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drivers/barometer: new ms5837 driver (#18213) 

Co-authored-by: xn365 <xn_365@163.com>
This commit is contained in:
Daniel Agar 2022-02-12 14:41:31 -05:00 committed by GitHub
parent 41e48435c9
commit 8b9a856cf7
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7 changed files with 825 additions and 0 deletions
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46
src/drivers/barometer/ms5837/CMakeLists.txt Normal file
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############################################################################
#
# Copyright (c) 2022 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.
#
############################################################################
px4_add_module(
MODULE drivers__barometer__ms5837
MAIN ms5837
COMPILE_FLAGS
SRCS
ms5837_main.cpp
ms5837_registers.h
MS5837.cpp
MS5837.hpp
DEPENDS
drivers_barometer
px4_work_queue
)

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src/drivers/barometer/ms5837/Kconfig Normal file
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menuconfig DRIVERS_BAROMETER_MS5837
bool "ms5837"
default n
---help---
Enable support for ms5837

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src/drivers/barometer/ms5837/MS5837.cpp Normal file
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/****************************************************************************
*
* Copyright (c) 2022 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 ms5837.cpp
* Driver for the MS5837 barometric pressure sensor connected via I2C.
*/
#include "MS5837.hpp"
MS5837::MS5837(const I2CSPIDriverConfig &config) :
I2C(config),
I2CSPIDriver(config),
_px4_barometer(get_device_id()),
_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
_measure_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": measure")),
_comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": com_err"))
{
}
MS5837::~MS5837()
{
// free perf counters
perf_free(_sample_perf);
perf_free(_measure_perf);
perf_free(_comms_errors);
}
int MS5837::init()
{
int ret = I2C::init();
if (ret != PX4_OK) {
DEVICE_DEBUG("I2C::init failed (%i)", ret);
return ret;
}
/* do a first measurement cycle to populate reports with valid data */
_measure_phase = 0;
while (true) {
/* do temperature first */
if (OK != _measure()) {
ret = -EIO;
break;
}
px4_usleep(MS5837_CONVERSION_INTERVAL);
if (OK != _collect()) {
ret = -EIO;
break;
}
/* now do a pressure measurement */
if (OK != _measure()) {
ret = -EIO;
break;
}
px4_usleep(MS5837_CONVERSION_INTERVAL);
if (OK != _collect()) {
ret = -EIO;
break;
}
_px4_barometer.set_device_type(DRV_BARO_DEVTYPE_MS5837);
ret = OK;
break;
}
if (ret == 0) {
_start();
}
return ret;
}
int MS5837::_reset()
{
unsigned old_retrycount = _retries;
uint8_t cmd = MS5837_RESET;
/* bump the retry count */
_retries = 3;
int result = transfer(&cmd, 1, nullptr, 0);
_retries = old_retrycount;
return result;
}
int MS5837::probe()
{
if ((PX4_OK == _probe_address(MS5837_ADDRESS))) {
return PX4_OK;
}
_retries = 1;
return -EIO;
}
int MS5837::_probe_address(uint8_t address)
{
/* select the address we are going to try */
set_device_address(address);
/* send reset command */
if (PX4_OK != _reset()) {
return -EIO;
}
/* read PROM */
if (PX4_OK != _read_prom()) {
return -EIO;
}
return PX4_OK;
}
int MS5837::read(unsigned offset, void *data, unsigned count)
{
union _cvt {
uint8_t b[4];
uint32_t w;
} *cvt = (_cvt *)data;
uint8_t buf[3];
/* read the most recent measurement */
uint8_t cmd = 0;
int ret = transfer(&cmd, 1, &buf[0], 3);
if (ret == PX4_OK) {
/* fetch the raw value */
cvt->b[0] = buf[2];
cvt->b[1] = buf[1];
cvt->b[2] = buf[0];
cvt->b[3] = 0;
}
return ret;
}
void MS5837::RunImpl()
{
int ret;
/* collection phase? */
if (_collect_phase) {
/* perform collection */
ret = _collect();
if (ret != OK) {
if (ret == -6) {
/*
* The ms5837 seems to regularly fail to respond to
* its address; this happens often enough that we'd rather not
* spam the console with a message for this.
*/
} else {
//DEVICE_LOG("collection error %d", ret);
}
/* issue a reset command to the sensor */
_reset();
/* reset the collection state machine and try again - we need
* to wait 2.8 ms after issuing the sensor reset command
* according to the MS5837 datasheet
*/
ScheduleDelayed(2800);
return;
}
/* next phase is measurement */
_collect_phase = false;
}
/* measurement phase */
ret = _measure();
if (ret != OK) {
/* issue a reset command to the sensor */
_reset();
/* reset the collection state machine and try again */
_start();
return;
}
/* next phase is collection */
_collect_phase = true;
/* schedule a fresh cycle call when the measurement is done */
ScheduleDelayed(MS5837_CONVERSION_INTERVAL);
}
void MS5837::_start()
{
/* reset the report ring and state machine */
_collect_phase = false;
_measure_phase = 0;
/* schedule a cycle to start things */
ScheduleDelayed(MS5837_CONVERSION_INTERVAL);
}
int MS5837::_measure()
{
perf_begin(_measure_perf);
/*
* In phase zero, request temperature; in other phases, request pressure.
*/
unsigned addr = (_measure_phase == 0) ? ADDR_CMD_CONVERT_D2 : ADDR_CMD_CONVERT_D1;
/*
* Send the command to begin measuring.
*/
uint8_t cmd = addr;
int ret = transfer(&cmd, 1, nullptr, 0);
if (OK != ret) {
perf_count(_comms_errors);
}
_px4_barometer.set_error_count(perf_event_count(_comms_errors));
perf_end(_measure_perf);
return ret;
}
int MS5837::_collect()
{
uint32_t raw;
perf_begin(_sample_perf);
/* read the most recent measurement - read offset/size are hardcoded in the interface */
const hrt_abstime timestamp_sample = hrt_absolute_time();
int ret = read(0, (void *)&raw, 0);
if (ret < 0) {
perf_count(_comms_errors);
perf_end(_sample_perf);
return ret;
}
/* handle a measurement */
if (_measure_phase == 0) {
/* temperature offset (in ADC units) */
int32_t dT = (int32_t)raw - ((int32_t)_prom.s.c5_reference_temp << 8);
/* absolute temperature in centidegrees - note intermediate value is outside 32-bit range */
int32_t TEMP = 2000 + (int32_t)(((int64_t)dT * _prom.s.c6_temp_coeff_temp) >> 23);
/* base sensor scale/offset values */
/* Perform MS5837 Caculation */
_OFF = ((int64_t)_prom.s.c2_pressure_offset << 16) + (((int64_t)_prom.s.c4_temp_coeff_pres_offset * dT) >> 7);
_SENS = ((int64_t)_prom.s.c1_pressure_sens << 15) + (((int64_t)_prom.s.c3_temp_coeff_pres_sens * dT) >> 8);
/* MS5837 temperature compensation */
int64_t T2 = 0;
int64_t f = 0;
int64_t OFF2 = 0;
int64_t SENS2 = 0;
if (TEMP < 2000) {
T2 = 3 * ((int64_t)POW2(dT) >> 33);
f = POW2((int64_t)TEMP - 2000);
OFF2 = 3 * f >> 1;
SENS2 = 5 * f >> 3;
if (TEMP < -1500) {
int64_t f2 = POW2(TEMP + 1500);
OFF2 += 7 * f2;
SENS2 += f2 << 2;
}
} else if (TEMP >= 2000) {
T2 = 2 * ((int64_t)POW2(dT) >> 37);
f = POW2((int64_t)TEMP - 2000);
OFF2 = 1 * f >> 4;
SENS2 = 0;
}
TEMP -= (int32_t)T2;
_OFF -= OFF2;
_SENS -= SENS2;
float temperature = TEMP / 100.0f;
_px4_barometer.set_temperature(temperature);
} else {
/* pressure calculation, result in Pa */
int32_t P = (((raw * _SENS) >> 21) - _OFF) >> 13;
float pressure = P / 10.0f; /* convert to millibar */
_px4_barometer.update(timestamp_sample, pressure);
}
/* update the measurement state machine */
INCREMENT(_measure_phase, MS5837_MEASUREMENT_RATIO + 1);
perf_end(_sample_perf);
return OK;
}
void MS5837::print_status()
{
I2CSPIDriverBase::print_status();
perf_print_counter(_sample_perf);
perf_print_counter(_comms_errors);
printf("pressure: %f\n", (double)_px4_barometer.get().pressure);
printf("temperature: %f\n", (double)_px4_barometer.get().temperature);
}
int MS5837::_read_prom()
{
uint8_t prom_buf[2];
union {
uint8_t b[2];
uint16_t w;
} cvt;
/*
* Wait for PROM contents to be in the device (2.8 ms) in the case we are
* called immediately after reset.
*/
px4_usleep(3000);
uint8_t last_val = 0;
bool bits_stuck = true;
/* read and convert PROM words */
for (int i = 0; i < 7; i++) {
uint8_t cmd = MS5837_PROM_READ + (i * 2);
if (PX4_OK != transfer(&cmd, 1, &prom_buf[0], 2)) {
break;
}
/* check if all bytes are zero */
if (i == 0) {
/* initialize to first byte read */
last_val = prom_buf[0];
}
if ((prom_buf[0] != last_val) || (prom_buf[1] != last_val)) {
bits_stuck = false;
}
/* assemble 16 bit value and convert from big endian (sensor) to little endian (MCU) */
cvt.b[0] = prom_buf[1];
cvt.b[1] = prom_buf[0];
_prom.c[i] = cvt.w;
}
/* calculate CRC and return success/failure accordingly */
return (_crc4(&_prom.c[0]) && !bits_stuck) ? PX4_OK : -EIO;
}
/**
* MS5837 crc4 cribbed from the datasheet
*/
bool MS5837::_crc4(uint16_t *n_prom)
{
uint16_t n_rem = 0;
uint16_t crcRead = n_prom[0] >> 12;
n_prom[0] = ((n_prom[0]) & 0x0FFF);
n_prom[7] = 0;
for (uint8_t i = 0 ; i < 16; i++) {
if (i % 2 == 1) {
n_rem ^= (uint16_t)((n_prom[i >> 1]) & 0x00FF);
} else {
n_rem ^= (uint16_t)(n_prom[i >> 1] >> 8);
}
for (uint8_t n_bit = 8 ; n_bit > 0 ; n_bit--) {
if (n_rem & 0x8000) {
n_rem = (n_rem << 1) ^ 0x3000;
} else {
n_rem = (n_rem << 1);
}
}
}
n_rem = ((n_rem >> 12) & 0x000F);
return (n_rem ^ 0x00) == crcRead;
}

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src/drivers/barometer/ms5837/MS5837.hpp Normal file
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/****************************************************************************
*
* Copyright (c) 2022 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 <drivers/device/device.h>
#include <drivers/device/i2c.h>
#include <lib/drivers/barometer/PX4Barometer.hpp>
#include <lib/perf/perf_counter.h>
#include <px4_platform_common/i2c_spi_buses.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <systemlib/err.h>
#include "ms5837_registers.h"
/* helper macro for handling report buffer indices */
#define INCREMENT(_x, _lim) do { __typeof__(_x) _tmp = _x+1; if (_tmp >= _lim) _tmp = 0; _x = _tmp; } while(0)
/* helper macro for arithmetic - returns the square of the argument */
#define POW2(_x) ((_x) * (_x))
class MS5837 : public device::I2C, public I2CSPIDriver<MS5837>
{
public:
MS5837(const I2CSPIDriverConfig &config);
~MS5837() override;
static void print_usage();
int init();
/**
* Perform a poll cycle; collect from the previous measurement
* and start a new one.
*
* This is the heart of the measurement state machine. This function
* alternately starts a measurement, or collects the data from the
* previous measurement.
*
* When the interval between measurements is greater than the minimum
* measurement interval, a gap is inserted between collection
* and measurement to provide the most recent measurement possible
* at the next interval.
*/
void RunImpl();
void print_status() override;
int read(unsigned offset, void *data, unsigned count) override;
private:
int probe() override;
PX4Barometer _px4_barometer;
ms5837::prom_u _prom{};
bool _collect_phase{false};
unsigned _measure_phase{false};
/* intermediate temperature values per MS5611/MS5607 datasheet */
int64_t _OFF{0};
int64_t _SENS{0};
perf_counter_t _sample_perf;
perf_counter_t _measure_perf;
perf_counter_t _comms_errors;
/**
* Initialize the automatic measurement state machine and start it.
*
* @note This function is called at open and error time. It might make sense
* to make it more aggressive about resetting the bus in case of errors.
*/
void _start();
/**
* Issue a measurement command for the current state.
*
* @return OK if the measurement command was successful.
*/
int _measure();
/**
* Collect the result of the most recent measurement.
*/
int _collect();
int _probe_address(uint8_t address);
/**
* Send a reset command to the MS5837.
*
* This is required after any bus reset.
*/
int _reset();
/**
* Read the MS5837 PROM
*
* @return PX4_OK if the PROM reads successfully.
*/
int _read_prom();
bool _crc4(uint16_t *n_prom);
};

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src/drivers/barometer/ms5837/ms5837_main.cpp Normal file
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/****************************************************************************
*
* Copyright (c) 2022 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 <px4_platform_common/px4_config.h>
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/i2c_spi_buses.h>
#include <px4_platform_common/module.h>
#include "MS5837.hpp"
void MS5837::print_usage()
{
PRINT_MODULE_USAGE_NAME("ms5837", "driver");
PRINT_MODULE_USAGE_SUBCATEGORY("baro");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
}
extern "C" int ms5837_main(int argc, char *argv[])
{
using ThisDriver = MS5837;
BusCLIArguments cli{true, false};
cli.default_i2c_frequency = 400000;
uint16_t dev_type_driver = DRV_BARO_DEVTYPE_MS5837;
const char *verb = cli.parseDefaultArguments(argc, argv);
if (!verb) {
ThisDriver::print_usage();
return -1;
}
cli.i2c_address = MS5837_ADDRESS;
BusInstanceIterator iterator(MODULE_NAME, cli, dev_type_driver);
if (!strcmp(verb, "start")) {
return ThisDriver::module_start(cli, iterator);
}
if (!strcmp(verb, "stop")) {
return ThisDriver::module_stop(iterator);
}
if (!strcmp(verb, "status")) {
return ThisDriver::module_status(iterator);
}
ThisDriver::print_usage();
return -1;
}

115
src/drivers/barometer/ms5837/ms5837_registers.h Normal file
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/****************************************************************************
*
* Copyright (C) 2022 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 ms5837_registers.h
*
* Shared defines for the ms5837 driver.
*/
#pragma once
#include <string.h>
#include "board_config.h"
/* interface ioctls */
#define IOCTL_RESET 2
#define IOCTL_MEASURE 3
#define MS5837_ADDRESS 0x76
#define MS5837_RESET 0x1E
#define MS5837_ADC_READ 0x00
#define MS5837_PROM_READ 0xA0
#define MS5837_30BA26 0x1A // Sensor version: From MS5837_30BA datasheet Version PROM Word 0
/*
* MS5837 internal constants and data structures.
*/
#define ADDR_CMD_CONVERT_D1_OSR256 0x40 /* write to this address to start pressure conversion */
#define ADDR_CMD_CONVERT_D1_OSR512 0x42 /* write to this address to start pressure conversion */
#define ADDR_CMD_CONVERT_D1_OSR1024 0x44 /* write to this address to start pressure conversion */
#define ADDR_CMD_CONVERT_D1_OSR2048 0x46 /* write to this address to start pressure conversion */
#define ADDR_CMD_CONVERT_D1_OSR4096 0x48 /* write to this address to start pressure conversion */
#define ADDR_CMD_CONVERT_D2_OSR256 0x50 /* write to this address to start temperature conversion */
#define ADDR_CMD_CONVERT_D2_OSR512 0x52 /* write to this address to start temperature conversion */
#define ADDR_CMD_CONVERT_D2_OSR1024 0x54 /* write to this address to start temperature conversion */
#define ADDR_CMD_CONVERT_D2_OSR2048 0x56 /* write to this address to start temperature conversion */
#define ADDR_CMD_CONVERT_D2_OSR4096 0x58 /* write to this address to start temperature conversion */
/*
use an OSR of 1024 to reduce the self-heating effect of the
sensor. Information from MS tells us that some individual sensors
are quite sensitive to this effect and that reducing the OSR can
make a big difference
*/
#define ADDR_CMD_CONVERT_D1 ADDR_CMD_CONVERT_D1_OSR1024
#define ADDR_CMD_CONVERT_D2 ADDR_CMD_CONVERT_D2_OSR1024
/*
* Maximum internal conversion time for OSR 1024 is 2.28 ms. We set an update
* rate of 100Hz which is be very safe not to read the ADC before the
* conversion finished
*/
#define MS5837_CONVERSION_INTERVAL 10000 /* microseconds */
#define MS5837_MEASUREMENT_RATIO 3 /* pressure measurements per temperature measurement */
namespace ms5837
{
/**
* Calibration PROM as reported by the device.
*/
#pragma pack(push,1)
struct prom_s {
uint16_t serial_and_crc;
uint16_t c1_pressure_sens;
uint16_t c2_pressure_offset;
uint16_t c3_temp_coeff_pres_sens;
uint16_t c4_temp_coeff_pres_offset;
uint16_t c5_reference_temp;
uint16_t c6_temp_coeff_temp;
uint16_t factory_setup;
};
/**
* Grody hack for crc4()
*/
union prom_u {
uint16_t c[8];
prom_s s;
};
#pragma pack(pop)
} /* namespace */

2
src/drivers/drv_sensor.h
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@ -108,6 +108,8 @@
#define DRV_BARO_DEVTYPE_LPS33HW 0x4C
#define DRV_BARO_DEVTYPE_TCBP001TA 0x4D
#define DRV_BARO_DEVTYPE_MS5837 0x4E
#define DRV_BARO_DEVTYPE_MPL3115A2 0x51
#define DRV_ACC_DEVTYPE_FXOS8701C 0x52