| /* |
| * Copyright (C) 2016 The Android Open Source Project |
| * |
| * Licensed under the Apache License, Version 2.0 (the "License"); |
| * you may not use this file except in compliance with the License. |
| * You may obtain a copy of the License at |
| * |
| * http://www.apache.org/licenses/LICENSE-2.0 |
| * |
| * Unless required by applicable law or agreed to in writing, software |
| * distributed under the License is distributed on an "AS IS" BASIS, |
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
| * See the License for the specific language governing permissions and |
| * limitations under the License. |
| */ |
| |
| #include <stdlib.h> |
| #include <string.h> |
| #include <float.h> |
| |
| #include <eventnums.h> |
| #include <heap.h> |
| #include <hostIntf.h> |
| #include <i2c.h> |
| #include <nanohubPacket.h> |
| #include <sensors.h> |
| #include <seos.h> |
| #include <slab.h> |
| #include <timer.h> |
| #include <util.h> |
| #include <variant/variant.h> |
| |
| #define BMP280_APP_ID APP_ID_MAKE(NANOHUB_VENDOR_GOOGLE, 5) |
| |
| #define BMP280_APP_VERSION 4 |
| |
| #ifndef BMP280_I2C_BUS_ID |
| #define BMP280_I2C_BUS_ID 0 |
| #endif |
| |
| #define I2C_BUS_ID BMP280_I2C_BUS_ID |
| #define I2C_SPEED 400000 |
| #define I2C_ADDR 0x76 |
| |
| #define BOSCH_BMP280_ID 0x58 |
| |
| #define BOSCH_BMP280_REG_RESET 0xE0 |
| #define BOSCH_BMP280_REG_DIG_T1 0x88 |
| #define BOSCH_BMP280_REG_ID 0xd0 |
| #define BOSCH_BMP280_REG_CTRL_MEAS 0xf4 |
| #define BOSCH_BMP280_REG_CONFIG 0xf5 |
| #define BOSCH_BMP280_REG_PRES_MSB 0xf7 |
| |
| #define BOSCH_BMP280_SOFT_RESET_CMD 0xB6 |
| |
| #define BOSCH_BMP280_MAX_PENDING_I2C_REQUESTS 4 |
| #define BOSCH_BMP280_MAX_I2C_TRANSFER_SIZE 6 |
| |
| // This defines how many baro events we could handle being backed up in the |
| // queue. Use this to size our slab |
| #define MAX_BARO_EVENTS 4 |
| |
| // temp: 2x oversampling, baro: 16x oversampling, power: normal |
| #define CTRL_ON ((2 << 5) | (5 << 2) | 3) |
| // temp: 2x oversampling, baro: 16x oversampling, power: sleep |
| #define CTRL_SLEEP ((2 << 5) | (5 << 2)) |
| // config: standby time: 62.5ms, IIR filter coefficient: 4 |
| #define CTRL_CFG ((1 << 5) | (2 << 2)) |
| |
| enum BMP280SensorEvents |
| { |
| EVT_SENSOR_I2C = EVT_APP_START + 1, |
| EVT_SENSOR_BARO_TIMER, |
| EVT_SENSOR_TEMP_TIMER, |
| EVT_SENSOR_SOFTRESET_TIMER, |
| }; |
| |
| enum BMP280TaskState |
| { |
| STATE_RESET, |
| STATE_SOFTRESET, |
| STATE_SOFTRESET_MODE, |
| STATE_VERIFY_ID, |
| STATE_AWAITING_COMP_PARAMS, |
| STATE_CONFIG, |
| STATE_FINISH_INIT, |
| STATE_IDLE, |
| STATE_ENABLING_BARO_TEMP, |
| STATE_ENABLING_BARO, |
| STATE_ENABLING_TEMP, |
| STATE_DISABLING_BARO, |
| STATE_DISABLING_TEMP, |
| STATE_SAMPLING, |
| }; |
| |
| struct BMP280CompParams |
| { |
| uint16_t dig_T1; |
| int16_t dig_T2, dig_T3; |
| uint16_t dig_P1; |
| int16_t dig_P2, dig_P3, dig_P4, dig_P5, dig_P6, dig_P7, dig_P8, dig_P9; |
| } __attribute__((packed)); |
| |
| struct I2cTransfer |
| { |
| size_t tx; |
| size_t rx; |
| int err; |
| uint8_t txrxBuf[BOSCH_BMP280_MAX_I2C_TRANSFER_SIZE]; |
| uint8_t state; |
| bool inUse; |
| }; |
| |
| static struct BMP280Task |
| { |
| struct BMP280CompParams comp; |
| |
| struct SlabAllocator *evtSlab; |
| |
| uint32_t id; |
| uint32_t baroHandle; |
| uint32_t tempHandle; |
| uint32_t baroTimerHandle; |
| uint32_t tempTimerHandle; |
| uint32_t resetHandle; |
| |
| float offset; |
| |
| struct I2cTransfer transfers[BOSCH_BMP280_MAX_PENDING_I2C_REQUESTS]; |
| |
| bool tmpbaroOn; |
| bool tmptempOn; |
| bool baroOn; |
| bool tempOn; |
| bool baroReading; |
| bool baroCalibrating; |
| bool tempReading; |
| } mTask; |
| |
| struct CalibrationData { |
| struct HostHubRawPacket header; |
| struct SensorAppEventHeader data_header; |
| float value; |
| } __attribute__((packed)); |
| |
| static const uint32_t tempSupportedRates[] = |
| { |
| SENSOR_HZ(0.1), |
| SENSOR_HZ(1), |
| SENSOR_HZ(5), |
| SENSOR_HZ(10), |
| SENSOR_HZ(25), |
| 0, |
| }; |
| |
| static const uint64_t rateTimerValsTemp[] = //should match "supported rates in length" and be the timer length for that rate in nanosecs |
| { |
| 10 * 1000000000ULL, |
| 1 * 1000000000ULL, |
| 1000000000ULL / 5, |
| 1000000000ULL / 10, |
| 1000000000ULL / 25, |
| }; |
| |
| static const uint32_t baroSupportedRates[] = |
| { |
| SENSOR_HZ(0.1), |
| SENSOR_HZ(1), |
| SENSOR_HZ(5), |
| SENSOR_HZ(10), |
| 0 |
| }; |
| |
| static const uint64_t rateTimerValsBaro[] = //should match "supported rates in length" and be the timer length for that rate in nanosecs |
| { |
| 10 * 1000000000ULL, |
| 1 * 1000000000ULL, |
| 1000000000ULL / 5, |
| 1000000000ULL / 10, |
| }; |
| |
| static void i2cCallback(void *cookie, size_t tx, size_t rx, int err); |
| |
| // Allocate a buffer and mark it as in use with the given state, or return NULL |
| // if no buffers available. Must *not* be called from interrupt context. |
| static struct I2cTransfer *allocXfer(uint8_t state) |
| { |
| size_t i; |
| |
| for (i = 0; i < ARRAY_SIZE(mTask.transfers); i++) { |
| if (!mTask.transfers[i].inUse) { |
| mTask.transfers[i].inUse = true; |
| mTask.transfers[i].state = state; |
| return &mTask.transfers[i]; |
| } |
| } |
| |
| osLog(LOG_ERROR, "[BMP280]: Ran out of i2c buffers!"); |
| return NULL; |
| } |
| |
| // Helper function to release I2cTransfer structure |
| static inline void releaseXfer(struct I2cTransfer *xfer) |
| { |
| xfer->inUse = false; |
| } |
| |
| // Helper function to write a one byte register. Returns true if we got a |
| // successful return value from i2cMasterTx(). |
| static bool writeRegister(uint8_t reg, uint8_t value, uint8_t state) |
| { |
| struct I2cTransfer *xfer = allocXfer(state); |
| int ret = -1; |
| |
| if (xfer != NULL) { |
| xfer->txrxBuf[0] = reg; |
| xfer->txrxBuf[1] = value; |
| ret = i2cMasterTx(I2C_BUS_ID, I2C_ADDR, xfer->txrxBuf, 2, i2cCallback, xfer); |
| if (ret) |
| releaseXfer(xfer); |
| } |
| |
| return (ret == 0); |
| } |
| |
| static bool baroAllocateEvt(struct SingleAxisDataEvent **evPtr, float sample, uint64_t time) |
| { |
| struct SingleAxisDataEvent *ev; |
| |
| *evPtr = slabAllocatorAlloc(mTask.evtSlab); |
| |
| ev = *evPtr; |
| if (!ev) { |
| osLog(LOG_ERROR, "[BMP280] slabAllocatorAlloc() failed\n"); |
| return false; |
| } |
| |
| memset(&ev->samples[0].firstSample, 0x00, sizeof(struct SensorFirstSample)); |
| ev->referenceTime = time; |
| ev->samples[0].firstSample.numSamples = 1; |
| ev->samples[0].fdata = sample; |
| |
| return true; |
| } |
| |
| static void baroFreeEvt(void *ptr) |
| { |
| slabAllocatorFree(mTask.evtSlab, ptr); |
| } |
| |
| /* sensor callbacks from nanohub */ |
| |
| static void i2cCallback(void *cookie, size_t tx, size_t rx, int err) |
| { |
| struct I2cTransfer *xfer = cookie; |
| |
| xfer->tx = tx; |
| xfer->rx = rx; |
| xfer->err = err; |
| |
| osEnqueuePrivateEvt(EVT_SENSOR_I2C, cookie, NULL, mTask.id); |
| if (err != 0) |
| osLog(LOG_INFO, "[BMP280] i2c error (tx: %d, rx: %d, err: %d)\n", tx, rx, err); |
| } |
| |
| static void baroTimerCallback(uint32_t timerId, void *cookie) |
| { |
| osEnqueuePrivateEvt(EVT_SENSOR_BARO_TIMER, cookie, NULL, mTask.id); |
| } |
| |
| static void tempTimerCallback(uint32_t timerId, void *cookie) |
| { |
| osEnqueuePrivateEvt(EVT_SENSOR_TEMP_TIMER, cookie, NULL, mTask.id); |
| } |
| |
| static void softresetCallback(uint32_t timerId, void *cookie) |
| { |
| osEnqueuePrivateEvt(EVT_SENSOR_SOFTRESET_TIMER, cookie, NULL, mTask.id); |
| } |
| |
| static void softreset() |
| { |
| writeRegister(BOSCH_BMP280_REG_RESET, BOSCH_BMP280_SOFT_RESET_CMD, STATE_SOFTRESET); |
| } |
| |
| static void setMode(bool on, uint8_t state) |
| { |
| writeRegister(BOSCH_BMP280_REG_CTRL_MEAS, (on) ? CTRL_ON : CTRL_SLEEP, state); |
| } |
| |
| static void sendCalibrationResult(uint8_t status, float value) { |
| struct CalibrationData *data = heapAlloc(sizeof(struct CalibrationData)); |
| if (!data) { |
| osLog(LOG_WARN, "[BMP280] Couldn't alloc cal result pkt"); |
| return; |
| } |
| |
| data->header.appId = BMP280_APP_ID; |
| data->header.dataLen = (sizeof(struct CalibrationData) - sizeof(struct HostHubRawPacket)); |
| data->data_header.msgId = SENSOR_APP_MSG_ID_CAL_RESULT; |
| data->data_header.sensorType = SENS_TYPE_BARO; |
| data->data_header.status = status; |
| |
| data->value = value; |
| |
| if (!osEnqueueEvtOrFree(EVT_APP_TO_HOST, data, heapFree)) |
| osLog(LOG_WARN, "[BMP280] Couldn't send cal result evt"); |
| } |
| |
| // TODO: only turn on the timer when enabled |
| static bool sensorPowerBaro(bool on, void *cookie) |
| { |
| bool oldMode = mTask.baroOn || mTask.tempOn; |
| bool newMode = on || mTask.tempOn; |
| |
| if (!on && mTask.baroTimerHandle) { |
| timTimerCancel(mTask.baroTimerHandle); |
| mTask.baroTimerHandle = 0; |
| mTask.baroReading = false; |
| } |
| |
| if (!on && mTask.tmpbaroOn && mTask.resetHandle) |
| { |
| if (!mTask.tmptempOn) { |
| timTimerCancel(mTask.resetHandle); |
| mTask.resetHandle = 0; |
| } |
| mTask.tmpbaroOn = 0; |
| sensorSignalInternalEvt(mTask.baroHandle, SENSOR_INTERNAL_EVT_POWER_STATE_CHG, true, 0); |
| } |
| |
| if (oldMode != newMode) |
| { |
| if (newMode == 0) |
| { |
| setMode(newMode, STATE_DISABLING_BARO); |
| mTask.baroOn = false; |
| } |
| else |
| { |
| mTask.tmpbaroOn = true; |
| if (!mTask.tmptempOn) { |
| // do soft reset first when newMode is on |
| softreset(); |
| } |
| } |
| } |
| else |
| { |
| sensorSignalInternalEvt(mTask.baroHandle, SENSOR_INTERNAL_EVT_POWER_STATE_CHG, on, 0); |
| mTask.baroOn = on; |
| } |
| |
| return true; |
| } |
| |
| static bool sensorFirmwareBaro(void *cookie) |
| { |
| return sensorSignalInternalEvt(mTask.baroHandle, SENSOR_INTERNAL_EVT_FW_STATE_CHG, 1, 0); |
| } |
| |
| static bool sensorRateBaro(uint32_t rate, uint64_t latency, void *cookie) |
| { |
| if (mTask.baroTimerHandle) |
| timTimerCancel(mTask.baroTimerHandle); |
| mTask.baroTimerHandle = timTimerSet(sensorTimerLookupCommon(baroSupportedRates, rateTimerValsBaro, rate), 0, 50, baroTimerCallback, NULL, false); |
| return sensorSignalInternalEvt(mTask.baroHandle, SENSOR_INTERNAL_EVT_RATE_CHG, rate, latency); |
| } |
| |
| static bool sensorFlushBaro(void *cookie) |
| { |
| return osEnqueueEvt(sensorGetMyEventType(SENS_TYPE_BARO), SENSOR_DATA_EVENT_FLUSH, NULL); |
| } |
| |
| static bool sensorCalibrateBaro(void *cookie) |
| { |
| if (mTask.baroOn || mTask.tempOn) { |
| osLog(LOG_ERROR, "[BMP280] cannot calibrate while baro or temp are active\n"); |
| sendCalibrationResult(SENSOR_APP_EVT_STATUS_BUSY, 0.0f); |
| return false; |
| } |
| |
| if (mTask.baroTimerHandle) |
| timTimerCancel(mTask.baroTimerHandle); |
| mTask.baroTimerHandle = timTimerSet(100000000ull, 0, 50, baroTimerCallback, NULL, false); |
| |
| mTask.offset = 0.0f; |
| mTask.baroOn = true; |
| mTask.baroCalibrating = true; |
| |
| return writeRegister(BOSCH_BMP280_REG_CTRL_MEAS, CTRL_ON, STATE_IDLE); |
| } |
| |
| static bool sensorCfgDataBaro(void *data, void *cookie) |
| { |
| mTask.offset = *((float*)data) * 100.0f; // offset is given in hPa, but used as Pa in compensation |
| return true; |
| } |
| |
| static bool sensorPowerTemp(bool on, void *cookie) |
| { |
| bool oldMode = mTask.baroOn || mTask.tempOn; |
| bool newMode = on || mTask.baroOn; |
| |
| if (!on && mTask.tempTimerHandle) { |
| timTimerCancel(mTask.tempTimerHandle); |
| mTask.tempTimerHandle = 0; |
| mTask.tempReading = false; |
| } |
| |
| if (!on && mTask.tmptempOn && mTask.resetHandle) |
| { |
| if(!mTask.tmpbaroOn) { |
| timTimerCancel(mTask.resetHandle); |
| mTask.resetHandle = 0; |
| } |
| mTask.tmptempOn = 0; |
| sensorSignalInternalEvt(mTask.tempHandle, SENSOR_INTERNAL_EVT_POWER_STATE_CHG, true, 0); |
| } |
| |
| if (oldMode != newMode) |
| { |
| if (newMode == 0) |
| { |
| setMode(newMode, STATE_DISABLING_TEMP); |
| mTask.tempOn = false; |
| } |
| else |
| { |
| mTask.tmptempOn = true; |
| if (!mTask.tmpbaroOn) { |
| // do soft reset first when newMode is on |
| softreset(); |
| } |
| } |
| } |
| else |
| { |
| sensorSignalInternalEvt(mTask.tempHandle, SENSOR_INTERNAL_EVT_POWER_STATE_CHG, on, 0); |
| mTask.tempOn = on; |
| } |
| |
| |
| return true; |
| } |
| |
| static bool sensorFirmwareTemp(void *cookie) |
| { |
| sensorSignalInternalEvt(mTask.tempHandle, SENSOR_INTERNAL_EVT_FW_STATE_CHG, 1, 0); |
| return true; |
| } |
| |
| static bool sensorRateTemp(uint32_t rate, uint64_t latency, void *cookie) |
| { |
| if (mTask.tempTimerHandle) |
| timTimerCancel(mTask.tempTimerHandle); |
| mTask.tempTimerHandle = timTimerSet(sensorTimerLookupCommon(tempSupportedRates, rateTimerValsTemp, rate), 0, 50, tempTimerCallback, NULL, false); |
| sensorSignalInternalEvt(mTask.tempHandle, SENSOR_INTERNAL_EVT_RATE_CHG, rate, latency); |
| return true; |
| } |
| |
| static bool sensorFlushTemp(void *cookie) |
| { |
| return osEnqueueEvt(sensorGetMyEventType(SENS_TYPE_TEMP), SENSOR_DATA_EVENT_FLUSH, NULL); |
| } |
| |
| static const struct SensorInfo sensorInfoBaro = |
| { |
| .sensorName = "Pressure", |
| .supportedRates = baroSupportedRates, |
| .sensorType = SENS_TYPE_BARO, |
| .numAxis = NUM_AXIS_ONE, |
| .interrupt = NANOHUB_INT_NONWAKEUP, |
| .minSamples = 300 |
| }; |
| |
| static const struct SensorOps sensorOpsBaro = |
| { |
| .sensorPower = sensorPowerBaro, |
| .sensorFirmwareUpload = sensorFirmwareBaro, |
| .sensorSetRate = sensorRateBaro, |
| .sensorFlush = sensorFlushBaro, |
| .sensorCalibrate = sensorCalibrateBaro, |
| .sensorCfgData = sensorCfgDataBaro, |
| }; |
| |
| static const struct SensorInfo sensorInfoTemp = |
| { |
| .sensorName = "Temperature", |
| .supportedRates = tempSupportedRates, |
| .sensorType = SENS_TYPE_TEMP, |
| .numAxis = NUM_AXIS_EMBEDDED, |
| .interrupt = NANOHUB_INT_NONWAKEUP, |
| .minSamples = 20 |
| }; |
| |
| static const struct SensorOps sensorOpsTemp = |
| { |
| .sensorPower = sensorPowerTemp, |
| .sensorFirmwareUpload = sensorFirmwareTemp, |
| .sensorSetRate = sensorRateTemp, |
| .sensorFlush = sensorFlushTemp, |
| }; |
| |
| // Returns temperature in units of 0.01 degrees celsius. |
| static int32_t compensateTemp( int32_t adc_T, int32_t *t_fine) |
| { |
| int32_t var1 = |
| (((adc_T >> 3) - ((int32_t)mTask.comp.dig_T1 << 1)) |
| * (int32_t)mTask.comp.dig_T2) >> 11; |
| |
| int32_t tmp = (adc_T >> 4) - (int32_t)mTask.comp.dig_T1; |
| |
| int32_t var2 = (((tmp * tmp) >> 12) * (int32_t)mTask.comp.dig_T3) >> 14; |
| |
| int32_t sum = var1 + var2; |
| |
| *t_fine = sum; |
| |
| return (sum * 5 + 128) >> 8; |
| } |
| |
| static float compensateBaro(int32_t t_fine, int32_t adc_P) |
| { |
| float f = t_fine - 128000, fSqr = f * f; |
| float a = 1048576 - adc_P; |
| float v1, v2, p, pSqr; |
| |
| v2 = fSqr * mTask.comp.dig_P6 + f * mTask.comp.dig_P5 * (float)(1ULL << 17) + mTask.comp.dig_P4 * (float)(1ULL << 35); |
| v1 = fSqr * mTask.comp.dig_P1 * mTask.comp.dig_P3 * (1.0f/(1ULL << 41)) + f * mTask.comp.dig_P1 * mTask.comp.dig_P2 * (1.0f/(1ULL << 21)) + mTask.comp.dig_P1 * (float)(1ULL << 14); |
| |
| p = (a * (float)(1ULL << 31) - v2) * 3125 / v1; |
| pSqr = p * p; |
| |
| return pSqr * mTask.comp.dig_P9 * (1.0f/(1ULL << 59)) + p * (mTask.comp.dig_P8 * (1.0f/(1ULL << 19)) + 1) * (1.0f/(1ULL << 8)) + 16.0f * mTask.comp.dig_P7; |
| } |
| |
| static void getTempAndBaro(const uint8_t *tmp, float *pressure_Pa, float *temp_centigrade) |
| { |
| int32_t pres_adc = ((int32_t)tmp[0] << 12) | ((int32_t)tmp[1] << 4) | (tmp[2] >> 4); |
| int32_t temp_adc = ((int32_t)tmp[3] << 12) | ((int32_t)tmp[4] << 4) | (tmp[5] >> 4); |
| |
| int32_t T_fine; |
| int32_t temp = compensateTemp(temp_adc, &T_fine); |
| float pres = compensateBaro(T_fine, pres_adc); |
| |
| *temp_centigrade = (float)temp * 0.01f; |
| *pressure_Pa = pres * (1.0f / 256.0f) + mTask.offset; |
| } |
| |
| static void handleI2cEvent(struct I2cTransfer *xfer) |
| { |
| union EmbeddedDataPoint embeddedSample; |
| struct SingleAxisDataEvent *baroSample; |
| struct I2cTransfer *newXfer; |
| int ret; |
| |
| switch (xfer->state) { |
| case STATE_RESET: { |
| newXfer = allocXfer(STATE_VERIFY_ID); |
| if (newXfer != NULL) { |
| newXfer->txrxBuf[0] = BOSCH_BMP280_REG_ID; |
| ret = i2cMasterTxRx(I2C_BUS_ID, I2C_ADDR, newXfer->txrxBuf, 1, newXfer->txrxBuf, 1, i2cCallback, newXfer); |
| if (ret) |
| releaseXfer(newXfer); |
| } |
| break; |
| } |
| |
| case STATE_SOFTRESET: { |
| //create timer for 2ms delay |
| mTask.resetHandle = timTimerSet(2000000ull, 0, 50, softresetCallback, NULL, true); |
| break; |
| } |
| |
| case STATE_SOFTRESET_MODE: { |
| if (mTask.tmpbaroOn && mTask.tmptempOn) { |
| setMode(true,STATE_ENABLING_BARO_TEMP); |
| mTask.tmpbaroOn = false; |
| mTask.baroOn = true; |
| mTask.tmptempOn = false; |
| mTask.tempOn = true; |
| } else if (mTask.tmpbaroOn) { |
| setMode(true,STATE_ENABLING_BARO); |
| mTask.tmpbaroOn = false; |
| mTask.baroOn = true; |
| } else if (mTask.tmptempOn) { |
| setMode(true,STATE_ENABLING_TEMP); |
| mTask.tmptempOn = false; |
| mTask.tempOn = true; |
| } |
| break; |
| } |
| |
| case STATE_VERIFY_ID: { |
| /* Check the sensor ID */ |
| if (xfer->err != 0 || xfer->txrxBuf[0] != BOSCH_BMP280_ID) { |
| osLog(LOG_INFO, "[BMP280] not detected\n"); |
| break; |
| } |
| |
| /* Get compensation parameters */ |
| newXfer = allocXfer(STATE_AWAITING_COMP_PARAMS); |
| if (newXfer != NULL) { |
| newXfer->txrxBuf[0] = BOSCH_BMP280_REG_DIG_T1; |
| ret = i2cMasterTxRx(I2C_BUS_ID, I2C_ADDR, newXfer->txrxBuf, 1, (uint8_t*)&mTask.comp, 24, i2cCallback, newXfer); |
| if (ret) |
| releaseXfer(newXfer); |
| } |
| |
| break; |
| } |
| |
| case STATE_AWAITING_COMP_PARAMS: { |
| writeRegister(BOSCH_BMP280_REG_CTRL_MEAS, CTRL_SLEEP, STATE_CONFIG); |
| break; |
| } |
| |
| case STATE_CONFIG: { |
| // standby time: 62.5ms, IIR filter coefficient: 4 |
| writeRegister(BOSCH_BMP280_REG_CONFIG, CTRL_CFG, STATE_FINISH_INIT); |
| break; |
| } |
| |
| case STATE_ENABLING_BARO_TEMP: { |
| sensorSignalInternalEvt(mTask.baroHandle, SENSOR_INTERNAL_EVT_POWER_STATE_CHG, true, 0); |
| sensorSignalInternalEvt(mTask.tempHandle, SENSOR_INTERNAL_EVT_POWER_STATE_CHG, true, 0); |
| break; |
| } |
| |
| case STATE_ENABLING_BARO: { |
| sensorSignalInternalEvt(mTask.baroHandle, SENSOR_INTERNAL_EVT_POWER_STATE_CHG, true, 0); |
| break; |
| } |
| |
| case STATE_ENABLING_TEMP: { |
| sensorSignalInternalEvt(mTask.tempHandle, SENSOR_INTERNAL_EVT_POWER_STATE_CHG, true, 0); |
| break; |
| } |
| |
| case STATE_DISABLING_BARO: { |
| sensorSignalInternalEvt(mTask.baroHandle, SENSOR_INTERNAL_EVT_POWER_STATE_CHG, false, 0); |
| break; |
| } |
| |
| case STATE_DISABLING_TEMP: { |
| sensorSignalInternalEvt(mTask.tempHandle, SENSOR_INTERNAL_EVT_POWER_STATE_CHG, false, 0); |
| break; |
| } |
| |
| case STATE_FINISH_INIT: { |
| osLog(LOG_INFO, "[BMP280] detected\n"); |
| sensorRegisterInitComplete(mTask.baroHandle); |
| sensorRegisterInitComplete(mTask.tempHandle); |
| break; |
| } |
| |
| case STATE_SAMPLING: { |
| float pressure_Pa, temp_centigrade; |
| getTempAndBaro(xfer->txrxBuf, &pressure_Pa, &temp_centigrade); |
| |
| if (mTask.baroOn && mTask.baroReading) { |
| if (mTask.baroCalibrating) { |
| sendCalibrationResult(SENSOR_APP_EVT_STATUS_SUCCESS, pressure_Pa * 0.01f); |
| |
| if (mTask.baroTimerHandle) |
| timTimerCancel(mTask.baroTimerHandle); |
| |
| mTask.baroOn = false; |
| mTask.baroCalibrating = false; |
| |
| writeRegister(BOSCH_BMP280_REG_CTRL_MEAS, CTRL_SLEEP, STATE_IDLE); |
| } else { |
| if (baroAllocateEvt(&baroSample, pressure_Pa * 0.01f, sensorGetTime())) { |
| if (!osEnqueueEvtOrFree(EVENT_TYPE_BIT_DISCARDABLE | sensorGetMyEventType(SENS_TYPE_BARO), baroSample, baroFreeEvt)) { |
| osLog(LOG_ERROR, "[BMP280] failed to enqueue baro sample\n"); |
| } |
| } |
| } |
| } |
| |
| if (mTask.tempOn && mTask.tempReading) { |
| embeddedSample.fdata = temp_centigrade; |
| osEnqueueEvt(sensorGetMyEventType(SENS_TYPE_TEMP), embeddedSample.vptr, NULL); |
| } |
| |
| mTask.baroReading = false; |
| mTask.tempReading = false; |
| |
| break; |
| } |
| |
| default: |
| break; |
| } |
| |
| releaseXfer(xfer); |
| } |
| |
| static void handleEvent(uint32_t evtType, const void* evtData) |
| { |
| struct I2cTransfer *newXfer; |
| int ret; |
| |
| switch (evtType) { |
| case EVT_APP_START: |
| { |
| osEventUnsubscribe(mTask.id, EVT_APP_START); |
| i2cMasterRequest(I2C_BUS_ID, I2C_SPEED); |
| |
| /* Reset chip */ |
| writeRegister(BOSCH_BMP280_REG_RESET, BOSCH_BMP280_SOFT_RESET_CMD, STATE_RESET); |
| break; |
| } |
| |
| case EVT_SENSOR_I2C: |
| { |
| handleI2cEvent((struct I2cTransfer *)evtData); |
| break; |
| } |
| |
| case EVT_SENSOR_BARO_TIMER: |
| { |
| /* Start sampling for a value */ |
| if (!mTask.baroReading && !mTask.tempReading) { |
| newXfer = allocXfer(STATE_SAMPLING); |
| if (newXfer != NULL) { |
| newXfer->txrxBuf[0] = BOSCH_BMP280_REG_PRES_MSB; |
| ret = i2cMasterTxRx(I2C_BUS_ID, I2C_ADDR, newXfer->txrxBuf, 1, newXfer->txrxBuf, 6, i2cCallback, newXfer); |
| if (ret) |
| releaseXfer(newXfer); |
| } |
| } |
| |
| mTask.baroReading = true; |
| break; |
| } |
| |
| case EVT_SENSOR_TEMP_TIMER: |
| { |
| /* Start sampling for a value */ |
| if (!mTask.baroReading && !mTask.tempReading) { |
| newXfer = allocXfer(STATE_SAMPLING); |
| if (newXfer != NULL) { |
| newXfer->txrxBuf[0] = BOSCH_BMP280_REG_PRES_MSB; |
| ret = i2cMasterTxRx(I2C_BUS_ID, I2C_ADDR, newXfer->txrxBuf, 1, newXfer->txrxBuf, 6, i2cCallback, newXfer); |
| if (ret) |
| releaseXfer(newXfer); |
| } |
| } |
| |
| mTask.tempReading = true; |
| break; |
| } |
| |
| case EVT_SENSOR_SOFTRESET_TIMER: |
| { |
| writeRegister(BOSCH_BMP280_REG_CONFIG, CTRL_CFG, STATE_SOFTRESET_MODE); |
| break; |
| } |
| } |
| } |
| |
| static bool startTask(uint32_t taskId) |
| { |
| mTask.id = taskId; |
| mTask.offset = 0.0f; |
| |
| /* Register sensors */ |
| mTask.baroHandle = sensorRegister(&sensorInfoBaro, &sensorOpsBaro, NULL, false); |
| mTask.tempHandle = sensorRegister(&sensorInfoTemp, &sensorOpsTemp, NULL, false); |
| |
| mTask.evtSlab = slabAllocatorNew(sizeof(struct SingleAxisDataEvent) + sizeof(struct SingleAxisDataPoint), 4, MAX_BARO_EVENTS); |
| if (!mTask.evtSlab) { |
| osLog(LOG_ERROR, "[BMP280] slabAllocatorNew() failed\n"); |
| return false; |
| } |
| |
| osEventSubscribe(taskId, EVT_APP_START); |
| |
| return true; |
| } |
| |
| static void endTask(void) |
| { |
| slabAllocatorDestroy(mTask.evtSlab); |
| } |
| |
| INTERNAL_APP_INIT(BMP280_APP_ID, BMP280_APP_VERSION, startTask, endTask, handleEvent); |
