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-rw-r--r--src/altimeter.cpp165
1 files changed, 130 insertions, 35 deletions
diff --git a/src/altimeter.cpp b/src/altimeter.cpp
index a5c8849..9c47ceb 100644
--- a/src/altimeter.cpp
+++ b/src/altimeter.cpp
@@ -1,50 +1,145 @@
-#include <stdio.h>
-
+#include "altimeter.hpp"
#include "hardware/gpio.h"
-#include "boards/pico_w.h"
-#include "hardware/i2c.h"
-#include "pico/stdio.h"
-#include "pico/time.h"
-#define ALT_ADDR 0x60
-#define MAX_SCL 400000
-#define DATA_RATE_HZ 15
+altimeter::altimeter(i2c_inst_t* inst, uint8_t addr) {
+ this->inst = inst;
+ this->addr = addr;
+}
-float altitude = 0.0f;
-float get_altitude();
+void altimeter::initialize() {
+ // Select control register(0x26)
+ // Active mode, OSR = 16, altimeter mode(0xB8)
+ this->buffer[0] = 0x26;
+ this->buffer[1] = 0x89;
+ i2c_write_blocking(this->inst, this->addr, this->buffer, 2, true);
+}
-int main() {
- stdio_init_all();
+void altimeter::initialize(float threshold_altitude, uint8_t interrupt_pin, gpio_irq_callback_t callback) {
+ this->initialize();
- i2c_init(i2c_default, MAX_SCL);
- gpio_set_function(PICO_DEFAULT_I2C_SDA_PIN, GPIO_FUNC_I2C);
- gpio_set_function(PICO_DEFAULT_I2C_SCL_PIN, GPIO_FUNC_I2C);
- gpio_pull_up(PICO_DEFAULT_I2C_SDA_PIN);
- gpio_pull_up(PICO_DEFAULT_I2C_SCL_PIN);
+ // Below configures the interrupt for the first transition from PAD to BOOST
+ // Initial Reading
- uint8_t config[2] = {0};
+ sleep_ms(1000);
- // Select control register(0x26)
- // Active mode, OSR = 16, altimeter mode(0xB8)
- config[0] = 0x26;
- config[1] = 0xB9;
- i2c_write_blocking(i2c_default, ALT_ADDR, config, 2, true);
- sleep_ms(1500);
-
- while (1) {
- sleep_ms(1000);
- altitude = get_altitude();
- printf("Altitude: %4.2f\n", altitude);
+ float altitude = 0.0f;
+
+ while (altitude == 0.0f) {
+ altitude = this->get_altitude_converted();
}
+
+ threshold_altitude += altitude; // 30 meters above ground
+
+ // Select control register 3 (0x28)
+ // Set bot interrupt pins to active low and enable internal pullups
+ this->buffer[0] = 0x28;
+ this->buffer[1] = 0x01;
+ i2c_write_blocking(this->inst, this->addr, this->buffer, 2, true);
+
+ // Select pressure target MSB register(0x16)
+ // Set altitude target to 30 meters above ground altitude
+ this->buffer[0] = 0x16;
+ this->buffer[1] = (uint8_t) (((int16_t)(threshold_altitude)) >> 8);
+ i2c_write_blocking(this->inst, this->addr, this->buffer, 2, true);
+
+ // Select pressure target LSB register(0x17)
+ // Set altitude target to 30 meters above ground altitude
+ this->buffer[0] = 0x17;
+ this->buffer[1] = (uint8_t) (((int16_t)(threshold_altitude)));
+ i2c_write_blocking(this->inst, this->addr, this->buffer, 2, true);
+
+ // Select interrupt enable register (0x29)
+ // Set interrupt enabled for altitude threshold(0x08)
+ this->buffer[0] = 0x29;
+ this->buffer[1] = 0x08;
+ i2c_write_blocking(this->inst, this->addr, this->buffer, 2, true);
+
+ // Select interrupt this->bufferuration register (0x2A)
+ // Set interrupt enabled for altitude threshold to route to INT1 pin(0x08)
+ this->buffer[0] = 0x2A;
+ this->buffer[1] = 0x08;
+ i2c_write_blocking(this->inst, this->addr, this->buffer, 2, true);
+
+ gpio_set_irq_enabled_with_callback(interrupt_pin, GPIO_IRQ_LEVEL_LOW, true, callback);
+ // End of configuration of interrupt for first transition from PAD to BOOST
}
-float get_altitude() {
+void altimeter::set_threshold_altitude(float threshold_altitude, uint8_t interrupt_pin, gpio_irq_callback_t callback) {
+ float altitude = 0.0f;
+
+ while (altitude == 0.0f) {
+ altitude = get_altitude_converted();
+ }
+
+ threshold_altitude += altitude;
+
+ // Select control register 3 (0x28)
+ // Set bot interrupt pins to active low and enable internal pullups
+ this->buffer[0] = 0x28;
+ this->buffer[1] = 0x01;
+ i2c_write_blocking(this->inst, this->addr, this->buffer, 2, true);
+
+ // Select pressure target MSB register(0x16)
+ // Set altitude target to 30 meters above ground altitude
+ this->buffer[0] = 0x16;
+ this->buffer[1] = (uint8_t) (((int16_t)(threshold_altitude)) >> 8);
+ i2c_write_blocking(this->inst, this->addr, this->buffer, 2, true);
+
+ // Select pressure target LSB register(0x17)
+ // Set altitude target to provided threshold altitude
+ this->buffer[0] = 0x17;
+ this->buffer[1] = (uint8_t) (((int16_t)(threshold_altitude)));
+ i2c_write_blocking(this->inst, this->addr, this->buffer, 2, true);
+
+ // Select interrupt enable register (0x29)
+ // Set interrupt enabled for altitude threshold(0x08)
+ this->buffer[0] = 0x29;
+ this->buffer[1] = 0x08;
+ i2c_write_blocking(this->inst, this->addr, this->buffer, 2, true);
+
+ // Select interrupt this->bufferuration register (0x2A)
+ // Set interrupt enabled for altitude threshold to route to INT1 pin(0x08)
+ this->buffer[0] = 0x2A;
+ this->buffer[1] = 0x08;
+ i2c_write_blocking(this->inst, this->addr, this->buffer, 2, true);
+
+ gpio_set_irq_enabled_with_callback(interrupt_pin, GPIO_IRQ_LEVEL_LOW, true, callback);
+ // End of configuration of interrupt for first transition from PAD to BOOST
+}
+
+void altimeter::unset_threshold_altitude(uint8_t interrupt_pin) {
+ gpio_set_irq_enabled_with_callback(interrupt_pin, GPIO_IRQ_LEVEL_LOW, false, NULL);
+
+ // Select interrupt enable register (0x29)
+ // Set interrupt enabled for altitude threshold(0x08)
+ this->buffer[0] = 0x29;
+ this->buffer[1] = 0x00;
+ i2c_write_blocking(this->inst, this->addr, this->buffer, 2, true);
+
+ // Select interrupt configuration register (0x2A)
+ // Set interrupt enabled for altitude threshold to route to INT1 pin(0x08)
+ this->buffer[0] = 0x2A;
+ this->buffer[1] = 0x00;
+ i2c_write_blocking(this->inst, this->addr, this->buffer, 2, true);
+}
+
+float altimeter::get_altitude_converted() {
uint8_t reg = 0x01;
- uint8_t data[5];
- i2c_write_blocking(i2c_default, ALT_ADDR, &reg, 1, true);
- i2c_read_blocking(i2c_default, ALT_ADDR, data, 5, false);
+ i2c_write_blocking(this->inst, this->addr, &reg, 1, true);
+ i2c_read_blocking(this->inst, this->addr, this->altitude_buffer, 4, false);
// Exactly how MPL3115A2 datasheet says to retrieve altitude
- float altitude = (float) ((int16_t) ((data[0] << 8) | data[1])) + (float) (data[2] >> 4) * 0.0625;
+ float altitude = (float) ((int16_t) ((this->altitude_buffer[0] << 8) | this->altitude_buffer[1])) + (float) (this->altitude_buffer[2] >> 4) * 0.0625;
return altitude;
}
+void altimeter::get_altitude_raw(uint8_t* buffer) {
+ uint8_t reg = 0x01;
+ i2c_write_blocking(this->inst, this->addr, &reg, 1, true);
+ i2c_read_blocking(this->inst, this->addr, buffer, 3, false);
+}
+
+uint32_t altimeter::expose_buffer(uint8_t** buffer) {
+ *buffer = this->altitude_buffer;
+ return sizeof(this->altitude_buffer);
+}
+
generated by cgit v1.2.3 (git 2.39.1) at 2025-12-12 18:06:54 +0000