Noah/Barometer_Drivers

MS5607Driver/Inc/MS5607Driver.hpp

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+/** ********************************************************************************
+ * @file    MS5607Driver.hpp
+ * @author  Noah
+ * @date    Nov 16, 2024
+ * @brief	This driver gets pressure and temperature readings from the MS5607 barometers.
+ ******************************************************************************** */
+#ifndef SOARDRIVERS_MS5607DRIVER_INC_MS5607DRIVER_HPP_
+#define SOARDRIVERS_MS5607DRIVER_INC_MS5607DRIVER_HPP_
+/************************************ * INCLUDES ************************************/
+#include "SystemDefines.hpp"
+#include "cmsis_os.h"
+/************************************ * MACROS AND DEFINES ************************************/
+constexpr int TEMP_LOW = 2000;
+constexpr int TEMP_VERY_LOW = -1500;
+constexpr int CMD_SIZE = 1;
+constexpr int CMD_TIMEOUT = 150;
+/************************************ * TYPEDEFS ************************************/
+struct MS5607_DATA_t{
+	int16_t temp;
+	uint32_t pressure;
+};
+/************************************ * CLASS DEFINITIONS ************************************/
+/**
+ * @brief the driver for MS5607 barometers
+ * see datasheet here: https://www.te.com/commerce/DocumentDelivery/DDEController?Action=showdoc&DocId=Data+Sheet%7FMS5607-02BA03%7FB%7Fpdf%7FEnglish%7FENG_DS_MS5607-02BA03_B.pdf%7FCAT-BLPS0035
+ */
+class MS5607_Driver{
+public:
+	MS5607_Driver(SPI_HandleTypeDef* hspi_, GPIO_TypeDef* cs_gpio_, uint16_t cs_pin_):
+		hspi(hspi_), cs_gpio(cs_gpio_), cs_pin(cs_pin_){}
+
+	MS5607_DATA_t getSample();
+private:
+
+	//constants
+	GPIO_TypeDef* cs_gpio;
+	uint16_t cs_pin;
+	SPI_HandleTypeDef* hspi;
+
+	uint16_t readCalibrationCoefficients(uint8_t PROM_READ_CMD);
+	uint32_t getTemperatureReading();
+	uint32_t getPressureReading();
+	void resetBarometer();
+};
+
+/************************************ * FUNCTION DECLARATIONS ************************************/
+#endif /* EXAMPLE_TASK_HPP_ */

MS5607Driver/MS5607Driver.cpp

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+/** ********************************************************************************
+ * @file    MS5607Driver.cpp
+ * @author  Noah
+ * @date    Nov 16, 2024
+ * @brief	This driver gets pressure and temperature readings from the MS5607 barometers.
+ ******************************************************************************** */
+/************************************ * INCLUDES ************************************/
+#include "MS5607Driver.hpp"
+/************************************ * PRIVATE MACROS AND DEFINES ************************************/
+/************************************ * VARIABLES ************************************/
+// Barometer Commands (should not be modified, non-const due to HAL and C++ strictness)
+static uint8_t ADC_D1_512_CONV_CMD = 0x42;
+static uint8_t ADC_D2_512_CONV_CMD = 0x52;
+static uint8_t ADC_READ_CMD = 0x00;
+static uint8_t PROM_READ_SENS_CMD = 0xA2;
+static uint8_t PROM_READ_OFF_CMD = 0xA4;
+static uint8_t PROM_READ_TCS_CMD = 0xA6;
+static uint8_t PROM_READ_TCO_CMD = 0xA8;
+static uint8_t PROM_READ_TREF_CMD = 0xAA;
+static uint8_t PROM_READ_TEMPSENS_CMD = 0xAC;
+static uint8_t READ_BYTE_CMD = 0x00;
+static uint8_t RESET_CMD = 0x1E;
+/************************************ * FUNCTION DECLARATIONS ************************************/
+/************************************ * FUNCTION DEFINITIONS ************************************/
+
+/**
+ * @brief gets a single sample of barometer data
+ * @returns a barometer data structure consisting of a 'temp' and 'pressure' variable
+ */
+MS5607_DATA_t MS5607_Driver::getSample(){
+	/**
+	 * Variable Descriptions from MS5607-02BA03 Data Sheet:
+	 *
+	 * C1 (SENSt1)      - Pressure sensitivity
+	 * C2 (OFFt1)       - Pressure offset
+	 * C3 (TCS)         - Temperature coefficient of pressure sensitivity
+	 * C4 (TCO)         - Temperature coefficient of pressure offset
+	 * C5 (Tref)        - Reference temperature
+	 * C6 (TEMPSENS)    - Temperature coefficient of the temperature
+	 *
+	 * D1   - Digital pressure value
+	 * D2   - Digital temperature value
+	 *
+	 * dT   - Difference between actual and reference temperature
+	 *          dT = D2 - Tref = D2 - (C5 * 2^8)
+	 * TEMP - Actual temperature (-40...85�C with 0.01�C resolution)
+	 *          TEMP = 20�C + (dT * TEMPSENS) = 2000 + (dT * C6)/2^23
+	 * OFF  - Offset at actual temperature
+	 *          OFF = OFFt1 + (TCO * dT) = (C2 * 2^17) + (C4 * dT)/2^6
+	 * SENS - Sensitivity at actual temperature
+	 *          SENS = SENSt1 + (TCS * dT) = (C1 * 2^16) + (C3 * dT)/2^7
+	 * P    - Temperature compensated pressure (10...1200mbar with 0.01mbar resolution)
+	 *          P = (D1 * SENS) - OFF = ((D1 * SENS)/2^21 - OFF)/2^15
+	 */
+
+	// Variables
+	uint32_t pressureReading = 0;    // Stores a 24 bit value
+	uint32_t temperatureReading = 0;    // Stores a 24 bit value
+	MS5611_DATA_t data;
+
+	// Reset the barometer
+	resetBarometer();
+
+	// Read PROM for calibration coefficients
+	uint16_t c1Sens = ReadCalibrationCoefficients(PROM_READ_SENS_CMD);
+	uint16_t c2Off = ReadCalibrationCoefficients(PROM_READ_OFF_CMD);
+	uint16_t c3Tcs = ReadCalibrationCoefficients(PROM_READ_TCS_CMD);
+	uint16_t c4Tco = ReadCalibrationCoefficients(PROM_READ_TCO_CMD);
+	uint16_t c5Tref = ReadCalibrationCoefficients(PROM_READ_TREF_CMD);
+	uint16_t c6Tempsens = ReadCalibrationCoefficients(PROM_READ_TEMPSENS_CMD);
+
+	/**
+	 * Repeatedly read digital pressure and temperature.
+	 * Convert these values into their calibrated counterparts.
+	 * Finally, update the data globally if the mutex is available.
+	 */
+	/* Read Digital Pressure (D1) ----------------------------------------*/
+	pressureReading = getPressureReading();
+
+	/* Read Digital Temperature (D2) -------------------------------------*/
+	temperatureReading = getTemperatureReading();
+
+	/* Calculate First-Order Temperature and Parameters ------------------*/
+
+	// Calibration coefficients need to be type cast to int64_t to avoid overflow during intermediate calculations
+	int32_t dT = temperatureReading - ((int32_t)c5Tref << 8);
+	int32_t temp = 2000 + ((dT * (int64_t)c6Tempsens) >> 23); // Divide this value by 100 to get degrees Celsius
+	int64_t off = ((int64_t)c2Off << 17) + ((dT * (int64_t)c4Tco) >> 6);
+	int64_t sens = ((int64_t)c1Sens << 16) + ((dT * (int64_t)c3Tcs) >> 7);
+
+	/* Calculate Second-Order Temperature and Pressure -------------------*/
+
+	if (temp < TEMP_LOW)    // If the temperature is below 20C
+	{
+		int32_t t2 = ((int64_t)dT * dT) >> 31;
+		int64_t off2 = 61 * (((int64_t)(temp - 2000) * (temp - 2000)) >> 4);
+		int64_t sens2 = 2 * ((int64_t)(temp - 2000) * (temp - 2000));
+
+		if (temp < TEMP_VERY_LOW)   // If the temperature is below -15�C
+		{
+			off2 = off2 + (15 * ((int64_t)(temp + 1500) * (temp + 1500)));
+			sens2 = sens2 + (8 * ((int64_t)(temp + 1500) * (temp + 1500)));
+		}
+
+		temp = temp - t2;
+		off = off - off2;
+		sens = sens - sens2;
+	}
+
+	int32_t p = (((pressureReading * sens) >> 21) - off) >> 15;   // Divide this value by 100 to get millibars
+
+	/* Store Data --------------------------------------------------------*/
+	data.pressure = p;
+	data.temperature = temp;
+
+	return data;
+
+	// All equations provided by MS5607-02BA03 data sheet
+
+	// PRESSURE AND TEMPERATURE VALUES ARE STORED AT 100x VALUE TO MAINTAIN
+	// 2 DECIMAL POINTS OF PRECISION AS AN INTEGER!
+	// E.x. The value 1234 should be interpreted as 12.34
+}
+
+/**
+ * @brief   This function reads and returns a 16-bit coefficient from the barometer.
+ * @param   PROM_READ_CMD   The command to send in order to read the desired
+ *                          coefficient. See the data sheet for the commands.
+ * @return                  The read coefficient.
+ */
+uint16_t MS5607_Driver::readCalibrationCoefficients(uint8_t PROM_READ_CMD)
+{
+    uint8_t dataInBuffer;
+
+    HAL_GPIO_WritePin(cs_gpio, cs_pin, GPIO_PIN_RESET);
+
+    HAL_SPI_Transmit(hspi, &PROM_READ_CMD, CMD_SIZE, CMD_TIMEOUT);
+
+    // Read the first byte (bits 15-8)
+    HAL_SPI_TransmitReceive(hspi, &READ_BYTE_CMD, &dataInBuffer, CMD_SIZE, CMD_TIMEOUT);
+    uint16_t coefficient = dataInBuffer << 8;
+
+    // Read the second byte (bits 7-0)
+    HAL_SPI_TransmitReceive(hspi, &READ_BYTE_CMD, &dataInBuffer, CMD_SIZE, CMD_TIMEOUT);
+    coefficient += dataInBuffer;
+
+    HAL_GPIO_WritePin(cs_gpio, cs_pin, GPIO_PIN_SET);
+
+    return coefficient;
+}
+
+/**
+ * @brief   This function resets the barometer prior to sampling
+ */
+void MS5607_Driver::resetBarometer()
+{
+	HAL_GPIO_WritePin(cs_gpio, cs_pin, GPIO_PIN_RESET);
+	HAL_SPI_Transmit(hspi, &RESET_CMD, CMD_SIZE, CMD_TIMEOUT);
+	osDelay(4); // 2.8ms reload after Reset command
+	HAL_GPIO_WritePin(cs_gpio, cs_pin, GPIO_PIN_SET);
+}
+
+/**
+ * @brief   This function reads and returns a 32-bit pressure reading from the barometer (without converting it to a workable format).
+ * @return                  The read pressure
+ */
+uint32_t MS5607_Driver::getPressureReading()
+{
+	uint32_t pressureReading = 0;    // Stores a 24 bit value
+	uint8_t dataInBuffer;
+
+	// Tell the barometer to convert the pressure to a digital value with an over-sampling ratio of 512
+	HAL_GPIO_WritePin(cs_gpio, cs_pin, GPIO_PIN_RESET);
+	HAL_SPI_Transmit(hspi, &ADC_D1_512_CONV_CMD, CMD_SIZE, CMD_TIMEOUT);
+	HAL_GPIO_WritePin(cs_gpio, cs_pin, GPIO_PIN_SET);
+
+	osDelay(2); // 1.17ms max conversion time for an over-sampling ratio of 512
+
+	HAL_GPIO_WritePin(cs_gpio, cs_pin, GPIO_PIN_RESET);
+
+	HAL_SPI_Transmit(hspi, &ADC_READ_CMD, CMD_SIZE, CMD_TIMEOUT);
+
+	// Read the first byte (bits 23-16)
+	HAL_SPI_TransmitReceive(hspi, &READ_BYTE_CMD, &dataInBuffer, CMD_SIZE, CMD_TIMEOUT);
+	pressureReading = dataInBuffer << 16;
+
+	// Read the second byte (bits 15-8)
+	HAL_SPI_TransmitReceive(hspi, &READ_BYTE_CMD, &dataInBuffer, CMD_SIZE, CMD_TIMEOUT);
+	pressureReading += dataInBuffer << 8;
+
+	// Read the third byte (bits 7-0)
+	HAL_SPI_TransmitReceive(hspi, &READ_BYTE_CMD, &dataInBuffer, CMD_SIZE, CMD_TIMEOUT);
+	pressureReading += dataInBuffer;
+
+	HAL_GPIO_WritePin(cs_gpio, cs_pin, GPIO_PIN_SET);
+
+	return pressureReading;
+}
+
+/**
+ * @brief   This function reads and returns a 32-bit temperature reading from the barometer (without converting it to a workable format).
+ * @return                  The read temperature
+ */
+uint32_t MS5607_Driver::getTemperatureReading()
+{
+	uint32_t temperatureReading = 0;    // Stores a 24 bit value
+	uint8_t dataInBuffer;
+
+	// Tell the barometer to convert the temperature to a digital value with an over-sampling ratio of 512
+	HAL_GPIO_WritePin(cs_gpio, cs_pin, GPIO_PIN_RESET);
+	HAL_SPI_Transmit(hspi, &ADC_D2_512_CONV_CMD, CMD_SIZE, CMD_TIMEOUT);
+	HAL_GPIO_WritePin(cs_gpio, cs_pin, GPIO_PIN_SET);
+
+	osDelay(2); // 1.17ms max conversion time for an over-sampling ratio of 512
+
+	HAL_GPIO_WritePin(cs_gpio, cs_pin, GPIO_PIN_RESET);
+
+	HAL_SPI_Transmit(hspi, &ADC_READ_CMD, CMD_SIZE, CMD_TIMEOUT);
+
+	// Read the first byte (bits 23-16)
+	HAL_SPI_TransmitReceive(hspi, &ADC_READ_CMD, &dataInBuffer, CMD_SIZE, CMD_TIMEOUT);
+	temperatureReading = dataInBuffer << 16;
+
+	// Read the second byte (bits 15-8)
+	HAL_SPI_TransmitReceive(hspi, &ADC_READ_CMD, &dataInBuffer, CMD_SIZE, CMD_TIMEOUT);
+	temperatureReading += dataInBuffer << 8;
+
+	// Read the third byte (bits 7-0)
+	HAL_SPI_TransmitReceive(hspi, &ADC_READ_CMD, &dataInBuffer, CMD_SIZE, CMD_TIMEOUT);
+	temperatureReading += dataInBuffer;
+
+	HAL_GPIO_WritePin(cs_gpio, cs_pin, GPIO_PIN_SET);
+
+	return temperatureReading;
+
+}
+
+
+

MS5607Driver/README.md

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+This driver gets pressure and temperature readings from the MS5607 barometers.

MS5611Driver/Inc/MS5611Driver.hpp

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+/** ********************************************************************************
+ * @file    MS5611Driver.hpp
+ * @author  Noah
+ * @date    Nov 9, 2024
+ * @brief	This driver gets pressure and temperature readings from the MS5611 barometers.
+ ******************************************************************************** */
+#ifndef SOARDRIVERS_MS5611DRIVER_INC_MS5611DRIVER_HPP_
+#define SOARDRIVERS_MS5611DRIVER_INC_MS5611DRIVER_HPP_
+/************************************ * INCLUDES ************************************/
+#include "SystemDefines.hpp"
+#include "cmsis_os.h"
+/************************************ * MACROS AND DEFINES ************************************/
+constexpr int TEMP_LOW = 2000;
+constexpr int TEMP_VERY_LOW = -1500;
+constexpr int CMD_SIZE = 1;
+constexpr int CMD_TIMEOUT = 150;
+/************************************ * TYPEDEFS ************************************/
+struct MS5611_DATA_t{
+	int16_t temp;
+	uint32_t pressure;
+};
+/************************************ * CLASS DEFINITIONS ************************************/
+/**
+ * @brief the driver for MS5611 barometers
+ * see datasheet here: https://www.te.com/commerce/DocumentDelivery/DDEController?Action=showdoc&DocId=Data+Sheet%7FMS5611-01BA03%7FB3%7Fpdf%7FEnglish%7FENG_DS_MS5611-01BA03_B3.pdf%7FCAT-BLPS0036
+ */
+class MS5611_Driver{
+public:
+	MS5611_Driver(SPI_HandleTypeDef* hspi_, GPIO_TypeDef* cs_gpio_, uint16_t cs_pin_):
+		hspi(hspi_), cs_gpio(cs_gpio_), cs_pin(cs_pin_){}
+
+	MS5611_DATA_t getSample();
+
+private:
+	// constants
+	GPIO_TypeDef* cs_gpio;
+	uint16_t cs_pin;
+	SPI_HandleTypeDef* hspi;
+
+	// helper functions
+	uint16_t readCalibrationCoefficients(uint8_t PROM_READ_CMD);
+	uint32_t getTemperatureReading();
+	uint32_t getPressureReading();
+	void resetBarometer();
+};
+
+/************************************ * FUNCTION DECLARATIONS ************************************/
+#endif /* EXAMPLE_TASK_HPP_ */