Merge pull request #9957 from jflyper/bfdev-baro-dps310
This commit is contained in:
Michael Keller
GitHub
commit
36d372d237
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@ -142,7 +142,7 @@ const char * const lookupTableGyroHardware[] = {
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#if defined(USE_SENSOR_NAMES) || defined(USE_BARO)
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// sync with baroSensor_e
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const char * const lookupTableBaroHardware[] = {
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"AUTO", "NONE", "BMP085", "MS5611", "BMP280", "LPS", "QMP6988", "BMP388"
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"AUTO", "NONE", "BMP085", "MS5611", "BMP280", "LPS", "QMP6988", "BMP388", "DPS310"
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};
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#endif
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#if defined(USE_SENSOR_NAMES) || defined(USE_MAG)
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@ -0,0 +1,393 @@
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/*
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* This file is part of Cleanflight, Betaflight and INAV.
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*
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* This Source Code Form is subject to the terms of the Mozilla Public
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* License, v. 2.0. If a copy of the MPL was not distributed with this file,
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* You can obtain one at http://mozilla.org/MPL/2.0/.
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*
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* Alternatively, the contents of this file may be used under the terms
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* of the GNU General Public License Version 3, as described below:
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*
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* This file is free software: you may copy, redistribute and/or modify
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* it under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or (at your
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* option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
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* Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see http://www.gnu.org/licenses/.
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*
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* Copyright: INAVFLIGHT OU
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*/
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#include <stdbool.h>
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#include <stdint.h>
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#include <string.h>
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#include "platform.h"
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#include "build/build_config.h"
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#include "build/debug.h"
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#include "common/utils.h"
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#include "drivers/io.h"
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#include "drivers/bus.h"
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#include "drivers/bus_spi.h"
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#include "drivers/time.h"
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#include "drivers/barometer/barometer.h"
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#include "drivers/barometer/barometer_dps310.h"
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#include "drivers/resource.h"
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#if defined(USE_BARO) && defined(USE_BARO_DPS310)
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#define DPS310_I2C_ADDR 0x77
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#define DPS310_REG_PSR_B2 0x00
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#define DPS310_REG_PSR_B1 0x01
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#define DPS310_REG_PSR_B0 0x02
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#define DPS310_REG_TMP_B2 0x03
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#define DPS310_REG_TMP_B1 0x04
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#define DPS310_REG_TMP_B0 0x05
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#define DPS310_REG_PRS_CFG 0x06
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#define DPS310_REG_TMP_CFG 0x07
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#define DPS310_REG_MEAS_CFG 0x08
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#define DPS310_REG_CFG_REG 0x09
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#define DPS310_REG_RESET 0x0C
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#define DPS310_REG_ID 0x0D
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#define DPS310_REG_COEF 0x10
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#define DPS310_REG_COEF_SRCE 0x28
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#define DPS310_ID_REV_AND_PROD_ID (0x10)
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#define DPS310_RESET_BIT_SOFT_RST (0x09) // 0b1001
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#define DPS310_MEAS_CFG_COEF_RDY (1 << 7)
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#define DPS310_MEAS_CFG_SENSOR_RDY (1 << 6)
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#define DPS310_MEAS_CFG_TMP_RDY (1 << 5)
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#define DPS310_MEAS_CFG_PRS_RDY (1 << 4)
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#define DPS310_MEAS_CFG_MEAS_CTRL_CONT (0x7)
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#define DPS310_PRS_CFG_BIT_PM_RATE_32HZ (0x50) // 101 - 32 measurements pr. sec.
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#define DPS310_PRS_CFG_BIT_PM_PRC_16 (0x04) // 0100 - 16 times (Standard).
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#define DPS310_TMP_CFG_BIT_TMP_EXT (0x80) //
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#define DPS310_TMP_CFG_BIT_TMP_RATE_32HZ (0x50) // 101 - 32 measurements pr. sec.
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#define DPS310_TMP_CFG_BIT_TMP_PRC_16 (0x04) // 0100 - 16 times (Standard).
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#define DPS310_CFG_REG_BIT_P_SHIFT (0x04)
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#define DPS310_CFG_REG_BIT_T_SHIFT (0x08)
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#define DPS310_COEF_SRCE_BIT_TMP_COEF_SRCE (0x80)
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typedef struct {
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int16_t c0; // 12bit
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int16_t c1; // 12bit
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int32_t c00; // 20bit
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int32_t c10; // 20bit
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int16_t c01; // 16bit
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int16_t c11; // 16bit
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int16_t c20; // 16bit
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int16_t c21; // 16bit
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int16_t c30; // 16bit
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} calibrationCoefficients_t;
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typedef struct {
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calibrationCoefficients_t calib;
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float pressure; // Pa
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float temperature; // DegC
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} baroState_t;
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static baroState_t baroState;
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#define busReadBuf busReadRegisterBuffer
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#define busWrite busWriteRegister
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// Helper functions
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static uint8_t registerRead(busDevice_t * busDev, uint8_t reg)
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{
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return busReadRegister(busDev, reg);
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}
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static void registerWrite(busDevice_t * busDev, uint8_t reg, uint8_t value)
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{
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busWrite(busDev, reg, value);
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}
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static void registerSetBits(busDevice_t * busDev, uint8_t reg, uint8_t setbits)
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{
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uint8_t val = registerRead(busDev, reg);
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if ((val & setbits) != setbits) {
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val |= setbits;
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registerWrite(busDev, reg, val);
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}
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}
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static int32_t getTwosComplement(uint32_t raw, uint8_t length)
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{
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if (raw & ((int)1 << (length - 1))) {
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return ((int32_t)raw) - ((int32_t)1 << length);
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}
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else {
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return raw;
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}
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}
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static bool deviceConfigure(busDevice_t * busDev)
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{
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// Trigger a chip reset
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registerSetBits(busDev, DPS310_REG_RESET, DPS310_RESET_BIT_SOFT_RST);
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// Sleep 40ms
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delay(40);
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uint8_t status = registerRead(busDev, DPS310_REG_MEAS_CFG);
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// Check if coefficients are available
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if ((status & DPS310_MEAS_CFG_COEF_RDY) == 0) {
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return false;
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}
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// Check if sensor initialization is complete
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if ((status & DPS310_MEAS_CFG_SENSOR_RDY) == 0) {
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return false;
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}
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// 1. Read the pressure calibration coefficients (c00, c10, c20, c30, c01, c11, and c21) from the Calibration Coefficient register.
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// Note: The coefficients read from the coefficient register are 2's complement numbers.
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uint8_t coef[18];
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if (!busReadBuf(busDev, DPS310_REG_COEF, coef, sizeof(coef))) {
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return false;
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}
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// 0x11 c0 [3:0] + 0x10 c0 [11:4]
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baroState.calib.c0 = getTwosComplement(((uint32_t)coef[0] << 4) | (((uint32_t)coef[1] >> 4) & 0x0F), 12);
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// 0x11 c1 [11:8] + 0x12 c1 [7:0]
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baroState.calib.c1 = getTwosComplement((((uint32_t)coef[1] & 0x0F) << 8) | (uint32_t)coef[2], 12);
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// 0x13 c00 [19:12] + 0x14 c00 [11:4] + 0x15 c00 [3:0]
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baroState.calib.c00 = getTwosComplement(((uint32_t)coef[3] << 12) | ((uint32_t)coef[4] << 4) | (((uint32_t)coef[5] >> 4) & 0x0F), 20);
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// 0x15 c10 [19:16] + 0x16 c10 [15:8] + 0x17 c10 [7:0]
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baroState.calib.c10 = getTwosComplement((((uint32_t)coef[5] & 0x0F) << 16) | ((uint32_t)coef[6] << 8) | (uint32_t)coef[7], 20);
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// 0x18 c01 [15:8] + 0x19 c01 [7:0]
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baroState.calib.c01 = getTwosComplement(((uint32_t)coef[8] << 8) | (uint32_t)coef[9], 16);
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// 0x1A c11 [15:8] + 0x1B c11 [7:0]
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baroState.calib.c11 = getTwosComplement(((uint32_t)coef[8] << 8) | (uint32_t)coef[9], 16);
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// 0x1C c20 [15:8] + 0x1D c20 [7:0]
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baroState.calib.c20 = getTwosComplement(((uint32_t)coef[12] << 8) | (uint32_t)coef[13], 16);
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// 0x1E c21 [15:8] + 0x1F c21 [7:0]
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baroState.calib.c21 = getTwosComplement(((uint32_t)coef[14] << 8) | (uint32_t)coef[15], 16);
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// 0x20 c30 [15:8] + 0x21 c30 [7:0]
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baroState.calib.c30 = getTwosComplement(((uint32_t)coef[16] << 8) | (uint32_t)coef[17], 16);
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// PRS_CFG: pressure measurement rate (32 Hz) and oversampling (16 time standard)
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registerSetBits(busDev, DPS310_REG_PRS_CFG, DPS310_PRS_CFG_BIT_PM_RATE_32HZ | DPS310_PRS_CFG_BIT_PM_PRC_16);
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// TMP_CFG: temperature measurement rate (32 Hz) and oversampling (16 times)
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const uint8_t TMP_COEF_SRCE = registerRead(busDev, DPS310_REG_COEF_SRCE) & DPS310_COEF_SRCE_BIT_TMP_COEF_SRCE;
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registerSetBits(busDev, DPS310_REG_TMP_CFG, DPS310_TMP_CFG_BIT_TMP_RATE_32HZ | DPS310_TMP_CFG_BIT_TMP_PRC_16 | TMP_COEF_SRCE);
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// CFG_REG: set pressure and temperature result bit-shift (required when the oversampling rate is >8 times)
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registerSetBits(busDev, DPS310_REG_CFG_REG, DPS310_CFG_REG_BIT_T_SHIFT | DPS310_CFG_REG_BIT_P_SHIFT);
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// MEAS_CFG: Continuous pressure and temperature measurement
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registerSetBits(busDev, DPS310_REG_MEAS_CFG, DPS310_MEAS_CFG_MEAS_CTRL_CONT);
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return true;
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}
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static bool deviceReadMeasurement(baroDev_t *baro)
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{
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// 1. Check if pressure is ready
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bool pressure_ready = registerRead(&baro->busdev, DPS310_REG_MEAS_CFG) & DPS310_MEAS_CFG_PRS_RDY;
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if (!pressure_ready) {
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return false;
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}
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// 2. Choose scaling factors kT (for temperature) and kP (for pressure) based on the chosen precision rate.
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// The scaling factors are listed in Table 9.
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static float kT = 253952; // 16 times (Standard)
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static float kP = 253952; // 16 times (Standard)
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// 3. Read the pressure and temperature result from the registers
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// Read PSR_B2, PSR_B1, PSR_B0, TMP_B2, TMP_B1, TMP_B0
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uint8_t buf[6];
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if (!busReadBuf(&baro->busdev, DPS310_REG_PSR_B2, buf, 6)) {
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return false;
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}
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const int32_t Praw = getTwosComplement((buf[0] << 16) + (buf[1] << 8) + buf[2], 24);
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const int32_t Traw = getTwosComplement((buf[3] << 16) + (buf[4] << 8) + buf[5], 24);
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// 4. Calculate scaled measurement results.
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const float Praw_sc = Praw / kP;
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const float Traw_sc = Traw / kT;
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// 5. Calculate compensated measurement results.
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const float c00 = baroState.calib.c00;
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const float c01 = baroState.calib.c01;
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const float c10 = baroState.calib.c10;
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const float c11 = baroState.calib.c11;
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const float c20 = baroState.calib.c20;
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const float c21 = baroState.calib.c21;
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const float c30 = baroState.calib.c30;
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const float c0 = baroState.calib.c0;
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const float c1 = baroState.calib.c1;
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baroState.pressure = c00 + Praw_sc * (c10 + Praw_sc * (c20 + Praw_sc * c30)) + Traw_sc * c01 + Traw_sc * Praw_sc * (c11 + Praw_sc * c21);
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baroState.temperature = c0 * 0.5f + c1 * Traw_sc;
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return true;
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}
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static void deviceCalculate(int32_t *pressure, int32_t *temperature)
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{
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if (pressure) {
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*pressure = baroState.pressure;
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}
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if (temperature) {
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*temperature = (baroState.temperature * 100); // to centidegrees
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}
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}
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#define DETECTION_MAX_RETRY_COUNT 5
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static bool deviceDetect(busDevice_t * busDev)
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{
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for (int retry = 0; retry < DETECTION_MAX_RETRY_COUNT; retry++) {
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uint8_t chipId[1];
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delay(100);
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bool ack = busReadBuf(busDev, DPS310_REG_ID, chipId, 1);
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if (ack && chipId[0] == DPS310_ID_REV_AND_PROD_ID) {
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return true;
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}
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};
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return false;
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}
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static void dps310StartUT(baroDev_t *baro)
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{
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UNUSED(baro);
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}
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static bool dps310ReadUT(baroDev_t *baro)
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{
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UNUSED(baro);
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return true;
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}
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static bool dps310GetUT(baroDev_t *baro)
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{
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UNUSED(baro);
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return true;
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}
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static void dps310StartUP(baroDev_t *baro)
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{
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UNUSED(baro);
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}
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static bool dps310ReadUP(baroDev_t *baro)
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{
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UNUSED(baro);
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return true;
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}
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static void busDeviceInit(busDevice_t *busdev, resourceOwner_e owner)
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{
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#ifdef USE_BARO_SPI_DPS310
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if (busdev->bustype == BUSTYPE_SPI) {
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IOHi(busdev->busdev_u.spi.csnPin); // Disable
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IOInit(busdev->busdev_u.spi.csnPin, owner, 0);
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IOConfigGPIO(busdev->busdev_u.spi.csnPin, IOCFG_OUT_PP);
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#ifdef USE_SPI_TRANSACTION
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spiBusTransactionInit(busdev, SPI_MODE0_POL_LOW_EDGE_1ST, SPI_CLOCK_STANDARD); // DPS310 supports Mode 0 or 3
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#else
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spiBusSetDivisor(busdev, SPI_CLOCK_STANDARD);
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#endif
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}
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#else
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UNUSED(busdev);
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UNUSED(owner);
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#endif
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}
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static void busDeviceDeInit(busDevice_t *busdev)
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{
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#ifdef USE_BARO_SPI_DPS310
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if (busdev->bustype == BUSTYPE_SPI) {
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spiPreinitByIO(busdev->busdev_u.spi.csnPin);
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}
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#else
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UNUSED(busdev);
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#endif
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}
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bool baroDPS310Detect(baroDev_t *baro)
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{
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busDevice_t *busdev = &baro->busdev;
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bool defaultAddressApplied = false;
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busDeviceInit(&baro->busdev, OWNER_BARO_CS);
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if ((busdev->bustype == BUSTYPE_I2C) && (busdev->busdev_u.i2c.address == 0)) {
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// Default address for BMP280
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busdev->busdev_u.i2c.address = DPS310_I2C_ADDR;
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defaultAddressApplied = true;
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}
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if (!deviceDetect(busdev)) {
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busDeviceDeInit(busdev);
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if (defaultAddressApplied) {
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busdev->busdev_u.i2c.address = 0;
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}
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return false;
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}
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if (!deviceConfigure(busdev)) {
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busDeviceDeInit(busdev);
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return false;
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}
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const uint32_t baroDelay = 1000000 / 32 / 2; // twice the sample rate to capture all new data
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baro->ut_delay = 0;
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baro->start_ut = dps310StartUT;
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baro->read_ut = dps310ReadUT;
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baro->get_ut = dps310GetUT;
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baro->up_delay = baroDelay;
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baro->start_up = dps310StartUP;
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baro->read_up = dps310ReadUP;
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baro->get_up = deviceReadMeasurement;
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baro->calculate = deviceCalculate;
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return true;
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}
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#endif
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@ -0,0 +1,29 @@
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/*
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||||
* This file is part of Cleanflight, Betaflight and INAV.
|
||||
*
|
||||
* This Source Code Form is subject to the terms of the Mozilla Public
|
||||
* License, v. 2.0. If a copy of the MPL was not distributed with this file,
|
||||
* You can obtain one at http://mozilla.org/MPL/2.0/.
|
||||
*
|
||||
* Alternatively, the contents of this file may be used under the terms
|
||||
* of the GNU General Public License Version 3, as described below:
|
||||
*
|
||||
* This file is free software: you may copy, redistribute 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 file 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/.
|
||||
*
|
||||
* Copyright: INAVFLIGHT OU
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
bool baroDPS310Detect(baroDev_t *baro);
|
||||
|
|
@ -37,6 +37,7 @@
|
|||
#include "drivers/barometer/barometer_bmp085.h"
|
||||
#include "drivers/barometer/barometer_bmp280.h"
|
||||
#include "drivers/barometer/barometer_bmp388.h"
|
||||
#include "drivers/barometer/barometer_dps310.h"
|
||||
#include "drivers/barometer/barometer_qmp6988.h"
|
||||
#include "drivers/barometer/barometer_fake.h"
|
||||
#include "drivers/barometer/barometer_ms5611.h"
|
||||
|
|
@ -70,8 +71,15 @@ void pgResetFn_barometerConfig(barometerConfig_t *barometerConfig)
|
|||
// a. Precedence is in the order of popularity; BMP388, BMP280, MS5611 then BMP085, then
|
||||
// b. If SPI variant is specified, it is likely onboard, so take it.
|
||||
|
||||
#if !(defined(DEFAULT_BARO_SPI_BMP388) || defined(DEFAULT_BARO_BMP388) || defined(DEFAULT_BARO_SPI_BMP280) || defined(DEFAULT_BARO_BMP280) || defined(DEFAULT_BARO_SPI_MS5611) || defined(DEFAULT_BARO_MS5611) || defined(DEFAULT_BARO_BMP085) || defined(DEFAULT_BARO_SPI_LPS) || defined(DEFAULT_BARO_SPI_QMP6988) || defined(DEFAULT_BARO_QMP6988))
|
||||
#if defined(USE_BARO_BMP388) || defined(USE_BARO_SPI_BMP388)
|
||||
#if !(defined(DEFAULT_BARO_SPI_BMP388) || defined(DEFAULT_BARO_BMP388) || defined(DEFAULT_BARO_SPI_BMP280) || defined(DEFAULT_BARO_BMP280) || defined(DEFAULT_BARO_SPI_MS5611) || defined(DEFAULT_BARO_MS5611) || defined(DEFAULT_BARO_BMP085) || defined(DEFAULT_BARO_SPI_LPS) || defined(DEFAULT_BARO_SPI_QMP6988) || defined(DEFAULT_BARO_QMP6988)) || defined(DEFAULT_BARO_DPS310) || defined(DEFAULT_BARO_SPI_DPS310)
|
||||
|
||||
#if defined(USE_BARO_DPS310) || defined(USE_BARO_SPI_DPS310)
|
||||
#if defined(USE_BARO_SPI_DPS310)
|
||||
#define DEFAULT_BARO_SPI_DPS310
|
||||
#else
|
||||
#define DEFAULT_BARO_DPS310
|
||||
#endif
|
||||
#elif defined(USE_BARO_BMP388) || defined(USE_BARO_SPI_BMP388)
|
||||
#if defined(USE_BARO_SPI_BMP388)
|
||||
#define DEFAULT_BARO_SPI_BMP388
|
||||
#else
|
||||
|
|
@ -102,7 +110,7 @@ void pgResetFn_barometerConfig(barometerConfig_t *barometerConfig)
|
|||
#endif
|
||||
#endif
|
||||
|
||||
#if defined(DEFAULT_BARO_SPI_BMP388) || defined(DEFAULT_BARO_SPI_BMP280) || defined(DEFAULT_BARO_SPI_MS5611) || defined(DEFAULT_BARO_SPI_QMP6988) || defined(DEFAULT_BARO_SPI_LPS)
|
||||
#if defined(DEFAULT_BARO_SPI_BMP388) || defined(DEFAULT_BARO_SPI_BMP280) || defined(DEFAULT_BARO_SPI_MS5611) || defined(DEFAULT_BARO_SPI_QMP6988) || defined(DEFAULT_BARO_SPI_LPS) || defined(DEFAULT_BARO_SPI_DPS310)
|
||||
barometerConfig->baro_bustype = BUSTYPE_SPI;
|
||||
barometerConfig->baro_spi_device = SPI_DEV_TO_CFG(spiDeviceByInstance(BARO_SPI_INSTANCE));
|
||||
barometerConfig->baro_spi_csn = IO_TAG(BARO_CS_PIN);
|
||||
|
|
@ -156,7 +164,7 @@ bool baroDetect(baroDev_t *dev, baroSensor_e baroHardwareToUse)
|
|||
|
||||
baroSensor_e baroHardware = baroHardwareToUse;
|
||||
|
||||
#if !defined(USE_BARO_BMP085) && !defined(USE_BARO_MS5611) && !defined(USE_BARO_SPI_MS5611) && !defined(USE_BARO_BMP388) && !defined(USE_BARO_BMP280) && !defined(USE_BARO_SPI_BMP280)&& !defined(USE_BARO_QMP6988) && !defined(USE_BARO_SPI_QMP6988)
|
||||
#if !defined(USE_BARO_BMP085) && !defined(USE_BARO_MS5611) && !defined(USE_BARO_SPI_MS5611) && !defined(USE_BARO_BMP388) && !defined(USE_BARO_BMP280) && !defined(USE_BARO_SPI_BMP280)&& !defined(USE_BARO_QMP6988) && !defined(USE_BARO_SPI_QMP6988) && !defined(USE_BARO_DPS310) && !defined(USE_BARO_SPI_DPS310)
|
||||
UNUSED(dev);
|
||||
#endif
|
||||
|
||||
|
|
@ -227,6 +235,17 @@ bool baroDetect(baroDev_t *dev, baroSensor_e baroHardwareToUse)
|
|||
#endif
|
||||
FALLTHROUGH;
|
||||
|
||||
case BARO_DPS310:
|
||||
#if defined(USE_BARO_DPS310) || defined(USE_BARO_SPI_DPS310)
|
||||
{
|
||||
if (baroDPS310Detect(dev)) {
|
||||
baroHardware = BARO_DPS310;
|
||||
break;
|
||||
}
|
||||
}
|
||||
#endif
|
||||
FALLTHROUGH;
|
||||
|
||||
case BARO_BMP388:
|
||||
#if defined(USE_BARO_BMP388) || defined(USE_BARO_SPI_BMP388)
|
||||
{
|
||||
|
|
|
|||
|
|
@ -31,7 +31,8 @@ typedef enum {
|
|||
BARO_BMP280 = 4,
|
||||
BARO_LPS = 5,
|
||||
BARO_QMP6988 = 6,
|
||||
BARO_BMP388 = 7
|
||||
BARO_BMP388 = 7,
|
||||
BARO_DPS310 = 8,
|
||||
} baroSensor_e;
|
||||
|
||||
#define BARO_SAMPLE_COUNT_MAX 48
|
||||
|
|
|
|||
|
|
@ -191,6 +191,8 @@
|
|||
#define USE_BARO_SPI_LPS
|
||||
#define USE_BARO_QMP6988
|
||||
#define USE_BARO_SPI_QMP6988
|
||||
#define USE_BARO_DPS310
|
||||
#define USE_BARO_SPI_DPS310
|
||||
|
||||
#define USE_SDCARD
|
||||
#define USE_SDCARD_SPI
|
||||
|
|
|
|||
Loading…
Reference in New Issue