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Add TCBP001TA Barometer Driver (#14774)
This commit is contained in:
斯东Stone
GitHub
parent
6482120d9a
commit
e5b689e33c
@ -39,3 +39,4 @@ add_subdirectory(lps22hb)
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add_subdirectory(lps33hw)
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#add_subdirectory(mpl3115a2) # not ready for general inclusion
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add_subdirectory(ms5611)
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#add_subdirectory(tcbp001ta) # only for users who really need this
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44
src/drivers/barometer/tcbp001ta/CMakeLists.txt
Normal file
44
src/drivers/barometer/tcbp001ta/CMakeLists.txt
Normal file
@ -0,0 +1,44 @@
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############################################################################
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#
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# Copyright (c) 2020 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__tcbp001ta
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MAIN tcbp001ta
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SRCS
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tcbp001ta.cpp
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tcbp001ta_spi.cpp
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tcbp001ta_main.cpp
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DEPENDS
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drivers_barometer
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px4_work_queue
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)
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179
src/drivers/barometer/tcbp001ta/defines.h
Normal file
179
src/drivers/barometer/tcbp001ta/defines.h
Normal file
@ -0,0 +1,179 @@
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/****************************************************************************
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*
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* Copyright (C) 2020 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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/**
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* @file tcbp001ta/defines.h
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*
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* Shared defines for the TCBP001TA barometer driver.
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*
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* @author Xiaowei Zhao <xiaowei_zhao1013@163.com>
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* @author Stone White <stone@thone.io>
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*
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*/
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#pragma once
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#include <inttypes.h>
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#define TCBP001TA_ADDR_CAL 0x10 /* address of calibration data */
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#define TCBP001TA_ADDR_DATA 0x00 /* address of presure data */
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#define TCBP001TA_ADDR_PRS_DATA 0X00 /* address of presure data */
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#define TCBP001TA_ADDR_TMP_DATA 0x03 /* address of tempature data */
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#define TCBP001TA_ADDR_PRS_CFG 0x06
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#define TCBP001TA_ADDR_TMP_CFG 0x07
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#define TCBP001TA_ADDR_MEAS_CFG 0x08
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#define TCBP001TA_ADDR_CFG_REG 0x09
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#define TCBP001TA_ADDR_INT_STS 0x0A
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#define TCBP001TA_ADDR_FIFO_STS 0x0B
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#define TCBP001TA_ADDR_RESET 0x0C /* reset */
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#define TCBP001TA_ADDR_ID 0x0D /* product and revision ID */
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#define TCBP001TA_ADDR_TMP_COEF_SRCE 0x28
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#define TCBP001TA_VALUE_ID 0x10 /* chip id */
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#define TCBP001TA_VALUE_RESET 0x89 /* reset */
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#define TCBP001TA_PRS_TMP_RATE_1 (0x0 << 4)
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#define TCBP001TA_PRS_TMP_RATE_2 (0x1 << 4)
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#define TCBP001TA_PRS_TMP_RATE_4 (0x2 << 4)
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#define TCBP001TA_PRS_TMP_RATE_8 (0x3 << 4)
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#define TCBP001TA_PRS_TMP_RATE_16 (0x4 << 4)
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#define TCBP001TA_PRS_TMP_RATE_32 (0x5 << 4)
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#define TCBP001TA_PRS_TMP_RATE_64 (0x6 << 4)
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#define TCBP001TA_PRS_TMP_RATE_128 (0x7 << 4)
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#define TCBP001TA_PRS_TMP_PRC 0x0
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#define TCBP001TA_PRS_TMP_PRC_2 0x1
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#define TCBP001TA_PRS_TMP_PRC_4 0x2
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#define TCBP001TA_PRS_TMP_PRC_8 0x3
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#define TCBP001TA_PRS_TMP_PRC_16 0x4
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#define TCBP001TA_PRS_TMP_PRC_32 0x5
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#define TCBP001TA_PRS_TMP_PRC_64 0x6
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#define TCBP001TA_PRS_TMP_PRC_128 0x7
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#define TCBP001TA_TMP_EXT_ASIC 0x00
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#define TCBP001TA_TMP_EXT_MEMS 0x80
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#define TCBP001TA_MT_INIT 6400 /* max measure time of initial p + t in us */
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#define TCBP001TA_MT 2300 /* max measure time of p or t in us */
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#define POW_2_23_MINUS_1 0x7FFFFF //implies 2^23-1
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#define POW_2_24 0x1000000
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#define POW_2_15_MINUS_1 0x7FFF
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#define POW_2_16 0x10000
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#define POW_2_11_MINUS_1 0x7FF
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#define POW_2_12 0x1000
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#define POW_2_20 0x100000
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#define POW_2_19_MINUS_1 524287
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namespace tcbp001ta
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{
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#pragma pack(push,1)
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struct calibration_s {
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uint8_t c0_h;
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uint8_t c0l_1h;
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uint8_t c1l;
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uint8_t c00h;
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uint8_t c00m;
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uint8_t c00l_10h;
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uint8_t c10m;
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uint8_t c10l;
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uint8_t c01h;
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uint8_t c01l;
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uint8_t c11h;
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uint8_t c11l;
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uint8_t c20h;
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uint8_t c20l;
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uint8_t c21h;
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uint8_t c21l;
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uint8_t c30h;
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uint8_t c30l;
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}; //calibration data
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struct data_s {
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uint8_t p_msb;
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uint8_t p_lsb;
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uint8_t p_xlsb;
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uint8_t t_msb;
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uint8_t t_lsb;
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uint8_t t_xlsb;
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}; // data
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#pragma pack(pop)
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struct fcalibration_s {
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int16_t c0; // 12bit
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int16_t c1; // 12bit
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int32_t c00; // 20bit
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int32_t c10; // 20bit
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int16_t c01; // 16bit
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int16_t c11; // 16bit
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int16_t c20; // 16bit
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int16_t c21; // 16bit
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int16_t c30; // 16bit
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};
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class ITCBP001TA
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{
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public:
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virtual ~ITCBP001TA() = default;
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virtual int init() = 0;
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// read reg value
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virtual uint8_t get_reg(uint8_t addr) = 0;
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// write reg value
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virtual int set_reg(uint8_t value, uint8_t addr) = 0;
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// bulk read of data into buffer, return same pointer
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virtual tcbp001ta::data_s *get_data(uint8_t addr) = 0;
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// bulk read of calibration data into buffer, return same pointer
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virtual tcbp001ta::calibration_s *get_calibration(uint8_t addr) = 0;
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virtual uint32_t get_device_id() const = 0;
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};
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} /* namespace */
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/* interface factories */
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extern tcbp001ta::ITCBP001TA *tcbp001ta_spi_interface(uint8_t busnum, uint32_t device);
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extern tcbp001ta::ITCBP001TA *tcbp001ta_i2c_interface(uint8_t busnum, uint32_t device);
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typedef tcbp001ta::ITCBP001TA *(*TCBP001TA_constructor)(uint8_t, uint32_t);
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322
src/drivers/barometer/tcbp001ta/tcbp001ta.cpp
Normal file
322
src/drivers/barometer/tcbp001ta/tcbp001ta.cpp
Normal file
@ -0,0 +1,322 @@
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/****************************************************************************
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*
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* Copyright (c) 2020 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
|
||||
* 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
|
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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
|
||||
* 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,
|
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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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/**
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* @file tcbp001ta.cpp
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*
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* Driver for TCBP001TA barometer.
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*
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* @author Xiaowei Zhao <xiaowei_zhao1013@163.com>
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* @author Stone White <stone@thone.io>
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*
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*/
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#include "tcbp001ta.hpp"
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TCBP001TA::TCBP001TA(tcbp001ta::ITCBP001TA *interface) :
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ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(interface->get_device_id())),
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_px4_baro(interface->get_device_id()),
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_interface(interface),
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_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": sample")),
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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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_px4_baro.set_device_type(DRV_BARO_DEVTYPE_TCBP001TA);
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}
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TCBP001TA::~TCBP001TA()
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{
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// make sure we are truly inactive
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Stop();
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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
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TCBP001TA::init()
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{
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// reset sensor
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_interface->set_reg(TCBP001TA_VALUE_RESET, TCBP001TA_ADDR_RESET);
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usleep(10000);
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// check id
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if (_interface->get_reg(TCBP001TA_ADDR_ID) != TCBP001TA_VALUE_ID) {
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PX4_WARN("id of your baro is not: 0x%02x", TCBP001TA_VALUE_ID);
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return -EIO;
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}
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// Presure write [0x6 | (0x3 << 4)] to 0x06
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_interface->set_reg(TCBP001TA_PRS_TMP_PRC_64 | TCBP001TA_PRS_TMP_RATE_8, TCBP001TA_ADDR_PRS_CFG);
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// Temperature write [0x80 | 0x1 | (0x2 << 4)] to 0x07
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_interface->set_reg(TCBP001TA_TMP_EXT_MEMS | TCBP001TA_PRS_TMP_PRC_2 | TCBP001TA_PRS_TMP_RATE_4,
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TCBP001TA_ADDR_TMP_CFG);
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// write 0x00 to 0x09
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_interface->set_reg(0x00, TCBP001TA_ADDR_CFG_REG);
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tmp_osr_scale_coeff = TCBP001TA_get_scaling_coef(0);
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prs_osr_scale_coeff = TCBP001TA_get_scaling_coef(0);
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// get calibration and pre process them
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_cal = _interface->get_calibration(TCBP001TA_ADDR_CAL);
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if (_cal == nullptr) {
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PX4_INFO("init failed");
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return -EIO;
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}
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_fcal.c0 = (_cal->c0_h << 4) + ((_cal->c0l_1h >> 4) & 0x0F);
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if (_fcal.c0 > POW_2_11_MINUS_1) {
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_fcal.c0 = _fcal.c0 - POW_2_12;
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}
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_fcal.c1 = (_cal->c1l + ((_cal->c0l_1h & 0x0F) << 8));
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if (_fcal.c1 > POW_2_11_MINUS_1) {
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_fcal.c1 = _fcal.c1 - POW_2_12;
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}
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_fcal.c00 = ((_cal->c00m << 4) + (_cal->c00h << 12)) + ((_cal->c00l_10h >> 4) & 0x0F);
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if (_fcal.c00 > POW_2_19_MINUS_1) {
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_fcal.c00 = _fcal.c00 - POW_2_20;
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}
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_fcal.c10 = ((_cal->c00l_10h & 0x0F) << 16) + _cal->c10l + (_cal->c10m << 8);
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if (_fcal.c10 > POW_2_19_MINUS_1) {
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_fcal.c10 = _fcal.c10 - POW_2_20;
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}
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_fcal.c01 = (_cal->c01l + (_cal->c01h << 8));
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//if(_fcal.c01 > POW_2_15_MINUS_1)
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//_fcal.c01 = _fcal.c01 - POW_2_16;
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_fcal.c11 = (_cal->c11l + (_cal->c11h << 8));
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//if(_fcal.c11 > POW_2_15_MINUS_1)
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//_fcal.c11 = _fcal.c11 - POW_2_16;
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_fcal.c20 = (_cal->c20l + (_cal->c20h << 8));
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//if(_fcal.c20 > POW_2_15_MINUS_1)
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//_fcal.c20 = _fcal.c20 - POW_2_16;
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_fcal.c21 = (_cal->c21l + (_cal->c21h << 8));
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//if(_fcal.c21 > POW_2_15_MINUS_1)
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//_fcal.c21 = _fcal.c21 - POW_2_16;
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_fcal.c30 = (_cal->c30l + (_cal->c30h << 8));
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//if(_fcal.c30 > POW_2_15_MINUS_1)
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//_fcal.c30 = _fcal.c30 - POW_2_16;
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Start();
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return OK;
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}
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void
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TCBP001TA::Start()
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{
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// reset the report ring and state machine
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_collect_phase = false;
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// schedule a cycle to start things
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ScheduleNow();
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}
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void
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TCBP001TA::Stop()
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{
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ScheduleClear();
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}
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void
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TCBP001TA::Run()
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{
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if (_collect_phase) {
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collect();
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} else {
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measure();
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}
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ScheduleDelayed(_measure_interval);
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}
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int
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TCBP001TA::measure()
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{
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perf_begin(_measure_perf);
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_collect_phase = true;
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// start measure
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//int ret = _interface->set_reg(_curr_ctrl | TCBP001TA_CTRL_MODE_FORCE, TCBP001TA_ADDR_CTRL);
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//if (ret != OK) {
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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 OK;
|
||||
}
|
||||
|
||||
int
|
||||
TCBP001TA::collect()
|
||||
{
|
||||
perf_begin(_sample_perf);
|
||||
|
||||
_collect_phase = false;
|
||||
// this should be fairly close to the end of the conversion, so the best approximation of the time
|
||||
const hrt_abstime timestamp_sample = hrt_absolute_time();
|
||||
|
||||
//write 0x02 to reg 0x08 Temperature
|
||||
_interface->set_reg(0x02, TCBP001TA_ADDR_MEAS_CFG);
|
||||
|
||||
tcbp001ta::data_s *data_temp = _interface->get_data(TCBP001TA_ADDR_TMP_DATA);
|
||||
|
||||
if (data_temp == nullptr) {
|
||||
perf_count(_comms_errors);
|
||||
perf_cancel(_sample_perf);
|
||||
return -EIO;
|
||||
}
|
||||
|
||||
uint32_t p_raw = (data_temp->p_msb << 16 | data_temp->p_lsb << 8) + (data_temp->p_xlsb);
|
||||
|
||||
//write 0x01 to reg 0x08 Pressure
|
||||
_interface->set_reg(0x01, TCBP001TA_ADDR_MEAS_CFG);
|
||||
|
||||
tcbp001ta::data_s *data_pres = _interface->get_data(TCBP001TA_ADDR_PRS_DATA);
|
||||
|
||||
if (data_pres == nullptr) {
|
||||
perf_count(_comms_errors);
|
||||
perf_cancel(_sample_perf);
|
||||
return -EIO;
|
||||
}
|
||||
|
||||
uint32_t t_raw = (data_pres->t_msb << 16 | data_pres->t_lsb << 8) + (data_pres->t_xlsb);
|
||||
|
||||
// PX4_INFO("p raw %f", p_raw);
|
||||
// PX4_INFO("t raw %f", t_raw);
|
||||
// PX4_INFO("data 0 %d data 1 %d data2 %d", data_temp->p_msb, data_temp->p_lsb, data_temp->p_xlsb);
|
||||
// PX4_INFO("data 3 %d data 4 %d data5 %d", data_pres->t_msb, data_pres->t_lsb, data_pres->t_xlsb);
|
||||
|
||||
// Temperature
|
||||
float Traw_sc = (float)t_raw / (float)(tmp_osr_scale_coeff);
|
||||
|
||||
const float T = (_fcal.c0 / 2.0f) + (float)(_fcal.c1 * Traw_sc);
|
||||
|
||||
// Pressure
|
||||
float Praw_sc = (float) p_raw / (float)(prs_osr_scale_coeff);
|
||||
|
||||
const float P = _fcal.c00 +
|
||||
Praw_sc * (_fcal.c10 + Praw_sc * (_fcal.c20 + Praw_sc * _fcal.c30)) +
|
||||
Praw_sc * _fcal.c01 +
|
||||
Praw_sc * Praw_sc * (_fcal.c11 + Praw_sc * _fcal.c21);
|
||||
|
||||
_px4_baro.set_error_count(perf_event_count(_comms_errors));
|
||||
_px4_baro.set_temperature(T);
|
||||
|
||||
float pressure = P / 100.0f; // to mbar
|
||||
// PX4_INFO("press %f", double(pressure));
|
||||
_px4_baro.update(timestamp_sample, pressure);
|
||||
|
||||
perf_end(_sample_perf);
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
void
|
||||
TCBP001TA::print_info()
|
||||
{
|
||||
perf_print_counter(_sample_perf);
|
||||
perf_print_counter(_measure_perf);
|
||||
perf_print_counter(_comms_errors);
|
||||
|
||||
_px4_baro.print_status();
|
||||
}
|
||||
|
||||
uint32_t
|
||||
TCBP001TA::TCBP001TA_get_scaling_coef(uint8_t osr)
|
||||
{
|
||||
uint32_t scaling_coeff;
|
||||
|
||||
switch (osr) {
|
||||
|
||||
case 0:
|
||||
scaling_coeff = 524288;
|
||||
break;
|
||||
|
||||
case 1:
|
||||
scaling_coeff = 1572864;
|
||||
break;
|
||||
|
||||
case 2:
|
||||
scaling_coeff = 3670016;
|
||||
break;
|
||||
|
||||
case 3:
|
||||
scaling_coeff = 7864320;
|
||||
break;
|
||||
|
||||
case 4:
|
||||
scaling_coeff = 253952;
|
||||
break;
|
||||
|
||||
case 5:
|
||||
scaling_coeff = 516096;
|
||||
break;
|
||||
|
||||
case 6:
|
||||
scaling_coeff = 1040384;
|
||||
break;
|
||||
|
||||
case 7:
|
||||
scaling_coeff = 2088960;
|
||||
break;
|
||||
|
||||
default:
|
||||
scaling_coeff = 524288;
|
||||
break;
|
||||
}
|
||||
|
||||
return scaling_coeff;
|
||||
}
|
||||
82
src/drivers/barometer/tcbp001ta/tcbp001ta.hpp
Normal file
82
src/drivers/barometer/tcbp001ta/tcbp001ta.hpp
Normal file
@ -0,0 +1,82 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2020 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "defines.h"
|
||||
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
|
||||
#include <lib/drivers/barometer/PX4Barometer.hpp>
|
||||
#include <lib/perf/perf_counter.h>
|
||||
|
||||
class TCBP001TA : public px4::ScheduledWorkItem
|
||||
{
|
||||
public:
|
||||
TCBP001TA(tcbp001ta::ITCBP001TA *interface);
|
||||
virtual ~TCBP001TA();
|
||||
|
||||
int init();
|
||||
void print_info();
|
||||
|
||||
uint32_t tmp_osr_scale_coeff;
|
||||
uint32_t prs_osr_scale_coeff;
|
||||
|
||||
uint32_t TCBP001TA_get_scaling_coef(uint8_t osr);
|
||||
|
||||
private:
|
||||
void Run() override;
|
||||
void Start();
|
||||
void Stop();
|
||||
|
||||
int measure(); //start measure
|
||||
int collect(); //get results and publish
|
||||
|
||||
PX4Barometer _px4_baro;
|
||||
|
||||
tcbp001ta::ITCBP001TA *_interface;
|
||||
|
||||
// set config, recommended settings
|
||||
//static constexpr uint8_t _curr_ctrl{TCBP001TA_CTRL_P16 | TCBP001TA_CTRL_T2};
|
||||
static constexpr uint32_t _measure_interval{TCBP001TA_MT_INIT + TCBP001TA_MT *(16 - 1 + 2 - 1)};
|
||||
|
||||
bool _collect_phase{false};
|
||||
|
||||
perf_counter_t _sample_perf;
|
||||
perf_counter_t _measure_perf;
|
||||
perf_counter_t _comms_errors;
|
||||
|
||||
tcbp001ta::calibration_s *_cal{nullptr}; //stored calibration constants
|
||||
tcbp001ta::fcalibration_s _fcal{}; //pre processed calibration constants
|
||||
};
|
||||
196
src/drivers/barometer/tcbp001ta/tcbp001ta_main.cpp
Normal file
196
src/drivers/barometer/tcbp001ta/tcbp001ta_main.cpp
Normal file
@ -0,0 +1,196 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2020 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
#include <px4_platform_common/getopt.h>
|
||||
|
||||
#include "tcbp001ta.hpp"
|
||||
|
||||
enum class TCBP001TA_BUS {
|
||||
|
||||
SPI_INTERNAL = 0
|
||||
};
|
||||
|
||||
namespace tcbp001ta
|
||||
{
|
||||
|
||||
// list of supported bus configurations
|
||||
struct tcbp001ta_bus_option {
|
||||
TCBP001TA_BUS busid;
|
||||
TCBP001TA_constructor interface_constructor;
|
||||
uint8_t busnum;
|
||||
uint32_t address;
|
||||
TCBP001TA *dev;
|
||||
} bus_options[] = {
|
||||
|
||||
{ TCBP001TA_BUS::SPI_INTERNAL, &tcbp001ta_spi_interface, PX4_SPI_BUS_BARO, PX4_SPIDEV_BARO, nullptr },
|
||||
};
|
||||
|
||||
// find a bus structure for a busid
|
||||
static struct tcbp001ta_bus_option *find_bus(TCBP001TA_BUS busid)
|
||||
{
|
||||
for (tcbp001ta_bus_option &bus_option : bus_options) {
|
||||
if ((
|
||||
busid == bus_option.busid) && bus_option.dev != nullptr) {
|
||||
|
||||
return &bus_option;
|
||||
}
|
||||
}
|
||||
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
static bool start_bus(tcbp001ta_bus_option &bus)
|
||||
{
|
||||
tcbp001ta::ITCBP001TA *interface = bus.interface_constructor(bus.busnum, bus.address);
|
||||
|
||||
if ((interface == nullptr) || (interface->init() != PX4_OK)) {
|
||||
PX4_WARN("no device on bus %u", (unsigned)bus.busid);
|
||||
delete interface;
|
||||
return false;
|
||||
}
|
||||
|
||||
TCBP001TA *dev = new TCBP001TA(interface);
|
||||
|
||||
if (dev == nullptr) {
|
||||
PX4_ERR("driver allocate failed");
|
||||
delete interface;
|
||||
return false;
|
||||
}
|
||||
|
||||
if (dev->init() != PX4_OK) {
|
||||
PX4_ERR("driver start failed");
|
||||
delete dev; // TCBP001TA deletes the interface
|
||||
return false;
|
||||
}
|
||||
|
||||
bus.dev = dev;
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
static int start(TCBP001TA_BUS busid)
|
||||
{
|
||||
for (tcbp001ta_bus_option &bus_option : bus_options) {
|
||||
if (bus_option.dev != nullptr) {
|
||||
// this device is already started
|
||||
PX4_WARN("already started");
|
||||
continue;
|
||||
}
|
||||
|
||||
if (bus_option.busid != busid) {
|
||||
// not the one that is asked for
|
||||
continue;
|
||||
}
|
||||
|
||||
if (start_bus(bus_option)) {
|
||||
return PX4_OK;
|
||||
}
|
||||
}
|
||||
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
static int stop(TCBP001TA_BUS busid)
|
||||
{
|
||||
tcbp001ta_bus_option *bus = find_bus(busid);
|
||||
|
||||
if (bus != nullptr && bus->dev != nullptr) {
|
||||
delete bus->dev;
|
||||
bus->dev = nullptr;
|
||||
|
||||
} else {
|
||||
PX4_WARN("driver not running");
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
return PX4_OK;
|
||||
}
|
||||
|
||||
static int status(TCBP001TA_BUS busid)
|
||||
{
|
||||
tcbp001ta_bus_option *bus = find_bus(busid);
|
||||
|
||||
if (bus != nullptr && bus->dev != nullptr) {
|
||||
bus->dev->print_info();
|
||||
return PX4_OK;
|
||||
}
|
||||
|
||||
PX4_WARN("driver not running");
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
static int usage()
|
||||
{
|
||||
PX4_INFO("missing command: try 'start', 'stop', 'status'");
|
||||
PX4_INFO("options:");
|
||||
PX4_INFO(" -X (i2c external bus)");
|
||||
PX4_INFO(" -I (i2c internal bus)");
|
||||
PX4_INFO(" -s (spi internal bus)");
|
||||
PX4_INFO(" -S (spi external bus)");
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
} // namespace
|
||||
|
||||
extern "C" int tcbp001ta_main(int argc, char *argv[])
|
||||
{
|
||||
int myoptind = 1;
|
||||
// int ch;
|
||||
// const char *myoptarg = nullptr;
|
||||
|
||||
TCBP001TA_BUS busid;
|
||||
busid = TCBP001TA_BUS::SPI_INTERNAL;
|
||||
|
||||
|
||||
|
||||
// if (myoptind >= argc) {
|
||||
// return tcbp001ta::usage();
|
||||
// }
|
||||
|
||||
const char *verb = argv[myoptind];
|
||||
|
||||
if (!strcmp(verb, "start")) {
|
||||
PX4_INFO("start");
|
||||
return tcbp001ta::start(busid);
|
||||
|
||||
} else if (!strcmp(verb, "stop")) {
|
||||
return tcbp001ta::stop(busid);
|
||||
|
||||
} else if (!strcmp(verb, "status")) {
|
||||
return tcbp001ta::status(busid);
|
||||
}
|
||||
|
||||
return tcbp001ta::usage();
|
||||
}
|
||||
146
src/drivers/barometer/tcbp001ta/tcbp001ta_spi.cpp
Normal file
146
src/drivers/barometer/tcbp001ta/tcbp001ta_spi.cpp
Normal file
@ -0,0 +1,146 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2016-2019 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 tcbp001ta_spi.cpp
|
||||
*
|
||||
* SPI interface for TCBP001TA.
|
||||
*
|
||||
* @author Xiaowei Zhao <xiaowei_zhao1013@163.com>
|
||||
* @author Stone White <stone@thone.io>
|
||||
*
|
||||
*/
|
||||
|
||||
#include "defines.h"
|
||||
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
#include <drivers/device/spi.h>
|
||||
|
||||
|
||||
/* SPI protocol address bits */
|
||||
#define DIR_READ (1<<7) //for set
|
||||
#define DIR_WRITE ~(1<<7) //for clear
|
||||
|
||||
#pragma pack(push,1)
|
||||
struct spi_data_s {
|
||||
uint8_t addr;
|
||||
struct tcbp001ta::data_s data;
|
||||
};
|
||||
|
||||
struct spi_calibration_s {
|
||||
uint8_t addr;
|
||||
struct tcbp001ta::calibration_s cal;
|
||||
};
|
||||
#pragma pack(pop)
|
||||
|
||||
class TCBP001TA_SPI: public device::SPI, public tcbp001ta::ITCBP001TA
|
||||
{
|
||||
public:
|
||||
TCBP001TA_SPI(uint8_t bus, uint32_t device);
|
||||
virtual ~TCBP001TA_SPI() override = default;
|
||||
|
||||
int init() override { return SPI::init(); }
|
||||
|
||||
uint8_t get_reg(uint8_t addr) override;
|
||||
int set_reg(uint8_t value, uint8_t addr) override;
|
||||
|
||||
tcbp001ta::data_s *get_data(uint8_t addr) override;
|
||||
tcbp001ta::calibration_s *get_calibration(uint8_t addr) override;
|
||||
|
||||
uint32_t get_device_id() const override { return device::SPI::get_device_id(); }
|
||||
|
||||
private:
|
||||
spi_calibration_s _cal{};
|
||||
spi_data_s _data{};
|
||||
};
|
||||
|
||||
tcbp001ta::ITCBP001TA *
|
||||
tcbp001ta_spi_interface(uint8_t busnum, uint32_t device)
|
||||
{
|
||||
return new TCBP001TA_SPI(busnum, device);
|
||||
}
|
||||
|
||||
TCBP001TA_SPI::TCBP001TA_SPI(uint8_t bus, uint32_t device) :
|
||||
SPI("TCBP001TA_SPI", nullptr, bus, device, SPIDEV_MODE3, 10 * 1000 * 1000)
|
||||
{
|
||||
}
|
||||
|
||||
uint8_t
|
||||
TCBP001TA_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
|
||||
TCBP001TA_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);
|
||||
}
|
||||
|
||||
tcbp001ta::data_s *
|
||||
TCBP001TA_SPI::get_data(uint8_t addr)
|
||||
{
|
||||
_data.addr = (uint8_t)(addr | DIR_READ); // set MSB bit
|
||||
// PX4_INFO("addr %02x", addr);
|
||||
// PX4_INFO("addr %02x", _data.addr);
|
||||
|
||||
if (transfer((uint8_t *)&_data, (uint8_t *)&_data, sizeof(spi_data_s)) == OK) {
|
||||
// PX4_INFO("t xlsb data %d", _data.data.t_xlsb);
|
||||
// PX4_INFO("t msb data %d", _data.data.t_msb);
|
||||
// PX4_INFO("t lsb data %d", _data.data.t_lsb);
|
||||
// PX4_INFO("p xlsb data %d", _data.data.p_xlsb);
|
||||
// PX4_INFO("p msb data %d", _data.data.p_msb);
|
||||
// PX4_INFO("p lsb data %d", _data.data.p_lsb);
|
||||
return &(_data.data);
|
||||
|
||||
} else {
|
||||
return nullptr;
|
||||
}
|
||||
}
|
||||
|
||||
tcbp001ta::calibration_s *
|
||||
TCBP001TA_SPI::get_calibration(uint8_t addr)
|
||||
{
|
||||
_cal.addr = addr | DIR_READ;
|
||||
|
||||
if (transfer((uint8_t *)&_cal, (uint8_t *)&_cal, sizeof(spi_calibration_s)) == OK) {
|
||||
return &(_cal.cal);
|
||||
|
||||
} else {
|
||||
return nullptr;
|
||||
}
|
||||
}
|
||||
@ -106,6 +106,7 @@
|
||||
#define DRV_DIFF_PRESS_DEVTYPE_SDP32 0x4A
|
||||
#define DRV_DIFF_PRESS_DEVTYPE_SDP33 0x4B
|
||||
#define DRV_BARO_DEVTYPE_LPS33HW 0x4C
|
||||
#define DRV_BARO_DEVTYPE_TCBP001TA 0x4D
|
||||
|
||||
#define DRV_BARO_DEVTYPE_MPL3115A2 0x51
|
||||
#define DRV_ACC_DEVTYPE_FXOS8701C 0x52
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user