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/* | ||
This program is free software: you can redistribute it and/or modify | ||
it under the terms of the GNU General Public License as published by | ||
the Free Software Foundation, either version 3 of the License, or | ||
(at your option) any later version. | ||
This program is distributed in the hope that it will be useful, | ||
but WITHOUT ANY WARRANTY; without even the implied warranty of | ||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | ||
GNU General Public License for more details. | ||
You should have received a copy of the GNU General Public License | ||
along with this program. If not, see <http://www.gnu.org/licenses/>. | ||
*/ | ||
#include "AP_Baro_BMP581.h" | ||
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#if AP_BARO_BMP581_ENABLED | ||
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#include <utility> | ||
#include <AP_Math/AP_Math.h> | ||
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extern const AP_HAL::HAL &hal; | ||
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#define BMP581_ID 0x50 | ||
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#define BMP581_REG_CHIP_ID 0x01 | ||
#define BMP581_REG_REV_ID 0x02 | ||
#define BMP581_REG_CHIP_STATUS 0x11 | ||
#define BMP581_REG_DRIVE_CONFIG 0x13 | ||
#define BMP581_REG_INT_CONFIG 0x14 | ||
#define BMP581_REG_INT_SOURCE 0x15 | ||
#define BMP581_REG_FIFO_CONFIG 0x16 | ||
#define BMP581_REG_FIFO_COUNT 0x17 | ||
#define BMP581_REG_FIFO_SEL 0x18 | ||
#define BMP581_REG_TEMP_DATA_XLSB 0x1D | ||
#define BMP581_REG_TEMP_DATA_LSB 0x1E | ||
#define BMP581_REG_TEMP_DATA_MSB 0x1F | ||
#define BMP581_REG_PRESS_DATA_XLSB 0x20 | ||
#define BMP581_REG_PRESS_DATA_LSB 0x21 | ||
#define BMP581_REG_PRESS_DATA_MSB 0x22 | ||
#define BMP581_REG_INT_STATUS 0x27 | ||
#define BMP581_REG_STATUS 0x28 | ||
#define BMP581_REG_FIFO_DATA 0x29 | ||
#define BMP581_REG_NVM_ADDR 0x2B | ||
#define BMP581_REG_NVM_DATA_LSB 0x2C | ||
#define BMP581_REG_NVM_DATA_MSB 0x2D | ||
#define BMP581_REG_DSP_CONFIG 0x30 | ||
#define BMP581_REG_DSP_IIR 0x31 | ||
#define BMP581_REG_OOR_THR_P_LSB 0x32 | ||
#define BMP581_REG_OOR_THR_P_MSB 0x33 | ||
#define BMP581_REG_OOR_RANGE 0x34 | ||
#define BMP581_REG_OOR_CONFIG 0x35 | ||
#define BMP581_REG_OSR_CONFIG 0x36 | ||
#define BMP581_REG_ODR_CONFIG 0x37 | ||
#define BMP581_REG_OSR_EFF 0x38 | ||
#define BMP581_REG_CMD 0x7E | ||
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AP_Baro_BMP581::AP_Baro_BMP581(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev) | ||
: AP_Baro_Backend(baro) | ||
, _dev(std::move(dev)) | ||
{ | ||
} | ||
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AP_Baro_Backend *AP_Baro_BMP581::probe(AP_Baro &baro, | ||
AP_HAL::OwnPtr<AP_HAL::Device> dev) | ||
{ | ||
if (!dev) { | ||
return nullptr; | ||
} | ||
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AP_Baro_BMP581 *sensor = NEW_NOTHROW AP_Baro_BMP581(baro, std::move(dev)); | ||
if (!sensor || !sensor->init()) { | ||
delete sensor; | ||
return nullptr; | ||
} | ||
return sensor; | ||
} | ||
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bool AP_Baro_BMP581::init() | ||
{ | ||
if (!_dev) { | ||
return false; | ||
} | ||
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WITH_SEMAPHORE(_dev->get_semaphore()); | ||
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_dev->set_speed(AP_HAL::Device::SPEED_HIGH); | ||
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uint8_t whoami; | ||
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// setup to allow reads on SPI | ||
if (_dev->bus_type() == AP_HAL::Device::BUS_TYPE_SPI) { | ||
_dev->set_read_flag(0x80); | ||
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if (!_dev->read_registers(BMP581_REG_CHIP_ID, &whoami, 1)) { | ||
return false; | ||
} | ||
} | ||
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if (!_dev->read_registers(BMP581_REG_CHIP_ID, &whoami, 1)) { | ||
return false; | ||
} | ||
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switch (whoami) { | ||
case BMP581_ID: | ||
_dev->set_device_type(DEVTYPE_BARO_BMP581); | ||
break; | ||
default: | ||
return false; | ||
} | ||
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uint8_t status; | ||
if (!_dev->read_registers(BMP581_REG_STATUS, &status, 1)) { | ||
return false; | ||
} | ||
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if ((status & 0b10) == 0 || (status & 0b100) == 1) { | ||
return false; | ||
} | ||
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uint8_t int_status; | ||
if (!_dev->read_registers(BMP581_REG_INT_STATUS, &int_status, 1)) { | ||
return false; | ||
} | ||
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if ((int_status & 0x10) == 0) { | ||
return false; | ||
} | ||
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_dev->setup_checked_registers(4); | ||
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// Standby mode | ||
_dev->write_register(BMP581_REG_ODR_CONFIG, 0, true); | ||
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// Press EN | osr_p 64X | osr_t 4X | ||
_dev->write_register(BMP581_REG_OSR_CONFIG, 0b01110010, true); | ||
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// ORD 50Hz | Normal Mode | ||
_dev->write_register(BMP581_REG_ODR_CONFIG, 0b0111101, true); | ||
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instance = _frontend.register_sensor(); | ||
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set_bus_id(instance, _dev->get_bus_id()); | ||
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// request 50Hz update | ||
_dev->register_periodic_callback(20 * AP_USEC_PER_MSEC, FUNCTOR_BIND_MEMBER(&AP_Baro_BMP581::timer, void)); | ||
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return true; | ||
} | ||
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// acumulate a new sensor reading | ||
void AP_Baro_BMP581::timer(void) | ||
{ | ||
uint8_t buf[6]; | ||
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if (!_dev->read_registers(BMP581_REG_TEMP_DATA_XLSB, buf, sizeof(buf))) { | ||
return; | ||
} | ||
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WITH_SEMAPHORE(_sem); | ||
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if (buf[0] != 0x7f || buf[1] != 0x7f || buf[2] != 0x7f) { | ||
// we have temperature data | ||
temperature = (float)((int32_t)(((uint32_t)buf[2] << 24) | ((uint32_t)buf[1] << 16) | ((uint32_t)buf[0] << 8)) >> 8) * (1.0f / 65536.0f); | ||
} | ||
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if (buf[3] != 0x7f || buf[4] != 0x7f || buf[5] != 0x7f) { | ||
// we have pressure data | ||
pressure_sum += (float)(((uint32_t)buf[5] << 16) | ((uint32_t)buf[4] << 8) | (uint32_t)buf[3]) * (1.0f / 64.0f); | ||
pressure_count++; | ||
} | ||
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_dev->check_next_register(); | ||
} | ||
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// transfer data to the frontend | ||
void AP_Baro_BMP581::update(void) | ||
{ | ||
WITH_SEMAPHORE(_sem); | ||
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if (pressure_count == 0) { | ||
return; | ||
} | ||
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_copy_to_frontend(instance, | ||
pressure_sum/pressure_count, | ||
temperature); | ||
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pressure_sum = 0; | ||
pressure_count = 0; | ||
} | ||
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#endif // AP_BARO_BMP581_ENABLED |
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#pragma once | ||
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#include "AP_Baro_Backend.h" | ||
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#if AP_BARO_BMP581_ENABLED | ||
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#include <AP_HAL/AP_HAL.h> | ||
#include <AP_HAL/Device.h> | ||
#include <AP_HAL/utility/OwnPtr.h> | ||
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#ifndef HAL_BARO_BMP581_I2C_ADDR | ||
#define HAL_BARO_BMP581_I2C_ADDR (0x46) | ||
#endif | ||
#ifndef HAL_BARO_BMP581_I2C_ADDR2 | ||
#define HAL_BARO_BMP581_I2C_ADDR2 (0x47) | ||
#endif | ||
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class AP_Baro_BMP581 : public AP_Baro_Backend | ||
{ | ||
public: | ||
AP_Baro_BMP581(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev); | ||
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/* AP_Baro public interface: */ | ||
void update() override; | ||
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static AP_Baro_Backend *probe(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev); | ||
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private: | ||
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bool init(void); | ||
void timer(void); | ||
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AP_HAL::OwnPtr<AP_HAL::Device> _dev; | ||
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uint8_t instance; | ||
float pressure_sum; | ||
uint32_t pressure_count; | ||
float temperature; | ||
}; | ||
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#endif // AP_BARO_BMP581_ENABLED |
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