Add calibration data inside the BMP085 drive.

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@10830 35acf78f-673a-0410-8e92-d51de3d6d3f4

2 files changed, 109 insertions, 119 deletions

diff --git a/os/ex/Bosch/bmp085.c b/os/ex/Bosch/bmp085.c
index 1d68e8bca..61f6d1374 100644
--- a/os/ex/Bosch/bmp085.c
+++ b/os/ex/Bosch/bmp085.c
@@ -51,22 +51,6 @@
 /* Driver local variables and types.                                        */
 /*==========================================================================*/
 
-/**
- * @brief Variables for Temperature and Pressure measurement.
- */
-static int16_t  ac1;
-static int16_t  ac2;
-static int16_t  ac3;
-static int16_t  b1;
-static int16_t  b2;
-static int16_t  mb;
-static int16_t  mc;
-static int16_t  md;
-static uint16_t ac4;
-static uint16_t ac5;
-static uint16_t ac6;
-static int32_t  b5;
-
 /*==========================================================================*/
 /* Driver local functions.                                                  */
 /*==========================================================================*/
@@ -136,17 +120,17 @@ static msg_t bmp085ReadCoefficient(BMP085Driver *devp, uint8_t reg) {
 #endif /* BMP085_SHARED_I2C */
 
   if (msg == MSG_OK) {
-    ac1 = ((rxbuf[ 0] << 8) | rxbuf[ 1]);
-    ac2 = ((rxbuf[ 2] << 8) | rxbuf[ 3]);
-    ac3 = ((rxbuf[ 4] << 8) | rxbuf[ 5]);
-    ac4 = ((rxbuf[ 6] << 8) | rxbuf[ 7]);
-    ac5 = ((rxbuf[ 8] << 8) | rxbuf[ 9]);
-    ac6 = ((rxbuf[10] << 8) | rxbuf[11]);
-    b1  = ((rxbuf[12] << 8) | rxbuf[13]);
-    b2  = ((rxbuf[14] << 8) | rxbuf[15]);
-    mb  = ((rxbuf[16] << 8) | rxbuf[17]);
-    mc  = ((rxbuf[18] << 8) | rxbuf[19]);
-    md  = ((rxbuf[20] << 8) | rxbuf[21]);
+    devp->calibrationdata.ac1 = ((rxbuf[ 0] << 8) | rxbuf[ 1]);
+    devp->calibrationdata.ac2 = ((rxbuf[ 2] << 8) | rxbuf[ 3]);
+    devp->calibrationdata.ac3 = ((rxbuf[ 4] << 8) | rxbuf[ 5]);
+    devp->calibrationdata.ac4 = ((rxbuf[ 6] << 8) | rxbuf[ 7]);
+    devp->calibrationdata.ac5 = ((rxbuf[ 8] << 8) | rxbuf[ 9]);
+    devp->calibrationdata.ac6 = ((rxbuf[10] << 8) | rxbuf[11]);
+    devp->calibrationdata.b1  = ((rxbuf[12] << 8) | rxbuf[13]);
+    devp->calibrationdata.b2  = ((rxbuf[14] << 8) | rxbuf[15]);
+    devp->calibrationdata.mb  = ((rxbuf[16] << 8) | rxbuf[17]);
+    devp->calibrationdata.mc  = ((rxbuf[18] << 8) | rxbuf[19]);
+    devp->calibrationdata.md  = ((rxbuf[20] << 8) | rxbuf[21]);
   }
 
   return msg;
@@ -155,28 +139,30 @@ static msg_t bmp085ReadCoefficient(BMP085Driver *devp, uint8_t reg) {
 /**
  * @brief   Calcul the true temperature.
  *
+ * @param[in]   devp  pointer to the BMP085 device driver sensor
  * @param[in]   ut    uncompensated temperature
  * @param[out]  ctp   pointer of the compensated temperature
  */
-static void calcul_t(int32_t ut, float *ctp) {
+static void calcul_t(BMP085Driver *devp, int32_t ut, float *ctp) {
 
   int32_t x1, x2;
 
   /* Converting the temperature value. */
-  x1 = ((ut - ac6) * ac5) >> 15;
-  x2 = (mc << 11) / (x1 + md);
-  b5 = x1 + x2;
-  *ctp = (float)((b5 + 8) >> 4)*BMP085_T_RES;
+  x1 = ((ut - devp->calibrationdata.ac6) * devp->calibrationdata.ac5) >> 15;
+  x2 = (devp->calibrationdata.mc << 11) / (x1 + devp->calibrationdata.md);
+  devp->calibrationdata.b5 = x1 + x2;
+  *ctp = (float)((devp->calibrationdata.b5 + 8) >> 4)*BMP085_T_RES;
 }
 
 /**
  * @brief   Calcul the true pressure.
  *
+ * @param[in]   devp  pointer to the BMP085 device driver sensor
  * @param[in]   up    uncompensated pressure
  * @param[in]   oss   over sampling setting
  * @param[out]  cpp   pointer of the compensated pressure
  */
-static void calcul_p(int32_t up, uint8_t oss, float *cpp) {
+static void calcul_p(BMP085Driver *devp, int32_t up, uint8_t oss, float *cpp) {
 
   int32_t   press;
   int32_t		x1,x2,x3;
@@ -184,15 +170,15 @@ static void calcul_p(int32_t up, uint8_t oss, float *cpp) {
   uint32_t	b4,b7;
 
   /* Converting the pressure value. */
-  b6 = b5 - 4000;
-  x1 = (b2 * ((b6 * b6) >> 12)) >> 11;
-  x2 = (ac2 * b6) >> 11;
+  b6 = devp->calibrationdata.b5 - 4000;
+  x1 = (devp->calibrationdata.b2 * ((b6 * b6) >> 12)) >> 11;
+  x2 = (devp->calibrationdata.ac2 * b6) >> 11;
   x3 = x1 + x2;
-  b3 = ((((int32_t)ac1 * 4 + x3) << oss) + 2) >> 2;
-  x1 = ((ac3)*b6) >> 13;
-  x2 = (b1 * (b6*b6 >> 12)) >> 16;
+  b3 = ((((int32_t)devp->calibrationdata.ac1 * 4 + x3) << oss) + 2) >> 2;
+  x1 = ((devp->calibrationdata.ac3)*b6) >> 13;
+  x2 = (devp->calibrationdata.b1 * (b6*b6 >> 12)) >> 16;
   x3 = ((x1 + x2) + 2) >> 2;
-  b4 = ac4 * (uint32_t)(x3 + 32768) >> 15;
+  b4 = devp->calibrationdata.ac4 * (uint32_t)(x3 + 32768) >> 15;
   b7 = ((uint32_t)up - b3)*(50000 >> oss);
 
   if (b7 < 0x80000000)
@@ -217,18 +203,15 @@ static msg_t start_t_measurement(BMP085Driver *devp) {
 
   uint8_t txbuf[2] = {BMP085_AD_CR, BMP085_CR_T_VAL};
 
-  if ((devp)->config->thermocfg != NULL) {
-    i2cAcquireBus(devp->config->i2cp);
-    msg_t msg = bmp085I2CWriteRegister(devp->config->i2cp, txbuf, 2);
-    i2cReleaseBus(devp->config->i2cp);
+  i2cAcquireBus(devp->config->i2cp);
+  msg_t msg = bmp085I2CWriteRegister(devp->config->i2cp, txbuf, 2);
+  i2cReleaseBus(devp->config->i2cp);
 
-    /* Conversion time for the temperature. */
-    chThdSleepMilliseconds(BMP085_THERMO_CT_LOW);
+  /* Conversion time for the temperature. */
+  chThdSleepMilliseconds(BMP085_THERMO_CT_LOW);
+  //chThdSleepMilliseconds(devp->config.tct); // TODO: use this instead of the top line:
 
-    return msg;
-  }
-  else
-    return MSG_RESET;
+  return msg;
 }
 
 /**
@@ -242,7 +225,7 @@ static msg_t start_p_measurement(BMP085Driver *devp) {
   uint8_t oss, delay;
   uint8_t txbuf[2];
 
-  oss = devp->config->barocfg->oss;
+  oss = devp->config->oss;
   txbuf[0] = BMP085_AD_CR;
 
   /* Check the oss according the bmp085 mode. */
@@ -332,7 +315,7 @@ static msg_t acquire_up(BMP085Driver *devp, int32_t *upress) {
   msg_t msg;
 
   /* Get the oversampling setting from the driver configuratioin. */
-  oss = devp->config->barocfg->oss;
+  oss = devp->config->oss;
 
   /* Start the pressure measurement. */
   start_p_measurement(devp);
@@ -345,7 +328,7 @@ static msg_t acquire_up(BMP085Driver *devp, int32_t *upress) {
  /* Get the pressure */
   msg = bmp085I2CReadRegister(devp->config->i2cp, BMP085_AD_P_DR_MSB, rxbuf,
                               3);
-
+                              
 #if BMP085_SHARED_I2C
   i2cReleaseBus(devp->config->i2cp);
 #endif /* BMP085_SHARED_I2C */
@@ -486,18 +469,14 @@ static msg_t sens_read_raw(void *ip, int32_t axes[]) {
   int32_t* bp = axes;
   msg_t msg;
 
-  if (((BMP085Driver *)ip)->config->barocfg != NULL) {
-    msg = baro_read_raw(ip, bp);
+  msg = baro_read_raw(ip, bp);
 
-    if (msg != MSG_OK)
-      return msg;
+  if (msg != MSG_OK)
+    return msg;
 
-    bp += BMP085_BARO_NUMBER_OF_AXES;
-	}
+  bp += BMP085_BARO_NUMBER_OF_AXES;
 
-  if (((BMP085Driver *)ip)->config->thermocfg != NULL) {
-    msg = thermo_read_raw(ip, bp);
-	}
+  msg = thermo_read_raw(ip, bp);
 
   return msg;
 }
@@ -522,10 +501,10 @@ static msg_t baro_read_cooked(void *ip, float axes[]) {
                 "baro_read_cooked(), invalid state");
 
   msg = baro_read_raw(ip, raw);
-  oss = ((BMP085Driver *)ip)->config->barocfg->oss;
+  oss = ((BMP085Driver *)ip)->config->oss;
 
   for (i = 0; i < BMP085_BARO_NUMBER_OF_AXES; i++)
-    calcul_p(raw[i], oss, &axes[i]);
+    calcul_p(ip, raw[i], oss, &axes[i]);
 
   return msg;
 }
@@ -550,7 +529,7 @@ static msg_t thermo_read_cooked(void *ip, float axes[]) {
   msg = thermo_read_raw(ip, raw);
 
   for (i = 0; i < BMP085_THERMO_NUMBER_OF_AXES; i++)
-    calcul_t(raw[i], &axes[i]);
+    calcul_t(ip, raw[i], &axes[i]);
 
   return msg;
 }
@@ -568,17 +547,13 @@ static msg_t sens_read_cooked(void *ip, float axes[]) {
   float* bp = axes;
   msg_t msg;
 
-  if (((BMP085Driver *)ip)->config->barocfg != NULL) {
-    msg = baro_read_cooked(ip, bp);
+  msg = baro_read_cooked(ip, bp);
 
-    if (msg != MSG_OK)
-      return msg;
-
-    bp += BMP085_BARO_NUMBER_OF_AXES;
-  }
+  if (msg != MSG_OK)
+    return msg;
 
-  if (((BMP085Driver *)ip)->config->thermocfg != NULL)
-    msg = thermo_read_cooked(ip, bp);
+  bp += BMP085_BARO_NUMBER_OF_AXES;
+  msg = thermo_read_cooked(ip, bp);
 
   return msg;
 }
diff --git a/os/ex/Bosch/bmp085.h b/os/ex/Bosch/bmp085.h
index 106460fcf..d34bfb7dc 100644
--- a/os/ex/Bosch/bmp085.h
+++ b/os/ex/Bosch/bmp085.h
@@ -45,7 +45,7 @@
 /**
  * @brief   BMP085 driver version string.
  */
-#define EX_BMP085_VERSION           "1.0.0"
+#define EX_BMP085_VERSION           "1.0.1"
 
 /**
  * @brief   BMP085 driver version major number.
@@ -60,7 +60,7 @@
 /**
  * @brief   BMP085 driver version patch number.
  */
-#define EX_BMP085_PATCH             0
+#define EX_BMP085_PATCH             1
 /** @}*/
 
 /**
@@ -134,21 +134,12 @@
 #endif
 
 /**
- * @brief   BMP085 barometer subsystem advanced configurations switch.
+ * @brief   BMP085 sensor subsystem advanced configurations switch.
  * @details If set to @p TRUE more configurations are available.
- * @note    The default is @p FALSE.
- */
-#if !defined(BMP085_BARO_USE_ADVANCED) || defined(__DOXYGEN__)
-#define BMP085_BARO_USE_ADVANCED            FALSE
-#endif
-
-/**
- * @brief   BMP085 thermometer subsystem advanced configurations switch.
- * @details If set to @p TRUE more configurations are available.
- * @note    The default is @p FALSE.
+ * @note    The default is @p TRUE.
  */
-#if !defined(BMP085_THERMO_USE_ADVANCED) || defined(__DOXYGEN__)
-#define BMP085_THERMO_USE_ADVANCED          FALSE
+#if !defined(BMP085_USE_ADVANCED) || defined(__DOXYGEN__)
+#define BMP085_USE_ADVANCED            TRUE
 #endif
 
 /**
@@ -214,24 +205,23 @@ typedef enum {
 }bmp085_baro_oss_t;
 
 /**
- * @brief BMP085 barometer subsystem configuration structure.
+ * @brief BMP085 barometer subsystem calibration data.
  */
 typedef struct {
-  /**
-   * @brief BMP085 barometer subsystem pressure conversion time.
-   */
-  bmp085_baro_ct_t    ct;
-
-  /**
-   * @brief BMP085 barometer subsystem mode.
-   */
-  bmp085_baro_mode_t  mode;
+  int16_t   ac1;
+  int16_t   ac2;
+  int16_t   ac3;
+  int16_t   b1;
+  int16_t   b2;
+  int16_t   mb;
+  int16_t   mc;
+  int16_t   md;
+  uint16_t  ac4;
+  uint16_t  ac5;
+  uint16_t  ac6;
+  int32_t   b5;
+} bmp085_cd_t;
 
-  /**
-   * @brief BMP085 barometer subsystem oversampling setting.
-   */
-  bmp085_baro_oss_t   oss;
-} BMP085BaroConfig;
 /** @} */
 
 /**
@@ -249,15 +239,6 @@ typedef enum {
   BMP085_THERMO_CT_LUHR = 0x1A  /**< Conv time in ultra high res. mode.     */
 } bmp085_thermo_ct_t;
 
-/**
- * @brief BMP085 thermometer subsystem configuration structure.
- */
-typedef struct {
-  /**
-   * @brief BMP085 thermometer subsystem temperature conversion time.
-   */
-  bmp085_thermo_ct_t  conversionTime;
-} BMP085ThermoConfig;
 /** @} */
 
 /**
@@ -278,6 +259,7 @@ typedef enum {
  * @brief BMP085 configuration structure.
  */
 typedef struct {
+#if BMP085_USE_I2C || defined(__DOXYGEN__)
  /**
   * @brief I2C driver associated to this BMP085.
   */
@@ -287,16 +269,44 @@ typedef struct {
    * @brief I2C configuration associated to this BMP085 subsystem.
    */
   const I2CConfig           *i2ccfg;
+#endif /* BMP085_USE_I2C */
+  /**
+   * @brief HTS221 initial sensitivity.
+   * @note  Value are respectively related to hygrometer
+   *        and thermometer.
+   */
+  float*                    sensitivity;
+  /**
+   * @brief HTS221 initial bias.
+   * @note  Value are respectively related to hygrometer
+   *        and thermometer.
+   */
+  float*                    bias;
+  /**
+   * @brief HTS221 output data rate selection.
+   */
+  float*                    outputdatarate;
+#if BMP085_USE_ADVANCED || defined(__DOXYGEN__)
+  /**
+   * @brief BMP085 barometer subsystem pressure conversion time.
+   */
+  bmp085_baro_ct_t          bct;
 
   /**
-   * @brief BMP085 barometer subsystem configuration structure
+   * @brief BMP085 barometer subsystem mode.
    */
-  const BMP085BaroConfig    *barocfg;
+  bmp085_baro_mode_t        mode;
 
   /**
-   * @brief BMP085 thermometer subsystem configuration structure
+   * @brief BMP085 barometer subsystem oversampling setting.
    */
-  const BMP085ThermoConfig  *thermocfg;
+  bmp085_baro_oss_t         oss;
+
+  /**
+   * @brief BMP085 thermometer subsystem temperature conversion time.
+   */
+  bmp085_thermo_ct_t        tct;
+#endif /* BMP085_USE_ADVANCED */
 } BMP085Config;
 
 /**
@@ -351,8 +361,13 @@ struct BMP085THERMOVMT {
   /* Current thermometer sensitivity. */                                     \
   float               thermosensitivity[BMP085_THERMO_NUMBER_OF_AXES];       \
   /* Thermometer bias data.           */                                     \
-  int32_t             thermobias[BMP085_THERMO_NUMBER_OF_AXES];
+  int32_t             thermobias[BMP085_THERMO_NUMBER_OF_AXES];              \
+  /* BMP085 calibration data. */                                             \
+  bmp085_cd_t         calibrationdata;
 
+/**
+ * @brief   BMP085 driver structure.
+ */
 struct BMP085Driver {
   /** @brief BaseSensor Virtual Methods Table.                              */
   const struct BaseSensorVMT      *vmt_basesensor;
@@ -360,7 +375,7 @@ struct BMP085Driver {
   const struct BaseBarometerVMT   *vmt_basebarometer;
   /** @brief BaseThermometer Virtual Methods Table.                         */
   const struct BaseThermometerVMT *vmt_basethermometer;
-  _bmp085_data
+  _bmp085_data;
 };
 
 /** @} */