mirror of https://github.com/ArduPilot/ardupilot
280 lines
7.2 KiB
C++
280 lines
7.2 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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/*
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DPS280 barometer driver
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*/
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#include "AP_Baro_DPS280.h"
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#include <utility>
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#include <stdio.h>
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extern const AP_HAL::HAL &hal;
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#define DPS280_REG_PRESS 0x00
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#define DPS280_REG_TEMP 0x03
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#define DPS280_REG_PCONF 0x06
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#define DPS280_REG_TCONF 0x07
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#define DPS280_REG_MCONF 0x08
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#define DPS280_REG_CREG 0x09
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#define DPS280_REG_ISTS 0x0A
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#define DPS280_REG_FSTS 0x0B
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#define DPS280_REG_RESET 0x0C
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#define DPS280_REG_PID 0x0D
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#define DPS280_REG_COEF 0x10
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#define DPS280_REG_CSRC 0x28
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#define DPS280_WHOAMI 0x10
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#define TEMPERATURE_LIMIT_C 120
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AP_Baro_DPS280::AP_Baro_DPS280(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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AP_Baro_Backend *AP_Baro_DPS280::probe(AP_Baro &baro,
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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_DPS280 *sensor = new AP_Baro_DPS280(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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/*
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handle bit width for 16 bit config registers
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*/
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void AP_Baro_DPS280::fix_config_bits16(int16_t &v, uint8_t bits) const
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{
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if (v > int16_t((1U<<(bits-1))-1)) {
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v = v - (1U<<bits);
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}
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}
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/*
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handle bit width for 32 bit config registers
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*/
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void AP_Baro_DPS280::fix_config_bits32(int32_t &v, uint8_t bits) const
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{
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if (v > int32_t((1U<<(bits-1))-1)) {
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v = v - (1U<<bits);
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}
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}
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/*
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read calibration data
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*/
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bool AP_Baro_DPS280::read_calibration(void)
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{
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uint8_t buf[18];
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if (!dev->read_registers(DPS280_REG_COEF, buf, 18)) {
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return false;
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}
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calibration.C0 = (buf[0] << 4) + ((buf[1] >>4) & 0x0F);
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calibration.C1 = (buf[2] + ((buf[1] & 0x0F)<<8));
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calibration.C00 = ((buf[4]<<4) + (buf[3]<<12)) + ((buf[5]>>4) & 0x0F);
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calibration.C10 = ((buf[5] & 0x0F)<<16) + buf[7] + (buf[6]<<8);
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calibration.C01 = (buf[9] + (buf[8]<<8));
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calibration.C11 = (buf[11] + (buf[10]<<8));
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calibration.C20 = (buf[13] + (buf[12]<<8));
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calibration.C21 = (buf[15] + (buf[14]<<8));
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calibration.C30 = (buf[17] + (buf[16]<<8));
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fix_config_bits16(calibration.C0, 12);
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fix_config_bits16(calibration.C1, 12);
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fix_config_bits32(calibration.C00, 20);
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fix_config_bits32(calibration.C10, 20);
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fix_config_bits16(calibration.C01, 16);
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fix_config_bits16(calibration.C11, 16);
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fix_config_bits16(calibration.C20, 16);
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fix_config_bits16(calibration.C21, 16);
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fix_config_bits16(calibration.C30, 16);
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/* get calibration source */
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if (!dev->read_registers(DPS280_REG_CSRC, &calibration.temp_source, 1)) {
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return false;
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}
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calibration.temp_source &= 0x80;
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return true;
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}
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void AP_Baro_DPS280::set_config_registers(void)
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{
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dev->write_register(DPS280_REG_CREG, 0x0C, true); // shift for 16x oversampling
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dev->write_register(DPS280_REG_PCONF, 0x54, true); // 32 Hz, 16x oversample
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dev->write_register(DPS280_REG_TCONF, 0x54 | calibration.temp_source, true); // 32 Hz, 16x oversample
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dev->write_register(DPS280_REG_MCONF, 0x07); // continuous temp and pressure.
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}
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bool AP_Baro_DPS280::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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dev->get_semaphore()->take_blocking();
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// setup to allow reads on SPI
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if (dev->bus_type() == AP_HAL::Device::BUS_TYPE_SPI) {
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dev->set_read_flag(0x80);
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}
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dev->set_speed(AP_HAL::Device::SPEED_HIGH);
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uint8_t whoami=0;
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if (!dev->read_registers(DPS280_REG_PID, &whoami, 1) ||
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whoami != DPS280_WHOAMI) {
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// not a DPS280
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printf("DPS280 whoami=0x%x\n", whoami);
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dev->get_semaphore()->give();
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return false;
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}
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if (!read_calibration()) {
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dev->get_semaphore()->give();
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return false;
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}
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dev->setup_checked_registers(4, 20);
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set_config_registers();
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instance = _frontend.register_sensor();
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dev->get_semaphore()->give();
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// request 64Hz update. New data will be available at 32Hz
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dev->register_periodic_callback((1000 / 64) * AP_USEC_PER_MSEC, FUNCTOR_BIND_MEMBER(&AP_Baro_DPS280::timer, void));
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return true;
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}
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/*
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calculate corrected pressure and temperature
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*/
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void AP_Baro_DPS280::calculate_PT(int32_t UT, int32_t UP, float &pressure, float &temperature)
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{
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const struct dps280_cal &cal = calibration;
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// scaling for 16x oversampling
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const float scaling_16 = 1.0f/253952;
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float temp_scaled;
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float press_scaled;
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temp_scaled = float(UT) * scaling_16;
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temperature = cal.C0 * 0.5f + cal.C1 * temp_scaled;
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press_scaled = float(UP) * scaling_16;
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pressure = cal.C00;
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pressure += press_scaled * (cal.C10 + press_scaled * (cal.C20 + press_scaled * cal.C30));
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pressure += temp_scaled * cal.C01;
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pressure += temp_scaled * press_scaled * (cal.C11 + press_scaled * cal.C21);
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}
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/*
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check health and possibly reset
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*/
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void AP_Baro_DPS280::check_health(void)
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{
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dev->check_next_register();
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if (fabsf(last_temperature) > TEMPERATURE_LIMIT_C) {
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err_count++;
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}
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if (err_count > 16) {
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err_count = 0;
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dev->write_register(DPS280_REG_RESET, 0x09);
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set_config_registers();
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pending_reset = true;
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}
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}
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// acumulate a new sensor reading
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void AP_Baro_DPS280::timer(void)
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{
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uint8_t buf[6];
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uint8_t ready;
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if (pending_reset) {
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// reset registers after software reset from check_health()
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pending_reset = false;
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set_config_registers();
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return;
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}
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if (!dev->read_registers(DPS280_REG_MCONF, &ready, 1) ||
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!(ready & (1U<<4)) ||
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!dev->read_registers(DPS280_REG_PRESS, buf, 3) ||
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!dev->read_registers(DPS280_REG_TEMP, &buf[3], 3)) {
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// data not ready
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err_count++;
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check_health();
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return;
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}
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int32_t press = (buf[2]) + (buf[1]<<8) + (buf[0]<<16);
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int32_t temp = (buf[5]) + (buf[4]<<8) + (buf[3]<<16);
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fix_config_bits32(press, 24);
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fix_config_bits32(temp, 24);
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float pressure, temperature;
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calculate_PT(temp, press, pressure, temperature);
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last_temperature = temperature;
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if (!pressure_ok(pressure)) {
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return;
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}
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check_health();
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if (fabsf(last_temperature) <= TEMPERATURE_LIMIT_C) {
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err_count = 0;
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}
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WITH_SEMAPHORE(_sem);
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pressure_sum += pressure;
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temperature_sum += temperature;
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count++;
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}
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// transfer data to the frontend
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void AP_Baro_DPS280::update(void)
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{
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if (count == 0) {
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return;
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}
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WITH_SEMAPHORE(_sem);
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_copy_to_frontend(instance, pressure_sum/count, temperature_sum/count);
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pressure_sum = 0;
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temperature_sum = 0;
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count=0;
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}
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