refactor baro & mag

Author: qqqlab

src/madflight.h

@@ -1,4 +1,4 @@
-#define MADFLIGHT_VERSION "madflight v1.3.3"
+#define MADFLIGHT_VERSION "madflight v1.3.4-DEV"
 
 /*==========================================================================================
 madflight - Flight Controller for ESP32 / ESP32-S3 / RP2350 / RP2040 / STM32

src/madflight/baro/BaroSensorBMP280.h

@@ -0,0 +1,43 @@
+#pragma once
+
+#include "baro_interface.h"
+#include "../common/MF_I2C.h"
+#include "BMP280/BMP280.h"
+
+class BaroSensorBMP280: public BaroSensor {
+protected:
+  Adafruit_BMP280 baro_BMP280;
+public:
+  int setup(MF_I2C *i2c, int8_t i2c_adr, uint32_t sampleRate) override {
+    (void) sampleRate; //TODO use sampleRate
+    unsigned status;
+    status = baro_BMP280.begin(i2c, i2c_adr, BMP280_CHIPID);
+    Serial.printf("BARO: BARO_USE_BMP280 BARO_I2C_ADR=0x%02X SensorID=0x%02X\n", i2c_adr, baro_BMP280.sensorID());
+
+    if (!status) {
+      Serial.println(F("Could not find a valid BMP280 sensor, check wiring or try a different address!"));
+      Serial.print("SensorID was: 0x");
+      Serial.println(baro_BMP280.sensorID(),16);
+      Serial.print("        ID of 0xFF probably means a bad address, a BMP 180 or BMP 085\n");
+      Serial.print("   ID of 0x56-0x58 represents a BMP 280,\n");
+      Serial.print("        ID of 0x60 represents a BME 280.\n");
+      Serial.print("        ID of 0x61 represents a BME 680.\n");
+    }
+
+    baro_BMP280.setSampling(Adafruit_BMP280::MODE_NORMAL,     /* Operating Mode. */
+                    Adafruit_BMP280::SAMPLING_X1,     /* Temp. oversampling */
+                    Adafruit_BMP280::SAMPLING_X1,    /* Pressure oversampling */
+                    Adafruit_BMP280::FILTER_OFF,      /* Filtering. */
+                    Adafruit_BMP280::STANDBY_MS_1); /* Standby time. */
+    return status;
+  }
+
+  bool update(float *press, float *temp) override {
+    //driver does not return whether data is fresh, return true if pressure changed
+    float press_new = baro_BMP280.readPressure();
+    bool rv = (press_new != *press);
+    *press = press_new;
+    *temp = baro_BMP280.readTemperature();
+    return rv;
+  }
+};

src/madflight/baro/BaroSensorBMP390.h

@@ -0,0 +1,48 @@
+#pragma once
+
+#include "baro_interface.h"
+#include "../common/MF_I2C.h"
+#include "bmp3/bmp3.h"
+
+class BaroSensorBMP390: public BaroSensor {
+protected:
+  bfs::Bmp3 bmp;
+public:
+  int setup(MF_I2C *i2c, int8_t i2c_adr, uint32_t sampleRate) override {
+    Serial.printf("BARO: BARO_USE_BMP390/BARO_USE_BMP388 BARO_I2C_ADR=0x%02X\n", i2c_adr);
+    bmp.Config(i2c, (bfs::Bmp3::I2cAddr)i2c_adr);
+    if (!bmp.Begin()) {
+      Serial.println("BARO: BARO_USE_BMP390/BARO_USE_BMP388 sensor not found");
+      return 1;
+    }
+
+    bmp.ConfigFilterCoef(bfs::Bmp3::FILTER_COEF_OFF);
+
+    //set equal or next higher sample rate
+    if(sampleRate > 100) {
+      //f = 200;
+      bmp.ConfigOsMode(bfs::Bmp3::OS_MODE_PRES_1X_TEMP_1X);
+    }else if(sampleRate > 50) {
+      //f = 100;
+      bmp.ConfigOsMode(bfs::Bmp3::OS_MODE_PRES_2X_TEMP_1X);
+    }else if(sampleRate > 25) {
+      //f = 50;
+      bmp.ConfigOsMode(bfs::Bmp3::OS_MODE_PRES_8X_TEMP_1X);
+    }else if(sampleRate > 12) {
+      //f = 25;
+      bmp.ConfigOsMode(bfs::Bmp3::OS_MODE_PRES_16X_TEMP_2X);
+    }else {
+      //f = 12.5;
+      bmp.ConfigOsMode(bfs::Bmp3::OS_MODE_PRES_32X_TEMP_2X); //12.5Hz
+    }
+
+    return 0;
+  }
+
+  bool update (float *press, float *temp) override {
+    if (!bmp.Read()) return false;
+    *press = bmp.pres_pa();
+    *temp = bmp.die_temp_c();
+    return true;
+  }
+};

src/madflight/baro/BaroSensorMS5611.h

@@ -0,0 +1,35 @@
+#pragma once
+
+#include "baro_interface.h"
+#include "../common/MF_I2C.h"
+#include "MS5611/MS5611.h"
+
+class BaroSensorMS5611: public BaroSensor {
+protected: 
+  MS5611 ms5611;
+public:
+  //float press_pa = 0;
+  //float temp_c = 0;
+
+  int setup(MF_I2C *i2c, int8_t i2c_adr, uint32_t sampleRate) override {
+    (void) sampleRate;
+    (void) i2c_adr; //sensor has fixed address 0x77
+    // Initialize MS5611 sensor
+    // Ultra high resolution: MS5611_ULTRA_HIGH_RES
+    // (default) High resolution: MS5611_HIGH_RES
+    // Standard: MS5611_STANDARD
+    // Low power: MS5611_LOW_POWER
+    // Ultra low power: MS5611_ULTRA_LOW_POWER
+    while(!ms5611.begin(i2c, MS5611_ULTRA_HIGH_RES))
+    {
+      Serial.println("BARO: BARO_USE_MS5611 failed, retry...\n");
+      delay(500);
+    }
+    Serial.printf("BARO: BARO_USE_MS5611 BARO_I2C_ADR=0x%02X  refresh_rate=%dHz\n", BARO_I2C_ADR, (int)1000000/ms5611.getDelayUs());
+    return 0;
+  }
+
+  bool update(float *press, float *temp) override {
+      return (ms5611.getMeasurements(press, temp) == 1); //ms5611.getMeasurements returns: 0=no update, 1=pressure updated, 2=temp updated
+  }
+};

src/madflight/baro/BaroSensorNone.h

@@ -0,0 +1,21 @@
+#pragma once
+
+#include "baro_interface.h"
+
+class BaroSensorNone: public BaroSensor {
+public:
+  int setup(MF_I2C *i2c, int8_t i2c_adr, uint32_t sampleRate) override {
+    (void) i2c;
+    (void) i2c_adr;
+    (void) sampleRate;
+    Serial.println("BARO: BARO_USE_NONE");
+    return 0;
+  }
+
+  //returns true if pressure was updated
+  bool update(float *press, float *temp) override {
+    (void) press;
+    (void) temp;
+    return false;
+  }
+};