/* 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 . */ /* DPS280 barometer driver */ #include "AP_Baro_DPS280.h" #include #include extern const AP_HAL::HAL &hal; #define DPS280_REG_PRESS 0x00 #define DPS280_REG_TEMP 0x03 #define DPS280_REG_PCONF 0x06 #define DPS280_REG_TCONF 0x07 #define DPS280_REG_MCONF 0x08 #define DPS280_REG_CREG 0x09 #define DPS280_REG_ISTS 0x0A #define DPS280_REG_FSTS 0x0B #define DPS280_REG_RESET 0x0C #define DPS280_REG_PID 0x0D #define DPS280_REG_COEF 0x10 #define DPS280_REG_CSRC 0x28 #define DPS280_WHOAMI 0x10 AP_Baro_DPS280::AP_Baro_DPS280(AP_Baro &baro, AP_HAL::OwnPtr _dev) : AP_Baro_Backend(baro) , dev(std::move(_dev)) { } AP_Baro_Backend *AP_Baro_DPS280::probe(AP_Baro &baro, AP_HAL::OwnPtr _dev) { if (!_dev) { return nullptr; } AP_Baro_DPS280 *sensor = new AP_Baro_DPS280(baro, std::move(_dev)); if (!sensor || !sensor->init()) { delete sensor; return nullptr; } return sensor; } /* handle bit width for 16 bit config registers */ void AP_Baro_DPS280::fix_config_bits16(int16_t &v, uint8_t bits) const { if (v > int16_t((1U<<(bits-1))-1)) { v = v - (1U< int32_t((1U<<(bits-1))-1)) { v = v - (1U<read_registers(DPS280_REG_COEF, buf, 18)) { return false; } calibration.C0 = (buf[0] << 4) + ((buf[1] >>4) & 0x0F); calibration.C1 = (buf[2] + ((buf[1] & 0x0F)<<8)); calibration.C00 = ((buf[4]<<4) + (buf[3]<<12)) + ((buf[5]>>4) & 0x0F); calibration.C10 = ((buf[5] & 0x0F)<<16) + buf[7] + (buf[6]<<8); calibration.C01 = (buf[9] + (buf[8]<<8)); calibration.C11 = (buf[11] + (buf[10]<<8)); calibration.C20 = (buf[13] + (buf[12]<<8)); calibration.C21 = (buf[15] + (buf[14]<<8)); calibration.C30 = (buf[17] + (buf[16]<<8)); fix_config_bits16(calibration.C0, 12); fix_config_bits16(calibration.C1, 12); fix_config_bits32(calibration.C00, 20); fix_config_bits32(calibration.C10, 20); fix_config_bits16(calibration.C01, 16); fix_config_bits16(calibration.C11, 16); fix_config_bits16(calibration.C20, 16); fix_config_bits16(calibration.C21, 16); fix_config_bits16(calibration.C30, 16); /* get calibration source */ if (!dev->read_registers(DPS280_REG_CSRC, &calibration.temp_source, 1)) { return false; } calibration.temp_source &= 0x80; return true; } bool AP_Baro_DPS280::init() { if (!dev || !dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) { return false; } dev->set_speed(AP_HAL::Device::SPEED_HIGH); uint8_t whoami=0; if (!dev->read_registers(DPS280_REG_PID, &whoami, 1) || whoami != DPS280_WHOAMI) { // not a DPS280 printf("DPS280 whoami=0x%x\n", whoami); dev->get_semaphore()->give(); return false; } if (!read_calibration()) { dev->get_semaphore()->give(); 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 instance = _frontend.register_sensor(); dev->get_semaphore()->give(); // request 64Hz update. New data will be available at 32Hz dev->register_periodic_callback((1000 / 64) * AP_USEC_PER_MSEC, FUNCTOR_BIND_MEMBER(&AP_Baro_DPS280::timer, void)); return true; } /* calculate corrected pressure and temperature */ void AP_Baro_DPS280::calculate_PT(int32_t UT, int32_t UP, float &pressure, float &temperature) { const struct dps280_cal &cal = calibration; // scaling for 16x oversampling const float scaling_16 = 1.0/253952; float temp_scaled; float press_scaled; temp_scaled = float(UT) * scaling_16; temperature = cal.C0 * 0.5 + cal.C1 * temp_scaled; press_scaled = float(UP) * scaling_16; pressure = cal.C00; pressure += press_scaled * (cal.C10 + press_scaled * (cal.C20 + press_scaled * cal.C30)); pressure += temp_scaled * cal.C01; pressure += temp_scaled * press_scaled * (cal.C11 + press_scaled * cal.C21); } // 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 return; } if (!dev->read_registers(DPS280_REG_PRESS, buf, 3)) { return; } if (!dev->read_registers(DPS280_REG_TEMP, &buf[3], 3)) { return; } int32_t press = (buf[2]) + (buf[1]<<8) + (buf[0]<<16); int32_t temp = (buf[5]) + (buf[4]<<8) + (buf[3]<<16); fix_config_bits32(press, 24); fix_config_bits32(temp, 24); float pressure, temperature; calculate_PT(temp, press, pressure, temperature); if (_sem->take_nonblocking()) { pressure_sum += pressure; temperature_sum += temperature; count++; _sem->give(); } } // transfer data to the frontend void AP_Baro_DPS280::update(void) { if (count != 0 && _sem->take_nonblocking()) { if (count == 0) { _sem->give(); return; } _copy_to_frontend(instance, pressure_sum/count, temperature_sum/count); pressure_sum = 0; temperature_sum = 0; count=0; _sem->give(); } }