Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_Baro: added register checking and reset to DPS280 driver 

this is to fix an issue found on a mRoControlZeroF7
This commit is contained in:
Andrew Tridgell 2019-10-08 15:32:57 +11:00
parent 7fd22f63a9
commit 94418ca70e
2 changed files with 55 additions and 10 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

60
libraries/AP_Baro/AP_Baro_DPS280.cpp
View File

@ -38,6 +38,7 @@ extern const AP_HAL::HAL &hal;
#define DPS280_WHOAMI 0x10
#define TEMPERATURE_LIMIT_C 120
AP_Baro_DPS280::AP_Baro_DPS280(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> _dev)
: AP_Baro_Backend(baro)
@ -120,6 +121,14 @@ bool AP_Baro_DPS280::read_calibration(void)
return true;
}
void AP_Baro_DPS280::set_config_registers(void)
{
dev->write_register(DPS280_REG_CREG, 0x0C, true); // shift for 16x oversampling
dev->write_register(DPS280_REG_PCONF, 0x54, true); // 32 Hz, 16x oversample
dev->write_register(DPS280_REG_TCONF, 0x54 | calibration.temp_source, true); // 32 Hz, 16x oversample
dev->write_register(DPS280_REG_MCONF, 0x07); // continuous temp and pressure.
}
bool AP_Baro_DPS280::init()
{
if (!dev || !dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
@ -143,10 +152,9 @@ bool AP_Baro_DPS280::init()
return false;
}
dev->write_register(DPS280_REG_CREG, 0x0C); // shift for 16x oversampling
dev->write_register(DPS280_REG_PCONF, 0x54); // 32 Hz, 16x oversample
dev->write_register(DPS280_REG_TCONF, 0x54 | calibration.temp_source); // 32 Hz, 16x oversample
dev->write_register(DPS280_REG_MCONF, 0x07); // continuous temp and pressure
dev->setup_checked_registers(4, 20);
set_config_registers();
instance = _frontend.register_sensor();
@ -181,20 +189,44 @@ void AP_Baro_DPS280::calculate_PT(int32_t UT, int32_t UP, float &pressure, float
pressure += temp_scaled * press_scaled * (cal.C11 + press_scaled * cal.C21);
}
/*
check health and possibly reset
*/
void AP_Baro_DPS280::check_health(void)
{
dev->check_next_register();
if (fabsf(last_temperature) > TEMPERATURE_LIMIT_C) {
err_count++;
}
if (err_count > 16) {
err_count = 0;
dev->write_register(DPS280_REG_RESET, 0x09);
set_config_registers();
pending_reset = true;
}
}
// acumulate a new sensor reading
void AP_Baro_DPS280::timer(void)
{
uint8_t buf[6];
uint8_t ready;
if (!dev->read_registers(DPS280_REG_MCONF, &ready, 1) || !(ready & (1U<<4))) {
// pressure not ready
if (pending_reset) {
// reset registers after software reset from check_health()
pending_reset = false;
set_config_registers();
return;
}
if (!dev->read_registers(DPS280_REG_PRESS, buf, 3)) {
return;
}
if (!dev->read_registers(DPS280_REG_TEMP, &buf[3], 3)) {
if (!dev->read_registers(DPS280_REG_MCONF, &ready, 1) ||
!(ready & (1U<<4)) ||
!dev->read_registers(DPS280_REG_PRESS, buf, 3) ||
!dev->read_registers(DPS280_REG_TEMP, &buf[3], 3)) {
// data not ready
err_count++;
check_health();
return;
}
@ -207,10 +239,18 @@ void AP_Baro_DPS280::timer(void)
calculate_PT(temp, press, pressure, temperature);
last_temperature = temperature;
if (!pressure_ok(pressure)) {
return;
}
check_health();
if (fabsf(last_temperature) <= TEMPERATURE_LIMIT_C) {
err_count = 0;
}
WITH_SEMAPHORE(_sem);
pressure_sum += pressure;

5
libraries/AP_Baro/AP_Baro_DPS280.h
View File

@ -30,14 +30,19 @@ private:
void fix_config_bits16(int16_t &v, uint8_t bits) const;
void fix_config_bits32(int32_t &v, uint8_t bits) const;
void set_config_registers(void);
void check_health();
AP_HAL::OwnPtr<AP_HAL::Device> dev;
uint8_t instance;
uint32_t count;
uint8_t err_count;
float pressure_sum;
float temperature_sum;
float last_temperature;
bool pending_reset;
struct dps280_cal {
int16_t C0; // 12bit