mirror of https://github.com/ArduPilot/ardupilot
333 lines
9.2 KiB
C++
333 lines
9.2 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_HAL/AP_HAL.h>
|
|
#include <AP_HAL/I2CDevice.h>
|
|
#include <utility>
|
|
|
|
#include <AP_Common/AP_Common.h>
|
|
#include <AP_HAL/AP_HAL.h>
|
|
#include <AP_Math/AP_Math.h>
|
|
#include <AP_BoardConfig/AP_BoardConfig.h>
|
|
#include "AP_Baro_ICM20789.h"
|
|
|
|
#include <utility>
|
|
#include <stdio.h>
|
|
|
|
#include <AP_Math/AP_Math.h>
|
|
#include <DataFlash/DataFlash.h>
|
|
|
|
extern const AP_HAL::HAL &hal;
|
|
|
|
/*
|
|
CMD_READ options. The draft datasheet doesn't specify, but it seems
|
|
Mode_1 has a conversion interval of 2ms. Mode_3 has a conversion
|
|
interval of 20ms. Both seem to produce equally as smooth results, so
|
|
presumably Mode_3 is doing internal averaging
|
|
*/
|
|
#define CMD_READ_PT_MODE_1 0x401A
|
|
#define CMD_READ_PT_MODE_3 0x5059
|
|
#define CMD_READ_TP_MODE_1 0x609C
|
|
#define CMD_READ_TP_MODE_3 0x70DF
|
|
|
|
#define CONVERSION_INTERVAL_MODE_1 2000
|
|
#define CONVERSION_INTERVAL_MODE_3 20000
|
|
|
|
// setup for Mode_3
|
|
#define CMD_READ_PT CMD_READ_PT_MODE_3
|
|
#define CONVERSION_INTERVAL CONVERSION_INTERVAL_MODE_3
|
|
|
|
#define CMD_SOFT_RESET 0x805D
|
|
#define CMD_READ_ID 0xEFC8
|
|
|
|
#define BARO_ICM20789_DEBUG 0
|
|
|
|
#if BARO_ICM20789_DEBUG
|
|
#define debug(fmt, args...) hal.console->printf(fmt, ##args)
|
|
#else
|
|
#define debug(fmt, args...)
|
|
#endif
|
|
|
|
/*
|
|
constructor
|
|
*/
|
|
AP_Baro_ICM20789::AP_Baro_ICM20789(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> _dev)
|
|
: AP_Baro_Backend(baro)
|
|
, dev(std::move(_dev))
|
|
{
|
|
}
|
|
|
|
AP_Baro_Backend *AP_Baro_ICM20789::probe(AP_Baro &baro,
|
|
AP_HAL::OwnPtr<AP_HAL::Device> dev)
|
|
{
|
|
debug("Probing for ICM20789 baro\n");
|
|
if (!dev) {
|
|
return nullptr;
|
|
}
|
|
AP_Baro_ICM20789 *sensor = new AP_Baro_ICM20789(baro, std::move(dev));
|
|
if (!sensor || !sensor->init()) {
|
|
delete sensor;
|
|
return nullptr;
|
|
}
|
|
return sensor;
|
|
}
|
|
|
|
|
|
bool AP_Baro_ICM20789::spi_init(void)
|
|
{
|
|
#ifdef HAL_INS_MPU60x0_NAME
|
|
AP_HAL::OwnPtr<AP_HAL::Device> dev_icm =
|
|
hal.spi->get_device(HAL_INS_MPU60x0_NAME);
|
|
|
|
if (!dev_icm->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
|
|
AP_HAL::panic("PANIC: AP_Baro_ICM20789: failed to take serial semaphore ICM");
|
|
}
|
|
|
|
dev_icm->set_read_flag(0x80);
|
|
|
|
dev_icm->set_speed(AP_HAL::Device::SPEED_LOW);
|
|
uint8_t whoami = 0;
|
|
uint8_t v;
|
|
|
|
dev_icm->read_registers(0x6A, &v, 1);
|
|
dev_icm->write_register(0x6B, 0x01);
|
|
|
|
hal.scheduler->delay(1);
|
|
dev_icm->write_register(0x6A, 0x10);
|
|
dev_icm->write_register(0x6B, 0x41);
|
|
|
|
hal.scheduler->delay(1);
|
|
dev_icm->write_register(0x6B, 0x01);
|
|
|
|
hal.scheduler->delay(1);
|
|
dev_icm->write_register(0x23, 0x00);
|
|
dev_icm->write_register(0x6B, 0x41);
|
|
|
|
dev_icm->read_registers(0x75, &whoami, 1);
|
|
|
|
// wait for sensor to settle
|
|
hal.scheduler->delay(100);
|
|
|
|
dev_icm->read_registers(0x75, &whoami, 1);
|
|
|
|
dev_icm->write_register(0x37, 0x00);
|
|
dev_icm->write_register(0x6A, 0x10);
|
|
|
|
dev_icm->get_semaphore()->give();
|
|
|
|
return true;
|
|
#else
|
|
debug("ICM20789: HAL_INS_MPU60x0_NAME not defined\n");
|
|
return false;
|
|
#endif // HAL_INS_MPU60x0_NAME
|
|
}
|
|
|
|
bool AP_Baro_ICM20789::init()
|
|
{
|
|
if (!dev) {
|
|
return false;
|
|
}
|
|
|
|
debug("Looking for 20789 baro\n");
|
|
|
|
if (!dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
|
|
AP_HAL::panic("PANIC: AP_Baro_ICM20789: failed to take serial semaphore for init");
|
|
}
|
|
|
|
/*
|
|
Pressure sensor data can be accessed in the following mode:
|
|
Bypass Mode: Set register INT_PIN_CFG (Address: 55 (Decimal); 37 (Hex)) bit 1 to value 1
|
|
and I2C_MST_EN bit is 0 Address: 106 (Decimal); 6A (Hex)).
|
|
Pressure sensor data can then be accessed using the procedure described in Section 10.
|
|
*/
|
|
debug("Setting up IMU\n");
|
|
if (!spi_init()) {
|
|
debug("ICM20789: failed to initialise SPI device\n");
|
|
return false;
|
|
}
|
|
|
|
if (!send_cmd16(CMD_SOFT_RESET)) {
|
|
debug("ICM20789: reset failed\n");
|
|
goto failed;
|
|
}
|
|
|
|
// wait for sensor to settle
|
|
hal.scheduler->delay(10);
|
|
|
|
if (!read_calibration_data()) {
|
|
debug("ICM20789: read_calibration_data failed\n");
|
|
goto failed;
|
|
}
|
|
|
|
// start a reading
|
|
if (!send_cmd16(CMD_READ_PT)) {
|
|
debug("ICM20789: start read failed\n");
|
|
goto failed;
|
|
}
|
|
|
|
dev->set_retries(0);
|
|
|
|
instance = _frontend.register_sensor();
|
|
|
|
dev->get_semaphore()->give();
|
|
|
|
debug("ICM20789: startup OK\n");
|
|
|
|
// use 10ms to ensure we don't lose samples, with max lag of 10ms
|
|
dev->register_periodic_callback(CONVERSION_INTERVAL/2, FUNCTOR_BIND_MEMBER(&AP_Baro_ICM20789::timer, void));
|
|
|
|
return true;
|
|
|
|
failed:
|
|
dev->get_semaphore()->give();
|
|
return false;
|
|
}
|
|
|
|
bool AP_Baro_ICM20789::send_cmd16(uint16_t cmd)
|
|
{
|
|
uint8_t cmd_b[2] = { uint8_t(cmd >> 8), uint8_t(cmd & 0xFF) };
|
|
return dev->transfer(cmd_b, 2, nullptr, 0);
|
|
}
|
|
|
|
bool AP_Baro_ICM20789::read_calibration_data(void)
|
|
{
|
|
// setup for OTP read
|
|
const uint8_t cmd[5] = { 0xC5, 0x95, 0x00, 0x66, 0x9C };
|
|
if (!dev->transfer(cmd, sizeof(cmd), nullptr, 0)) {
|
|
debug("ICM20789: read cal1 failed\n");
|
|
return false;
|
|
}
|
|
for (uint8_t i=0; i<4; i++) {
|
|
if (!send_cmd16(0xC7F7)) {
|
|
debug("ICM20789: read cal2[%u] failed\n", i);
|
|
return false;
|
|
}
|
|
uint8_t d[3];
|
|
if (!dev->transfer(nullptr, 0, d, sizeof(d))) {
|
|
debug("ICM20789: read cal3[%u] failed\n", i);
|
|
return false;
|
|
}
|
|
sensor_constants[i] = int16_t((d[0]<<8) | d[1]);
|
|
debug("sensor_constants[%u]=%d\n", i, sensor_constants[i]);
|
|
}
|
|
return true;
|
|
}
|
|
|
|
void AP_Baro_ICM20789::calculate_conversion_constants(const float p_Pa[3], const float p_LUT[3],
|
|
float &A, float &B, float &C)
|
|
{
|
|
C = (p_LUT[0] * p_LUT[1] * (p_Pa[0] - p_Pa[1]) +
|
|
p_LUT[1] * p_LUT[2] * (p_Pa[1] - p_Pa[2]) +
|
|
p_LUT[2] * p_LUT[0] * (p_Pa[2] - p_Pa[0])) /
|
|
(p_LUT[2] * (p_Pa[0] - p_Pa[1]) +
|
|
p_LUT[0] * (p_Pa[1] - p_Pa[2]) +
|
|
p_LUT[1] * (p_Pa[2] - p_Pa[0]));
|
|
A = (p_Pa[0] * p_LUT[0] - p_Pa[1] * p_LUT[1] - (p_Pa[1] - p_Pa[0]) * C) / (p_LUT[0] - p_LUT[1]);
|
|
B = (p_Pa[0] - A) * (p_LUT[0] + C);
|
|
}
|
|
|
|
/*
|
|
Convert an output from a calibrated sensor to a pressure in Pa.
|
|
Arguments:
|
|
p_LSB -- Raw pressure data from sensor
|
|
T_LSB -- Raw temperature data from sensor
|
|
*/
|
|
float AP_Baro_ICM20789::get_pressure(uint32_t p_LSB, uint32_t T_LSB)
|
|
{
|
|
float t = T_LSB - 32768.0;
|
|
float s[3];
|
|
s[0] = LUT_lower + float(sensor_constants[0] * t * t) * quadr_factor;
|
|
s[1] = offst_factor * sensor_constants[3] + float(sensor_constants[1] * t * t) * quadr_factor;
|
|
s[2] = LUT_upper + float(sensor_constants[2] * t * t) * quadr_factor;
|
|
float A, B, C;
|
|
calculate_conversion_constants(p_Pa_calib, s, A, B, C);
|
|
return A + B / (C + p_LSB);
|
|
}
|
|
|
|
|
|
#if BARO_ICM20789_DEBUG
|
|
static struct {
|
|
uint32_t Praw, Traw;
|
|
float T, P;
|
|
} dd;
|
|
#endif
|
|
|
|
void AP_Baro_ICM20789::convert_data(uint32_t Praw, uint32_t Traw)
|
|
{
|
|
// temperature is easy
|
|
float T = -45 + (175.0 / (1U<<16)) * Traw;
|
|
|
|
// pressure involves a few more calculations
|
|
float P = get_pressure(Praw, Traw);
|
|
|
|
if (isinf(P) || isnan(P)) {
|
|
// really bad data
|
|
return;
|
|
}
|
|
|
|
if (_sem->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
|
|
#if BARO_ICM20789_DEBUG
|
|
dd.Praw = Praw;
|
|
dd.Traw = Traw;
|
|
dd.P = P;
|
|
dd.T = T;
|
|
#endif
|
|
|
|
accum.psum += P;
|
|
accum.tsum += T;
|
|
accum.count++;
|
|
_sem->give();
|
|
}
|
|
}
|
|
|
|
void AP_Baro_ICM20789::timer(void)
|
|
{
|
|
uint8_t d[9] {};
|
|
if (dev->transfer(nullptr, 0, d, sizeof(d))) {
|
|
// ignore CRC bytes for now
|
|
uint32_t Praw = (uint32_t(d[0]) << 16) | (uint32_t(d[1]) << 8) | d[3];
|
|
uint32_t Traw = (uint32_t(d[6]) << 8) | d[7];
|
|
|
|
convert_data(Praw, Traw);
|
|
send_cmd16(CMD_READ_PT);
|
|
last_measure_us = AP_HAL::micros();
|
|
} else {
|
|
if (AP_HAL::micros() - last_measure_us > CONVERSION_INTERVAL*3) {
|
|
// lost a sample
|
|
send_cmd16(CMD_READ_PT);
|
|
last_measure_us = AP_HAL::micros();
|
|
}
|
|
}
|
|
}
|
|
|
|
void AP_Baro_ICM20789::update()
|
|
{
|
|
if (_sem->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
|
|
if (accum.count > 0) {
|
|
_copy_to_frontend(instance, accum.psum/accum.count, accum.tsum/accum.count);
|
|
accum.psum = accum.tsum = 0;
|
|
accum.count = 0;
|
|
}
|
|
_sem->give();
|
|
#if BARO_ICM20789_DEBUG
|
|
// useful for debugging
|
|
DataFlash_Class::instance()->Log_Write("ICMB", "TimeUS,Traw,Praw,P,T", "QIIff",
|
|
AP_HAL::micros64(),
|
|
dd.Traw, dd.Praw, dd.P, dd.T);
|
|
#endif
|
|
}
|
|
}
|
|
|