Line data    Source code

       1             : /*
       2             :    This program is free software: you can redistribute it and/or modify
       3             :    it under the terms of the GNU General Public License as published by
       4             :    the Free Software Foundation, either version 3 of the License, or
       5             :    (at your option) any later version.
       6             : 
       7             :    This program is distributed in the hope that it will be useful,
       8             :    but WITHOUT ANY WARRANTY; without even the implied warranty of
       9             :    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
      10             :    GNU General Public License for more details.
      11             : 
      12             :    You should have received a copy of the GNU General Public License
      13             :    along with this program.  If not, see <http://www.gnu.org/licenses/>.
      14             :  */
      15             : #include "AP_Baro_BMP581.h"
      16             : 
      17             : #if AP_BARO_BMP581_ENABLED
      18             : 
      19             : #include <AP_Math/AP_Math.h>
      20             : 
      21             : extern const AP_HAL::HAL &hal;
      22             : 
      23             : #define BMP581_ID                     0x50
      24             : 
      25             : #define BMP581_REG_CHIP_ID            0x01
      26             : #define BMP581_REG_REV_ID             0x02
      27             : #define BMP581_REG_CHIP_STATUS        0x11
      28             : #define BMP581_REG_DRIVE_CONFIG       0x13
      29             : #define BMP581_REG_INT_CONFIG         0x14
      30             : #define BMP581_REG_INT_SOURCE         0x15
      31             : #define BMP581_REG_FIFO_CONFIG        0x16
      32             : #define BMP581_REG_FIFO_COUNT         0x17
      33             : #define BMP581_REG_FIFO_SEL           0x18
      34             : #define BMP581_REG_TEMP_DATA_XLSB     0x1D
      35             : #define BMP581_REG_TEMP_DATA_LSB      0x1E
      36             : #define BMP581_REG_TEMP_DATA_MSB      0x1F
      37             : #define BMP581_REG_PRESS_DATA_XLSB    0x20
      38             : #define BMP581_REG_PRESS_DATA_LSB     0x21
      39             : #define BMP581_REG_PRESS_DATA_MSB     0x22
      40             : #define BMP581_REG_INT_STATUS         0x27
      41             : #define BMP581_REG_STATUS             0x28
      42             : #define BMP581_REG_FIFO_DATA          0x29
      43             : #define BMP581_REG_NVM_ADDR           0x2B
      44             : #define BMP581_REG_NVM_DATA_LSB       0x2C
      45             : #define BMP581_REG_NVM_DATA_MSB       0x2D
      46             : #define BMP581_REG_DSP_CONFIG         0x30
      47             : #define BMP581_REG_DSP_IIR            0x31
      48             : #define BMP581_REG_OOR_THR_P_LSB      0x32
      49             : #define BMP581_REG_OOR_THR_P_MSB      0x33
      50             : #define BMP581_REG_OOR_RANGE          0x34
      51             : #define BMP581_REG_OOR_CONFIG         0x35
      52             : #define BMP581_REG_OSR_CONFIG         0x36
      53             : #define BMP581_REG_ODR_CONFIG         0x37
      54             : #define BMP581_REG_OSR_EFF            0x38
      55             : #define BMP581_REG_CMD                0x7E
      56             : 
      57           0 : AP_Baro_BMP581::AP_Baro_BMP581(AP_Baro &baro, AP_HAL::Device &dev)
      58             :     : AP_Baro_Backend(baro)
      59           0 :     , _dev(&dev)
      60             : {
      61           0 : }
      62             : 
      63           0 : AP_Baro_Backend *AP_Baro_BMP581::probe(AP_Baro &baro, AP_HAL::Device &dev)
      64             : {
      65           0 :     AP_Baro_BMP581 *sensor = NEW_NOTHROW AP_Baro_BMP581(baro, dev);
      66           0 :     if (!sensor || !sensor->init()) {
      67           0 :         delete sensor;
      68           0 :         return nullptr;
      69             :     }
      70           0 :     return sensor;
      71             : }
      72             : 
      73           0 : bool AP_Baro_BMP581::init()
      74             : {
      75           0 :     if (!_dev) {
      76           0 :         return false;
      77             :     }
      78             : 
      79           0 :     WITH_SEMAPHORE(_dev->get_semaphore());
      80             : 
      81           0 :     _dev->set_speed(AP_HAL::Device::SPEED_HIGH);
      82             : 
      83             :     uint8_t whoami;
      84             : 
      85             :     // setup to allow reads on SPI
      86           0 :     if (_dev->bus_type() == AP_HAL::Device::BUS_TYPE_SPI) {
      87           0 :         _dev->set_read_flag(0x80);
      88             : 
      89           0 :         if (!_dev->read_registers(BMP581_REG_CHIP_ID, &whoami, 1)) {
      90           0 :             return false;
      91             :         }
      92             :     }
      93             : 
      94           0 :     if (!_dev->read_registers(BMP581_REG_CHIP_ID, &whoami, 1)) {
      95           0 :         return false;
      96             :     }
      97             : 
      98           0 :     switch (whoami) {
      99           0 :     case BMP581_ID:
     100           0 :         _dev->set_device_type(DEVTYPE_BARO_BMP581);
     101           0 :         break;
     102           0 :     default:
     103           0 :         return false;
     104             :     }
     105             : 
     106             :     uint8_t status;
     107           0 :     if (!_dev->read_registers(BMP581_REG_STATUS, &status, 1)) {
     108           0 :         return false;
     109             :     }
     110             : 
     111           0 :     if ((status & 0b10) == 0 || (status & 0b100)) {
     112           0 :         return false;
     113             :     }
     114             : 
     115             :     uint8_t int_status;
     116           0 :     if (!_dev->read_registers(BMP581_REG_INT_STATUS, &int_status, 1)) {
     117           0 :         return false;
     118             :     }
     119             : 
     120           0 :     if ((int_status & 0x10) == 0) {
     121           0 :         return false;
     122             :     }
     123             : 
     124           0 :     _dev->setup_checked_registers(4);
     125             : 
     126             :     // Standby mode
     127           0 :     _dev->write_register(BMP581_REG_ODR_CONFIG, 0, true);
     128             : 
     129             :     // Press EN | osr_p 64X | osr_t 4X
     130           0 :     _dev->write_register(BMP581_REG_OSR_CONFIG, 0b01110010, true);
     131             : 
     132             :     // ORD 50Hz | Normal Mode
     133           0 :     _dev->write_register(BMP581_REG_ODR_CONFIG, 0b0111101, true);
     134             : 
     135           0 :     instance = _frontend.register_sensor();
     136             : 
     137           0 :     set_bus_id(instance, _dev->get_bus_id());
     138             : 
     139             :     // request 50Hz update
     140           0 :     _dev->register_periodic_callback(20 * AP_USEC_PER_MSEC, FUNCTOR_BIND_MEMBER(&AP_Baro_BMP581::timer, void));
     141             : 
     142           0 :     return true;
     143           0 : }
     144             : 
     145             : // acumulate a new sensor reading
     146           0 : void AP_Baro_BMP581::timer(void)
     147             : {
     148             :     uint8_t buf[6];
     149             :     uint8_t buf2[6];
     150             : 
     151             :     // read twice, make sure results are consistent; corruption has
     152             :     // been seen from data on this sensor
     153           0 :     if (!_dev->read_registers(BMP581_REG_TEMP_DATA_XLSB, buf, sizeof(buf))) {
     154           0 :         return;
     155             :     }
     156           0 :     if (!_dev->read_registers(BMP581_REG_TEMP_DATA_XLSB, buf2, sizeof(buf2))) {
     157           0 :         return;
     158             :     }
     159           0 :     if (memcmp(buf, buf2, ARRAY_SIZE(buf)) != 0) {
     160             :         // we didn't get the same data twice.  Reject.
     161           0 :         return;
     162             :     }
     163             : 
     164           0 :     WITH_SEMAPHORE(_sem);
     165             : 
     166           0 :     if (buf[0] != 0x7f || buf[1] != 0x7f || buf[2] != 0x7f) {
     167             :         // we have temperature data
     168           0 :         temperature = (float)((int32_t)(((uint32_t)buf[2] << 24) | ((uint32_t)buf[1] << 16) | ((uint32_t)buf[0] << 8)) >> 8) * (1.0f / 65536.0f);
     169             :     }
     170             : 
     171           0 :     if (buf[3] != 0x7f || buf[4] != 0x7f || buf[5] != 0x7f) {
     172             :         // we have pressure data
     173           0 :         pressure_sum += (float)(((uint32_t)buf[5] << 16) | ((uint32_t)buf[4] << 8) | (uint32_t)buf[3]) * (1.0f / 64.0f);
     174           0 :         pressure_count++;
     175             :     }
     176             : 
     177           0 :     _dev->check_next_register();
     178           0 : }
     179             : 
     180             : // transfer data to the frontend
     181           0 : void AP_Baro_BMP581::update(void)
     182             : {
     183           0 :     WITH_SEMAPHORE(_sem);
     184             : 
     185           0 :     if (pressure_count == 0) {
     186           0 :         return;
     187             :     }
     188             : 
     189           0 :     _copy_to_frontend(instance,
     190           0 :                       pressure_sum/pressure_count,
     191             :                       temperature);
     192             : 
     193           0 :     pressure_sum = 0;
     194           0 :     pressure_count = 0;
     195           0 : }
     196             : 
     197             : #endif  // AP_BARO_BMP581_ENABLED