mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-25 12:33:35 +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
190 lines
5.7 KiB
C++
190 lines
5.7 KiB
C++
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2016 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 lps25h.cpp
|
|
*
|
|
* Driver for the LPS25H barometer connected via I2C or SPI.
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include "lps25h.h"
|
|
|
|
#include <drivers/device/Device.hpp>
|
|
#include <lib/perf/perf_counter.h>
|
|
#include <uORB/PublicationMulti.hpp>
|
|
#include <uORB/topics/sensor_baro.h>
|
|
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
|
|
#include <px4_platform_common/i2c_spi_buses.h>
|
|
|
|
/*
|
|
* LPS25H internal constants and data structures.
|
|
*/
|
|
|
|
/* Max measurement rate is 25Hz */
|
|
#define LPS25H_CONVERSION_INTERVAL (1000000 / 25) /* microseconds */
|
|
|
|
#define ADDR_REF_P_XL 0x08
|
|
#define ADDR_REF_P_L 0x09
|
|
#define ADDR_REF_P_H 0x0A
|
|
#define ADDR_WHO_AM_I 0x0F
|
|
#define ADDR_RES_CONF 0x10
|
|
#define ADDR_CTRL_REG1 0x20
|
|
#define ADDR_CTRL_REG2 0x21
|
|
#define ADDR_CTRL_REG3 0x22
|
|
#define ADDR_CTRL_REG4 0x23
|
|
#define ADDR_INT_CFG 0x24
|
|
#define ADDR_INT_SOURCE 0x25
|
|
|
|
#define ADDR_STATUS_REG 0x27
|
|
#define ADDR_P_OUT_XL 0x28
|
|
#define ADDR_P_OUT_L 0x29
|
|
#define ADDR_P_OUT_H 0x2A
|
|
#define ADDR_TEMP_OUT_L 0x2B
|
|
#define ADDR_TEMP_OUT_H 0x2C
|
|
|
|
#define ADDR_FIFO_CTRL 0x2E
|
|
#define ADDR_FIFO_STATUS 0x2F
|
|
#define ADDR_THS_P_L 0x30
|
|
#define ADDR_THS_P_H 0x31
|
|
|
|
#define ADDR_RPDS_L 0x39
|
|
#define ADDR_RPDS_H 0x3A
|
|
|
|
/* Data sheet is ambigious if AVGT or AVGP is first */
|
|
#define RES_CONF_AVGT_8 0x00
|
|
#define RES_CONF_AVGT_32 0x01
|
|
#define RES_CONF_AVGT_128 0x02
|
|
#define RES_CONF_AVGT_512 0x03
|
|
#define RES_CONF_AVGP_8 0x00
|
|
#define RES_CONF_AVGP_32 0x04
|
|
#define RES_CONF_AVGP_128 0x08
|
|
#define RES_CONF_AVGP_512 0x0C
|
|
|
|
#define CTRL_REG1_SIM (1 << 0)
|
|
#define CTRL_REG1_RESET_AZ (1 << 1)
|
|
#define CTRL_REG1_BDU (1 << 2)
|
|
#define CTRL_REG1_DIFF_EN (1 << 3)
|
|
#define CTRL_REG1_PD (1 << 7)
|
|
#define CTRL_REG1_ODR_SINGLE (0 << 4)
|
|
#define CTRL_REG1_ODR_1HZ (1 << 4)
|
|
#define CTRL_REG1_ODR_7HZ (2 << 4)
|
|
#define CTRL_REG1_ODR_12HZ5 (3 << 4)
|
|
#define CTRL_REG1_ODR_25HZ (4 << 4)
|
|
|
|
#define CTRL_REG2_ONE_SHOT (1 << 0)
|
|
#define CTRL_REG2_AUTO_ZERO (1 << 1)
|
|
#define CTRL_REG2_SWRESET (1 << 2)
|
|
#define CTRL_REG2_FIFO_MEAN_DEC (1 << 4)
|
|
#define CTRL_REG2_WTM_EN (1 << 5)
|
|
#define CTRL_REG2_FIFO_EN (1 << 6)
|
|
#define CTRL_REG2_BOOT (1 << 7)
|
|
|
|
#define CTRL_REG3_INT1_S_DATA 0x0
|
|
#define CTRL_REG3_INT1_S_P_HIGH 0x1
|
|
#define CTRL_REG3_INT1_S_P_LOW 0x2
|
|
#define CTRL_REG3_INT1_S_P_LIM 0x3
|
|
#define CTRL_REG3_PP_OD (1 << 6)
|
|
#define CTRL_REG3_INT_H_L (1 << 7)
|
|
|
|
#define CTRL_REG4_P1_DRDY (1 << 0)
|
|
#define CTRL_REG4_P1_OVERRUN (1 << 1)
|
|
#define CTRL_REG4_P1_WTM (1 << 2)
|
|
#define CTRL_REG4_P1_EMPTY (1 << 3)
|
|
|
|
#define INTERRUPT_CFG_PH_E (1 << 0)
|
|
#define INTERRUPT_CFG_PL_E (1 << 1)
|
|
#define INTERRUPT_CFG_LIR (1 << 2)
|
|
|
|
#define INT_SOURCE_PH (1 << 0)
|
|
#define INT_SOURCE_PL (1 << 1)
|
|
#define INT_SOURCE_IA (1 << 2)
|
|
|
|
#define STATUS_REG_T_DA (1 << 0)
|
|
#define STATUS_REG_P_DA (1 << 1)
|
|
#define STATUS_REG_T_OR (1 << 4)
|
|
#define STATUS_REG_P_OR (1 << 5)
|
|
|
|
#define FIFO_CTRL_WTM_FMEAN_2 0x01
|
|
#define FIFO_CTRL_WTM_FMEAN_4 0x03
|
|
#define FIFO_CTRL_WTM_FMEAN_8 0x07
|
|
#define FIFO_CTRL_WTM_FMEAN_16 0x0F
|
|
#define FIFO_CTRL_WTM_FMEAN_32 0x1F
|
|
#define FIFO_CTRL_F_MODE_BYPASS (0x0 << 5)
|
|
#define FIFO_CTRL_F_MODE_FIFO (0x1 << 5)
|
|
#define FIFO_CTRL_F_MODE_STREAM (0x2 << 5)
|
|
#define FIFO_CTRL_F_MODE_SFIFO (0x3 << 5)
|
|
#define FIFO_CTRL_F_MODE_BSTRM (0x4 << 5)
|
|
#define FIFO_CTRL_F_MODE_FMEAN (0x6 << 5)
|
|
#define FIFO_CTRL_F_MODE_BFIFO (0x7 << 5)
|
|
|
|
#define FIFO_STATUS_EMPTY (1 << 5)
|
|
#define FIFO_STATUS_FULL (1 << 6)
|
|
#define FIFO_STATUS_WTM (1 << 7)
|
|
|
|
class LPS25H : public I2CSPIDriver<LPS25H>
|
|
{
|
|
public:
|
|
LPS25H(const I2CSPIDriverConfig &config, device::Device *interface);
|
|
~LPS25H() override;
|
|
|
|
static I2CSPIDriverBase *instantiate(const I2CSPIDriverConfig &config, int runtime_instance);
|
|
static void print_usage();
|
|
|
|
int init();
|
|
void print_status();
|
|
|
|
void RunImpl();
|
|
private:
|
|
|
|
void start();
|
|
int reset();
|
|
|
|
int write_reg(uint8_t reg, uint8_t val);
|
|
int read_reg(uint8_t reg, uint8_t &val);
|
|
|
|
int measure();
|
|
int collect();
|
|
|
|
uORB::PublicationMulti<sensor_baro_s> _sensor_baro_pub{ORB_ID(sensor_baro)};
|
|
|
|
device::Device *_interface;
|
|
|
|
unsigned _measure_interval{0};
|
|
bool _collect_phase{false};
|
|
|
|
perf_counter_t _sample_perf;
|
|
perf_counter_t _comms_errors;
|
|
};
|