AP_Baro: added register checking and reset to DPS280 driver

this is to fix an issue found on a mRoControlZeroF7

libraries/AP_Baro/AP_Baro_DPS280.cpp

@@ -38,6 +38,7 @@ extern const AP_HAL::HAL &hal;
 
 #define DPS280_WHOAMI 0x10
 
+#define TEMPERATURE_LIMIT_C 120
 
 AP_Baro_DPS280::AP_Baro_DPS280(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> _dev)
     : AP_Baro_Backend(baro)
@@ -120,6 +121,14 @@ bool AP_Baro_DPS280::read_calibration(void)
     return true;
 }
 
+void AP_Baro_DPS280::set_config_registers(void)
+{
+    dev->write_register(DPS280_REG_CREG, 0x0C, true); // shift for 16x oversampling
+    dev->write_register(DPS280_REG_PCONF, 0x54, true); // 32 Hz, 16x oversample
+    dev->write_register(DPS280_REG_TCONF, 0x54 | calibration.temp_source, true); // 32 Hz, 16x oversample
+    dev->write_register(DPS280_REG_MCONF, 0x07); // continuous temp and pressure.
+}
+
 bool AP_Baro_DPS280::init()
 {
     if (!dev || !dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
@@ -143,10 +152,9 @@ bool AP_Baro_DPS280::init()
         return false;
     }
 
-    dev->write_register(DPS280_REG_CREG, 0x0C); // shift for 16x oversampling
+    dev->setup_checked_registers(4, 20);
-    dev->write_register(DPS280_REG_PCONF, 0x54); // 32 Hz, 16x oversample
+
-    dev->write_register(DPS280_REG_TCONF, 0x54 | calibration.temp_source); // 32 Hz, 16x oversample
+    set_config_registers();
-    dev->write_register(DPS280_REG_MCONF, 0x07); // continuous temp and pressure
 
     instance = _frontend.register_sensor();
 
@@ -181,20 +189,44 @@ void AP_Baro_DPS280::calculate_PT(int32_t UT, int32_t UP, float &pressure, float
     pressure += temp_scaled * press_scaled * (cal.C11 + press_scaled * cal.C21);
 }
 
+/*
+  check health and possibly reset
+ */
+void AP_Baro_DPS280::check_health(void)
+{
+    dev->check_next_register();
+
+    if (fabsf(last_temperature) > TEMPERATURE_LIMIT_C) {
+        err_count++;
+    }
+    if (err_count > 16) {
+        err_count = 0;
+        dev->write_register(DPS280_REG_RESET, 0x09);
+        set_config_registers();
+        pending_reset = true;
+    }
+}
+
 //  acumulate a new sensor reading
 void AP_Baro_DPS280::timer(void)
 {
     uint8_t buf[6];
     uint8_t ready;
 
-    if (!dev->read_registers(DPS280_REG_MCONF, &ready, 1) || !(ready & (1U<<4))) {
+    if (pending_reset) {
-        // pressure not ready
+        // reset registers after software reset from check_health()
+        pending_reset = false;
+        set_config_registers();
         return;
     }
-    if (!dev->read_registers(DPS280_REG_PRESS, buf, 3)) {
+
-        return;
+    if (!dev->read_registers(DPS280_REG_MCONF, &ready, 1) ||
-    }
+        !(ready & (1U<<4)) ||
-    if (!dev->read_registers(DPS280_REG_TEMP, &buf[3], 3)) {
+        !dev->read_registers(DPS280_REG_PRESS, buf, 3) ||
+        !dev->read_registers(DPS280_REG_TEMP, &buf[3], 3)) {
+        // data not ready
+        err_count++;
+        check_health();
         return;
     }
 
@@ -207,10 +239,18 @@ void AP_Baro_DPS280::timer(void)
 
     calculate_PT(temp, press, pressure, temperature);
 
+    last_temperature = temperature;
+
     if (!pressure_ok(pressure)) {
         return;
     }
 
+    check_health();
+
+    if (fabsf(last_temperature) <= TEMPERATURE_LIMIT_C) {
+        err_count = 0;
+    }
+    
     WITH_SEMAPHORE(_sem);
 
     pressure_sum += pressure;

libraries/AP_Baro/AP_Baro_DPS280.h

@@ -30,14 +30,19 @@ private:
 
     void fix_config_bits16(int16_t &v, uint8_t bits) const;
     void fix_config_bits32(int32_t &v, uint8_t bits) const;
+    void set_config_registers(void);
+    void check_health();
 
     AP_HAL::OwnPtr<AP_HAL::Device> dev;
 
     uint8_t instance;
 
     uint32_t count;
+    uint8_t err_count;
     float pressure_sum;
     float temperature_sum;
+    float last_temperature;
+    bool pending_reset;
 
     struct dps280_cal {
         int16_t C0;  // 12bit