move all differential pressure drivers to the same folder

2026-10-26 11:33:35 +08:00 · 2018-01-15 14:34:02 -05:00
parent 6d3dda2802
commit 576b42fea3
28 changed files with 52 additions and 57 deletions
@@ -0,0 +1,207 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2017 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 "SDP3X.hpp"
+
+/**
+ * @file SDP3X.hpp
+ *
+ * Driver for Sensirion SDP3X Differential Pressure Sensor
+ *
+ */
+
+int
+SDP3X::probe()
+{
+	return !init_sdp3x();
+}
+
+int SDP3X::write_command(uint16_t command)
+{
+	uint8_t cmd[2];
+	cmd[0] = static_cast<uint8_t>(command >> 8);
+	cmd[1] = static_cast<uint8_t>(command & 0xff);
+	return transfer(&cmd[0], 2, nullptr, 0);
+}
+
+bool
+SDP3X::init_sdp3x()
+{
+	// step 1 - reset on broadcast
+	uint16_t prev_addr = get_device_address();
+	set_device_address(SDP3X_RESET_ADDR);
+	uint8_t reset_cmd = SDP3X_RESET_CMD;
+	int ret = transfer(&reset_cmd, 1, nullptr, 0);
+	set_device_address(prev_addr);
+
+	if (ret != PX4_OK) {
+		perf_count(_comms_errors);
+		return false;
+	}
+
+	// wait until sensor is ready
+	usleep(20000);
+
+	// step 2 - configure
+	ret = write_command(SDP3X_CONT_MEAS_AVG_MODE);
+
+	if (ret != PX4_OK) {
+		perf_count(_comms_errors);
+		PX4_ERR("config failed");
+		return false;
+	}
+
+	usleep(10000);
+
+	// step 3 - get scale
+	uint8_t val[9];
+	ret = transfer(nullptr, 0, &val[0], sizeof(val));
+
+	if (ret != PX4_OK) {
+		perf_count(_comms_errors);
+		PX4_ERR("get scale failed");
+		return false;
+	}
+
+	// Check the CRC
+	if (!crc(&val[0], 2, val[2]) || !crc(&val[3], 2, val[5]) || !crc(&val[6], 2, val[8])) {
+		perf_count(_comms_errors);
+		return false;
+	}
+
+	_scale = (((uint16_t)val[6]) << 8) | val[7];
+
+	switch (_scale) {
+	case SDP3X_SCALE_PRESSURE_SDP31:
+		_device_id.devid_s.devtype = DRV_DIFF_PRESS_DEVTYPE_SDP31;
+		break;
+
+	case SDP3X_SCALE_PRESSURE_SDP32:
+		_device_id.devid_s.devtype = DRV_DIFF_PRESS_DEVTYPE_SDP32;
+		break;
+
+	case SDP3X_SCALE_PRESSURE_SDP33:
+		_device_id.devid_s.devtype = DRV_DIFF_PRESS_DEVTYPE_SDP33;
+		break;
+	}
+
+	return true;
+}
+
+int
+SDP3X::collect()
+{
+	perf_begin(_sample_perf);
+
+	// read 9 bytes from the sensor
+	uint8_t val[6];
+	int ret = transfer(nullptr, 0, &val[0], sizeof(val));
+
+	if (ret != PX4_OK) {
+		perf_count(_comms_errors);
+		return ret;
+	}
+
+	// Check the CRC
+	if (!crc(&val[0], 2, val[2]) || !crc(&val[3], 2, val[5])) {
+		perf_count(_comms_errors);
+		return EAGAIN;
+
+	} else {
+		ret = 0;
+	}
+
+	int16_t P = (((int16_t)val[0]) << 8) | val[1];
+	int16_t temp = (((int16_t)val[3]) << 8) | val[4];
+
+	float diff_press_pa_raw = static_cast<float>(P) / static_cast<float>(_scale);
+	float temperature_c = temp / static_cast<float>(SDP3X_SCALE_TEMPERATURE);
+
+	differential_pressure_s report;
+
+	report.timestamp = hrt_absolute_time();
+	report.error_count = perf_event_count(_comms_errors);
+	report.temperature = temperature_c;
+	report.differential_pressure_filtered_pa = _filter.apply(diff_press_pa_raw) - _diff_pres_offset;
+	report.differential_pressure_raw_pa = diff_press_pa_raw - _diff_pres_offset;
+	report.device_id = _device_id.devid;
+
+	if (_airspeed_pub != nullptr && !(_pub_blocked)) {
+		orb_publish(ORB_ID(differential_pressure), _airspeed_pub, &report);
+	}
+
+	ret = OK;
+
+	perf_end(_sample_perf);
+
+	return ret;
+}
+
+void
+SDP3X::cycle()
+{
+	int ret = PX4_ERROR;
+
+	// measurement phase
+	ret = collect();
+
+	if (PX4_OK != ret) {
+		_sensor_ok = false;
+		DEVICE_DEBUG("measure error");
+	}
+
+	// schedule a fresh cycle call when the measurement is done
+	work_queue(HPWORK, &_work, (worker_t)&Airspeed::cycle_trampoline, this, USEC2TICK(CONVERSION_INTERVAL));
+}
+
+bool SDP3X::crc(const uint8_t data[], unsigned size, uint8_t checksum)
+{
+	uint8_t crc_value = 0xff;
+
+	// calculate 8-bit checksum with polynomial 0x31 (x^8 + x^5 + x^4 + 1)
+	for (unsigned i = 0; i < size; i++) {
+		crc_value ^= (data[i]);
+
+		for (int bit = 8; bit > 0; --bit) {
+			if (crc_value & 0x80) {
+				crc_value = (crc_value << 1) ^ 0x31;
+
+			} else {
+				crc_value = (crc_value << 1);
+			}
+		}
+	}
+
+	// verify checksum
+	return (crc_value == checksum);
+}