forked from Archive/PX4-Autopilot
drivers/barometer/mpc2520: MaierTek MPC2520 barometer support
- used in the Advanced Technolgy Labs (ATL) Mantis EDU
This commit is contained in:
Daniel Agar
parent
6ab8153f32
commit
5d06ef8256
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@ -38,5 +38,7 @@ add_subdirectory(lps22hb)
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#add_subdirectory(lps25h) # not ready for general inclusion
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add_subdirectory(lps33hw)
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#add_subdirectory(mpl3115a2) # not ready for general inclusion
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add_subdirectory(maiertek)
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add_subdirectory(ms5611)
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#add_subdirectory(tcbp001ta) # only for users who really need this
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@ -0,0 +1,34 @@
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############################################################################
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#
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# Copyright (c) 2021 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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||||
# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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||||
# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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add_subdirectory(mpc2520)
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@ -0,0 +1,46 @@
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############################################################################
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#
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# Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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||||
# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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px4_add_module(
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MODULE drivers__maiertek__mpc2520
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MAIN mpc2520
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COMPILE_FLAGS
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SRCS
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MaierTek_MPC2520_registers.hpp
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mpc2520_main.cpp
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MPC2520.cpp
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MPC2520.hpp
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DEPENDS
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drivers_barometer
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px4_work_queue
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)
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@ -0,0 +1,350 @@
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/****************************************************************************
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*
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* Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include "MPC2520.hpp"
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using namespace time_literals;
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static constexpr int32_t combine(uint8_t h, uint8_t m, uint8_t l)
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{
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// 24 bit sign extend
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int32_t ret = (uint32_t)(h << 24) | (uint32_t)(m << 16) | (uint32_t)(l << 8);
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return ret >> 8;
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}
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MPC2520::MPC2520(const I2CSPIDriverConfig &config) :
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I2C(config),
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I2CSPIDriver(config),
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_px4_baro(get_device_id())
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{
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//_debug_enabled = true;
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}
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MPC2520::~MPC2520()
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{
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perf_free(_reset_perf);
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perf_free(_bad_register_perf);
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perf_free(_bad_transfer_perf);
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}
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int MPC2520::init()
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{
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int ret = I2C::init();
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if (ret != PX4_OK) {
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DEVICE_DEBUG("I2C::init failed (%i)", ret);
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return ret;
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}
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return Reset() ? 0 : -1;
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}
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bool MPC2520::Reset()
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{
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_state = STATE::RESET;
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ScheduleClear();
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ScheduleNow();
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return true;
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}
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void MPC2520::print_status()
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{
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I2CSPIDriverBase::print_status();
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perf_print_counter(_reset_perf);
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perf_print_counter(_bad_register_perf);
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perf_print_counter(_bad_transfer_perf);
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}
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int MPC2520::probe()
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{
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const uint8_t ID = RegisterRead(Register::ID);
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uint8_t PROD_ID = ID & 0xF0 >> 4; // Product ID Bits 7:4
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if (PROD_ID != Product_ID) {
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DEVICE_DEBUG("unexpected PROD_ID 0x%02x", PROD_ID);
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return PX4_ERROR;
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}
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return PX4_OK;
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}
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void MPC2520::RunImpl()
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{
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const hrt_abstime now = hrt_absolute_time();
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switch (_state) {
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case STATE::RESET:
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// RESET: SOFT_RST
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RegisterWrite(Register::RESET, RESET_BIT::SOFT_RST);
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_reset_timestamp = now;
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_failure_count = 0;
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_state = STATE::WAIT_FOR_RESET;
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perf_count(_reset_perf);
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ScheduleDelayed(50_ms); // Power On Reset: max 50ms
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break;
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case STATE::WAIT_FOR_RESET: {
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// check MEAS_CFG SENSOR_RDY
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const uint8_t ID = RegisterRead(Register::ID);
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uint8_t PROD_ID = ID & 0xF0 >> 4; // Product ID Bits 7:4
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if (PROD_ID == Product_ID) {
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// if reset succeeded then read prom
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_state = STATE::READ_PROM;
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ScheduleDelayed(40_ms); // Time to coefficients are available.
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} else {
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// RESET not complete
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if (hrt_elapsed_time(&_reset_timestamp) > 1000_ms) {
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PX4_DEBUG("Reset failed, retrying");
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_state = STATE::RESET;
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ScheduleDelayed(100_ms);
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} else {
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PX4_DEBUG("Reset not complete, check again in 10 ms");
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ScheduleDelayed(10_ms);
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}
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}
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}
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break;
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case STATE::READ_PROM: {
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uint8_t prom_buf[3] {};
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uint8_t cmd = 0x10;
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transfer(&cmd, 1, &prom_buf[0], 2);
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_prom.c0 = (int16_t)prom_buf[0] << 4 | prom_buf[1] >> 4;
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_prom.c0 = (_prom.c0 & 0x0800) ? (0xF000 | _prom.c0) : _prom.c0;
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cmd = 0x11;
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transfer(&cmd, 1, &prom_buf[0], 2);
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_prom.c1 = (int16_t)(prom_buf[0] & 0x0F) << 8 | prom_buf[1];
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_prom.c1 = (_prom.c1 & 0x0800) ? (0xF000 | _prom.c1) : _prom.c1;
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cmd = 0x13;
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transfer(&cmd, 1, &prom_buf[0], 3);
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_prom.c00 = (int32_t)prom_buf[0] << 12 | (int32_t)prom_buf[1] << 4 | (int32_t)prom_buf[2] >> 4;
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_prom.c00 = (_prom.c00 & 0x080000) ? (0xFFF00000 | _prom.c00) : _prom.c00;
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cmd = 0x15;
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transfer(&cmd, 1, &prom_buf[0], 3);
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_prom.c10 = (int32_t)prom_buf[0] << 16 | (int32_t)prom_buf[1] << 8 | prom_buf[2];
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_prom.c10 = (_prom.c10 & 0x080000) ? (0xFFF00000 | _prom.c10) : _prom.c10;
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cmd = 0x18;
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transfer(&cmd, 1, &prom_buf[0], 2);
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_prom.c01 = (int16_t)prom_buf[0] << 8 | prom_buf[1];
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cmd = 0x1A;
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transfer(&cmd, 1, &prom_buf[0], 2);
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_prom.c11 = (int16_t)prom_buf[0] << 8 | prom_buf[1];
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cmd = 0x1C;
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transfer(&cmd, 1, &prom_buf[0], 2);
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_prom.c20 = (int16_t)prom_buf[0] << 8 | prom_buf[1];
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cmd = 0x1E;
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transfer(&cmd, 1, &prom_buf[0], 2);
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_prom.c21 = (int16_t)prom_buf[0] << 8 | prom_buf[1];
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cmd = 0x20;
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transfer(&cmd, 1, &prom_buf[0], 2);
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_prom.c30 = (int16_t)prom_buf[0] << 8 | prom_buf[1];
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_state = STATE::CONFIGURE;
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ScheduleDelayed(10_ms);
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}
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break;
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case STATE::CONFIGURE:
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if (Configure()) {
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// if configure succeeded then start measurement cycle
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_state = STATE::READ;
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ScheduleOnInterval(1000000 / 32); // 32 Hz
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} else {
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// CONFIGURE not complete
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if (hrt_elapsed_time(&_reset_timestamp) > 1000_ms) {
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PX4_DEBUG("Configure failed, resetting");
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_state = STATE::RESET;
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} else {
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PX4_DEBUG("Configure failed, retrying");
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}
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ScheduleDelayed(100_ms);
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}
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break;
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case STATE::READ: {
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bool success = false;
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// read temperature first
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struct TransferBuffer {
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uint8_t PSR_B2;
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uint8_t PSR_B1;
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uint8_t PSR_B0;
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uint8_t TMP_B2;
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uint8_t TMP_B1;
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uint8_t TMP_B0;
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} buffer{};
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uint8_t cmd = static_cast<uint8_t>(Register::PSR_B2);
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if (transfer(&cmd, 1, (uint8_t *)&buffer, sizeof(buffer)) == PX4_OK) {
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int32_t Traw = (int32_t)(buffer.TMP_B2 << 16) | (int32_t)(buffer.TMP_B1 << 8) | (int32_t)buffer.TMP_B0;
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Traw = (Traw & 0x800000) ? (0xFF000000 | Traw) : Traw;
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static constexpr float kT = 7864320; // temperature 8 times oversampling
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float Traw_sc = static_cast<float>(Traw) / kT;
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float Tcomp = _prom.c0 * 0.5f + _prom.c1 * Traw_sc;
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_px4_baro.set_temperature(Tcomp);
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int32_t Praw = (int32_t)(buffer.PSR_B2 << 16) | (int32_t)(buffer.PSR_B1 << 8) | (int32_t)buffer.PSR_B1;
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Praw = (Praw & 0x800000) ? (0xFF000000 | Praw) : Praw;
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static constexpr float kP = 7864320; // pressure 8 times oversampling
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float Praw_sc = static_cast<float>(Praw) / kP;
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// Calculate compensated measurement results.
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float Pcomp = _prom.c00 + Praw_sc * (_prom.c10 + Praw_sc * (_prom.c20 + Praw_sc * _prom.c30)) + Traw_sc * _prom.c01 +
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Traw_sc * Praw_sc * (_prom.c11 + Praw_sc * _prom.c21);
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float pressure_mbar = Pcomp / 100.0f; // convert to millibar
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_px4_baro.update(now, pressure_mbar);
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success = true;
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if (_failure_count > 0) {
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_failure_count--;
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}
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} else {
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perf_count(_bad_transfer_perf);
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}
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if (!success) {
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_failure_count++;
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// full reset if things are failing consistently
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if (_failure_count > 10) {
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Reset();
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return;
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}
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}
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if (!success || hrt_elapsed_time(&_last_config_check_timestamp) > 100_ms) {
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// check configuration registers periodically or immediately following any failure
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if (RegisterCheck(_register_cfg[_checked_register])) {
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_last_config_check_timestamp = now;
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_checked_register = (_checked_register + 1) % size_register_cfg;
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} else {
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// register check failed, force reset
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perf_count(_bad_register_perf);
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Reset();
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return;
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}
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}
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}
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break;
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}
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}
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bool MPC2520::Configure()
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{
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// first set and clear all configured register bits
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for (const auto ®_cfg : _register_cfg) {
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RegisterSetAndClearBits(reg_cfg.reg, reg_cfg.set_bits, reg_cfg.clear_bits);
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}
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// now check that all are configured
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bool success = true;
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for (const auto ®_cfg : _register_cfg) {
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if (!RegisterCheck(reg_cfg)) {
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success = false;
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}
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}
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return success;
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}
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bool MPC2520::RegisterCheck(const register_config_t ®_cfg)
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{
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bool success = true;
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const uint8_t reg_value = RegisterRead(reg_cfg.reg);
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if (reg_cfg.set_bits && ((reg_value & reg_cfg.set_bits) != reg_cfg.set_bits)) {
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PX4_DEBUG("0x%02hhX: 0x%02hhX (0x%02hhX not set)", (uint8_t)reg_cfg.reg, reg_value, reg_cfg.set_bits);
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success = false;
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}
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if (reg_cfg.clear_bits && ((reg_value & reg_cfg.clear_bits) != 0)) {
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PX4_DEBUG("0x%02hhX: 0x%02hhX (0x%02hhX not cleared)", (uint8_t)reg_cfg.reg, reg_value, reg_cfg.clear_bits);
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success = false;
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}
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return success;
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}
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uint8_t MPC2520::RegisterRead(Register reg)
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{
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const uint8_t cmd = static_cast<uint8_t>(reg);
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uint8_t buffer{};
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transfer(&cmd, 1, &buffer, 1);
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return buffer;
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}
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void MPC2520::RegisterWrite(Register reg, uint8_t value)
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{
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uint8_t buffer[2] { (uint8_t)reg, value };
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transfer(buffer, sizeof(buffer), nullptr, 0);
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}
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void MPC2520::RegisterSetAndClearBits(Register reg, uint8_t setbits, uint8_t clearbits)
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{
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const uint8_t orig_val = RegisterRead(reg);
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uint8_t val = (orig_val & ~clearbits) | setbits;
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if (orig_val != val) {
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RegisterWrite(reg, val);
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}
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}
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@ -0,0 +1,120 @@
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/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "MaierTek_MPC2520_registers.hpp"
|
||||
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <lib/drivers/device/i2c.h>
|
||||
#include <lib/drivers/barometer/PX4Barometer.hpp>
|
||||
#include <lib/perf/perf_counter.h>
|
||||
#include <px4_platform_common/i2c_spi_buses.h>
|
||||
|
||||
using namespace MaierTek_MPC2520;
|
||||
|
||||
class MPC2520 : public device::I2C, public I2CSPIDriver<MPC2520>
|
||||
{
|
||||
public:
|
||||
MPC2520(const I2CSPIDriverConfig &config);
|
||||
~MPC2520() override;
|
||||
|
||||
static void print_usage();
|
||||
|
||||
void RunImpl();
|
||||
|
||||
int init() override;
|
||||
void print_status() override;
|
||||
|
||||
private:
|
||||
// Sensor Configuration
|
||||
struct register_config_t {
|
||||
Register reg;
|
||||
uint8_t set_bits{0};
|
||||
uint8_t clear_bits{0};
|
||||
};
|
||||
|
||||
int probe() override;
|
||||
|
||||
bool Reset();
|
||||
|
||||
bool Configure();
|
||||
|
||||
bool RegisterCheck(const register_config_t ®_cfg);
|
||||
|
||||
uint8_t RegisterRead(Register reg);
|
||||
void RegisterWrite(Register reg, uint8_t value);
|
||||
void RegisterSetAndClearBits(Register reg, uint8_t setbits, uint8_t clearbits);
|
||||
|
||||
PX4Barometer _px4_baro;
|
||||
|
||||
perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad register")};
|
||||
perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad transfer")};
|
||||
perf_counter_t _reset_perf{perf_alloc(PC_COUNT, MODULE_NAME": reset")};
|
||||
|
||||
hrt_abstime _reset_timestamp{0};
|
||||
hrt_abstime _last_config_check_timestamp{0};
|
||||
int _failure_count{0};
|
||||
|
||||
#pragma pack(push,1)
|
||||
struct prom_s {
|
||||
int16_t c0;
|
||||
int16_t c1;
|
||||
int32_t c00;
|
||||
int32_t c10;
|
||||
int16_t c01;
|
||||
int16_t c11;
|
||||
int16_t c20;
|
||||
int16_t c21;
|
||||
int16_t c30;
|
||||
} _prom{};
|
||||
#pragma pack(pop)
|
||||
|
||||
enum class STATE : uint8_t {
|
||||
RESET,
|
||||
WAIT_FOR_RESET,
|
||||
READ_PROM,
|
||||
CONFIGURE,
|
||||
READ,
|
||||
} _state{STATE::RESET};
|
||||
|
||||
uint8_t _checked_register{0};
|
||||
static constexpr uint8_t size_register_cfg{4};
|
||||
register_config_t _register_cfg[size_register_cfg] {
|
||||
// Register | Set bits, Clear bits
|
||||
{ Register::PRS_CFG, PRS_CFG_BIT::PM_RATE_32_SET | PRS_CFG_BIT::PM_PRC_8_SET, PRS_CFG_BIT::PM_RATE_32_CLEAR | PRS_CFG_BIT::PM_PRC_8_CLEAR },
|
||||
{ Register::TMP_CFG, TMP_CFG_BIT::TMP_EXT | TMP_CFG_BIT::TMP_RATE_32_SET | TMP_CFG_BIT::TMP_PRC_8_SET, TMP_CFG_BIT::TMP_RATE_32_CLEAR | TMP_CFG_BIT::TMP_PRC_8_CLEAR },
|
||||
{ Register::MEAS_CFG, MEAS_CFG_BIT::MEAS_CTRL_CONT_PRES_TEMP, 0 },
|
||||
{ Register::CFG_REG, 0, CFG_REG_BIT::T_SHIFT | CFG_REG_BIT::P_SHIFT },
|
||||
};
|
||||
};
|
||||
|
|
@ -0,0 +1,126 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file MaierTek_MPC2520_registers.hpp
|
||||
*
|
||||
* MaierTek MPC2520 registers.
|
||||
*
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <cstdint>
|
||||
|
||||
// TODO: move to a central header
|
||||
static constexpr uint8_t Bit0 = (1 << 0);
|
||||
static constexpr uint8_t Bit1 = (1 << 1);
|
||||
static constexpr uint8_t Bit2 = (1 << 2);
|
||||
static constexpr uint8_t Bit3 = (1 << 3);
|
||||
static constexpr uint8_t Bit4 = (1 << 4);
|
||||
static constexpr uint8_t Bit5 = (1 << 5);
|
||||
static constexpr uint8_t Bit6 = (1 << 6);
|
||||
static constexpr uint8_t Bit7 = (1 << 7);
|
||||
|
||||
namespace MaierTek_MPC2520
|
||||
{
|
||||
static constexpr uint32_t I2C_SPEED = 400 * 1000; // 400 kHz I2C serial interface
|
||||
static constexpr uint8_t I2C_ADDRESS_DEFAULT = 0x76;
|
||||
|
||||
static constexpr uint8_t Product_ID = 0x0;
|
||||
static constexpr uint8_t Revision_ID = 0x0;
|
||||
|
||||
enum class Register : uint8_t {
|
||||
PSR_B2 = 0x00, // PSR[23:16] (r)
|
||||
PSR_B1 = 0x01, // PSR[15:8] (r)
|
||||
PSR_B0 = 0x02, // PSR[7:0] (r)
|
||||
TMP_B2 = 0x03, // TMP[23:16] (r)
|
||||
TMP_B1 = 0x04, // TMP[15:8] (r)
|
||||
TMP_B0 = 0x05, // TMP[7:0] (r)
|
||||
PRS_CFG = 0x06,
|
||||
TMP_CFG = 0x07,
|
||||
MEAS_CFG = 0x08,
|
||||
CFG_REG = 0x09,
|
||||
|
||||
RESET = 0x0C,
|
||||
ID = 0x0D, // PROD_ID [3:0] (r) REV_ID [3:0] (r)
|
||||
|
||||
COEF = 0x10,
|
||||
};
|
||||
|
||||
// PRS_CFG
|
||||
enum PRS_CFG_BIT : uint8_t {
|
||||
// PM_RATE[6:4]
|
||||
PM_RATE_32_SET = Bit6 | Bit4, // 101 - 32 measurements pr. sec.
|
||||
PM_RATE_32_CLEAR = Bit5,
|
||||
|
||||
// PM_PRC[3:0]
|
||||
PM_PRC_8_SET = Bit1 | Bit0, // 0011 - 8 times.
|
||||
PM_PRC_8_CLEAR = Bit3 | Bit2,
|
||||
};
|
||||
|
||||
// TMP_CFG
|
||||
enum TMP_CFG_BIT : uint8_t {
|
||||
TMP_EXT = Bit7,
|
||||
|
||||
// TMP_RATE[6:4]
|
||||
TMP_RATE_32_SET = Bit6 | Bit4, // 101 - 32 measurements pr. sec.
|
||||
TMP_RATE_32_CLEAR = Bit5,
|
||||
|
||||
// PM_PRC[2:0]
|
||||
TMP_PRC_8_SET = Bit1 | Bit0, // 011 - 8 times.
|
||||
TMP_PRC_8_CLEAR = Bit2,
|
||||
};
|
||||
|
||||
// MEAS_CFG
|
||||
enum MEAS_CFG_BIT : uint8_t {
|
||||
COEF_RDY = Bit7,
|
||||
SENSOR_RDY = Bit6,
|
||||
TMP_RDY = Bit5,
|
||||
PRS_RDY = Bit4,
|
||||
|
||||
MEAS_CTRL_CONT_PRES_TEMP = Bit2 | Bit1 | Bit0, // 111 - Continuous pressure and temperature measurement
|
||||
};
|
||||
|
||||
// RESET
|
||||
enum RESET_BIT : uint8_t {
|
||||
SOFT_RST = Bit3 | Bit0, // Write '1001' to generate a soft reset.
|
||||
};
|
||||
|
||||
// CFG_REG
|
||||
enum CFG_REG_BIT : uint8_t {
|
||||
T_SHIFT = Bit3, // Temperature result bit-shift, Note: Must be set to '1' when the oversampling rate is >8 times.
|
||||
P_SHIFT = Bit2, // Pressure result bit-shift, Note: Must be set to '1' when the oversampling rate is >8 times.
|
||||
};
|
||||
|
||||
} // namespace MaierTek_MPC2520
|
||||
|
|
@ -0,0 +1,77 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include "MPC2520.hpp"
|
||||
|
||||
#include <px4_platform_common/getopt.h>
|
||||
#include <px4_platform_common/module.h>
|
||||
|
||||
void MPC2520::print_usage()
|
||||
{
|
||||
PRINT_MODULE_USAGE_NAME("mpc2520", "driver");
|
||||
PRINT_MODULE_USAGE_SUBCATEGORY("baro");
|
||||
PRINT_MODULE_USAGE_COMMAND("start");
|
||||
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
|
||||
PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x76);
|
||||
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
|
||||
}
|
||||
|
||||
extern "C" int mpc2520_main(int argc, char *argv[])
|
||||
{
|
||||
using ThisDriver = MPC2520;
|
||||
BusCLIArguments cli{true, false};
|
||||
cli.i2c_address = I2C_ADDRESS_DEFAULT;
|
||||
cli.default_i2c_frequency = I2C_SPEED;
|
||||
|
||||
const char *verb = cli.parseDefaultArguments(argc, argv);
|
||||
|
||||
if (!verb) {
|
||||
ThisDriver::print_usage();
|
||||
return -1;
|
||||
}
|
||||
|
||||
BusInstanceIterator iterator(MODULE_NAME, cli, DRV_BARO_DEVTYPE_MPC2520);
|
||||
|
||||
if (!strcmp(verb, "start")) {
|
||||
return ThisDriver::module_start(cli, iterator);
|
||||
|
||||
} else if (!strcmp(verb, "stop")) {
|
||||
return ThisDriver::module_stop(iterator);
|
||||
|
||||
} else if (!strcmp(verb, "status")) {
|
||||
return ThisDriver::module_status(iterator);
|
||||
}
|
||||
|
||||
ThisDriver::print_usage();
|
||||
return -1;
|
||||
}
|
||||
|
|
@ -118,6 +118,7 @@
|
|||
#define DRV_IMU_DEVTYPE_ADIS16470 0x58
|
||||
#define DRV_IMU_DEVTYPE_ADIS16477 0x59
|
||||
|
||||
#define DRV_BARO_DEVTYPE_MPC2520 0x5F
|
||||
#define DRV_BARO_DEVTYPE_LPS22HB 0x60
|
||||
|
||||
#define DRV_ACC_DEVTYPE_LSM303AGR 0x61
|
||||
|
|
|
|||
Loading…
Reference in New Issue