mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2025-12-15 20:37:24 +08:00
Infineon DPS310 Barometer
- used as the primary barometer on the mRo Control Zero F7
This commit is contained in:
Daniel Agar
@@ -19,7 +19,7 @@ px4_add_board(
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DRIVERS
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adc
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#barometer # all available barometer drivers
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#barometer/dps310
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barometer/dps310
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batt_smbus
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camera_capture
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camera_trigger
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@@ -18,7 +18,7 @@ bmi088 -A -R 10 start
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bmi088 -G -R 10 start
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# Interal DPS310 (barometer)
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dps310 start
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dps310 -s start
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# Possible external compasses
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ist8310 -C -b 1 start
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@@ -33,6 +33,7 @@
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add_subdirectory(bmp280)
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add_subdirectory(bmp388)
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add_subdirectory(dps310)
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add_subdirectory(lps22hb)
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#add_subdirectory(lps25h) # not ready for general inclusion
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#add_subdirectory(mpl3115a2) # not ready for general inclusion
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45
src/drivers/barometer/dps310/CMakeLists.txt
Normal file
45
src/drivers/barometer/dps310/CMakeLists.txt
Normal file
@@ -0,0 +1,45 @@
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############################################################################
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#
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# Copyright (c) 2019 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
|
||||
# notice, this list of conditions and the following disclaimer.
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||||
# 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
|
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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
|
||||
# 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
|
||||
# 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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px4_add_module(
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MODULE drivers__barometer__dps310
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MAIN dps310
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SRCS
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DPS310.cpp
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DPS310.hpp
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DPS310_I2C.cpp
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DPS310_SPI.cpp
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dps310_main.cpp
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DEPENDS
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drivers_barometer
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px4_work_queue
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)
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298
src/drivers/barometer/dps310/DPS310.cpp
Normal file
298
src/drivers/barometer/dps310/DPS310.cpp
Normal file
@@ -0,0 +1,298 @@
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/****************************************************************************
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*
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* Copyright (c) 2019 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
|
||||
* 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
|
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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
|
||||
* 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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#include "DPS310.hpp"
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using namespace Infineon_DPS310;
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namespace dps310
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{
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template<typename T>
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static void getTwosComplement(T &raw, uint8_t length)
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{
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if (raw & ((T)1 << (length - 1))) {
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raw -= (T)1 << length;
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}
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}
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DPS310::DPS310(device::Device *interface) :
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ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(interface->get_device_id())),
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_px4_barometer(interface->get_device_id()),
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_interface(interface),
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_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
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_comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": comm errors"))
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{
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_px4_barometer.set_device_type(DRV_DEVTYPE_DPS310);
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}
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DPS310::~DPS310()
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{
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stop();
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perf_free(_sample_perf);
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perf_free(_comms_errors);
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delete _interface;
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}
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int
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DPS310::init()
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{
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if (RegisterRead(Register::ID) != Infineon_DPS310::REV_AND_PROD_ID) {
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PX4_ERR("Product_ID mismatch");
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return PX4_ERROR;
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}
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if (reset() != OK) {
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PX4_DEBUG("reset failed");
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return PX4_ERROR;
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}
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start();
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return PX4_OK;
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}
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int
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DPS310::reset()
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{
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// Soft Reset
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RegisterSetBits(Register::RESET, RESET_BIT::SOFT_RST);
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usleep(40000); // 40 milliseconds
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const uint8_t mode_and_status = RegisterRead(Register::MEAS_CFG);
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bool coefficients_ready = mode_and_status & MEAS_CFG_BIT::COEF_RDY;
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bool sensor_ready = mode_and_status & MEAS_CFG_BIT::SENSOR_RDY;
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if (!coefficients_ready) {
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PX4_ERR("Coefficients are not available");
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return PX4_ERROR;
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}
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if (!sensor_ready) {
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PX4_ERR("Sensor initialization not complete");
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return PX4_ERROR;
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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 (_interface->read((uint8_t)Register::COEF, coef, 18)) {
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return PX4_ERROR;
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}
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// first element of coef[18] corresponds to register 0x10
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// 0x11 c0 [3:0] + 0x10 c0 [11:4]
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_calibration.c0 = ((uint32_t)coef[0] << 4) | (((uint32_t)coef[1] >> 4) & 0x0F);
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getTwosComplement(_calibration.c0, 12);
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// 0x11 c1 [11:8] + 0x12 c1 [7:0]
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_calibration.c1 = (((uint32_t)coef[1] & 0x0F) << 8) | (uint32_t)coef[2];
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getTwosComplement(_calibration.c1, 12);
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// 0x13 c00 [19:12] + 0x14 c00 [11:4] + 0x15 c00 [3:0]
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_calibration.c00 = ((uint32_t)coef[3] << 12) | ((uint32_t)coef[4] << 4) | (((uint32_t)coef[5] >> 4) & 0x0F);
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getTwosComplement(_calibration.c00, 20);
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// 0x15 c10 [19:16] + 0x16 c10 [15:8] + 0x17 c10 [7:0]
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_calibration.c10 = (((uint32_t)coef[5] & 0x0F) << 16) | ((uint32_t)coef[6] << 8) | (uint32_t)coef[7];
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getTwosComplement(_calibration.c10, 20);
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// 0x18 c01 [15:8] + 0x19 c01 [7:0]
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_calibration.c01 = ((uint32_t)coef[8] << 8) | (uint32_t)coef[9];
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getTwosComplement(_calibration.c01, 16);
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// 0x1A c11 [15:8] + 0x1B c11 [7:0]
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_calibration.c11 = ((uint32_t)coef[8] << 8) | (uint32_t)coef[9];
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getTwosComplement(_calibration.c11, 16);
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// 0x1C c20 [15:8] + 0x1D c20 [7:0]
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_calibration.c20 = ((uint32_t)coef[12] << 8) | (uint32_t)coef[13];
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getTwosComplement(_calibration.c20, 16);
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// 0x1E c21 [15:8] + 0x1F c21 [7:0]
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_calibration.c21 = ((uint32_t)coef[14] << 8) | (uint32_t)coef[15];
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getTwosComplement(_calibration.c21, 16);
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// 0x20 c30 [15:8] + 0x21 c30 [7:0]
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_calibration.c30 = ((uint32_t)coef[16] << 8) | (uint32_t)coef[17];
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getTwosComplement(_calibration.c30, 16);
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// PRS_CFG: pressure measurement rate (32 Hz) and oversampling (16 time standard)
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RegisterSetBits(Register::PRS_CFG, PRS_CFG_BIT::PM_RATE_32HZ | 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(Register::COEF_SRCE) & COEF_SRCE_BIT::TMP_COEF_SRCE;
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RegisterSetBits(Register::TMP_CFG, TMP_CFG_BIT::TMP_RATE_32HZ | 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(Register::CFG_REG, CFG_REG_BIT::T_SHIFT | CFG_REG_BIT::P_SHIFT);
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// MEAS_CFG: Continous pressure and temperature measurement
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RegisterSetBits(Register::MEAS_CFG, MEAS_CFG_BIT::MEAS_CTRL_CONT);
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return PX4_OK;
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}
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void
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DPS310::start()
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{
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// run at twice the sample rate to capture all new data
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ScheduleOnInterval(1000000 / SAMPLE_RATE / 2);
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}
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void
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DPS310::stop()
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{
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ScheduleClear();
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}
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void
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DPS310::Run()
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{
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perf_begin(_sample_perf);
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// check if pressure ready
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bool pressure_ready = RegisterRead(Register::MEAS_CFG) & MEAS_CFG_BIT::PRS_RDY;
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if (!pressure_ready) {
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perf_end(_sample_perf);
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return;
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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. The scaling factors are listed in Table 9.
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static constexpr float kT = 253952; // 16 times (Standard)
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static constexpr 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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const hrt_abstime timestamp_sample = hrt_absolute_time();
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if (_interface->read((uint8_t)Register::PSR_B2, buf, 6) != PX4_OK) {
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perf_count(_comms_errors);
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perf_end(_sample_perf);
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return;
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}
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int32_t Praw = (buf[0] << 16) + (buf[1] << 8) + buf[2];
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getTwosComplement(Praw, 24);
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int32_t Traw = (buf[3] << 16) + (buf[4] << 8) + buf[5];
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getTwosComplement(Traw, 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 auto &c00 = _calibration.c00;
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const auto &c01 = _calibration.c01;
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const auto &c10 = _calibration.c10;
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const auto &c11 = _calibration.c11;
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const auto &c20 = _calibration.c20;
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const auto &c21 = _calibration.c21;
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const auto &c30 = _calibration.c30;
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const float Pcomp = c00 + Praw_sc * (c10 + Praw_sc * (c20 + Praw_sc * c30)) + Traw_sc * c01 + Traw_sc * Praw_sc *
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(c11 + Praw_sc * c21);
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const auto &c0 = _calibration.c0;
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||||
const auto &c1 = _calibration.c1;
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const float Tcomp = c0 * 0.5f + c1 * Traw_sc;
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||||
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_px4_barometer.set_error_count(perf_event_count(_comms_errors));
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||||
_px4_barometer.set_temperature(Tcomp);
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||||
_px4_barometer.update(timestamp_sample, Pcomp / 100.0f); // Pascals -> Millibar
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||||
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||||
perf_end(_sample_perf);
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}
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||||
uint8_t
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||||
DPS310::RegisterRead(Register reg)
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{
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uint8_t buf{};
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_interface->read((uint8_t)reg, &buf, 1);
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return buf;
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}
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void
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DPS310::RegisterWrite(Register reg, uint8_t value)
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{
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_interface->write((uint8_t)reg, &value, 1);
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}
|
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|
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void
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DPS310::RegisterSetBits(Register reg, uint8_t setbits)
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{
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uint8_t val = RegisterRead(reg);
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|
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if (!(val & setbits)) {
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val |= setbits;
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RegisterWrite(reg, val);
|
||||
}
|
||||
}
|
||||
|
||||
void
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||||
DPS310::RegisterClearBits(Register reg, uint8_t clearbits)
|
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{
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||||
uint8_t val = RegisterRead(reg);
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||||
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if (val & clearbits) {
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val &= !clearbits;
|
||||
RegisterWrite(reg, val);
|
||||
}
|
||||
}
|
||||
|
||||
void
|
||||
DPS310::print_info()
|
||||
{
|
||||
perf_print_counter(_sample_perf);
|
||||
perf_print_counter(_comms_errors);
|
||||
|
||||
_px4_barometer.print_status();
|
||||
}
|
||||
|
||||
} // namespace dps310
|
||||
90
src/drivers/barometer/dps310/DPS310.hpp
Normal file
90
src/drivers/barometer/dps310/DPS310.hpp
Normal file
@@ -0,0 +1,90 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2019 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 DPS310.cpp
|
||||
*
|
||||
* Driver for the Infineon DPS310 barometer connected via I2C or SPI.
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <drivers/device/Device.hpp>
|
||||
#include <lib/drivers/barometer/PX4Barometer.hpp>
|
||||
#include <lib/perf/perf_counter.h>
|
||||
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
|
||||
|
||||
#include "Infineon_DPS310_Registers.hpp"
|
||||
|
||||
namespace dps310
|
||||
{
|
||||
|
||||
using Infineon_DPS310::CalibrationCoefficients;
|
||||
using Infineon_DPS310::Register;
|
||||
|
||||
class DPS310 : public px4::ScheduledWorkItem
|
||||
{
|
||||
public:
|
||||
DPS310(device::Device *interface);
|
||||
virtual ~DPS310();
|
||||
|
||||
int init();
|
||||
|
||||
void print_info();
|
||||
|
||||
private:
|
||||
|
||||
void Run() override;
|
||||
|
||||
void start();
|
||||
void stop();
|
||||
int reset();
|
||||
|
||||
uint8_t RegisterRead(Register reg);
|
||||
void RegisterWrite(Register reg, uint8_t val);
|
||||
void RegisterSetBits(Register reg, uint8_t setbits);
|
||||
void RegisterClearBits(Register reg, uint8_t clearbits);
|
||||
|
||||
static constexpr uint32_t SAMPLE_RATE{32}; //
|
||||
|
||||
PX4Barometer _px4_barometer;
|
||||
|
||||
device::Device *_interface;
|
||||
|
||||
CalibrationCoefficients _calibration{};
|
||||
|
||||
perf_counter_t _sample_perf;
|
||||
perf_counter_t _comms_errors;
|
||||
};
|
||||
|
||||
} // namespace dps310
|
||||
91
src/drivers/barometer/dps310/DPS310_I2C.cpp
Normal file
91
src/drivers/barometer/dps310/DPS310_I2C.cpp
Normal file
@@ -0,0 +1,91 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2019 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 DPS310_I2C.cpp
|
||||
*
|
||||
* I2C interface for DPS310
|
||||
*/
|
||||
|
||||
#include <lib/drivers/device/i2c.h>
|
||||
|
||||
namespace dps310
|
||||
{
|
||||
|
||||
device::Device *DPS310_I2C_interface(uint8_t bus, uint32_t address);
|
||||
|
||||
class DPS310_I2C : public device::I2C
|
||||
{
|
||||
public:
|
||||
DPS310_I2C(uint8_t bus, uint32_t address);
|
||||
virtual ~DPS310_I2C() = default;
|
||||
|
||||
virtual int read(unsigned address, void *data, unsigned count);
|
||||
virtual int write(unsigned address, void *data, unsigned count);
|
||||
|
||||
};
|
||||
|
||||
device::Device *
|
||||
DPS310_I2C_interface(uint8_t bus, uint32_t address)
|
||||
{
|
||||
return new DPS310_I2C(bus, address);
|
||||
}
|
||||
|
||||
DPS310_I2C::DPS310_I2C(uint8_t bus, uint32_t address) :
|
||||
I2C("DPS310_I2C", nullptr, bus, address, 400000)
|
||||
{
|
||||
}
|
||||
|
||||
int
|
||||
DPS310_I2C::read(unsigned address, void *data, unsigned count)
|
||||
{
|
||||
uint8_t cmd = address;
|
||||
return transfer(&cmd, 1, (uint8_t *)data, count);
|
||||
}
|
||||
|
||||
int
|
||||
DPS310_I2C::write(unsigned address, void *data, unsigned count)
|
||||
{
|
||||
uint8_t buf[32];
|
||||
|
||||
if (sizeof(buf) < (count + 1)) {
|
||||
return -EIO;
|
||||
}
|
||||
|
||||
buf[0] = address;
|
||||
memcpy(&buf[1], data, count);
|
||||
|
||||
return transfer(&buf[0], count + 1, nullptr, 0);
|
||||
}
|
||||
|
||||
} // namespace dps310
|
||||
104
src/drivers/barometer/dps310/DPS310_SPI.cpp
Normal file
104
src/drivers/barometer/dps310/DPS310_SPI.cpp
Normal file
@@ -0,0 +1,104 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2019 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 DPS310_SPI.cpp
|
||||
*
|
||||
* SPI interface for DPS310
|
||||
*/
|
||||
|
||||
#include <lib/drivers/device/spi.h>
|
||||
|
||||
namespace dps310
|
||||
{
|
||||
|
||||
/* SPI protocol address bits */
|
||||
#define DIR_READ (1<<7)
|
||||
#define DIR_WRITE (0<<7)
|
||||
|
||||
device::Device *DPS310_SPI_interface(uint8_t bus, uint32_t device);
|
||||
|
||||
class DPS310_SPI : public device::SPI
|
||||
{
|
||||
public:
|
||||
DPS310_SPI(uint8_t bus, uint32_t device);
|
||||
virtual ~DPS310_SPI() = default;
|
||||
|
||||
virtual int read(unsigned address, void *data, unsigned count);
|
||||
virtual int write(unsigned address, void *data, unsigned count);
|
||||
|
||||
};
|
||||
|
||||
device::Device *
|
||||
DPS310_SPI_interface(uint8_t bus, uint32_t device)
|
||||
{
|
||||
return new DPS310_SPI(bus, device);
|
||||
}
|
||||
|
||||
DPS310_SPI::DPS310_SPI(uint8_t bus, uint32_t device) :
|
||||
SPI("DPS310_SPI", nullptr, bus, device, SPIDEV_MODE3, 10 * 1000 * 1000)
|
||||
{
|
||||
}
|
||||
|
||||
int
|
||||
DPS310_SPI::read(unsigned address, void *data, unsigned count)
|
||||
{
|
||||
uint8_t buf[32];
|
||||
|
||||
if (sizeof(buf) < (count + 1)) {
|
||||
return -EIO;
|
||||
}
|
||||
|
||||
buf[0] = address | DIR_READ;
|
||||
|
||||
int ret = transfer(&buf[0], &buf[0], count + 1);
|
||||
memcpy(data, &buf[1], count);
|
||||
return ret;
|
||||
}
|
||||
|
||||
int
|
||||
DPS310_SPI::write(unsigned address, void *data, unsigned count)
|
||||
{
|
||||
uint8_t buf[32];
|
||||
|
||||
if (sizeof(buf) < (count + 1)) {
|
||||
return -EIO;
|
||||
}
|
||||
|
||||
buf[0] = address | DIR_WRITE;
|
||||
memcpy(&buf[1], data, count);
|
||||
|
||||
return transfer(&buf[0], &buf[0], count + 1);
|
||||
}
|
||||
|
||||
} // namespace dps310
|
||||
122
src/drivers/barometer/dps310/Infineon_DPS310_Registers.hpp
Normal file
122
src/drivers/barometer/dps310/Infineon_DPS310_Registers.hpp
Normal file
@@ -0,0 +1,122 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2019 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#pragma once
|
||||
|
||||
// TODO: move to a central header
|
||||
static constexpr uint8_t Bit0 = (1 << 0);
|
||||
static constexpr uint8_t Bit1 = (1 << 1);
|
||||
static constexpr uint8_t Bit2 = (1 << 2);
|
||||
static constexpr uint8_t Bit3 = (1 << 3);
|
||||
static constexpr uint8_t Bit4 = (1 << 4);
|
||||
static constexpr uint8_t Bit5 = (1 << 5);
|
||||
static constexpr uint8_t Bit6 = (1 << 6);
|
||||
static constexpr uint8_t Bit7 = (1 << 7);
|
||||
|
||||
namespace Infineon_DPS310
|
||||
{
|
||||
|
||||
static constexpr uint8_t REV_AND_PROD_ID = 0x10;
|
||||
|
||||
enum class
|
||||
Register : uint8_t {
|
||||
|
||||
PSR_B2 = 0x00,
|
||||
PSR_B1 = 0x01,
|
||||
PSR_B0 = 0x02,
|
||||
TMP_B2 = 0x03,
|
||||
TMP_B1 = 0x04,
|
||||
TMP_B0 = 0x05,
|
||||
PRS_CFG = 0x06,
|
||||
TMP_CFG = 0x07,
|
||||
MEAS_CFG = 0x08,
|
||||
CFG_REG = 0x09,
|
||||
|
||||
RESET = 0x0C,
|
||||
ID = 0x0D,
|
||||
|
||||
COEF = 0x10,
|
||||
// c0 = 0x10
|
||||
// .
|
||||
// c30 = 0x21
|
||||
|
||||
COEF_SRCE = 0x28,
|
||||
|
||||
};
|
||||
|
||||
enum PRS_CFG_BIT : uint8_t {
|
||||
PM_RATE_32HZ = Bit6 | Bit4, // 101 - 32 measurements pr. sec.
|
||||
PM_PRC_16 = Bit2, // 0100 - 16 times (Standard).
|
||||
};
|
||||
|
||||
enum TMP_CFG_BIT : uint8_t {
|
||||
TMP_EXT = Bit7,
|
||||
TMP_RATE_32HZ = Bit6 | Bit4, // 101 - 32 measurements pr. sec.
|
||||
TMP_PRC_16 = Bit2, // 0100 - 16 times.
|
||||
};
|
||||
|
||||
enum CFG_REG_BIT : uint8_t {
|
||||
T_SHIFT = Bit3,
|
||||
P_SHIFT = Bit2,
|
||||
};
|
||||
|
||||
enum MEAS_CFG_BIT : uint8_t {
|
||||
COEF_RDY = Bit7,
|
||||
SENSOR_RDY = Bit6,
|
||||
TMP_RDY = Bit5,
|
||||
PRS_RDY = Bit4,
|
||||
|
||||
MEAS_CTRL_CONT = Bit2 | Bit1 | Bit0, // 111 - Continous pressure and temperature measurement
|
||||
};
|
||||
|
||||
enum RESET_BIT : uint8_t {
|
||||
SOFT_RST = Bit3 | Bit0, // Write '1001' to generate a soft reset
|
||||
};
|
||||
|
||||
enum COEF_SRCE_BIT : uint8_t {
|
||||
TMP_COEF_SRCE = Bit7, // TMP_COEF_SRCE
|
||||
};
|
||||
|
||||
struct CalibrationCoefficients {
|
||||
int16_t c0; // 12bit
|
||||
int16_t c1; // 12bit
|
||||
int32_t c00; // 20bit
|
||||
int32_t c10; // 20bit
|
||||
int16_t c01; // 16bit
|
||||
int16_t c11; // 16bit
|
||||
int16_t c20; // 16bit
|
||||
int16_t c21; // 16bit
|
||||
int16_t c30; // 16bit
|
||||
};
|
||||
|
||||
} // namespace Infineon_DPS310
|
||||
220
src/drivers/barometer/dps310/dps310_main.cpp
Normal file
220
src/drivers/barometer/dps310/dps310_main.cpp
Normal file
@@ -0,0 +1,220 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2019 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include "DPS310.hpp"
|
||||
|
||||
#include <px4_platform_common/getopt.h>
|
||||
|
||||
namespace dps310
|
||||
{
|
||||
|
||||
enum class DPS310_BUS {
|
||||
ALL = 0,
|
||||
I2C_INTERNAL,
|
||||
I2C_EXTERNAL,
|
||||
SPI_INTERNAL,
|
||||
SPI_EXTERNAL
|
||||
};
|
||||
|
||||
extern device::Device *DPS310_SPI_interface(uint8_t bus, uint32_t device);
|
||||
extern device::Device *DPS310_I2C_interface(uint8_t bus, uint32_t device);
|
||||
typedef device::Device *(*DPS310_constructor)(uint8_t, uint32_t);
|
||||
|
||||
struct dps310_bus_option {
|
||||
DPS310_BUS busid;
|
||||
DPS310_constructor interface_constructor;
|
||||
uint8_t busnum;
|
||||
uint32_t address;
|
||||
DPS310 *dev;
|
||||
} bus_options[] = {
|
||||
#if defined(PX4_SPI_BUS_2) && defined(PX4_SPIDEV_BARO)
|
||||
{ DPS310_BUS::SPI_INTERNAL, &DPS310_SPI_interface, PX4_SPI_BUS_2, PX4_SPIDEV_BARO, nullptr },
|
||||
#endif
|
||||
#if defined(PX4_I2C_BUS_EXPANSION) && defined(PX4_I2C_OBDEV_DPS310)
|
||||
{ DPS310_BUS::I2C_EXTERNAL, &DPS310_I2C_interface, PX4_I2C_BUS_EXPANSION, PX4_I2C_OBDEV_DPS310, nullptr },
|
||||
#endif
|
||||
};
|
||||
|
||||
// find a bus structure for a busid
|
||||
static dps310_bus_option *find_bus(DPS310_BUS busid)
|
||||
{
|
||||
for (dps310_bus_option &bus_option : bus_options) {
|
||||
if ((busid == DPS310_BUS::ALL ||
|
||||
busid == bus_option.busid) && bus_option.dev != nullptr) {
|
||||
|
||||
return &bus_option;
|
||||
}
|
||||
}
|
||||
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
static bool start_bus(dps310_bus_option &bus)
|
||||
{
|
||||
device::Device *interface = bus.interface_constructor(bus.busnum, bus.address);
|
||||
|
||||
if ((interface == nullptr) || (interface->init() != PX4_OK)) {
|
||||
PX4_WARN("no device on bus %u", (unsigned)bus.busid);
|
||||
delete interface;
|
||||
return false;
|
||||
}
|
||||
|
||||
DPS310 *dev = new DPS310(interface);
|
||||
|
||||
if (dev == nullptr || dev->init() != PX4_OK) {
|
||||
PX4_ERR("driver start failed");
|
||||
delete dev;
|
||||
return false;
|
||||
}
|
||||
|
||||
bus.dev = dev;
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
static int start(DPS310_BUS busid)
|
||||
{
|
||||
for (dps310_bus_option &bus_option : bus_options) {
|
||||
if (bus_option.dev != nullptr) {
|
||||
// this device is already started
|
||||
PX4_WARN("already started");
|
||||
continue;
|
||||
}
|
||||
|
||||
if (busid != DPS310_BUS::ALL && bus_option.busid != busid) {
|
||||
// not the one that is asked for
|
||||
continue;
|
||||
}
|
||||
|
||||
if (start_bus(bus_option)) {
|
||||
return PX4_OK;
|
||||
}
|
||||
}
|
||||
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
static int stop(DPS310_BUS busid)
|
||||
{
|
||||
dps310_bus_option *bus = find_bus(busid);
|
||||
|
||||
if (bus != nullptr && bus->dev != nullptr) {
|
||||
delete bus->dev;
|
||||
bus->dev = nullptr;
|
||||
|
||||
} else {
|
||||
PX4_WARN("driver not running");
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
return PX4_OK;
|
||||
}
|
||||
|
||||
static int status(DPS310_BUS busid)
|
||||
{
|
||||
dps310_bus_option *bus = find_bus(busid);
|
||||
|
||||
if (bus != nullptr && bus->dev != nullptr) {
|
||||
bus->dev->print_info();
|
||||
return PX4_OK;
|
||||
}
|
||||
|
||||
PX4_WARN("driver not running");
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
static int usage()
|
||||
{
|
||||
PX4_INFO("missing command: try 'start', 'stop', 'status'");
|
||||
PX4_INFO("options:");
|
||||
PX4_INFO(" -X (i2c external bus)");
|
||||
PX4_INFO(" -I (i2c internal bus)");
|
||||
PX4_INFO(" -s (spi internal bus)");
|
||||
PX4_INFO(" -S (spi external bus)");
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
} // namespace dsp310
|
||||
|
||||
extern "C" int dps310_main(int argc, char *argv[])
|
||||
{
|
||||
int myoptind = 1;
|
||||
int ch;
|
||||
const char *myoptarg = nullptr;
|
||||
|
||||
using namespace dps310;
|
||||
|
||||
DPS310_BUS busid = DPS310_BUS::ALL;
|
||||
|
||||
while ((ch = px4_getopt(argc, argv, "XISs", &myoptind, &myoptarg)) != EOF) {
|
||||
switch (ch) {
|
||||
case 'X':
|
||||
busid = DPS310_BUS::I2C_EXTERNAL;
|
||||
break;
|
||||
|
||||
case 'I':
|
||||
busid = DPS310_BUS::I2C_INTERNAL;
|
||||
break;
|
||||
|
||||
case 'S':
|
||||
busid = DPS310_BUS::SPI_EXTERNAL;
|
||||
break;
|
||||
|
||||
case 's':
|
||||
busid = DPS310_BUS::SPI_INTERNAL;
|
||||
break;
|
||||
|
||||
default:
|
||||
return usage();
|
||||
}
|
||||
}
|
||||
|
||||
if (myoptind >= argc) {
|
||||
return usage();
|
||||
}
|
||||
|
||||
const char *verb = argv[myoptind];
|
||||
|
||||
if (!strcmp(verb, "start")) {
|
||||
return start(busid);
|
||||
|
||||
} else if (!strcmp(verb, "stop")) {
|
||||
return stop(busid);
|
||||
|
||||
} else if (!strcmp(verb, "status")) {
|
||||
return status(busid);
|
||||
}
|
||||
|
||||
return usage();
|
||||
}
|
||||
@@ -116,6 +116,7 @@
|
||||
#define DRV_BARO_DEVTYPE_BAROSIM 0x65
|
||||
#define DRV_DEVTYPE_BMI088 0x66
|
||||
#define DRV_DEVTYPE_BMP388 0x67
|
||||
#define DRV_DEVTYPE_DPS310 0x68
|
||||
|
||||
/*
|
||||
* ioctl() definitions
|
||||
|
||||
Reference in New Issue
Block a user