mirror of https://github.com/ArduPilot/ardupilot
156 lines
5.1 KiB
C++
156 lines
5.1 KiB
C++
/*
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* Copyright (C) 2022 Kraus Hamdani Aerospace Inc. All rights reserved.
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*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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* Code by Tom Pittenger
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*/
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/*
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Implements I2C driver for Microchip MCP9600 and MCP9601 digital thermocouple EMF to Temperature converter
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*/
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#include "AP_TemperatureSensor_MCP9600.h"
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#if AP_TEMPERATURE_SENSOR_MCP9600_ENABLED
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#include <stdio.h>
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#include <AP_HAL/I2CDevice.h>
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#include <AP_Math/AP_Math.h>
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#include <GCS_MAVLink/GCS.h>
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extern const AP_HAL::HAL &hal;
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static const uint8_t MCP9600_CMD_HOT_JUNCT_TEMP = 0x00; // thermocoupler temp
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//static const uint8_t MCP9600_CMD_JUNCT_TEMP_DELTA = 0x01;
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//static const uint8_t MCP9600_CMD_COLD_JUNCT_TEMP = 0x02; // ambient temp
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//static const uint8_t MCP9600_CMD_RAW_DATA_ADC = 0x03;
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static const uint8_t MCP9600_CMD_STATUS = 0x04;
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static const uint8_t MCP9600_CMD_SENSOR_CFG = 0x05;
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//static const uint8_t MCP9600_CMD_DEVICE_CFG = 0x06;
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static const uint8_t MCP9600_CMD_DEVICE_ID_REV = 0x20; // to fetch WHOAMI
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static const uint8_t MCP9600_CMD_STATUS_UPDATE_READY = 0x40;
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static const uint8_t MCP9600_WHOAMI = 0x40;
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static const uint8_t MCP9601_WHOAMI = 0x41;
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#define MCP9600_ADDR_LOW 0x60 // ADDR pin pulled low
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#define MCP9600_ADDR_HIGH 0x66 // ADDR pin pulled high
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#define AP_TemperatureSensor_MCP9600_UPDATE_INTERVAL_MS 500
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#define AP_TemperatureSensor_MCP9600_SCALE_FACTOR (0.0625f)
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#ifndef AP_TemperatureSensor_MCP9600_ADDR_DEFAULT
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#define AP_TemperatureSensor_MCP9600_ADDR_DEFAULT MCP9600_ADDR_LOW
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#endif
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#ifndef AP_TemperatureSensor_MCP9600_ENFORCE_KNOWN_VALID_I2C_ADDRESS
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#define AP_TemperatureSensor_MCP9600_ENFORCE_KNOWN_VALID_I2C_ADDRESS 1
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#endif
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#ifndef AP_TemperatureSensor_MCP9600_Filter
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#define AP_TemperatureSensor_MCP9600_Filter 2 // can be values 0 through 7 where 0 is no filtering (fast) and 7 is lots of smoothing (very very slow)
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#endif
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void AP_TemperatureSensor_MCP9600::init()
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{
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constexpr char name[] = "MCP9600";
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#if AP_TemperatureSensor_MCP9600_ENFORCE_KNOWN_VALID_I2C_ADDRESS
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// I2C Address: Default to using MCP9600_ADDR_LOW if it's out of range
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if ((_params.bus_address < MCP9600_ADDR_LOW) || ( _params.bus_address > MCP9600_ADDR_HIGH)) {
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_params.bus_address.set(MCP9600_ADDR_LOW);
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}
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#endif
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_dev = std::move(hal.i2c_mgr->get_device(_params.bus, _params.bus_address));
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if (!_dev) {
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// device not found
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return;
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}
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WITH_SEMAPHORE(_dev->get_semaphore());
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_dev->set_retries(10);
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uint8_t buf;
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if (!_dev->read_registers(MCP9600_CMD_DEVICE_ID_REV, &buf, 1)) {
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printf("%s failed to get WHOAMI", name);
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return;
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}
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if (buf != MCP9600_WHOAMI && buf != MCP9601_WHOAMI) {
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printf("%s Got wrong WHOAMI: detected 0x%2X", name, (unsigned)buf);
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return;
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}
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if (!set_config(ThermocoupleType::K, AP_TemperatureSensor_MCP9600_Filter)) {
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printf("%s unable to configure", name);
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return;
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}
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// lower retries for run
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_dev->set_retries(3);
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/* Request 5Hz update */
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_dev->register_periodic_callback(200 * AP_USEC_PER_MSEC,
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FUNCTOR_BIND_MEMBER(&AP_TemperatureSensor_MCP9600::_timer, void));
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}
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void AP_TemperatureSensor_MCP9600::_timer()
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{
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float temperature;
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if (read_temperature(temperature)) {
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set_temperature(temperature);
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}
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}
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bool AP_TemperatureSensor_MCP9600::set_config(const ThermocoupleType thermoType, const uint8_t filter)
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{
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const uint8_t data = (uint8_t)thermoType << 4 | (filter & 0x7);
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if (!_dev->write_register(MCP9600_CMD_SENSOR_CFG, data)) {
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return false;
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}
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return true;
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}
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bool AP_TemperatureSensor_MCP9600::read_temperature(float &temperature)
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{
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// confirm new temperature is available and then read it
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// First, read STATUS register:
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uint8_t data[2];
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if (!_dev->read_registers(MCP9600_CMD_STATUS, data, 1)) {
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return false;
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}
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// check UPDATE bit for new temperature data ready:
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if ((data[0] & MCP9600_CMD_STATUS_UPDATE_READY) == 0) {
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return false;
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}
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// clear update bit:
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if (!_dev->write_register(0x04, data[0] & ~MCP9600_CMD_STATUS_UPDATE_READY)) {
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return false;
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}
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// read temperature:
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if (!_dev->read_registers(MCP9600_CMD_HOT_JUNCT_TEMP, data, 2)) {
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return false;
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}
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// scale temperature:
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temperature = int16_t(UINT16_VALUE(data[0], data[1])) * AP_TemperatureSensor_MCP9600_SCALE_FACTOR;
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return true;
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}
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#endif // AP_TEMPERATURE_SENSOR_MCP9600_ENABLED
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