Infineon DPS310 Barometer

boards/mro/ctrl-zero-f7/default.cmake

@@ -19,7 +19,7 @@ px4_add_board(
 	DRIVERS
 		adc
 		#barometer # all available barometer drivers
-		#barometer/dps310
+		barometer/dps310
 		batt_smbus
 		camera_capture
 		camera_trigger

boards/mro/ctrl-zero-f7/init/rc.board_sensors

@@ -18,7 +18,7 @@ bmi088 -A -R 10 start
 bmi088 -G -R 10 start
 
 # Interal DPS310 (barometer)
-dps310 start
+dps310 -s start
 
 # Possible external compasses
 ist8310 -C -b 1 start

src/drivers/barometer/CMakeLists.txt

@@ -33,6 +33,7 @@
 
 add_subdirectory(bmp280)
 add_subdirectory(bmp388)
+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 +1,45 @@
+############################################################################
+#
+#   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
+	SRCS
+		DPS310.cpp
+		DPS310.hpp
+		DPS310_I2C.cpp
+		DPS310_SPI.cpp
+		dps310_main.cpp
+	DEPENDS
+		drivers_barometer
+		px4_work_queue
+	)

src/drivers/barometer/dps310/DPS310.cpp

@@ -0,0 +1,298 @@
+/****************************************************************************
+ *
+ *   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"
+
+using namespace Infineon_DPS310;
+
+namespace dps310
+{
+
+template<typename T>
+static void getTwosComplement(T &raw, uint8_t length)
+{
+	if (raw & ((T)1 << (length - 1))) {
+		raw -= (T)1 << length;
+	}
+}
+
+DPS310::DPS310(device::Device *interface) :
+	ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(interface->get_device_id())),
+	_px4_barometer(interface->get_device_id()),
+	_interface(interface),
+	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
+	_comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": comm errors"))
+{
+	_px4_barometer.set_device_type(DRV_DEVTYPE_DPS310);
+}
+
+DPS310::~DPS310()
+{
+	stop();
+
+	perf_free(_sample_perf);
+	perf_free(_comms_errors);
+
+	delete _interface;
+}
+
+int
+DPS310::init()
+{
+	if (RegisterRead(Register::ID) != Infineon_DPS310::REV_AND_PROD_ID) {
+		PX4_ERR("Product_ID mismatch");
+		return PX4_ERROR;
+	}
+
+	if (reset() != OK) {
+		PX4_DEBUG("reset failed");
+		return PX4_ERROR;
+	}
+
+	start();
+
+	return PX4_OK;
+}
+
+int
+DPS310::reset()
+{
+	// Soft Reset
+	RegisterSetBits(Register::RESET, RESET_BIT::SOFT_RST);
+	usleep(40000);	// 40 milliseconds
+
+	const uint8_t mode_and_status = RegisterRead(Register::MEAS_CFG);
+
+	bool coefficients_ready = mode_and_status & MEAS_CFG_BIT::COEF_RDY;
+	bool sensor_ready = mode_and_status & MEAS_CFG_BIT::SENSOR_RDY;
+
+	if (!coefficients_ready) {
+		PX4_ERR("Coefficients are not available");
+		return PX4_ERROR;
+	}
+
+	if (!sensor_ready) {
+		PX4_ERR("Sensor initialization not complete");
+		return PX4_ERROR;
+	}
+
+	// 1. Read the pressure calibration coefficients (c00, c10, c20, c30, c01, c11, and c21) from the Calibration Coefficient register.
+	//   Note: The coefficients read from the coefficient register are 2's complement numbers.
+	uint8_t coef[18] {};
+
+	if (_interface->read((uint8_t)Register::COEF, coef, 18)) {
+		return PX4_ERROR;
+	}
+
+	// first element of coef[18] corresponds to register 0x10
+
+	// 0x11 c0 [3:0] + 0x10 c0 [11:4]
+	_calibration.c0 = ((uint32_t)coef[0] << 4) | (((uint32_t)coef[1] >> 4) & 0x0F);
+	getTwosComplement(_calibration.c0, 12);
+
+	// 0x11 c1 [11:8] + 0x12 c1 [7:0]
+	_calibration.c1 = (((uint32_t)coef[1] & 0x0F) << 8) | (uint32_t)coef[2];
+	getTwosComplement(_calibration.c1, 12);
+
+	// 0x13 c00 [19:12] + 0x14 c00 [11:4] + 0x15 c00 [3:0]
+	_calibration.c00 = ((uint32_t)coef[3] << 12) | ((uint32_t)coef[4] << 4) | (((uint32_t)coef[5] >> 4) & 0x0F);
+	getTwosComplement(_calibration.c00, 20);
+
+	// 0x15 c10 [19:16] + 0x16 c10 [15:8] + 0x17 c10 [7:0]
+	_calibration.c10 = (((uint32_t)coef[5] & 0x0F) << 16) | ((uint32_t)coef[6] << 8) | (uint32_t)coef[7];
+	getTwosComplement(_calibration.c10, 20);
+
+	// 0x18 c01 [15:8] + 0x19 c01 [7:0]
+	_calibration.c01 = ((uint32_t)coef[8] << 8) | (uint32_t)coef[9];
+	getTwosComplement(_calibration.c01, 16);
+
+	// 0x1A c11 [15:8] + 0x1B c11 [7:0]
+	_calibration.c11 = ((uint32_t)coef[8] << 8) | (uint32_t)coef[9];
+	getTwosComplement(_calibration.c11, 16);
+
+	// 0x1C c20 [15:8] + 0x1D c20 [7:0]
+	_calibration.c20 = ((uint32_t)coef[12] << 8) | (uint32_t)coef[13];
+	getTwosComplement(_calibration.c20, 16);
+
+	// 0x1E c21 [15:8] + 0x1F c21 [7:0]
+	_calibration.c21 = ((uint32_t)coef[14] << 8) | (uint32_t)coef[15];
+	getTwosComplement(_calibration.c21, 16);
+
+	// 0x20 c30 [15:8] + 0x21 c30 [7:0]
+	_calibration.c30 = ((uint32_t)coef[16] << 8) | (uint32_t)coef[17];
+	getTwosComplement(_calibration.c30, 16);
+
+
+	// PRS_CFG: pressure measurement rate (32 Hz) and oversampling (16 time standard)
+	RegisterSetBits(Register::PRS_CFG, PRS_CFG_BIT::PM_RATE_32HZ | PRS_CFG_BIT::PM_PRC_16);
+
+	// TMP_CFG: temperature measurement rate (32 Hz) and oversampling (16 times)
+	const uint8_t TMP_COEF_SRCE = RegisterRead(Register::COEF_SRCE) & COEF_SRCE_BIT::TMP_COEF_SRCE;
+	RegisterSetBits(Register::TMP_CFG, TMP_CFG_BIT::TMP_RATE_32HZ | TMP_CFG_BIT::TMP_PRC_16 | TMP_COEF_SRCE);
+
+	// CFG_REG: set pressure and temperature result bit-shift (required when the oversampling rate is >8 times)
+	RegisterSetBits(Register::CFG_REG, CFG_REG_BIT::T_SHIFT | CFG_REG_BIT::P_SHIFT);
+
+	// MEAS_CFG: Continous pressure and temperature measurement
+	RegisterSetBits(Register::MEAS_CFG, MEAS_CFG_BIT::MEAS_CTRL_CONT);
+
+	return PX4_OK;
+}
+
+void
+DPS310::start()
+{
+	// run at twice the sample rate to capture all new data
+	ScheduleOnInterval(1000000 / SAMPLE_RATE / 2);
+}
+
+void
+DPS310::stop()
+{
+	ScheduleClear();
+}
+
+void
+DPS310::Run()
+{
+	perf_begin(_sample_perf);
+
+	// check if pressure ready
+	bool pressure_ready = RegisterRead(Register::MEAS_CFG) & MEAS_CFG_BIT::PRS_RDY;
+
+	if (!pressure_ready) {
+		perf_end(_sample_perf);
+		return;
+	}
+
+
+	// 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.
+	static constexpr float kT = 253952;	// 16 times (Standard)
+	static constexpr float kP = 253952;	// 16 times (Standard)
+
+
+	// 3. Read the pressure and temperature result from the registers
+
+	// Read PSR_B2, PSR_B1, PSR_B0, TMP_B2, TMP_B1, TMP_B0
+	uint8_t buf[6] {};
+	const hrt_abstime timestamp_sample = hrt_absolute_time();
+
+	if (_interface->read((uint8_t)Register::PSR_B2, buf, 6) != PX4_OK) {
+		perf_count(_comms_errors);
+		perf_end(_sample_perf);
+		return;
+	}
+
+	int32_t Praw = (buf[0] << 16) + (buf[1] << 8) + buf[2];
+	getTwosComplement(Praw, 24);
+
+	int32_t Traw = (buf[3] << 16) + (buf[4] << 8) + buf[5];
+	getTwosComplement(Traw, 24);
+
+
+	// 4. Calculate scaled measurement results.
+	const float Praw_sc = Praw / kP;
+	const float Traw_sc = Traw / kT;
+
+
+	// 5. Calculate compensated measurement results.
+	const auto &c00 = _calibration.c00;
+	const auto &c01 = _calibration.c01;
+	const auto &c10 = _calibration.c10;
+	const auto &c11 = _calibration.c11;
+	const auto &c20 = _calibration.c20;
+	const auto &c21 = _calibration.c21;
+	const auto &c30 = _calibration.c30;
+
+	const float Pcomp = c00 + Praw_sc * (c10 + Praw_sc * (c20 + Praw_sc * c30)) + Traw_sc * c01 + Traw_sc * Praw_sc *
+			    (c11 + Praw_sc * c21);
+
+	const auto &c0 = _calibration.c0;
+	const auto &c1 = _calibration.c1;
+
+	const float Tcomp = c0 * 0.5f + c1 * Traw_sc;
+
+	_px4_barometer.set_error_count(perf_event_count(_comms_errors));
+	_px4_barometer.set_temperature(Tcomp);
+	_px4_barometer.update(timestamp_sample, Pcomp / 100.0f); // Pascals -> Millibar
+
+	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::RegisterSetBits(Register reg, uint8_t setbits)
+{
+	uint8_t val = RegisterRead(reg);
+
+	if (!(val & setbits)) {
+		val |= setbits;
+		RegisterWrite(reg, val);
+	}
+}
+
+void
+DPS310::RegisterClearBits(Register reg, uint8_t clearbits)
+{
+	uint8_t val = RegisterRead(reg);
+
+	if (val & clearbits) {
+		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