机控制技术_低成本开发套件_madflight_开源项目_1741143114.zip

/** * Copyright (c) 2022 Bosch Sensortec GmbH. All rights reserved. * * BSD-3-Clause * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions are met: * * 1. Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * * 2. Redistributions in binary form must reproduce the above copyright * notice, this list of conditions and the following disclaimer in the * documentation and/or other materials provided with the distribution. * * 3. Neither the name of the copyright holder nor the names of its * contributors may be used to endorse or promote products derived from * this software without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING * IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. * * @file bmp3.c * @date 2022-04-01 * @version v2.0.6 * */ /*! @file bmp3.c * @brief Sensor driver for BMP3 sensor */ #include "bmp3.h" /***************** Static function declarations ******************************/ /*! * @brief This internal API reads the calibration data from the sensor, parse * it then compensates it and store in the device structure. * * @param[in] dev : Structure instance of bmp3_dev. * * @return Result of API execution status * @retval 0 -> Success * @retval >0 -> Warning * @retval <0 -> Fail */ static int8_t get_calib_data(struct bmp3_dev *dev); /*! * @brief This internal API is used to parse the calibration data, compensates * it and store it in device structure. * * @param[in] dev : Structure instance of bmp3_dev. * @param[out] reg_data : Contains calibration data to be parsed. * */ static void parse_calib_data(const uint8_t *reg_data, struct bmp3_dev *dev); /*! * @brief This internal API gets the over sampling, ODR and filter settings * from the sensor. * * @param[in] settings : Structure instance of bmp3_settings. * @param[in] dev : Structure instance of bmp3_dev. * * @return Result of API execution status * @retval 0 -> Success * @retval >0 -> Warning * @retval <0 -> Fail */ static int8_t get_odr_filter_settings(struct bmp3_settings *settings, struct bmp3_dev *dev); /*! * @brief This internal API is used to parse the pressure and temperature data * and store it in the bmp3_uncomp_data structure instance. * * @param[in] reg_data : Contains the register data which needs to be parsed. * @param[out] uncomp_data : Contains the uncompensated press and temp data. * */ static void parse_sensor_data(const uint8_t *reg_data, struct bmp3_uncomp_data *uncomp_data); /*! * @brief This internal API is used to compensate the pressure or temperature * or both the data according to the component selected by the user. * * @param[in] sensor_comp : Used to select pressure or temperature. * @param[in] uncomp_data : Contains the uncompensated pressure and * temperature data. * @param[out] comp_data : Contains the compensated pressure and * temperature data. * @param[in] calib_data : Pointer to the calibration data structure. * * @return Result of API execution status * @retval 0 -> Success * @retval >0 -> Warning * @retval <0 -> Fail */ static int8_t compensate_data(uint8_t sensor_comp, const struct bmp3_uncomp_data *uncomp_data, struct bmp3_data *comp_data, struct bmp3_calib_data *calib_data); #ifdef BMP3_FLOAT_COMPENSATION /*! * @brief This internal API is used to compensate the raw temperature data and * return the compensated temperature data. * * @param[out] temperature : Compensated temperature data in double. * @param[in] uncomp_data : Contains the uncompensated temperature data. * @param[in] calib_data : Pointer to calibration data structure. * * @return Result of API execution status * @retval 0 -> Success * @retval >0 -> Warning * @retval <0 -> Fail * */ static int8_t compensate_temperature(double *temperature, const struct bmp3_uncomp_data *uncomp_data, struct bmp3_calib_data *calib_data); /*! * @brief This internal API is used to compensate the pressure data and return * the compensated pressure data. * * @param[out] comp_pressure : Compensated pressure data in double. * @param[in] uncomp_data : Contains the uncompensated pressure data. * @param[in] calib_data : Pointer to the calibration data structure. * * @return Result of API execution status * @retval 0 -> Success * @retval >0 -> Warning * @retval <0 -> Fail */ static int8_t compensate_pressure(double *pressure, const struct bmp3_uncomp_data *uncomp_data, const struct bmp3_calib_data *calib_data); /*! * @brief This internal API is used to calculate the power functionality for * double precision floating point values. * * @param[in] base : Contains the base value. * @param[in] power : Contains the power value. * * @return Output of power function. * @retval Calculated power function output in float. */ static float pow_bmp3(double base, uint8_t power); #else /*! * @brief This internal API is used to compensate the raw temperature data and * return the compensated temperature data in integer data type. * * @param[out] temperature : Compensated temperature data in integer. * @param[in] uncomp_data : Contains the uncompensated temperature data. * @param[in] calib_data : Pointer to calibration data structure. * * @return Result of API execution status * @retval 0 -> Success * @retval >0 -> Warning * @retval <0 -> Fail */ static int8_t compensate_temperature(int64_t *temperature, const struct bmp3_uncomp_data *uncomp_data, struct bmp3_calib_data *calib_data); /*! * @brief This internal API is used to compensate the pressure data and return * the compensated pressure data in integer data type. * * @param[out] comp_pressure : Compensated pressure data in integer. * @param[in] uncomp_data : Contains the uncompensated pressure data. * @param[in] calib_data : Pointer to the calibration data structure. * * @return Result of API execution status * @retval 0 -> Success * @retval >0 -> Warning * @retval <0 -> Fail */ static int8_t compensate_pressure(uint64_t *pressure, const struct bmp3_uncomp_data *uncomp_data, const struct bmp3_calib_data *calib_data); /*! * @brief This internal API is used to calculate the power functionality. * * @param[in] base : Contains the base value. * @param[in] power : Contains the power value. * * @return Output of power function. * @retval Calculated power function output in integer. */ static uint32_t pow_bmp3(uint8_t base, uint8_t power); #endif /* BMP3_FLOAT_COMPENSATION */ /*! * @brief This internal API is used to identify the settings which the user * wants to modify in the sensor. * * @param[in] sub_settings : Contains the settings subset to identify particular * group of settings which the user is interested to change. * @param[in] settings : Co