mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
Implemented AUAV absolute/differential pressure sensor support (#23656)
* Added AUAV absolute pressure sensing * Moved func to abstract base class * Probe and params * Fixed arg parsing and added auto start * refactorings * Added sample perf * Fixed CI findings * Simplified rc.sensors condition
This commit is contained in:
Alexander Lerach
GitHub
parent
b1c2cf7c88
commit
dff775a0a7
@ -184,6 +184,13 @@ then
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asp5033 start -X
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fi
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# AUAV absolute/differential pressure sensor external I2C
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if param greater -s SENS_EN_AUAVX 0
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then
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auav start -D -X
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auav start -A -X
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fi
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# SHT3x temperature and hygrometer sensor, external I2C
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if param compare -s SENS_EN_SHT3X 1
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then
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295
src/drivers/differential_pressure/auav/AUAV.cpp
Normal file
295
src/drivers/differential_pressure/auav/AUAV.cpp
Normal file
@ -0,0 +1,295 @@
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/****************************************************************************
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*
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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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* 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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#include "AUAV.hpp"
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#include "AUAV_Absolute.hpp"
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#include "AUAV_Differential.hpp"
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I2CSPIDriverBase *AUAV::instantiate(const I2CSPIDriverConfig &config, const int runtime_instance)
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{
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AUAV *instance = nullptr;
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if (config.devid_driver_index == DRV_DIFF_PRESS_DEVTYPE_AUAV) {
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instance = new AUAV_Differential(config);
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} else if (config.devid_driver_index == DRV_BARO_DEVTYPE_AUAV) {
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instance = new AUAV_Absolute(config);
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}
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if (!instance) {
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PX4_ERR("alloc failed");
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return nullptr;
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}
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if (instance->init() != OK) {
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delete instance;
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return nullptr;
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}
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return instance;
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}
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AUAV::AUAV(const I2CSPIDriverConfig &config) :
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I2C(config),
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I2CSPIDriver(config),
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_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
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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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AUAV::~AUAV()
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{
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perf_free(_sample_perf);
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perf_free(_comms_errors);
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}
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void AUAV::RunImpl()
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{
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switch (_state) {
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case STATE::READ_CALIBDATA:
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handle_state_read_calibdata();
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break;
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case STATE::REQUEST_MEASUREMENT:
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handle_state_request_measurement();
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break;
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case STATE::GATHER_MEASUREMENT:
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handle_state_gather_measurement();
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break;
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}
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}
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void AUAV::print_status()
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{
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I2CSPIDriverBase::print_status();
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perf_print_counter(_sample_perf);
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perf_print_counter(_comms_errors);
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}
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int AUAV::init()
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{
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const int ret = I2C::init();
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if (ret != PX4_OK) {
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DEVICE_DEBUG("I2C::init failed (%i)", ret);
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return ret;
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}
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int32_t hw_model = 0;
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param_get(param_find("SENS_EN_AUAVX"), &hw_model);
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switch (hw_model) {
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case 1: /* AUAV L05D (+- 5 inH20) */
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_cal_range = 10.0f;
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break;
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case 2: /* AUAV L10D (+- 10 inH20) */
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_cal_range = 20.0f;
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break;
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case 3: /* AUAV L30D (+- 30 inH20) */
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_cal_range = 60.0f;
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break;
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}
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ScheduleClear();
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ScheduleNow();
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return PX4_OK;
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}
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int AUAV::probe()
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{
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uint8_t res_data = 0;
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int status = transfer(nullptr, 0, &res_data, sizeof(res_data));
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/* Check that the sensor is active. Reported in bit 6 of the status byte */
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if ((res_data & 0x40) == 0) {
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status = PX4_ERROR;
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}
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return status;
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}
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void AUAV::handle_state_read_calibdata()
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{
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int status = PX4_OK;
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calib_eeprom_addr_t calib_data_eeprom_addr = get_calib_eeprom_addr();
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calib_data_raw_t calib_data_raw {};
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status = status || read_calibration_eeprom(calib_data_eeprom_addr.addr_a_hw, calib_data_raw.a_hw);
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status = status || read_calibration_eeprom(calib_data_eeprom_addr.addr_a_lw, calib_data_raw.a_lw);
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status = status || read_calibration_eeprom(calib_data_eeprom_addr.addr_b_hw, calib_data_raw.b_hw);
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status = status || read_calibration_eeprom(calib_data_eeprom_addr.addr_b_lw, calib_data_raw.b_lw);
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status = status || read_calibration_eeprom(calib_data_eeprom_addr.addr_c_hw, calib_data_raw.c_hw);
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status = status || read_calibration_eeprom(calib_data_eeprom_addr.addr_c_lw, calib_data_raw.c_lw);
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status = status || read_calibration_eeprom(calib_data_eeprom_addr.addr_d_hw, calib_data_raw.d_hw);
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status = status || read_calibration_eeprom(calib_data_eeprom_addr.addr_d_lw, calib_data_raw.d_lw);
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status = status || read_calibration_eeprom(calib_data_eeprom_addr.addr_tc50, calib_data_raw.tc50);
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status = status || read_calibration_eeprom(calib_data_eeprom_addr.addr_es, calib_data_raw.es);
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if (status == PX4_OK) {
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process_calib_data_raw(calib_data_raw);
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_state = STATE::REQUEST_MEASUREMENT;
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ScheduleNow();
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} else {
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/* In case of an error, try reading the calib data again after a backoff period */
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perf_count(_comms_errors);
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ScheduleDelayed(10_ms);
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}
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}
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void AUAV::handle_state_request_measurement()
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{
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uint8_t req_data = 0xAA;
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int status = transfer(&req_data, sizeof(req_data), nullptr, 0);
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if (status == PX4_OK) {
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_state = STATE::GATHER_MEASUREMENT;
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ScheduleDelayed(get_conversion_interval());
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} else {
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/* In case of an error, start the next measurement after a backoff period */
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perf_count(_comms_errors);
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ScheduleDelayed(10_ms);
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}
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}
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void AUAV::handle_state_gather_measurement()
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{
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perf_begin(_sample_perf);
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uint8_t res_data[7];
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int status = transfer(nullptr, 0, res_data, sizeof(res_data));
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/* Continue processing if the transfer was a success and bit 5 of the status is set to 0 (indicating the sensor is finished) */
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if (status == PX4_OK && (res_data[0] & 0x20) == 0) {
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const hrt_abstime timestamp_sample = hrt_absolute_time();
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const uint32_t pressure_raw = (res_data[1] << 16) | (res_data[2] << 8) | (res_data[3]);
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const uint32_t temperature_raw = (res_data[4] << 16) | (res_data[5] << 8) | (res_data[6]);
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const float pressure_dig = correct_pressure(pressure_raw, temperature_raw);
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const float pressure_p = process_pressure_dig(pressure_dig);
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const float temperature_c = process_temperature_raw(temperature_raw);
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publish_pressure(pressure_p, temperature_c, timestamp_sample);
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} else {
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/* In case of an error, ignore the results */
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perf_count(_comms_errors);
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}
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_state = STATE::REQUEST_MEASUREMENT;
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ScheduleNow();
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perf_end(_sample_perf);
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}
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int AUAV::read_calibration_eeprom(const uint8_t eeprom_address, uint16_t &data)
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{
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const uint8_t req_data[3] = {eeprom_address, 0x0, 0x0};
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int status = transfer(req_data, sizeof(req_data), nullptr, 0);
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/* Wait for the EEPROM read access. Worst case is 2000us */
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px4_usleep(2000);
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uint8_t res_data[3];
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status = status || transfer(nullptr, 0, res_data, sizeof(res_data));
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/* If bit 5 of the status byte is set to 1, the sensor is still busy. This read is considered invalid */
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if (res_data[0] & 0x20) {
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status = PX4_ERROR;
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}
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data = res_data[1] << 8 | res_data[2];
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return status;
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}
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void AUAV::process_calib_data_raw(const calib_data_raw_t calib_data_raw)
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{
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/* Conversion of calib data as described in the datasheet */
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_calib_data.a = (float)((calib_data_raw.a_hw << 16) | calib_data_raw.a_lw) / 0x7FFFFFFF;
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_calib_data.b = (float)((calib_data_raw.b_hw << 16) | calib_data_raw.b_lw) / 0x7FFFFFFF;
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_calib_data.c = (float)((calib_data_raw.c_hw << 16) | calib_data_raw.c_lw) / 0x7FFFFFFF;
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_calib_data.d = (float)((calib_data_raw.d_hw << 16) | calib_data_raw.d_lw) / 0x7FFFFFFF;
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_calib_data.tc50h = (float)(calib_data_raw.tc50 >> 8) / 0x7F;
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_calib_data.tc50l = (float)(calib_data_raw.tc50 & 0xFF) / 0x7F;
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_calib_data.es = (float)(calib_data_raw.es & 0xFF) / 0x7F;
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}
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float AUAV::correct_pressure(const uint32_t pressure_raw, const uint32_t temperature_raw) const
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{
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/* Correct the pressure using the calib data as described in the datasheet */
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const int32_t p_raw = pressure_raw - 0x800000;
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const float p_norm = (float) p_raw / 0x7FFFFF;
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const float ap = _calib_data.a * p_norm * p_norm * p_norm;
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const float bp = _calib_data.b * p_norm * p_norm;
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const float cp = _calib_data.c * p_norm;
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const float c_corr = ap + bp + cp + _calib_data.d;
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const float p_corr = p_norm + c_corr;
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const int32_t t_diff = temperature_raw - 7576807;
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const float p_nfso = (p_corr + 1.0f) / 2.0f;
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float tc50;
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float p_diff;
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if (t_diff > 0) {
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tc50 = _calib_data.tc50h;
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} else {
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tc50 = _calib_data.tc50l;
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}
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if (p_nfso > 0.5f) {
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p_diff = p_nfso - 0.5f;
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} else {
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p_diff = 0.5f - p_nfso;
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}
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const float t_corr = ((1.0f - (_calib_data.es * 2.5f * p_diff)) * t_diff * tc50) / (100.0f * 100.0f * 167772.2f);
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const float p_corrt = p_nfso - t_corr;
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const float p_comp = (uint32_t)(p_corrt * (float)0xFFFFFF);
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return p_comp;
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}
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float AUAV::process_temperature_raw(const float temperature_raw) const
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{
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return ((temperature_raw * 155.0f) / (1 << 24)) - 45.0f;
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}
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129
src/drivers/differential_pressure/auav/AUAV.hpp
Normal file
129
src/drivers/differential_pressure/auav/AUAV.hpp
Normal file
@ -0,0 +1,129 @@
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/****************************************************************************
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*
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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
|
||||
* 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.
|
||||
*
|
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****************************************************************************/
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#pragma once
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#include <drivers/drv_hrt.h>
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#include <lib/drivers/device/i2c.h>
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#include <lib/parameters/param.h>
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#include <lib/perf/perf_counter.h>
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#include <px4_platform_common/i2c_spi_buses.h>
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#include <uORB/PublicationMulti.hpp>
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using namespace time_literals;
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static constexpr uint8_t I2C_ADDRESS_DIFFERENTIAL = 0x26;
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static constexpr uint8_t I2C_ADDRESS_ABSOLUTE = 0x27;
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static constexpr uint32_t I2C_SPEED = 100 * 1000; // 100 kHz I2C serial interface
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class AUAV : public device::I2C, public I2CSPIDriver<AUAV>
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{
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public:
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explicit AUAV(const I2CSPIDriverConfig &config);
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virtual ~AUAV();
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static I2CSPIDriverBase *instantiate(const I2CSPIDriverConfig &config, const int runtime_instance);
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static void print_usage();
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virtual void RunImpl();
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void print_status() override;
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int init() override;
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protected:
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enum class STATE : uint8_t {
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READ_CALIBDATA,
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REQUEST_MEASUREMENT,
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GATHER_MEASUREMENT
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};
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struct calib_eeprom_addr_t {
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uint8_t addr_a_hw;
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uint8_t addr_a_lw;
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uint8_t addr_b_hw;
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uint8_t addr_b_lw;
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uint8_t addr_c_hw;
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uint8_t addr_c_lw;
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uint8_t addr_d_hw;
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uint8_t addr_d_lw;
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uint8_t addr_tc50;
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uint8_t addr_es;
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};
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struct calib_data_raw_t {
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uint16_t a_hw;
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uint16_t a_lw;
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uint16_t b_hw;
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uint16_t b_lw;
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uint16_t c_hw;
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uint16_t c_lw;
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uint16_t d_hw;
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uint16_t d_lw;
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uint16_t tc50;
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uint16_t es;
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};
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struct calib_data_t {
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float a;
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float b;
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float c;
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float d;
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float tc50h;
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float tc50l;
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float es;
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};
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virtual void publish_pressure(const float pressure_p, const float temperature_c,
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const hrt_abstime timestamp_sample) = 0;
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virtual int64_t get_conversion_interval() const = 0;
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virtual calib_eeprom_addr_t get_calib_eeprom_addr() const = 0;
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virtual float process_pressure_dig(const float pressure_dig) const = 0;
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void handle_state_read_calibdata();
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void handle_state_request_measurement();
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void handle_state_gather_measurement();
|
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|
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int read_calibration_eeprom(const uint8_t eeprom_address, uint16_t &data);
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void process_calib_data_raw(const calib_data_raw_t calib_data_raw);
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float correct_pressure(const uint32_t pressure_raw, const uint32_t temperature_raw) const;
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float process_temperature_raw(const float temperature_raw) const;
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float _cal_range{10.0f};
|
||||
STATE _state{STATE::READ_CALIBDATA};
|
||||
calib_data_t _calib_data {};
|
||||
|
||||
perf_counter_t _sample_perf;
|
||||
perf_counter_t _comms_errors;
|
||||
|
||||
private:
|
||||
int probe() override;
|
||||
};
|
||||
79
src/drivers/differential_pressure/auav/AUAV_Absolute.cpp
Normal file
79
src/drivers/differential_pressure/auav/AUAV_Absolute.cpp
Normal file
@ -0,0 +1,79 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2017-2024 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 "AUAV_Absolute.hpp"
|
||||
|
||||
AUAV_Absolute::AUAV_Absolute(const I2CSPIDriverConfig &config) :
|
||||
AUAV(config)
|
||||
{
|
||||
}
|
||||
|
||||
void AUAV_Absolute::publish_pressure(const float pressure_p, const float temperature_c,
|
||||
const hrt_abstime timestamp_sample)
|
||||
{
|
||||
sensor_baro_s sensor_baro{};
|
||||
sensor_baro.timestamp = hrt_absolute_time();
|
||||
sensor_baro.timestamp_sample = timestamp_sample;
|
||||
sensor_baro.device_id = get_device_id();
|
||||
sensor_baro.pressure = pressure_p;
|
||||
sensor_baro.temperature = temperature_c;
|
||||
sensor_baro.error_count = perf_event_count(_comms_errors);
|
||||
_sensor_baro_pub.publish(sensor_baro);
|
||||
}
|
||||
|
||||
int64_t AUAV_Absolute::get_conversion_interval() const
|
||||
{
|
||||
return ABS_CONVERSION_INTERVAL;
|
||||
}
|
||||
|
||||
AUAV::calib_eeprom_addr_t AUAV_Absolute::get_calib_eeprom_addr() const
|
||||
{
|
||||
return calib_eeprom_addr_t {
|
||||
EEPROM_ABS_AHW,
|
||||
EEPROM_ABS_ALW,
|
||||
EEPROM_ABS_BHW,
|
||||
EEPROM_ABS_BLW,
|
||||
EEPROM_ABS_CHW,
|
||||
EEPROM_ABS_CLW,
|
||||
EEPROM_ABS_DHW,
|
||||
EEPROM_ABS_DLW,
|
||||
EEPROM_ABS_TC50,
|
||||
EEPROM_ABS_ES
|
||||
};
|
||||
}
|
||||
|
||||
float AUAV_Absolute::process_pressure_dig(const float pressure_dig) const
|
||||
{
|
||||
const float pressure_mbar = 250.f + 1.25f * ((pressure_dig - (0.1f * (1 << 24))) / (1 << 24)) * 1000.f;
|
||||
return pressure_mbar * MBAR_TO_PA;
|
||||
}
|
||||
71
src/drivers/differential_pressure/auav/AUAV_Absolute.hpp
Normal file
71
src/drivers/differential_pressure/auav/AUAV_Absolute.hpp
Normal file
@ -0,0 +1,71 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2017-2024 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "AUAV.hpp"
|
||||
#include <uORB/topics/sensor_baro.h>
|
||||
|
||||
/* AUAV EEPROM addresses for absolute channel */
|
||||
static constexpr uint8_t EEPROM_ABS_AHW = 0x2F;
|
||||
static constexpr uint8_t EEPROM_ABS_ALW = 0x30;
|
||||
static constexpr uint8_t EEPROM_ABS_BHW = 0x31;
|
||||
static constexpr uint8_t EEPROM_ABS_BLW = 0x32;
|
||||
static constexpr uint8_t EEPROM_ABS_CHW = 0x33;
|
||||
static constexpr uint8_t EEPROM_ABS_CLW = 0x34;
|
||||
static constexpr uint8_t EEPROM_ABS_DHW = 0x35;
|
||||
static constexpr uint8_t EEPROM_ABS_DLW = 0x36;
|
||||
static constexpr uint8_t EEPROM_ABS_TC50 = 0x37;
|
||||
static constexpr uint8_t EEPROM_ABS_ES = 0x38;
|
||||
|
||||
/* Measurement rate is 50Hz */
|
||||
static constexpr unsigned ABS_MEAS_RATE = 50;
|
||||
static constexpr int64_t ABS_CONVERSION_INTERVAL = (1000000 / ABS_MEAS_RATE); /* microseconds */
|
||||
|
||||
/* Conversions */
|
||||
static constexpr float MBAR_TO_PA = 100.0f;
|
||||
|
||||
class AUAV_Absolute : public AUAV
|
||||
{
|
||||
public:
|
||||
explicit AUAV_Absolute(const I2CSPIDriverConfig &config);
|
||||
~AUAV_Absolute() = default;
|
||||
|
||||
private:
|
||||
void publish_pressure(const float pressure_p, const float temperature_c, const hrt_abstime timestamp_sample) override;
|
||||
int64_t get_conversion_interval() const override;
|
||||
calib_eeprom_addr_t get_calib_eeprom_addr() const override;
|
||||
float process_pressure_dig(const float pressure_dig) const override;
|
||||
|
||||
uORB::PublicationMulti<sensor_baro_s> _sensor_baro_pub{ORB_ID(sensor_baro)};
|
||||
};
|
||||
79
src/drivers/differential_pressure/auav/AUAV_Differential.cpp
Normal file
79
src/drivers/differential_pressure/auav/AUAV_Differential.cpp
Normal file
@ -0,0 +1,79 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2017-2024 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 "AUAV_Differential.hpp"
|
||||
|
||||
AUAV_Differential::AUAV_Differential(const I2CSPIDriverConfig &config) :
|
||||
AUAV(config)
|
||||
{
|
||||
}
|
||||
|
||||
void AUAV_Differential::publish_pressure(const float pressure_p, const float temperature_c,
|
||||
const hrt_abstime timestamp_sample)
|
||||
{
|
||||
differential_pressure_s differential_pressure{};
|
||||
differential_pressure.timestamp = hrt_absolute_time();
|
||||
differential_pressure.timestamp_sample = timestamp_sample;
|
||||
differential_pressure.device_id = get_device_id();
|
||||
differential_pressure.differential_pressure_pa = pressure_p;
|
||||
differential_pressure.temperature = temperature_c;
|
||||
differential_pressure.error_count = perf_event_count(_comms_errors);
|
||||
_differential_pressure_pub.publish(differential_pressure);
|
||||
}
|
||||
|
||||
int64_t AUAV_Differential::get_conversion_interval() const
|
||||
{
|
||||
return DIFF_CONVERSION_INTERVAL;
|
||||
}
|
||||
|
||||
AUAV::calib_eeprom_addr_t AUAV_Differential::get_calib_eeprom_addr() const
|
||||
{
|
||||
return calib_eeprom_addr_t {
|
||||
EEPROM_DIFF_AHW,
|
||||
EEPROM_DIFF_ALW,
|
||||
EEPROM_DIFF_BHW,
|
||||
EEPROM_DIFF_BLW,
|
||||
EEPROM_DIFF_CHW,
|
||||
EEPROM_DIFF_CLW,
|
||||
EEPROM_DIFF_DHW,
|
||||
EEPROM_DIFF_DLW,
|
||||
EEPROM_DIFF_TC50,
|
||||
EEPROM_DIFF_ES
|
||||
};
|
||||
}
|
||||
|
||||
float AUAV_Differential::process_pressure_dig(const float pressure_dig) const
|
||||
{
|
||||
const float pressure_in_h = 1.25f * ((pressure_dig - (1 << 23)) / (1 << 24)) * _cal_range;
|
||||
return pressure_in_h * INH_TO_PA;
|
||||
}
|
||||
71
src/drivers/differential_pressure/auav/AUAV_Differential.hpp
Normal file
71
src/drivers/differential_pressure/auav/AUAV_Differential.hpp
Normal file
@ -0,0 +1,71 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2017-2024 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "AUAV.hpp"
|
||||
#include <uORB/topics/differential_pressure.h>
|
||||
|
||||
/* AUAV EEPROM addresses for differential channel */
|
||||
static constexpr uint8_t EEPROM_DIFF_AHW = 0x2B;
|
||||
static constexpr uint8_t EEPROM_DIFF_ALW = 0x2C;
|
||||
static constexpr uint8_t EEPROM_DIFF_BHW = 0x2D;
|
||||
static constexpr uint8_t EEPROM_DIFF_BLW = 0x2E;
|
||||
static constexpr uint8_t EEPROM_DIFF_CHW = 0x2F;
|
||||
static constexpr uint8_t EEPROM_DIFF_CLW = 0x30;
|
||||
static constexpr uint8_t EEPROM_DIFF_DHW = 0x31;
|
||||
static constexpr uint8_t EEPROM_DIFF_DLW = 0x32;
|
||||
static constexpr uint8_t EEPROM_DIFF_TC50 = 0x33;
|
||||
static constexpr uint8_t EEPROM_DIFF_ES = 0x34;
|
||||
|
||||
/* Measurement rate is 100Hz */
|
||||
static constexpr unsigned DIFF_MEAS_RATE = 100;
|
||||
static constexpr int64_t DIFF_CONVERSION_INTERVAL = (1000000 / DIFF_MEAS_RATE); /* microseconds */
|
||||
|
||||
/* Conversions */
|
||||
static constexpr float INH_TO_PA = 249.08f;
|
||||
|
||||
class AUAV_Differential : public AUAV
|
||||
{
|
||||
public:
|
||||
explicit AUAV_Differential(const I2CSPIDriverConfig &config);
|
||||
~AUAV_Differential() = default;
|
||||
|
||||
private:
|
||||
void publish_pressure(const float pressure_p, const float temperature_c, const hrt_abstime timestamp_sample) override;
|
||||
int64_t get_conversion_interval() const override;
|
||||
calib_eeprom_addr_t get_calib_eeprom_addr() const override;
|
||||
float process_pressure_dig(const float pressure_dig) const override;
|
||||
|
||||
uORB::PublicationMulti<differential_pressure_s> _differential_pressure_pub{ORB_ID(differential_pressure)};
|
||||
};
|
||||
48
src/drivers/differential_pressure/auav/CMakeLists.txt
Normal file
48
src/drivers/differential_pressure/auav/CMakeLists.txt
Normal file
@ -0,0 +1,48 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2015-2024 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
px4_add_module(
|
||||
MODULE drivers__differential_pressure__auav
|
||||
MAIN auav
|
||||
COMPILE_FLAGS
|
||||
SRCS
|
||||
auav_main.cpp
|
||||
AUAV.cpp
|
||||
AUAV.hpp
|
||||
AUAV_Absolute.cpp
|
||||
AUAV_Absolute.hpp
|
||||
AUAV_Differential.cpp
|
||||
AUAV_Differential.hpp
|
||||
DEPENDS
|
||||
px4_work_queue
|
||||
)
|
||||
5
src/drivers/differential_pressure/auav/Kconfig
Normal file
5
src/drivers/differential_pressure/auav/Kconfig
Normal file
@ -0,0 +1,5 @@
|
||||
menuconfig DRIVERS_DIFFERENTIAL_PRESSURE_AUAV
|
||||
bool "auav"
|
||||
default n
|
||||
---help---
|
||||
Enable support for AUAV
|
||||
100
src/drivers/differential_pressure/auav/auav_main.cpp
Normal file
100
src/drivers/differential_pressure/auav/auav_main.cpp
Normal file
@ -0,0 +1,100 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2017-2024 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 "AUAV.hpp"
|
||||
|
||||
#include <px4_platform_common/getopt.h>
|
||||
#include <px4_platform_common/module.h>
|
||||
|
||||
void AUAV::print_usage()
|
||||
{
|
||||
PRINT_MODULE_USAGE_NAME("auav", "driver");
|
||||
PRINT_MODULE_USAGE_SUBCATEGORY("airspeed_sensor");
|
||||
PRINT_MODULE_USAGE_COMMAND("start");
|
||||
PRINT_MODULE_USAGE_PARAM_FLAG('D', "Differential pressure sensing", true);
|
||||
PRINT_MODULE_USAGE_PARAM_FLAG('A', "Absolute pressure sensing", true);
|
||||
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
|
||||
PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x26);
|
||||
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
|
||||
}
|
||||
|
||||
extern "C" int auav_main(int argc, char *argv[])
|
||||
{
|
||||
using ThisDriver = AUAV;
|
||||
|
||||
BusCLIArguments cli{true, false};
|
||||
cli.default_i2c_frequency = I2C_SPEED;
|
||||
cli.i2c_address = I2C_ADDRESS_DIFFERENTIAL;
|
||||
|
||||
int ch;
|
||||
uint16_t device_type = 0;
|
||||
const char *name = MODULE_NAME;
|
||||
|
||||
while ((ch = cli.getOpt(argc, argv, "DA")) != EOF) {
|
||||
switch (ch) {
|
||||
case 'D':
|
||||
device_type = DRV_DIFF_PRESS_DEVTYPE_AUAV;
|
||||
name = MODULE_NAME "_differential";
|
||||
cli.i2c_address = I2C_ADDRESS_DIFFERENTIAL;
|
||||
break;
|
||||
|
||||
case 'A':
|
||||
device_type = DRV_BARO_DEVTYPE_AUAV;
|
||||
name = MODULE_NAME "_absolute";
|
||||
cli.i2c_address = I2C_ADDRESS_ABSOLUTE;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
const char *verb = cli.optArg();
|
||||
|
||||
if (!verb || device_type == 0) {
|
||||
ThisDriver::print_usage();
|
||||
return -1;
|
||||
}
|
||||
|
||||
BusInstanceIterator iterator(name, cli, device_type);
|
||||
|
||||
if (!strcmp(verb, "start")) {
|
||||
return ThisDriver::module_start(cli, iterator);
|
||||
|
||||
} else if (!strcmp(verb, "stop")) {
|
||||
return ThisDriver::module_stop(iterator);
|
||||
|
||||
} else if (!strcmp(verb, "status")) {
|
||||
return ThisDriver::module_status(iterator);
|
||||
}
|
||||
|
||||
ThisDriver::print_usage();
|
||||
return -1;
|
||||
}
|
||||
44
src/drivers/differential_pressure/auav/parameters.c
Normal file
44
src/drivers/differential_pressure/auav/parameters.c
Normal file
@ -0,0 +1,44 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2021-2024 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* Amphenol AUAV differential / absolute pressure sensor (external I2C)
|
||||
*
|
||||
* @reboot_required true
|
||||
* @group Sensors
|
||||
* @value 0 Sensor disabled, when explicitly started treated as AUAV L05D
|
||||
* @value 1 AUAV L05D
|
||||
* @value 2 AUAV L10D
|
||||
* @value 3 AUAV L30D
|
||||
*/
|
||||
PARAM_DEFINE_INT32(SENS_EN_AUAVX, 0);
|
||||
@ -240,10 +240,14 @@
|
||||
#define DRV_INS_DEVTYPE_VN100 0xE1
|
||||
#define DRV_INS_DEVTYPE_VN200 0xE2
|
||||
#define DRV_INS_DEVTYPE_VN300 0xE3
|
||||
|
||||
#define DRV_DIFF_PRESS_DEVTYPE_ASP5033 0xE4
|
||||
|
||||
#define DRV_MAG_DEVTYPE_BMM350 0xE5
|
||||
|
||||
#define DRV_DIFF_PRESS_DEVTYPE_AUAV 0xE6
|
||||
#define DRV_BARO_DEVTYPE_AUAV 0xE7
|
||||
|
||||
#define DRV_DEVTYPE_UNUSED 0xff
|
||||
|
||||
#endif /* _DRV_SENSOR_H */
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user