src/main/drivers/barometer/barometer_dps310.c

   1 /*
   2  * This file is part of Cleanflight, Betaflight and INAV.
   3  *
   4  * This Source Code Form is subject to the terms of the Mozilla Public
   5  * License, v. 2.0. If a copy of the MPL was not distributed with this file,
   6  * You can obtain one at http://mozilla.org/MPL/2.0/.
   7  *
   8  * Alternatively, the contents of this file may be used under the terms
   9  * of the GNU General Public License Version 3, as described below:
  10  *
  11  * This file is free software: you may copy, redistribute and/or modify
  12  * it under the terms of the GNU General Public License as published by the
  13  * Free Software Foundation, either version 3 of the License, or (at your
  14  * option) any later version.
  15  *
  16  * This file is distributed in the hope that it will be useful, but
  17  * WITHOUT ANY WARRANTY; without even the implied warranty of
  18  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
  19  * Public License for more details.
  20  *
  21  * You should have received a copy of the GNU General Public License
  22  * along with this program. If not, see http://www.gnu.org/licenses/.
  23  *
  24  * Copyright: INAVFLIGHT OU
  25  */
  26
  27 #include <stdbool.h>
  28 #include <stdint.h>
  29 #include <string.h>
  30
  31 #include "platform.h"
  32
  33 #include "build/build_config.h"
  34 #include "build/debug.h"
  35 #include "common/utils.h"
  36
  37 #include "drivers/io.h"
  38 #include "drivers/bus.h"
  39 #include "drivers/bus_spi.h"
  40 #include "drivers/time.h"
  41 #include "drivers/barometer/barometer.h"
  42 #include "drivers/barometer/barometer_dps310.h"
  43 #include "drivers/resource.h"
  44
  45 // 10 MHz max SPI frequency
  46 #define DPS310_MAX_SPI_CLK_HZ 10000000
  47
  48 #if defined(USE_BARO) && defined(USE_BARO_DPS310)
  49
  50 #define DPS310_I2C_ADDR             0x76
  51
  52 #define DPS310_REG_PSR_B2           0x00
  53 #define DPS310_REG_PSR_B1           0x01
  54 #define DPS310_REG_PSR_B0           0x02
  55 #define DPS310_REG_TMP_B2           0x03
  56 #define DPS310_REG_TMP_B1           0x04
  57 #define DPS310_REG_TMP_B0           0x05
  58 #define DPS310_REG_PRS_CFG          0x06
  59 #define DPS310_REG_TMP_CFG          0x07
  60 #define DPS310_REG_MEAS_CFG         0x08
  61 #define DPS310_REG_CFG_REG          0x09
  62
  63 #define DPS310_REG_RESET            0x0C
  64 #define DPS310_REG_ID               0x0D
  65
  66 #define DPS310_REG_COEF             0x10
  67 #define DPS310_REG_COEF_SRCE        0x28
  68
  69
  70 #define DPS310_ID_REV_AND_PROD_ID       (0x10)
  71
  72 #define DPS310_RESET_BIT_SOFT_RST       (0x09)    // 0b1001
  73
  74 #define DPS310_MEAS_CFG_COEF_RDY        (1 << 7)
  75 #define DPS310_MEAS_CFG_SENSOR_RDY      (1 << 6)
  76 #define DPS310_MEAS_CFG_TMP_RDY         (1 << 5)
  77 #define DPS310_MEAS_CFG_PRS_RDY         (1 << 4)
  78 #define DPS310_MEAS_CFG_MEAS_CTRL_CONT  (0x7)
  79
  80 #define DPS310_PRS_CFG_BIT_PM_RATE_32HZ (0x50)      //  101 - 32 measurements pr. sec.
  81 #define DPS310_PRS_CFG_BIT_PM_PRC_16    (0x04)      // 0100 - 16 times (Standard).
  82
  83 #define DPS310_TMP_CFG_BIT_TMP_EXT          (0x80)  //
  84 #define DPS310_TMP_CFG_BIT_TMP_RATE_32HZ    (0x50)  //  101 - 32 measurements pr. sec.
  85 #define DPS310_TMP_CFG_BIT_TMP_PRC_16       (0x04)  // 0100 - 16 times (Standard).
  86
  87 #define DPS310_CFG_REG_BIT_P_SHIFT          (0x04)
  88 #define DPS310_CFG_REG_BIT_T_SHIFT          (0x08)
  89
  90 #define DPS310_COEF_SRCE_BIT_TMP_COEF_SRCE  (0x80)
  91
  92 typedef struct {
  93     int16_t c0;     // 12bit
  94     int16_t c1;     // 12bit
  95     int32_t c00;    // 20bit
  96     int32_t c10;    // 20bit
  97     int16_t c01;    // 16bit
  98     int16_t c11;    // 16bit
  99     int16_t c20;    // 16bit
 100     int16_t c21;    // 16bit
 101     int16_t c30;    // 16bit
 102 } calibrationCoefficients_t;
 103
 104 typedef struct {
 105     calibrationCoefficients_t   calib;
 106     float                       pressure;       // Pa
 107     float                       temperature;    // DegC
 108 } baroState_t;
 109
 110 static baroState_t  baroState;
 111
 112 #define busReadBuf busReadRegisterBuffer
 113 #define busWrite   busWriteRegister
 114
 115 static uint8_t buf[6];
 116
 117 // Helper functions
 118 static uint8_t registerRead(const extDevice_t *dev, uint8_t reg)
 119 {
 120     return busReadRegister(dev, reg);
 121 }
 122
 123 static void registerWrite(const extDevice_t *dev, uint8_t reg, uint8_t value)
 124 {
 125     busWrite(dev, reg, value);
 126 }
 127
 128 static void registerSetBits(const extDevice_t *dev, uint8_t reg, uint8_t setbits)
 129 {
 130     uint8_t val = registerRead(dev, reg);
 131
 132     if ((val & setbits) != setbits) {
 133         val |= setbits;
 134         registerWrite(dev, reg, val);
 135     }
 136 }
 137
 138 static int32_t getTwosComplement(uint32_t raw, uint8_t length)
 139 {
 140     if (raw & ((int)1 << (length - 1))) {
 141         return ((int32_t)raw) - ((int32_t)1 << length);
 142     }
 143     else {
 144         return raw;
 145     }
 146 }
 147
 148 static bool deviceConfigure(const extDevice_t *dev)
 149 {
 150     // Trigger a chip reset
 151     registerSetBits(dev, DPS310_REG_RESET, DPS310_RESET_BIT_SOFT_RST);
 152
 153     // Sleep 40ms
 154     delay(40);
 155
 156     uint8_t status = registerRead(dev, DPS310_REG_MEAS_CFG);
 157
 158     // Check if coefficients are available
 159     if ((status & DPS310_MEAS_CFG_COEF_RDY) == 0) {
 160         return false;
 161     }
 162
 163     // Check if sensor initialization is complete
 164     if ((status & DPS310_MEAS_CFG_SENSOR_RDY) == 0) {
 165         return false;
 166     }
 167
 168     // 1. Read the pressure calibration coefficients (c00, c10, c20, c30, c01, c11, and c21) from the Calibration Coefficient register.
 169     //   Note: The coefficients read from the coefficient register are 2's complement numbers.
 170     // Do the read of the coefficients in multiple parts, as the chip will return a read failure when trying to read all at once over I2C.
 171 #define COEFFICIENT_LENGTH 18
 172 #define READ_LENGTH (COEFFICIENT_LENGTH / 2)
 173
 174     uint8_t coef[COEFFICIENT_LENGTH];
 175     if (!busReadBuf(dev, DPS310_REG_COEF, coef, READ_LENGTH)) {
 176         return false;
 177     }
 178      if (!busReadBuf(dev, DPS310_REG_COEF + READ_LENGTH, coef + READ_LENGTH, COEFFICIENT_LENGTH - READ_LENGTH)) {
 179         return false;
 180     }
 181
 182     // 0x11 c0 [3:0] + 0x10 c0 [11:4]
 183     baroState.calib.c0 = getTwosComplement(((uint32_t)coef[0] << 4) | (((uint32_t)coef[1] >> 4) & 0x0F), 12);
 184
 185     // 0x11 c1 [11:8] + 0x12 c1 [7:0]
 186     baroState.calib.c1 = getTwosComplement((((uint32_t)coef[1] & 0x0F) << 8) | (uint32_t)coef[2], 12);
 187
 188     // 0x13 c00 [19:12] + 0x14 c00 [11:4] + 0x15 c00 [3:0]
 189     baroState.calib.c00 = getTwosComplement(((uint32_t)coef[3] << 12) | ((uint32_t)coef[4] << 4) | (((uint32_t)coef[5] >> 4) & 0x0F), 20);
 190
 191     // 0x15 c10 [19:16] + 0x16 c10 [15:8] + 0x17 c10 [7:0]
 192     baroState.calib.c10 = getTwosComplement((((uint32_t)coef[5] & 0x0F) << 16) | ((uint32_t)coef[6] << 8) | (uint32_t)coef[7], 20);
 193
 194     // 0x18 c01 [15:8] + 0x19 c01 [7:0]
 195     baroState.calib.c01 = getTwosComplement(((uint32_t)coef[8] << 8) | (uint32_t)coef[9], 16);
 196
 197     // 0x1A c11 [15:8] + 0x1B c11 [7:0]
 198     baroState.calib.c11 = getTwosComplement(((uint32_t)coef[8] << 8) | (uint32_t)coef[9], 16);
 199
 200     // 0x1C c20 [15:8] + 0x1D c20 [7:0]
 201     baroState.calib.c20 = getTwosComplement(((uint32_t)coef[12] << 8) | (uint32_t)coef[13], 16);
 202
 203     // 0x1E c21 [15:8] + 0x1F c21 [7:0]
 204     baroState.calib.c21 = getTwosComplement(((uint32_t)coef[14] << 8) | (uint32_t)coef[15], 16);
 205
 206     // 0x20 c30 [15:8] + 0x21 c30 [7:0]
 207     baroState.calib.c30 = getTwosComplement(((uint32_t)coef[16] << 8) | (uint32_t)coef[17], 16);
 208
 209     // PRS_CFG: pressure measurement rate (32 Hz) and oversampling (16 time standard)
 210     registerSetBits(dev, DPS310_REG_PRS_CFG, DPS310_PRS_CFG_BIT_PM_RATE_32HZ | DPS310_PRS_CFG_BIT_PM_PRC_16);
 211
 212     // TMP_CFG: temperature measurement rate (32 Hz) and oversampling (16 times)
 213     const uint8_t TMP_COEF_SRCE = registerRead(dev, DPS310_REG_COEF_SRCE) & DPS310_COEF_SRCE_BIT_TMP_COEF_SRCE;
 214     registerSetBits(dev, DPS310_REG_TMP_CFG, DPS310_TMP_CFG_BIT_TMP_RATE_32HZ | DPS310_TMP_CFG_BIT_TMP_PRC_16 | TMP_COEF_SRCE);
 215
 216     // CFG_REG: set pressure and temperature result bit-shift (required when the oversampling rate is >8 times)
 217     registerSetBits(dev, DPS310_REG_CFG_REG, DPS310_CFG_REG_BIT_T_SHIFT | DPS310_CFG_REG_BIT_P_SHIFT);
 218
 219     // MEAS_CFG: Continuous pressure and temperature measurement
 220     registerSetBits(dev, DPS310_REG_MEAS_CFG, DPS310_MEAS_CFG_MEAS_CTRL_CONT);
 221
 222     return true;
 223 }
 224
 225 static bool dps310ReadUP(baroDev_t *baro)
 226 {
 227     if (busBusy(&baro->dev, NULL)) {
 228         return false;
 229     }
 230
 231     // 1. Kick off read
 232     // No need to poll for data ready as the conversion rate is 32Hz and this is sampling at 20Hz
 233     // Read PSR_B2, PSR_B1, PSR_B0, TMP_B2, TMP_B1, TMP_B0
 234      busReadRegisterBufferStart(&baro->dev, DPS310_REG_PSR_B2, buf, 6);
 235
 236     return true;
 237 }
 238
 239 static bool dps310GetUP(baroDev_t *baro)
 240 {
 241     UNUSED(baro);
 242
 243     // 2. Choose scaling factors kT (for temperature) and kP (for pressure) based on the chosen precision rate.
 244     // The scaling factors are listed in Table 9.
 245     static float kT = 253952; // 16 times (Standard)
 246     static float kP = 253952; // 16 times (Standard)
 247
 248     // 3. Read the pressure and temperature result from the registers
 249
 250     const int32_t Praw = getTwosComplement((buf[0] << 16) + (buf[1] << 8) + buf[2], 24);
 251     const int32_t Traw = getTwosComplement((buf[3] << 16) + (buf[4] << 8) + buf[5], 24);
 252
 253     // 4. Calculate scaled measurement results.
 254     const float Praw_sc = Praw / kP;
 255     const float Traw_sc = Traw / kT;
 256
 257     // 5. Calculate compensated measurement results.
 258     const float c00 = baroState.calib.c00;
 259     const float c01 = baroState.calib.c01;
 260     const float c10 = baroState.calib.c10;
 261     const float c11 = baroState.calib.c11;
 262     const float c20 = baroState.calib.c20;
 263     const float c21 = baroState.calib.c21;
 264     const float c30 = baroState.calib.c30;
 265
 266     const float c0 = baroState.calib.c0;
 267     const float c1 = baroState.calib.c1;
 268
 269     baroState.pressure = c00 + Praw_sc * (c10 + Praw_sc * (c20 + Praw_sc * c30)) + Traw_sc * c01 + Traw_sc * Praw_sc * (c11 + Praw_sc * c21);
 270     baroState.temperature = c0 * 0.5f + c1 * Traw_sc;
 271
 272     return true;
 273 }
 274
 275 static void deviceCalculate(int32_t *pressure, int32_t *temperature)
 276 {
 277     if (pressure) {
 278         *pressure = baroState.pressure;
 279     }
 280
 281     if (temperature) {
 282         *temperature = (baroState.temperature * 100);   // to centidegrees
 283     }
 284 }
 285
 286
 287
 288 #define DETECTION_MAX_RETRY_COUNT   5
 289 static bool deviceDetect(const extDevice_t *dev)
 290 {
 291     for (int retry = 0; retry < DETECTION_MAX_RETRY_COUNT; retry++) {
 292         uint8_t chipId[1];
 293
 294         delay(100);
 295
 296         bool ack = busReadBuf(dev, DPS310_REG_ID, chipId, 1);
 297
 298         if (ack && chipId[0] == DPS310_ID_REV_AND_PROD_ID) {
 299             return true;
 300         }
 301     };
 302
 303     return false;
 304 }
 305
 306 static void dps310StartUT(baroDev_t *baro)
 307 {
 308     UNUSED(baro);
 309 }
 310
 311 static bool dps310ReadUT(baroDev_t *baro)
 312 {
 313     UNUSED(baro);
 314
 315     return true;
 316 }
 317
 318 static bool dps310GetUT(baroDev_t *baro)
 319 {
 320     UNUSED(baro);
 321
 322     return true;
 323 }
 324
 325 static void dps310StartUP(baroDev_t *baro)
 326 {
 327     UNUSED(baro);
 328 }
 329
 330 static void deviceInit(const extDevice_t *dev, resourceOwner_e owner)
 331 {
 332 #ifdef USE_BARO_SPI_DPS310
 333     if (dev->bus->busType == BUS_TYPE_SPI) {
 334         IOHi(dev->busType_u.spi.csnPin); // Disable
 335         IOInit(dev->busType_u.spi.csnPin, owner, 0);
 336         IOConfigGPIO(dev->busType_u.spi.csnPin, IOCFG_OUT_PP);
 337         spiSetClkDivisor(dev, spiCalculateDivider(DPS310_MAX_SPI_CLK_HZ));
 338     }
 339 #else
 340     UNUSED(dev);
 341     UNUSED(owner);
 342 #endif
 343 }
 344
 345 static void deviceDeInit(const extDevice_t *dev)
 346 {
 347 #ifdef USE_BARO_SPI_DPS310
 348     if (dev->bus->busType == BUS_TYPE_SPI) {
 349         spiPreinitByIO(dev->busType_u.spi.csnPin);
 350     }
 351 #else
 352     UNUSED(dev);
 353 #endif
 354 }
 355
 356 bool baroDPS310Detect(baroDev_t *baro)
 357 {
 358     extDevice_t *dev = &baro->dev;
 359     bool defaultAddressApplied = false;
 360
 361     deviceInit(&baro->dev, OWNER_BARO_CS);
 362
 363     if ((dev->bus->busType == BUS_TYPE_I2C) && (dev->busType_u.i2c.address == 0)) {
 364         // Default address for BMP280
 365         dev->busType_u.i2c.address = DPS310_I2C_ADDR;
 366         defaultAddressApplied = true;
 367     }
 368
 369     if (!deviceDetect(dev)) {
 370         deviceDeInit(dev);
 371         if (defaultAddressApplied) {
 372             dev->busType_u.i2c.address = 0;
 373         }
 374         return false;
 375     }
 376
 377     if (!deviceConfigure(dev)) {
 378         deviceDeInit(dev);
 379         return false;
 380     }
 381
 382     busDeviceRegister(dev);
 383
 384     baro->ut_delay = 0;
 385     baro->start_ut = dps310StartUT;
 386     baro->read_ut = dps310ReadUT;
 387     baro->get_ut = dps310GetUT;
 388
 389     baro->up_delay = 45000; // 45ms delay plus 5 1ms cycles 50ms
 390     baro->start_up = dps310StartUP;
 391     baro->read_up = dps310ReadUP;
 392     baro->get_up = dps310GetUP;
 393
 394     baro->calculate = deviceCalculate;
 395
 396     return true;
 397 }
 398
 399 #endif