Andrew Tridgell
5 years ago
8 changed files with 319 additions and 8 deletions
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/*
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/ |
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#include "AP_Baro_SPL06.h" |
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#include <utility> |
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extern const AP_HAL::HAL &hal; |
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#define SPL06_CHIP_ID 0x10 |
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#define SPL06_REG_PRESSURE_B2 0x00 // Pressure MSB Register
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#define SPL06_REG_PRESSURE_B1 0x01 // Pressure middle byte Register
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#define SPL06_REG_PRESSURE_B0 0x02 // Pressure LSB Register
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#define SPL06_REG_PRESSURE_START SPL06_REG_PRESSURE_B2 |
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#define SPL06_PRESSURE_LEN 3 // 24 bits, 3 bytes
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#define SPL06_REG_TEMPERATURE_B2 0x03 // Temperature MSB Register
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#define SPL06_REG_TEMPERATURE_B1 0x04 // Temperature middle byte Register
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#define SPL06_REG_TEMPERATURE_B0 0x05 // Temperature LSB Register
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#define SPL06_REG_TEMPERATURE_START SPL06_REG_TEMPERATURE_B2 |
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#define SPL06_TEMPERATURE_LEN 3 // 24 bits, 3 bytes
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#define SPL06_REG_PRESSURE_CFG 0x06 // Pressure config
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#define SPL06_REG_TEMPERATURE_CFG 0x07 // Temperature config
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#define SPL06_REG_MODE_AND_STATUS 0x08 // Mode and status
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#define SPL06_REG_INT_AND_FIFO_CFG 0x09 // Interrupt and FIFO config
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#define SPL06_REG_INT_STATUS 0x0A // Interrupt and FIFO config
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#define SPL06_REG_FIFO_STATUS 0x0B // Interrupt and FIFO config
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#define SPL06_REG_RST 0x0C // Softreset Register
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#define SPL06_REG_CHIP_ID 0x0D // Chip ID Register
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#define SPL06_REG_CALIB_COEFFS_START 0x10 |
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#define SPL06_REG_CALIB_COEFFS_END 0x21 |
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#define SPL06_CALIB_COEFFS_LEN (SPL06_REG_CALIB_COEFFS_END - SPL06_REG_CALIB_COEFFS_START + 1) |
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// TEMPERATURE_CFG_REG
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#define SPL06_TEMP_USE_EXT_SENSOR (1<<7) |
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// MODE_AND_STATUS_REG
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#define SPL06_MEAS_PRESSURE (1<<0) // measure pressure
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#define SPL06_MEAS_TEMPERATURE (1<<1) // measure temperature
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#define SPL06_MEAS_CFG_CONTINUOUS (1<<2) |
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#define SPL06_MEAS_CFG_PRESSURE_RDY (1<<4) |
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#define SPL06_MEAS_CFG_TEMPERATURE_RDY (1<<5) |
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#define SPL06_MEAS_CFG_SENSOR_RDY (1<<6) |
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#define SPL06_MEAS_CFG_COEFFS_RDY (1<<7) |
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// INT_AND_FIFO_CFG_REG
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#define SPL06_PRESSURE_RESULT_BIT_SHIFT (1<<2) // necessary for pressure oversampling > 8
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#define SPL06_TEMPERATURE_RESULT_BIT_SHIFT (1<<3) // necessary for temperature oversampling > 8
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// Don't set oversampling higher than 8 or the measurement time will be higher than 20ms (timer period)
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#define SPL06_PRESSURE_OVERSAMPLING 8 |
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#define SPL06_TEMPERATURE_OVERSAMPLING 8 |
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#define SPL06_OVERSAMPLING_TO_REG_VALUE(n) (ffs(n)-1) |
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AP_Baro_SPL06::AP_Baro_SPL06(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev) |
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: AP_Baro_Backend(baro) |
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, _dev(std::move(dev)) |
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{ |
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} |
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AP_Baro_Backend *AP_Baro_SPL06::probe(AP_Baro &baro, |
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AP_HAL::OwnPtr<AP_HAL::Device> dev) |
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{ |
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if (!dev) { |
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return nullptr; |
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} |
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if (dev->bus_type() == AP_HAL::Device::BUS_TYPE_SPI) { |
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dev->set_read_flag(0x80); |
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} |
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AP_Baro_SPL06 *sensor = new AP_Baro_SPL06(baro, std::move(dev)); |
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if (!sensor || !sensor->_init()) { |
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delete sensor; |
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return nullptr; |
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} |
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return sensor; |
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} |
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bool AP_Baro_SPL06::_init() |
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{ |
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if (!_dev) { |
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return false; |
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} |
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WITH_SEMAPHORE(_dev->get_semaphore()); |
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_has_sample = false; |
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_dev->set_speed(AP_HAL::Device::SPEED_HIGH); |
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uint8_t whoami; |
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if (!_dev->read_registers(SPL06_REG_CHIP_ID, &whoami, 1) || |
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whoami != SPL06_CHIP_ID) { |
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// not a SPL06
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return false; |
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} |
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// read the calibration data
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uint8_t buf[SPL06_CALIB_COEFFS_LEN]; |
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_dev->read_registers(SPL06_REG_CALIB_COEFFS_START, buf, sizeof(buf)); |
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_c0 = (buf[0] & 0x80 ? 0xF000 : 0) | ((uint16_t)buf[0] << 4) | (((uint16_t)buf[1] & 0xF0) >> 4); |
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_c1 = ((buf[1] & 0x8 ? 0xF000 : 0) | ((uint16_t)buf[1] & 0x0F) << 8) | (uint16_t)buf[2]; |
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_c00 = (buf[3] & 0x80 ? 0xFFF00000 : 0) | ((uint32_t)buf[3] << 12) | ((uint32_t)buf[4] << 4) | (((uint32_t)buf[5] & 0xF0) >> 4); |
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_c10 = (buf[5] & 0x8 ? 0xFFF00000 : 0) | (((uint32_t)buf[5] & 0x0F) << 16) | ((uint32_t)buf[6] << 8) | (uint32_t)buf[7]; |
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_c01 = ((uint16_t)buf[8] << 8) | ((uint16_t)buf[9]); |
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_c11 = ((uint16_t)buf[10] << 8) | (uint16_t)buf[11]; |
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_c20 = ((uint16_t)buf[12] << 8) | (uint16_t)buf[13]; |
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_c21 = ((uint16_t)buf[14] << 8) | (uint16_t)buf[15]; |
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_c30 = ((uint16_t)buf[16] << 8) | (uint16_t)buf[17]; |
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// setup temperature and pressure measurements
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_dev->setup_checked_registers(3, 20); |
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_dev->write_register(SPL06_REG_TEMPERATURE_CFG, SPL06_TEMP_USE_EXT_SENSOR | SPL06_OVERSAMPLING_TO_REG_VALUE(SPL06_TEMPERATURE_OVERSAMPLING), true); |
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_dev->write_register(SPL06_REG_PRESSURE_CFG, SPL06_OVERSAMPLING_TO_REG_VALUE(SPL06_PRESSURE_OVERSAMPLING), true); |
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uint8_t int_and_fifo_reg_value = 0; |
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if (SPL06_TEMPERATURE_OVERSAMPLING > 8) { |
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int_and_fifo_reg_value |= SPL06_TEMPERATURE_RESULT_BIT_SHIFT; |
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} |
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if (SPL06_PRESSURE_OVERSAMPLING > 8) { |
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int_and_fifo_reg_value |= SPL06_PRESSURE_RESULT_BIT_SHIFT; |
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} |
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_dev->write_register(SPL06_REG_INT_AND_FIFO_CFG, int_and_fifo_reg_value, true); |
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_instance = _frontend.register_sensor(); |
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// request 50Hz update
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_timer_counter = -1; |
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_dev->register_periodic_callback(20 * AP_USEC_PER_MSEC, FUNCTOR_BIND_MEMBER(&AP_Baro_SPL06::_timer, void)); |
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return true; |
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} |
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int32_t AP_Baro_SPL06::raw_value_scale_factor(uint8_t oversampling) |
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{ |
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// From the datasheet page 13
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switch(oversampling) |
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{ |
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case 1: return 524288; |
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case 2: return 1572864; |
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case 4: return 3670016; |
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case 8: return 7864320; |
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case 16: return 253952; |
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case 32: return 516096; |
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case 64: return 1040384; |
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case 128: return 2088960; |
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default: return -1; // invalid
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} |
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} |
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// acumulate a new sensor reading
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void AP_Baro_SPL06::_timer(void) |
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{ |
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uint8_t buf[3]; |
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if ((_timer_counter == -1) || (_timer_counter == 49)) { |
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// First call and every second start a temperature measurement (50Hz call)
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_dev->write_register(SPL06_REG_MODE_AND_STATUS, SPL06_MEAS_TEMPERATURE, false); |
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_timer_counter = 0; // Next cycle we are reading the temperature
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} else if (_timer_counter == 0) { |
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// A temperature measurement had been started during the previous call
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_dev->read_registers(SPL06_REG_TEMPERATURE_START, buf, sizeof(buf)); |
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_update_temperature((int32_t)((buf[0] & 0x80 ? 0xFF000000 : 0) | ((uint32_t)buf[0] << 16) | ((uint32_t)buf[1] << 8) | buf[2])); |
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_dev->write_register(SPL06_REG_MODE_AND_STATUS, SPL06_MEAS_PRESSURE, false); |
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_timer_counter += 1; |
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} else { |
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// The rest of the time read the latest pressure and start a new measurement
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_dev->read_registers(SPL06_REG_PRESSURE_START, buf, sizeof(buf)); |
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_update_pressure((int32_t)((buf[0] & 0x80 ? 0xFF000000 : 0) | ((uint32_t)buf[0] << 16) | ((uint32_t)buf[1] << 8) | buf[2])); |
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_dev->write_register(SPL06_REG_MODE_AND_STATUS, SPL06_MEAS_PRESSURE, false); |
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_timer_counter += 1; |
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} |
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_dev->check_next_register(); |
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} |
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// transfer data to the frontend
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void AP_Baro_SPL06::update(void) |
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{ |
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WITH_SEMAPHORE(_sem); |
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if (!_has_sample) { |
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return; |
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} |
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_copy_to_frontend(_instance, _pressure, _temperature); |
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_has_sample = false; |
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} |
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// calculate temperature
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void AP_Baro_SPL06::_update_temperature(int32_t temp_raw) |
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{ |
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_temp_raw = (float)temp_raw / raw_value_scale_factor(SPL06_TEMPERATURE_OVERSAMPLING); |
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const float temp_comp = (float)_c0 / 2 + _temp_raw * _c1; |
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WITH_SEMAPHORE(_sem); |
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_temperature = temp_comp; |
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} |
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// calculate pressure
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void AP_Baro_SPL06::_update_pressure(int32_t press_raw) |
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{ |
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const float press_raw_sc = (float)press_raw / raw_value_scale_factor(SPL06_PRESSURE_OVERSAMPLING); |
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const float pressure_cal = (float)_c00 + press_raw_sc * ((float)_c10 + press_raw_sc * ((float)_c20 + press_raw_sc * _c30)); |
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const float press_temp_comp = _temp_raw * ((float)_c01 + press_raw_sc * ((float)_c11 + press_raw_sc * _c21)); |
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const float press_comp = pressure_cal + press_temp_comp; |
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if (!pressure_ok(press_comp)) { |
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return; |
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} |
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WITH_SEMAPHORE(_sem); |
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_pressure = press_comp; |
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_has_sample = true; |
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} |
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@ -0,0 +1,47 @@
@@ -0,0 +1,47 @@
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#pragma once |
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#include <AP_HAL/AP_HAL.h> |
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#include <AP_HAL/Device.h> |
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#include <AP_HAL/utility/OwnPtr.h> |
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#include "AP_Baro_Backend.h" |
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#ifndef HAL_BARO_SPL06_I2C_ADDR |
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#define HAL_BARO_SPL06_I2C_ADDR (0x76) |
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#endif |
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#ifndef HAL_BARO_SPL06_I2C_ADDR2 |
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#define HAL_BARO_SPL06_I2C_ADDR2 (0x77) |
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#endif |
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class AP_Baro_SPL06 : public AP_Baro_Backend |
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{ |
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public: |
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AP_Baro_SPL06(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev); |
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/* AP_Baro public interface: */ |
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void update() override; |
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static AP_Baro_Backend *probe(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev); |
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private: |
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bool _init(void); |
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void _timer(void); |
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void _update_temperature(int32_t); |
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void _update_pressure(int32_t); |
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int32_t raw_value_scale_factor(uint8_t); |
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AP_HAL::OwnPtr<AP_HAL::Device> _dev; |
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int8_t _timer_counter; |
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bool _has_sample; |
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uint8_t _instance; |
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float _temp_raw; |
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float _pressure; |
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float _temperature; |
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// Internal calibration registers
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int32_t _c00, _c10; |
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int16_t _c0, _c1, _c01, _c11, _c20, _c21, _c30; |
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}; |
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