mirror of https://github.com/ArduPilot/ardupilot
142 lines
4.9 KiB
C++
142 lines
4.9 KiB
C++
/*
|
|
* Copyright (C) 2022 Kraus Hamdani Aerospace Inc. All rights reserved.
|
|
*
|
|
* This file 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 file 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/>.
|
|
*
|
|
* Code by Tom Pittenger
|
|
*/
|
|
/*
|
|
Implements I2C driver for Microchip MCP9600 digital thermocouple EMF to Temperature converter
|
|
*/
|
|
|
|
#include "AP_TemperatureSensor_MCP9600.h"
|
|
|
|
#if AP_TEMPERATURE_SENSOR_MCP9600_ENABLED
|
|
|
|
#include <stdio.h>
|
|
#include <AP_HAL/I2CDevice.h>
|
|
#include <AP_Math/AP_Math.h>
|
|
#include <GCS_MAVLink/GCS.h>
|
|
|
|
extern const AP_HAL::HAL &hal;
|
|
|
|
static const uint8_t MCP9600_CMD_HOT_JUNCT_TEMP = 0x00; // thermocoupler temp
|
|
//static const uint8_t MCP9600_CMD_JUNCT_TEMP_DELTA = 0x01;
|
|
//static const uint8_t MCP9600_CMD_COLD_JUNCT_TEMP = 0x02; // ambient temp
|
|
//static const uint8_t MCP9600_CMD_RAW_DATA_ADC = 0x03;
|
|
//static const uint8_t MCP9600_CMD_STATUS = 0x04;
|
|
static const uint8_t MCP9600_CMD_SENSOR_CFG = 0x05;
|
|
//static const uint8_t MCP9600_CMD_DEVICE_CFG = 0x06;
|
|
static const uint8_t MCP9600_CMD_DEVICE_ID_REV = 0x20; // to fetch WHOAMI
|
|
|
|
|
|
static const uint8_t MCP9600_WHOAMI = 0x40;
|
|
|
|
|
|
#define MCP9600_ADDR_LOW 0x60 // ADDR pin pulled low
|
|
#define MCP9600_ADDR_HIGH 0x66 // ADDR pin pulled high
|
|
|
|
#define AP_TemperatureSensor_MCP9600_UPDATE_INTERVAL_MS 500
|
|
#define AP_TemperatureSensor_MCP9600_SCALE_FACTOR (0.0625f)
|
|
|
|
#ifndef AP_TemperatureSensor_MCP9600_ADDR_DEFAULT
|
|
#define AP_TemperatureSensor_MCP9600_ADDR_DEFAULT MCP9600_ADDR_LOW
|
|
#endif
|
|
|
|
#ifndef AP_TemperatureSensor_MCP9600_ENFORCE_KNOWN_VALID_I2C_ADDRESS
|
|
#define AP_TemperatureSensor_MCP9600_ENFORCE_KNOWN_VALID_I2C_ADDRESS 1
|
|
#endif
|
|
|
|
#ifndef AP_TemperatureSensor_MCP9600_Filter
|
|
#define AP_TemperatureSensor_MCP9600_Filter 2 // can be values 0 through 7 where 0 is no filtering (fast) and 7 is lots of smoothing (very very slow)
|
|
#endif
|
|
|
|
void AP_TemperatureSensor_MCP9600::init()
|
|
{
|
|
constexpr char name[] = "MCP9600";
|
|
|
|
#if AP_TemperatureSensor_MCP9600_ENFORCE_KNOWN_VALID_I2C_ADDRESS
|
|
// I2C Address: Default to using MCP9600_ADDR_LOW if it's out of range
|
|
if ((_params.bus_address < MCP9600_ADDR_LOW) || ( _params.bus_address > MCP9600_ADDR_HIGH)) {
|
|
printf("%s wrong I2C addr of 0x%2X, setting to 0x%2X. Reboot needed.", name, (unsigned)_params.bus_address.get(), (unsigned)MCP9600_ADDR_LOW);
|
|
_params.bus_address.set(MCP9600_ADDR_LOW);
|
|
}
|
|
#endif
|
|
|
|
_dev = std::move(hal.i2c_mgr->get_device(_params.bus, _params.bus_address));
|
|
if (!_dev) {
|
|
printf("%s device is null!", name);
|
|
return;
|
|
}
|
|
|
|
WITH_SEMAPHORE(_dev->get_semaphore());
|
|
|
|
_dev->set_retries(10);
|
|
|
|
uint8_t buf[2];
|
|
if (!_dev->read_registers(MCP9600_CMD_DEVICE_ID_REV, buf, 2)) {
|
|
printf("%s failed to get WHOAMI", name);
|
|
return;
|
|
}
|
|
if (buf[0] != MCP9600_WHOAMI) {
|
|
printf("%s Got wrong WHOAMI: detected 0x%2X but expected 0x%2X", name, (unsigned)buf[0], (unsigned)MCP9600_WHOAMI);
|
|
return;
|
|
}
|
|
if (!set_config(ThermocoupleType::K, AP_TemperatureSensor_MCP9600_Filter)) {
|
|
printf("%s unable to configure", name);
|
|
return;
|
|
}
|
|
|
|
#if 0
|
|
printf("%s Detected! Rev %u.%u on bus: %u addr: 0x%2X", name, (unsigned)(buf[1] >> 4), (unsigned)(buf[1] & 0x0F), (unsigned)_params.bus, (unsigned)_params.bus_address);
|
|
#endif
|
|
|
|
// lower retries for run
|
|
_dev->set_retries(3);
|
|
|
|
/* Request 10Hz update */
|
|
_dev->register_periodic_callback(100 * AP_USEC_PER_MSEC,
|
|
FUNCTOR_BIND_MEMBER(&AP_TemperatureSensor_MCP9600::_timer, void));
|
|
}
|
|
|
|
void AP_TemperatureSensor_MCP9600::_timer()
|
|
{
|
|
float temperature;
|
|
if (read_temperature(temperature)) {
|
|
set_temperature(temperature);
|
|
}
|
|
}
|
|
|
|
bool AP_TemperatureSensor_MCP9600::set_config(const ThermocoupleType thermoType, const uint8_t filter)
|
|
{
|
|
const uint8_t data = (uint8_t)thermoType << 4 | (filter & 0x7);
|
|
if (!_dev->write_register(MCP9600_CMD_SENSOR_CFG, data)) {
|
|
return false;
|
|
}
|
|
return true;
|
|
}
|
|
|
|
bool AP_TemperatureSensor_MCP9600::read_temperature(float &temperature)
|
|
{
|
|
uint8_t data[2];
|
|
if (!_dev->read_registers(MCP9600_CMD_HOT_JUNCT_TEMP, data, 2)) {
|
|
return false;
|
|
}
|
|
|
|
temperature = int16_t(UINT16_VALUE(data[0], data[1])) * AP_TemperatureSensor_MCP9600_SCALE_FACTOR;
|
|
return true;
|
|
}
|
|
#endif // AP_TEMPERATURE_SENSOR_MCP9600_ENABLED
|
|
|