fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-29 01:04:07 +08:00
Code Issues Packages Projects Releases Wiki Activity

drivers: Copy SPL06 to SPA06

Browse Source
This commit is contained in:
Julian Oes 2024-11-18 11:23:25 +13:00 committed by Ramon Roche
parent 8017135965
commit faa7bb91d0
12 changed files with 920 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
src/drivers/barometer/Kconfig
View File

@ -10,6 +10,7 @@ menu "barometer"
select DRIVERS_BAROMETER_MS5611
select DRIVERS_BAROMETER_MAIERTEK_MPC2520
select DRIVERS_BAROMETER_GOERTEK_SPL06
select DRIVERS_BAROMETER_GOERTEK_SPA06
select DRIVERS_BAROMETER_INVENSENSE_ICP101XX
select DRIVERS_BAROMETER_INVENSENSE_ICP201XX
---help---

3
src/drivers/barometer/goertek/CMakeLists.txt
View File

@ -1,6 +1,6 @@
############################################################################
#
# Copyright (c) 2022 PX4 Development Team. All rights reserved.
# Copyright (c) 2022-2024 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
@ -32,3 +32,4 @@
############################################################################
add_subdirectory(spl06)
add_subdirectory(spa06)

45
src/drivers/barometer/goertek/spa06/CMakeLists.txt Normal file
View File

@ -0,0 +1,45 @@
############################################################################
#
# Copyright (c) 2024 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
px4_add_module(
MODULE drivers__barometer__spa06
MAIN spa06
SRCS
SPA06.cpp
SPA06.hpp
SPA06_I2C.cpp
SPA06_SPI.cpp
spa06_main.cpp
DEPENDS
px4_work_queue
)

5
src/drivers/barometer/goertek/spa06/Kconfig Normal file
View File

@ -0,0 +1,5 @@
menuconfig DRIVERS_BAROMETER_GOERTEK_SPA06
bool "spa06"
default n
---help---
Enable support for spa06

248
src/drivers/barometer/goertek/spa06/SPA06.cpp Normal file
View File

@ -0,0 +1,248 @@
/****************************************************************************
*
* Copyright (c) 2024 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include "SPA06.hpp"
SPA06::SPA06(const I2CSPIDriverConfig &config, spa06::ISPA06 *interface) :
I2CSPIDriver(config),
_interface(interface),
_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": sample")),
_measure_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": measure")),
_comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": comms errors"))
{
}
SPA06::~SPA06()
{
// free perf counters
perf_free(_sample_perf);
perf_free(_measure_perf);
perf_free(_comms_errors);
delete _interface;
}
/*
float
SPA06::scale_factor(int oversampling_rate)
{
float k;
switch (oversampling_rate) {
case 1:
k = 524288.0f;
break;
case 2:
k = 1572864.0f;
break;
case 4:
k = 3670016.0f;
break;
case 8:
k = 7864320.0f;
break;
case 16:
k = 253952.0f;
break;
case 32:
k = 516096.0f;
break;
case 64:
k = 1040384.0f;
break;
case 128:
k = 2088960.0f;
break;
default:
k = 0;
break;
}
return k;
}
*/
int
SPA06::calibrate()
{
uint8_t buf[18];
_interface->read(SPA06_ADDR_CAL, buf, sizeof(buf));
_cal.c0 = (uint16_t)buf[0] << 4 | (uint16_t)buf[1] >> 4;
_cal.c0 = (_cal.c0 & 1 << 11) ? (0xf000 | _cal.c0) : _cal.c0;
_cal.c1 = (uint16_t)(buf[1] & 0x0f) << 8 | (uint16_t)buf[2];
_cal.c1 = (_cal.c1 & 1 << 11) ? (0xf000 | _cal.c1) : _cal.c1;
_cal.c00 = (uint32_t)buf[3] << 12 | (uint32_t)buf[4] << 4 | (uint16_t)buf[5] >> 4;
_cal.c00 = (_cal.c00 & 1 << 19) ? (0xfff00000 | _cal.c00) : _cal.c00;
_cal.c10 = (uint32_t)(buf[5] & 0x0f) << 16 | (uint32_t)buf[6] << 8 | (uint32_t)buf[7];
_cal.c10 = (_cal.c10 & 1 << 19) ? (0xfff00000 | _cal.c10) : _cal.c10;
_cal.c01 = (uint16_t)buf[8] << 8 | buf[9];
_cal.c11 = (uint16_t)buf[10] << 8 | buf[11];
_cal.c20 = (uint16_t)buf[12] << 8 | buf[13];
_cal.c21 = (uint16_t)buf[14] << 8 | buf[15];
_cal.c30 = (uint16_t)buf[16] << 8 | buf[17];
// PX4_INFO("c0:%d \nc1:%d \nc00:%d \nc10:%d \nc01:%d \nc11:%d \nc20:%d \nc21:%d \nc30:%d\n",
// _cal.c0,_cal.c1,
// _cal.c00,_cal.c10,
// _cal.c01,_cal.c11,_cal.c20,_cal.c21,_cal.c30
// );
//PX4_DEBUG("c0:%f",_cal.c0);
return OK;
}
int
SPA06::init()
{
int8_t tries = 5;
// reset sensor
_interface->set_reg(SPA06_VALUE_RESET, SPA06_ADDR_RESET);
usleep(10000);
// check id
if (_interface->get_reg(SPA06_ADDR_ID) != SPA06_VALUE_ID) {
PX4_DEBUG("id of your baro is not: 0x%02x", SPA06_VALUE_ID);
return -EIO;
}
while (tries--) {
uint8_t meas_cfg = _interface->get_reg(SPA06_ADDR_MEAS_CFG);
if (meas_cfg & (1 << 7) && meas_cfg & (1 << 6)) {
break;
}
usleep(10000);
}
if (tries < 0) {
PX4_DEBUG("spa06 cal failed");
return -EIO;
}
// get calibration and pre process them
calibrate();
// set config, recommended settings
_interface->set_reg(_curr_prs_cfg, SPA06_ADDR_PRS_CFG);
kp = 253952.0f; // refer to scale_factor()
_interface->set_reg(_curr_tmp_cfg, SPA06_ADDR_TMP_CFG);
kt = 524288.0f;
_interface->set_reg(1 << 2, SPA06_ADDR_CFG_REG);
_interface->set_reg(7, SPA06_ADDR_MEAS_CFG);
Start();
return OK;
}
void
SPA06::Start()
{
// schedule a cycle to start things
ScheduleNow();
}
void
SPA06::RunImpl()
{
collect();
ScheduleDelayed(_measure_interval);
}
int
SPA06::collect()
{
perf_begin(_sample_perf);
// 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();
if (_interface->read(SPA06_ADDR_DATA, (uint8_t *)&_data, sizeof(_data)) != OK) {
perf_count(_comms_errors);
perf_cancel(_sample_perf);
return -EIO;
}
int32_t temp_raw = (uint32_t)_data.t_msb << 16 | (uint32_t)_data.t_lsb << 8 | (uint32_t)_data.t_xlsb;
temp_raw = (temp_raw & 1 << 23) ? (0xff000000 | temp_raw) : temp_raw;
int32_t press_raw = (uint32_t)_data.p_msb << 16 | (uint32_t) _data.p_lsb << 8 | (uint32_t) _data.p_xlsb;
press_raw = (press_raw & 1 << 23) ? (0xff000000 | press_raw) : press_raw;
// calculate
float ftsc = (float)temp_raw / kt;
float fpsc = (float)press_raw / kp;
float qua2 = (float)_cal.c10 + fpsc * ((float)_cal.c20 + fpsc * (float)_cal.c30);
float qua3 = ftsc * fpsc * ((float)_cal.c11 + fpsc * (float)_cal.c21);
float fp = (float)_cal.c00 + fpsc * qua2 + ftsc * (float)_cal.c01 + qua3;
float temperature = (float)_cal.c0 * 0.5f + (float)_cal.c1 * ftsc;
sensor_baro_s sensor_baro{};
sensor_baro.timestamp_sample = timestamp_sample;
sensor_baro.device_id = _interface->get_device_id();
sensor_baro.pressure = fp;
sensor_baro.temperature = temperature;
sensor_baro.error_count = perf_event_count(_comms_errors);
sensor_baro.timestamp = hrt_absolute_time();
_sensor_baro_pub.publish(sensor_baro);
perf_end(_sample_perf);
return OK;
}
void
SPA06::print_status()
{
I2CSPIDriverBase::print_status();
perf_print_counter(_sample_perf);
perf_print_counter(_measure_perf);
perf_print_counter(_comms_errors);
}

120
src/drivers/barometer/goertek/spa06/SPA06.hpp Normal file
View File

@ -0,0 +1,120 @@
/****************************************************************************
*
* Copyright (c) 2024 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#pragma once
#include "spa06.h"
#include <drivers/drv_hrt.h>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/i2c_spi_buses.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <lib/perf/perf_counter.h>
#include <uORB/PublicationMulti.hpp>
#include <uORB/topics/sensor_baro.h>
class SPA06 : public I2CSPIDriver<SPA06>
{
public:
SPA06(const I2CSPIDriverConfig &config, spa06::ISPA06 *interface);
virtual ~SPA06();
static I2CSPIDriverBase *instantiate(const I2CSPIDriverConfig &config, int runtime_instance);
static void print_usage();
int init();
void print_status();
void RunImpl();
private:
void Start();
// float scale_factor(int oversampling_rate);
int collect(); //get results and publish
int calibrate();
uORB::PublicationMulti<sensor_baro_s> _sensor_baro_pub{ORB_ID(sensor_baro)};
spa06::ISPA06 *_interface;
spa06::data_s _data;
spa06::calibration_s _cal{};
// set config, recommended settings
//
// oversampling rate : single | 2 | 4 | 8 | 16 | 32 | 64 | 128
// scale factor(KP/KT): 524288 | 1572864 | 3670016 | 7864320 | 253952 | 516096 | 1040384 | 2088960
// configuration of pressure measurement rate (PM_RATE) and resolution (PM_PRC)
//
// bit[7]: reserved
//
// PM_RATE[6:4] : 0 | 1 | 2 | 3 | 4 | 5 | 6 | 7
// measurement rate: 1 | 2 | 4 | 8 | 16 | 32 | 64 | 128
// note: applicable for measurements in background mode only
//
// PM_PRC[3:0] : 0 | 1 | 2 | 3 | 4 | 5 | 6 | 7
// oversampling (times): single | 2 | 4 | 8 | 16 | 32 | 64 | 128
// measurement time(ms): 3.6 | 5.2 | 8.4 | 14.8 | 27.6 | 53.2 | 104.4 | 206.8
// precision(PaRMS) : 5.0 | | 2.5 | | 1.2 | 0.9 | 0.5 |
// note: use in combination with a bit shift when the oversampling rate is > 8 times. see CFG_REG(0x19) register
static constexpr uint8_t _curr_prs_cfg{4 << 4 | 4};
// configuration of temperature measurment rate (TMP_RATE) and resolution (TMP_PRC)
//
// temperature measurement: internal sensor (in ASIC) | external sensor (in pressure sensor MEMS element)
// TMP_EXT[7] : 0 | 1
// note: it is highly recommended to use the same temperature sensor as the source of the calibration coefficients wihch can be read from reg 0x28
//
// TMP_RATE[6:4] : 0 | 1 | 2 | 3 | 4 | 5 | 6 | 7
// measurement rate: 1 | 2 | 4 | 8 | 16 | 32 | 64 | 128
// note: applicable for measurements in background mode only
//
// bit[3]: reserved
//
// TMP_PRC[2:0] : 0 | 1 | 2 | 3 | 4 | 5 | 6 | 7
// oversampling (times): single | 2 | 4 | 8 | 16 | 32 | 64 | 128
// note: single(default) measurement time 3.6ms, other settings are optional, and may not be relevant
// note: use in combination with a bit shift when the oversampling rate is > 8 times. see CFG_REG(0x19) register
static constexpr uint8_t _curr_tmp_cfg{1 << 7 | 4 << 4 | 0};
bool _collect_phase{false};
float kp;
float kt;
perf_counter_t _sample_perf;
perf_counter_t _measure_perf;
perf_counter_t _comms_errors;
static constexpr uint32_t _sample_rate{16};
static constexpr uint32_t _measure_interval{1000000 / _sample_rate / 2};
};

102
src/drivers/barometer/goertek/spa06/SPA06_I2C.cpp Normal file
View File

@ -0,0 +1,102 @@
/****************************************************************************
*
* Copyright (c) 2024 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file SPA06_I2C.cpp
*
* SPI interface for Goertek SPA06
*/
#include "spa06.h"
#include <px4_platform_common/px4_config.h>
#include <drivers/device/i2c.h>
#if defined(CONFIG_I2C)
class SPA06_I2C: public device::I2C, public spa06::ISPA06
{
public:
SPA06_I2C(uint8_t bus, uint32_t device, int bus_frequency);
virtual ~SPA06_I2C() override = default;
int init() override { return I2C::init(); }
uint8_t get_reg(uint8_t addr) override;
int set_reg(uint8_t value, uint8_t addr) override;
int read(uint8_t addr, uint8_t *buf, uint8_t len) override;
//spa06::data_s *get_data(uint8_t addr) override;
//spa06::calibration_s *get_calibration(uint8_t addr) override;
uint32_t get_device_id() const override { return device::I2C::get_device_id(); }
uint8_t get_device_address() const override { return device::I2C::get_device_address(); }
private:
spa06::calibration_s _cal{};
spa06::data_s _data{};
};
spa06::ISPA06 *spa06_i2c_interface(uint8_t busnum, uint32_t device, int bus_frequency)
{
return new SPA06_I2C(busnum, device, bus_frequency);
}
SPA06_I2C::SPA06_I2C(uint8_t bus, uint32_t device, int bus_frequency) :
I2C(DRV_BARO_DEVTYPE_SPA06, MODULE_NAME, bus, device, bus_frequency)
{
}
uint8_t
SPA06_I2C::get_reg(uint8_t addr)
{
uint8_t cmd[2] = { (uint8_t)(addr), 0};
transfer(&cmd[0], 1, &cmd[1], 1);
return cmd[1];
}
int
SPA06_I2C::set_reg(uint8_t value, uint8_t addr)
{
uint8_t cmd[2] = { (uint8_t)(addr), value};
return transfer(cmd, sizeof(cmd), nullptr, 0);
}
int
SPA06_I2C::read(uint8_t addr, uint8_t *buf, uint8_t len)
{
return transfer(&addr, 1, buf, len);
}
#endif // CONFIG_I2C

104
src/drivers/barometer/goertek/spa06/SPA06_SPI.cpp Normal file
View File

@ -0,0 +1,104 @@
/****************************************************************************
*
* Copyright (c) 2024 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file SPA06_SPI.cpp
*
* SPI interface for Goertek SPA06
*/
#include "spa06.h"
#include <px4_platform_common/px4_config.h>
#include <drivers/device/spi.h>
#if defined(CONFIG_SPI)
/* SPI protocol address bits */
#define DIR_READ (1<<7) //for set
#define DIR_WRITE ~(1<<7) //for clear
class SPA06_SPI: public device::SPI, public spa06::ISPA06
{
public:
SPA06_SPI(uint8_t bus, uint32_t device, int bus_frequency, spi_mode_e spi_mode);
virtual ~SPA06_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;
int read(uint8_t addr, uint8_t *buf, uint8_t len) override;
uint32_t get_device_id() const override { return device::SPI::get_device_id(); }
uint8_t get_device_address() const override { return device::SPI::get_device_address(); }
};
spa06::ISPA06 *
spa06_spi_interface(uint8_t busnum, uint32_t device, int bus_frequency, spi_mode_e spi_mode)
{
return new SPA06_SPI(busnum, device, bus_frequency, spi_mode);
}
SPA06_SPI::SPA06_SPI(uint8_t bus, uint32_t device, int bus_frequency, spi_mode_e spi_mode) :
SPI(DRV_BARO_DEVTYPE_SPA06, MODULE_NAME, bus, device, spi_mode, bus_frequency)
{
}
uint8_t
SPA06_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
SPA06_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);
}
int
SPA06_SPI::read(uint8_t addr, uint8_t *buf, uint8_t len)
{
uint8_t tx_buf[len + 1] = {(uint8_t)(addr | DIR_READ)}; // GCC support VLA, let's use it
return transfer(tx_buf, buf, len);
}
#endif // CONFIG_SPI

41
src/drivers/barometer/goertek/spa06/parameters.c Normal file
View File

@ -0,0 +1,41 @@
/****************************************************************************
*
* Copyright (c) 2024 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* Goertek SPA06 Barometer (external I2C)
*
* @reboot_required true
* @group Sensors
* @boolean
*/
PARAM_DEFINE_INT32(SENS_EN_SPA06, 0);

108
src/drivers/barometer/goertek/spa06/spa06.h Normal file
View File

@ -0,0 +1,108 @@
/****************************************************************************
*
* Copyright (c) 2024 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file spa06.h
*
* Shared defines for the spa06 driver.
*/
#pragma once
#include <px4_platform_common/i2c_spi_buses.h>
#define SPA06_ADDR_ID 0x0d
#define SPA06_ADDR_RESET 0x0c // set to reset
#define SPA06_ADDR_CAL 0x10
#define SPA06_ADDR_PRS_CFG 0x06
#define SPA06_ADDR_TMP_CFG 0x07
#define SPA06_ADDR_MEAS_CFG 0x08
#define SPA06_ADDR_CFG_REG 0x09
#define SPA06_ADDR_DATA 0x00
#define SPA06_VALUE_RESET 9
#define SPA06_VALUE_ID 0x10
namespace spa06
{
#pragma pack(push,1)
struct calibration_s {
int16_t c0, c1;
int32_t c00, c10;
int16_t c01, c11, c20, c21, c30;
}; //calibration data
struct data_s {
uint8_t p_msb;
uint8_t p_lsb;
uint8_t p_xlsb;
uint8_t t_msb;
uint8_t t_lsb;
uint8_t t_xlsb;
}; // data
#pragma pack(pop)
class ISPA06
{
public:
virtual ~ISPA06() = default;
virtual int init() = 0;
// read reg value
virtual uint8_t get_reg(uint8_t addr) = 0;
// write reg value
virtual int set_reg(uint8_t value, uint8_t addr) = 0;
// bulk read of data into buffer, return same pointer
virtual int read(uint8_t addr, uint8_t *buf, uint8_t len) = 0;
// bulk read of calibration data into buffer, return same pointer
virtual uint32_t get_device_id() const = 0;
virtual uint8_t get_device_address() const = 0;
};
} /* namespace */
/* interface factories */
#if defined(CONFIG_SPI)
extern spa06::ISPA06 *spa06_spi_interface(uint8_t busnum, uint32_t device, int bus_frequency, spi_mode_e spi_mode);
#endif // CONFIG_SPI
#if defined(CONFIG_I2C)
extern spa06::ISPA06 *spa06_i2c_interface(uint8_t busnum, uint32_t device, int bus_frequency);
#endif // CONFIG_I2C

141
src/drivers/barometer/goertek/spa06/spa06_main.cpp Normal file
View File

@ -0,0 +1,141 @@
/****************************************************************************
*
* Copyright (c) 2022 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/module.h>
#include "SPA06.hpp"
#include <drivers/drv_sensor.h>
extern "C" { __EXPORT int spa06_main(int argc, char *argv[]); }
void
SPA06::print_usage()
{
PRINT_MODULE_USAGE_NAME("spa06", "driver");
PRINT_MODULE_USAGE_SUBCATEGORY("baro");
PRINT_MODULE_USAGE_COMMAND("start");
#if defined(CONFIG_I2C)
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, true);
PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x76);
#else
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(false, true);
#endif
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
}
I2CSPIDriverBase *SPA06::instantiate(const I2CSPIDriverConfig &config, int runtime_instance)
{
spa06::ISPA06 *interface = nullptr;
#if defined(CONFIG_I2C)
if (config.bus_type == BOARD_I2C_BUS) {
interface = spa06_i2c_interface(config.bus, config.i2c_address, config.bus_frequency);
}
#endif // CONFIG_I2C
#if defined(CONFIG_SPI)
if (config.bus_type == BOARD_SPI_BUS) {
interface = spa06_spi_interface(config.bus, config.spi_devid, config.bus_frequency, config.spi_mode);
}
#endif // CONFIG_SPI
if (interface == nullptr) {
PX4_ERR("failed creating interface for bus %i", config.bus);
return nullptr;
}
if (interface->init() != OK) {
delete interface;
PX4_DEBUG("no device on bus %i", config.bus);
return nullptr;
}
SPA06 *dev = new SPA06(config, interface);
if (dev == nullptr) {
delete interface;
return nullptr;
}
if (OK != dev->init()) {
delete dev;
return nullptr;
}
return dev;
}
int
spa06_main(int argc, char *argv[])
{
using ThisDriver = SPA06;
BusCLIArguments cli{true, true};
#if defined(CONFIG_I2C)
cli.i2c_address = 0x76;
cli.default_i2c_frequency = 100 * 1000;
#endif // CONFIG_I2C
#if defined(CONFIG_SPI)
cli.default_spi_frequency = 10 * 1000 * 1000;
#endif // CONFIG_SPI
const char *verb = cli.parseDefaultArguments(argc, argv);
if (!verb) {
ThisDriver::print_usage();
return -1;
}
BusInstanceIterator iterator(MODULE_NAME, cli, DRV_BARO_DEVTYPE_SPA06);
if (!strcmp(verb, "start")) {
return ThisDriver::module_start(cli, iterator);
}
if (!strcmp(verb, "stop")) {
return ThisDriver::module_stop(iterator);
}
if (!strcmp(verb, "status")) {
return ThisDriver::module_status(iterator);
}
ThisDriver::print_usage();
return -1;
}

4
src/drivers/drv_sensor.h
View File

@ -239,6 +239,8 @@
#define DRV_INS_DEVTYPE_VN300 0xE3
#define DRV_DIFF_PRESS_DEVTYPE_ASP5033 0xE4
#define DRV_BARO_DEVTYPE_SPA06 0xE8
#define DRV_DEVTYPE_UNUSED 0xff
#endif /* _DRV_SENSOR_H */
#endif /* _DRV_SENSOR_H */