR (Over Sampling Ratio) constants
#define MS561101BA_OSR_256 0x00
#define MS561101BA_OSR_512 0x02
#define MS561101BA_OSR_1024 0x04
#define MS561101BA_OSR_2048 0x06
#define MS561101BA_OSR_4096 0x08
#define OSR MS561101BA_OSR_4096
static int32_t pressure;
static struct {
// sensor registers from the MS561101BA datasheet
uint16_t c[7];
union {uint32_t val; uint8_t raw[4]; } ut; //uncompensated T
union {uint32_t val; uint8_t raw[4]; } up; //uncompensated P
uint8_t state;
uint32_t deadline;
} ms561101ba_ctx;
void i2c_MS561101BA_reset(){
i2c_writeReg(MS561101BA_ADDRESS, MS561101BA_RESET, 0);
}
void i2c_MS561101BA_readCalibration(){
union {uint16_t val; uint8_t raw[2]; } data;
for(uint8_t i=0;i<6;i++) {
i2c_rep_start(MS561101BA_ADDRESS<<1);
i2c_write(0xA2+2*i);
delay(10);
i2c_rep_start((MS561101BA_ADDRESS<<1) | 1);//I2C read direction => 1
delay(10);
data.raw[1] = i2c_readAck(); // read a 16 bit register
data.raw[0] = i2c_readNak();
ms561101ba_ctx.c[i+1] = data.val;
}
}
void Baro_init() {
delay(10);
i2c_MS561101BA_reset();
delay(100);
i2c_MS561101BA_readCalibration();
}
// read uncompensated temperature value: send command first
void i2c_MS561101BA_UT_Start() {
i2c_rep_start(MS561101BA_ADDRESS<<1); // I2C write direction
i2c_write(MS561101BA_TEMPERATURE + OSR); // register selection
i2c_stop();
}
// read uncompensated pressure value: send command first
void i2c_MS561101BA_UP_Start () {
i2c_rep_start(MS561101BA_ADDRESS<<1); // I2C write direction
i2c_write(MS561101BA_PRESSURE + OSR); // register selection
i2c_stop();
}
// read uncompensated pressure value: read result bytes
void i2c_MS561101BA_UP_Read () {
i2c_rep_start(MS561101BA_ADDRESS<<1);
i2c_write(0);
i2c_rep_start((MS561101BA_ADDRESS<<1) | 1);
ms561101ba_ctx.up.raw[2] = i2c_readAck();
ms561101ba_ctx.up.raw[1] = i2c_readAck();
ms561101ba_ctx.up.raw[0] = i2c_readNak();
}
// read uncompensated temperature value: read result bytes
void i2c_MS561101BA_UT_Read() {
i2c_rep_start(MS561101BA_ADDRESS<<1);
i2c_write(0);
i2c_rep_start((MS561101BA_ADDRESS<<1) | 1);
ms561101ba_ctx.ut.raw[2] = i2c_readAck();
ms561101ba_ctx.ut.raw[1] = i2c_readAck();
ms561101ba_ctx.ut.raw[0] = i2c_readNak();
}
void i2c_MS561101BA_Calculate() {
int32_t temperature,off2=0,sens2=0,delt;
int32_t dT = ms561101ba_ctx.ut.val - ((uint32_t)ms561101ba_ctx.c[5] << 8);
int64_t off = ((uint32_t)ms561101ba_ctx.c[2] <<16) + (((int64_t)dT * ms561101ba_ctx.c[4]) >> 7);
int64_t sens = ((uint32_t)ms561101ba_ctx.c[1] <<15) + (((int64_t)dT * ms561101ba_ctx.c[3]) >> 8);
temperature = 2000 + (((int64_t)dT * ms561101ba_ctx.c[6])>>23);
if (temperature < 2000) { // temperature lower than 20st.C
delt = temperature-2000;
delt = delt*delt;
off2 = (5 * delt)>>1;
sens2 = (5 * delt)>>2;
if (temperature < -1500) { // temperature lower than -15st.C
delt = temperature+1500;
delt = delt*delt;
off2 += 7 * delt;
sens2 += (11 * delt)>>1;
}
}
off -= off2;
sens -= sens2;
pressure = (( (ms561101ba_ctx.up.val * sens ) >> 21) - off) >> 15;
}
void Baro_update() {
if (currentTime < ms561101ba_ctx.deadline) return;
ms561101ba_ctx.deadline = currentTime;
TWBR = ((F_CPU / 400000L) - 16) / 2; // change the I2C clock rate to 400kHz, MS5611 is ok with this speed
switch (ms561101ba_ctx.state) {
case 0:
i2c_MS561101BA_UT_Start();
ms561101ba_ctx.state++; ms561101ba_ctx.deadline += 10000; //according to the specs, the pause should be at least 8.22ms
break;
case 1:
i2c_MS561101BA_UT_Read();
ms561101ba_ctx.state++;
break;
case 2:
i2c_MS561101BA_UP_Start();
ms561101ba_ctx.state++; ms561101ba_ctx.deadline += 10000; //according to the specs, the pause should be at least 8.22ms
break;
case 3:
i2c_MS561101BA_UP_Read();
i2c_MS561101BA_Calculate();
BaroAlt = (1.0f - pow(pressure/101325.0f, 0.190295f)) * 4433000.0f; //centimeter
ms561101ba_ctx.state = 0; ms561101ba_ctx.deadline += 4000;
break;
}
}
#endif
// ************************************************************************************************************
// I2C Accelerometer MMA7455
// ************************************************************************************************************
#if defined(MMA7455)
void ACC_init () {
delay(10);
i2c_writeReg(MMA7455_ADDRESS,0x16,0x21);
acc_1G = 64;
}
void ACC_getADC () {
TWBR = ((F_CPU / 400000L) - 16) / 2;
i2c_getSixRawADC(MMA7455_ADDRESS,0x00);
ACC_ORIENTATION( ((int8_t(rawADC[1])<<8) | int8_t(rawADC[0])) ,
((int8_t(rawADC[3])<<8) | int8_t(rawADC[2])) ,
((int8_t(rawADC[5])<<8) | int8_t(rawADC[4])) );
ACC_Common();
}
#endif
// ************************************************************************************************************
// I2C Accelerometer ADXL345
// ************************************************************************************************************
// I2C adress: 0x3A (8bit) 0x1D (7bit)
// Resolution: 10bit (Full range - 14bit, but this is autoscaling 10bit ADC to the range +- 16g)
// principle:
// 1) CS PIN must be linked to VCC to select the I2C mode
// 2) SD0 PIN must be linked to VCC to select the right I2C adress
// 3) bit b00000100 must be set on register 0x2D to read data (only once at the initialization)
// 4) bits b00001011 must be set on register 0x31 to select the data format (only once at the initialization)
// ************************************************************************************************************
#if defined(ADXL345)
void ACC_init () {
delay(10);
i2c_writeReg(ADXL345_ADDRESS,0x2D,1<<3); // register: Power CTRL -- value: Set measure bit 3 on
i2c_writeReg(ADXL345_ADDRESS,0x31,0x0B); // register: DATA_FORMAT -- value: Set bits 3(full range) and 1 0 on (+/- 16g-range)
i2c_writeReg(ADXL345_ADDRESS,0x2C,0x09); // register: BW_RATE -- value: rate=50hz, bw=20hz
acc_1G = 265;
}
void ACC_getADC () {
TWBR = ((F_CPU / 400000L) - 16) / 2; // change the I2C clock rate to 400kHz, ADXL435 is ok with this speed
i2c_getSixRawADC(ADXL345_ADDRESS,0x32);
ACC_ORIENTATION( ((rawADC[1]<<8) | rawADC[0]) ,
((rawADC[3]<<8) | rawADC[2]) ,
((rawADC[5]<<8) | rawADC[4]) );
ACC_Common();
}
#endif
// ************************************************************************************************************
// I2C Accelerometer BMA180
// ************************************************************************************************************
// I2C adress: 0x80 (8bit) 0x40 (7bit) (SDO connection to VCC)
// I2C adress: 0x82 (8bit) 0x41 (7bit) (SDO connection to VDDIO)
// Resolution: 14bit
//
// Control registers:
//
// 0x20 bw_tcs: | bw<3:0> | tcs<3:0> |
// | 150Hz | xxxxxxxx |
// 0x30 tco_z: | tco_z<5:0> | mode_config<1:0> |
// | xxxxxxxxxx | 00 |
// 0x35 offset_lsb1: | offset_x<3:0> | range<2:0> | smp_skip |
// | xxxxxxxxxxxxx | 8G: 101 | xxxxxxxx |
// ************************************************************************************************************
#if defined(BMA180)
void ACC_init () {
delay(10);
//default range 2G: 1G = 4096 unit.
i2c_writeReg(BMA180_ADDRESS,0x0D,1<<4); // register: ctrl_reg0 -- value: set bit ee_w to 1 to enable writing
delay(5);
uint8_t control = i2c_readReg(BMA180_ADDRESS, 0x20);
control = control & 0x0F; // save tcs register
control = control | (0x01 << 4); // register: bw_tcs reg: bits 4-7 to set bw -- value: set low pass filter to 20Hz
i2c_writeReg(BMA180_ADDRESS, 0x20, control);
delay(5);
control = i2c_readReg(BMA180_ADDRESS, 0x30);
control = control & 0xFC; // save tco_z register
control = control | 0x00; // set mode_config to 0
i2c_writeReg(BMA180_ADDRESS, 0x30, control);
delay(5);
control = i2c_readReg(BMA180_ADDRESS, 0x35);
control = control & 0xF1; // save offset_x and smp_skip register
control = control | (0x05 << 1); // set range to 8G
i2c_writeReg(BMA180_ADDRESS, 0x35, control);
delay(5);
acc_1G = 255;
}
void ACC_getADC () {
TWBR = ((F_CPU / 400000L) - 16) / 2; // Optional line. Sensor is good for it in the spec.
i2c_getSixRawADC(BMA180_ADDRESS,0x02);
//usefull info is on the 14 bits [2-15] bits /4 => [0-13] bits /4 => 12 bit resolution
ACC_ORIENTATION( ((rawADC[1]<<8) | rawADC[0])/16 ,
((rawADC[3]<<8) | rawADC[2])/16 ,
((rawADC[5]<<8) | rawADC[4])/16 );
ACC_Common();
}
#endif
// ************************************************************************************************************
// I2C Accelerometer BMA020
// ************************************************************************************************************
// I2C adress: 0x70 (8bit)
// Resolution: 10bit
// Control registers:
//
// Datasheet: After power on reset or soft reset it is recommended to set the SPI4-bit to the correct value.
// 0x80 = SPI four-wire = Default setting
// | 0x15: | SPI4 | enable_adv_INT | new_data_INT | latch_INT | shadow_dis | wake_up_pause<1:0> | wake_up |
// | | 1 | 0 | 0 | 0 | 0 | 00 | 0 |
//
// | 0x14: | reserved <2:0> | range <1:0> | bandwith <2:0> |
// | | !!Calibration!! | 2g | 25Hz |
//
// ************************************************************************************************************
#if defined(BMA020)
void ACC_init(){
i2c_writeReg(0x38,0x15,0x80); // set SPI4 bit
uint8_t control = i2c_readReg(0x70, 0x14);
control = control & 0xE0; // save bits 7,6,5
control = control | (0x02 << 3); // Range 8G (10)
control = control | 0x00; // Bandwidth 25 Hz 000
i2c_writeReg(0x38,0x14,control);
acc_1G = 63;
}
void ACC_getADC(){
TWBR = ((F_CPU / 400000L) - 16) / 2;
i2c_getSixRawADC(0x38,0x02);
ACC_ORIENTATION( ((rawADC[1]<<8) | rawADC[0])/64 ,
((rawADC[3]<<8) | rawADC[2])/64 ,
((rawADC[5]<<8) | rawADC[4])/64 );
ACC_Common();
}
#endif
// ************************************************************************************************************
// standalone I2C Nunchuk
// ************************************************************************************************************
#if defined(NUNCHACK)
#define NUNCHACK_ADDRESS 0x52
void ACC_init() {
i2c_writeReg(NUNCHACK_ADDRESS ,0xF0 ,0x55 );
i2c_writeReg(NUNCHACK_ADDRESS ,0xFB ,0x00 );
delay(250);
acc_1G = 200;
}
void ACC_getADC() {
TWBR = ((F_CPU / I2C_SPEED) - 16) / 2; // change the I2C clock rate. !! you must check if the nunchuk is ok with this freq
i2c_getSixRawADC(NUNCHACK_ADDRESS,0x00);
ACC_ORIENTATION( ( (rawADC[3]<<2) + ((rawADC[5]>>4)&0x2) ) ,
- ( (rawADC[2]<<2) + ((rawADC[5]>>3)&0x2) ) ,
( ((rawADC[4]&0xFE)<<2) + ((rawADC[5]>>5)&0x6) ));
ACC_Common();
}
#endif
// ************************************************************************
// LIS3LV02 I2C Accelerometer
// ************************************************************************
#if defined(LIS3LV02)
#define LIS3A 0x1D
void ACC_init(){
i2c_writeReg(LIS3A ,0x20 ,0xD7 ); // CTRL_REG1 1101 0111 Pwr on, 160Hz
i2c_writeReg(LIS3A ,0x21 ,0x50 ); // CTRL_REG2 0100 0000 Littl endian, 12 Bit, Boot
acc_1G = 256;
}
void ACC_getADC(){
TWBR = ((F_CPU / 400000L) - 16) / 2; // change the I2C clock rate to 400kHz
i2c_getSixRawADC(LIS3A,0x28+0x80);
ACC_ORIENTATION( ((rawADC[1]<<8) | rawADC[0])/4 ,
((rawADC[3]<<8) | rawADC[2])/4 ,
((rawADC[5]<<8) | rawADC[4])/4);
ACC_Common();
}
#endif
// ************************************************************************************************************
// I2C Accelerometer LSM303DLx
// ************************************************************************************************************
#if defined(LSM303DLx_ACC)
void ACC_init () {
delay(10);
i2c_writeReg(0x18,0x20,0x27);
i2c_writeReg(0x18,0x23,0x30);
i2c_writeReg(0x18,0x21,0x00);
acc_1G = 256;
}
void ACC_getADC () {
TWBR = ((F_CPU / 400000L) - 16) / 2;
i2c_getSixRawADC(0x18,0xA8);
ACC_ORIENTATION( ((rawADC[1]<<8) | rawADC[0])/16 ,
((rawADC[3]<<8) | rawADC[2])/16 ,
((rawADC[5]<<8) | rawADC[4])/16 );
ACC_Common();
}
#endif
// ************************************************************************************************************
// ADC ACC
// ************************************************************************************************************
#if defined(ADCACC)
void ACC_init(){
pinMode(A1,INPUT);
pinMode(A2,INPUT);
pinMode(A3,INPUT);
acc_1G = 75;
}
void ACC_getADC() {
ACC_ORIENTATION( analogRead(A1) ,
analogRead(A2) ,
analogRead(A3) );
ACC_Common();
}
#endif
// ************************************************************************************************************
// I2C Gyroscope L3G4200D
// ************************************************************************************************************
#if defined(L3G4200D)
#define L3G4200D_ADDRESS 0x69
void Gyro_init() {
delay(100);
i2c_writeReg(L3G4200D_ADDRESS ,0x20 ,0x8F ); // CTRL_REG1 400Hz ODR, 20hz filter, run!
delay(5);
i2c_writeReg(L3G4200D_ADDRESS ,0x24 ,0x02 ); // CTRL_REG5 low pass filter enable
}
void Gyro_getADC () {
TWBR = ((F_CPU / 400000L) - 16) / 2; // change the I2C clock rate to 400kHz
i2c_getSixRawADC(L3G4200D_ADDRESS,0x80|0x28);
GYRO_ORIENTATION( ((rawADC[1]<<8) | rawADC[0])/20 ,
((rawADC[3]<<8) | rawADC[2])/20 ,
((rawADC[5]<<8) | rawADC[4])/20 );
GYRO_Common();
}
#endif
// ************************************************************************************************************
// I2C Gyroscope ITG3200
// ************************************************************************************************************
// I2C adress: 0xD2 (8bit) 0x69 (7bit)
// I2C adress: 0xD0 (8bit) 0x68 (7bit)
// principle:
// 1) VIO is connected to VDD
// 2) I2C adress is set to 0x69 (AD0 PIN connected to VDD)
// or 2) I2C adress is set to 0x68 (AD0 PIN connected to GND)
// 3) sample rate = 1000Hz ( 1kHz/(div+1) )
// ************************************************************************************************************
#if defined(ITG3200)
void Gyro_init() {
delay(100);
i2c_writeReg(ITG3200_ADDRESS, 0x3E, 0x80); //register: Power Management -- value: reset device
// delay(5);
// i2c_writeReg(ITG3200_ADDRESS, 0x15, ITG3200_SMPLRT_DIV); //register: Sample Rate Divider -- default value = 0: OK
delay(5);
i2c_writeReg(ITG3200_ADDRESS, 0x16, 0x18 + ITG3200_DLPF_CFG); //register: DLPF_CFG - low pass filter configuration
delay(5);
i2c_writeReg(ITG3200_ADDRESS, 0x3E, 0x03); //register: Power Management -- value: PLL with Z Gyro reference
delay(100);
}
void Gyro_getADC () {
TWBR = ((F_CPU / 400000L) - 16) / 2; // change the I2C clock rate to 400kHz
i2c_getSixRawADC(ITG3200_ADDRESS,0X1D);
GYRO_ORIENTATION( ((rawADC[0]<<8) | rawADC[1])/4 , // range: +/- 8192; +/- 2000 deg/sec
((rawADC[2]<<8) | rawADC[3])/4 ,
((rawADC[4]<<8) | rawADC[5])/4 );
GYRO_Common();
}
#endif
// ************************************************************************************************************
// I2C Compass common function
// ************************************************************************************************************
#if MAG
static float magCal[3] = {1.0,1.0,1.0}; // gain for each axis, populated at sensor init
static uint8_t magInit = 0;
void Mag_getADC() {
static uint32_t t,tCal = 0;
static int16_t magZeroTempMin[3];
static int16_t magZeroTempMax[3];
uint8_t axis;
if ( currentTime < t ) return; //each read is spaced by 100ms
t = currentTime + 100000;
TWBR = ((F_CPU / 400000L) - 16) / 2; // change the I2C clock rate to 400kHz
Device_Mag_getADC();
magADC[ROLL] = magADC[ROLL] * magCal[ROLL];
magADC[PITCH] = magADC[PITCH] * magCal[PITCH];
magADC[YAW] = magADC[YAW] * magCal[YAW];
if (f.CALIBRATE_MAG) {
tCal = t;
for(axis=0;axis<3;axis++) {
conf.magZero[axis] = 0;
magZeroTempMin[axis] = magADC[axis];
magZeroTempMax[axis] = magADC[axis];
}
f.CALIBRATE_MAG = 0;
}
if (magInit) { // we apply offset only once mag calibration is done
magADC[ROLL] -= conf.magZero[ROLL];
magADC[PITCH] -= conf.magZero[PITCH];
magADC[YAW] -= conf.magZero[YAW];
}
if (tCal != 0) {
if ((t - tCal) < 30000000) { // 30s: you have 30s to turn the multi in all directions