WIP: Infineon DPS310 barometric pressure sensor

src/drivers/barometer/CMakeLists.txt

@@ -32,6 +32,7 @@
 ############################################################################
 
 add_subdirectory(bmp280)
+#add_subdirectory(dps310)
 add_subdirectory(lps22hb)
 #add_subdirectory(lps25h) # not ready for general inclusion
 #add_subdirectory(mpl3115a2) # not ready for general inclusion

src/drivers/barometer/dps310/CMakeLists.txt

@@ -0,0 +1,46 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+px4_add_module(
+	MODULE drivers__barometer__dps310
+	MAIN dps310
+	STACK_MAIN 1500
+	COMPILE_FLAGS
+	SRCS
+		DPS310.cpp
+		DPS310.hpp
+		DPS310_I2C.cpp
+		DPS310_SPI.cpp
+		dps310_main.cpp
+	DEPENDS
+		drivers_barometer
+	)

src/drivers/barometer/dps310/DPS310.cpp

@@ -0,0 +1,277 @@
+/****************************************************************************
+ *
+ *   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"
+
+static constexpr uint32_t DPS310_CONVERSION_INTERVAL{27600};	// microseconds
+
+DPS310::DPS310(device::Device *interface) :
+	ScheduledWorkItem(px4::device_bus_to_wq(interface->get_device_id())),
+	_px4_barometer(interface->get_device_id()),
+	_interface(interface),
+	_sample_perf(perf_alloc(PC_ELAPSED, "dps310: read")),
+	_sample_interval_perf(perf_alloc(PC_INTERVAL, "dps310: read interval")),
+	_comms_errors(perf_alloc(PC_COUNT, "dps310: comm errors"))
+{
+	_px4_barometer.set_device_type(DRV_BARO_DEVTYPE_DPS310);
+}
+
+DPS310::~DPS310()
+{
+	// make sure we are truly inactive
+	stop();
+
+	// free perf counters
+	perf_free(_sample_perf);
+	perf_free(_sample_interval_perf);
+	perf_free(_comms_errors);
+
+	delete _interface;
+}
+
+int
+DPS310::init()
+{
+	uint8_t id = RegisterRead(Register::Product_ID);
+
+	if (Infineon_DPS310::ID != id) {
+		return PX4_ERROR;
+	}
+
+	if (reset() != OK) {
+		return PX4_ERROR;
+	}
+
+	start();
+
+	return PX4_OK;
+}
+
+/*
+  handle bit width for 16 bit config registers
+ */
+static void fix_config_bits16(int16_t &v, uint8_t bits)
+{
+	if (v > int16_t((1U << (bits - 1)) - 1)) {
+		v = v - (1U << bits);
+	}
+}
+
+/*
+  handle bit width for 32 bit config registers
+ */
+static void fix_config_bits32(int32_t &v, uint8_t bits)
+{
+	if (v > int32_t((1U << (bits - 1)) - 1)) {
+		v = v - (1U << bits);
+	}
+}
+
+int
+DPS310::reset()
+{
+	// read calibration data
+	uint8_t buf[18] {};
+
+	if (_interface->read((uint8_t)Register::COEF, &buf, 18)) {
+		return false;
+	}
+
+	_calibration.C0  = (buf[0] << 4) + ((buf[1] >> 4) & 0x0F);
+	_calibration.C1  = (buf[2] + ((buf[1] & 0x0F) << 8));
+	_calibration.C00 = ((buf[4] << 4) + (buf[3] << 12)) + ((buf[5] >> 4) & 0x0F);
+	_calibration.C10 = ((buf[5] & 0x0F) << 16) + buf[7] + (buf[6] << 8);
+	_calibration.C01 = (buf[9] + (buf[8] << 8));
+	_calibration.C11 = (buf[11] + (buf[10] << 8));
+	_calibration.C20 = (buf[13] + (buf[12] << 8));
+	_calibration.C21 = (buf[15] + (buf[14] << 8));
+	_calibration.C30 = (buf[17] + (buf[16] << 8));
+
+	fix_config_bits16(_calibration.C0, 12);
+	fix_config_bits16(_calibration.C1, 12);
+	fix_config_bits32(_calibration.C00, 20);
+	fix_config_bits32(_calibration.C10, 20);
+	fix_config_bits16(_calibration.C01, 16);
+	fix_config_bits16(_calibration.C11, 16);
+	fix_config_bits16(_calibration.C20, 16);
+	fix_config_bits16(_calibration.C21, 16);
+	fix_config_bits16(_calibration.C30, 16);
+
+	// get calibration source
+	if (_interface->read((uint8_t)Register::COEF_SRCE, &_calibration.temp_source, 1)) {
+		return PX4_ERROR;
+	}
+
+	_calibration.temp_source &= 0x80;
+
+
+
+	RegisterWrite(Register::CFG_REG, 0x0C);		// shift for 16x oversampling
+	RegisterWrite(Register::PRS_CFG, 0x54);		// 32 Hz, 16x oversample
+	RegisterWrite(Register::TMP_CFG, 0x54);		// 32 Hz, 16x oversample
+	RegisterWrite(Register::MEAS_CFG, 0x07);	// continuous temp and pressure
+
+	return PX4_OK;
+}
+
+void
+DPS310::start()
+{
+	// reset the report ring and state machine
+	_collect_phase = false;
+
+	ScheduleOnInterval(DPS310_CONVERSION_INTERVAL);
+}
+
+void
+DPS310::stop()
+{
+	ScheduleClear();
+}
+
+void
+DPS310::calculate_PT(int32_t UT, int32_t UP, float &pressure, float &temperature)
+{
+	// scaling for 16x oversampling
+	const float scaling_16 = 1.0f / 253952;
+
+	float temp_scaled = float(UT) * scaling_16;
+
+	temperature = _calibration.C0 * 0.5f + _calibration.C1 * temp_scaled;
+
+	float press_scaled = float(UP) * scaling_16;
+
+	pressure = _calibration.C00;
+	pressure += press_scaled * (_calibration.C10 + press_scaled * (_calibration.C20 + press_scaled * _calibration.C30));
+	pressure += temp_scaled * _calibration.C01;
+	pressure += temp_scaled * press_scaled * (_calibration.C11 + press_scaled * _calibration.C21);
+}
+
+void
+DPS310::Run()
+{
+	perf_begin(_sample_perf);
+	perf_count(_sample_interval_perf);
+
+	uint8_t ready = RegisterRead(Register::MEAS_CFG);
+
+	if (!(ready & (1U << 4))) {
+		// pressure not ready
+		return;
+	}
+
+	uint8_t buf[6];
+	const hrt_abstime timestamp_sample = hrt_absolute_time();
+
+	if (_interface->read((uint8_t)Register::PSR_B0, buf, 3) != PX4_OK) {
+		perf_count(_comms_errors);
+		return;
+	}
+
+	if (_interface->read((uint8_t)Register::TMP_B0, &buf[3], 3) != PX4_OK) {
+		perf_count(_comms_errors);
+		return;
+	}
+
+	int32_t press = (buf[2]) + (buf[1] << 8) + (buf[0] << 16);
+	int32_t temp  = (buf[5]) + (buf[4] << 8) + (buf[3] << 16);
+	fix_config_bits32(press, 24);
+	fix_config_bits32(temp, 24);
+
+	float pressure = 0.0f;
+	float temperature = 0.0f;
+
+	calculate_PT(temp, press, pressure, temperature);
+
+	//float P_raw_sc = 0.0f;
+	//float T_raw_sc = 0.0f;
+
+	//float c00, c10, c20, c30, c01, c11, c21 = 0.0f;
+
+	//float P_comp_Pa = c00 + P_raw_sc * (c10 + P_raw_sc * (c20 + P_raw_sc * c30)) + T_raw_sc * c01 + T_raw_sc * P_raw_sc * (c11 + P_raw_sc * c21);
+
+	_px4_barometer.set_error_count(perf_event_count(_comms_errors));
+	_px4_barometer.set_temperature(temperature);
+	_px4_barometer.update(timestamp_sample, pressure);
+
+	perf_end(_sample_perf);
+}
+
+uint8_t
+DPS310::RegisterRead(Register reg)
+{
+	uint8_t buf{};
+	_interface->read((uint8_t)reg, &buf, 1);
+
+	return buf;
+}
+
+void
+DPS310::RegisterWrite(Register reg, uint8_t value)
+{
+	_interface->write((uint8_t)reg, &value, 1);
+}
+
+void
+DPS310::RegisterClearBits(Register reg, uint8_t clearbits)
+{
+	uint8_t val = RegisterRead(reg);
+
+	// only write if necessary
+	if (val & clearbits) {
+		val &= !clearbits;
+		RegisterWrite(reg, val);
+	}
+}
+
+void
+DPS310::RegisterSetBits(Register reg, uint8_t setbits)
+{
+	uint8_t val = RegisterRead(reg);
+
+	// only write if necessary
+	if (!(val & setbits)) {
+		val |= setbits;
+		RegisterWrite(reg, val);
+	}
+}
+
+void
+DPS310::print_info()
+{
+	perf_print_counter(_sample_perf);
+	perf_print_counter(_comms_errors);
+	printf("poll interval: %u \n", _measure_interval);
+
+	_px4_barometer.print_status();
+}