Add barometer sensor QMP6988
This commit is contained in:
Loopur
parent
46291a8374
commit
495cfb4d07
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@ -278,6 +278,7 @@ SIZE_OPTIMISED_SRC := $(SIZE_OPTIMISED_SRC) \
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drivers/barometer/barometer_fake.c \
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drivers/barometer/barometer_ms5611.c \
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drivers/barometer/barometer_lps.c \
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drivers/barometer/barometer_qmp6988.c \
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drivers/bus_i2c_config.c \
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drivers/bus_spi_config.c \
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drivers/bus_spi_pinconfig.c \
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@ -0,0 +1,304 @@
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/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General 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 Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdbool.h>
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#include <stdint.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 "barometer.h"
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#include "drivers/bus.h"
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#include "drivers/bus_i2c.h"
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#include "drivers/bus_i2c_busdev.h"
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#include "drivers/bus_spi.h"
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#include "drivers/io.h"
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#include "drivers/time.h"
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#include "drivers/serial.h"
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#include "io/serial.h"
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#include "common/printf.h"
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#include "barometer_qmp6988.h"
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#if defined(USE_BARO) && (defined(USE_BARO_QMP6988) || defined(USE_BARO_SPI_QMP6988))
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typedef struct qmp6988_calib_param_s {
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float Coe_a0;
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float Coe_a1;
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float Coe_a2;
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float Coe_b00;
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float Coe_bt1;
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float Coe_bt2;
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float Coe_bp1;
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float Coe_b11;
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float Coe_bp2;
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float Coe_b12;
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float Coe_b21;
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float Coe_bp3;
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} qmp6988_calib_param_t;
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static uint8_t qmp6988_chip_id = 0;
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STATIC_UNIT_TESTED qmp6988_calib_param_t qmp6988_cal;
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// uncompensated pressure and temperature
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int32_t qmp6988_up = 0;
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int32_t qmp6988_ut = 0;
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static void qmp6988_start_ut(baroDev_t *baro);
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static void qmp6988_get_ut(baroDev_t *baro);
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static void qmp6988_start_up(baroDev_t *baro);
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static void qmp6988_get_up(baroDev_t *baro);
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STATIC_UNIT_TESTED void qmp6988_calculate(int32_t *pressure, int32_t *temperature);
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void qmp6988BusInit(busDevice_t *busdev)
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{
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#ifdef USE_BARO_SPI_QMP6988
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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_BARO_CS, 0);
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IOConfigGPIO(busdev->busdev_u.spi.csnPin, IOCFG_OUT_PP);
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spiSetDivisor(busdev->busdev_u.spi.instance, SPI_CLOCK_STANDARD); // XXX
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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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void qmp6988BusDeinit(busDevice_t *busdev)
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{
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#ifdef USE_BARO_SPI_QMP6988
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if (busdev->bustype == BUSTYPE_SPI) {
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IOConfigGPIO(busdev->busdev_u.spi.csnPin, IOCFG_IPU);
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IORelease(busdev->busdev_u.spi.csnPin);
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IOInit(busdev->busdev_u.spi.csnPin, OWNER_SPI_PREINIT, 0);
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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 qmp6988Detect(baroDev_t *baro)
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{
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uint8_t databuf[25] = {0};
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int Coe_a0_;
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int Coe_a1_;
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int Coe_a2_;
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int Coe_b00_;
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int Coe_bt1_;
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int Coe_bt2_;
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int Coe_bp1_;
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int Coe_b11_;
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int Coe_bp2_;
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int Coe_b12_;
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int Coe_b21_;
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int Coe_bp3_;
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u16 lb=0,hb=0;
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u32 lw=0,hw=0,temp1,temp2;
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delay(20);
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busDevice_t *busdev = &baro->busdev;
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bool defaultAddressApplied = false;
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qmp6988BusInit(busdev);
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if ((busdev->bustype == BUSTYPE_I2C) && (busdev->busdev_u.i2c.address == 0)) {
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busdev->busdev_u.i2c.address = QMP6988_I2C_ADDR;
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defaultAddressApplied = true;
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}
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busReadRegisterBuffer(busdev, QMP6988_CHIP_ID_REG, &qmp6988_chip_id, 1); /* read Chip Id */
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#if 1
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if (qmp6988_chip_id != QMP6988_DEFAULT_CHIP_ID) {
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qmp6988BusDeinit(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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#endif
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// IO_SETUP
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// qmp6988WriteRegister(busdev, QMP6988_IO_SETUP_REG, QMP6988_MODE);
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// SetIIR
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busWriteRegister(busdev, QMP6988_SET_IIR_REG, 0x05);
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//read OTP
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busReadRegisterBuffer(busdev, QMP6988_COE_B00_1_REG, databuf, 25);
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//algo OTP
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hw = databuf[0];
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lw = databuf[1];
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temp1 = (hw<<12) | (lw<<4);
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hb = databuf[2];
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lb = databuf[3];
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Coe_bt1_ = (short)((hb<<8) | lb);
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hb = databuf[4];
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lb = databuf[5];
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Coe_bt2_ = (short)((hb<<8) | lb);
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hb = databuf[6];
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lb = databuf[7];
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Coe_bp1_ = (short)((hb<<8) | lb);
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hb = databuf[8];
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lb = databuf[9];
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Coe_b11_ = (short)((hb<<8) | lb);
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hb = databuf[10];
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lb = databuf[11];
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Coe_bp2_ = (short)((hb<<8) | lb);
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hb = databuf[12];
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lb = databuf[13];
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Coe_b12_ = (short)((hb<<8) | lb);
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hb = databuf[14];
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lb = databuf[15];
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Coe_b21_ = (short)((hb<<8) | lb);
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hb = databuf[16];
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lb = databuf[17];
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Coe_bp3_ = (short)((hb<<8) | lb);
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hw = databuf[18];
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lw = databuf[19];
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temp2 = (hw<<12) | (lw<<4);
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hb = databuf[20];
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lb = databuf[21];
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Coe_a1_ = (short)((hb<<8) | lb);
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hb = databuf[22];
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lb = databuf[23];
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Coe_a2_ = (short)((hb<<8) | lb);
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hb = databuf[24];
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temp1 = temp1|((hb&0xf0)>>4);
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if(temp1&0x80000)
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Coe_b00_ = ((int)temp1 - (int)0x100000);
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else
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Coe_b00_ = temp1;
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temp2 = temp2|(hb&0x0f);
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if(temp2&0x80000)
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Coe_a0_ = ((int)temp2 - (int)0x100000);
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else
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Coe_a0_ = temp2;
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qmp6988_cal.Coe_a0=(float)Coe_a0_/16.0;
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qmp6988_cal.Coe_a1=(-6.30E-03)+(4.30E-04)*(float)Coe_a1_/32767.0;
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qmp6988_cal.Coe_a2=(-1.9E-11)+(1.2E-10)*(float)Coe_a2_/32767.0;
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qmp6988_cal.Coe_b00 = Coe_b00_/16.0;
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qmp6988_cal.Coe_bt1 = (1.00E-01)+(9.10E-02)*(float)Coe_bt1_/32767.0;
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qmp6988_cal.Coe_bt2= (1.20E-08)+(1.20E-06)*(float)Coe_bt2_/32767.0;
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qmp6988_cal.Coe_bp1 = (3.30E-02)+(1.90E-02)*(float)Coe_bp1_/32767.0;
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qmp6988_cal.Coe_b11= (2.10E-07)+(1.40E-07)*(float)Coe_b11_/32767.0;
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qmp6988_cal.Coe_bp2 = (-6.30E-10)+(3.50E-10)*(float)Coe_bp2_/32767.0;
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qmp6988_cal.Coe_b12= (2.90E-13)+(7.60E-13)*(float)Coe_b12_/32767.0;
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qmp6988_cal.Coe_b21 = (2.10E-15)+(1.20E-14)*(float)Coe_b21_/32767.0;
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qmp6988_cal.Coe_bp3= (1.30E-16)+(7.90E-17)*(float)Coe_bp3_/32767.0;
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// Set power mode and sample times
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busWriteRegister(busdev, QMP6988_CTRL_MEAS_REG, 0x7B);
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// these are dummy as temperature is measured as part of pressure
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baro->ut_delay = 0;
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baro->get_ut = qmp6988_get_ut;
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baro->start_ut = qmp6988_start_ut;
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// only _up part is executed, and gets both temperature and pressure
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baro->start_up = qmp6988_start_up;
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baro->get_up = qmp6988_get_up;
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baro->up_delay = ((T_INIT_MAX + T_MEASURE_PER_OSRS_MAX * (((1 << QMP6988_TEMPERATURE_OSR) >> 1) + ((1 << QMP6988_PRESSURE_OSR) >> 1)) + (QMP6988_PRESSURE_OSR ? T_SETUP_PRESSURE_MAX : 0) + 15) / 16) * 1000;
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baro->calculate = qmp6988_calculate;
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return true;
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}
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static void qmp6988_start_ut(baroDev_t *baro)
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{
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UNUSED(baro);
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// dummy
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}
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static void qmp6988_get_ut(baroDev_t *baro)
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{
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UNUSED(baro);
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// dummy
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}
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static void qmp6988_start_up(baroDev_t *baro)
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{
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// start measurement
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busWriteRegister(&baro->busdev, QMP6988_CTRL_MEAS_REG, 0x7B);
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}
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static void qmp6988_get_up(baroDev_t *baro)
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{
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uint8_t data[QMP6988_DATA_FRAME_SIZE];
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// read data from sensor
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busReadRegisterBuffer(&baro->busdev, QMP6988_PRESSURE_MSB_REG, data, QMP6988_DATA_FRAME_SIZE);
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qmp6988_up = (int32_t)((((uint32_t)(data[0])) << 16) | (((uint32_t)(data[1])) << 8) | ((uint32_t)data[2] ));
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qmp6988_ut = (int32_t)((((uint32_t)(data[3])) << 16) | (((uint32_t)(data[4])) << 8) | ((uint32_t)data[5]));
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}
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// Returns temperature in DegC, resolution is 0.01 DegC. Output value of "5123" equals 51.23 DegC
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// t_fine carries fine temperature as global value
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static float qmp6988_compensate_T(int32_t adc_T)
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{
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int32_t var1;
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float T;
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var1=adc_T-1024*1024*8;
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T= qmp6988_cal.Coe_a0+qmp6988_cal.Coe_a1*var1+qmp6988_cal.Coe_a2*var1*var1;
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return T;
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}
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STATIC_UNIT_TESTED void qmp6988_calculate(int32_t *pressure, int32_t *temperature)
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{
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float tr,pr;
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int32_t Dp;
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tr = qmp6988_compensate_T(qmp6988_ut);
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Dp = qmp6988_up - 1024*1024*8;
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pr = qmp6988_cal.Coe_b00+qmp6988_cal.Coe_bt1*tr+qmp6988_cal.Coe_bp1*Dp+qmp6988_cal.Coe_b11*tr*Dp+qmp6988_cal.Coe_bt2*tr*tr+qmp6988_cal.Coe_bp2*Dp*Dp+qmp6988_cal.Coe_b12*Dp*tr*tr
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+qmp6988_cal.Coe_b21*Dp*Dp*tr+qmp6988_cal.Coe_bp3*Dp*Dp*Dp;
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if (pr)
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*pressure = (int32_t)(pr);
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if (tr)
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*temperature = (int32_t)tr/256;
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}
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#endif
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@ -0,0 +1,58 @@
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/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General 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 Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#define QMP6988_I2C_ADDR (0x70)
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#define QMP6988_DEFAULT_CHIP_ID (0x5c)
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#define QMP6988_CHIP_ID_REG (0xD1) /* Chip ID Register */
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#define QMP6988_IO_SETUP_REG (0xF5)
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#define QMP6988_SET_IIR_REG (0xF1)
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#define QMP6988_CTRL_MEAS_REG (0xF4)
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#define QMP6988_COE_B00_1_REG (0xA0)
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#define QMP6988_PRESSURE_MSB_REG (0xF7) /* Pressure MSB Register */
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#define QMP6988_PRESSURE_LSB_REG (0xF8) /* Pressure LSB Register */
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#define QMP6988_PRESSURE_XLSB_REG (0xF9) /* Pressure XLSB Register */
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#define QMP6988_TEMPERATURE_MSB_REG (0xFA) /* Temperature MSB Reg */
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#define QMP6988_TEMPERATURE_LSB_REG (0xFB) /* Temperature LSB Reg */
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#define QMP6988_TEMPERATURE_XLSB_REG (0xFC) /* Temperature XLSB Reg */
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#define QMP6988_DATA_FRAME_SIZE 6
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#define QMP6988_FORCED_MODE (0x01)
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#define QMP6988_OVERSAMP_SKIPPED (0x00)
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#define QMP6988_OVERSAMP_1X (0x01)
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#define QMP6988_OVERSAMP_2X (0x02)
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#define QMP6988_OVERSAMP_4X (0x03)
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#define QMP6988_OVERSAMP_8X (0x04)
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#define QMP6988_OVERSAMP_16X (0x05)
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// configure pressure and temperature oversampling, forced sampling mode
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#define QMP6988_PRESSURE_OSR (QMP6988_OVERSAMP_8X)
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#define QMP6988_TEMPERATURE_OSR (QMP6988_OVERSAMP_1X)
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#define QMP6988_MODE (QMP6988_PRESSURE_OSR << 2 | QMP6988_TEMPERATURE_OSR << 5 | QMP6988_FORCED_MODE)
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#define T_INIT_MAX (20)
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// 20/16 = 1.25 ms
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#define T_MEASURE_PER_OSRS_MAX (37)
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// 37/16 = 2.3125 ms
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#define T_SETUP_PRESSURE_MAX (10)
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// 10/16 = 0.625 ms
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bool qmp6988Detect(baroDev_t *baro);
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@ -110,7 +110,7 @@ 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"
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"AUTO", "NONE", "BMP085", "MS5611", "BMP280", "LPS", "QMP6988"
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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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@ -33,6 +33,7 @@
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#include "drivers/barometer/barometer.h"
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#include "drivers/barometer/barometer_bmp085.h"
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#include "drivers/barometer/barometer_bmp280.h"
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#include "drivers/barometer/barometer_qmp6988.h"
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#include "drivers/barometer/barometer_fake.h"
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#include "drivers/barometer/barometer_ms5611.h"
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#include "drivers/barometer/barometer_lps.h"
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@ -65,7 +66,7 @@ void pgResetFn_barometerConfig(barometerConfig_t *barometerConfig)
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// a. Precedence is in the order of popularity; BMP280, MS5611 then BMP085, then
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// b. If SPI variant is specified, it is likely onboard, so take it.
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#if !(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))
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#if !(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_BMP280) || defined(USE_BARO_SPI_BMP280)
|
||||
#if defined(USE_BARO_SPI_BMP280)
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||||
#define DEFAULT_BARO_SPI_BMP280
|
||||
|
|
@ -78,6 +79,12 @@ void pgResetFn_barometerConfig(barometerConfig_t *barometerConfig)
|
|||
#else
|
||||
#define DEFAULT_BARO_MS5611
|
||||
#endif
|
||||
#elif defined(USE_BARO_QMP6988) || defined(USE_BARO_SPI_QMP6988)
|
||||
#if defined(USE_BARO_SPI_QMP6988)
|
||||
#define DEFAULT_BARO_SPI_QMP6988
|
||||
#else
|
||||
#define DEFAULT_BARO_QMP6988
|
||||
#endif
|
||||
#elif defined(USE_BARO_SPI_LPS)
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||||
#define DEFAULT_BARO_SPI_LPS
|
||||
#elif defined(DEFAULT_BARO_BMP085)
|
||||
|
|
@ -97,13 +104,19 @@ void pgResetFn_barometerConfig(barometerConfig_t *barometerConfig)
|
|||
barometerConfig->baro_spi_csn = IO_TAG(MS5611_CS_PIN);
|
||||
barometerConfig->baro_i2c_device = I2C_DEV_TO_CFG(I2CINVALID);
|
||||
barometerConfig->baro_i2c_address = 0;
|
||||
#elif defined(DEFAULT_BARO_SPI_QMP6988)
|
||||
barometerConfig->baro_bustype = BUSTYPE_SPI;
|
||||
barometerConfig->baro_spi_device = SPI_DEV_TO_CFG(spiDeviceByInstance(QMP6988_SPI_INSTANCE));
|
||||
barometerConfig->baro_spi_csn = IO_TAG(QMP6988_CS_PIN);
|
||||
barometerConfig->baro_i2c_device = I2C_DEV_TO_CFG(I2CINVALID);
|
||||
barometerConfig->baro_i2c_address = 0;
|
||||
#elif defined(DEFAULT_BARO_SPI_LPS)
|
||||
barometerConfig->baro_bustype = BUSTYPE_SPI;
|
||||
barometerConfig->baro_spi_device = SPI_DEV_TO_CFG(spiDeviceByInstance(LPS_SPI_INSTANCE));
|
||||
barometerConfig->baro_spi_csn = IO_TAG(LPS_CS_PIN);
|
||||
barometerConfig->baro_i2c_device = I2C_DEV_TO_CFG(I2CINVALID);
|
||||
barometerConfig->baro_i2c_address = 0;
|
||||
#elif defined(DEFAULT_BARO_MS5611) || defined(DEFAULT_BARO_BMP280) || defined(DEFAULT_BARO_BMP085)
|
||||
#elif defined(DEFAULT_BARO_MS5611) || defined(DEFAULT_BARO_BMP280) || defined(DEFAULT_BARO_BMP085)||defined(DEFAULT_BARO_QMP6988)
|
||||
// All I2C devices shares a default config with address = 0 (per device default)
|
||||
barometerConfig->baro_bustype = BUSTYPE_I2C;
|
||||
barometerConfig->baro_i2c_device = I2C_DEV_TO_CFG(BARO_I2C_INSTANCE);
|
||||
|
|
@ -136,7 +149,7 @@ 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_BMP280) && !defined(USE_BARO_SPI_BMP280)
|
||||
#if !defined(USE_BARO_BMP085) && !defined(USE_BARO_MS5611) && !defined(USE_BARO_SPI_MS5611) && !defined(USE_BARO_BMP280) && !defined(USE_BARO_SPI_BMP280)&& !defined(USE_BARO_QMP6988) && !defined(USE_BARO_SPI_QMP6988)
|
||||
UNUSED(dev);
|
||||
#endif
|
||||
|
||||
|
|
@ -212,7 +225,15 @@ bool baroDetect(baroDev_t *dev, baroSensor_e baroHardwareToUse)
|
|||
}
|
||||
#endif
|
||||
FALLTHROUGH;
|
||||
|
||||
|
||||
case BARO_QMP6988:
|
||||
#if defined(USE_BARO_QMP6988) || defined(USE_BARO_SPI_QMP6988)
|
||||
if (qmp6988Detect(dev)) {
|
||||
baroHardware = BARO_QMP6988;
|
||||
break;
|
||||
}
|
||||
#endif
|
||||
FALLTHROUGH;
|
||||
case BARO_NONE:
|
||||
baroHardware = BARO_NONE;
|
||||
break;
|
||||
|
|
|
|||
|
|
@ -26,7 +26,8 @@ typedef enum {
|
|||
BARO_BMP085 = 2,
|
||||
BARO_MS5611 = 3,
|
||||
BARO_BMP280 = 4,
|
||||
BARO_LPS = 5
|
||||
BARO_LPS = 5,
|
||||
BARO_QMP6988 = 6
|
||||
} baroSensor_e;
|
||||
|
||||
#define BARO_SAMPLE_COUNT_MAX 48
|
||||
|
|
|
|||
Loading…
Reference in New Issue