mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-22 18:03:33 +08:00
Daniel Agar
0c31f63896
- sensor_baro.msg use SI (pressure in Pascals) - update all barometer drivers to publish directly and remove PX4Barometer helper - introduce baro cal (offset) mainly as a mechanism to adjust relative priority - commander: add simple baro cal that sets baro offsets to align with GPS altitude (if available) - create new sensors_status.msg to generalize sensor reporting
361 lines
10 KiB
C++
361 lines
10 KiB
C++
/****************************************************************************
|
|
*
|
|
* Copyright (C) 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 bmp388.h
|
|
*
|
|
* Shared defines for the bmp388 driver.
|
|
*/
|
|
#pragma once
|
|
|
|
#include <math.h>
|
|
#include <drivers/drv_hrt.h>
|
|
#include <lib/cdev/CDev.hpp>
|
|
#include <perf/perf_counter.h>
|
|
#include <px4_platform_common/i2c_spi_buses.h>
|
|
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
|
|
#include <uORB/PublicationMulti.hpp>
|
|
#include <uORB/topics/sensor_baro.h>
|
|
|
|
#include "board_config.h"
|
|
|
|
// From https://github.com/BoschSensortec/BMP3-Sensor-API/blob/master/bmp3_defs.h
|
|
|
|
#define BMP3_CHIP_ID (0x50)
|
|
|
|
/* Over sampling macros */
|
|
#define BMP3_NO_OVERSAMPLING (0x00)
|
|
#define BMP3_OVERSAMPLING_2X (0x01)
|
|
#define BMP3_OVERSAMPLING_4X (0x02)
|
|
#define BMP3_OVERSAMPLING_8X (0x03)
|
|
#define BMP3_OVERSAMPLING_16X (0x04)
|
|
#define BMP3_OVERSAMPLING_32X (0x05)
|
|
|
|
/* Filter setting macros */
|
|
#define BMP3_IIR_FILTER_DISABLE (0x00)
|
|
#define BMP3_IIR_FILTER_COEFF_1 (0x01)
|
|
#define BMP3_IIR_FILTER_COEFF_3 (0x02)
|
|
#define BMP3_IIR_FILTER_COEFF_7 (0x03)
|
|
#define BMP3_IIR_FILTER_COEFF_15 (0x04)
|
|
#define BMP3_IIR_FILTER_COEFF_31 (0x05)
|
|
#define BMP3_IIR_FILTER_COEFF_63 (0x06)
|
|
#define BMP3_IIR_FILTER_COEFF_127 (0x07)
|
|
|
|
/* Odr setting macros */
|
|
#define BMP3_ODR_200_HZ (0x00)
|
|
#define BMP3_ODR_100_HZ (0x01)
|
|
#define BMP3_ODR_50_HZ (0x02)
|
|
#define BMP3_ODR_25_HZ (0x03)
|
|
|
|
/* Register Address */
|
|
#define BMP3_CHIP_ID_ADDR (0x00)
|
|
#define BMP3_ERR_REG_ADDR (0x02)
|
|
#define BMP3_SENS_STATUS_REG_ADDR (0x03)
|
|
#define BMP3_DATA_ADDR (0x04)
|
|
#define BMP3_PWR_CTRL_ADDR (0x1B)
|
|
#define BMP3_OSR_ADDR (0X1C)
|
|
#define BMP3_CALIB_DATA_ADDR (0x31)
|
|
#define BMP3_CMD_ADDR (0x7E)
|
|
|
|
/* Error status macros */
|
|
#define BMP3_FATAL_ERR (0x01)
|
|
#define BMP3_CMD_ERR (0x02)
|
|
#define BMP3_CONF_ERR (0x04)
|
|
|
|
/* Status macros */
|
|
#define BMP3_CMD_RDY (0x10)
|
|
#define BMP3_DRDY_PRESS (0x20)
|
|
#define BMP3_DRDY_TEMP (0x40)
|
|
|
|
/* Power mode macros */
|
|
#define BMP3_SLEEP_MODE (0x00)
|
|
#define BMP3_FORCED_MODE (0x01)
|
|
#define BMP3_NORMAL_MODE (0x03)
|
|
|
|
#define BMP3_ENABLE (0x01)
|
|
#define BMP3_DISABLE (0x00)
|
|
|
|
/* Sensor component selection macros. These values are internal for API implementation.
|
|
* Don't relate this t0 data sheet.
|
|
*/
|
|
#define BMP3_PRESS (1)
|
|
#define BMP3_TEMP (1 << 1)
|
|
#define BMP3_ALL (0x03)
|
|
|
|
/* Macros related to size */
|
|
#define BMP3_CALIB_DATA_LEN (21)
|
|
#define BMP3_P_T_DATA_LEN (7)
|
|
|
|
/* Macros to select the which sensor settings are to be set by the user.
|
|
* These values are internal for API implementation. Don't relate this to
|
|
* data sheet. */
|
|
#define BMP3_PRESS_EN_SEL (1 << 1)
|
|
#define BMP3_TEMP_EN_SEL (1 << 2)
|
|
#define BMP3_PRESS_OS_SEL (1 << 4)
|
|
|
|
/* Macros for bit masking */
|
|
#define BMP3_OP_MODE_MSK (0x30)
|
|
#define BMP3_OP_MODE_POS (0x04)
|
|
|
|
#define BMP3_PRESS_EN_MSK (0x01)
|
|
|
|
#define BMP3_TEMP_EN_MSK (0x02)
|
|
#define BMP3_TEMP_EN_POS (0x01)
|
|
|
|
#define BMP3_IIR_FILTER_MSK (0x0E)
|
|
#define BMP3_IIR_FILTER_POS (0x01)
|
|
|
|
#define BMP3_ODR_MSK (0x1F)
|
|
|
|
#define BMP3_PRESS_OS_MSK (0x07)
|
|
|
|
#define BMP3_TEMP_OS_MSK (0x38)
|
|
#define BMP3_TEMP_OS_POS (0x03)
|
|
|
|
#define BMP3_SET_BITS(reg_data, bitname, data) \
|
|
((reg_data & ~(bitname##_MSK)) | \
|
|
((data << bitname##_POS) & bitname##_MSK))
|
|
|
|
/* Macro variant to handle the bitname position if it is zero */
|
|
#define BMP3_SET_BITS_POS_0(reg_data, bitname, data) \
|
|
((reg_data & ~(bitname##_MSK)) | \
|
|
(data & bitname##_MSK))
|
|
|
|
#define BMP3_GET_BITS(reg_data, bitname) ((reg_data & (bitname##_MSK)) >> \
|
|
(bitname##_POS))
|
|
|
|
/* Macro variant to handle the bitname position if it is zero */
|
|
#define BMP3_GET_BITS_POS_0(reg_data, bitname) (reg_data & (bitname##_MSK))
|
|
|
|
// From https://github.com/BoschSensortec/BMP3-Sensor-API/blob/master/self-test/bmp3_selftest.c
|
|
#define BMP3_POST_SLEEP_WAIT_TIME 5000
|
|
#define BMP3_POST_RESET_WAIT_TIME 2000
|
|
#define BMP3_POST_INIT_WAIT_TIME 40000
|
|
#define BMP3_TRIM_CRC_DATA_ADDR 0x30
|
|
#define BPM3_CMD_SOFT_RESET 0xB6
|
|
#define BMP3_ODR_ADDR 0x1D
|
|
#define BMP3_IIR_ADDR 0x1F
|
|
|
|
// https://github.com/BoschSensortec/BMP3-Sensor-API/blob/master/bmp3.c
|
|
/* Power control settings */
|
|
#define POWER_CNTL (0x0006)
|
|
/* Odr and filter settings */
|
|
#define ODR_FILTER (0x00F0)
|
|
/* Interrupt control settings */
|
|
#define INT_CTRL (0x0708)
|
|
/* Advance settings */
|
|
#define ADV_SETT (0x1800)
|
|
|
|
#pragma pack(push,1)
|
|
struct calibration_s {
|
|
uint16_t par_t1;
|
|
uint16_t par_t2;
|
|
int8_t par_t3;
|
|
|
|
int16_t par_p1;
|
|
int16_t par_p2;
|
|
int8_t par_p3;
|
|
int8_t par_p4;
|
|
uint16_t par_p5;
|
|
uint16_t par_p6;
|
|
int8_t par_p7;
|
|
int8_t par_p8;
|
|
int16_t par_p9;
|
|
int8_t par_p10;
|
|
int8_t par_p11;
|
|
|
|
}; //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
|
|
|
|
struct bmp3_reg_calib_data {
|
|
/**
|
|
* @ Trim Variables
|
|
*/
|
|
|
|
/**@{*/
|
|
uint16_t par_t1;
|
|
uint16_t par_t2;
|
|
int8_t par_t3;
|
|
int16_t par_p1;
|
|
int16_t par_p2;
|
|
int8_t par_p3;
|
|
int8_t par_p4;
|
|
uint16_t par_p5;
|
|
uint16_t par_p6;
|
|
int8_t par_p7;
|
|
int8_t par_p8;
|
|
int16_t par_p9;
|
|
int8_t par_p10;
|
|
int8_t par_p11;
|
|
int64_t t_lin;
|
|
|
|
/**@}*/
|
|
};
|
|
#pragma pack(pop)
|
|
|
|
/*!
|
|
* bmp3 sensor structure which comprises of temperature and pressure data.
|
|
*/
|
|
struct bmp3_data {
|
|
/* Compensated temperature */
|
|
int64_t temperature;
|
|
|
|
/* Compensated pressure */
|
|
uint64_t pressure;
|
|
};
|
|
|
|
/*!
|
|
* Calibration data
|
|
*/
|
|
struct bmp3_calib_data {
|
|
/*! Register data */
|
|
struct bmp3_reg_calib_data reg_calib_data;
|
|
};
|
|
|
|
/*!
|
|
* bmp3 sensor structure which comprises of un-compensated temperature
|
|
* and pressure data.
|
|
*/
|
|
struct bmp3_uncomp_data {
|
|
/*! un-compensated pressure */
|
|
uint32_t pressure;
|
|
|
|
/*! un-compensated temperature */
|
|
uint32_t temperature;
|
|
};
|
|
|
|
struct fcalibration_s {
|
|
float t1;
|
|
float t2;
|
|
float t3;
|
|
|
|
float p1;
|
|
float p2;
|
|
float p3;
|
|
float p4;
|
|
float p5;
|
|
float p6;
|
|
float p7;
|
|
float p8;
|
|
float p9;
|
|
};
|
|
|
|
/*
|
|
* BMP388 internal constants and data structures.
|
|
*/
|
|
class IBMP388
|
|
{
|
|
public:
|
|
virtual ~IBMP388() = default;
|
|
|
|
virtual int init() = 0;
|
|
|
|
// read reg value
|
|
virtual uint8_t get_reg(uint8_t addr) = 0;
|
|
|
|
// bulk read reg value
|
|
virtual int get_reg_buf(uint8_t addr, uint8_t *buf, uint8_t len) = 0;
|
|
|
|
// write reg value
|
|
virtual int set_reg(uint8_t value, uint8_t addr) = 0;
|
|
|
|
// bulk read of calibration data into buffer, return same pointer
|
|
virtual calibration_s *get_calibration(uint8_t addr) = 0;
|
|
|
|
virtual uint32_t get_device_id() const = 0;
|
|
|
|
virtual uint8_t get_device_address() const = 0;
|
|
};
|
|
|
|
class BMP388 : public I2CSPIDriver<BMP388>
|
|
{
|
|
public:
|
|
BMP388(const I2CSPIDriverConfig &config, IBMP388 *interface);
|
|
virtual ~BMP388();
|
|
|
|
static I2CSPIDriverBase *instantiate(const I2CSPIDriverConfig &config, int runtime_instance);
|
|
static void print_usage();
|
|
|
|
virtual int init();
|
|
|
|
void print_status();
|
|
|
|
void RunImpl();
|
|
private:
|
|
static constexpr uint8_t osr_t{BMP3_OVERSAMPLING_2X}; // oversampling rate, temperature
|
|
static constexpr uint8_t osr_p{BMP3_OVERSAMPLING_16X}; // oversampling rate, pressure
|
|
static constexpr uint8_t odr{BMP3_ODR_50_HZ}; // output data rate (not used)
|
|
static constexpr uint8_t iir_coef{BMP3_IIR_FILTER_DISABLE}; // IIR coefficient
|
|
|
|
uORB::PublicationMulti<sensor_baro_s> _sensor_baro_pub{ORB_ID(sensor_baro)};
|
|
IBMP388 *_interface{nullptr};
|
|
|
|
unsigned _measure_interval{0}; // interval in microseconds needed to measure
|
|
|
|
perf_counter_t _sample_perf;
|
|
perf_counter_t _measure_perf;
|
|
perf_counter_t _comms_errors;
|
|
|
|
calibration_s *_cal {nullptr}; // stored calibration constants
|
|
|
|
bool _collect_phase{false};
|
|
|
|
void start();
|
|
int measure();
|
|
int collect(); //get results and publish
|
|
uint32_t get_measurement_time();
|
|
|
|
bool soft_reset();
|
|
bool get_calib_data();
|
|
bool validate_trimming_param();
|
|
bool set_sensor_settings();
|
|
bool set_op_mode(uint8_t op_mode);
|
|
|
|
bool get_sensor_data(uint8_t sensor_comp, struct bmp3_data *comp_data);
|
|
bool compensate_data(uint8_t sensor_comp, const struct bmp3_uncomp_data *uncomp_data, struct bmp3_data *comp_data);
|
|
};
|
|
|
|
|
|
/* interface factories */
|
|
extern IBMP388 *bmp388_spi_interface(uint8_t busnum, uint32_t device, int bus_frequency, spi_mode_e spi_mode);
|
|
extern IBMP388 *bmp388_i2c_interface(uint8_t busnum, uint32_t device, int bus_frequency);
|