mirror of https://github.com/ArduPilot/ardupilot
277 lines
7.4 KiB
C++
277 lines
7.4 KiB
C++
/*
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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 <utility>
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#include <stdio.h>
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#include "AP_Baro_LPS2XH.h"
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#include <AP_InertialSensor/AP_InertialSensor_Invensense_registers.h>
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extern const AP_HAL::HAL &hal;
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// WHOAMI values
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#define LPS22HB_WHOAMI 0xB1
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#define LPS25HB_WHOAMI 0xBD
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#define REG_ID 0x0F
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#define LPS22H_ID 0xB1
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#define LPS22H_CTRL_REG1 0x10
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#define LPS22H_CTRL_REG2 0x11
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#define LPS22H_CTRL_REG3 0x12
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#define LPS22H_CTRL_REG1_SIM (1 << 0)
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#define LPS22H_CTRL_REG1_BDU (1 << 1)
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#define LPS22H_CTRL_REG1_LPFP_CFG (1 << 2)
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#define LPS22H_CTRL_REG1_EN_LPFP (1 << 3)
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#define LPS22H_CTRL_REG1_PD (0 << 4)
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#define LPS22H_CTRL_REG1_ODR_1H (1 << 4)
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#define LPS22H_CTRL_REG1_ODR_10HZ (2 << 4)
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#define LPS22H_CTRL_REG1_ODR_25HZ (3 << 4)
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#define LPS22H_CTRL_REG1_ODR_50HZ (4 << 4)
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#define LPS22H_CTRL_REG1_ODR_75HZ (5 << 4)
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#define LPS25H_CTRL_REG1_ADDR 0x20
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#define LPS25H_CTRL_REG2_ADDR 0x21
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#define LPS25H_CTRL_REG3_ADDR 0x22
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#define LPS25H_CTRL_REG4_ADDR 0x23
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#define LPS25H_FIFO_CTRL 0x2E
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#define TEMP_OUT_ADDR 0x2B
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#define PRESS_OUT_XL_ADDR 0x28
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#define STATUS_ADDR 0x27
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//putting 1 in the MSB of those two registers turns on Auto increment for faster reading.
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AP_Baro_LPS2XH::AP_Baro_LPS2XH(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_LPS2XH::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_LPS2XH *sensor = new AP_Baro_LPS2XH(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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AP_Baro_Backend *AP_Baro_LPS2XH::probe_InvensenseIMU(AP_Baro &baro,
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AP_HAL::OwnPtr<AP_HAL::Device> dev,
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uint8_t imu_address)
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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_LPS2XH *sensor = new AP_Baro_LPS2XH(baro, std::move(dev));
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if (sensor) {
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if (!sensor->_imu_i2c_init(imu_address)) {
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delete sensor;
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return nullptr;
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}
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}
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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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/*
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setup invensense IMU to enable barometer, assuming both IMU and baro
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on the same i2c bus
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*/
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bool AP_Baro_LPS2XH::_imu_i2c_init(uint8_t imu_address)
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{
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_dev->get_semaphore()->take_blocking();
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// as the baro device is already locked we need to re-use it,
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// changing its address to match the IMU address
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uint8_t old_address = _dev->get_bus_address();
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_dev->set_address(imu_address);
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_dev->set_retries(4);
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uint8_t whoami=0;
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_dev->read_registers(MPUREG_WHOAMI, &whoami, 1);
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hal.console->printf("IMU: whoami 0x%02x old_address=%02x\n", whoami, old_address);
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_dev->write_register(MPUREG_FIFO_EN, 0x00);
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_dev->write_register(MPUREG_PWR_MGMT_1, BIT_PWR_MGMT_1_CLK_XGYRO);
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// wait for sensor to settle
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hal.scheduler->delay(10);
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_dev->write_register(MPUREG_INT_PIN_CFG, BIT_BYPASS_EN);
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_dev->set_address(old_address);
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_dev->get_semaphore()->give();
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return true;
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}
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bool AP_Baro_LPS2XH::_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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_dev->get_semaphore()->take_blocking();
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_dev->set_speed(AP_HAL::Device::SPEED_HIGH);
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// top bit is for read on SPI
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_dev->set_read_flag(0x80);
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if (!_check_whoami()) {
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_dev->get_semaphore()->give();
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return false;
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}
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//init control registers.
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if (_lps2xh_type == BARO_LPS25H) {
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_dev->write_register(LPS25H_CTRL_REG1_ADDR,0x00); // turn off for config
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_dev->write_register(LPS25H_CTRL_REG2_ADDR,0x00); //FIFO Disabled
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_dev->write_register(LPS25H_FIFO_CTRL, 0x01);
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_dev->write_register(LPS25H_CTRL_REG1_ADDR,0xc0);
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// request 25Hz update (maximum refresh Rate according to datasheet)
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CallTime = 40 * AP_USEC_PER_MSEC;
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}
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if (_lps2xh_type == BARO_LPS22H) {
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_dev->write_register(LPS22H_CTRL_REG1, 0x00); // turn off for config
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_dev->write_register(LPS22H_CTRL_REG1, LPS22H_CTRL_REG1_ODR_75HZ|LPS22H_CTRL_REG1_BDU|LPS22H_CTRL_REG1_EN_LPFP|LPS22H_CTRL_REG1_LPFP_CFG);
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if (_dev->bus_type() == AP_HAL::Device::BUS_TYPE_SPI) {
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_dev->write_register(LPS22H_CTRL_REG2, 0x18); // disable i2c
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} else {
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_dev->write_register(LPS22H_CTRL_REG2, 0x10);
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}
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// request 75Hz update
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CallTime = 1000000/75;
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}
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_instance = _frontend.register_sensor();
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_dev->set_device_type(DEVTYPE_BARO_LPS2XH);
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set_bus_id(_instance, _dev->get_bus_id());
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_dev->get_semaphore()->give();
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_dev->register_periodic_callback(CallTime, FUNCTOR_BIND_MEMBER(&AP_Baro_LPS2XH::_timer, void));
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return true;
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}
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//check ID
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bool AP_Baro_LPS2XH::_check_whoami(void)
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{
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uint8_t whoami;
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if (!_dev->read_registers(REG_ID, &whoami, 1)) {
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return false;
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}
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hal.console->printf("LPS2XH whoami 0x%02x\n", whoami);
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switch(whoami){
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case LPS22HB_WHOAMI:
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_lps2xh_type = BARO_LPS22H;
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return true;
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case LPS25HB_WHOAMI:
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_lps2xh_type = BARO_LPS25H;
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return true;
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}
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return false;
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}
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// acumulate a new sensor reading
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void AP_Baro_LPS2XH::_timer(void)
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{
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uint8_t status;
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// use status to check if data is available
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if (!_dev->read_registers(STATUS_ADDR, &status, 1)) {
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return;
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}
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if (status & 0x02) {
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_update_temperature();
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}
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if (status & 0x01) {
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_update_pressure();
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}
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}
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// transfer data to the frontend
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void AP_Baro_LPS2XH::update(void)
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{
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if (_pressure_count == 0) {
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return;
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}
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WITH_SEMAPHORE(_sem);
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_copy_to_frontend(_instance, _pressure_sum/_pressure_count, _temperature);
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_pressure_sum = 0;
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_pressure_count = 0;
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}
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// calculate temperature
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void AP_Baro_LPS2XH::_update_temperature(void)
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{
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uint8_t pu8[2];
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if (!_dev->read_registers(TEMP_OUT_ADDR, pu8, 2)) {
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return;
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}
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int16_t Temp_Reg_s16 = (uint16_t)(pu8[1]<<8) | pu8[0];
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WITH_SEMAPHORE(_sem);
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if (_lps2xh_type == BARO_LPS25H) {
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_temperature = (Temp_Reg_s16 * (1.0/480)) + 42.5;
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}
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if (_lps2xh_type == BARO_LPS22H) {
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_temperature = Temp_Reg_s16 * 0.01;
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}
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}
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// calculate pressure
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void AP_Baro_LPS2XH::_update_pressure(void)
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{
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uint8_t pressure[3];
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if (!_dev->read_registers(PRESS_OUT_XL_ADDR, pressure, 3)) {
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return;
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}
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int32_t Pressure_Reg_s32 = ((uint32_t)pressure[2]<<16)|((uint32_t)pressure[1]<<8)|(uint32_t)pressure[0];
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int32_t Pressure_mb = Pressure_Reg_s32 * (100.0f / 4096); // scale for pa
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WITH_SEMAPHORE(_sem);
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_pressure_sum += Pressure_mb;
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_pressure_count++;
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}
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