mirror of https://github.com/ArduPilot/ardupilot
153 lines
4.3 KiB
C++
153 lines
4.3 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 "AP_TemperatureSensor_TSYS01.h"
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#if AP_TEMPERATURE_SENSOR_TSYS01_ENABLED
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#include <utility>
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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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#ifndef AP_TEMPERATURE_SENSOR_TSYS01_ENFORCE_KNOWN_VALID_I2C_ADDRESS
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#define AP_TEMPERATURE_SENSOR_TSYS01_ENFORCE_KNOWN_VALID_I2C_ADDRESS 1
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#endif
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extern const AP_HAL::HAL &hal;
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static const uint8_t TSYS01_CMD_RESET = 0x1E;
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static const uint8_t TSYS01_CMD_READ_PROM = 0xA0;
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static const uint8_t TSYS01_CMD_CONVERT = 0x40;
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static const uint8_t TSYS01_CMD_READ_ADC = 0x00;
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void AP_TemperatureSensor_TSYS01::init()
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{
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constexpr char name[] = "TSYS01";
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#if AP_TEMPERATURE_SENSOR_TSYS01_ENFORCE_KNOWN_VALID_I2C_ADDRESS
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// I2C Address: Default to using TSYS01_ADDR_CSB0 & Check I2C Address is Correct
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if ((_params.bus_address != TSYS01_ADDR_CSB0) && (_params.bus_address != TSYS01_ADDR_CSB1)) {
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printf("%s wrong I2C addr of 0x%2X, setting to 0x%2X", name, (unsigned)_params.bus_address.get(), (unsigned)TSYS01_ADDR_CSB0);
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_params.bus_address.set(TSYS01_ADDR_CSB0);
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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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printf("%s device is null!", name);
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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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// reset
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if (!_dev->transfer(&TSYS01_CMD_RESET, 1, nullptr, 0)) {
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printf("%s reset failed", name);
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return;
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}
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hal.scheduler->delay(4);
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if (!read_prom()) {
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printf("%s prom read failed", name);
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return;
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}
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start_next_sample();
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// lower retries for run
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_dev->set_retries(3);
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/* Request 20Hz update */
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// Max conversion time is 9.04 ms
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_dev->register_periodic_callback(50 * AP_USEC_PER_MSEC,
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FUNCTOR_BIND_MEMBER(&AP_TemperatureSensor_TSYS01::_timer, void));
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}
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// Register map
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// prom word Address
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// 0 0xA0 -> unused
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// 1 0xA2 -> _k[4]
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// 2 0xA4 -> _k[3]
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// 3 0xA6 -> _k[2]
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// 4 0xA8 -> _k[1]
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// 5 0xAA -> _k[0]
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// 6 0xAC -> unused
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// 7 0xAE -> unused
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bool AP_TemperatureSensor_TSYS01::read_prom()
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{
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bool success = false;
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for (uint8_t i = 0; i < ARRAY_SIZE(_k); i++) {
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// Read only the prom values that we use
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_k[i] = read_prom_word(ARRAY_SIZE(_k)-i);
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success |= (_k[i] != 0);
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}
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return success;
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}
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// Borrowed from MS Baro driver
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uint16_t AP_TemperatureSensor_TSYS01::read_prom_word(const uint8_t word) const
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{
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const uint8_t reg = TSYS01_CMD_READ_PROM + (word << 1);
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uint8_t val[2];
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if (!_dev->transfer(®, 1, val, 2)) {
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return 0;
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}
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return UINT16_VALUE(val[0], val[1]);
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}
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uint32_t AP_TemperatureSensor_TSYS01::read_adc() const
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{
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uint8_t val[3];
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if (!_dev->transfer(&TSYS01_CMD_READ_ADC, 1, val, 3)) {
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return 0;
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}
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return UINT32_VALUE(0,val[0],val[1],val[2]);
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}
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void AP_TemperatureSensor_TSYS01::_timer(void)
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{
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const uint32_t adc = read_adc();
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if (adc != 0) {
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const float temp = calculate(adc);
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set_temperature(temp);
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}
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start_next_sample();
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}
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void AP_TemperatureSensor_TSYS01::start_next_sample()
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{
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_dev->transfer(&TSYS01_CMD_CONVERT, 1, nullptr, 0);
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}
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float AP_TemperatureSensor_TSYS01::calculate(const uint32_t adc) const
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{
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const float adc16 = adc/256;
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const float temperature =
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-2 * _k[4] * powf(10, -21) * powf(adc16, 4) +
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4 * _k[3] * powf(10, -16) * powf(adc16, 3) +
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-2 * _k[2] * powf(10, -11) * powf(adc16, 2) +
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1 * _k[1] * powf(10, -6) * adc16 +
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-1.5 * _k[0] * powf(10, -2);
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return temperature;
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}
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#endif // AP_TEMPERATURE_SENSOR_TSYS01_ENABLED
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