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AP_Baro: SPx06 adds Background mode

This commit is contained in:
Wu 2024-08-28 16:24:23 +08:00 committed by Peter Barker
parent c70150e531
commit 3f577793a1
1 changed files with 35 additions and 1 deletions
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34
libraries/AP_Baro/AP_Baro_SPL06.cpp
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@ -47,12 +47,17 @@ extern const AP_HAL::HAL &hal;
#define SPL06_REG_CALIB_COEFFS_END 0x21 #define SPL06_REG_CALIB_COEFFS_END 0x21
#define SPA06_REG_CALIB_COEFFS_END 0x24 #define SPA06_REG_CALIB_COEFFS_END 0x24
// PRESSURE_CFG_REG
#define SPL06_PRES_RATE_32HZ (0x05 << 4)
// TEMPERATURE_CFG_REG // TEMPERATURE_CFG_REG
#define SPL06_TEMP_USE_EXT_SENSOR (1<<7) #define SPL06_TEMP_USE_EXT_SENSOR (1<<7)
#define SPL06_TEMP_RATE_32HZ (0x05 << 4)
// MODE_AND_STATUS_REG // MODE_AND_STATUS_REG
#define SPL06_MEAS_PRESSURE (1<<0) // measure pressure #define SPL06_MEAS_PRESSURE (1<<0) // measure pressure
#define SPL06_MEAS_TEMPERATURE (1<<1) // measure temperature #define SPL06_MEAS_TEMPERATURE (1<<1) // measure temperature
#define SPL06_MEAS_CON_PRE_TEM 0x07
#define SPL06_MEAS_CFG_CONTINUOUS (1<<2) #define SPL06_MEAS_CFG_CONTINUOUS (1<<2)
#define SPL06_MEAS_CFG_PRESSURE_RDY (1<<4) #define SPL06_MEAS_CFG_PRESSURE_RDY (1<<4)
@ -70,6 +75,13 @@ extern const AP_HAL::HAL &hal;
#define SPL06_OVERSAMPLING_TO_REG_VALUE(n) (ffs(n)-1) #define SPL06_OVERSAMPLING_TO_REG_VALUE(n) (ffs(n)-1)
#define SPL06_BACKGROUND_SAMPLE_RATE 32
// enable Background Mode for continuous measurement
#ifndef AP_BARO_SPL06_BACKGROUND_ENABLE
#define AP_BARO_SPL06_BACKGROUND_ENABLE 0
#endif
AP_Baro_SPL06::AP_Baro_SPL06(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev) AP_Baro_SPL06::AP_Baro_SPL06(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev)
: AP_Baro_Backend(baro) : AP_Baro_Backend(baro)
, _dev(std::move(dev)) , _dev(std::move(dev))
@ -165,8 +177,17 @@ bool AP_Baro_SPL06::_init()
// setup temperature and pressure measurements // setup temperature and pressure measurements
_dev->setup_checked_registers(3, 20); _dev->setup_checked_registers(3, 20);
#if AP_BARO_SPL06_BACKGROUND_ENABLE
//set rate and oversampling
_dev->write_register(SPL06_REG_TEMPERATURE_CFG, SPL06_TEMP_RATE_32HZ | SPL06_OVERSAMPLING_TO_REG_VALUE(SPL06_TEMPERATURE_OVERSAMPLING), true);
_dev->write_register(SPL06_REG_PRESSURE_CFG, SPL06_PRES_RATE_32HZ | SPL06_OVERSAMPLING_TO_REG_VALUE(SPL06_PRESSURE_OVERSAMPLING), true);
//enable background mode
_dev->write_register(SPL06_REG_MODE_AND_STATUS, SPL06_MEAS_CON_PRE_TEM, true);
#else
_dev->write_register(SPL06_REG_TEMPERATURE_CFG, SPL06_TEMP_USE_EXT_SENSOR | SPL06_OVERSAMPLING_TO_REG_VALUE(SPL06_TEMPERATURE_OVERSAMPLING), true); _dev->write_register(SPL06_REG_TEMPERATURE_CFG, SPL06_TEMP_USE_EXT_SENSOR | SPL06_OVERSAMPLING_TO_REG_VALUE(SPL06_TEMPERATURE_OVERSAMPLING), true);
_dev->write_register(SPL06_REG_PRESSURE_CFG, SPL06_OVERSAMPLING_TO_REG_VALUE(SPL06_PRESSURE_OVERSAMPLING), true); _dev->write_register(SPL06_REG_PRESSURE_CFG, SPL06_OVERSAMPLING_TO_REG_VALUE(SPL06_PRESSURE_OVERSAMPLING), true);
#endif //AP_BARO_SPL06_BACKGROUND_ENABLE
uint8_t int_and_fifo_reg_value = 0; uint8_t int_and_fifo_reg_value = 0;
if (SPL06_TEMPERATURE_OVERSAMPLING > 8) { if (SPL06_TEMPERATURE_OVERSAMPLING > 8) {
@ -184,7 +205,11 @@ bool AP_Baro_SPL06::_init()
// request 50Hz update // request 50Hz update
_timer_counter = -1; _timer_counter = -1;
#if AP_BARO_SPL06_BACKGROUND_ENABLE
_dev->register_periodic_callback(1000000/SPL06_BACKGROUND_SAMPLE_RATE, FUNCTOR_BIND_MEMBER(&AP_Baro_SPL06::_timer, void));
#else
_dev->register_periodic_callback(20 * AP_USEC_PER_MSEC, FUNCTOR_BIND_MEMBER(&AP_Baro_SPL06::_timer, void)); _dev->register_periodic_callback(20 * AP_USEC_PER_MSEC, FUNCTOR_BIND_MEMBER(&AP_Baro_SPL06::_timer, void));
#endif //AP_BARO_SPL06_BACKGROUND_ENABLE
return true; return true;
} }
@ -211,6 +236,14 @@ void AP_Baro_SPL06::_timer(void)
{ {
uint8_t buf[3]; uint8_t buf[3];
#if AP_BARO_SPL06_BACKGROUND_ENABLE
_dev->read_registers(SPL06_REG_TEMPERATURE_START, buf, sizeof(buf));
_update_temperature((int32_t)((buf[0] & 0x80 ? 0xFF000000 : 0) | ((uint32_t)buf[0] << 16) | ((uint32_t)buf[1] << 8) | buf[2]));
_dev->read_registers(SPL06_REG_PRESSURE_START, buf, sizeof(buf));
_update_pressure((int32_t)((buf[0] & 0x80 ? 0xFF000000 : 0) | ((uint32_t)buf[0] << 16) | ((uint32_t)buf[1] << 8) | buf[2]));
#else
//command mode
if ((_timer_counter == -1) || (_timer_counter == 49)) { if ((_timer_counter == -1) || (_timer_counter == 49)) {
// First call and every second start a temperature measurement (50Hz call) // First call and every second start a temperature measurement (50Hz call)
_dev->write_register(SPL06_REG_MODE_AND_STATUS, SPL06_MEAS_TEMPERATURE, false); _dev->write_register(SPL06_REG_MODE_AND_STATUS, SPL06_MEAS_TEMPERATURE, false);
@ -228,6 +261,7 @@ void AP_Baro_SPL06::_timer(void)
_dev->write_register(SPL06_REG_MODE_AND_STATUS, SPL06_MEAS_PRESSURE, false); _dev->write_register(SPL06_REG_MODE_AND_STATUS, SPL06_MEAS_PRESSURE, false);
_timer_counter += 1; _timer_counter += 1;
} }
#endif //AP_BARO_SPL06_BACKGROUND_ENABLE
_dev->check_next_register(); _dev->check_next_register();
} }