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AP_Baro: fixed BMP388 on SPI

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This commit is contained in:
Andrew Tridgell 2019-11-04 17:10:13 +11:00
parent bcef478eab
commit d8beb55e9f
2 changed files with 26 additions and 4 deletions
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29
libraries/AP_Baro/AP_Baro_BMP388.cpp
View File

@ -89,15 +89,15 @@ bool AP_Baro_BMP388::init()
dev->write_register(BMP388_REG_PWR_CTRL, 0x33, true);
uint8_t whoami;
if (!dev->read_registers(BMP388_REG_ID, &whoami, 1) ||
if (!read_registers(BMP388_REG_ID, &whoami, 1) ||
whoami != BMP388_ID) {
// not a BMP388
return false;
}
// read the calibration data
dev->read_registers(BMP388_REG_CAL_P, (uint8_t *)&calib_p, sizeof(calib_p));
dev->read_registers(BMP388_REG_CAL_T, (uint8_t *)&calib_t, sizeof(calib_t));
read_registers(BMP388_REG_CAL_P, (uint8_t *)&calib_p, sizeof(calib_p));
read_registers(BMP388_REG_CAL_T, (uint8_t *)&calib_t, sizeof(calib_t));
scale_calibration_data();
@ -121,7 +121,7 @@ void AP_Baro_BMP388::timer(void)
{
uint8_t buf[7];
if (!dev->read_registers(BMP388_REG_STATUS, buf, sizeof(buf))) {
if (!read_registers(BMP388_REG_STATUS, buf, sizeof(buf))) {
return;
}
const uint8_t status = buf[0];
@ -212,3 +212,24 @@ void AP_Baro_BMP388::update_pressure(uint32_t data)
pressure = press;
has_sample = true;
}
/*
read registers, special SPI handling needed
*/
bool AP_Baro_BMP388::read_registers(uint8_t reg, uint8_t *data, uint8_t len)
{
// when on I2C we just read normally
if (dev->bus_type() != AP_HAL::Device::BUS_TYPE_SPI) {
return dev->read_registers(reg, data, len);
}
// for SPI we need to discard the first returned byte. See
// datasheet for explanation
uint8_t b[len+2];
b[0] = reg | 0x80;
memset(&b[1], 0, len+1);
if (!dev->transfer(b, len+2, b, len+2)) {
return false;
}
memcpy(data, &b[2], len);
return true;
}

1
libraries/AP_Baro/AP_Baro_BMP388.h
View File

@ -78,4 +78,5 @@ private:
} calib;
void scale_calibration_data(void);
bool read_registers(uint8_t reg, uint8_t *data, uint8_t len);
};