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BMP581: Add Bosch BMP581 barometer (#23064)
* BMP581: Add Bosch BMP581 barometer * Copyright：fix copyright header year * style: not use pointers and Bool returns, Check the failed condition return * delay: Replace usleep() with ScheduleDelayed() * definitions: Delete unused definitions * comment: Delet redundant comments * constants: Change to uppercase * BMP581: run make format
This commit is contained in:
Liu1
@@ -1,6 +1,6 @@
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############################################################################
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#
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# Copyright (c) 2017 PX4 Development Team. All rights reserved.
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# Copyright (c) 2017-2024 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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@@ -33,6 +33,7 @@
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add_subdirectory(bmp280)
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add_subdirectory(bmp388)
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add_subdirectory(bmp581)
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add_subdirectory(dps310)
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add_subdirectory(lps22hb)
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#add_subdirectory(lps25h) # not ready for general inclusion
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@@ -4,6 +4,7 @@ menu "barometer"
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default n
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select DRIVERS_BAROMETER_BMP280
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select DRIVERS_BAROMETER_BMP388
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select DRIVERS_BAROMETER_BMP581
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select DRIVERS_BAROMETER_DPS310
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select DRIVERS_BAROMETER_LPS22HB
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select DRIVERS_BAROMETER_LPS33HW
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@@ -0,0 +1,44 @@
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############################################################################
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#
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# Copyright (c) 2024 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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px4_add_module(
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MODULE drivers__barometer__bmp581
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MAIN bmp581
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SRCS
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bmp581_spi.cpp
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bmp581_i2c.cpp
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bmp581.cpp
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bmp581_main.cpp
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DEPENDS
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px4_work_queue
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)
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@@ -0,0 +1,5 @@
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menuconfig DRIVERS_BAROMETER_BMP581
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bool "bmp581"
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default n
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---help---
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Enable support for bmp581
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@@ -0,0 +1,727 @@
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/****************************************************************************
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*
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* Copyright (c) 2024 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESSf
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include "bmp581.h"
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#include <cstdint>
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BMP581::BMP581(const I2CSPIDriverConfig &config, IBMP581 *interface) :
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I2CSPIDriver(config),
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_interface(interface),
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_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
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_measure_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": measure")),
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_comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": comms_errors"))
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{
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}
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BMP581::~BMP581()
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{
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/* free perf counters */
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perf_free(_sample_perf);
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perf_free(_measure_perf);
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perf_free(_comms_errors);
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delete _interface;
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}
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int BMP581::init()
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{
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int ret;
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ret = soft_reset();
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if (ret != PX4_OK) {
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PX4_DEBUG("failed to reset baro during init");
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return -EIO;
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}
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_chip_id = _interface->get_reg(BMP5_REG_CHIP_ID_ADDR);
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if ((_chip_id != BMP581_CHIP_ID_PRIM) && (_chip_id != BMP581_CHIP_ID_SEC)) {
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PX4_WARN("id of your baro is not: 0x%02x or 0x%02x", BMP581_CHIP_ID_PRIM, BMP581_CHIP_ID_SEC);
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return -EIO;
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}
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_chip_rev_id = _interface->get_reg(BMP5_REG_REV_ID_ADDR);
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ret = set_config();
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if (ret != PX4_OK) {
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PX4_WARN("failed to set_config");
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return -EIO;
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}
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start();
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return PX4_OK;
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}
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void BMP581::print_status()
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{
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I2CSPIDriverBase::print_status();
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printf("chip id: 0x%02x rev id: 0x%02x\n", _chip_id, _chip_rev_id);
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perf_print_counter(_sample_perf);
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perf_print_counter(_measure_perf);
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perf_print_counter(_comms_errors);
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printf("measurement interval: %u us \n", _measure_interval);
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}
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void BMP581::start()
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{
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_collect_phase = false;
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ScheduleOnInterval(_measure_interval, _measure_interval * 3);
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}
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void BMP581::RunImpl()
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{
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if (_collect_phase) {
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collect();
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}
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measure();
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}
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int BMP581::measure()
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{
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int ret;
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_collect_phase = true;
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perf_begin(_measure_perf);
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/* start measurement */
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ret = set_power_mode(BMP5_POWERMODE_FORCED);
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if (ret != PX4_OK) {
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PX4_DEBUG("failed to set power mode");
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perf_count(_comms_errors);
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perf_cancel(_measure_perf);
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return -EIO;
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}
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perf_end(_measure_perf);
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return PX4_OK;
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}
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int BMP581::collect()
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{
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_collect_phase = false;
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bmp5_sensor_data data{};
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uint8_t int_status;
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int ret;
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perf_begin(_sample_perf);
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/* this should be fairly close to the end of the conversion, so the best approximation of the time */
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const hrt_abstime timestamp_sample = hrt_absolute_time();
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int_status = get_interrupt_status();
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if (int_status & BMP5_INT_ASSERTED_DRDY) {
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ret = get_sensor_data(&data);
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if (ret != PX4_OK) {
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perf_count(_comms_errors);
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perf_cancel(_sample_perf);
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return -EIO;
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}
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}
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//publish
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sensor_baro_s sensor_baro{};
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sensor_baro.timestamp_sample = timestamp_sample;
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sensor_baro.device_id = _interface->get_device_id();
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sensor_baro.pressure = data.pressure;
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sensor_baro.temperature = data.temperature;
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sensor_baro.error_count = perf_event_count(_comms_errors);
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sensor_baro.timestamp = hrt_absolute_time();
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_sensor_baro_pub.publish(sensor_baro);
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perf_end(_sample_perf);
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return PX4_OK;
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}
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/*!
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* @brief This API performs the soft reset of the sensor
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*
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* https://github.com/boschsensortec/BMP5-Sensor-API/blob/master/bmp5.c
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*/
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int BMP581::soft_reset()
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{
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uint8_t status;
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int ret;
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if (intf == BMP5_SPI_INTF) {
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/* Performing a single read via SPI of registers,
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* e.g. registers CHIP_ID, before the actual
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* SPI communication with the device.
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*/
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status = _interface->get_reg(BMP5_REG_CHIP_ID_ADDR);
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}
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ret = _interface->set_reg(BMP5_SOFT_RESET_CMD, BMP5_REG_CMD_ADDR);
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if (ret != PX4_OK) {
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return PX4_ERROR;
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}
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usleep(BMP5_DELAY_US_SOFT_RESET);
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if (intf == BMP5_SPI_INTF) {
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/* Performing a single read via SPI of registers,
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* e.g. registers CHIP_ID, before the actual
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* SPI communication with the device.
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*/
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status = _interface->get_reg(BMP5_REG_CHIP_ID_ADDR);
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}
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status = _interface->get_reg(BMP5_REG_STATUS_ADDR);
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/* Check if nvm_rdy status = 1 and nvm_err status = 0 to proceed */
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if (!((status & BMP5_INT_NVM_RDY) && (!(status & BMP5_INT_NVM_ERR)))) {
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return PX4_ERROR;
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}
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status = _interface->get_reg(BMP5_REG_INT_STATUS_ADDR);
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if (status & BMP5_INT_ASSERTED_POR_SOFTRESET_COMPLETE) {
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return PX4_OK;
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} else {
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return PX4_ERROR;
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}
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}
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int BMP581::set_config()
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{
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int ret;
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ret = set_power_mode(BMP5_POWERMODE_STANDBY);
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if (ret != PX4_OK) {
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return PX4_ERROR;
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}
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ret = set_osr_odr_press_config();
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if (ret != PX4_OK) {
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return PX4_ERROR;
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}
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ret = set_iir_config();
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if (ret != PX4_OK) {
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return PX4_ERROR;
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}
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ret = configure_interrupt();
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if (ret != PX4_OK) {
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return PX4_ERROR;
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}
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ret = int_source_select();
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if (ret != PX4_OK) {
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return PX4_ERROR;
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}
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return PX4_OK;
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}
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/*!
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* @brief This API is used to get interrupt status.
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*/
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uint8_t BMP581::get_interrupt_status()
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{
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uint8_t status = 0xFF;
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status = _interface->get_reg(BMP5_REG_INT_STATUS_ADDR);
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return status;
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}
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uint8_t BMP581::check_deepstandby_mode()
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{
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int rslt;
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uint8_t fifo_frame_sel;
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uint8_t reg_data[2];
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uint8_t powermode = 0xFF;
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fifo_frame_sel = _interface->get_reg(BMP5_REG_FIFO_SEL_ADDR);
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fifo_frame_sel = BMP5_GET_BITS_POS_0(fifo_frame_sel, BMP5_FIFO_FRAME_SEL);
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rslt = _interface->get_reg_buf(BMP5_REG_OSR_CONFIG_ADDR, reg_data, 2);
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if (rslt != PX4_OK) {
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return PX4_ERROR;
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}
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uint8_t odr_reg = 0xFF;
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odr_reg = BMP5_GET_BITSLICE(reg_data[1], BMP5_ODR);
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rslt = _interface->get_reg_buf(BMP5_REG_DSP_CONFIG_ADDR, reg_data, 2);
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if (rslt != PX4_OK) {
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return PX4_ERROR;
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}
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uint8_t set_iir_t_reg = 0xFF;
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uint8_t set_iir_p_reg = 0xFF;
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set_iir_t_reg = BMP5_GET_BITS_POS_0(reg_data[1], BMP5_SET_IIR_TEMP);
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set_iir_p_reg = BMP5_GET_BITSLICE(reg_data[1], BMP5_SET_IIR_PRESS);
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/* As per datasheet odr should be less than 5Hz. But register value for 5Hz is less than 4Hz and so,
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* thus in this below condition odr is checked whether greater than 5Hz macro.
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*/
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if ((odr_reg > BMP5_ODR_05_HZ) && (fifo_frame_sel == BMP5_DISABLE) &&
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(set_iir_t_reg == BMP5_IIR_FILTER_BYPASS) && (set_iir_p_reg == BMP5_IIR_FILTER_BYPASS)) {
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powermode = BMP5_POWERMODE_DEEP_STANDBY;
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}
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return powermode;
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}
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/*!
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* @brief This API is used to get powermode of the sensor.
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*/
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uint8_t BMP581::get_power_mode()
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{
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uint8_t deep_dis;
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uint8_t reg_data;
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uint8_t powermode;
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reg_data = _interface->get_reg(BMP5_REG_ODR_CONFIG_ADDR);
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powermode = BMP5_GET_BITS_POS_0(reg_data, BMP5_POWERMODE);
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if (powermode == BMP5_POWERMODE_STANDBY) {
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deep_dis = BMP5_GET_BITSLICE(reg_data, BMP5_DEEP_DISABLE);
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if (deep_dis == BMP5_DEEP_ENABLED) {
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powermode = check_deepstandby_mode();
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}
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}
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return powermode;
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}
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/*!
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* @brief This API is used to set powermode of the sensor.
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*/
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int BMP581::set_power_mode(uint8_t power_mode)
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{
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uint8_t lst_pwrmode;
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uint8_t reg_data;
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int rslt;
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lst_pwrmode = get_power_mode();
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if (lst_pwrmode != BMP5_POWERMODE_STANDBY) {
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reg_data = _interface->get_reg(BMP5_REG_ODR_CONFIG_ADDR);
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reg_data = BMP5_SET_BITSLICE(reg_data, BMP5_DEEP_DISABLE, BMP5_DEEP_DISABLED);
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reg_data = BMP5_SET_BITS_POS_0(reg_data, BMP5_POWERMODE, BMP5_POWERMODE_STANDBY);
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rslt = _interface->set_reg(reg_data, BMP5_REG_ODR_CONFIG_ADDR);
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if (rslt != PX4_OK) {
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return PX4_ERROR;
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}
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ScheduleDelayed(BMP5_DELAY_US_STANDBY);
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}
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switch (power_mode) {
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case BMP5_POWERMODE_DEEP_STANDBY:
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rslt = set_deep_standby_mode();
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if (rslt != PX4_OK) {
|
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return PX4_ERROR;
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}
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break;
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case BMP5_POWERMODE_STANDBY:
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break;
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case BMP5_POWERMODE_NORMAL:
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case BMP5_POWERMODE_FORCED:
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case BMP5_POWERMODE_CONTINOUS:
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reg_data = _interface->get_reg(BMP5_REG_ODR_CONFIG_ADDR);
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reg_data = BMP5_SET_BITSLICE(reg_data, BMP5_DEEP_DISABLE, BMP5_DEEP_DISABLED);
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reg_data = BMP5_SET_BITS_POS_0(reg_data, BMP5_POWERMODE, power_mode);
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rslt = _interface->set_reg(reg_data, BMP5_REG_ODR_CONFIG_ADDR);
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if (rslt != PX4_OK) {
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return PX4_ERROR;
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}
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break;
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}
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return PX4_OK;
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}
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/*!
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* @brief This internal API is used to set sensor in deep standby mode.
|
||||
*/
|
||||
int BMP581::set_deep_standby_mode()
|
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{
|
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uint8_t reg_data;
|
||||
int rslt;
|
||||
|
||||
reg_data = _interface->get_reg(BMP5_REG_ODR_CONFIG_ADDR);
|
||||
reg_data = BMP5_SET_BIT_VAL_0(reg_data, BMP5_DEEP_DISABLE);
|
||||
reg_data = BMP5_SET_BITSLICE(reg_data, BMP5_ODR, BMP5_ODR_01_HZ);
|
||||
rslt = _interface->set_reg(reg_data, BMP5_REG_ODR_CONFIG_ADDR);
|
||||
|
||||
if (rslt != PX4_OK) {
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
reg_data = _interface->get_reg(BMP5_REG_DSP_IIR_ADDR);
|
||||
reg_data = reg_data & BMP5_IIR_BYPASS;
|
||||
rslt = _interface->set_reg(reg_data, BMP5_REG_DSP_IIR_ADDR);
|
||||
|
||||
if (rslt != PX4_OK) {
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
reg_data = _interface->get_reg(BMP5_REG_FIFO_SEL_ADDR);
|
||||
reg_data = BMP5_SET_BIT_VAL_0(reg_data, BMP5_FIFO_FRAME_SEL);
|
||||
rslt = _interface->set_reg(reg_data, BMP5_REG_FIFO_SEL_ADDR);
|
||||
|
||||
if (rslt != PX4_OK) {
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
return PX4_OK;
|
||||
}
|
||||
|
||||
/*!
|
||||
* @brief This internal API is used to set sensor in standby powermode when powermode is deepstandby mode.
|
||||
*/
|
||||
int BMP581::set_standby_mode()
|
||||
{
|
||||
uint8_t powermode;
|
||||
int ret;
|
||||
|
||||
powermode = get_power_mode();
|
||||
|
||||
if (powermode == BMP5_POWERMODE_DEEP_STANDBY) {
|
||||
ret = set_power_mode(BMP5_POWERMODE_STANDBY);
|
||||
|
||||
if (ret != PX4_OK) {
|
||||
return PX4_ERROR;
|
||||
}
|
||||
}
|
||||
|
||||
return PX4_OK;
|
||||
}
|
||||
|
||||
uint32_t BMP581::get_measurement_time()
|
||||
{
|
||||
/*
|
||||
From BST-BMP3581-DS004-04.pdf, page 19, table 9
|
||||
|
||||
Pressure Temperature Measurement
|
||||
Oversample Oversample Time
|
||||
1x 1x 2.7 ms
|
||||
2x 1x 3.3 ms
|
||||
4x 1x 4.6 ms
|
||||
8x 1x 7.2 ms
|
||||
16x 1x 12.5 ms
|
||||
32x 2x 23.3 ms
|
||||
64x 4x 44.2 ms
|
||||
128x 8x 88.0 ms
|
||||
*/
|
||||
|
||||
uint32_t meas_time_us = 0; // unsupported value by default
|
||||
|
||||
if (OVERSAMPLING_TEMPERATURE == BMP5_OVERSAMPLING_1X) {
|
||||
switch (OVERSAMPLING_PRESSURE) {
|
||||
case BMP5_OVERSAMPLING_1X:
|
||||
meas_time_us = 2700;
|
||||
break;
|
||||
|
||||
case BMP5_OVERSAMPLING_2X:
|
||||
meas_time_us = 3300;
|
||||
break;
|
||||
|
||||
case BMP5_OVERSAMPLING_4X:
|
||||
meas_time_us = 4600;
|
||||
break;
|
||||
|
||||
case BMP5_OVERSAMPLING_8X:
|
||||
meas_time_us = 7200;
|
||||
break;
|
||||
|
||||
case BMP5_OVERSAMPLING_16X:
|
||||
meas_time_us = 12500;
|
||||
break;
|
||||
}
|
||||
|
||||
} else if (OVERSAMPLING_TEMPERATURE == BMP5_OVERSAMPLING_2X) {
|
||||
switch (OVERSAMPLING_PRESSURE) {
|
||||
case BMP5_OVERSAMPLING_32X:
|
||||
meas_time_us = 23300;
|
||||
break;
|
||||
|
||||
}
|
||||
|
||||
} else if (OVERSAMPLING_TEMPERATURE == BMP5_OVERSAMPLING_4X) {
|
||||
switch (OVERSAMPLING_PRESSURE) {
|
||||
case BMP5_OVERSAMPLING_64X:
|
||||
meas_time_us = 44200;
|
||||
break;
|
||||
|
||||
}
|
||||
|
||||
} else if (OVERSAMPLING_TEMPERATURE == BMP5_OVERSAMPLING_8X) {
|
||||
switch (OVERSAMPLING_PRESSURE) {
|
||||
case BMP5_OVERSAMPLING_128X:
|
||||
meas_time_us = 88000;
|
||||
break;
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
return meas_time_us;
|
||||
}
|
||||
|
||||
/*!
|
||||
* @brief This API sets the configuration for oversampling temperature, oversampling of
|
||||
* pressure and ODR configuration along with pressure enable.
|
||||
*
|
||||
* @note If ODR is set to a value higher than 5Hz then powermode is set as standby mode, as ODR value greater than 5HZ
|
||||
* without disabling deep-standby mode makes powermode invalid.
|
||||
*/
|
||||
int BMP581::set_osr_odr_press_config()
|
||||
{
|
||||
uint8_t reg_data[2] = {0};
|
||||
int rslt;
|
||||
|
||||
_measure_interval = get_measurement_time();
|
||||
|
||||
if (_measure_interval == 0) {
|
||||
PX4_WARN("unsupported oversampling selected");
|
||||
return false;
|
||||
}
|
||||
|
||||
if (OUTPUT_DATA_RATE < BMP5_ODR_05_HZ) {
|
||||
rslt = set_standby_mode();
|
||||
|
||||
if (rslt != PX4_OK) {
|
||||
return PX4_ERROR;
|
||||
}
|
||||
}
|
||||
|
||||
rslt = _interface->get_reg_buf(BMP5_REG_OSR_CONFIG_ADDR, reg_data, 2);
|
||||
|
||||
if (rslt != PX4_OK) {
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
reg_data[0] = BMP5_SET_BITS_POS_0(reg_data[0], BMP5_TEMP_OS, OVERSAMPLING_TEMPERATURE);
|
||||
reg_data[0] = BMP5_SET_BITSLICE(reg_data[0], BMP5_PRESS_OS, OVERSAMPLING_PRESSURE);
|
||||
reg_data[0] = BMP5_SET_BITSLICE(reg_data[0], BMP5_PRESS_EN, PRESSURE_ENABLE);
|
||||
reg_data[1] = BMP5_SET_BITSLICE(reg_data[1], BMP5_ODR, OUTPUT_DATA_RATE);
|
||||
|
||||
rslt = _interface->set_reg(reg_data[0], BMP5_REG_OSR_CONFIG_ADDR);
|
||||
rslt = _interface->set_reg(reg_data[1], BMP5_REG_ODR_CONFIG_ADDR);
|
||||
|
||||
if (rslt != PX4_OK) {
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
return PX4_OK;
|
||||
}
|
||||
|
||||
/*!
|
||||
* @brief This API sets the configuration for IIR of temperature and pressure.
|
||||
*
|
||||
* @note If IIR value for both temperature and pressure is set a value other than bypass then powermode is set
|
||||
* as standby mode, as IIR with value other than bypass without disabling deep-standby mode makes powermode invalid.
|
||||
*/
|
||||
int BMP581::set_iir_config()
|
||||
{
|
||||
uint8_t curr_powermdoe;
|
||||
uint8_t reg_data[2];
|
||||
int rslt;
|
||||
|
||||
if ((IIR_FILTER_COEFF_TEMPERATURE != BMP5_IIR_FILTER_BYPASS) || (IIR_FILTER_COEFF_PRESSURE != BMP5_IIR_FILTER_BYPASS)) {
|
||||
rslt = set_standby_mode();
|
||||
|
||||
if (rslt != PX4_OK) {
|
||||
return PX4_ERROR;
|
||||
}
|
||||
}
|
||||
|
||||
curr_powermdoe = get_power_mode();
|
||||
|
||||
if (curr_powermdoe != BMP5_POWERMODE_STANDBY) {
|
||||
rslt = set_power_mode(BMP5_POWERMODE_STANDBY);
|
||||
|
||||
if (rslt != PX4_OK) {
|
||||
return PX4_ERROR;
|
||||
}
|
||||
}
|
||||
|
||||
rslt = _interface->get_reg_buf(BMP5_REG_DSP_CONFIG_ADDR, reg_data, 2);
|
||||
|
||||
if (rslt != PX4_OK) {
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
reg_data[0] = BMP5_SET_BITSLICE(reg_data[0], BMP5_SHDW_SET_IIR_TEMP, BMP5_ENABLE);
|
||||
reg_data[0] = BMP5_SET_BITSLICE(reg_data[0], BMP5_SHDW_SET_IIR_PRESS, BMP5_ENABLE);
|
||||
reg_data[0] = BMP5_SET_BITSLICE(reg_data[0], BMP5_IIR_FLUSH_FORCED_EN, BMP5_ENABLE);
|
||||
|
||||
reg_data[1] = IIR_FILTER_COEFF_TEMPERATURE;
|
||||
reg_data[1] = BMP5_SET_BITSLICE(reg_data[1], BMP5_SET_IIR_PRESS, IIR_FILTER_COEFF_PRESSURE);
|
||||
|
||||
rslt = _interface->set_reg(reg_data[0], BMP5_REG_DSP_CONFIG_ADDR);
|
||||
rslt = _interface->set_reg(reg_data[1], BMP5_REG_DSP_IIR_ADDR);
|
||||
|
||||
if (rslt != PX4_OK) {
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
/* Since IIR works only in standby mode we are not re-writing to deepstandby mode
|
||||
* as deep standby mode resets the IIR settings to default
|
||||
*/
|
||||
if ((curr_powermdoe != BMP5_POWERMODE_STANDBY) && (curr_powermdoe != BMP5_POWERMODE_DEEP_STANDBY)) {
|
||||
if (!set_power_mode(curr_powermdoe)) {
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
return PX4_OK;
|
||||
}
|
||||
|
||||
/*!
|
||||
* @brief This API is used to configure the interrupt settings.
|
||||
*/
|
||||
int BMP581::configure_interrupt()
|
||||
{
|
||||
uint8_t reg_data = 0;
|
||||
uint8_t int_source = 0;
|
||||
int rslt;
|
||||
|
||||
reg_data = _interface->get_reg(BMP5_REG_INT_CONFIG_ADDR);
|
||||
|
||||
/* Any change between latched/pulsed mode has to be applied while interrupt is disabled */
|
||||
/* Step 1 : Turn off all INT sources (INT_SOURCE -> 0x00) */
|
||||
rslt = _interface->set_reg(int_source, BMP5_REG_INT_SOURCE_ADDR);
|
||||
|
||||
if (rslt != PX4_OK) {
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
/* Step 2 : Read the INT_STATUS register to clear the status */
|
||||
_interface->get_reg(BMP5_REG_INT_STATUS_ADDR);
|
||||
|
||||
/* Step 3 : Set the desired mode in INT_CONFIG.int_mode */
|
||||
reg_data = BMP5_SET_BITS_POS_0(reg_data, BMP5_INT_MODE, INTERRUPT_MODE);
|
||||
reg_data = BMP5_SET_BITSLICE(reg_data, BMP5_INT_POL, INTERRUPT_POLARITY);
|
||||
reg_data = BMP5_SET_BITSLICE(reg_data, BMP5_INT_OD, INTERRUPT_DRIVE);
|
||||
reg_data = BMP5_SET_BITSLICE(reg_data, BMP5_INT_EN, BMP5_ENABLE);
|
||||
|
||||
rslt = _interface->set_reg(reg_data, BMP5_REG_INT_CONFIG_ADDR);
|
||||
|
||||
if (rslt != PX4_OK) {
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
return PX4_OK;
|
||||
}
|
||||
|
||||
int BMP581::int_source_select()
|
||||
{
|
||||
uint8_t reg_data;
|
||||
int rslt;
|
||||
|
||||
reg_data = _interface->get_reg(BMP5_REG_INT_SOURCE_ADDR);
|
||||
|
||||
reg_data = BMP5_SET_BITS_POS_0(reg_data, BMP5_INT_DRDY_EN, BMP5_ENABLE);
|
||||
reg_data = BMP5_SET_BITSLICE(reg_data, BMP5_INT_FIFO_FULL_EN, BMP5_DISABLE);
|
||||
reg_data = BMP5_SET_BITSLICE(reg_data, BMP5_INT_FIFO_THRES_EN, BMP5_DISABLE);
|
||||
reg_data = BMP5_SET_BITSLICE(reg_data, BMP5_INT_OOR_PRESS_EN, BMP5_DISABLE);
|
||||
|
||||
rslt = _interface->set_reg(reg_data, BMP5_REG_INT_SOURCE_ADDR);
|
||||
|
||||
if (rslt != PX4_OK) {
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
return PX4_OK;
|
||||
}
|
||||
|
||||
/*!
|
||||
* @brief This API reads the temperature(deg C) or both pressure(Pa) and temperature(deg C) data from the
|
||||
* sensor and store it in the bmp5_sensor_data structure instance passed by the user.
|
||||
*/
|
||||
int BMP581::get_sensor_data(bmp5_sensor_data *sensor_data)
|
||||
{
|
||||
uint8_t reg_data[6] = {0};
|
||||
int32_t raw_data_t;
|
||||
uint32_t raw_data_p;
|
||||
int8_t rslt;
|
||||
|
||||
rslt = _interface->get_reg_buf(BMP5_REG_TEMP_DATA_XLSB_ADDR, reg_data, 6);
|
||||
|
||||
if (rslt != PX4_OK) {
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
raw_data_t = (int32_t)((int32_t)((uint32_t)(((uint32_t)reg_data[2] << 16) | ((uint16_t)reg_data[1] << 8) | reg_data[0])
|
||||
<< 8) >> 8);
|
||||
/* Division by 2^16(whose equivalent value is 65536) is performed to get temperature data in deg C */
|
||||
sensor_data->temperature = (float)(raw_data_t / 65536.0);
|
||||
|
||||
if (PRESSURE_ENABLE == BMP5_ENABLE) {
|
||||
raw_data_p = (uint32_t)((uint32_t)(reg_data[5] << 16) | (uint16_t)(reg_data[4] << 8) | reg_data[3]);
|
||||
/* Division by 2^6(whose equivalent value is 64) is performed to get pressure data in Pa */
|
||||
sensor_data->pressure = (float)(raw_data_p / 64.0);
|
||||
|
||||
} else {
|
||||
sensor_data->pressure = 0.0;
|
||||
}
|
||||
|
||||
return PX4_OK;
|
||||
}
|
||||
@@ -0,0 +1,320 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2024 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 bmp581.h
|
||||
*
|
||||
* Shared defines for the bmp581 driver.
|
||||
*/
|
||||
#pragma once
|
||||
|
||||
#include <math.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <lib/cdev/CDev.hpp>
|
||||
#include <perf/perf_counter.h>
|
||||
#include <px4_platform_common/i2c_spi_buses.h>
|
||||
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
|
||||
#include <uORB/PublicationMulti.hpp>
|
||||
#include <uORB/topics/sensor_baro.h>
|
||||
|
||||
#include "board_config.h"
|
||||
|
||||
// From https://github.com/boschsensortec/BMP5-Sensor-API/blob/master/bmp5_defs.h
|
||||
|
||||
/* BIT SLICE GET AND SET FUNCTIONS */
|
||||
#define BMP5_GET_BITSLICE(regvar, bitname) \
|
||||
((regvar & bitname##_MSK) >> bitname##_POS)
|
||||
|
||||
#define BMP5_SET_BITSLICE(regvar, bitname, val) \
|
||||
((regvar & ~bitname##_MSK) | \
|
||||
((val << bitname##_POS) & bitname##_MSK))
|
||||
|
||||
#define BMP5_SET_BIT_VAL_0(reg_data, bitname) (reg_data & ~(bitname##_MSK))
|
||||
|
||||
#define BMP5_SET_BITS_POS_0(reg_data, bitname, data) \
|
||||
((reg_data & ~(bitname##_MSK)) | \
|
||||
(data & bitname##_MSK))
|
||||
|
||||
#define BMP5_GET_BITS_POS_0(reg_data, bitname) (reg_data & (bitname##_MSK))
|
||||
|
||||
/* Chip id of BMP5 */
|
||||
#define BMP581_CHIP_ID_PRIM (0x50)
|
||||
#define BMP581_CHIP_ID_SEC (0x51)
|
||||
|
||||
#define BMP5_ENABLE (0x01)
|
||||
#define BMP5_DISABLE (0x00)
|
||||
|
||||
/* Register addresses */
|
||||
#define BMP5_REG_CHIP_ID_ADDR (0x01)
|
||||
#define BMP5_REG_REV_ID_ADDR (0x02)
|
||||
#define BMP5_REG_INT_CONFIG_ADDR (0x14)
|
||||
#define BMP5_REG_INT_SOURCE_ADDR (0x15)
|
||||
#define BMP5_REG_FIFO_SEL_ADDR (0x18)
|
||||
#define BMP5_REG_TEMP_DATA_XLSB_ADDR (0x1D)
|
||||
#define BMP5_REG_INT_STATUS_ADDR (0x27)
|
||||
#define BMP5_REG_STATUS_ADDR (0x28)
|
||||
#define BMP5_REG_NVM_ADDR (0x2B)
|
||||
#define BMP5_REG_DSP_CONFIG_ADDR (0x30)
|
||||
#define BMP5_REG_DSP_IIR_ADDR (0x31)
|
||||
#define BMP5_REG_OSR_CONFIG_ADDR (0x36)
|
||||
#define BMP5_REG_ODR_CONFIG_ADDR (0x37)
|
||||
#define BMP5_REG_CMD_ADDR (0x7E)
|
||||
|
||||
/* Delay definition */
|
||||
#define BMP5_DELAY_US_SOFT_RESET (2000)
|
||||
#define BMP5_DELAY_US_STANDBY (2500)
|
||||
|
||||
/* Soft reset command */
|
||||
#define BMP5_SOFT_RESET_CMD (0xB6)
|
||||
|
||||
/* Deepstandby enable/disable */
|
||||
#define BMP5_DEEP_ENABLED (0)
|
||||
#define BMP5_DEEP_DISABLED (1)
|
||||
|
||||
/* ODR settings */
|
||||
#define BMP5_ODR_50_HZ (0x0F)
|
||||
#define BMP5_ODR_05_HZ (0x18)
|
||||
#define BMP5_ODR_01_HZ (0x1C)
|
||||
|
||||
|
||||
/* Oversampling for temperature and pressure */
|
||||
#define BMP5_OVERSAMPLING_1X (0x00)
|
||||
#define BMP5_OVERSAMPLING_2X (0x01)
|
||||
#define BMP5_OVERSAMPLING_4X (0x02)
|
||||
#define BMP5_OVERSAMPLING_8X (0x03)
|
||||
#define BMP5_OVERSAMPLING_16X (0x04)
|
||||
#define BMP5_OVERSAMPLING_32X (0x05)
|
||||
#define BMP5_OVERSAMPLING_64X (0x06)
|
||||
#define BMP5_OVERSAMPLING_128X (0x07)
|
||||
|
||||
/* IIR filter for temperature and pressure */
|
||||
#define BMP5_IIR_FILTER_BYPASS (0x00)
|
||||
#define BMP5_IIR_FILTER_COEFF_1 (0x01)
|
||||
|
||||
/* Macro is used to bypass both iir_t and iir_p together */
|
||||
#define BMP5_IIR_BYPASS (0xC0)
|
||||
|
||||
/* Interrupt configurations */
|
||||
#define BMP5_INT_MODE_PULSED (0)
|
||||
#define BMP5_INT_POL_ACTIVE_HIGH (1)
|
||||
#define BMP5_INT_OD_PUSHPULL (0)
|
||||
|
||||
/* NVM and Interrupt status asserted macros */
|
||||
#define BMP5_INT_ASSERTED_POR_SOFTRESET_COMPLETE (0x10)
|
||||
#define BMP5_INT_NVM_RDY (0x02)
|
||||
#define BMP5_INT_NVM_ERR (0x04)
|
||||
|
||||
/* Interrupt configurations */
|
||||
#define BMP5_INT_MODE_MSK (0x01)
|
||||
|
||||
#define BMP5_INT_POL_MSK (0x02)
|
||||
#define BMP5_INT_POL_POS (1)
|
||||
|
||||
#define BMP5_INT_OD_MSK (0x04)
|
||||
#define BMP5_INT_OD_POS (2)
|
||||
|
||||
#define BMP5_INT_EN_MSK (0x08)
|
||||
#define BMP5_INT_EN_POS (3)
|
||||
|
||||
#define BMP5_INT_DRDY_EN_MSK (0x01)
|
||||
|
||||
#define BMP5_INT_FIFO_FULL_EN_MSK (0x02)
|
||||
#define BMP5_INT_FIFO_FULL_EN_POS (1)
|
||||
|
||||
#define BMP5_INT_FIFO_THRES_EN_MSK (0x04)
|
||||
#define BMP5_INT_FIFO_THRES_EN_POS (2)
|
||||
|
||||
#define BMP5_INT_OOR_PRESS_EN_MSK (0x08)
|
||||
#define BMP5_INT_OOR_PRESS_EN_POS (3)
|
||||
|
||||
/* ODR configuration */
|
||||
#define BMP5_ODR_MSK (0x7C)
|
||||
#define BMP5_ODR_POS (2)
|
||||
|
||||
/* OSR configurations */
|
||||
#define BMP5_TEMP_OS_MSK (0x07)
|
||||
|
||||
#define BMP5_PRESS_OS_MSK (0x38)
|
||||
#define BMP5_PRESS_OS_POS (3)
|
||||
|
||||
/* Pressure enable */
|
||||
#define BMP5_PRESS_EN_MSK (0x40)
|
||||
#define BMP5_PRESS_EN_POS (6)
|
||||
|
||||
/* IIR configurations */
|
||||
#define BMP5_SET_IIR_TEMP_MSK (0x07)
|
||||
|
||||
#define BMP5_SET_IIR_PRESS_MSK (0x38)
|
||||
#define BMP5_SET_IIR_PRESS_POS (3)
|
||||
|
||||
#define BMP5_SHDW_SET_IIR_TEMP_MSK (0x08)
|
||||
#define BMP5_SHDW_SET_IIR_TEMP_POS (3)
|
||||
|
||||
#define BMP5_SHDW_SET_IIR_PRESS_MSK (0x20)
|
||||
#define BMP5_SHDW_SET_IIR_PRESS_POS (5)
|
||||
|
||||
#define BMP5_IIR_FLUSH_FORCED_EN_MSK (0x04)
|
||||
#define BMP5_IIR_FLUSH_FORCED_EN_POS (2)
|
||||
|
||||
/* Powermode */
|
||||
#define BMP5_POWERMODE_MSK (0x03)
|
||||
|
||||
#define BMP5_DEEP_DISABLE_MSK (0x80)
|
||||
#define BMP5_DEEP_DISABLE_POS (7)
|
||||
|
||||
/* Fifo configurations */
|
||||
#define BMP5_FIFO_FRAME_SEL_MSK (0x03)
|
||||
|
||||
/* NVM and Interrupt status asserted macros */
|
||||
#define BMP5_INT_ASSERTED_DRDY (0x01)
|
||||
|
||||
/*!
|
||||
* @brief Enumerator for powermode selection
|
||||
*/
|
||||
enum bmp5_powermode {
|
||||
BMP5_POWERMODE_STANDBY,
|
||||
BMP5_POWERMODE_NORMAL,
|
||||
BMP5_POWERMODE_FORCED,
|
||||
BMP5_POWERMODE_CONTINOUS,
|
||||
BMP5_POWERMODE_DEEP_STANDBY
|
||||
};
|
||||
|
||||
/*!
|
||||
* @brief Enumerator for interface selection
|
||||
*/
|
||||
enum bmp5_intf {
|
||||
BMP5_SPI_INTF,
|
||||
BMP5_I2C_INTF,
|
||||
};
|
||||
|
||||
/*!
|
||||
* @brief BMP5 sensor data structure which comprises of temperature and pressure in floating point with data type as
|
||||
* float for pressure and temperature.
|
||||
*/
|
||||
struct bmp5_sensor_data {
|
||||
float pressure;
|
||||
float temperature;
|
||||
};
|
||||
|
||||
/*
|
||||
* BMP581 internal constants and data structures.
|
||||
*/
|
||||
class IBMP581
|
||||
{
|
||||
public:
|
||||
virtual ~IBMP581() = default;
|
||||
|
||||
virtual int init() = 0;
|
||||
|
||||
// read reg value
|
||||
virtual uint8_t get_reg(uint8_t addr) = 0;
|
||||
|
||||
// bulk read reg value
|
||||
virtual int get_reg_buf(uint8_t addr, uint8_t *buf, uint8_t len) = 0;
|
||||
|
||||
// write reg value
|
||||
virtual int set_reg(uint8_t value, uint8_t addr) = 0;
|
||||
|
||||
virtual uint32_t get_device_id() const = 0;
|
||||
|
||||
virtual uint8_t get_device_address() const = 0;
|
||||
};
|
||||
|
||||
class BMP581 : public I2CSPIDriver<BMP581>
|
||||
{
|
||||
public:
|
||||
BMP581(const I2CSPIDriverConfig &config, IBMP581 *interface);
|
||||
virtual ~BMP581();
|
||||
|
||||
static I2CSPIDriverBase *instantiate(const I2CSPIDriverConfig &config, int runtime_instance);
|
||||
static void print_usage();
|
||||
|
||||
virtual int init();
|
||||
|
||||
void print_status();
|
||||
|
||||
void RunImpl();
|
||||
|
||||
|
||||
private:
|
||||
static constexpr uint8_t OVERSAMPLING_TEMPERATURE{BMP5_OVERSAMPLING_2X};
|
||||
static constexpr uint8_t OVERSAMPLING_PRESSURE{BMP5_OVERSAMPLING_32X};
|
||||
static constexpr uint8_t OUTPUT_DATA_RATE{BMP5_ODR_50_HZ};
|
||||
static constexpr uint8_t PRESSURE_ENABLE{BMP5_ENABLE};
|
||||
static constexpr uint8_t IIR_FILTER_COEFF_TEMPERATURE{BMP5_IIR_FILTER_COEFF_1};
|
||||
static constexpr uint8_t IIR_FILTER_COEFF_PRESSURE{BMP5_IIR_FILTER_COEFF_1};
|
||||
|
||||
static constexpr uint8_t INTERRUPT_MODE{BMP5_INT_MODE_PULSED};
|
||||
static constexpr uint8_t INTERRUPT_POLARITY{BMP5_INT_POL_ACTIVE_HIGH};
|
||||
static constexpr uint8_t INTERRUPT_DRIVE{BMP5_INT_OD_PUSHPULL};
|
||||
|
||||
uORB::PublicationMulti<sensor_baro_s> _sensor_baro_pub{ORB_ID(sensor_baro)};
|
||||
IBMP581 *_interface{nullptr};
|
||||
|
||||
unsigned _measure_interval{0}; // interval in microseconds needed to measure
|
||||
|
||||
perf_counter_t _sample_perf;
|
||||
perf_counter_t _measure_perf;
|
||||
perf_counter_t _comms_errors;
|
||||
|
||||
bool _collect_phase{false};
|
||||
|
||||
uint8_t _chip_id{0};
|
||||
uint8_t _chip_rev_id{0};
|
||||
|
||||
void start();
|
||||
int measure();
|
||||
int collect(); // get results and publish
|
||||
|
||||
uint32_t get_measurement_time();
|
||||
|
||||
int soft_reset();
|
||||
int set_config();
|
||||
uint8_t get_interrupt_status();
|
||||
int configure_interrupt();
|
||||
int int_source_select();
|
||||
uint8_t get_power_mode();
|
||||
int set_power_mode(uint8_t power_mode);
|
||||
uint8_t check_deepstandby_mode();
|
||||
int set_standby_mode();
|
||||
int set_deep_standby_mode();
|
||||
int set_osr_odr_press_config();
|
||||
int set_iir_config();
|
||||
int get_sensor_data(bmp5_sensor_data *sensor_data);
|
||||
};
|
||||
|
||||
|
||||
/* interface factories */
|
||||
extern IBMP581 *bmp581_spi_interface(uint8_t busnum, uint32_t device, int bus_frequency, spi_mode_e spi_mode);
|
||||
extern IBMP581 *bmp581_i2c_interface(uint8_t busnum, uint32_t device, int bus_frequency);
|
||||
extern enum bmp5_intf intf;
|
||||
@@ -0,0 +1,95 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2024 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 bmp581_i2c.cpp
|
||||
*
|
||||
* I2C interface for BMP581
|
||||
*/
|
||||
|
||||
#include <drivers/device/i2c.h>
|
||||
|
||||
#include "bmp581.h"
|
||||
|
||||
class BMP581_I2C: public device::I2C, public IBMP581
|
||||
{
|
||||
public:
|
||||
BMP581_I2C(uint8_t bus, uint32_t device, int bus_frequency);
|
||||
virtual ~BMP581_I2C() = default;
|
||||
|
||||
int init();
|
||||
|
||||
uint8_t get_reg(uint8_t addr);
|
||||
int get_reg_buf(uint8_t addr, uint8_t *buf, uint8_t len);
|
||||
int set_reg(uint8_t value, uint8_t addr);
|
||||
|
||||
uint32_t get_device_id() const override { return device::I2C::get_device_id(); }
|
||||
|
||||
uint8_t get_device_address() const override { return device::I2C::get_device_address(); }
|
||||
};
|
||||
|
||||
IBMP581 *bmp581_i2c_interface(uint8_t busnum, uint32_t device, int bus_frequency)
|
||||
{
|
||||
return new BMP581_I2C(busnum, device, bus_frequency);
|
||||
}
|
||||
|
||||
BMP581_I2C::BMP581_I2C(uint8_t bus, uint32_t device, int bus_frequency) :
|
||||
I2C(DRV_BARO_DEVTYPE_BMP581, MODULE_NAME, bus, device, bus_frequency)
|
||||
{
|
||||
}
|
||||
|
||||
int BMP581_I2C::init()
|
||||
{
|
||||
return I2C::init();
|
||||
}
|
||||
|
||||
uint8_t BMP581_I2C::get_reg(uint8_t addr)
|
||||
{
|
||||
uint8_t cmd[2] = { (uint8_t)(addr), 0};
|
||||
transfer(&cmd[0], 1, &cmd[1], 1);
|
||||
|
||||
return cmd[1];
|
||||
}
|
||||
|
||||
int BMP581_I2C::get_reg_buf(uint8_t addr, uint8_t *buf, uint8_t len)
|
||||
{
|
||||
const uint8_t cmd = (uint8_t)(addr);
|
||||
return transfer(&cmd, sizeof(cmd), buf, len);
|
||||
}
|
||||
|
||||
int BMP581_I2C::set_reg(uint8_t value, uint8_t addr)
|
||||
{
|
||||
uint8_t cmd[2] = { (uint8_t)(addr), value};
|
||||
return transfer(cmd, sizeof(cmd), nullptr, 0);
|
||||
}
|
||||
|
||||
@@ -0,0 +1,127 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2024 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/module.h>
|
||||
|
||||
#include "bmp581.h"
|
||||
|
||||
enum bmp5_intf intf;
|
||||
|
||||
void BMP581::print_usage()
|
||||
{
|
||||
PRINT_MODULE_USAGE_NAME("bmp581", "driver");
|
||||
PRINT_MODULE_USAGE_SUBCATEGORY("baro");
|
||||
PRINT_MODULE_USAGE_COMMAND("start");
|
||||
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, true);
|
||||
PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x46);
|
||||
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
|
||||
}
|
||||
|
||||
I2CSPIDriverBase *BMP581::instantiate(const I2CSPIDriverConfig &config, int runtime_instance)
|
||||
{
|
||||
IBMP581 *interface = nullptr;
|
||||
|
||||
if (config.bus_type == BOARD_I2C_BUS) {
|
||||
interface = bmp581_i2c_interface(config.bus, config.i2c_address, config.bus_frequency);
|
||||
intf = BMP5_I2C_INTF;
|
||||
|
||||
} else if (config.bus_type == BOARD_SPI_BUS) {
|
||||
interface = bmp581_spi_interface(config.bus, config.spi_devid, config.bus_frequency, config.spi_mode);
|
||||
intf = BMP5_SPI_INTF;
|
||||
}
|
||||
|
||||
if (interface == nullptr) {
|
||||
PX4_ERR("failed creating interface for bus %i (devid 0x%" PRIx32 ")", config.bus, config.spi_devid);
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
if (interface->init() != OK) {
|
||||
delete interface;
|
||||
PX4_DEBUG("no device on bus %i (devid 0x%" PRIx32 ")", config.bus, config.spi_devid);
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
BMP581 *dev = new BMP581(config, interface);
|
||||
|
||||
if (dev == nullptr) {
|
||||
delete interface;
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
if (dev->init() != OK) {
|
||||
delete dev;
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
return dev;
|
||||
}
|
||||
|
||||
|
||||
extern "C" int bmp581_main(int argc, char *argv[])
|
||||
{
|
||||
using ThisDriver = BMP581;
|
||||
BusCLIArguments cli{true, true};
|
||||
cli.i2c_address = 0x46;
|
||||
cli.default_i2c_frequency = 100 * 1000;
|
||||
cli.default_spi_frequency = 10 * 1000 * 1000;
|
||||
|
||||
const char *verb = cli.parseDefaultArguments(argc, argv);
|
||||
|
||||
if (!verb) {
|
||||
ThisDriver::print_usage();
|
||||
return -1;
|
||||
}
|
||||
|
||||
BusInstanceIterator iterator(MODULE_NAME, cli, DRV_BARO_DEVTYPE_BMP581);
|
||||
|
||||
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;
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
@@ -0,0 +1,102 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2024 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 bmp581_spi.cpp
|
||||
*
|
||||
* SPI interface for BMP 581 (NOTE: untested!)
|
||||
*/
|
||||
|
||||
#include <drivers/device/spi.h>
|
||||
|
||||
#include "bmp581.h"
|
||||
|
||||
/* SPI protocol address bits */
|
||||
#define DIR_READ (1<<7) //for set
|
||||
#define DIR_WRITE ~(1<<7) //for clear
|
||||
|
||||
class BMP581_SPI: public device::SPI, public IBMP581
|
||||
{
|
||||
public:
|
||||
BMP581_SPI(uint8_t bus, uint32_t device, int bus_frequency, spi_mode_e spi_mode);
|
||||
virtual ~BMP581_SPI() = default;
|
||||
|
||||
int init();
|
||||
|
||||
uint8_t get_reg(uint8_t addr);
|
||||
int get_reg_buf(uint8_t addr, uint8_t *buf, uint8_t len);
|
||||
int set_reg(uint8_t value, uint8_t addr);
|
||||
|
||||
uint32_t get_device_id() const override { return device::SPI::get_device_id(); }
|
||||
|
||||
uint8_t get_device_address() const override { return device::SPI::get_device_address(); }
|
||||
};
|
||||
|
||||
IBMP581 *bmp581_spi_interface(uint8_t busnum, uint32_t device, int bus_frequency, spi_mode_e spi_mode)
|
||||
{
|
||||
return new BMP581_SPI(busnum, device, bus_frequency, spi_mode);
|
||||
}
|
||||
|
||||
BMP581_SPI::BMP581_SPI(uint8_t bus, uint32_t device, int bus_frequency, spi_mode_e spi_mode) :
|
||||
SPI(DRV_BARO_DEVTYPE_BMP581, MODULE_NAME, bus, device, spi_mode, bus_frequency)
|
||||
{
|
||||
}
|
||||
|
||||
int BMP581_SPI::init()
|
||||
{
|
||||
return SPI::init();
|
||||
}
|
||||
|
||||
uint8_t BMP581_SPI::get_reg(uint8_t addr)
|
||||
{
|
||||
uint8_t cmd[2] = { (uint8_t)(addr | DIR_READ), 0}; //set MSB bit
|
||||
transfer(&cmd[0], &cmd[0], 2);
|
||||
return cmd[1];
|
||||
}
|
||||
|
||||
int BMP581_SPI::get_reg_buf(uint8_t addr, uint8_t *buf, uint8_t len)
|
||||
{
|
||||
uint8_t cmd[len + 1] = {(uint8_t)(addr | DIR_READ)};
|
||||
int ret;
|
||||
|
||||
ret = transfer(&cmd[0], &cmd[0], (len + 1));
|
||||
memcpy(buf, &cmd[1], len);
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
int BMP581_SPI::set_reg(uint8_t value, uint8_t addr)
|
||||
{
|
||||
uint8_t cmd[2] = { (uint8_t)(addr & DIR_WRITE), value}; //clear MSB bit
|
||||
return transfer(&cmd[0], nullptr, 2);
|
||||
}
|
||||
@@ -1,6 +1,6 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012-2023 PX4 Development Team. All rights reserved.
|
||||
* Copyright (c) 2012-2024 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
|
||||
@@ -151,6 +151,7 @@
|
||||
#define DRV_ACC_DEVTYPE_BMI085 0x6C
|
||||
#define DRV_GYR_DEVTYPE_BMI085 0x6D
|
||||
#define DRV_BARO_DEVTYPE_BMP390 0x6E
|
||||
#define DRV_BARO_DEVTYPE_BMP581 0x6F
|
||||
|
||||
#define DRV_DIST_DEVTYPE_LL40LS 0x70
|
||||
#define DRV_DIST_DEVTYPE_MAPPYDOT 0x71
|
||||
|
||||
Reference in New Issue
Block a user