2 * This file is part of Cleanflight and Betaflight.
4 * Cleanflight and Betaflight are free software. You can redistribute
5 * this software and/or modify this software under the terms of the
6 * GNU General Public License as published by the Free Software
7 * Foundation, either version 3 of the License, or (at your option)
10 * Cleanflight and Betaflight are distributed in the hope that they
11 * will be useful, but WITHOUT ANY WARRANTY; without even the implied
12 * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
13 * See the GNU General Public License for more details.
15 * You should have received a copy of the GNU General Public License
16 * along with this software.
18 * If not, see <http://www.gnu.org/licenses/>.
26 #include "build/build_config.h"
27 #include "build/debug.h"
29 #include "barometer.h"
31 #include "drivers/bus.h"
32 #include "drivers/bus_i2c.h"
33 #include "drivers/bus_i2c_busdev.h"
34 #include "drivers/bus_spi.h"
35 #include "drivers/io.h"
36 #include "drivers/time.h"
38 #include "barometer_bmp280.h"
40 // 10 MHz max SPI frequency
41 #define BMP280_MAX_SPI_CLK_HZ 10000000
43 #if defined(USE_BARO) && (defined(USE_BARO_BMP280) || defined(USE_BARO_SPI_BMP280))
46 #define BMP280_I2C_ADDR (0x76)
47 #define BMP280_DEFAULT_CHIP_ID (0x58)
48 #define BME280_DEFAULT_CHIP_ID (0x60)
50 #define BMP280_CHIP_ID_REG (0xD0) /* Chip ID Register */
51 #define BMP280_RST_REG (0xE0) /* Softreset Register */
52 #define BMP280_STAT_REG (0xF3) /* Status Register */
53 #define BMP280_CTRL_MEAS_REG (0xF4) /* Ctrl Measure Register */
54 #define BMP280_CONFIG_REG (0xF5) /* Configuration Register */
55 #define BMP280_PRESSURE_MSB_REG (0xF7) /* Pressure MSB Register */
56 #define BMP280_PRESSURE_LSB_REG (0xF8) /* Pressure LSB Register */
57 #define BMP280_PRESSURE_XLSB_REG (0xF9) /* Pressure XLSB Register */
58 #define BMP280_TEMPERATURE_MSB_REG (0xFA) /* Temperature MSB Reg */
59 #define BMP280_TEMPERATURE_LSB_REG (0xFB) /* Temperature LSB Reg */
60 #define BMP280_TEMPERATURE_XLSB_REG (0xFC) /* Temperature XLSB Reg */
61 #define BMP280_FORCED_MODE (0x01)
63 #define BMP280_TEMPERATURE_CALIB_DIG_T1_LSB_REG (0x88)
64 #define BMP280_PRESSURE_TEMPERATURE_CALIB_DATA_LENGTH (24)
65 #define BMP280_DATA_FRAME_SIZE (6)
67 #define BMP280_OVERSAMP_SKIPPED (0x00)
68 #define BMP280_OVERSAMP_1X (0x01)
69 #define BMP280_OVERSAMP_2X (0x02)
70 #define BMP280_OVERSAMP_4X (0x03)
71 #define BMP280_OVERSAMP_8X (0x04)
72 #define BMP280_OVERSAMP_16X (0x05)
74 // configure pressure and temperature oversampling, forced sampling mode
75 #define BMP280_PRESSURE_OSR (BMP280_OVERSAMP_8X)
76 #define BMP280_TEMPERATURE_OSR (BMP280_OVERSAMP_1X)
77 #define BMP280_MODE (BMP280_PRESSURE_OSR << 2 | BMP280_TEMPERATURE_OSR << 5 | BMP280_FORCED_MODE)
79 #define T_INIT_MAX (20)
81 #define T_MEASURE_PER_OSRS_MAX (37)
83 #define T_SETUP_PRESSURE_MAX (10)
86 typedef struct bmp280_calib_param_s
{
87 uint16_t dig_T1
; /* calibration T1 data */
88 int16_t dig_T2
; /* calibration T2 data */
89 int16_t dig_T3
; /* calibration T3 data */
90 uint16_t dig_P1
; /* calibration P1 data */
91 int16_t dig_P2
; /* calibration P2 data */
92 int16_t dig_P3
; /* calibration P3 data */
93 int16_t dig_P4
; /* calibration P4 data */
94 int16_t dig_P5
; /* calibration P5 data */
95 int16_t dig_P6
; /* calibration P6 data */
96 int16_t dig_P7
; /* calibration P7 data */
97 int16_t dig_P8
; /* calibration P8 data */
98 int16_t dig_P9
; /* calibration P9 data */
99 } __attribute__((packed
)) bmp280_calib_param_t
; // packed as we read directly from the device into this structure.
101 STATIC_ASSERT(sizeof(bmp280_calib_param_t
) == BMP280_PRESSURE_TEMPERATURE_CALIB_DATA_LENGTH
, bmp280_calibration_structure_incorrectly_packed
);
103 STATIC_UNIT_TESTED
int32_t t_fine
; /* calibration t_fine data */
105 static uint8_t bmp280_chip_id
= 0;
106 STATIC_UNIT_TESTED bmp280_calib_param_t bmp280_cal
;
107 // uncompensated pressure and temperature
108 int32_t bmp280_up
= 0;
109 int32_t bmp280_ut
= 0;
110 static DMA_DATA_ZERO_INIT
uint8_t sensor_data
[BMP280_DATA_FRAME_SIZE
];
112 static bool bmp280StartUT(baroDev_t
*baro
);
113 static bool bmp280ReadUT(baroDev_t
*baro
);
114 static bool bmp280GetUT(baroDev_t
*baro
);
115 static bool bmp280StartUP(baroDev_t
*baro
);
116 static bool bmp280ReadUP(baroDev_t
*baro
);
117 static bool bmp280GetUP(baroDev_t
*baro
);
119 STATIC_UNIT_TESTED
void bmp280Calculate(int32_t *pressure
, int32_t *temperature
);
121 void bmp280BusInit(const extDevice_t
*dev
)
123 #ifdef USE_BARO_SPI_BMP280
124 if (dev
->bus
->busType
== BUS_TYPE_SPI
) {
125 IOHi(dev
->busType_u
.spi
.csnPin
); // Disable
126 IOInit(dev
->busType_u
.spi
.csnPin
, OWNER_BARO_CS
, 0);
127 IOConfigGPIO(dev
->busType_u
.spi
.csnPin
, IOCFG_OUT_PP
);
128 spiSetClkDivisor(dev
, spiCalculateDivider(BMP280_MAX_SPI_CLK_HZ
));
135 void bmp280BusDeinit(const extDevice_t
*dev
)
137 #ifdef USE_BARO_SPI_BMP280
138 if (dev
->bus
->busType
== BUS_TYPE_SPI
) {
139 spiPreinitByIO(dev
->busType_u
.spi
.csnPin
);
146 #include "drivers/time.h"
148 bool bmp280Detect(baroDev_t
*baro
)
152 extDevice_t
*dev
= &baro
->dev
;
153 bool defaultAddressApplied
= false;
157 if ((dev
->bus
->busType
== BUS_TYPE_I2C
) && (dev
->busType_u
.i2c
.address
== 0)) {
158 // Default address for BMP280
159 dev
->busType_u
.i2c
.address
= BMP280_I2C_ADDR
;
160 defaultAddressApplied
= true;
163 busReadRegisterBuffer(dev
, BMP280_CHIP_ID_REG
, &bmp280_chip_id
, 1); /* read Chip Id */
165 if ((bmp280_chip_id
!= BMP280_DEFAULT_CHIP_ID
) && (bmp280_chip_id
!= BME280_DEFAULT_CHIP_ID
)) {
166 bmp280BusDeinit(dev
);
167 if (defaultAddressApplied
) {
168 dev
->busType_u
.i2c
.address
= 0;
173 busDeviceRegister(dev
);
176 busReadRegisterBuffer(dev
, BMP280_TEMPERATURE_CALIB_DIG_T1_LSB_REG
, (uint8_t *)&bmp280_cal
, sizeof(bmp280_calib_param_t
));
178 // set oversampling + power mode (forced), and start sampling
179 busWriteRegister(dev
, BMP280_CTRL_MEAS_REG
, BMP280_MODE
);
181 // these are dummy as temperature is measured as part of pressure
182 baro
->combined_read
= true;
184 baro
->start_ut
= bmp280StartUT
;
185 baro
->get_ut
= bmp280GetUT
;
186 baro
->read_ut
= bmp280ReadUT
;
187 // only _up part is executed, and gets both temperature and pressure
188 baro
->start_up
= bmp280StartUP
;
189 baro
->get_up
= bmp280GetUP
;
190 baro
->read_up
= bmp280ReadUP
;
191 baro
->up_delay
= ((T_INIT_MAX
+ T_MEASURE_PER_OSRS_MAX
* (((1 << BMP280_TEMPERATURE_OSR
) >> 1) + ((1 << BMP280_PRESSURE_OSR
) >> 1)) + (BMP280_PRESSURE_OSR
? T_SETUP_PRESSURE_MAX
: 0) + 15) / 16) * 1000;
192 baro
->calculate
= bmp280Calculate
;
197 static bool bmp280StartUT(baroDev_t
*baro
)
205 static bool bmp280ReadUT(baroDev_t
*baro
)
212 static bool bmp280GetUT(baroDev_t
*baro
)
219 static bool bmp280StartUP(baroDev_t
*baro
)
222 // set oversampling + power mode (forced), and start sampling
223 return busWriteRegisterStart(&baro
->dev
, BMP280_CTRL_MEAS_REG
, BMP280_MODE
);
226 static bool bmp280ReadUP(baroDev_t
*baro
)
228 if (busBusy(&baro
->dev
, NULL
)) {
232 // read data from sensor
233 return busReadRegisterBufferStart(&baro
->dev
, BMP280_PRESSURE_MSB_REG
, sensor_data
, BMP280_DATA_FRAME_SIZE
);
236 static bool bmp280GetUP(baroDev_t
*baro
)
238 if (busBusy(&baro
->dev
, NULL
)) {
242 bmp280_up
= (int32_t)(sensor_data
[0] << 12 | sensor_data
[1] << 4 | sensor_data
[2] >> 4);
243 bmp280_ut
= (int32_t)(sensor_data
[3] << 12 | sensor_data
[4] << 4 | sensor_data
[5] >> 4);
248 // Returns temperature in DegC, resolution is 0.01 DegC. Output value of "5123" equals 51.23 DegC
249 // t_fine carries fine temperature as global value
250 static int32_t bmp280CompensateTemperature(int32_t adc_T
)
252 int32_t var1
, var2
, T
;
254 var1
= ((((adc_T
>> 3) - ((int32_t)bmp280_cal
.dig_T1
<< 1))) * ((int32_t)bmp280_cal
.dig_T2
)) >> 11;
255 var2
= (((((adc_T
>> 4) - ((int32_t)bmp280_cal
.dig_T1
)) * ((adc_T
>> 4) - ((int32_t)bmp280_cal
.dig_T1
))) >> 12) * ((int32_t)bmp280_cal
.dig_T3
)) >> 14;
256 t_fine
= var1
+ var2
;
257 T
= (t_fine
* 5 + 128) >> 8;
262 // Returns pressure in Pa as unsigned 32 bit integer in Q24.8 format (24 integer bits and 8 fractional bits).
263 // Output value of "24674867" represents 24674867/256 = 96386.2 Pa = 963.862 hPa
264 static uint32_t bmp280CompensatePressure(int32_t adc_P
)
266 int64_t var1
, var2
, p
;
267 var1
= ((int64_t)t_fine
) - 128000;
268 var2
= var1
* var1
* (int64_t)bmp280_cal
.dig_P6
;
269 var2
= var2
+ ((var1
*(int64_t)bmp280_cal
.dig_P5
) << 17);
270 var2
= var2
+ (((int64_t)bmp280_cal
.dig_P4
) << 35);
271 var1
= ((var1
* var1
* (int64_t)bmp280_cal
.dig_P3
) >> 8) + ((var1
* (int64_t)bmp280_cal
.dig_P2
) << 12);
272 var1
= (((((int64_t)1) << 47) + var1
)) * ((int64_t)bmp280_cal
.dig_P1
) >> 33;
276 p
= (((p
<< 31) - var2
) * 3125) / var1
;
277 var1
= (((int64_t)bmp280_cal
.dig_P9
) * (p
>> 13) * (p
>> 13)) >> 25;
278 var2
= (((int64_t)bmp280_cal
.dig_P8
) * p
) >> 19;
279 p
= ((p
+ var1
+ var2
) >> 8) + (((int64_t)bmp280_cal
.dig_P7
) << 4);
283 STATIC_UNIT_TESTED
void bmp280Calculate(int32_t *pressure
, int32_t *temperature
)
288 t
= bmp280CompensateTemperature(bmp280_ut
);
289 p
= bmp280CompensatePressure(bmp280_up
);
292 *pressure
= (int32_t)(p
/ 256);