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AP_Baro: resync for 4.0

This commit is contained in:
Andrew Tridgell 2020-05-11 17:22:07 +10:00
parent 74444a28cc
commit 6d34aaeefa
8 changed files with 319 additions and 8 deletions
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1
libraries/AP_Baro/AP_Baro.cpp
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@ -33,6 +33,7 @@
#include "AP_Baro_SITL.h"
#include "AP_Baro_BMP085.h"
#include "AP_Baro_BMP280.h"
#include "AP_Baro_SPL06.h"
#include "AP_Baro_HIL.h"
#include "AP_Baro_KellerLD.h"
#include "AP_Baro_MS5611.h"

1
libraries/AP_Baro/AP_Baro.h
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@ -215,6 +215,7 @@ private:
PROBE_KELLER=(1<<8),
PROBE_MS5837=(1<<9),
PROBE_BMP388=(1<<10),
PROBE_SPL06=(1<<11),
};
struct sensor {

5
libraries/AP_Baro/AP_Baro_BMP280.cpp
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@ -34,6 +34,7 @@ extern const AP_HAL::HAL &hal;
#define BMP280_FILTER_COEFFICIENT 2
#define BMP280_ID 0x58
#define BME280_ID 0x60
#define BMP280_REG_CALIB 0x88
#define BMP280_REG_ID 0xD0
@ -77,8 +78,8 @@ bool AP_Baro_BMP280::_init()
uint8_t whoami;
if (!_dev->read_registers(BMP280_REG_ID, &whoami, 1) ||
whoami != BMP280_ID) {
// not a BMP280
(whoami != BME280_ID && whoami != BMP280_ID)) {
// not a BMP280 or BME280
return false;
}

29
libraries/AP_Baro/AP_Baro_BMP388.cpp
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@ -89,15 +89,15 @@ bool AP_Baro_BMP388::init()
dev->write_register(BMP388_REG_PWR_CTRL, 0x33, true);
uint8_t whoami;
if (!dev->read_registers(BMP388_REG_ID, &whoami, 1) ||
if (!read_registers(BMP388_REG_ID, &whoami, 1) ||
whoami != BMP388_ID) {
// not a BMP388
return false;
}
// read the calibration data
dev->read_registers(BMP388_REG_CAL_P, (uint8_t *)&calib_p, sizeof(calib_p));
dev->read_registers(BMP388_REG_CAL_T, (uint8_t *)&calib_t, sizeof(calib_t));
read_registers(BMP388_REG_CAL_P, (uint8_t *)&calib_p, sizeof(calib_p));
read_registers(BMP388_REG_CAL_T, (uint8_t *)&calib_t, sizeof(calib_t));
scale_calibration_data();
@ -121,7 +121,7 @@ void AP_Baro_BMP388::timer(void)
{
uint8_t buf[7];
if (!dev->read_registers(BMP388_REG_STATUS, buf, sizeof(buf))) {
if (!read_registers(BMP388_REG_STATUS, buf, sizeof(buf))) {
return;
}
const uint8_t status = buf[0];
@ -212,3 +212,24 @@ void AP_Baro_BMP388::update_pressure(uint32_t data)
pressure = press;
has_sample = true;
}
/*
read registers, special SPI handling needed
*/
bool AP_Baro_BMP388::read_registers(uint8_t reg, uint8_t *data, uint8_t len)
{
// when on I2C we just read normally
if (dev->bus_type() != AP_HAL::Device::BUS_TYPE_SPI) {
return dev->read_registers(reg, data, len);
}
// for SPI we need to discard the first returned byte. See
// datasheet for explanation
uint8_t b[len+2];
b[0] = reg | 0x80;
memset(&b[1], 0, len+1);
if (!dev->transfer(b, len+2, b, len+2)) {
return false;
}
memcpy(data, &b[2], len);
return true;
}

1
libraries/AP_Baro/AP_Baro_BMP388.h
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@ -78,4 +78,5 @@ private:
} calib;
void scale_calibration_data(void);
bool read_registers(uint8_t reg, uint8_t *data, uint8_t len);
};

9
libraries/AP_Baro/AP_Baro_DPS280.cpp
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@ -131,11 +131,16 @@ void AP_Baro_DPS280::set_config_registers(void)
bool AP_Baro_DPS280::init()
{
if (!dev || !dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
if (!dev) {
return false;
}
dev->get_semaphore()->take_blocking();
// setup to allow reads on SPI
if (dev->bus_type() == AP_HAL::Device::BUS_TYPE_SPI) {
dev->set_read_flag(0x80);
}
dev->set_read_flag(0x80);
dev->set_speed(AP_HAL::Device::SPEED_HIGH);
uint8_t whoami=0;

234
libraries/AP_Baro/AP_Baro_SPL06.cpp Normal file
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@ -0,0 +1,234 @@
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "AP_Baro_SPL06.h"
#include <utility>
extern const AP_HAL::HAL &hal;
#define SPL06_CHIP_ID 0x10
#define SPL06_REG_PRESSURE_B2 0x00 // Pressure MSB Register
#define SPL06_REG_PRESSURE_B1 0x01 // Pressure middle byte Register
#define SPL06_REG_PRESSURE_B0 0x02 // Pressure LSB Register
#define SPL06_REG_PRESSURE_START SPL06_REG_PRESSURE_B2
#define SPL06_PRESSURE_LEN 3 // 24 bits, 3 bytes
#define SPL06_REG_TEMPERATURE_B2 0x03 // Temperature MSB Register
#define SPL06_REG_TEMPERATURE_B1 0x04 // Temperature middle byte Register
#define SPL06_REG_TEMPERATURE_B0 0x05 // Temperature LSB Register
#define SPL06_REG_TEMPERATURE_START SPL06_REG_TEMPERATURE_B2
#define SPL06_TEMPERATURE_LEN 3 // 24 bits, 3 bytes
#define SPL06_REG_PRESSURE_CFG 0x06 // Pressure config
#define SPL06_REG_TEMPERATURE_CFG 0x07 // Temperature config
#define SPL06_REG_MODE_AND_STATUS 0x08 // Mode and status
#define SPL06_REG_INT_AND_FIFO_CFG 0x09 // Interrupt and FIFO config
#define SPL06_REG_INT_STATUS 0x0A // Interrupt and FIFO config
#define SPL06_REG_FIFO_STATUS 0x0B // Interrupt and FIFO config
#define SPL06_REG_RST 0x0C // Softreset Register
#define SPL06_REG_CHIP_ID 0x0D // Chip ID Register
#define SPL06_REG_CALIB_COEFFS_START 0x10
#define SPL06_REG_CALIB_COEFFS_END 0x21
#define SPL06_CALIB_COEFFS_LEN (SPL06_REG_CALIB_COEFFS_END - SPL06_REG_CALIB_COEFFS_START + 1)
// TEMPERATURE_CFG_REG
#define SPL06_TEMP_USE_EXT_SENSOR (1<<7)
// MODE_AND_STATUS_REG
#define SPL06_MEAS_PRESSURE (1<<0) // measure pressure
#define SPL06_MEAS_TEMPERATURE (1<<1) // measure temperature
#define SPL06_MEAS_CFG_CONTINUOUS (1<<2)
#define SPL06_MEAS_CFG_PRESSURE_RDY (1<<4)
#define SPL06_MEAS_CFG_TEMPERATURE_RDY (1<<5)
#define SPL06_MEAS_CFG_SENSOR_RDY (1<<6)
#define SPL06_MEAS_CFG_COEFFS_RDY (1<<7)
// INT_AND_FIFO_CFG_REG
#define SPL06_PRESSURE_RESULT_BIT_SHIFT (1<<2) // necessary for pressure oversampling > 8
#define SPL06_TEMPERATURE_RESULT_BIT_SHIFT (1<<3) // necessary for temperature oversampling > 8
// Don't set oversampling higher than 8 or the measurement time will be higher than 20ms (timer period)
#define SPL06_PRESSURE_OVERSAMPLING 8
#define SPL06_TEMPERATURE_OVERSAMPLING 8
#define SPL06_OVERSAMPLING_TO_REG_VALUE(n) (ffs(n)-1)
AP_Baro_SPL06::AP_Baro_SPL06(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev)
: AP_Baro_Backend(baro)
, _dev(std::move(dev))
{
}
AP_Baro_Backend *AP_Baro_SPL06::probe(AP_Baro &baro,
AP_HAL::OwnPtr<AP_HAL::Device> dev)
{
if (!dev) {
return nullptr;
}
if (dev->bus_type() == AP_HAL::Device::BUS_TYPE_SPI) {
dev->set_read_flag(0x80);
}
AP_Baro_SPL06 *sensor = new AP_Baro_SPL06(baro, std::move(dev));
if (!sensor || !sensor->_init()) {
delete sensor;
return nullptr;
}
return sensor;
}
bool AP_Baro_SPL06::_init()
{
if (!_dev) {
return false;
}
WITH_SEMAPHORE(_dev->get_semaphore());
_has_sample = false;
_dev->set_speed(AP_HAL::Device::SPEED_HIGH);
uint8_t whoami;
if (!_dev->read_registers(SPL06_REG_CHIP_ID, &whoami, 1) ||
whoami != SPL06_CHIP_ID) {
// not a SPL06
return false;
}
// read the calibration data
uint8_t buf[SPL06_CALIB_COEFFS_LEN];
_dev->read_registers(SPL06_REG_CALIB_COEFFS_START, buf, sizeof(buf));
_c0 = (buf[0] & 0x80 ? 0xF000 : 0) | ((uint16_t)buf[0] << 4) | (((uint16_t)buf[1] & 0xF0) >> 4);
_c1 = ((buf[1] & 0x8 ? 0xF000 : 0) | ((uint16_t)buf[1] & 0x0F) << 8) | (uint16_t)buf[2];
_c00 = (buf[3] & 0x80 ? 0xFFF00000 : 0) | ((uint32_t)buf[3] << 12) | ((uint32_t)buf[4] << 4) | (((uint32_t)buf[5] & 0xF0) >> 4);
_c10 = (buf[5] & 0x8 ? 0xFFF00000 : 0) | (((uint32_t)buf[5] & 0x0F) << 16) | ((uint32_t)buf[6] << 8) | (uint32_t)buf[7];
_c01 = ((uint16_t)buf[8] << 8) | ((uint16_t)buf[9]);
_c11 = ((uint16_t)buf[10] << 8) | (uint16_t)buf[11];
_c20 = ((uint16_t)buf[12] << 8) | (uint16_t)buf[13];
_c21 = ((uint16_t)buf[14] << 8) | (uint16_t)buf[15];
_c30 = ((uint16_t)buf[16] << 8) | (uint16_t)buf[17];
// setup temperature and pressure measurements
_dev->setup_checked_registers(3, 20);
_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);
uint8_t int_and_fifo_reg_value = 0;
if (SPL06_TEMPERATURE_OVERSAMPLING > 8) {
int_and_fifo_reg_value |= SPL06_TEMPERATURE_RESULT_BIT_SHIFT;
}
if (SPL06_PRESSURE_OVERSAMPLING > 8) {
int_and_fifo_reg_value |= SPL06_PRESSURE_RESULT_BIT_SHIFT;
}
_dev->write_register(SPL06_REG_INT_AND_FIFO_CFG, int_and_fifo_reg_value, true);
_instance = _frontend.register_sensor();
// request 50Hz update
_timer_counter = -1;
_dev->register_periodic_callback(20 * AP_USEC_PER_MSEC, FUNCTOR_BIND_MEMBER(&AP_Baro_SPL06::_timer, void));
return true;
}
int32_t AP_Baro_SPL06::raw_value_scale_factor(uint8_t oversampling)
{
// From the datasheet page 13
switch(oversampling)
{
case 1: return 524288;
case 2: return 1572864;
case 4: return 3670016;
case 8: return 7864320;
case 16: return 253952;
case 32: return 516096;
case 64: return 1040384;
case 128: return 2088960;
default: return -1; // invalid
}
}
// acumulate a new sensor reading
void AP_Baro_SPL06::_timer(void)
{
uint8_t buf[3];
if ((_timer_counter == -1) || (_timer_counter == 49)) {
// First call and every second start a temperature measurement (50Hz call)
_dev->write_register(SPL06_REG_MODE_AND_STATUS, SPL06_MEAS_TEMPERATURE, false);
_timer_counter = 0; // Next cycle we are reading the temperature
} else if (_timer_counter == 0) {
// A temperature measurement had been started during the previous call
_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->write_register(SPL06_REG_MODE_AND_STATUS, SPL06_MEAS_PRESSURE, false);
_timer_counter += 1;
} else {
// The rest of the time read the latest pressure and start a new measurement
_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]));
_dev->write_register(SPL06_REG_MODE_AND_STATUS, SPL06_MEAS_PRESSURE, false);
_timer_counter += 1;
}
_dev->check_next_register();
}
// transfer data to the frontend
void AP_Baro_SPL06::update(void)
{
WITH_SEMAPHORE(_sem);
if (!_has_sample) {
return;
}
_copy_to_frontend(_instance, _pressure, _temperature);
_has_sample = false;
}
// calculate temperature
void AP_Baro_SPL06::_update_temperature(int32_t temp_raw)
{
_temp_raw = (float)temp_raw / raw_value_scale_factor(SPL06_TEMPERATURE_OVERSAMPLING);
const float temp_comp = (float)_c0 / 2 + _temp_raw * _c1;
WITH_SEMAPHORE(_sem);
_temperature = temp_comp;
}
// calculate pressure
void AP_Baro_SPL06::_update_pressure(int32_t press_raw)
{
const float press_raw_sc = (float)press_raw / raw_value_scale_factor(SPL06_PRESSURE_OVERSAMPLING);
const float pressure_cal = (float)_c00 + press_raw_sc * ((float)_c10 + press_raw_sc * ((float)_c20 + press_raw_sc * _c30));
const float press_temp_comp = _temp_raw * ((float)_c01 + press_raw_sc * ((float)_c11 + press_raw_sc * _c21));
const float press_comp = pressure_cal + press_temp_comp;
if (!pressure_ok(press_comp)) {
return;
}
WITH_SEMAPHORE(_sem);
_pressure = press_comp;
_has_sample = true;
}

47
libraries/AP_Baro/AP_Baro_SPL06.h Normal file
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@ -0,0 +1,47 @@
#pragma once
#include <AP_HAL/AP_HAL.h>
#include <AP_HAL/Device.h>
#include <AP_HAL/utility/OwnPtr.h>
#include "AP_Baro_Backend.h"
#ifndef HAL_BARO_SPL06_I2C_ADDR
#define HAL_BARO_SPL06_I2C_ADDR (0x76)
#endif
#ifndef HAL_BARO_SPL06_I2C_ADDR2
#define HAL_BARO_SPL06_I2C_ADDR2 (0x77)
#endif
class AP_Baro_SPL06 : public AP_Baro_Backend
{
public:
AP_Baro_SPL06(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev);
/* AP_Baro public interface: */
void update() override;
static AP_Baro_Backend *probe(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev);
private:
bool _init(void);
void _timer(void);
void _update_temperature(int32_t);
void _update_pressure(int32_t);
int32_t raw_value_scale_factor(uint8_t);
AP_HAL::OwnPtr<AP_HAL::Device> _dev;
int8_t _timer_counter;
bool _has_sample;
uint8_t _instance;
float _temp_raw;
float _pressure;
float _temperature;
// Internal calibration registers
int32_t _c00, _c10;
int16_t _c0, _c1, _c01, _c11, _c20, _c21, _c30;
};