motor/Common/spi/Baro_MS5525DS_SPI.c

/*
 * Baro_MS5525DS_SPI.c
 *
 *  Created on: July 12, 2020
 *      Author: lqh
 */
#include "Baro_MS5525DS_SPI.h"
#include "main.h"

#define M_PI  (float)3.1415926535

#define RESET_CMD  0x1E
#define D1_CMD     0x48
#define D2_CMD     0x58
#define READ_ADC_CMD     0x00
#define READ_ROM_CMD     0xA0

/** us延时 */
static void Mdelay_us(uint16_t Time) {
	uint8_t i;
	uint8_t j;
	while (Time--)
		for (i = 0; i < 10; i++) {
			j++;
		}
}

/** reset ms5525*/
static void Baro_MS5525DS_Reset(Baro_MS5525DS_t *baro) {
	uint8_t TxdBuf[2];

	Mdelay_us(1000);

	TxdBuf[0] = RESET_CMD;
	SPI_DEV_select(baro->_dev);
	SPI_DEV_transfer(baro->_dev, TxdBuf, 1, NULL, 0, 2);
	SPI_DEV_unselect(baro->_dev);

	Mdelay_us(3000);

}

static unsigned char crc4(uint16_t n_prom[]) {
	int cnt; // simple counter
	uint16_t n_rem; // crc reminder
	uint16_t crc_read; // original value of the crc
	unsigned char n_bit;
	n_rem = 0x00;
	crc_read = n_prom[7]; //save read CRC
	n_prom[7] = (0xFF00 & (n_prom[7])); //CRC byte is replaced by 0
	for (cnt = 0; cnt < 16; cnt++) // operation is performed on bytes
			{ // choose LSB or MSB
		if (cnt % 2 == 1)
			n_rem ^= (unsigned short) ((n_prom[cnt >> 1]) & 0x00FF);
		else
			n_rem ^= (unsigned short) (n_prom[cnt >> 1] >> 8);
		for (n_bit = 8; n_bit > 0; n_bit--) {
			if (n_rem & (0x8000)) {
				n_rem = (n_rem << 1) ^ 0x3000;
			} else {
				n_rem = (n_rem << 1);
			}
		}
	}
	n_rem = (0x000F & (n_rem >> 12)); // // final 4-bit reminder is CRC code
	n_prom[7] = crc_read; // restore the crc_read to its original place
	return (n_rem ^ 0x00);
}


/** 读取prom的数据 */
static void Baro_MS5525DS_ReadProm(Baro_MS5525DS_t *baro) {
	int i;
	uint8_t TxdBuf[3];
	uint8_t RxdBuf[3];

	for (i = 0; i < 8; i++) {
		TxdBuf[0] = READ_ROM_CMD + i * 2;
		SPI_DEV_select(baro->_dev);
		SPI_DEV_transfer(baro->_dev, TxdBuf, 3, RxdBuf, 3, 2);
		baro->C[i] = (RxdBuf[1] << 8) | RxdBuf[2];
		SPI_DEV_unselect(baro->_dev);

		Mdelay_us(20);
	}
}

/** 读取转换后的数据 在这个函数之后应该打开下一步读取的转换 比如读取完D1后打开D2的转换 */
static uint32_t Baro_MS5525DS_ReadData(Baro_MS5525DS_t *baro) {
	uint8_t TxdBuf[4];
	uint8_t RxdBuf[4];

	unsigned int ret_val;

	TxdBuf[0] = READ_ADC_CMD;
	SPI_DEV_select(baro->_dev);
	SPI_DEV_transfer(baro->_dev, TxdBuf, 1, NULL, 0, 2);
	SPI_DEV_transfer(baro->_dev, NULL, 0, RxdBuf, 3, 2);
	Mdelay_us(10);
	SPI_DEV_unselect(baro->_dev);

	ret_val = ((RxdBuf[0] << 16) | (RxdBuf[1] << 8) | RxdBuf[2]) & 0x00FFFFFF;

	return ret_val;
}

/** MD5525DS写入指令 转换的指令需要外部调用*/
static void Baro_MS5525DS_WriteCmd(Baro_MS5525DS_t *baro, unsigned char cmd) {
	uint8_t TxdBuf[2];

	TxdBuf[0] = cmd;

	SPI_DEV_select(baro->_dev);
	SPI_DEV_transfer(baro->_dev, TxdBuf, 1, NULL, 0, 2);
	SPI_DEV_unselect(baro->_dev);
}

/** cal temp */
static void Baro_MS5525DS_Cal_Temp(Baro_MS5525DS_t *baro) {
	baro->dT = baro->D2 - baro->T_ref;
	baro->temp = 2000 + ((baro->dT * (int64_t)baro->C[6]) >> baro->Q6);
	if (baro->temp > 13000 || baro->temp < -4000 )
	{
		baro->temp = baro->ext_temp;
		baro->dT = (((int64_t)baro->temp-2000) << baro->Q6) / (int64_t)baro->C[6];
	}
}

/** cal pressure */
static void Baro_MS5525DS_Cal_TruePress(Baro_MS5525DS_t *baro) {
	int64_t OFF;
	int64_t SENS;
	int64_t P;

	int64_t TCO;

	TCO = baro->dT*(int64_t)baro->C[4];
	OFF = baro->OFF_T1 + (TCO >> baro->Q4);

	//TCS
	TCO = baro->dT*(int64_t)baro->C[3];
	SENS = baro->SENS_T1 + (TCO >> baro->Q3);

	P = ((((baro->D1 * SENS) >>21) - OFF) >> 15);
	baro->pressure = P * 6895 /10000;
}

/** Baro_MS5525DS初始化 */
int Baro_MS5525DS_init(Baro_MS5525DS_t *baro, const char *name, SPI_DEV_t *dev,
		MS5525DSO_t typ) {
	int rslt;
	baro->name = name;
	baro->_dev = dev;
	baro->_type = typ;
	switch (typ)
	{
	  case pp001DS:
		  baro->Q1 = 15;
		  baro->Q2 = 17;
		  baro->Q3 = 7;
		  baro->Q4 = 5;
		  baro->Q5 = 7;
		  baro->Q6 = 21;
		  break;
	  case pp015DS:
		  baro->Q1 = 17;
		  baro->Q2 = 19;
		  baro->Q3 = 5;
		  baro->Q4 = 3;
		  baro->Q5 = 7;
		  baro->Q6 = 22;
		  break;
	}
	baro->cnt = 0;
	baro->last_cnt = 0;
	baro->pps = 0;

	SPI_DEV_begin(baro->_dev, -1);

	Baro_MS5525DS_Reset(baro);  //复位MS5525DS芯片
	HAL_Delay(10);
	Baro_MS5525DS_ReadProm(baro);  //获取PROM数据

	SPI_DEV_end(baro->_dev);

	baro->ext_temp = 3000;

	if (crc4(baro->C) != (baro->C[7] & 0xFF)) {
		rslt = -1;
	} else {
		baro->T_ref = ((int32_t)baro->C[5] << baro->Q5);
		baro->OFF_T1 = ((int64_t)baro->C[2] << baro->Q2);
		baro->SENS_T1 = ((int64_t)baro->C[1] << baro->Q1);

		HAL_Delay(10);
		Baro_MS5525DS_WriteCmd(baro, D1_CMD);  //开启MS5525DS的D1转换
		HAL_Delay(10);
		baro->D1 = Baro_MS5525DS_ReadData(baro);
		Baro_MS5525DS_WriteCmd(baro, D2_CMD);
		HAL_Delay(10);
		baro->D2 = Baro_MS5525DS_ReadData(baro);
		Baro_MS5525DS_WriteCmd(baro, D1_CMD);
		baro->stage = 0;
		rslt = 0;
	}

	Baro_MS5525DS_Cal_Temp(baro);
	Baro_MS5525DS_Cal_TruePress(baro);

	return rslt;
}

bool Baro_MS5525S_update(Baro_MS5525DS_t *baro) {
	if (SPI_DEV_begin(baro->_dev, 0)) {
		if (baro->stage) {
			baro->D2 = Baro_MS5525DS_ReadData(baro);
			Baro_MS5525DS_WriteCmd(baro, D1_CMD);
			baro->stage = 0;
		} else {
			baro->D1 = Baro_MS5525DS_ReadData(baro);
			Baro_MS5525DS_WriteCmd(baro, D2_CMD);
			baro->stage = 1;
		}
		SPI_DEV_end(baro->_dev);
		baro->cnt++;

		Baro_MS5525DS_Cal_Temp(baro);
		Baro_MS5525DS_Cal_TruePress(baro);
		return true;
	}

	return false;
}


void Baro_MS5525S_stats(Baro_MS5525DS_t *Baro)
{
	Baro->pps = Baro->cnt - Baro->last_cnt;
	Baro->last_cnt = Baro->cnt;
}