mirror of https://github.com/ArduPilot/ardupilot
238 lines
9.0 KiB
C++
238 lines
9.0 KiB
C++
/*
|
|
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_Baro_SPL06.h"
|
|
|
|
#include <utility>
|
|
|
|
extern const AP_HAL::HAL &hal;
|
|
|
|
#define SPL06_CHIP_ID 0x10
|
|
|
|
#define SPL06_REG_PRESSURE_B2 0x00 // Pressure MSB Register
|
|
#define SPL06_REG_PRESSURE_B1 0x01 // Pressure middle byte Register
|
|
#define SPL06_REG_PRESSURE_B0 0x02 // Pressure LSB Register
|
|
#define SPL06_REG_PRESSURE_START SPL06_REG_PRESSURE_B2
|
|
#define SPL06_PRESSURE_LEN 3 // 24 bits, 3 bytes
|
|
#define SPL06_REG_TEMPERATURE_B2 0x03 // Temperature MSB Register
|
|
#define SPL06_REG_TEMPERATURE_B1 0x04 // Temperature middle byte Register
|
|
#define SPL06_REG_TEMPERATURE_B0 0x05 // Temperature LSB Register
|
|
#define SPL06_REG_TEMPERATURE_START SPL06_REG_TEMPERATURE_B2
|
|
#define SPL06_TEMPERATURE_LEN 3 // 24 bits, 3 bytes
|
|
#define SPL06_REG_PRESSURE_CFG 0x06 // Pressure config
|
|
#define SPL06_REG_TEMPERATURE_CFG 0x07 // Temperature config
|
|
#define SPL06_REG_MODE_AND_STATUS 0x08 // Mode and status
|
|
#define SPL06_REG_INT_AND_FIFO_CFG 0x09 // Interrupt and FIFO config
|
|
#define SPL06_REG_INT_STATUS 0x0A // Interrupt and FIFO config
|
|
#define SPL06_REG_FIFO_STATUS 0x0B // Interrupt and FIFO config
|
|
#define SPL06_REG_RST 0x0C // Softreset Register
|
|
#define SPL06_REG_CHIP_ID 0x0D // Chip ID Register
|
|
#define SPL06_REG_CALIB_COEFFS_START 0x10
|
|
#define SPL06_REG_CALIB_COEFFS_END 0x21
|
|
|
|
#define SPL06_CALIB_COEFFS_LEN (SPL06_REG_CALIB_COEFFS_END - SPL06_REG_CALIB_COEFFS_START + 1)
|
|
|
|
// TEMPERATURE_CFG_REG
|
|
#define SPL06_TEMP_USE_EXT_SENSOR (1<<7)
|
|
|
|
// MODE_AND_STATUS_REG
|
|
#define SPL06_MEAS_PRESSURE (1<<0) // measure pressure
|
|
#define SPL06_MEAS_TEMPERATURE (1<<1) // measure temperature
|
|
|
|
#define SPL06_MEAS_CFG_CONTINUOUS (1<<2)
|
|
#define SPL06_MEAS_CFG_PRESSURE_RDY (1<<4)
|
|
#define SPL06_MEAS_CFG_TEMPERATURE_RDY (1<<5)
|
|
#define SPL06_MEAS_CFG_SENSOR_RDY (1<<6)
|
|
#define SPL06_MEAS_CFG_COEFFS_RDY (1<<7)
|
|
|
|
// INT_AND_FIFO_CFG_REG
|
|
#define SPL06_PRESSURE_RESULT_BIT_SHIFT (1<<2) // necessary for pressure oversampling > 8
|
|
#define SPL06_TEMPERATURE_RESULT_BIT_SHIFT (1<<3) // necessary for temperature oversampling > 8
|
|
|
|
// Don't set oversampling higher than 8 or the measurement time will be higher than 20ms (timer period)
|
|
#define SPL06_PRESSURE_OVERSAMPLING 8
|
|
#define SPL06_TEMPERATURE_OVERSAMPLING 8
|
|
|
|
#define SPL06_OVERSAMPLING_TO_REG_VALUE(n) (ffs(n)-1)
|
|
|
|
AP_Baro_SPL06::AP_Baro_SPL06(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev)
|
|
: AP_Baro_Backend(baro)
|
|
, _dev(std::move(dev))
|
|
{
|
|
}
|
|
|
|
AP_Baro_Backend *AP_Baro_SPL06::probe(AP_Baro &baro,
|
|
AP_HAL::OwnPtr<AP_HAL::Device> dev)
|
|
{
|
|
if (!dev) {
|
|
return nullptr;
|
|
}
|
|
|
|
if (dev->bus_type() == AP_HAL::Device::BUS_TYPE_SPI) {
|
|
dev->set_read_flag(0x80);
|
|
}
|
|
|
|
AP_Baro_SPL06 *sensor = new AP_Baro_SPL06(baro, std::move(dev));
|
|
if (!sensor || !sensor->_init()) {
|
|
delete sensor;
|
|
return nullptr;
|
|
}
|
|
return sensor;
|
|
}
|
|
|
|
bool AP_Baro_SPL06::_init()
|
|
{
|
|
if (!_dev) {
|
|
return false;
|
|
}
|
|
WITH_SEMAPHORE(_dev->get_semaphore());
|
|
|
|
_has_sample = false;
|
|
|
|
_dev->set_speed(AP_HAL::Device::SPEED_HIGH);
|
|
|
|
uint8_t whoami;
|
|
if (!_dev->read_registers(SPL06_REG_CHIP_ID, &whoami, 1) ||
|
|
whoami != SPL06_CHIP_ID) {
|
|
// not a SPL06
|
|
return false;
|
|
}
|
|
|
|
// read the calibration data
|
|
uint8_t buf[SPL06_CALIB_COEFFS_LEN];
|
|
_dev->read_registers(SPL06_REG_CALIB_COEFFS_START, buf, sizeof(buf));
|
|
|
|
_c0 = (buf[0] & 0x80 ? 0xF000 : 0) | ((uint16_t)buf[0] << 4) | (((uint16_t)buf[1] & 0xF0) >> 4);
|
|
_c1 = ((buf[1] & 0x8 ? 0xF000 : 0) | ((uint16_t)buf[1] & 0x0F) << 8) | (uint16_t)buf[2];
|
|
_c00 = (buf[3] & 0x80 ? 0xFFF00000 : 0) | ((uint32_t)buf[3] << 12) | ((uint32_t)buf[4] << 4) | (((uint32_t)buf[5] & 0xF0) >> 4);
|
|
_c10 = (buf[5] & 0x8 ? 0xFFF00000 : 0) | (((uint32_t)buf[5] & 0x0F) << 16) | ((uint32_t)buf[6] << 8) | (uint32_t)buf[7];
|
|
_c01 = ((uint16_t)buf[8] << 8) | ((uint16_t)buf[9]);
|
|
_c11 = ((uint16_t)buf[10] << 8) | (uint16_t)buf[11];
|
|
_c20 = ((uint16_t)buf[12] << 8) | (uint16_t)buf[13];
|
|
_c21 = ((uint16_t)buf[14] << 8) | (uint16_t)buf[15];
|
|
_c30 = ((uint16_t)buf[16] << 8) | (uint16_t)buf[17];
|
|
|
|
// setup temperature and pressure measurements
|
|
_dev->setup_checked_registers(3, 20);
|
|
|
|
_dev->write_register(SPL06_REG_TEMPERATURE_CFG, SPL06_TEMP_USE_EXT_SENSOR | SPL06_OVERSAMPLING_TO_REG_VALUE(SPL06_TEMPERATURE_OVERSAMPLING), true);
|
|
_dev->write_register(SPL06_REG_PRESSURE_CFG, SPL06_OVERSAMPLING_TO_REG_VALUE(SPL06_PRESSURE_OVERSAMPLING), true);
|
|
|
|
uint8_t int_and_fifo_reg_value = 0;
|
|
if (SPL06_TEMPERATURE_OVERSAMPLING > 8) {
|
|
int_and_fifo_reg_value |= SPL06_TEMPERATURE_RESULT_BIT_SHIFT;
|
|
}
|
|
if (SPL06_PRESSURE_OVERSAMPLING > 8) {
|
|
int_and_fifo_reg_value |= SPL06_PRESSURE_RESULT_BIT_SHIFT;
|
|
}
|
|
_dev->write_register(SPL06_REG_INT_AND_FIFO_CFG, int_and_fifo_reg_value, true);
|
|
|
|
_instance = _frontend.register_sensor();
|
|
|
|
_dev->set_device_type(DEVTYPE_BARO_SPL06);
|
|
set_bus_id(_instance, _dev->get_bus_id());
|
|
|
|
// request 50Hz update
|
|
_timer_counter = -1;
|
|
_dev->register_periodic_callback(20 * AP_USEC_PER_MSEC, FUNCTOR_BIND_MEMBER(&AP_Baro_SPL06::_timer, void));
|
|
|
|
return true;
|
|
}
|
|
|
|
int32_t AP_Baro_SPL06::raw_value_scale_factor(uint8_t oversampling)
|
|
{
|
|
// From the datasheet page 13
|
|
switch(oversampling)
|
|
{
|
|
case 1: return 524288;
|
|
case 2: return 1572864;
|
|
case 4: return 3670016;
|
|
case 8: return 7864320;
|
|
case 16: return 253952;
|
|
case 32: return 516096;
|
|
case 64: return 1040384;
|
|
case 128: return 2088960;
|
|
default: return -1; // invalid
|
|
}
|
|
}
|
|
|
|
// acumulate a new sensor reading
|
|
void AP_Baro_SPL06::_timer(void)
|
|
{
|
|
uint8_t buf[3];
|
|
|
|
if ((_timer_counter == -1) || (_timer_counter == 49)) {
|
|
// First call and every second start a temperature measurement (50Hz call)
|
|
_dev->write_register(SPL06_REG_MODE_AND_STATUS, SPL06_MEAS_TEMPERATURE, false);
|
|
_timer_counter = 0; // Next cycle we are reading the temperature
|
|
} else if (_timer_counter == 0) {
|
|
// A temperature measurement had been started during the previous call
|
|
_dev->read_registers(SPL06_REG_TEMPERATURE_START, buf, sizeof(buf));
|
|
_update_temperature((int32_t)((buf[0] & 0x80 ? 0xFF000000 : 0) | ((uint32_t)buf[0] << 16) | ((uint32_t)buf[1] << 8) | buf[2]));
|
|
_dev->write_register(SPL06_REG_MODE_AND_STATUS, SPL06_MEAS_PRESSURE, false);
|
|
_timer_counter += 1;
|
|
} else {
|
|
// The rest of the time read the latest pressure and start a new measurement
|
|
_dev->read_registers(SPL06_REG_PRESSURE_START, buf, sizeof(buf));
|
|
_update_pressure((int32_t)((buf[0] & 0x80 ? 0xFF000000 : 0) | ((uint32_t)buf[0] << 16) | ((uint32_t)buf[1] << 8) | buf[2]));
|
|
_dev->write_register(SPL06_REG_MODE_AND_STATUS, SPL06_MEAS_PRESSURE, false);
|
|
_timer_counter += 1;
|
|
}
|
|
|
|
_dev->check_next_register();
|
|
}
|
|
|
|
// transfer data to the frontend
|
|
void AP_Baro_SPL06::update(void)
|
|
{
|
|
WITH_SEMAPHORE(_sem);
|
|
|
|
if (!_has_sample) {
|
|
return;
|
|
}
|
|
|
|
_copy_to_frontend(_instance, _pressure, _temperature);
|
|
_has_sample = false;
|
|
}
|
|
|
|
// calculate temperature
|
|
void AP_Baro_SPL06::_update_temperature(int32_t temp_raw)
|
|
{
|
|
_temp_raw = (float)temp_raw / raw_value_scale_factor(SPL06_TEMPERATURE_OVERSAMPLING);
|
|
const float temp_comp = (float)_c0 / 2 + _temp_raw * _c1;
|
|
|
|
WITH_SEMAPHORE(_sem);
|
|
|
|
_temperature = temp_comp;
|
|
}
|
|
|
|
// calculate pressure
|
|
void AP_Baro_SPL06::_update_pressure(int32_t press_raw)
|
|
{
|
|
const float press_raw_sc = (float)press_raw / raw_value_scale_factor(SPL06_PRESSURE_OVERSAMPLING);
|
|
const float pressure_cal = (float)_c00 + press_raw_sc * ((float)_c10 + press_raw_sc * ((float)_c20 + press_raw_sc * _c30));
|
|
const float press_temp_comp = _temp_raw * ((float)_c01 + press_raw_sc * ((float)_c11 + press_raw_sc * _c21));
|
|
|
|
const float press_comp = pressure_cal + press_temp_comp;
|
|
|
|
if (!pressure_ok(press_comp)) {
|
|
return;
|
|
}
|
|
|
|
WITH_SEMAPHORE(_sem);
|
|
|
|
_pressure = press_comp;
|
|
_has_sample = true;
|
|
}
|