原理实现
采用BMP280模块,实时获取飞行器所在位置的气压值,判断和设定的停留高度的差别,实现高度纠正。
BMP280代码
采用的硬件IIC,所以移植极为简单,直接把文件添加进工程,并且使能IIC即可。
#include "BMP280.h"
BMP280 _bmp280;
BMP280* bmp280=&_bmp280;
uint8_t BMP280_ReadID(void)
{
uint8_t data;
HAL_I2C_Mem_Read(&hi2c2,BMP280_ADDRESS,BMP280_CHIPID_REG,I2C_MEMADD_SIZE_8BIT,&data,1,0xffff);
return data;
}
uint8_t BMP280_Read_Byte(uint8_t reg)
{
uint8_t data;
HAL_I2C_Mem_Read(&hi2c2,BMP280_ADDRESS,reg,I2C_MEMADD_SIZE_8BIT,&data,1,0xffff);
return data;
}
void BMP280_Write_Byte(uint8_t reg,uint8_t value)
{
HAL_I2C_Mem_Write(&hi2c2,BMP280_ADDRESS,reg,I2C_MEMADD_SIZE_8BIT,&value,1,0xffff);
}
void Bmp_Init(void)
{
uint8_t Lsb,Msb;
/********************接下来读出矫正参数*********************/
//温度传感器的矫正值
Lsb = BMP280_Read_Byte(BMP280_DIG_T1_LSB_REG);
Msb = BMP280_Read_Byte(BMP280_DIG_T1_MSB_REG);
bmp280->T1 = (((uint16_t)Msb)<<8) + Lsb; //高位加低位
Lsb = BMP280_Read_Byte(BMP280_DIG_T2_LSB_REG);
Msb = BMP280_Read_Byte(BMP280_DIG_T2_MSB_REG);
bmp280->T2 = (((uint16_t)Msb)<<8) + Lsb;
Lsb = BMP280_Read_Byte(BMP280_DIG_T3_LSB_REG);
Msb = BMP280_Read_Byte(BMP280_DIG_T3_MSB_REG);
bmp280->T3 = (((uint16_t)Msb)<<8) + Lsb;
//大气压传感器的矫正值
Lsb = BMP280_Read_Byte(BMP280_DIG_P1_LSB_REG);
Msb = BMP280_Read_Byte(BMP280_DIG_P1_MSB_REG);
bmp280->P1 = (((uint16_t)Msb)<<8) + Lsb;
Lsb = BMP280_Read_Byte(BMP280_DIG_P2_LSB_REG);
Msb = BMP280_Read_Byte(BMP280_DIG_P2_MSB_REG);
bmp280->P2 = (((uint16_t)Msb)<<8) + Lsb;
Lsb = BMP280_Read_Byte(BMP280_DIG_P3_LSB_REG);
Msb = BMP280_Read_Byte(BMP280_DIG_P3_MSB_REG);
bmp280->P3 = (((uint16_t)Msb)<<8) + Lsb;
Lsb = BMP280_Read_Byte(BMP280_DIG_P4_LSB_REG);
Msb = BMP280_Read_Byte(BMP280_DIG_P4_MSB_REG);
bmp280->P4 = (((uint16_t)Msb)<<8) + Lsb;
Lsb = BMP280_Read_Byte(BMP280_DIG_P5_LSB_REG);
Msb = BMP280_Read_Byte(BMP280_DIG_P5_MSB_REG);
bmp280->P5 = (((uint16_t)Msb)<<8) + Lsb;
Lsb = BMP280_Read_Byte(BMP280_DIG_P6_LSB_REG);
Msb = BMP280_Read_Byte(BMP280_DIG_P6_MSB_REG);
bmp280->P6 = (((uint16_t)Msb)<<8) + Lsb;
Lsb = BMP280_Read_Byte(BMP280_DIG_P7_LSB_REG);
Msb = BMP280_Read_Byte(BMP280_DIG_P7_MSB_REG);
bmp280->P7 = (((uint16_t)Msb)<<8) + Lsb;
Lsb = BMP280_Read_Byte(BMP280_DIG_P8_LSB_REG);
Msb = BMP280_Read_Byte(BMP280_DIG_P8_MSB_REG);
bmp280->P8 = (((uint16_t)Msb)<<8) + Lsb;
Lsb = BMP280_Read_Byte(BMP280_DIG_P9_LSB_REG);
Msb = BMP280_Read_Byte(BMP280_DIG_P9_MSB_REG);
bmp280->P9 = (((uint16_t)Msb)<<8) + Lsb;
/******************************************************/
BMP280_Write_Byte(BMP280_RESET_REG,BMP280_RESET_VALUE); //往复位寄存器写入给定值
BMP_OVERSAMPLE_MODE BMP_OVERSAMPLE_MODEStructure;
BMP_OVERSAMPLE_MODEStructure.P_Osample = BMP280_P_MODE_4;
BMP_OVERSAMPLE_MODEStructure.T_Osample = BMP280_T_MODE_4;
BMP_OVERSAMPLE_MODEStructure.WORKMODE = BMP280_NORMAL_MODE;
BMP280_Set_TemOversamp(&BMP_OVERSAMPLE_MODEStructure);
BMP_CONFIG BMP_CONFIGStructure;
BMP_CONFIGStructure.T_SB = BMP280_T_SB1;
BMP_CONFIGStructure.FILTER_COEFFICIENT = BMP280_FILTER_MODE_4;
BMP_CONFIGStructure.SPI_EN = DISABLE;
BMP280_Set_Standby_FILTER(&BMP_CONFIGStructure);
}
//设置BMP过采样因子 MODE
//BMP280_SLEEP_MODE||BMP280_FORCED_MODE||BMP280_NORMAL_MODE
void BMP280_Set_TemOversamp(BMP_OVERSAMPLE_MODE * Oversample_Mode)
{
uint8_t Regtmp;
Regtmp = ((Oversample_Mode->T_Osample)<<5)|
((Oversample_Mode->P_Osample)<<2)|
((Oversample_Mode)->WORKMODE);
BMP280_Write_Byte(BMP280_CTRLMEAS_REG,Regtmp);
}
//设置保持时间和滤波器分频因子
void BMP280_Set_Standby_FILTER(BMP_CONFIG * BMP_Config)
{
uint8_t Regtmp;
Regtmp = ((BMP_Config->T_SB)<<5)|
((BMP_Config->FILTER_COEFFICIENT)<<2)|
((BMP_Config->SPI_EN));
BMP280_Write_Byte(BMP280_CONFIG_REG,Regtmp);
}
//获取BMP当前状态
//status_flag = BMP280_MEASURING ||
// BMP280_IM_UPDATE
uint8_t BMP280_GetStatus(uint8_t status_flag)
{
uint8_t flag;
flag = BMP280_Read_Byte(BMP280_STATUS_REG);
if(flag&status_flag) return SET;
else return RESET;
}
//大气压值-Pa
uint32_t BMP280_Get_Pressure(void)
{
uint8_t temp[3];
long signed Bit32;
//double pressure;
HAL_I2C_Mem_Read(&hi2c2,BMP280_ADDRESS,BMP280_PRESSURE_MSB_REG,I2C_MEMADD_SIZE_8BIT,temp,3,0xffff);
Bit32 = ((long)(temp[0] << 12))|((long)(temp[1] << 4))|(temp[2]>>4); //寄存器的值组合起来
return Bit32 ;
}
/*******************主要部分*********************/
/****************获取传感器精确值****************/
//大气压值-Pa
double BMP280_Get_Pressure_f(void)
{
return bmp280_compensate_P_int64(BMP280_Get_Pressure())/256.0;
}
//温度值-℃
double BMP280_Get_Temperature(void)
{
uint8_t temp[3];
long signed Bit32;
double temperature;
HAL_I2C_Mem_Read(&hi2c2,BMP280_ADDRESS,BMP280_TEMPERATURE_MSB_REG,I2C_MEMADD_SIZE_8BIT,temp,3,0xffff);
Bit32 = ((long)(temp[0] << 12))|((long)(temp[1] << 4))|(temp[2]>>4); //寄存器的值组合起来
temperature = bmp280_compensate_T_int32(Bit32);
return temperature;
}
/**************************传感器值转定点值*************************************/
BMP280_S32_t t_fine; //用于计算补偿
// Returns temperature in DegC, resolution is 0.01 DegC. Output value of “5123” equals 51.23 DegC.
// t_fine carries fine temperature as global value
BMP280_S32_t bmp280_compensate_T_int32(BMP280_S32_t adc_T)
{
BMP280_S32_t var1, var2, T;
var1 = ((((adc_T>>3) - ((BMP280_S32_t)dig_T1<<1))) * ((BMP280_S32_t)dig_T2)) >> 11;
var2 = (((((adc_T>>4) - ((BMP280_S32_t)dig_T1)) * ((adc_T>>4) - ((BMP280_S32_t)dig_T1))) >> 12) *
((BMP280_S32_t)dig_T3)) >> 14;
t_fine = var1 + var2;
T = (t_fine * 5 + 128) >> 8;
return T;
}
// Returns pressure in Pa as unsigned 32 bit integer in Q24.8 format (24 integer bits and 8 fractional bits).
// Output value of “24674867” represents 24674867/256 = 96386.2 Pa = 963.862 hPa
BMP280_U32_t bmp280_compensate_P_int64(BMP280_S32_t adc_P)
{
BMP280_S64_t var1, var2, p;
var1 = ((BMP280_S64_t)t_fine) - 128000;
var2 = var1 * var1 * (BMP280_S64_t)dig_P6;
var2 = var2 + ((var1*(BMP280_S64_t)dig_P5)<<17);
var2 = var2 + (((BMP280_S64_t)dig_P4)<<35);
var1 = ((var1 * var1 * (BMP280_S64_t)dig_P3)>>8) + ((var1 * (BMP280_S64_t)dig_P2)<<12);
var1 = (((((BMP280_S64_t)1)<<47)+var1))*((BMP280_S64_t)dig_P1)>>33;
if (var1 == 0)
{
return 0; // avoid exception caused by division by zero
}
p = 1048576-adc_P;
p = (((p<<31)-var2)*3125)/var1;
var1 = (((BMP280_S64_t)dig_P9) * (p>>13) * (p>>13)) >> 25;
var2 = (((BMP280_S64_t)dig_P8) * p) >> 19;
p = ((p + var1 + var2) >> 8) + (((BMP280_S64_t)dig_P7)<<4);
return (BMP280_U32_t)p;
}
#ifndef __BMP280_H__
#define __BMP280_H__
#include "main.h"
#include "i2c.h"
#define BMP280_ADDRESS 0xEC //´ÓÉ豸µØÖ·76
#define BMP280_RESET_VALUE 0xB6 //¸´Î»¼Ä´æÆ÷дÈëÖµ
#define BMP280_CHIPID_REG 0xD0 /*Chip ID Register */
#define BMP280_RESET_REG 0xE0 /*Softreset Register */
#define BMP280_STATUS_REG 0xF3 /*Status Register */
#define BMP280_CTRLMEAS_REG 0xF4 /*Ctrl Measure Register */
#define BMP280_CONFIG_REG 0xF5 /*Configuration Register */
#define BMP280_PRESSURE_MSB_REG 0xF7 /*Pressure MSB Register */
#define BMP280_PRESSURE_LSB_REG 0xF8 /*Pressure LSB Register */
#define BMP280_PRESSURE_XLSB_REG 0xF9 /*Pressure XLSB Register */
#define BMP280_TEMPERATURE_MSB_REG 0xFA /*Temperature MSB Reg */
#define BMP280_TEMPERATURE_LSB_REG 0xFB /*Temperature LSB Reg */
#define BMP280_TEMPERATURE_XLSB_REG 0xFC /*Temperature XLSB Reg */
//״̬¼Ä´æÆ÷ת»»±êÖ¾
#define BMP280_MEASURING 0x01
#define BMP280_IM_UPDATE 0x08
//BMP¹¤×÷ģʽ
typedef enum {
BMP280_SLEEP_MODE = 0x0,
BMP280_FORCED_MODE = 0x1, //¿ÉÒÔ˵0x2
BMP280_NORMAL_MODE = 0x3
} BMP280_WORK_MODE;
//BMPѹÁ¦¹ý²ÉÑùÒò×Ó
typedef enum
{
BMP280_P_MODE_SKIP = 0x0, /*skipped*/
BMP280_P_MODE_1, /*x1*/
BMP280_P_MODE_2, /*x2*/
BMP280_P_MODE_3, /*x4*/
BMP280_P_MODE_4, /*x8*/
BMP280_P_MODE_5 /*x16*/
} BMP280_P_OVERSAMPLING;
//BMPζȹý²ÉÑùÒò×Ó
typedef enum {
BMP280_T_MODE_SKIP = 0x0, /*skipped*/
BMP280_T_MODE_1, /*x1*/
BMP280_T_MODE_2, /*x2*/
BMP280_T_MODE_3, /*x4*/
BMP280_T_MODE_4, /*x8*/
BMP280_T_MODE_5 /*x16*/
} BMP280_T_OVERSAMPLING;
//IIRÂ˲¨Æ÷ʱ¼ä³£Êý
typedef enum {
BMP280_FILTER_OFF = 0x0, /*filter off*/
BMP280_FILTER_MODE_1, /*0.223*ODR*/ /*x2*/
BMP280_FILTER_MODE_2, /*0.092*ODR*/ /*x4*/
BMP280_FILTER_MODE_3, /*0.042*ODR*/ /*x8*/
BMP280_FILTER_MODE_4 /*0.021*ODR*/ /*x16*/
} BMP280_FILTER_COEFFICIENT;
//±£³Öʱ¼ä
typedef enum {
BMP280_T_SB1 = 0x0, /*0.5ms*/
BMP280_T_SB2, /*62.5ms*/
BMP280_T_SB3, /*125ms*/
BMP280_T_SB4, /*250ms*/
BMP280_T_SB5, /*500ms*/
BMP280_T_SB6, /*1000ms*/
BMP280_T_SB7, /*2000ms*/
BMP280_T_SB8, /*4000ms*/
} BMP280_T_SB;
typedef struct
{
/* T1~P9 Ϊ²¹³¥ÏµÊý */
uint16_t T1;
int16_t T2;
int16_t T3;
uint16_t P1;
int16_t P2;
int16_t P3;
int16_t P4;
int16_t P5;
int16_t P6;
int16_t P7;
int16_t P8;
int16_t P9;
} BMP280;
typedef struct
{
BMP280_P_OVERSAMPLING P_Osample;
BMP280_T_OVERSAMPLING T_Osample;
BMP280_WORK_MODE WORKMODE;
} BMP_OVERSAMPLE_MODE;
typedef struct
{
BMP280_T_SB T_SB;
BMP280_FILTER_COEFFICIENT FILTER_COEFFICIENT;
FunctionalState SPI_EN;
} BMP_CONFIG;
/*calibration parameters */
#define BMP280_DIG_T1_LSB_REG 0x88
#define BMP280_DIG_T1_MSB_REG 0x89
#define BMP280_DIG_T2_LSB_REG 0x8A
#define BMP280_DIG_T2_MSB_REG 0x8B
#define BMP280_DIG_T3_LSB_REG 0x8C
#define BMP280_DIG_T3_MSB_REG 0x8D
#define BMP280_DIG_P1_LSB_REG 0x8E
#define BMP280_DIG_P1_MSB_REG 0x8F
#define BMP280_DIG_P2_LSB_REG 0x90
#define BMP280_DIG_P2_MSB_REG 0x91
#define BMP280_DIG_P3_LSB_REG 0x92
#define BMP280_DIG_P3_MSB_REG 0x93
#define BMP280_DIG_P4_LSB_REG 0x94
#define BMP280_DIG_P4_MSB_REG 0x95
#define BMP280_DIG_P5_LSB_REG 0x96
#define BMP280_DIG_P5_MSB_REG 0x97
#define BMP280_DIG_P6_LSB_REG 0x98
#define BMP280_DIG_P6_MSB_REG 0x99
#define BMP280_DIG_P7_LSB_REG 0x9A
#define BMP280_DIG_P7_MSB_REG 0x9B
#define BMP280_DIG_P8_LSB_REG 0x9C
#define BMP280_DIG_P8_MSB_REG 0x9D
#define BMP280_DIG_P9_LSB_REG 0x9E
#define BMP280_DIG_P9_MSB_REG 0x9F
/*******************************ÏÂÃæÊÇÓÃÀ´¼ÆËã²¹³¥ÖµÏà¹Ø**********************************/
typedef int32_t BMP280_S32_t; //ÓзûºÅ 64λ£¡
typedef uint32_t BMP280_U32_t; //ÎÞ·ûºÅ 32λ£¡
typedef int64_t BMP280_S64_t;
#define dig_T1 bmp280->T1
#define dig_T2 bmp280->T2
#define dig_T3 bmp280->T3
#define dig_P1 bmp280->P1
#define dig_P2 bmp280->P2
#define dig_P3 bmp280->P3
#define dig_P4 bmp280->P4
#define dig_P5 bmp280->P5
#define dig_P6 bmp280->P6
#define dig_P7 bmp280->P7
#define dig_P8 bmp280->P8
#define dig_P9 bmp280->P9
uint8_t BMP280_ReadID(void);
uint8_t BMP280_Read_Byte(uint8_t reg);
void BMP280_Write_Byte(uint8_t reg,uint8_t value);
void Bmp_Init(void);
void BMP280_Set_TemOversamp(BMP_OVERSAMPLE_MODE * Oversample_Mode);
void BMP280_Set_Standby_FILTER(BMP_CONFIG * BMP_Config);
uint8_t BMP280_GetStatus(uint8_t status_flag);
uint32_t BMP280_Get_Pressure(void);
double BMP280_Get_Pressure_f(void);
double BMP280_Get_Temperature(void);
BMP280_S32_t bmp280_compensate_T_int32(BMP280_S32_t adc_T);
BMP280_U32_t bmp280_compensate_P_int64(BMP280_S32_t adc_P);
#endif
主函数代码
初始化:
Bmp_Init();
while(BMP280_GetStatus(BMP280_MEASURING) != RESET);
while(BMP280_GetStatus(BMP280_IM_UPDATE) != RESET);
获取气压值代码:
// 一定要先获取温度,要不然气压值不准!!!
BMP280_Get_Temperature();
BMP_Pressure = BMP280_Get_Pressure_f();
printf("Pressure %.2f Pa\r\n",BMP_Pressure);
HAL_Delay(100);