mirror of https://github.com/ArduPilot/ardupilot
AP_Baro: Add in BMP581 Driver
This commit is contained in:
parent
764dd273ae
commit
be8af427dd
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@ -269,6 +269,7 @@ BUILD_OPTIONS = [
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Feature('Baro', 'BMP085', 'AP_BARO_BMP085_ENABLED', 'Enable BMP085 Barometric Sensor', 1, None),
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Feature('Baro', 'BMP085', 'AP_BARO_BMP085_ENABLED', 'Enable BMP085 Barometric Sensor', 1, None),
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Feature('Baro', 'BMP280', 'AP_BARO_BMP280_ENABLED', 'Enable BMP280 Barometric Sensor', 1, None),
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Feature('Baro', 'BMP280', 'AP_BARO_BMP280_ENABLED', 'Enable BMP280 Barometric Sensor', 1, None),
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Feature('Baro', 'BMP388', 'AP_BARO_BMP388_ENABLED', 'Enable BMP388 Barometric Sensor', 1, None),
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Feature('Baro', 'BMP388', 'AP_BARO_BMP388_ENABLED', 'Enable BMP388 Barometric Sensor', 1, None),
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Feature('Baro', 'BMP581', 'AP_BARO_BMP581_ENABLED', 'Enable BMP581 Barometric Sensor', 1, None),
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Feature('Baro', 'DPS280', 'AP_BARO_DPS280_ENABLED', 'Enable DPS280/DPS310 Barometric Sensor', 1, None),
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Feature('Baro', 'DPS280', 'AP_BARO_DPS280_ENABLED', 'Enable DPS280/DPS310 Barometric Sensor', 1, None),
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Feature('Baro', 'DUMMY', 'AP_BARO_DUMMY_ENABLED', 'Enable DUMMY Barometric Sensor', 0, None),
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Feature('Baro', 'DUMMY', 'AP_BARO_DUMMY_ENABLED', 'Enable DUMMY Barometric Sensor', 0, None),
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Feature('Baro', 'EXTERNALAHRS', 'AP_BARO_EXTERNALAHRS_ENABLED', 'Enable EXTERNALAHRS Barometric Sensor', 0, 'AHRS_EXT'),
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Feature('Baro', 'EXTERNALAHRS', 'AP_BARO_EXTERNALAHRS_ENABLED', 'Enable EXTERNALAHRS Barometric Sensor', 0, 'AHRS_EXT'),
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@ -125,6 +125,7 @@ baro_types = {
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0x12 : "DEVTYPE_BARO_MS5837",
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0x12 : "DEVTYPE_BARO_MS5837",
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0x13 : "DEVTYPE_BARO_MS5637",
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0x13 : "DEVTYPE_BARO_MS5637",
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0x14 : "DEVTYPE_BARO_BMP390",
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0x14 : "DEVTYPE_BARO_BMP390",
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0x15 : "DEVTYPE_BARO_BMP581",
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}
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}
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airspeed_types = {
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airspeed_types = {
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@ -48,6 +48,7 @@
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#include "AP_Baro_ExternalAHRS.h"
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#include "AP_Baro_ExternalAHRS.h"
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#include "AP_Baro_ICP101XX.h"
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#include "AP_Baro_ICP101XX.h"
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#include "AP_Baro_ICP201XX.h"
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#include "AP_Baro_ICP201XX.h"
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#include "AP_Baro_BMP581.h"
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#include <AP_Airspeed/AP_Airspeed.h>
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#include <AP_Airspeed/AP_Airspeed.h>
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#include <AP_AHRS/AP_AHRS.h>
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#include <AP_AHRS/AP_AHRS.h>
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@ -173,7 +174,7 @@ const AP_Param::GroupInfo AP_Baro::var_info[] = {
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// @Param: _PROBE_EXT
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// @Param: _PROBE_EXT
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// @DisplayName: External barometers to probe
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// @DisplayName: External barometers to probe
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// @Description: This sets which types of external i2c barometer to look for. It is a bitmask of barometer types. The I2C buses to probe is based on BARO_EXT_BUS. If BARO_EXT_BUS is -1 then it will probe all external buses, otherwise it will probe just the bus number given in BARO_EXT_BUS.
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// @Description: This sets which types of external i2c barometer to look for. It is a bitmask of barometer types. The I2C buses to probe is based on BARO_EXT_BUS. If BARO_EXT_BUS is -1 then it will probe all external buses, otherwise it will probe just the bus number given in BARO_EXT_BUS.
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// @Bitmask: 0:BMP085,1:BMP280,2:MS5611,3:MS5607,4:MS5637,5:FBM320,6:DPS280,7:LPS25H,8:Keller,9:MS5837,10:BMP388,11:SPL06,12:MSP
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// @Bitmask: 0:BMP085,1:BMP280,2:MS5611,3:MS5607,4:MS5637,5:FBM320,6:DPS280,7:LPS25H,8:Keller,9:MS5837,10:BMP388,11:SPL06,12:MSP,13:BMP581
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// @User: Advanced
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// @User: Advanced
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AP_GROUPINFO("_PROBE_EXT", 14, AP_Baro, _baro_probe_ext, HAL_BARO_PROBE_EXT_DEFAULT),
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AP_GROUPINFO("_PROBE_EXT", 14, AP_Baro, _baro_probe_ext, HAL_BARO_PROBE_EXT_DEFAULT),
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#endif
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#endif
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@ -835,6 +836,10 @@ void AP_Baro::_probe_i2c_barometers(void)
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{ PROBE_BMP388, AP_Baro_BMP388::probe, HAL_BARO_BMP388_I2C_ADDR },
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{ PROBE_BMP388, AP_Baro_BMP388::probe, HAL_BARO_BMP388_I2C_ADDR },
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{ PROBE_BMP388, AP_Baro_BMP388::probe, HAL_BARO_BMP388_I2C_ADDR2 },
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{ PROBE_BMP388, AP_Baro_BMP388::probe, HAL_BARO_BMP388_I2C_ADDR2 },
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#endif
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#endif
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#if AP_BARO_BMP581_ENABLED
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{ PROBE_BMP581, AP_Baro_BMP581::probe, HAL_BARO_BMP581_I2C_ADDR },
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{ PROBE_BMP581, AP_Baro_BMP581::probe, HAL_BARO_BMP581_I2C_ADDR2 },
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#endif
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#if AP_BARO_MS56XX_ENABLED
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#if AP_BARO_MS56XX_ENABLED
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{ PROBE_MS5611, AP_Baro_MS56XX::probe_5611, HAL_BARO_MS5611_I2C_ADDR },
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{ PROBE_MS5611, AP_Baro_MS56XX::probe_5611, HAL_BARO_MS5611_I2C_ADDR },
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{ PROBE_MS5611, AP_Baro_MS56XX::probe_5611, HAL_BARO_MS5611_I2C_ADDR2 },
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{ PROBE_MS5611, AP_Baro_MS56XX::probe_5611, HAL_BARO_MS5611_I2C_ADDR2 },
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@ -244,6 +244,7 @@ private:
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PROBE_BMP388=(1<<10),
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PROBE_BMP388=(1<<10),
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PROBE_SPL06 =(1<<11),
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PROBE_SPL06 =(1<<11),
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PROBE_MSP =(1<<12),
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PROBE_MSP =(1<<12),
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PROBE_BMP581=(1<<13),
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};
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};
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#if HAL_BARO_WIND_COMP_ENABLED
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#if HAL_BARO_WIND_COMP_ENABLED
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@ -0,0 +1,193 @@
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "AP_Baro_BMP581.h"
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#if AP_BARO_BMP581_ENABLED
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#include <utility>
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#include <AP_Math/AP_Math.h>
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extern const AP_HAL::HAL &hal;
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#define BMP581_ID 0x50
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#define BMP581_REG_CHIP_ID 0x01
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#define BMP581_REG_REV_ID 0x02
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#define BMP581_REG_CHIP_STATUS 0x11
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#define BMP581_REG_DRIVE_CONFIG 0x13
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#define BMP581_REG_INT_CONFIG 0x14
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#define BMP581_REG_INT_SOURCE 0x15
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#define BMP581_REG_FIFO_CONFIG 0x16
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#define BMP581_REG_FIFO_COUNT 0x17
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#define BMP581_REG_FIFO_SEL 0x18
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#define BMP581_REG_TEMP_DATA_XLSB 0x1D
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#define BMP581_REG_TEMP_DATA_LSB 0x1E
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#define BMP581_REG_TEMP_DATA_MSB 0x1F
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#define BMP581_REG_PRESS_DATA_XLSB 0x20
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#define BMP581_REG_PRESS_DATA_LSB 0x21
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#define BMP581_REG_PRESS_DATA_MSB 0x22
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#define BMP581_REG_INT_STATUS 0x27
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#define BMP581_REG_STATUS 0x28
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#define BMP581_REG_FIFO_DATA 0x29
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#define BMP581_REG_NVM_ADDR 0x2B
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#define BMP581_REG_NVM_DATA_LSB 0x2C
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#define BMP581_REG_NVM_DATA_MSB 0x2D
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#define BMP581_REG_DSP_CONFIG 0x30
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#define BMP581_REG_DSP_IIR 0x31
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#define BMP581_REG_OOR_THR_P_LSB 0x32
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#define BMP581_REG_OOR_THR_P_MSB 0x33
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#define BMP581_REG_OOR_RANGE 0x34
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#define BMP581_REG_OOR_CONFIG 0x35
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#define BMP581_REG_OSR_CONFIG 0x36
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#define BMP581_REG_ODR_CONFIG 0x37
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#define BMP581_REG_OSR_EFF 0x38
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#define BMP581_REG_CMD 0x7E
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AP_Baro_BMP581::AP_Baro_BMP581(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev)
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: AP_Baro_Backend(baro)
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, _dev(std::move(dev))
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{
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}
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AP_Baro_Backend *AP_Baro_BMP581::probe(AP_Baro &baro,
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AP_HAL::OwnPtr<AP_HAL::Device> dev)
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{
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if (!dev) {
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return nullptr;
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}
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AP_Baro_BMP581 *sensor = new AP_Baro_BMP581(baro, std::move(dev));
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if (!sensor || !sensor->init()) {
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delete sensor;
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return nullptr;
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}
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return sensor;
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}
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bool AP_Baro_BMP581::init()
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{
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if (!_dev) {
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return false;
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}
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WITH_SEMAPHORE(_dev->get_semaphore());
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_dev->set_speed(AP_HAL::Device::SPEED_HIGH);
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uint8_t whoami;
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// setup to allow reads on SPI
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if (_dev->bus_type() == AP_HAL::Device::BUS_TYPE_SPI) {
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_dev->set_read_flag(0x80);
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if (!_dev->read_registers(BMP581_REG_CHIP_ID, &whoami, 1)) {
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return false;
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}
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}
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if (!_dev->read_registers(BMP581_REG_CHIP_ID, &whoami, 1)) {
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return false;
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}
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switch (whoami) {
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case BMP581_ID:
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_dev->set_device_type(DEVTYPE_BARO_BMP581);
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break;
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default:
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return false;
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}
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uint8_t status;
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if (!_dev->read_registers(BMP581_REG_STATUS, &status, 1)) {
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return false;
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}
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if ((status & 0b10) == 0 || (status & 0b100) == 1) {
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return false;
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}
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uint8_t int_status;
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if (!_dev->read_registers(BMP581_REG_INT_STATUS, &int_status, 1)) {
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return false;
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}
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if ((int_status & 0x10) == 0) {
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return false;
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}
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_dev->setup_checked_registers(4);
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// Standby mode
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_dev->write_register(BMP581_REG_ODR_CONFIG, 0, true);
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// Press EN | osr_p 64X | osr_t 4X
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_dev->write_register(BMP581_REG_OSR_CONFIG, 0b01110010, true);
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// ORD 50Hz | Normal Mode
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_dev->write_register(BMP581_REG_ODR_CONFIG, 0b0111101, true);
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instance = _frontend.register_sensor();
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set_bus_id(instance, _dev->get_bus_id());
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// request 50Hz update
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_dev->register_periodic_callback(20 * AP_USEC_PER_MSEC, FUNCTOR_BIND_MEMBER(&AP_Baro_BMP581::timer, void));
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return true;
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}
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// acumulate a new sensor reading
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void AP_Baro_BMP581::timer(void)
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{
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uint8_t buf[6];
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if (!_dev->read_registers(BMP581_REG_TEMP_DATA_XLSB, buf, sizeof(buf))) {
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return;
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}
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WITH_SEMAPHORE(_sem);
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if (buf[0] != 0x7f || buf[1] != 0x7f || buf[2] != 0x7f) {
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// we have temperature data
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temperature = (float)((int32_t)(((uint32_t)buf[2] << 24) | ((uint32_t)buf[1] << 16) | ((uint32_t)buf[0] << 8)) >> 8) * (1.0f / 65536.0f);
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}
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if (buf[3] != 0x7f || buf[4] != 0x7f || buf[5] != 0x7f) {
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// we have pressure data
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pressure_sum += (float)(((uint32_t)buf[5] << 16) | ((uint32_t)buf[4] << 8) | (uint32_t)buf[3]) * (1.0f / 64.0f);
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pressure_count++;
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}
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_dev->check_next_register();
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}
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// transfer data to the frontend
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void AP_Baro_BMP581::update(void)
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{
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WITH_SEMAPHORE(_sem);
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if (pressure_count == 0) {
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return;
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}
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_copy_to_frontend(instance,
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pressure_sum/pressure_count,
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temperature);
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pressure_sum = 0;
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pressure_count = 0;
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}
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#endif // AP_BARO_BMP581_ENABLED
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@ -0,0 +1,41 @@
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#pragma once
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#include "AP_Baro_Backend.h"
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#if AP_BARO_BMP581_ENABLED
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#include <AP_HAL/AP_HAL.h>
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#include <AP_HAL/Device.h>
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#include <AP_HAL/utility/OwnPtr.h>
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#ifndef HAL_BARO_BMP581_I2C_ADDR
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#define HAL_BARO_BMP581_I2C_ADDR (0x46)
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#endif
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#ifndef HAL_BARO_BMP581_I2C_ADDR2
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#define HAL_BARO_BMP581_I2C_ADDR2 (0x47)
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#endif
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class AP_Baro_BMP581 : public AP_Baro_Backend
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{
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public:
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AP_Baro_BMP581(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev);
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/* AP_Baro public interface: */
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void update() override;
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static AP_Baro_Backend *probe(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev);
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private:
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bool init(void);
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void timer(void);
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AP_HAL::OwnPtr<AP_HAL::Device> _dev;
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uint8_t instance;
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float pressure_sum;
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uint32_t pressure_count;
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float temperature;
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};
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#endif // AP_BARO_BMP581_ENABLED
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@ -58,6 +58,7 @@ public:
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DEVTYPE_BARO_MS5837 = 0x12,
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DEVTYPE_BARO_MS5837 = 0x12,
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DEVTYPE_BARO_MS5637 = 0x13,
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DEVTYPE_BARO_MS5637 = 0x13,
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DEVTYPE_BARO_BMP390 = 0x14,
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DEVTYPE_BARO_BMP390 = 0x14,
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DEVTYPE_BARO_BMP581 = 0x15,
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};
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};
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protected:
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protected:
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@ -29,6 +29,10 @@
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#define AP_BARO_BMP388_ENABLED AP_BARO_BACKEND_DEFAULT_ENABLED
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#define AP_BARO_BMP388_ENABLED AP_BARO_BACKEND_DEFAULT_ENABLED
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#endif
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#endif
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#ifndef AP_BARO_BMP581_ENABLED
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#define AP_BARO_BMP581_ENABLED AP_BARO_BACKEND_DEFAULT_ENABLED
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||||||
|
#endif
|
||||||
|
|
||||||
#ifndef AP_BARO_DPS280_ENABLED
|
#ifndef AP_BARO_DPS280_ENABLED
|
||||||
#define AP_BARO_DPS280_ENABLED AP_BARO_BACKEND_DEFAULT_ENABLED
|
#define AP_BARO_DPS280_ENABLED AP_BARO_BACKEND_DEFAULT_ENABLED
|
||||||
#endif
|
#endif
|
||||||
|
|
Loading…
Reference in New Issue