mirror of
https://github.com/goldenfishs/MRobot.git
synced 2025-04-28 23:39:55 +08:00
302 lines
7.5 KiB
C
302 lines
7.5 KiB
C
#include "bmp280_i2c.h"
|
||
#include "bsp/i2c.h"
|
||
|
||
#define I2C_Handle BSP_I2C_GetHandle(BSP_I2C_BMP280)
|
||
|
||
/**
|
||
* @brief 读寄存器
|
||
* @param regAdd 寄存器开始地址
|
||
* @param pdata 存储数据的指针
|
||
* @param size 寄存器个数
|
||
* @retval 无
|
||
*/
|
||
void bmp280_readReg(uint8_t regAdd, uint8_t *pdata, uint8_t size) {
|
||
HAL_I2C_Mem_Read(I2C_Handle, BMP280_I2C_ADDR << 1, regAdd, I2C_MEMADD_SIZE_8BIT, pdata, size, 1000);
|
||
}
|
||
|
||
|
||
|
||
/**
|
||
* @brief 写1个寄存器
|
||
* @param regAdd 寄存器开始地址
|
||
* @param pdata 存储数据的指针
|
||
* @retval 0 写入成功
|
||
* 1 写入失败
|
||
*/
|
||
uint8_t bmp280_writeReg(uint8_t regAdd, uint8_t *pdata) {
|
||
if (HAL_I2C_Mem_Write(I2C_Handle, BMP280_I2C_ADDR << 1, regAdd, I2C_MEMADD_SIZE_8BIT, pdata, 1, 1000) == HAL_OK) {
|
||
return 0;
|
||
}
|
||
return 1;
|
||
}
|
||
|
||
|
||
/**
|
||
* @brief 读取设备物理id，用于调试
|
||
* @param 无
|
||
* @retval 设备id
|
||
*/
|
||
uint8_t bmp280_get_id(void) {
|
||
uint8_t temp = 0;
|
||
bmp280_readReg(BMP280_ID, &temp, 1);
|
||
return temp;
|
||
}
|
||
|
||
/**
|
||
* @brief 重启设备
|
||
* @param 无
|
||
* @retval 0 重启成功
|
||
* 1 重启失败
|
||
*/
|
||
uint8_t bmp280_reset(void) {
|
||
uint8_t temp = 0xB6;
|
||
return bmp280_writeReg(BMP280_RESET, &temp);
|
||
}
|
||
|
||
/**
|
||
* @brief 获取设备状态
|
||
* @param 无
|
||
* @retval 0 空闲
|
||
* 1 正在测量或者正在复制
|
||
*/
|
||
uint8_t bmp280_getStatus(void) {
|
||
uint8_t temp = 0;
|
||
bmp280_readReg(BMP280_STATUS, &temp, 1);
|
||
return (temp & 0x09) ? 1 : 0;
|
||
}
|
||
|
||
|
||
/**
|
||
* @brief 工作模式设置推荐
|
||
* @param mode 0 睡眠模式
|
||
* 1 单次测量模式，测量完成后回到休眠模式
|
||
* 2 连续测量模式
|
||
* @retval 0 设置成功
|
||
* 1 设置失败
|
||
*/
|
||
uint8_t bmp280_setMode(uint8_t mode)
|
||
{
|
||
uint8_t temp=0;
|
||
bmp280_readReg(BMP280_CTRL_MEAS,&temp,1);
|
||
switch(mode)
|
||
{
|
||
case 0:
|
||
temp&=0xFC;
|
||
break;
|
||
case 1:
|
||
temp&=0xFC;
|
||
temp|=0x01;
|
||
break;
|
||
case 2:
|
||
temp&=0xFC;
|
||
temp|=0x03;
|
||
break;
|
||
default:
|
||
return 1;
|
||
}
|
||
return bmp280_writeReg(BMP280_CTRL_MEAS,&temp);
|
||
}
|
||
|
||
|
||
/**
|
||
* @brief 过采样设置
|
||
* @param mode temp&press 0 禁用
|
||
* 1 过采样×1
|
||
* 2 过采样×2
|
||
* 3 过采样×4
|
||
* .. .....
|
||
* 5 过采样×16
|
||
* @retval 0 设置成功
|
||
* 1 设置失败
|
||
*/
|
||
uint8_t bmp280_setOversampling(uint8_t osrs_p,uint8_t osrs_t)
|
||
{
|
||
uint8_t temp=0;
|
||
bmp280_readReg(BMP280_CTRL_MEAS,&temp,1);
|
||
temp&=0xE3;
|
||
osrs_p = osrs_p<<2;
|
||
osrs_p&= 0x1C;
|
||
temp|=osrs_p;
|
||
|
||
temp&=0x1F;
|
||
osrs_t = osrs_t<<5;
|
||
osrs_t&= 0xE0;
|
||
temp|=osrs_t;
|
||
return bmp280_writeReg(BMP280_CTRL_MEAS,&temp);
|
||
}
|
||
|
||
|
||
/**
|
||
* @brief 滤波器系数和采样间隔时间设置
|
||
* @param Standbyt 0 0.5ms filter 0 关闭滤波器
|
||
* 1 62.5ms 1 2
|
||
* 2 125ms 2 4
|
||
* 3 250ms 3 8
|
||
* 4 500ms 4 16
|
||
* 5 1000ms
|
||
* 6 2000ms
|
||
* 7 4000ms
|
||
* @retval 0 设置成功
|
||
* 1 设置失败
|
||
*/
|
||
uint8_t bmp280_setConfig(uint8_t Standbyt,uint8_t filter)
|
||
{
|
||
uint8_t temp=0;
|
||
temp = Standbyt<<5;
|
||
filter&=0x07;
|
||
filter=filter<<2;
|
||
temp|=filter;
|
||
return bmp280_writeReg(BMP280_CONFIG,&temp);
|
||
}
|
||
|
||
|
||
/**
|
||
* @brief 获取校准系数
|
||
* @param calib 储存系数的结构体
|
||
* @retval 无
|
||
*/
|
||
void bmp280_getCalibration(bmp280_calib *calib)
|
||
{
|
||
uint8_t buf[20];
|
||
bmp280_readReg(BMP280_DIGT,buf,6);
|
||
calib->dig_t1 =(uint16_t)(bmp280_msblsb_to_u16(buf[1], buf[0]));
|
||
calib->dig_t2 =(int16_t)(bmp280_msblsb_to_u16(buf[3], buf[2]));
|
||
calib->dig_t3 =(int16_t)(bmp280_msblsb_to_u16(buf[5], buf[4]));
|
||
bmp280_readReg(BMP280_DIGP,buf,18);
|
||
calib->dig_p1 = (uint16_t)(bmp280_msblsb_to_u16(buf[1], buf[0]));
|
||
calib->dig_p2 =(int16_t)(bmp280_msblsb_to_u16(buf[3], buf[2]));
|
||
calib->dig_p3 =(int16_t)(bmp280_msblsb_to_u16(buf[5], buf[4]));
|
||
calib->dig_p4 =(int16_t)(bmp280_msblsb_to_u16(buf[7], buf[6]));
|
||
calib->dig_p5 =(int16_t)(bmp280_msblsb_to_u16(buf[9], buf[8]));
|
||
calib->dig_p6 =(int16_t)(bmp280_msblsb_to_u16(buf[11], buf[10]));
|
||
calib->dig_p7 =(int16_t)(bmp280_msblsb_to_u16(buf[13], buf[12]));
|
||
calib->dig_p8 =(int16_t)(bmp280_msblsb_to_u16(buf[15], buf[14]));
|
||
calib->dig_p9 =(int16_t)(bmp280_msblsb_to_u16(buf[17], buf[16]));
|
||
}
|
||
|
||
|
||
|
||
/**
|
||
* @brief 获取温度
|
||
* @param calib 系数的结构体
|
||
* *temperature 温度值指针
|
||
* *t_fine 精细分辨率温度值指针
|
||
* @retval 无
|
||
*/
|
||
void bmp280_getTemperature(bmp280_calib *calib,double *temperature,int32_t *t_fine)
|
||
{
|
||
uint8_t buf[3];
|
||
uint32_t data_xlsb;
|
||
uint32_t data_lsb;
|
||
uint32_t data_msb;
|
||
int32_t uncomp_temperature;
|
||
double var1, var2;
|
||
|
||
bmp280_readReg(BMP280_TEMP,buf,3);
|
||
data_msb = (int32_t)buf[0] << 12;
|
||
data_lsb = (int32_t)buf[1] << 4;
|
||
data_xlsb = (int32_t)buf[2] >> 4;
|
||
uncomp_temperature = (int32_t)(data_msb | data_lsb | data_xlsb);
|
||
|
||
|
||
var1 = (((double) uncomp_temperature) / 16384.0 - ((double) calib->dig_t1) / 1024.0) *
|
||
((double) calib->dig_t2);
|
||
var2 =
|
||
((((double) uncomp_temperature) / 131072.0 - ((double) calib->dig_t1) / 8192.0) *
|
||
(((double) uncomp_temperature) / 131072.0 - ((double) calib->dig_t1) / 8192.0)) *
|
||
((double) calib->dig_t3);
|
||
*t_fine = (int32_t) (var1 + var2);
|
||
*temperature = (var1 + var2) / 5120.0;
|
||
}
|
||
|
||
|
||
/**
|
||
* @brief 获取气压
|
||
* @param calib 系数的结构体
|
||
* *pressure 气压值指针
|
||
* *t_fine 精细分辨率温度值指针
|
||
* @retval 无
|
||
*/
|
||
void bmp280_getPressure(bmp280_calib *calib,double *pressure,int32_t *t_fine)
|
||
{
|
||
uint8_t buf[3];
|
||
uint32_t data_xlsb;
|
||
uint32_t data_lsb;
|
||
uint32_t data_msb;
|
||
int32_t uncomp_pressure;
|
||
double var1, var2;
|
||
|
||
bmp280_readReg(BMP280_PRES,buf,3);
|
||
data_msb = (uint32_t)buf[0] << 12;
|
||
data_lsb = (uint32_t)buf[1] << 4;
|
||
data_xlsb = (uint32_t)buf[2] >> 4;
|
||
uncomp_pressure = (data_msb | data_lsb | data_xlsb);
|
||
|
||
var1 = ((double) *t_fine / 2.0) - 64000.0;
|
||
var2 = var1 * var1 * ((double) calib->dig_p6) / 32768.0;
|
||
var2 = var2 + var1 * ((double) calib->dig_p5) * 2.0;
|
||
var2 = (var2 / 4.0) + (((double) calib->dig_p4) * 65536.0);
|
||
var1 = (((double)calib->dig_p3) * var1 * var1 / 524288.0 + ((double)calib->dig_p2) * var1) /
|
||
524288.0;
|
||
var1 = (1.0 + var1 / 32768.0) * ((double) calib->dig_p1);
|
||
*pressure = 1048576.0 - (double)uncomp_pressure;
|
||
*pressure = (*pressure - (var2 / 4096.0)) * 6250.0 / var1;
|
||
var1 = ((double)calib->dig_p9) * *pressure * *pressure / 2147483648.0;
|
||
var2 = *pressure * ((double)calib->dig_p8) / 32768.0;
|
||
|
||
*pressure = *pressure + (var1 + var2 + ((double)calib->dig_p7)) / 16.0;
|
||
}
|
||
|
||
|
||
/**
|
||
* @brief 初始化
|
||
* @param *calib 系数的结构体指针
|
||
* @retval 0 设置成功
|
||
* 1 设置失败
|
||
*/
|
||
uint8_t bmp280_init(bmp280_calib *calib)
|
||
{
|
||
uint8_t rslt;
|
||
rslt = bmp280_get_id();
|
||
if(rslt == BMP2_CHIP_ID)
|
||
{
|
||
bmp280_getCalibration(calib);
|
||
rslt = bmp280_setOversampling(5,2);
|
||
if(rslt)
|
||
{
|
||
return 1;
|
||
}
|
||
rslt = bmp280_setConfig(0,4);
|
||
if(rslt)
|
||
{
|
||
return 1;
|
||
}
|
||
rslt = bmp280_setMode(2);
|
||
if(rslt)
|
||
{
|
||
return 1;
|
||
}
|
||
}
|
||
else
|
||
{
|
||
return 1;
|
||
}
|
||
return 0;
|
||
}
|
||
|
||
|
||
/**
|
||
* @brief 获取最终数据
|
||
* @param *calib 系数的结构体指针
|
||
* @retval 无
|
||
*/
|
||
void bmp280_getdata(bmp280_calib *calib,float *temperature,float *pressure)
|
||
{
|
||
double temp_T,temp_P;
|
||
int32_t t_fine;
|
||
bmp280_getTemperature(calib,&temp_T,&t_fine);
|
||
bmp280_getPressure(calib,&temp_P,&t_fine);
|
||
*temperature = (float)temp_T;
|
||
*pressure = (float)temp_P;
|
||
}
|