mirror of https://github.com/ArduPilot/ardupilot
140 lines
4.5 KiB
C++
140 lines
4.5 KiB
C++
/*
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* Copyright (C) 2023 Kraus Hamdani Aerospace Inc. All rights reserved.
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*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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* Code by Tom Pittenger
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*/
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/*
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Implements SPI driver for MAX31865 digital RTD Temperature converter
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*/
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#include "AP_TemperatureSensor_MAX31865.h"
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#if AP_TEMPERATURE_SENSOR_MAX31865_ENABLED
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#include <stdio.h>
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#include <AP_Math/AP_Math.h>
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#include <AP_HAL/utility/sparse-endian.h>
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extern const AP_HAL::HAL &hal;
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#define MAX31865_REG_WRITE_ADDR_OFFSET 0x80
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#define MAX31865_REG_CONFIG_READ 0x00
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#define MAX31865_REG_CONFIG_WRITE (MAX31865_REG_CONFIG_READ | MAX31865_REG_WRITE_ADDR_OFFSET)
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#define MAX31865_REG_DATA_MSB 0x01
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#define MAX31865_REG_DATA_LSB 0x02
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#define MAX31865_REG_HIGH_FAULT_THRESH_MSB 0x03
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#define MAX31865_REG_HIGH_FAULT_THRESH_LSB 0x04
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#define MAX31865_REG_LOW_FAULT_THRESH_MSB 0x05
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#define MAX31865_REG_LOW_FAULT_THRESH_LSB 0x06
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#define MAX31865_REG_FAULT_STATUS_READ 0x07
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#define MAX31865_REG_FAULT_STATUS_WRITE (MAX31865_REG_FAULT_STATUS_READ | MAX31865_REG_WRITE_ADDR_OFFSET)
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// Vbias = ON (must be on for automatic mode)
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// Conversion mode: Auto
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// Fault Status: 1set 1 to Clear all latched faults
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#define MAX31865_CONFIG_VALUE (0b11000010)
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#define MAX31865_DEBUGGING 0
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#if MAX31865_DEBUGGING
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#ifdef HAL_BUILD_AP_PERIPH
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extern "C" {
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void can_printf(const char *fmt, ...);
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}
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//# define Debug(fmt, args ...) do { can_printf("%s:%d: " fmt "\n", __FUNCTION__, __LINE__, ## args); hal.scheduler->delay(1); } while(0)
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# define Debug(fmt, args ...) do { can_printf(fmt, ## args); } while(0)
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#else
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# define Debug(fmt, args ...) do {hal.console->printf("%s:%d: " fmt "\n", __FUNCTION__, __LINE__, ## args); hal.scheduler->delay(1); } while(0)
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#endif // HAL_BUILD_AP_PERIPH
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#else
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# define Debug(fmt, args ...)
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#endif // MAX31865_DEBUGGING
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void AP_TemperatureSensor_MAX31865::init()
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{
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if (_dev) {
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return;
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}
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// also look for "max31865_n" where n is the addr param.
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char name[12] = "max31865";
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if (_params.bus_address > 0 && _params.bus_address <= 9) {
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name[8] = '_';
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name[9] = '0' + _params.bus_address; // convert bus_address to ascii
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name[10] = 0;
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}
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_dev = std::move(hal.spi->get_device(name));
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if (!_dev) {
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return;
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}
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WITH_SEMAPHORE(_dev->get_semaphore());
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_dev->set_speed(AP_HAL::Device::SPEED_LOW);
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_dev->write_register(MAX31865_REG_CONFIG_WRITE, MAX31865_CONFIG_VALUE);
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_dev->set_speed(AP_HAL::Device::SPEED_HIGH);
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/* Request 5Hz update */
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_dev->register_periodic_callback(200 * AP_USEC_PER_MSEC,
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FUNCTOR_BIND_MEMBER(&AP_TemperatureSensor_MAX31865::thread_tick, void));
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}
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void AP_TemperatureSensor_MAX31865::thread_tick()
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{
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uint16_t raw_data;
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if (!_dev->read_registers(MAX31865_REG_DATA_MSB, (uint8_t *)&raw_data, sizeof(raw_data))) {
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return;
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}
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// 16bit byte swap
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const uint16_t data = htobe16(raw_data);
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// fault is LSB bit, temperature data is upper 15 bits
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const bool is_fault = (data & 0x0001) != 0;
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const uint16_t data_temperature = data >> 1;
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if (is_fault) {
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#if MAX31865_DEBUGGING
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uint8_t data_fault = 0;
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_dev->read_registers(MAX31865_REG_FAULT_STATUS_READ, (uint8_t *)&data_fault, 1);
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Debug("%d MAX31865 fault: 0x02X", _state.instance, data_fault);
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#endif
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// clear the fault
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_dev->write_register(MAX31865_REG_CONFIG_WRITE, MAX31865_CONFIG_VALUE);
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return;
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}
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// For a temperature range of -100 C to +100 C, a good approximation of
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// temperature can be made with simple linearization. This equation gives
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// 0 C error at 0C, -1.75 C error at -100 C, and -1.4 C error at +100 C
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const float temperature = ((float)data_temperature/32.0f) - 256.0f;
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#if MAX31865_DEBUGGING
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Debug("%d MAX31865 %.2f C", _state.instance, temperature);
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#endif
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set_temperature(temperature);
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}
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#endif // AP_TEMPERATURE_SENSOR_MAX31865_ENABLED
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