mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-23 05:03:34 +08:00
368 lines
8.5 KiB
C++
368 lines
8.5 KiB
C++
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2021-2023 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 sht3x.cpp
|
|
*
|
|
* I2C driver for temperature/humidity sensor SHT3x by senserion
|
|
*
|
|
* @author Roman Dvorak <dvorakroman@thunderfly.cz>
|
|
*
|
|
*/
|
|
|
|
#include "sht3x.h"
|
|
|
|
SHT3X::SHT3X(const I2CSPIDriverConfig &config) :
|
|
I2C(config),
|
|
ModuleParams(nullptr),
|
|
I2CSPIDriver(config)
|
|
{
|
|
}
|
|
|
|
uint8_t SHT3X::calc_crc(uint8_t data[2])
|
|
{
|
|
uint8_t crc = 0xFF;
|
|
|
|
for (int i = 0; i < 2; i++) {
|
|
crc ^= data[i];
|
|
|
|
for (uint8_t bit = 8; bit > 0; --bit) {
|
|
if (crc & 0x80) {
|
|
crc = (crc << 1) ^ 0x31u;
|
|
|
|
} else {
|
|
crc = (crc << 1);
|
|
}
|
|
}
|
|
}
|
|
|
|
return crc;
|
|
}
|
|
|
|
|
|
int SHT3X::set_pointer(uint16_t command)
|
|
{
|
|
if (_last_command != command) {
|
|
uint8_t cmd[2];
|
|
cmd[0] = static_cast<uint8_t>(command >> 8);
|
|
cmd[1] = static_cast<uint8_t>(command & 0xff);
|
|
_last_command = command;
|
|
return transfer(&cmd[0], 2, nullptr, 0);
|
|
|
|
} else {
|
|
return 0;
|
|
}
|
|
}
|
|
|
|
int SHT3X::read_data(uint16_t command, uint8_t *data_ptr, uint8_t length)
|
|
{
|
|
set_pointer(command);
|
|
|
|
uint8_t raw_data[length];
|
|
transfer(nullptr, 0, &raw_data[0], length);
|
|
|
|
uint8_t crc_err = 0;
|
|
|
|
for (int i = 0; i < length / 3; ++i) {
|
|
uint8_t crc_data[2] = {raw_data[i * 3], raw_data[i * 3 + 1]};
|
|
|
|
if (raw_data[i * 3 + 2] != calc_crc(crc_data)) {
|
|
crc_err ++;
|
|
}
|
|
|
|
*(data_ptr + i * 2) = raw_data[i * 3];
|
|
*(data_ptr + i * 2 + 1) = raw_data[i * 3 + 1];
|
|
}
|
|
|
|
return crc_err;
|
|
}
|
|
|
|
int SHT3X::write_data(uint16_t command, uint8_t buffer[], uint8_t length)
|
|
{
|
|
_last_command = command;
|
|
|
|
uint8_t cmd[2 + 3 * length / 2];
|
|
cmd[0] = static_cast<uint8_t>(command >> 8);
|
|
cmd[1] = static_cast<uint8_t>(command & 0xff);
|
|
|
|
for (int i = 0; i < length / 2; ++i) {
|
|
cmd[2 + 3 * i] = buffer[2 * i];
|
|
cmd[2 + 3 * i + 1] = buffer[2 * i + 1];
|
|
uint8_t crc_data[2] = {buffer[2 * i], buffer[2 * i + 1]};
|
|
cmd[2 + 3 * i + 2] = calc_crc(crc_data);
|
|
}
|
|
|
|
return transfer(&cmd[0], sizeof(cmd), nullptr, 0);
|
|
}
|
|
|
|
|
|
void SHT3X::sensor_compouse_msg(bool send)
|
|
{
|
|
uint8_t data[4];
|
|
int error = read_data(SHT3x_CMD_FETCH_DATA, &data[0], 6);
|
|
|
|
if (error == PX4_OK) {
|
|
measurement_time = hrt_absolute_time();
|
|
measurement_index ++;
|
|
|
|
measured_temperature = (float) 175 * (data[0] << 8 | data[1]) / 65535 - 45;
|
|
measured_humidity = (float) 100 * (data[2] << 8 | data[3]) / 65535;
|
|
|
|
if (send) {
|
|
sensor_hygrometer_s msg{};
|
|
msg.timestamp = hrt_absolute_time();
|
|
msg.timestamp_sample = measurement_time;
|
|
msg.temperature = measured_temperature;
|
|
msg.humidity = measured_humidity;
|
|
msg.device_id = _sht_info.serial_number;
|
|
_sensor_hygrometer_pub.publish(msg);
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
int
|
|
SHT3X::probe()
|
|
{
|
|
uint8_t type[2];
|
|
uint8_t nvalid;
|
|
|
|
nvalid = read_data(SHT3X_CMD_READ_STATUS, &type[0], 3);
|
|
return (!(nvalid == PX4_OK));
|
|
// 0 means I can see sensor
|
|
}
|
|
|
|
int SHT3X::init()
|
|
{
|
|
if (I2C::init() != PX4_OK) {
|
|
return PX4_ERROR;
|
|
}
|
|
|
|
_sensor_hygrometer_pub.advertise();
|
|
ScheduleOnInterval(50000);
|
|
return PX4_OK;
|
|
}
|
|
|
|
|
|
|
|
int SHT3X::init_sensor()
|
|
{
|
|
set_pointer(SHT3X_CMD_CLEAR_STATUS);
|
|
px4_usleep(2000);
|
|
|
|
// Get sensor serial number
|
|
uint8_t serial[4];
|
|
read_data(SHT3x_CMD_READ_SN, &serial[0], 6);
|
|
|
|
_sht_info.serial_number = ((uint32_t)serial[0] << 24
|
|
| (uint32_t)serial[1] << 16
|
|
| (uint32_t)serial[2] << 8
|
|
| (uint32_t)serial[3]);
|
|
|
|
set_pointer(SHT3x_CMD_PERIODIC_2HZ_MEDIUM);
|
|
px4_usleep(2000);
|
|
probe();
|
|
|
|
PX4_INFO("Connected to SHT3x sensor, SN: %ld", _sht_info.serial_number);
|
|
|
|
// Modify ALERT range values to minimalize ALERT led heating.
|
|
|
|
// def temp(t):
|
|
// return ((t+45)*(2**16-1))/175
|
|
// def hum(h):
|
|
// return (h/100)*(2**16-1)
|
|
//
|
|
// hex((int(hum(80))>>9<<9) | (int(temp(60))>>7))
|
|
|
|
uint8_t sh[] {0xff, 0xe2};
|
|
uint8_t ch[] {0xfb, 0xdc};
|
|
uint8_t sl[] {0x00, 0x0e};
|
|
uint8_t cl[] {0x04, 0x14};
|
|
write_data(SHT3x_CMD_ALERT_W_SET_HIGH, sh, 2); // 100%, 120C
|
|
write_data(SHT3x_CMD_ALERT_W_CLEAR_HIGH, ch, 2); // 98%, 118C
|
|
write_data(SHT3x_CMD_ALERT_W_SET_LOW, sl, 2); // 0%, -40C
|
|
write_data(SHT3x_CMD_ALERT_W_CLEAR_LOW, cl, 2); // 2%, -38C
|
|
|
|
return PX4_OK;
|
|
}
|
|
|
|
void SHT3X::RunImpl()
|
|
{
|
|
switch (_state) {
|
|
case sht3x_state::INIT:
|
|
probe();
|
|
init_sensor();
|
|
_state = sht3x_state::MEASUREMENT;
|
|
break;
|
|
|
|
case sht3x_state::MEASUREMENT:
|
|
if ((hrt_absolute_time() - measurement_time) > 200000) {
|
|
sensor_compouse_msg(1);
|
|
}
|
|
|
|
if ((hrt_absolute_time() - measurement_time) > 3000000) {
|
|
_state = sht3x_state::ERROR_READOUT;
|
|
}
|
|
|
|
break;
|
|
|
|
case sht3x_state::ERROR_GENERAL:
|
|
case sht3x_state::ERROR_READOUT: {
|
|
if (_last_state != _state) {
|
|
PX4_INFO("I cant get new data. The sensor may be disconnected.");
|
|
}
|
|
|
|
if (probe() == PX4_OK) {
|
|
_state = sht3x_state::INIT;
|
|
}
|
|
}
|
|
break;
|
|
}
|
|
|
|
if (_last_state != _state) {
|
|
_time_in_state = hrt_absolute_time();
|
|
_last_state = _state;
|
|
}
|
|
}
|
|
|
|
|
|
void
|
|
SHT3X::custom_method(const BusCLIArguments &cli)
|
|
{
|
|
switch (cli.custom1) {
|
|
|
|
case 1: {
|
|
PX4_INFO("Last measured values (%.3fs ago, #%d)", (double)(hrt_absolute_time() - measurement_time) / 1000000.0,
|
|
measurement_index);
|
|
PX4_INFO("Temp: %.3f, Hum: %.3f", (double)measured_temperature, (double)measured_humidity);
|
|
|
|
}
|
|
break;
|
|
|
|
case 2: {
|
|
_state = sht3x_state::INIT;
|
|
}
|
|
break;
|
|
}
|
|
}
|
|
|
|
|
|
void SHT3X::print_status()
|
|
{
|
|
PX4_INFO("SHT3X sensor");
|
|
I2CSPIDriverBase::print_status();
|
|
PX4_INFO("SN: %ld", _sht_info.serial_number);
|
|
PX4_INFO("Status: %s", sht_state_names[_state]);
|
|
}
|
|
|
|
|
|
void SHT3X::print_usage()
|
|
{
|
|
PRINT_MODULE_DESCRIPTION(
|
|
R"DESCR_STR(
|
|
### Description
|
|
SHT3x Temperature and Humidity Sensor Driver by Senserion.
|
|
|
|
### Examples
|
|
CLI usage example:
|
|
$ sht3x start -X
|
|
Start the sensor driver on the external bus
|
|
|
|
$ sht3x status
|
|
Print driver status
|
|
|
|
$ sht3x values
|
|
Print last measured values
|
|
|
|
$ sht3x reset
|
|
Reinitialize senzor, reset flags
|
|
|
|
)DESCR_STR");
|
|
|
|
PRINT_MODULE_USAGE_NAME("sht3x", "driver");
|
|
|
|
PRINT_MODULE_USAGE_COMMAND("start");
|
|
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
|
|
PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x44);
|
|
|
|
PRINT_MODULE_USAGE_PARAMS_I2C_KEEP_RUNNING_FLAG();
|
|
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
|
|
|
|
PRINT_MODULE_USAGE_COMMAND_DESCR("values", "Print actual data");
|
|
PRINT_MODULE_USAGE_COMMAND_DESCR("reset", "Reinitialize sensor");
|
|
|
|
}
|
|
|
|
int sht3x_main(int argc, char *argv[])
|
|
{
|
|
using ThisDriver = SHT3X;
|
|
BusCLIArguments cli{true, false};
|
|
cli.default_i2c_frequency = 400000;
|
|
cli.i2c_address = 0x44;
|
|
cli.support_keep_running = true;
|
|
|
|
const char *verb = cli.parseDefaultArguments(argc, argv);
|
|
|
|
if (!verb) {
|
|
ThisDriver::print_usage();
|
|
return -1;
|
|
}
|
|
|
|
BusInstanceIterator iterator(MODULE_NAME, cli, DRV_HYGRO_DEVTYPE_SHT3X);
|
|
|
|
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);
|
|
}
|
|
|
|
if (!strcmp(verb, "values")) {
|
|
cli.custom1 = 1;
|
|
return ThisDriver::module_custom_method(cli, iterator, false);
|
|
}
|
|
|
|
if (!strcmp(verb, "reset")) {
|
|
cli.custom1 = 2;
|
|
return ThisDriver::module_custom_method(cli, iterator, false);
|
|
}
|
|
|
|
ThisDriver::print_usage();
|
|
return -1;
|
|
}
|