Feat/acoustics

.gitignore

@@ -38,7 +38,6 @@ compile_commands.json
 *.o
 *.out
 *.a
-*.s
 *.dylib
 *.so
 *.exe
@@ -63,3 +62,13 @@ Thumbs.db
 .idea/
 *.vscode/
 
+# eclipse specific git ignore
+.metadata/
+RemoteSystemsTempFiles/
+.settings/
+Debug/
+*.launch
+
+# STM32 git ignore
+*.mxproject
+*.su

Telemetry_before_eastertest (CAN_to_LED_Converter)/drivers/external_pressure/external_pressure.c

@@ -0,0 +1,372 @@
+#include "external_pressure.h"
+
+#include <string.h>
+#include <math.h>
+
+/* Include your Harmony / peripheral header here */
+#include "definitions.h"   /* or the correct header for SERCOM3_I2C_xxx */
+
+/* ---------- Configuration ---------- */
+
+#define MS5837_ADDR              0x76U
+#define MS5837_RESET             0x1EU
+#define MS5837_ADC_READ          0x00U
+#define MS5837_PROM_READ         0xA0U
+#define MS5837_CONVERT_D1_8192   0x4AU
+#define MS5837_CONVERT_D2_8192   0x5AU
+
+/* context: https://github.com/ArduPilot/ardupilot/pull/29122#issuecomment-2877269114 */
+#define MS5837_02BA_MAX_SENSITIVITY   49000U
+#define MS5837_02BA_30BA_SEPARATION   37000U
+#define MS5837_30BA_MIN_SENSITIVITY   26000U
+
+/* Replace this with your system delay function */
+static void ms5837_delay_ms(uint32_t ms)
+{
+    /* Example options:
+       - SYS_TIME_DelayMS(ms, &handle);
+       - vTaskDelay(pdMS_TO_TICKS(ms));
+       - core timer loop
+    */
+
+    /* Placeholder busy loop - replace for real hardware */
+    volatile uint32_t count;
+    while (ms--)
+    {
+        for (count = 0; count < 10000U; count++)
+        {
+            __asm__ volatile ("nop");
+        }
+    }
+}
+
+/* ---------- Internal helpers ---------- */
+
+static bool ms5837_write_command(uint8_t cmd)
+{
+    return SERCOM3_I2C_Write(MS5837_ADDR, &cmd, 1U);
+}
+
+static bool ms5837_read_adc24(uint32_t *value)
+{
+    uint8_t cmd = MS5837_ADC_READ;
+    uint8_t buf[3];
+
+    if (!SERCOM3_I2C_WriteRead(MS5837_ADDR, &cmd, 1U, buf, 3U))
+    {
+        return false;
+    }
+
+    *value = ((uint32_t)buf[0] << 16)
+           | ((uint32_t)buf[1] << 8)
+           | ((uint32_t)buf[2]);
+
+    return true;
+}
+
+static bool ms5837_read_prom_word(uint8_t index, uint16_t *word)
+{
+    uint8_t cmd = (uint8_t)(MS5837_PROM_READ + (index * 2U));
+    uint8_t buf[2];
+
+    if (!SERCOM3_I2C_WriteRead(MS5837_ADDR, &cmd, 1U, buf, 2U))
+    {
+        return false;
+    }
+
+    *word = ((uint16_t)buf[0] << 8) | (uint16_t)buf[1];
+    return true;
+}
+
+static uint8_t ms5837_crc4(uint16_t n_prom[])
+{
+    uint16_t n_rem = 0;
+    uint8_t i;
+    uint8_t n_bit;
+
+    n_prom[0] = (uint16_t)(n_prom[0] & 0x0FFFU);
+    n_prom[7] = 0U;
+
+    for (i = 0; i < 16U; i++)
+    {
+        if ((i % 2U) == 1U)
+        {
+            n_rem ^= (uint16_t)(n_prom[i >> 1] & 0x00FFU);
+        }
+        else
+        {
+            n_rem ^= (uint16_t)(n_prom[i >> 1] >> 8);
+        }
+
+        for (n_bit = 8U; n_bit > 0U; n_bit--)
+        {
+            if (n_rem & 0x8000U)
+            {
+                n_rem = (uint16_t)((n_rem << 1) ^ 0x3000U);
+            }
+            else
+            {
+                n_rem = (uint16_t)(n_rem << 1);
+            }
+        }
+    }
+
+    n_rem = (uint16_t)((n_rem >> 12) & 0x000FU);
+    return (uint8_t)(n_rem ^ 0x00U);
+}
+
+static void ms5837_calculate(MS5837_t *dev)
+{
+    int32_t dT = 0;
+    int64_t SENS = 0;
+    int64_t OFF = 0;
+    int32_t SENSi = 0;
+    int32_t OFFi = 0;
+    int32_t Ti = 0;
+    int64_t OFF2 = 0;
+    int64_t SENS2 = 0;
+
+    dT = (int32_t)(dev->D2_temp - ((uint32_t)dev->C[5] * 256UL));
+
+    if (dev->model == MS5837_02BA)
+    {
+        SENS = ((int64_t)dev->C[1] * 65536LL) + (((int64_t)dev->C[3] * dT) / 128LL);
+        OFF  = ((int64_t)dev->C[2] * 131072LL) + (((int64_t)dev->C[4] * dT) / 64LL);
+        dev->P = (int32_t)((((int64_t)dev->D1_pres * SENS) / 2097152LL - OFF) / 32768LL);
+    }
+    else
+    {
+        SENS = ((int64_t)dev->C[1] * 32768LL) + (((int64_t)dev->C[3] * dT) / 256LL);
+        OFF  = ((int64_t)dev->C[2] * 65536LL) + (((int64_t)dev->C[4] * dT) / 128LL);
+        dev->P = (int32_t)((((int64_t)dev->D1_pres * SENS) / 2097152LL - OFF) / 8192LL);
+    }
+
+    dev->TEMP = (int32_t)(2000LL + ((int64_t)dT * dev->C[6]) / 8388608LL);
+
+    if (dev->model == MS5837_02BA)
+    {
+        if ((dev->TEMP / 100) < 20)
+        {
+            Ti    = (int32_t)((11LL * (int64_t)dT * (int64_t)dT) / 34359738368LL);
+            OFFi  = (int32_t)((31LL * (dev->TEMP - 2000) * (dev->TEMP - 2000)) / 8LL);
+            SENSi = (int32_t)((63LL * (dev->TEMP - 2000) * (dev->TEMP - 2000)) / 32LL);
+        }
+    }
+    else
+    {
+        if ((dev->TEMP / 100) < 20)
+        {
+            Ti    = (int32_t)((3LL * (int64_t)dT * (int64_t)dT) / 8589934592LL);
+            OFFi  = (int32_t)((3LL * (dev->TEMP - 2000) * (dev->TEMP - 2000)) / 2LL);
+            SENSi = (int32_t)((5LL * (dev->TEMP - 2000) * (dev->TEMP - 2000)) / 8LL);
+
+            if ((dev->TEMP / 100) < -15)
+            {
+                OFFi  += (int32_t)(7LL * (dev->TEMP + 1500) * (dev->TEMP + 1500));
+                SENSi += (int32_t)(4LL * (dev->TEMP + 1500) * (dev->TEMP + 1500));
+            }
+        }
+        else
+        {
+            Ti    = (int32_t)((2LL * (int64_t)dT * (int64_t)dT) / 137438953472LL);
+            OFFi  = (int32_t)(((int64_t)(dev->TEMP - 2000) * (dev->TEMP - 2000)) / 16LL);
+            SENSi = 0;
+        }
+    }
+
+    OFF2 = OFF - OFFi;
+    SENS2 = SENS - SENSi;
+
+    dev->TEMP -= Ti;
+
+    if (dev->model == MS5837_02BA)
+    {
+        dev->P = (int32_t)((((int64_t)dev->D1_pres * SENS2) / 2097152LL - OFF2) / 32768LL);
+    }
+    else
+    {
+        dev->P = (int32_t)((((int64_t)dev->D1_pres * SENS2) / 2097152LL - OFF2) / 8192LL);
+    }
+}
+
+/* ---------- Public API ---------- */
+
+bool MS5837_Begin(MS5837_t *dev)
+{
+    return MS5837_Init(dev);
+}
+
+bool MS5837_Init(MS5837_t *dev)
+{
+    uint8_t i;
+    uint8_t crcRead;
+    uint8_t crcCalculated;
+    uint16_t prom_copy[8];
+
+    if (dev == NULL)
+    {
+        return false;
+    }
+
+    memset(dev, 0, sizeof(*dev));
+    dev->fluidDensity = 1029.0f;
+    dev->model = MS5837_UNRECOGNISED;
+    dev->initialized = false;
+
+    SERCOM3_I2C_Initialize();
+
+    if (!ms5837_write_command(MS5837_RESET))
+    {
+        return false;
+    }
+
+    ms5837_delay_ms(10U);
+
+    for (i = 0; i < 7U; i++)
+    {
+        if (!ms5837_read_prom_word(i, &dev->C[i]))
+        {
+            return false;
+        }
+    }
+
+    dev->C[7] = 0U;
+
+    for (i = 0; i < 8U; i++)
+    {
+        prom_copy[i] = dev->C[i];
+    }
+
+    crcRead = (uint8_t)(dev->C[0] >> 12);
+    crcCalculated = ms5837_crc4(prom_copy);
+
+    if (crcCalculated != crcRead)
+    {
+        return false;
+    }
+
+    if ((dev->C[1] < MS5837_30BA_MIN_SENSITIVITY) ||
+        (dev->C[1] > MS5837_02BA_MAX_SENSITIVITY))
+    {
+        dev->model = MS5837_UNRECOGNISED;
+    }
+    else if (dev->C[1] > MS5837_02BA_30BA_SEPARATION)
+    {
+        dev->model = MS5837_02BA;
+    }
+    else
+    {
+        dev->model = MS5837_30BA;
+    }
+
+    dev->initialized = true;
+    return true;
+}
+
+void MS5837_SetModel(MS5837_t *dev, uint8_t model)
+{
+    if (dev != NULL)
+    {
+        dev->model = model;
+    }
+}
+
+uint8_t MS5837_GetModel(const MS5837_t *dev)
+{
+    if (dev == NULL)
+    {
+        return MS5837_UNRECOGNISED;
+    }
+
+    return dev->model;
+}
+
+void MS5837_SetFluidDensity(MS5837_t *dev, float density)
+{
+    if (dev != NULL)
+    {
+        dev->fluidDensity = density;
+    }
+}
+
+bool MS5837_Read(MS5837_t *dev)
+{
+    if ((dev == NULL) || (!dev->initialized))
+    {
+        return false;
+    }
+
+    if (!ms5837_write_command(MS5837_CONVERT_D1_8192))
+    {
+        return false;
+    }
+
+    ms5837_delay_ms(20U);
+
+    if (!ms5837_read_adc24(&dev->D1_pres))
+    {
+        return false;
+    }
+
+    if (!ms5837_write_command(MS5837_CONVERT_D2_8192))
+    {
+        return false;
+    }
+
+    ms5837_delay_ms(20U);
+
+    if (!ms5837_read_adc24(&dev->D2_temp))
+    {
+        return false;
+    }
+
+    ms5837_calculate(dev);
+    return true;
+}
+
+float MS5837_Pressure(const MS5837_t *dev, float conversion)
+{
+    if (dev == NULL)
+    {
+        return 0.0f;
+    }
+
+    if (dev->model == MS5837_02BA)
+    {
+        return ((float)dev->P * conversion) / 100.0f;
+    }
+    else
+    {
+        return ((float)dev->P * conversion) / 10.0f;
+    }
+}
+
+float MS5837_Temperature(const MS5837_t *dev)
+{
+    if (dev == NULL)
+    {
+        return 0.0f;
+    }
+
+    return (float)dev->TEMP / 100.0f;
+}
+
+float MS5837_Depth(const MS5837_t *dev)
+{
+    if (dev == NULL)
+    {
+        return 0.0f;
+    }
+
+    return (MS5837_Pressure(dev, MS5837_PA) - 101300.0f) / (dev->fluidDensity * 9.80665f);
+}
+
+float MS5837_Altitude(const MS5837_t *dev)
+{
+    if (dev == NULL)
+    {
+        return 0.0f;
+    }
+
+    return (1.0f - powf((MS5837_Pressure(dev, 1.0f) / 1013.25f), 0.190284f)) * 145366.45f * 0.3048f;
+}