drivers: add ST LPS33HW baro driver

Note: only tested on I2C
2026-10-26 06:13:35 +08:00 · 2020-07-06 10:13:11 -04:00
parent aea94ff57b
commit 795b9e938e
9 changed files with 736 additions and 0 deletions
@@ -0,0 +1,186 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 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 "lps33hw.hpp"
+
+using namespace ST_LPS33HW;
+
+namespace lps33hw
+{
+
+template<typename T>
+static void getTwosComplement(T &raw, uint8_t length)
+{
+	if (raw & ((T)1 << (length - 1))) {
+		raw -= (T)1 << length;
+	}
+}
+
+LPS33HW::LPS33HW(I2CSPIBusOption bus_option, int bus, device::Device *interface) :
+	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(interface->get_device_id()), bus_option, bus,
+		     interface->get_device_address()),
+	_px4_barometer(interface->get_device_id()),
+	_interface(interface),
+	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
+	_comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": comm errors"))
+{
+}
+
+LPS33HW::~LPS33HW()
+{
+	perf_free(_sample_perf);
+	perf_free(_comms_errors);
+
+	delete _interface;
+}
+
+int
+LPS33HW::init()
+{
+	uint8_t who_am_i;
+	int ret = RegisterRead(Register::WHO_AM_I, who_am_i);
+
+	if (ret != 0) {
+		PX4_DEBUG("read failed (%i)", ret);
+		return ret;
+	}
+
+	if (who_am_i != WHO_AM_I_VALUE) {
+		PX4_DEBUG("WHO_AM_I mismatch (%i)", who_am_i);
+		return PX4_ERROR;
+	}
+
+	ret = reset();
+
+	if (ret != OK) {
+		PX4_DEBUG("reset failed");
+		return ret;
+	}
+
+	start();
+
+	return PX4_OK;
+}
+
+int
+LPS33HW::reset()
+{
+	// Soft Reset
+	int ret = RegisterWrite(Register::CTRL_REG2, SWRESET);
+
+	// wait until SWRESET goes back to 0
+	int i;
+
+	for (i = 0; i < 10; ++i) {
+		uint8_t val;
+		ret = RegisterRead(Register::CTRL_REG2, val);
+
+		if (ret == 0 && (val & SWRESET) == 0) {
+			break;
+		}
+
+		usleep(1000);
+	}
+
+	if (i >= 10) {
+		PX4_ERR("reset failed");
+		return PX4_ERROR;
+	}
+
+	// Configure sampling rate
+	ret = RegisterWrite(Register::CTRL_REG1, ODR_75HZ | BDU);
+
+	return ret;
+}
+
+void
+LPS33HW::start()
+{
+	ScheduleOnInterval(1000000 / SAMPLE_RATE);
+}
+
+void
+LPS33HW::RunImpl()
+{
+	perf_begin(_sample_perf);
+
+	uint8_t data[6];
+
+	if (_interface->read((uint8_t)Register::STATUS, data, sizeof(data)) != PX4_OK) {
+		perf_count(_comms_errors);
+		perf_end(_sample_perf);
+		return;
+	}
+
+	uint8_t status = data[0];
+
+	if ((status & P_DA) == 0) { // check if pressure data is available
+		perf_end(_sample_perf);
+		return;
+	}
+
+	hrt_abstime timestamp_sample = hrt_absolute_time();
+	float temp = ((int16_t)data[4] | (data[5] << 8)) / 100.f;
+
+	int32_t Praw = (int32_t)data[1] | (data[2] << 8) | (data[3] << 16);
+	getTwosComplement(Praw, 24);
+	float pressure_hPa = Praw / 4096.f;
+
+	_px4_barometer.set_error_count(perf_event_count(_comms_errors));
+	_px4_barometer.set_temperature(temp);
+	_px4_barometer.update(timestamp_sample, pressure_hPa); // hPascals -> Millibar
+
+	perf_end(_sample_perf);
+}
+
+int
+LPS33HW::RegisterRead(Register reg, uint8_t &val)
+{
+	return _interface->read((uint8_t)reg, &val, 1);
+}
+
+int
+LPS33HW::RegisterWrite(Register reg, uint8_t value)
+{
+	return _interface->write((uint8_t)reg, &value, 1);
+}
+
+void
+LPS33HW::print_status()
+{
+	I2CSPIDriverBase::print_status();
+	perf_print_counter(_sample_perf);
+	perf_print_counter(_comms_errors);
+}
+
+} // namespace lps33hw