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AP_TemperatureSensor: refactor for upcoming upgrades

This commit is contained in:
Tom Pittenger 2022-09-26 16:23:48 -07:00 committed by Andrew Tridgell
parent ea27d40cf6
commit c4f7470cbc
8 changed files with 253 additions and 122 deletions
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69
libraries/AP_TemperatureSensor/AP_TemperatureSensor.cpp
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@ -42,18 +42,50 @@ const AP_Param::GroupInfo AP_TemperatureSensor::var_info[] = {
// @Path: AP_TemperatureSensor_Params.cpp
AP_SUBGROUPINFO(_params[0], "1_", 10, AP_TemperatureSensor, AP_TemperatureSensor_Params),
#if AP_TEMPERATURE_SENSOR_MAX_INSTANCES > 1
#if AP_TEMPERATURE_SENSOR_MAX_INSTANCES >= 2
// @Group: 2_
// @Path: AP_TemperatureSensor_Params.cpp
AP_SUBGROUPINFO(_params[1], "2_", 11, AP_TemperatureSensor, AP_TemperatureSensor_Params),
#endif
#if AP_TEMPERATURE_SENSOR_MAX_INSTANCES > 2
#if AP_TEMPERATURE_SENSOR_MAX_INSTANCES >= 3
// @Group: 3_
// @Path: AP_TemperatureSensor_Params.cpp
AP_SUBGROUPINFO(_params[2], "3_", 12, AP_TemperatureSensor, AP_TemperatureSensor_Params),
#endif
#if AP_TEMPERATURE_SENSOR_MAX_INSTANCES >= 4
// @Group: 4_
// @Path: AP_TemperatureSensor_Params.cpp
AP_SUBGROUPINFO(_params[3], "4_", 13, AP_TemperatureSensor, AP_TemperatureSensor_Params),
#endif
#if AP_TEMPERATURE_SENSOR_MAX_INSTANCES >= 5
// @Group: 5_
// @Path: AP_TemperatureSensor_Params.cpp
AP_SUBGROUPINFO(_params[4], "5_", 14, AP_TemperatureSensor, AP_TemperatureSensor_Params),
#endif
#if AP_TEMPERATURE_SENSOR_MAX_INSTANCES >= 6
// @Group: 6_
// @Path: AP_TemperatureSensor_Params.cpp
AP_SUBGROUPINFO(_params[5], "6_", 15, AP_TemperatureSensor, AP_TemperatureSensor_Params),
#endif
#if AP_TEMPERATURE_SENSOR_MAX_INSTANCES >= 7
// @Group: 7_
// @Path: AP_TemperatureSensor_Params.cpp
AP_SUBGROUPINFO(_params[6], "7_", 16, AP_TemperatureSensor, AP_TemperatureSensor_Params),
#endif
#if AP_TEMPERATURE_SENSOR_MAX_INSTANCES >= 8
// @Group: 8_
// @Path: AP_TemperatureSensor_Params.cpp
AP_SUBGROUPINFO(_params[7], "8_", 17, AP_TemperatureSensor, AP_TemperatureSensor_Params),
#endif
#if AP_TEMPERATURE_SENSOR_MAX_INSTANCES >= 9
// @Group: 9_
// @Path: AP_TemperatureSensor_Params.cpp
AP_SUBGROUPINFO(_params[8], "9_", 18, AP_TemperatureSensor, AP_TemperatureSensor_Params),
#endif
AP_GROUPEND
};
@ -86,18 +118,19 @@ void AP_TemperatureSensor::init()
for (uint8_t instance = 0; instance < AP_TEMPERATURE_SENSOR_MAX_INSTANCES; instance++) {
switch (get_type(instance)) {
#if AP_TEMPERATURE_SENSOR_TSYS01_ENABLE
case Type::TSYS01:
#if AP_TEMPERATURE_SENSOR_TSYS01_ENABLED
case AP_TemperatureSensor::Type::TSYS01:
drivers[instance] = new AP_TemperatureSensor_TSYS01(*this, _state[instance], _params[instance]);
break;
#endif
case Type::NONE:
case AP_TemperatureSensor::Type::NONE:
default:
break;
}
// call init function for each backend
if (drivers[instance] != nullptr) {
_state[instance].instance = instance;
drivers[instance]->init();
// _num_instances is actually the index for looping over instances
// the user may have TEMP_TYPE=0 and TEMP2_TYPE=7, in which case
@ -112,47 +145,47 @@ void AP_TemperatureSensor::init()
void AP_TemperatureSensor::update()
{
for (uint8_t i=0; i<_num_instances; i++) {
if (drivers[i] != nullptr && get_type(i) != Type::NONE) {
if (drivers[i] != nullptr && get_type(i) != AP_TemperatureSensor::Type::NONE) {
drivers[i]->update();
#if HAL_LOGGING_ENABLED
const AP_Logger *logger = AP_Logger::get_singleton();
if (logger != nullptr && _log_flag) {
const uint64_t time_us = AP_HAL::micros64();
drivers[i]->Log_Write_TEMP(time_us);
drivers[i]->Log_Write_TEMP();
}
#endif
}
}
}
AP_TemperatureSensor::Type AP_TemperatureSensor::get_type(uint8_t instance) const
AP_TemperatureSensor::Type AP_TemperatureSensor::get_type(const uint8_t instance) const
{
if (instance >= AP_TEMPERATURE_SENSOR_MAX_INSTANCES) {
return Type::NONE;
return AP_TemperatureSensor::Type::NONE;
}
return (Type)_params[instance]._type.get();
return (AP_TemperatureSensor::Type)_params[instance].type.get();
}
// returns true if there is a temperature reading
bool AP_TemperatureSensor::temperature(float &temp, const uint8_t instance) const
bool AP_TemperatureSensor::get_temperature(float &temp, const uint8_t instance) const
{
if (instance >= AP_TEMPERATURE_SENSOR_MAX_INSTANCES || drivers[instance] == nullptr) {
if (!healthy(instance)) {
return false;
}
temp = _state[instance].temperature;
return true;
}
return drivers[instance]->healthy();
bool AP_TemperatureSensor::healthy(const uint8_t instance) const
{
return instance < _num_instances && drivers[instance] != nullptr && drivers[instance]->healthy();
}
namespace AP {
AP_TemperatureSensor &temperature_sensor()
{
AP_TemperatureSensor &temperature_sensor() {
return *AP_TemperatureSensor::get_singleton();
}
};
#endif // AP_TEMPERATURE_SENSOR_ENABLED

45
libraries/AP_TemperatureSensor/AP_TemperatureSensor.h
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@ -17,7 +17,7 @@
#include <AP_HAL/AP_HAL.h>
#ifndef AP_TEMPERATURE_SENSOR_ENABLED
#define AP_TEMPERATURE_SENSOR_ENABLED (BOARD_FLASH_SIZE > 1024)
#define AP_TEMPERATURE_SENSOR_ENABLED (!HAL_MINIMIZE_FEATURES && BOARD_FLASH_SIZE > 1024)
#endif
#if AP_TEMPERATURE_SENSOR_ENABLED
@ -25,11 +25,13 @@
// maximum number of Temperature Sensors
#ifndef AP_TEMPERATURE_SENSOR_MAX_INSTANCES
#define AP_TEMPERATURE_SENSOR_MAX_INSTANCES 3
#define AP_TEMPERATURE_SENSOR_MAX_INSTANCES 3
#endif
// first sensor is always the primary sensor
#define AP_TEMPERATURE_SENSOR_PRIMARY_INSTANCE 0
#ifndef AP_TEMPERATURE_SENSOR_PRIMARY_INSTANCE
#define AP_TEMPERATURE_SENSOR_PRIMARY_INSTANCE 0
#endif
// declare backend class
class AP_TemperatureSensor_Backend;
@ -42,12 +44,6 @@ class AP_TemperatureSensor
public:
// temperature sensor types
enum class Type {
NONE = 0,
TSYS01 = 1,
};
// Constructor
AP_TemperatureSensor();
@ -55,12 +51,26 @@ public:
static AP_TemperatureSensor *get_singleton() { return _singleton; }
// temperature sensor types
enum class Type : uint8_t {
NONE = 0,
TSYS01 = 1,
};
// option to map to another system component
enum class Source : uint8_t {
None = 0,
ESC = 1,
Motor = 2,
Battery_Index = 3,
Battery_ID_SerialNumber = 4,
};
// The TemperatureSensor_State structure is filled in by the backend driver
struct TemperatureSensor_State {
const struct AP_Param::GroupInfo *var_info;
uint32_t last_time_micros; // time when the sensor was last read in microseconds
uint32_t last_time_ms; // time when the sensor was last read in milliseconds
float temperature; // temperature (deg C)
bool healthy; // temperature sensor is communicating correctly
uint8_t instance; // instance number
};
@ -73,13 +83,14 @@ public:
// Update the temperature for all temperature sensors
void update();
// get_type - returns temperature sensor type
Type get_type() const { return get_type(AP_TEMPERATURE_SENSOR_PRIMARY_INSTANCE); }
Type get_type(uint8_t instance) const;
bool get_temperature(float &temp, const uint8_t instance = AP_TEMPERATURE_SENSOR_PRIMARY_INSTANCE) const;
// temperature
bool temperature(float &temp) const { return temperature(temp, AP_TEMPERATURE_SENSOR_PRIMARY_INSTANCE); }
bool temperature(float &temp, const uint8_t instance) const;
bool healthy(const uint8_t instance = AP_TEMPERATURE_SENSOR_PRIMARY_INSTANCE) const;
// accessors to params
Type get_type(const uint8_t instance = AP_TEMPERATURE_SENSOR_PRIMARY_INSTANCE) const;
Source get_source(const uint8_t instance = AP_TEMPERATURE_SENSOR_PRIMARY_INSTANCE) const;
int32_t get_source_id(const uint8_t instance = AP_TEMPERATURE_SENSOR_PRIMARY_INSTANCE) const;
static const struct AP_Param::GroupInfo var_info[];

44
libraries/AP_TemperatureSensor/AP_TemperatureSensor_Backend.cpp
View File

@ -18,30 +18,44 @@
#if AP_TEMPERATURE_SENSOR_ENABLED
#include "AP_TemperatureSensor_Backend.h"
#include <AP_Common/AP_Common.h>
#include <AP_HAL/AP_HAL.h>
#include <AP_Logger/AP_Logger.h>
/*
base class constructor.
This incorporates initialisation as well.
base class constructor.
This incorporates initialisation as well.
*/
AP_TemperatureSensor_Backend::AP_TemperatureSensor_Backend(AP_TemperatureSensor &front, AP_TemperatureSensor::TemperatureSensor_State &state,
AP_TemperatureSensor_Params &params):
_front(front),
_state(state),
_params(params)
AP_TemperatureSensor_Backend::AP_TemperatureSensor_Backend(AP_TemperatureSensor &front,
AP_TemperatureSensor::TemperatureSensor_State &state,
AP_TemperatureSensor_Params &params):
_front(front),
_state(state),
_params(params)
{
}
void AP_TemperatureSensor_Backend::Log_Write_TEMP(uint64_t time_us) const
// returns true if a temperature has been recently updated
bool AP_TemperatureSensor_Backend::healthy(void) const
{
return (_state.last_time_ms > 0) && (AP_HAL::millis() - _state.last_time_ms < 5000);
}
void AP_TemperatureSensor_Backend::Log_Write_TEMP() const
{
AP::logger().Write("TEMP",
"TimeUS," "Instance," "Temp", // labels
"s" "#" "O" , // units
"F" "-" "0" , // multipliers
"Q" "B" "f" , // types
time_us, _state.instance, _state.temperature);
"TimeUS," "Instance," "Temp" , // labels
"s" "#" "O" , // units
"F" "-" "0" , // multipliers
"Q" "B" "f" , // types
AP_HAL::micros64(), _state.instance, _state.temperature);
}
void AP_TemperatureSensor_Backend::set_temperature(const float temperature)
{
{
WITH_SEMAPHORE(_sem);
_state.temperature = temperature;
_state.last_time_ms = AP_HAL::millis();
}
}
#endif // AP_TEMPERATURE_SENSOR_ENABLED

14
libraries/AP_TemperatureSensor/AP_TemperatureSensor_Backend.h
View File

@ -17,6 +17,7 @@
#include "AP_TemperatureSensor.h"
#if AP_TEMPERATURE_SENSOR_ENABLED
#include <AP_HAL/Semaphores.h>
class AP_TemperatureSensor_Backend
{
@ -31,15 +32,24 @@ public:
virtual void update() = 0;
// do we have a valid temperature reading?
bool healthy(void) const { return _state.healthy; }
virtual bool healthy(void) const;
// logging functions
void Log_Write_TEMP(const uint64_t time_us) const;
void Log_Write_TEMP() const;
AP_HAL::OwnPtr<AP_HAL::Device> _dev;
protected:
void set_temperature(const float temperature);
AP_TemperatureSensor &_front; // reference to front-end
AP_TemperatureSensor::TemperatureSensor_State &_state; // reference to this instance's state (held in the front-end)
AP_TemperatureSensor_Params &_params; // reference to this instance's parameters (held in the front-end)
private:
HAL_Semaphore _sem; // used to copy from backend to frontend
};
#endif // AP_TEMPERATURE_SENSOR_ENABLED

49
libraries/AP_TemperatureSensor/AP_TemperatureSensor_Params.cpp
View File

@ -1,18 +1,41 @@
/*
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_TemperatureSensor_Params.h"
#include "AP_TemperatureSensor.h"
#if AP_TEMPERATURE_SENSOR_ENABLED
#ifndef HAL_TEMPERATURE_SENSOR_I2C_TYPE_DEFAULT
#define HAL_TEMPERATURE_SENSOR_I2C_TYPE_DEFAULT 0
#ifndef AP_TEMPERATURE_SENSOR_TYPE_DEFAULT
#define AP_TEMPERATURE_SENSOR_TYPE_DEFAULT 0
#endif
#ifndef HAL_TEMPERATURE_SENSOR_I2C_ADDR_DEFAULT
#define HAL_TEMPERATURE_SENSOR_I2C_ADDR_DEFAULT 0
#ifndef AP_TEMPERATURE_SENSOR_I2C_ADDR_DEFAULT
#define AP_TEMPERATURE_SENSOR_I2C_ADDR_DEFAULT 0
#endif
#ifndef HAL_TEMPERATURE_SENSOR_I2C_BUS_DEFAULT
#define HAL_TEMPERATURE_SENSOR_I2C_BUS_DEFAULT 0
#ifndef AP_TEMPERATURE_SENSOR_I2C_BUS_DEFAULT
#define AP_TEMPERATURE_SENSOR_I2C_BUS_DEFAULT 0
#endif
#ifndef AP_TEMPERATURE_SENSOR_SOURCE_ID_DEFAULT
#define AP_TEMPERATURE_SENSOR_SOURCE_ID_DEFAULT -1
#endif
#ifndef AP_TEMPERATURE_SENSOR_SOURCE_DEFAULT
#define AP_TEMPERATURE_SENSOR_SOURCE_DEFAULT (int8_t)AP_TemperatureSensor::Source::None
#endif
const AP_Param::GroupInfo AP_TemperatureSensor_Params::var_info[] = {
@ -22,23 +45,23 @@ const AP_Param::GroupInfo AP_TemperatureSensor_Params::var_info[] = {
// @Values: 0:Disabled, 1:TSYS01
// @User: Standard
// @RebootRequired: True
AP_GROUPINFO_FLAGS("TYPE", 1, AP_TemperatureSensor_Params, _type, HAL_TEMPERATURE_SENSOR_I2C_TYPE_DEFAULT, AP_PARAM_FLAG_ENABLE),
AP_GROUPINFO_FLAGS("TYPE", 1, AP_TemperatureSensor_Params, type, AP_TEMPERATURE_SENSOR_TYPE_DEFAULT, AP_PARAM_FLAG_ENABLE),
// @Param: BUS
// @DisplayName: Temperature sensor I2C bus
// @Description: Temperature sensor I2C bus number
// @DisplayName: Temperature sensor bus
// @Description: Temperature sensor bus number, typically used to select from multiple I2C buses
// @Range: 0 3
// @User: Advanced
// @RebootRequired: True
AP_GROUPINFO("BUS", 3, AP_TemperatureSensor_Params, _i2c_bus, HAL_TEMPERATURE_SENSOR_I2C_BUS_DEFAULT),
AP_GROUPINFO("BUS", 2, AP_TemperatureSensor_Params, bus, AP_TEMPERATURE_SENSOR_I2C_BUS_DEFAULT),
// @Param: ADDR
// @DisplayName: Temperature sensor I2C address
// @Description: Temperature sensor I2C address
// @DisplayName: Temperature sensor address
// @Description: Temperature sensor address, typically used for I2C address
// @Range: 0 127
// @User: Advanced
// @RebootRequired: True
AP_GROUPINFO("ADDR", 4, AP_TemperatureSensor_Params, _i2c_address, HAL_TEMPERATURE_SENSOR_I2C_ADDR_DEFAULT),
AP_GROUPINFO("ADDR", 3, AP_TemperatureSensor_Params, bus_address, AP_TEMPERATURE_SENSOR_I2C_ADDR_DEFAULT),
AP_GROUPEND
};

22
libraries/AP_TemperatureSensor/AP_TemperatureSensor_Params.h
View File

@ -1,3 +1,18 @@
/*
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/>.
*/
#pragma once
#include <AP_Param/AP_Param.h>
@ -10,7 +25,8 @@ public:
CLASS_NO_COPY(AP_TemperatureSensor_Params);
AP_Int8 _type; // 0=disabled, others see frontend enum TYPE
AP_Int8 _i2c_bus; // I2C bus number
AP_Int8 _i2c_address; // I2C address
AP_Int8 type; // AP_TemperatureSensor::Type, 0=disabled, others see frontend enum TYPE
AP_Int8 bus; // I2C bus number
AP_Int8 bus_address; // I2C address
};

93
libraries/AP_TemperatureSensor/AP_TemperatureSensor_TSYS01.cpp
View File

@ -1,12 +1,30 @@
/*
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_TemperatureSensor_TSYS01.h"
#if AP_TEMPERATURE_SENSOR_TSYS01_ENABLE
#if AP_TEMPERATURE_SENSOR_TSYS01_ENABLED
#include <utility>
#include <stdio.h>
#include <AP_HAL/AP_HAL.h>
#include <AP_HAL/I2CDevice.h>
#include <AP_Math/AP_Math.h>
#ifndef AP_TEMPERATURE_SENSOR_TSYS01_ENFORCE_KNOWN_VALID_I2C_ADDRESS
#define AP_TEMPERATURE_SENSOR_TSYS01_ENFORCE_KNOWN_VALID_I2C_ADDRESS 1
#endif
extern const AP_HAL::HAL &hal;
static const uint8_t TSYS01_CMD_RESET = 0x1E;
@ -18,14 +36,15 @@ void AP_TemperatureSensor_TSYS01::init()
{
constexpr char name[] = "TSYS01";
#if AP_TEMPERATURE_SENSOR_TSYS01_ENFORCE_KNOWN_VALID_I2C_ADDRESS
// I2C Address: Default to using TSYS01_ADDR_CSB0 & Check I2C Address is Correct
uint8_t addr = _params._i2c_address;
if ((addr != TSYS01_ADDR_CSB0) && (addr != TSYS01_ADDR_CSB1)) {
printf("%s, wrong I2C addr", name);
return;
if ((_params.bus_address != TSYS01_ADDR_CSB0) && (_params.bus_address != TSYS01_ADDR_CSB1)) {
printf("%s wrong I2C addr of 0x%2X, setting to 0x%2X", name, (unsigned)_params.bus_address.get(), (unsigned)TSYS01_ADDR_CSB0);
_params.bus_address.set(TSYS01_ADDR_CSB0);
}
#endif
_dev = std::move(hal.i2c_mgr->get_device(_params._i2c_bus, _params._i2c_address));
_dev = std::move(hal.i2c_mgr->get_device(_params.bus, _params.bus_address));
if (!_dev) {
printf("%s device is null!", name);
return;
@ -35,19 +54,20 @@ void AP_TemperatureSensor_TSYS01::init()
_dev->set_retries(10);
if (!_reset()) {
// reset
if (!_dev->transfer(&TSYS01_CMD_RESET, 1, nullptr, 0)) {
printf("%s reset failed", name);
return;
}
hal.scheduler->delay(4);
if (!_read_prom()) {
if (!read_prom()) {
printf("%s prom read failed", name);
return;
}
_convert();
start_next_sample();
// lower retries for run
_dev->set_retries(3);
@ -58,11 +78,6 @@ void AP_TemperatureSensor_TSYS01::init()
FUNCTOR_BIND_MEMBER(&AP_TemperatureSensor_TSYS01::_timer, void));
}
bool AP_TemperatureSensor_TSYS01::_reset() const
{
return _dev->transfer(&TSYS01_CMD_RESET, 1, nullptr, 0);
}
// Register map
// prom word Address
// 0 0xA0 -> unused
@ -73,67 +88,65 @@ bool AP_TemperatureSensor_TSYS01::_reset() const
// 5 0xAA -> _k[0]
// 6 0xAC -> unused
// 7 0xAE -> unused
bool AP_TemperatureSensor_TSYS01::_read_prom()
bool AP_TemperatureSensor_TSYS01::read_prom()
{
bool success = false;
for (int i = 0; i < 5; i++) {
for (uint8_t i = 0; i < ARRAY_SIZE(_k); i++) {
// Read only the prom values that we use
_k[i] = _read_prom_word(5-i);
success |= _k[i] != 0;
_k[i] = read_prom_word(ARRAY_SIZE(_k)-i);
success |= (_k[i] != 0);
}
return success;
}
// Borrowed from MS Baro driver
uint16_t AP_TemperatureSensor_TSYS01::_read_prom_word(uint8_t word) const
uint16_t AP_TemperatureSensor_TSYS01::read_prom_word(const uint8_t word) const
{
const uint8_t reg = TSYS01_CMD_READ_PROM + (word << 1);
uint8_t val[2];
if (!_dev->transfer(&reg, 1, val, 2)) {
return 0;
}
return (val[0] << 8) | val[1];
return UINT16_VALUE(val[0], val[1]);
}
bool AP_TemperatureSensor_TSYS01::_convert() const
{
return _dev->transfer(&TSYS01_CMD_CONVERT, 1, nullptr, 0);
}
uint32_t AP_TemperatureSensor_TSYS01::_read_adc() const
uint32_t AP_TemperatureSensor_TSYS01::read_adc() const
{
uint8_t val[3];
if (!_dev->transfer(&TSYS01_CMD_READ_ADC, 1, val, 3)) {
return 0;
}
return (val[0] << 16) | (val[1] << 8) | val[2];
return UINT32_VALUE(0,val[0],val[1],val[2]);
}
void AP_TemperatureSensor_TSYS01::_timer(void)
{
const uint32_t adc = _read_adc();
_state.healthy = adc != 0;
const uint32_t adc = read_adc();
if (_state.healthy) {
_calculate(adc);
} else {
_state.temperature = 0;
if (adc != 0) {
const float temp = calculate(adc);
set_temperature(temp);
}
//printf("\nTemperature: %.2lf C", _state.temperature;
_convert();
start_next_sample();
}
void AP_TemperatureSensor_TSYS01::_calculate(uint32_t adc)
void AP_TemperatureSensor_TSYS01::start_next_sample()
{
_dev->transfer(&TSYS01_CMD_CONVERT, 1, nullptr, 0);
}
float AP_TemperatureSensor_TSYS01::calculate(const uint32_t adc) const
{
const float adc16 = adc/256;
_state.temperature =
const float temperature =
-2 * _k[4] * powf(10, -21) * powf(adc16, 4) +
4 * _k[3] * powf(10, -16) * powf(adc16, 3) +
-2 * _k[2] * powf(10, -11) * powf(adc16, 2) +
1 * _k[1] * powf(10, -6) * adc16 +
-1.5 * _k[0] * powf(10, -2);
return temperature;
}
#endif // AP_TEMPERATURE_SENSOR_TSYS01_ENABLE
#endif // AP_TEMPERATURE_SENSOR_TSYS01_ENABLED

39
libraries/AP_TemperatureSensor/AP_TemperatureSensor_TSYS01.h
View File

@ -1,3 +1,18 @@
/*
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/>.
*/
/*
* I2C driver for Measurement Specialties MEAS TSYS01 digital temperature sensor
*/
@ -5,14 +20,11 @@
#pragma once
#include "AP_TemperatureSensor_Backend.h"
#ifndef AP_TEMPERATURE_SENSOR_TSYS01_ENABLE
#define AP_TEMPERATURE_SENSOR_TSYS01_ENABLE AP_TEMPERATURE_SENSOR_ENABLED
#ifndef AP_TEMPERATURE_SENSOR_TSYS01_ENABLED
#define AP_TEMPERATURE_SENSOR_TSYS01_ENABLED AP_TEMPERATURE_SENSOR_ENABLED
#endif
#if AP_TEMPERATURE_SENSOR_TSYS01_ENABLE
#include <AP_HAL/AP_HAL.h>
#include <AP_HAL/Semaphores.h>
#include <AP_HAL/Device.h>
#if AP_TEMPERATURE_SENSOR_TSYS01_ENABLED
#define TSYS01_ADDR_CSB0 0x77
#define TSYS01_ADDR_CSB1 0x76
@ -25,26 +37,25 @@ public:
void update() override {};
AP_HAL::OwnPtr<AP_HAL::Device> _dev;
private:
uint16_t _k[5]; // internal calibration for temperature calculation
// reset device
bool _reset(void) const;
bool reset(void) const;
// read (relevant) internal calibration registers into _k
bool _read_prom(void);
uint16_t _read_prom_word(uint8_t word) const;
bool read_prom(void);
uint16_t read_prom_word(const uint8_t word) const;
// begin an ADC conversion (min:7.40ms typ:8.22ms max:9.04ms)
bool _convert(void) const;
uint32_t _read_adc(void) const;
void start_next_sample();
uint32_t read_adc(void) const;
// update the temperature, called at 20Hz
void _timer(void);
// calculate temperature using adc reading and internal calibration
void _calculate(uint32_t adc);
float calculate(const uint32_t adc) const;
};
#endif // AP_TEMPERATURE_SENSOR_TSYS01_ENABLE
#endif // AP_TEMPERATURE_SENSOR_TSYS01_ENABLED