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140 lines
4.6 KiB
C++
140 lines
4.6 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2017 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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#ifndef DRIVERS_MS5525_AIRSPEED_HPP_
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#define DRIVERS_MS5525_AIRSPEED_HPP_
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#include <drivers/airspeed/airspeed.h>
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#include <drivers/device/i2c.h>
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#include <drivers/drv_airspeed.h>
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#include <math.h>
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#include <mathlib/math/filter/LowPassFilter2p.hpp>
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#include <px4_config.h>
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#include <sys/types.h>
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#include <systemlib/airspeed.h>
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#include <systemlib/perf_counter.h>
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#include <uORB/topics/differential_pressure.h>
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#include <uORB/uORB.h>
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/* The MS5525DSO address is 111011Cx, where C is the complementary value of the pin CSB */
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static constexpr uint8_t I2C_ADDRESS_1_MS5525DSO = 0x76;
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static constexpr uint8_t I2C_ADDRESS_2_MS5525DSO = 0x77;
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static constexpr const char PATH_MS5525[] = "/dev/ms5525";
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/* Measurement rate is 100Hz */
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static constexpr unsigned MEAS_RATE = 100;
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static constexpr float MEAS_DRIVER_FILTER_FREQ = 1.2f;
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static constexpr uint64_t CONVERSION_INTERVAL = (1000000 / MEAS_RATE); /* microseconds */
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class MS5525 : public Airspeed
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{
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public:
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MS5525(uint8_t bus, uint8_t address = I2C_ADDRESS_1_MS5525DSO, const char *path = PATH_MS5525) :
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Airspeed(bus, address, CONVERSION_INTERVAL, path)
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{
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}
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~MS5525() override = default;
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private:
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/**
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* Perform a poll cycle; collect from the previous measurement
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* and start a new one.
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*/
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void cycle() override;
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int measure() override;
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int collect() override;
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// temperature is read once every 10 cycles
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math::LowPassFilter2p _filter{MEAS_RATE * 0.9, MEAS_DRIVER_FILTER_FREQ};
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static constexpr uint8_t CMD_RESET = 0x1E; // ADC reset command
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static constexpr uint8_t CMD_ADC_READ = 0x00; // ADC read command
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static constexpr uint8_t CMD_PROM_START = 0xA0; // Prom read command (first)
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// D1 - pressure convert commands
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// Convert D1 (OSR=256) 0x40
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// Convert D1 (OSR=512) 0x42
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// Convert D1 (OSR=1024) 0x44
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// Convert D1 (OSR=2048) 0x46
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// Convert D1 (OSR=4096) 0x48
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static constexpr uint8_t CMD_CONVERT_PRES = 0x44;
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// D2 - temperature convert commands
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// Convert D2 (OSR=256) 0x50
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// Convert D2 (OSR=512) 0x52
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// Convert D2 (OSR=1024) 0x54
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// Convert D2 (OSR=2048) 0x56
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// Convert D2 (OSR=4096) 0x58
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static constexpr uint8_t CMD_CONVERT_TEMP = 0x54;
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uint8_t _current_cmd{CMD_CONVERT_PRES};
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unsigned _pressure_count{0};
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// Qx Coefficients Matrix by Pressure Range
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// 5525DSO-pp001DS (Pmin = -1, Pmax = 1)
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static constexpr uint8_t Q1 = 15;
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static constexpr uint8_t Q2 = 17;
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static constexpr uint8_t Q3 = 7;
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static constexpr uint8_t Q4 = 5;
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static constexpr uint8_t Q5 = 7;
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static constexpr uint8_t Q6 = 21;
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// calibration coefficients from prom
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uint16_t C1{0};
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uint16_t C2{0};
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uint16_t C3{0};
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uint16_t C4{0};
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uint16_t C5{0};
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uint16_t C6{0};
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int64_t Tref{0};
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// last readings for D1 (uncompensated pressure) and D2 (uncompensated temperature)
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uint32_t D1{0};
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uint32_t D2{0};
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bool init_ms5525();
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bool _inited{false};
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uint8_t prom_crc4(uint16_t n_prom[]) const;
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};
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#endif /* DRIVERS_MS5525_AIRSPEED_HPP_ */
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