Added module and tests for BMP180

firmware/inc/bmp180.h

@@ -0,0 +1,42 @@
+/*
+ * BMP180 (also BMP085)
+ * Copyright (C) 2014  Richard Meadows <richardeoin>
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#ifndef BMP180_H
+#define BMP180_H
+
+#include "samd20.h"
+
+/**
+ * Barometer data structure
+ */
+struct barometer {
+  double temperature;
+  int32_t pressure;
+  int valid; // 1 = valid, 0 = invalid
+};
+
+struct barometer* get_barometer(void);
+void bmp180_init(void);
+
+#endif /* BMP180_H */

firmware/src/bmp180.c

@@ -0,0 +1,303 @@
+/*
+ * BMP180 (also BMP085)
+ * Copyright (C) 2014  Richard Meadows <richardeoin>
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#include "samd20.h"
+#include "bmp180.h"
+#include "sercom/i2c_master.h"
+
+
+#define BMP180_ADDRESS		0xEE
+#define BMP180_REG_ID		0xD0
+#define BMP180_REG_SOFTRESET	0xE0
+#define BMP180_REG_CTRLMEAS	0xF4
+#define BMP180_REG_DATA		0xF6
+
+/**
+ * Control Register Values
+ */
+typedef enum {
+  TEMPERATURE			= 0x2E,
+  PRESSURE_ULTRALOW		= 0x34, //  4500µS Delay
+  PRESSURE_STANDARD		= 0x74, //  7500µS Delay
+  PRESSURE_HIGHRES		= 0xB4, // 13500µS Delay
+  PRESSURE_ULTRAHIGHRES		= 0xF4  // 22500µS Delay
+} bmp085_command;
+
+/**
+ * The mode of pressure measurement
+ */
+#define PRESSURE_MODE		PRESSURE_HIGHRES// PRESSURE_STANDARD
+#define PRESSURE_DELAY		13500//7500
+
+#define TEMPERATURE_DELAY	4500
+
+/**
+ * Barometer data structure
+ */
+struct barometer barometer;
+
+/**
+ * Calibration Values
+ */
+struct calibration {
+  int16_t AC1, AC2, AC3, B1, B2, MB, MC, MD;
+  uint16_t AC4, AC5, AC6;
+} calibration;
+
+/**
+ * Lookup table for oversampling values.
+ */
+uint8_t oversampling(void) {
+  switch(PRESSURE_MODE) {
+    case PRESSURE_ULTRALOW:
+      return 0;
+    case PRESSURE_HIGHRES:
+      return 2;
+    case PRESSURE_ULTRAHIGHRES:
+      return 3;
+    default: // PRESSURE_STANDARD
+      return 1;
+  }
+}
+
+/**
+ * Implements a microsecond delay
+ */
+void delay_us(uint16_t microseconds) {
+  int32_t i = microseconds * 16;
+
+  while(i--);
+}
+
+
+void master_transfer(uint16_t address, uint8_t* data, uint16_t data_length,
+                     uint8_t read_not_write)
+{
+  uint32_t timeout = 0;
+  struct i2c_master_packet packet = {
+    .address     = address,
+    .data_length = data_length,
+    .data        = data,
+    .ten_bit_address = false,
+    .high_speed      = false,
+    .hs_master_code  = 0x0,
+  };
+
+  if (read_not_write) {
+    while (i2c_master_read_packet_wait(&packet) !=
+           I2C_STATUS_OK) {
+      /* Increment timeout counter and check if timed out. */
+      if (timeout++ > 1000) {
+        break;
+      }
+    }
+  } else {
+
+    while (i2c_master_write_packet_wait(&packet) !=
+           I2C_STATUS_OK) {
+      /* Increment timeout counter and check if timed out. */
+      if (timeout++ > 1000) {
+        break;
+      }
+    }
+
+  }
+}
+
+/**
+ * Utility function to read from a 8-bit register
+ */
+uint8_t read_8(char address) {
+  uint8_t buffer[3];
+  buffer[0] = address;
+
+  /* Set regsiter to read */
+  master_transfer(BMP180_ADDRESS >> 1, buffer, 1, false);
+
+  /* Read it */
+  master_transfer(BMP180_ADDRESS >> 1, buffer, 1, true);
+
+  return buffer[0];
+}
+/**
+ * Utility function to read a 16-bit register.
+ */
+uint16_t read_16(char address) {
+  uint8_t buffer[3];
+  buffer[0] = address;
+
+  /* Set regsiter to read */
+  master_transfer(BMP180_ADDRESS, buffer, 1, false);
+
+  /* Read it */
+  master_transfer(BMP180_ADDRESS | 1, buffer, 2, true);
+
+  return (buffer[0] << 8) | buffer[1];
+}
+/**
+ * Reads off the BMP180's calibration values.
+ */
+void get_cal_param(struct calibration *c) {
+  c->AC1 = read_16(0xAA);
+  c->AC2 = read_16(0xAC);
+  c->AC3 = read_16(0xAE);
+  c->AC4 = read_16(0xB0);
+  c->AC5 = read_16(0xB2);
+  c->AC6 = read_16(0xB4);
+  c->B1  = read_16(0xB6);
+  c->B2  = read_16(0xB8);
+  c->MB  = read_16(0xBA);
+  c->MC  = read_16(0xBC);
+  c->MD  = read_16(0xBE);
+}
+/**
+ * Writes a command to the BMP085's control register.
+ */
+void write_command(bmp085_command command) {
+
+  uint8_t buffer[3];
+  buffer[0] = BMP180_REG_CTRLMEAS;
+  buffer[1] = command;
+
+  /* Write to command register */
+  master_transfer(BMP180_ADDRESS, buffer, 2, true);
+}
+
+
+/**
+ * Takes a temperature measurement and returns the uncompensated value.
+ */
+int32_t get_ut(void) {
+  write_command(TEMPERATURE);
+
+  delay_us(TEMPERATURE_DELAY);
+
+  return read_16(BMP180_REG_DATA);
+}
+/**
+ * Takes a pressure measurement and returns the uncompenstated value.
+ */
+int32_t get_up(void) {
+  uint8_t buffer[3];
+  write_command(PRESSURE_MODE);
+
+  delay_us(PRESSURE_DELAY);
+
+
+  buffer[0] = BMP180_REG_DATA;
+
+  /* Set regsiter to read */
+  master_transfer(BMP180_ADDRESS, buffer, 1, false);
+
+  /* Read it */
+  master_transfer(BMP180_ADDRESS | 1, buffer, 3, true);
+
+  return ((buffer[0] << 16) | (buffer[1] << 8) |
+          buffer[2]) >> (8 - oversampling());
+
+}
+
+/* -----------------------------------------------------------------------------
+ * Calculations
+ */
+
+
+/**
+ * Returns the variable B5, which is used for both temperature and
+ * pressure calculations.
+ */
+int32_t get_b5(struct calibration *c, int32_t ut) {
+  int32_t x1, x2;
+
+  x1 = ((ut - c->AC6) * c->AC5) >> 15;
+  x2 = (double)(c->MC << 11) / (x1 + c->MD);
+  return x1 + x2; // B5
+}
+/**
+ * Returns the temperature in °C using variable B5
+ */
+double get_temperature(int32_t B5) {
+  return (double)((B5 + 8) >> 4) / 10;
+}
+/**
+ * Returns the pressure in pascals using the calibration and variable
+ * B5.
+ */
+int32_t get_pressure(struct calibration *c, int32_t B5, int32_t up) {
+  int64_t B6, X1, X2, X3, B3, pressure;
+  uint64_t B4, B7;
+
+  B6 = B5 - 4000;
+  X1 = (c->B2 * ((B6 * B6) >> 12)) >> 11;
+  X2 = (c->AC2 * B6) >> 11;
+  X3 = X1 + X2;
+  B3 = ((((((int64_t)(c->AC1) * 4) + X3) << oversampling()) + 2) >> 2);
+  X1 = (c->AC3 * B6) >> 13;
+  X2 = (c->B1 * ((B6 * B6) >> 12)) >> 16;
+  X3 = ((X1 + X2) + 2) >> 2;
+  B4 = (c->AC4 * (uint64_t)(X3 + 32768)) >> 15;
+  B7 = ((uint64_t)(up - B3) * (50000 >> oversampling()));
+
+  if (B7 < 0x80000000) {
+    pressure = (B7 << 1) / B4;
+  } else {
+    pressure = (B7 / B4) << 1;
+  }
+
+  X1 = (pressure >> 8);
+  X1 *= X1;
+  X1 = (X1 * 3038) >> 16;
+  X2 = (-7357 * pressure) >> 16;
+  pressure += (X1 + X2 + 3791) >> 4;
+
+  return pressure;
+}
+
+struct barometer* get_barometer(void)
+{
+  int32_t ut = get_ut();
+  int32_t up = get_up();
+  int32_t b5 = get_b5(&calibration, ut);
+
+  barometer.temperature = get_temperature(b5);
+  barometer.pressure = get_pressure(&calibration, b5, up);
+
+  return &barometer;
+}
+
+/**
+ * Assume twi_master_init has already been called
+ */
+void bmp180_init(void)
+{
+  /* Read and check id */
+  uint8_t id = read_8(BMP180_REG_ID);
+  if (id != 0x55) while (1);
+
+  /* Get the calibration parameters */
+  //get_cal_param(&calibration);
+}

firmware/test/tc/pressure_temperature.h

@@ -0,0 +1,34 @@
+#ifndef __verification__
+#define __verification__
+#endif
+
+/****************************//* pressure_temperature_tc *//****************************/
+/**
+ * Write a description of your test case here
+ */
+
+/* Parameters in */
+struct pressure_temperature_tc_params {
+
+  /* Input paramters to your test case go here */
+  uint32_t dummy;
+
+} pressure_temperature_tc_params;
+/* Results out */
+struct pressure_temperature_tc_results {
+
+  /* Result values should be populated here */
+  float pressure, temperature;
+
+} pressure_temperature_tc_results;
+/* Function */
+__verification__ void pressure_temperature_tc(void) {
+
+  /**
+   * The main body of the test case goes here.
+   *
+   * Use the input parameters to run the test case. Populate the
+   * results structure at the end
+   */
+
+}

firmware/test/tc/pressure_temperature.py

@@ -0,0 +1,41 @@
+#!/usr/bin/env python
+
+# ------------------------------------------------------------------------------
+# Imports
+# ------------------------------------------------------------------------------
+
+import sys
+sys.path.append("./test")
+import main
+
+from random import randint
+
+# ------------------------------------------------------------------------------
+# Test Script
+# ------------------------------------------------------------------------------
+
+class pressure_temperature_tc:
+    def __init__(self):
+        self.name = self.__class__.__name__
+        self.iterations = 20
+
+
+    def get_test(self):
+        """Returns some suitable test parameters"""
+        params = main.struct_pressure_temperature_tc_params()
+
+        """
+        Assign input parameters here
+        """
+
+        return params
+
+    def is_correct(self, params, result, print_info):
+        """Returns if a result is correct for the given parameters"""
+
+        """
+        Compare result and params here, decide sth.
+        Can use print_info
+        """
+
+        return True