mirror of https://github.com/ArduPilot/ardupilot
136 lines
3.0 KiB
C++
136 lines
3.0 KiB
C++
#include "TSYS01.h"
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#include <utility>
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#include <stdio.h>
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#include <AP_HAL/AP_HAL.h>
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#include <AP_HAL/I2CDevice.h>
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#include <AP_Math/AP_Math.h>
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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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bool TSYS01::init(uint8_t bus)
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{
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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return false;
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#endif
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_dev = std::move(hal.i2c_mgr->get_device(bus, TSYS01_ADDR));
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if (!_dev) {
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printf("TSYS01 device is null!");
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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_retries(10);
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if (!_reset()) {
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printf("TSYS01 reset failed");
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_dev->get_semaphore()->give();
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return false;
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}
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hal.scheduler->delay(4);
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if (!_read_prom()) {
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printf("TSYS01 prom read failed");
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_dev->get_semaphore()->give();
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return false;
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}
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_convert();
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// lower retries for run
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_dev->set_retries(3);
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_dev->get_semaphore()->give();
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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(&TSYS01::_timer, void));
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return true;
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}
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bool TSYS01::_reset()
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{
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return _dev->transfer(&TSYS01_CMD_RESET, 1, nullptr, 0);
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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 TSYS01::_read_prom()
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{
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bool success = false;
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for (int i = 0; i < 5; i++) {
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// Read only the prom values that we use
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_k[i] = _read_prom_word(5-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 TSYS01::_read_prom_word(uint8_t word)
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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 (val[0] << 8) | val[1];
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}
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bool TSYS01::_convert()
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{
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return _dev->transfer(&TSYS01_CMD_CONVERT, 1, nullptr, 0);
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}
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uint32_t TSYS01::_read_adc()
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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 (val[0] << 16) | (val[1] << 8) | val[2];
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}
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void TSYS01::_timer(void)
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{
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uint32_t adc = _read_adc();
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_healthy = adc != 0;
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if (_healthy) {
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_calculate(adc);
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} else {
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_temperature = 0;
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}
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//printf("\nTemperature: %.2lf C", _temperature);
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_convert();
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}
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void TSYS01::_calculate(uint32_t adc)
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{
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float adc16 = adc/256;
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_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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}
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