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Added RFQ quad support
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@bradquick
bradquick committed Aug 16, 2013
1 parent fb838d9 commit dec7569
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Showing 9 changed files with 484 additions and 53 deletions.
43 changes: 38 additions & 5 deletions Project.xcodeproj/project.pbxproj
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Expand Up @@ -149,17 +149,31 @@
passBuildSettingsInEnvironment = 1;
productName = "Build All";
};
A2851D78175EB4B700A602D7 /* compile and flash 328p2 */ = {
A27F037017B99087008046B7 /* compile and flash 328p Flip */ = {
isa = PBXLegacyTarget;
buildArgumentsString = install;
buildConfigurationList = A2851D79175EB4B700A602D7 /* Build configuration list for PBXLegacyTarget "compile and flash 328p2" */;
buildConfigurationList = A27F037117B99087008046B7 /* Build configuration list for PBXLegacyTarget "compile and flash 328p Flip" */;
buildPhases = (
);
buildToolPath = make;
buildWorkingDirectory = "project files";
dependencies = (
);
name = "compile and flash 328p2";
name = "compile and flash 328p Flip";
passBuildSettingsInEnvironment = 1;
productName = "Build All";
};
A2851D78175EB4B700A602D7 /* compile and flash 328p ext. */ = {
isa = PBXLegacyTarget;
buildArgumentsString = install;
buildConfigurationList = A2851D79175EB4B700A602D7 /* Build configuration list for PBXLegacyTarget "compile and flash 328p ext." */;
buildPhases = (
);
buildToolPath = make;
buildWorkingDirectory = "project files";
dependencies = (
);
name = "compile and flash 328p ext.";
passBuildSettingsInEnvironment = 1;
productName = "Build All";
};
Expand Down Expand Up @@ -225,7 +239,8 @@
A2A8B4CA14D8D32C00FBBCCD /* compile and flash 2560 */,
A2D5C1F417079CBD00130BA2 /* compile and flash 328p */,
A2D5C78E171B1EDB000E4300 /* compile and flash 32u4 */,
A2851D78175EB4B700A602D7 /* compile and flash 328p2 */,
A2851D78175EB4B700A602D7 /* compile and flash 328p ext. */,
A27F037017B99087008046B7 /* compile and flash 328p Flip */,
);
};
/* End PBXProject section */
Expand All @@ -246,6 +261,16 @@
};
name = Release;
};
A27F037217B99087008046B7 /* Release */ = {
isa = XCBuildConfiguration;
buildSettings = {
DEVICE = atmega328p;
PATH = "$(PATH):$(PROJECT_DIR)/../Avr_Tools/bin";
PRODUCT_NAME = "compile and flash 328p copy";
PROGRAMMER = "-carduino -P/dev/cu.SLAB_USBtoUART -b57600 -D";
};
name = Release;
};
A2851D7A175EB4B700A602D7 /* Release */ = {
isa = XCBuildConfiguration;
buildSettings = {
Expand Down Expand Up @@ -302,7 +327,15 @@
defaultConfigurationIsVisible = 0;
defaultConfigurationName = Release;
};
A2851D79175EB4B700A602D7 /* Build configuration list for PBXLegacyTarget "compile and flash 328p2" */ = {
A27F037117B99087008046B7 /* Build configuration list for PBXLegacyTarget "compile and flash 328p Flip" */ = {
isa = XCConfigurationList;
buildConfigurations = (
A27F037217B99087008046B7 /* Release */,
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defaultConfigurationIsVisible = 0;
defaultConfigurationName = Release;
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A2851D79175EB4B700A602D7 /* Build configuration list for PBXLegacyTarget "compile and flash 328p ext." */ = {
isa = XCConfigurationList;
buildConfigurations = (
A2851D7A175EB4B700A602D7 /* Release */,
Expand Down
174 changes: 172 additions & 2 deletions project files/baro.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -175,5 +175,175 @@ char readbaro()
}
return(0);
}

#endif

#elif BAROMETER_TYPE==MS5611

#define MS561101BA_ADDRESS 0x77 //CBR=0 0xEE I2C address when pin CSB is connected to LOW (GND)

// ************************************************************************************************************
// I2C Barometer MS561101BA
// ************************************************************************************************************
//
// specs are here: http://www.meas-spec.com/downloads/MS5611-01BA03.pdf
// useful info on pages 7 -> 12

// 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

long baroTemperature;

static struct
{
// sensor registers from the MS561101BA datasheet
unsigned int c[7];
union {unsigned long val; unsigned char raw[4]; } ut; //uncompensated T
union {unsigned long val; unsigned char raw[4]; } up; //uncompensated P
unsigned char state;
unsigned long barotimer;
} ms561101ba_ctx;

void i2c_MS561101BA_reset()
{
lib_i2c_writereg(MS561101BA_ADDRESS, MS561101BA_RESET, 0);
}

void i2c_MS561101BA_readCalibration()
{
union {unsigned int val; unsigned char raw[2]; } data;
for(unsigned char i=0;i<6;i++)
{
lib_i2c_rep_start(MS561101BA_ADDRESS<<1);
lib_i2c_write(0xA2+2*i);
lib_timers_delaymilliseconds(10);
lib_i2c_rep_start((MS561101BA_ADDRESS<<1) | 1);//I2C read direction => 1
lib_timers_delaymilliseconds(10);
data.raw[1] = lib_i2c_readack(); // read a 16 bit register
data.raw[0] = lib_i2c_readnak();
ms561101ba_ctx.c[i+1] = data.val;
}
}

// read uncompensated temperature value: send command first
void i2c_MS561101BA_UT_Start()
{
lib_i2c_rep_start(MS561101BA_ADDRESS<<1); // I2C write direction
lib_i2c_write(MS561101BA_TEMPERATURE + OSR); // register selection
lib_i2c_stop();
}

// read uncompensated pressure value: send command first
void i2c_MS561101BA_UP_Start ()
{
lib_i2c_rep_start(MS561101BA_ADDRESS<<1); // I2C write direction
lib_i2c_write(MS561101BA_PRESSURE + OSR); // register selection
lib_i2c_stop();
}

// read uncompensated pressure value: read result bytes
void i2c_MS561101BA_UP_Read ()
{
lib_i2c_rep_start(MS561101BA_ADDRESS<<1);
lib_i2c_write(0);
lib_i2c_rep_start((MS561101BA_ADDRESS<<1) | 1);
ms561101ba_ctx.up.raw[2] = lib_i2c_readack();
ms561101ba_ctx.up.raw[1] = lib_i2c_readack();
ms561101ba_ctx.up.raw[0] = lib_i2c_readnak();
}

// read uncompensated temperature value: read result bytes
void i2c_MS561101BA_UT_Read()
{
lib_i2c_rep_start(MS561101BA_ADDRESS<<1);
lib_i2c_write(0);
lib_i2c_rep_start((MS561101BA_ADDRESS<<1) | 1);
ms561101ba_ctx.ut.raw[2] = lib_i2c_readack();
ms561101ba_ctx.ut.raw[1] = lib_i2c_readack();
ms561101ba_ctx.ut.raw[0] = lib_i2c_readnak();
}

void i2c_MS561101BA_Calculate()
{
long off2,sens2,delt;

long long dT = (long)ms561101ba_ctx.ut.val - ((long)ms561101ba_ctx.c[5] << 8);
baroTemperature = 2000 + ((dT * ms561101ba_ctx.c[6])>>23);
long long off = ((unsigned long)ms561101ba_ctx.c[2] <<16) + ((dT * ms561101ba_ctx.c[4]) >> 7);
long long sens = ((unsigned long)ms561101ba_ctx.c[1] <<15) + ((dT * ms561101ba_ctx.c[3]) >> 8);

if (baroTemperature < 2000)
{ // temperature lower than 20st.C
delt = baroTemperature-2000;
delt = 5*delt*delt;
off2 = delt>>1;
sens2 = delt>>2;
if (baroTemperature < -1500)
{ // temperature lower than -15st.C
delt = baroTemperature+1500;
delt = delt*delt;
off2 += 7 * delt;
sens2 += (11 * delt)>>1;
}
off -= off2;
sens -= sens2;
}

long pressure = (( (ms561101ba_ctx.up.val * sens ) >> 21) - off) >> 15;

// global.barorawaltitude=(1.0f - pow(pressure/101325.0f, 0.190295f)) * 4433000.0f; // this is the real formula (in centimeters)
// estimate meters as a linear formula so we don't have to do all of the expensive math
// meters=10351-.1024*p << close enough
// 439804651L is .1024 << 16 << 16 (an extra 16 to convert pressure to a fixedpointnum)
global.barorawaltitude=(10351L<<FIXEDPOINTSHIFT)-lib_fp_multiply(pressure,439804651L);
}

void initbaro()
{
lib_timers_delaymilliseconds(10);
i2c_MS561101BA_reset();
lib_timers_delaymilliseconds(100);
i2c_MS561101BA_readCalibration();
lib_timers_delaymilliseconds(10);
i2c_MS561101BA_UT_Start();
ms561101ba_ctx.barotimer = lib_timers_starttimer();
}

char readbaro()
{
//return 0: no new data available, no computation ; 1: new value available
// first UT conversion is started in init procedure
if (lib_timers_gettimermicroseconds(ms561101ba_ctx.barotimer) < 10000)
return 0;

// reset the timer for the next reading
ms561101ba_ctx.barotimer = lib_timers_starttimer(); // UT and UP conversion take 8.5ms so we do next reading after 10ms

// either the temperature or pressure reading has finished. Which one?
if (ms561101ba_ctx.state == 0)
{
i2c_MS561101BA_UT_Read();
i2c_MS561101BA_UP_Start();
ms561101ba_ctx.state = 1;
return 0;
}
else
{
i2c_MS561101BA_UP_Read();
i2c_MS561101BA_UT_Start();
i2c_MS561101BA_Calculate();
ms561101ba_ctx.state = 0;
return 1;
}
}

#endif
4 changes: 2 additions & 2 deletions project files/bradwii.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -118,7 +118,7 @@ int main(void)
//initialize the libraries that require initialization
lib_timers_init();
lib_i2c_init();

// pause a moment before initializing everything. To make sure everything is powered up
lib_timers_delaymilliseconds(100);

Expand Down Expand Up @@ -205,7 +205,7 @@ int main(void)

// turn on the LED when we are stable and the gps has 5 satelites or more
#if (GPS_TYPE==NO_GPS)
lib_digitalio_setoutput(LED1_OUTPUT, (!global.stable)==LED1_ON);
lib_digitalio_setoutput(LED1_OUTPUT, (global.stable==0)==LED1_ON);
#else
lib_digitalio_setoutput(LED1_OUTPUT, (!(global.stable && global.gps_num_satelites>=5))==LED1_ON);
#endif
Expand Down
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