mirror of https://github.com/ArduPilot/ardupilot
326 lines
9.6 KiB
C++
326 lines
9.6 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_Baro_KellerLD.h"
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#if AP_BARO_KELLERLD_ENABLED
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#include <utility>
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#include <stdio.h>
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#include <AP_Math/AP_Math.h>
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#define KELLER_DEBUG 0
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#if KELLER_DEBUG
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# define Debug(fmt, args ...) do {printf(fmt "\n", ## args);} while(0)
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#else
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# define Debug(fmt, args ...)
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#endif
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extern const AP_HAL::HAL &hal;
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// sensor metadata register
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static const uint8_t CMD_METADATA_PMODE = 0x12;
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// Measurement range registers
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static const uint8_t CMD_PRANGE_MIN_MSB = 0x13;
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static const uint8_t CMD_PRANGE_MIN_LSB = 0x14;
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static const uint8_t CMD_PRANGE_MAX_MSB = 0x15;
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static const uint8_t CMD_PRANGE_MAX_LSB = 0x16;
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// write to this address to start pressure measurement
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static const uint8_t CMD_REQUEST_MEASUREMENT = 0xAC;
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AP_Baro_KellerLD::AP_Baro_KellerLD(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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// Look for the device on the bus and see if it responds appropriately
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AP_Baro_Backend *AP_Baro_KellerLD::probe(AP_Baro &baro, 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_KellerLD *sensor = NEW_NOTHROW AP_Baro_KellerLD(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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// convenience function to work around device transfer oddities
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bool AP_Baro_KellerLD::transfer_with_delays(uint8_t *send, uint8_t sendlen, uint8_t *recv, uint8_t recvlen)
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{
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if (!_dev->transfer(send, sendlen, nullptr, 0)) {
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return false;
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}
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hal.scheduler->delay(1);
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if(!_dev->transfer(nullptr, 0, recv, recvlen)) {
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return false;
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}
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hal.scheduler->delay(1);
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return true;
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}
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// This device has some undocumented finicky quirks and requires
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// delays when reading out the measurement range, but for some reason
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// this isn't an issue when requesting measurements. This is why we
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// need to split the transfers with delays like this. (Using
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// AP_HAL::I2CDevice::set_split_transfers will not work with these
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// sensors)
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bool AP_Baro_KellerLD::read_measurement_limit(float *limit, uint8_t msb_addr, uint8_t lsb_addr)
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{
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uint8_t data[3];
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if (!transfer_with_delays(&msb_addr, 1, data, ARRAY_SIZE(data))) {
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return false;
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}
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const uint16_t ms_word = (data[1] << 8) | data[2];
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Debug("0x%02x: %d [%d, %d, %d]", msb_addr, ms_word, data[0], data[1], data[2]);
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if (!transfer_with_delays(&lsb_addr, 1, data, ARRAY_SIZE(data))) {
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return false;
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}
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const uint16_t ls_word = (data[1] << 8) | data[2];
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Debug("0x%02x: %d [%d, %d, %d]", lsb_addr, ls_word, data[0], data[1], data[2]);
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const uint32_t cal_data = (ms_word << 16) | ls_word;
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memcpy(limit, &cal_data, sizeof(*limit));
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if (isinf(*limit) || isnan(*limit)) {
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return false;
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}
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Debug("data: %d, float: %.2f", cal_data, _p_min);
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return true;
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}
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bool AP_Baro_KellerLD::read_cal()
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{
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// Read out pressure measurement range
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if (!read_measurement_limit(&_p_min, CMD_PRANGE_MIN_MSB, CMD_PRANGE_MIN_LSB)) {
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return false;
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}
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if (!read_measurement_limit(&_p_max, CMD_PRANGE_MAX_MSB, CMD_PRANGE_MAX_LSB)) {
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return false;
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}
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if (_p_max <= _p_min) {
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return false;
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}
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return true;
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}
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// Read sensor P-Mode type and set pressure reference offset
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// This determines the pressure offset based on the type of sensor
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// vented to atmosphere, gauged to vacuum, or gauged to standard sea-level pressure
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bool AP_Baro_KellerLD::read_mode_type()
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{
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uint8_t cmd = CMD_METADATA_PMODE;
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uint8_t data[3];
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if (!transfer_with_delays(&cmd, 1, data, ARRAY_SIZE(data))) {
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return false;
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}
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// Byte 3, Bit 0 & 1: Represents P-Mode
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// "Communication Protocol 4 LD…9 LD", Version 2.6 pg 12 of 25
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// https://keller-druck.com/?d=VeMYAQBxgoSNjUSHbdnBTU
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_p_mode = (SensorMode)(data[2] & 0b11);
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// update pressure offset based on P-Mode
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switch (_p_mode) {
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case SensorMode::PR_MODE:
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// PR-Mode vented gauge sensor
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// pressure reads zero when the pressure outside is equal to the pressure inside the enclosure
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_p_mode_offset = _frontend.get_pressure(0);
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break;
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case SensorMode::PA_MODE:
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// PA-Mode sealed gauge sensor
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// pressure reads zero when the pressure outside is equal to 1.0 bar
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// i.e., the pressure at which the vent is sealed
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_p_mode_offset = 1.0;
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break;
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case SensorMode::PAA_MODE:
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// PAA-mode Absolute sensor (zero at vacuum)
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_p_mode_offset = 0.0;
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break;
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case SensorMode::UNDEFINED:
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// we should give an error here
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printf("KellerLD Device Mode UNDEFINED\n");
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return false;
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}
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return true;
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}
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// We read out the measurement range to be used in raw value conversions
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bool AP_Baro_KellerLD::_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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WITH_SEMAPHORE(_dev->get_semaphore());
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// high retries for init
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_dev->set_retries(10);
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if (!read_cal()) {
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printf("Cal read bad!\n");
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return false;
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}
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if (!read_mode_type()) {
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printf("Mode_Type read bad!\n");
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return false;
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}
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printf("Keller LD found on bus %u address 0x%02x\n", _dev->bus_num(), _dev->get_bus_address());
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// Send a command to take a measurement
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_dev->transfer(&CMD_REQUEST_MEASUREMENT, 1, nullptr, 0);
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memset(&_accum, 0, sizeof(_accum));
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_instance = _frontend.register_sensor();
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_dev->set_device_type(DEVTYPE_BARO_KELLERLD);
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set_bus_id(_instance, _dev->get_bus_id());
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_frontend.set_type(_instance, AP_Baro::BARO_TYPE_WATER);
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// lower retries for run
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_dev->set_retries(3);
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// The sensor needs time to take a deep breath after reading out the calibration...
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hal.scheduler->delay(150);
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// Request 50Hz update
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// The sensor really struggles with any jitter in timing at 100Hz, and will sometimes start reading out all zeros
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_dev->register_periodic_callback(20 * AP_USEC_PER_MSEC,
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FUNCTOR_BIND_MEMBER(&AP_Baro_KellerLD::_timer, void));
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return true;
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}
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// Read out most recent measurement from sensor hw
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bool AP_Baro_KellerLD::_read()
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{
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uint8_t data[5];
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if (!_dev->transfer(nullptr, 0, data, sizeof(data))) {
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Debug("Keller LD read failed!");
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return false;
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}
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//uint8_t status = data[0];
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uint16_t pressure_raw = (data[1] << 8) | data[2];
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uint16_t temperature_raw = (data[3] << 8) | data[4];
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#if KELLER_DEBUG
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static uint8_t samples = 0;
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if (samples < 3) {
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samples++;
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Debug("data: [%d, %d, %d, %d, %d]", data[0], data[1], data[2], data[3], data[4]);
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Debug("pressure_raw: %d\ttemperature_raw: %d", pressure_raw, temperature_raw);
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}
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#endif
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if (pressure_raw == 0 || temperature_raw == 0) {
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Debug("Keller: bad read");
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return false;
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}
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if (!pressure_ok(pressure_raw)) {
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return false;
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}
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WITH_SEMAPHORE(_sem);
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_update_and_wrap_accumulator(pressure_raw, temperature_raw, 128);
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return true;
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}
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// Periodic callback, regular update at 50Hz
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// Read out most recent measurement, and request another
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// Max conversion time according to datasheet is ~8ms, so
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// max update rate is ~125Hz, yet we struggle to get consistent
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// performance/data at 100Hz
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void AP_Baro_KellerLD::_timer(void)
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{
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_read();
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_dev->transfer(&CMD_REQUEST_MEASUREMENT, 1, nullptr, 0);
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}
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// Accumulate a reading, shrink if necessary to prevent overflow
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void AP_Baro_KellerLD::_update_and_wrap_accumulator(uint16_t pressure, uint16_t temperature, uint8_t max_count)
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{
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_accum.sum_pressure += pressure;
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_accum.sum_temperature += temperature;
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_accum.num_samples += 1;
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if (_accum.num_samples == max_count) {
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_accum.sum_pressure /= 2;
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_accum.sum_temperature /= 2;
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_accum.num_samples /= 2;
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}
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}
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// Take the average of accumulated values and push to frontend
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void AP_Baro_KellerLD::update()
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{
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float sum_pressure, sum_temperature;
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float num_samples;
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// update _p_mode_offset if vented guage
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if (_p_mode == SensorMode::PR_MODE) {
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// we need to get the pressure from on-board barometer
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_p_mode_offset = _frontend.get_pressure(0);
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}
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{
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WITH_SEMAPHORE(_sem);
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if (_accum.num_samples == 0) {
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return;
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}
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sum_pressure = _accum.sum_pressure;
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sum_temperature = _accum.sum_temperature;
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num_samples = _accum.num_samples;
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memset(&_accum, 0, sizeof(_accum));
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}
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uint16_t raw_pressure_avg = sum_pressure / num_samples;
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uint16_t raw_temperature_avg = sum_temperature / num_samples;
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// per datasheet
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float pressure = (raw_pressure_avg - 16384) * (_p_max - _p_min) / 32768 + _p_min + _p_mode_offset;
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pressure *= 100000; // bar -> Pascal
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float temperature = ((raw_temperature_avg >> 4) - 24) * 0.05f - 50;
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_copy_to_frontend(_instance, pressure, temperature);
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}
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#endif // AP_BARO_KELLERLD_ENABLED
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