src/main/drivers/barometer/barometer_bmp388.c

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  *
  20  * BMP388 Driver author: Dominic Clifton
  21  */
  22
  23 #include <math.h>
  24 #include <stdbool.h>
  25 #include <stdint.h>
  26
  27 #include "platform.h"
  28
  29 #if defined(USE_BARO) && (defined(USE_BARO_BMP388) || defined(USE_BARO_SPI_BMP388))
  30
  31 #include "build/build_config.h"
  32
  33 #include "build/debug.h"
  34
  35 #include "drivers/barometer/barometer.h"
  36 #include "drivers/bus.h"
  37 #include "drivers/bus_i2c.h"
  38 #include "drivers/bus_i2c_busdev.h"
  39 #include "drivers/bus_spi.h"
  40 #include "drivers/io.h"
  41 #include "drivers/nvic.h"
  42 #include "drivers/time.h"
  43
  44 #include "barometer_bmp388.h"
  45
  46 // 10 MHz max SPI frequency
  47 #define BMP388_MAX_SPI_CLK_HZ 10000000
  48
  49 #define BMP388_I2C_ADDR                                 (0x76) // same as BMP280/BMP180
  50 #define BMP388_DEFAULT_CHIP_ID                          (0x50) // from https://github.com/BoschSensortec/BMP3-Sensor-API/blob/master/bmp3_defs.h#L130
  51
  52 #define BMP388_CMD_REG                                  (0x7E)
  53 #define BMP388_RESERVED_UPPER_REG                       (0x7D)
  54 // everything between BMP388_RESERVED_UPPER_REG and BMP388_RESERVED_LOWER_REG is reserved.
  55 #define BMP388_RESERVED_LOWER_REG                       (0x20)
  56 #define BMP388_CONFIG_REG                               (0x1F)
  57 #define BMP388_RESERVED_0x1E_REG                        (0x1E)
  58 #define BMP388_ODR_REG                                  (0x1D)
  59 #define BMP388_OSR_REG                                  (0x1C)
  60 #define BMP388_PWR_CTRL_REG                             (0x1B)
  61 #define BMP388_IF_CONFIG_REG                            (0x1A)
  62 #define BMP388_INT_CTRL_REG                             (0x19)
  63 #define BMP388_FIFO_CONFIG_2_REG                        (0x18)
  64 #define BMP388_FIFO_CONFIG_1_REG                        (0x17)
  65 #define BMP388_FIFO_WTM_1_REG                           (0x16)
  66 #define BMP388_FIFO_WTM_0_REG                           (0x15)
  67 #define BMP388_FIFO_DATA_REG                            (0x14)
  68 #define BMP388_FIFO_LENGTH_1_REG                        (0x13)
  69 #define BMP388_FIFO_LENGTH_0_REG                        (0x12)
  70 #define BMP388_INT_STATUS_REG                           (0x11)
  71 #define BMP388_EVENT_REG                                (0x10)
  72 #define BMP388_SENSORTIME_3_REG                         (0x0F) // BME780 only
  73 #define BMP388_SENSORTIME_2_REG                         (0x0E)
  74 #define BMP388_SENSORTIME_1_REG                         (0x0D)
  75 #define BMP388_SENSORTIME_0_REG                         (0x0C)
  76 #define BMP388_RESERVED_0x0B_REG                        (0x0B)
  77 #define BMP388_RESERVED_0x0A_REG                        (0x0A)
  78
  79 // see friendly register names below
  80 #define BMP388_DATA_5_REG                               (0x09)
  81 #define BMP388_DATA_4_REG                               (0x08)
  82 #define BMP388_DATA_3_REG                               (0x07)
  83 #define BMP388_DATA_2_REG                               (0x06)
  84 #define BMP388_DATA_1_REG                               (0x05)
  85 #define BMP388_DATA_0_REG                               (0x04)
  86
  87 #define BMP388_STATUS_REG                               (0x03)
  88 #define BMP388_ERR_REG                                  (0x02)
  89 #define BMP388_RESERVED_0x01_REG                        (0x01)
  90 #define BMP388_CHIP_ID_REG                              (0x00)
  91
  92 // friendly register names, from datasheet 4.3.4
  93 #define BMP388_PRESS_MSB_23_16_REG                      BMP388_DATA_2_REG
  94 #define BMP388_PRESS_LSB_15_8_REG                       BMP388_DATA_1_REG
  95 #define BMP388_PRESS_XLSB_7_0_REG                       BMP388_DATA_0_REG
  96
  97 // friendly register names, from datasheet 4.3.5
  98 #define BMP388_TEMP_MSB_23_16_REG                       BMP388_DATA_5_REG
  99 #define BMP388_TEMP_LSB_15_8_REG                        BMP388_DATA_4_REG
 100 #define BMP388_TEMP_XLSB_7_0_REG                        BMP388_DATA_3_REG
 101
 102 #define BMP388_DATA_FRAME_SIZE                          ((BMP388_DATA_5_REG - BMP388_DATA_0_REG) + 1) // +1 for inclusive
 103
 104 // from Datasheet 3.3
 105 #define BMP388_MODE_SLEEP                               (0x00)
 106 #define BMP388_MODE_FORCED                              (0x01)
 107 #define BMP388_MODE_NORMAL                              (0x02)
 108
 109 #define BMP388_CALIRATION_LOWER_REG                     (0x30) // See datasheet 4.3.19, "calibration data"
 110 #define BMP388_TRIMMING_NVM_PAR_T1_LSB_REG              (0x31) // See datasheet 3.11.1 "Memory map trimming coefficients"
 111 #define BMP388_TRIMMING_NVM_PAR_P11_REG                 (0x45) // See datasheet 3.11.1 "Memory map trimming coefficients"
 112 #define BMP388_CALIRATION_UPPER_REG                     (0x57)
 113
 114 #define BMP388_TRIMMING_DATA_LENGTH                     ((BMP388_TRIMMING_NVM_PAR_P11_REG - BMP388_TRIMMING_NVM_PAR_T1_LSB_REG) + 1) // +1 for inclusive
 115
 116 #define BMP388_OVERSAMP_1X               (0x00)
 117 #define BMP388_OVERSAMP_2X               (0x01)
 118 #define BMP388_OVERSAMP_4X               (0x02)
 119 #define BMP388_OVERSAMP_8X               (0x03)
 120 #define BMP388_OVERSAMP_16X              (0x04)
 121 #define BMP388_OVERSAMP_32X              (0x05)
 122
 123 // INT_CTRL register
 124 #define BMP388_INT_OD_BIT                   0
 125 #define BMP388_INT_LEVEL_BIT                1
 126 #define BMP388_INT_LATCH_BIT                2
 127 #define BMP388_INT_FWTM_EN_BIT              3
 128 #define BMP388_INT_FFULL_EN_BIT             4
 129 #define BMP388_INT_RESERVED_5_BIT           5
 130 #define BMP388_INT_DRDY_EN_BIT              6
 131 #define BMP388_INT_RESERVED_7_BIT           7
 132
 133 // OSR register
 134 #define BMP388_OSR_P_BIT                    0 // to 2
 135 #define BMP388_OSR4_T_BIT                   3 // to 5
 136 #define BMP388_OSR_P_MASK                   (0x03)  // -----111
 137 #define BMP388_OSR4_T_MASK                  (0x38)  // --111---
 138
 139 // configure pressure and temperature oversampling, forced sampling mode
 140 #define BMP388_PRESSURE_OSR              (BMP388_OVERSAMP_8X)
 141 #define BMP388_TEMPERATURE_OSR           (BMP388_OVERSAMP_1X)
 142
 143 // see Datasheet 3.11.1 Memory Map Trimming Coefficients
 144 typedef struct bmp388_calib_param_s {
 145     uint16_t T1;
 146     uint16_t T2;
 147     int8_t T3;
 148     int16_t P1;
 149     int16_t P2;
 150     int8_t P3;
 151     int8_t P4;
 152     uint16_t P5;
 153     uint16_t P6;
 154     int8_t P7;
 155     int8_t P8;
 156     int16_t P9;
 157     int8_t P10;
 158     int8_t P11;
 159 } __attribute__((packed)) bmp388_calib_param_t;
 160
 161 STATIC_ASSERT(sizeof(bmp388_calib_param_t) == BMP388_TRIMMING_DATA_LENGTH, bmp388_calibration_structure_incorrectly_packed);
 162
 163 static uint8_t bmp388_chip_id = 0;
 164 STATIC_UNIT_TESTED bmp388_calib_param_t bmp388_cal;
 165 // uncompensated pressure and temperature
 166 uint32_t bmp388_up = 0;
 167 uint32_t bmp388_ut = 0;
 168 static DMA_DATA_ZERO_INIT uint8_t sensor_data[BMP388_DATA_FRAME_SIZE];
 169
 170 STATIC_UNIT_TESTED int64_t t_lin = 0;
 171
 172 static void bmp388StartUT(baroDev_t *baro);
 173 static bool bmp388GetUT(baroDev_t *baro);
 174 static bool bmp388ReadUT(baroDev_t *baro);
 175 static void bmp388StartUP(baroDev_t *baro);
 176 static bool bmp388GetUP(baroDev_t *baro);
 177 static bool bmp388ReadUP(baroDev_t *baro);
 178
 179 STATIC_UNIT_TESTED void bmp388Calculate(int32_t *pressure, int32_t *temperature);
 180
 181 void bmp388_extiHandler(extiCallbackRec_t* cb)
 182 {
 183 #ifdef DEBUG
 184     static uint32_t bmp388ExtiCallbackCounter = 0;
 185
 186     bmp388ExtiCallbackCounter++;
 187 #endif
 188
 189     baroDev_t *baro = container_of(cb, baroDev_t, exti);
 190
 191     uint8_t intStatus = 0;
 192     busReadRegisterBuffer(&baro->dev, BMP388_INT_STATUS_REG, &intStatus, 1);
 193 }
 194
 195 void bmp388BusInit(const extDevice_t *dev)
 196 {
 197 #ifdef USE_BARO_SPI_BMP388
 198     if (dev->bus->busType == BUS_TYPE_SPI) {
 199         IOHi(dev->busType_u.spi.csnPin); // Disable
 200         IOInit(dev->busType_u.spi.csnPin, OWNER_BARO_CS, 0);
 201         IOConfigGPIO(dev->busType_u.spi.csnPin, IOCFG_OUT_PP);
 202         spiSetClkDivisor(dev, spiCalculateDivider(BMP388_MAX_SPI_CLK_HZ));
 203     }
 204 #else
 205     UNUSED(dev);
 206 #endif
 207 }
 208
 209 void bmp388BusDeinit(const extDevice_t *dev)
 210 {
 211 #ifdef USE_BARO_SPI_BMP388
 212     if (dev->bus->busType == BUS_TYPE_SPI) {
 213         spiPreinitByIO(dev->busType_u.spi.csnPin);
 214     }
 215 #else
 216     UNUSED(dev);
 217 #endif
 218 }
 219
 220 void bmp388BeginForcedMeasurement(const extDevice_t *dev)
 221 {
 222     // enable pressure measurement, temperature measurement, set power mode and start sampling
 223     uint8_t mode = BMP388_MODE_FORCED << 4 | 1 << 1 | 1 << 0;
 224     busWriteRegisterStart(dev, BMP388_PWR_CTRL_REG, mode);
 225 }
 226
 227 bool bmp388Detect(const bmp388Config_t *config, baroDev_t *baro)
 228 {
 229     delay(20);
 230
 231     IO_t baroIntIO = IOGetByTag(config->eocTag);
 232     if (baroIntIO) {
 233         IOInit(baroIntIO, OWNER_BARO_EOC, 0);
 234         EXTIHandlerInit(&baro->exti, bmp388_extiHandler);
 235         EXTIConfig(baroIntIO, &baro->exti, NVIC_PRIO_BARO_EXTI, IOCFG_IN_FLOATING, BETAFLIGHT_EXTI_TRIGGER_RISING);
 236         EXTIEnable(baroIntIO);
 237     }
 238
 239     extDevice_t *dev = &baro->dev;
 240     bool defaultAddressApplied = false;
 241
 242     bmp388BusInit(dev);
 243
 244     if ((dev->bus->busType == BUS_TYPE_I2C) && (dev->busType_u.i2c.address == 0)) {
 245         // Default address for BMP388
 246         dev->busType_u.i2c.address = BMP388_I2C_ADDR;
 247         defaultAddressApplied = true;
 248     }
 249
 250     busReadRegisterBuffer(dev, BMP388_CHIP_ID_REG, &bmp388_chip_id, 1);
 251
 252     if (bmp388_chip_id != BMP388_DEFAULT_CHIP_ID) {
 253         bmp388BusDeinit(dev);
 254         if (defaultAddressApplied) {
 255             dev->busType_u.i2c.address = 0;
 256         }
 257         return false;
 258     }
 259
 260     busDeviceRegister(dev);
 261
 262     if (baroIntIO) {
 263         uint8_t intCtrlValue = 1 << BMP388_INT_DRDY_EN_BIT |
 264                                0 << BMP388_INT_FFULL_EN_BIT |
 265                                0 << BMP388_INT_FWTM_EN_BIT |
 266                                0 << BMP388_INT_LATCH_BIT |
 267                                1 << BMP388_INT_LEVEL_BIT |
 268                                0 << BMP388_INT_OD_BIT;
 269         busWriteRegister(dev, BMP388_INT_CTRL_REG, intCtrlValue);
 270     }
 271
 272     // read calibration
 273     busReadRegisterBuffer(dev, BMP388_TRIMMING_NVM_PAR_T1_LSB_REG, (uint8_t *)&bmp388_cal, sizeof(bmp388_calib_param_t));
 274
 275
 276     // set oversampling
 277     busWriteRegister(dev, BMP388_OSR_REG,
 278         ((BMP388_PRESSURE_OSR << BMP388_OSR_P_BIT) & BMP388_OSR_P_MASK) |
 279         ((BMP388_TEMPERATURE_OSR << BMP388_OSR4_T_BIT) & BMP388_OSR4_T_MASK)
 280     );
 281
 282     bmp388BeginForcedMeasurement(dev);
 283
 284     // these are dummy as temperature is measured as part of pressure
 285     baro->ut_delay = 0;
 286     baro->start_ut = bmp388StartUT;
 287     baro->get_ut = bmp388GetUT;
 288     baro->read_ut = bmp388ReadUT;
 289     // only _up part is executed, and gets both temperature and pressure
 290     baro->start_up = bmp388StartUP;
 291     baro->get_up = bmp388GetUP;
 292     baro->read_up = bmp388ReadUP;
 293
 294     // See datasheet 3.9.2 "Measurement rate in forced mode and normal mode"
 295     baro->up_delay = 234 +
 296         (392 + (powf(2, BMP388_PRESSURE_OSR + 1) * 2000)) +
 297         (313 + (powf(2, BMP388_TEMPERATURE_OSR + 1) * 2000));
 298
 299     baro->calculate = bmp388Calculate;
 300
 301     while (busBusy(&baro->dev, NULL));
 302
 303     return true;
 304 }
 305
 306 static void bmp388StartUT(baroDev_t *baro)
 307 {
 308     UNUSED(baro);
 309     // dummy
 310 }
 311
 312 static bool bmp388ReadUT(baroDev_t *baro)
 313 {
 314     UNUSED(baro);
 315     // dummy
 316     return true;
 317 }
 318
 319 static bool bmp388GetUT(baroDev_t *baro)
 320 {
 321     UNUSED(baro);
 322     // dummy
 323     return true;
 324 }
 325
 326 static void bmp388StartUP(baroDev_t *baro)
 327 {
 328     // start measurement
 329     bmp388BeginForcedMeasurement(&baro->dev);
 330 }
 331
 332 static bool bmp388ReadUP(baroDev_t *baro)
 333 {
 334     if (busBusy(&baro->dev, NULL)) {
 335         return false;
 336     }
 337
 338     // read data from sensor
 339     busReadRegisterBufferStart(&baro->dev, BMP388_DATA_0_REG, sensor_data, BMP388_DATA_FRAME_SIZE);
 340
 341     return true;
 342 }
 343
 344 static bool bmp388GetUP(baroDev_t *baro)
 345 {
 346     if (busBusy(&baro->dev, NULL)) {
 347         return false;
 348     }
 349
 350     bmp388_up = sensor_data[0] << 0 | sensor_data[1] << 8 | sensor_data[2] << 16;
 351     bmp388_ut = sensor_data[3] << 0 | sensor_data[4] << 8 | sensor_data[5] << 16;
 352     return true;
 353 }
 354
 355 // Returns temperature in DegC, resolution is 0.01 DegC. Output value of "5123" equals 51.23 DegC
 356 static int64_t bmp388CompensateTemperature(uint32_t uncomp_temperature)
 357 {
 358     uint64_t partial_data1;
 359     uint64_t partial_data2;
 360     uint64_t partial_data3;
 361     int64_t partial_data4;
 362     int64_t partial_data5;
 363     int64_t partial_data6;
 364     int64_t comp_temp;
 365
 366     partial_data1 = uncomp_temperature - (256 * bmp388_cal.T1);
 367     partial_data2 = bmp388_cal.T2 * partial_data1;
 368     partial_data3 = partial_data1 * partial_data1;
 369     partial_data4 = (int64_t)partial_data3 * bmp388_cal.T3;
 370     partial_data5 = ((int64_t)(partial_data2 * 262144) + partial_data4);
 371     partial_data6 = partial_data5 / 4294967296;
 372     /* Update t_lin, needed for pressure calculation */
 373     t_lin = partial_data6;
 374     comp_temp = (int64_t)((partial_data6 * 25)  / 16384);
 375
 376     return comp_temp;
 377 }
 378
 379 static uint64_t bmp388CompensatePressure(uint32_t uncomp_pressure)
 380 {
 381     int64_t partial_data1;
 382     int64_t partial_data2;
 383     int64_t partial_data3;
 384     int64_t partial_data4;
 385     int64_t partial_data5;
 386     int64_t partial_data6;
 387     int64_t offset;
 388     int64_t sensitivity;
 389     uint64_t comp_press;
 390
 391     partial_data1 = t_lin * t_lin;
 392     partial_data2 = partial_data1 / 64;
 393     partial_data3 = (partial_data2 * t_lin) / 256;
 394     partial_data4 = (bmp388_cal.P8 * partial_data3) / 32;
 395     partial_data5 = (bmp388_cal.P7 * partial_data1) * 16;
 396     partial_data6 = (bmp388_cal.P6 * t_lin) * 4194304;
 397     offset = (bmp388_cal.P5 * 140737488355328) + partial_data4 + partial_data5 + partial_data6;
 398
 399     partial_data2 = (bmp388_cal.P4 * partial_data3) / 32;
 400     partial_data4 = (bmp388_cal.P3 * partial_data1) * 4;
 401     partial_data5 = (bmp388_cal.P2 - 16384) * t_lin * 2097152;
 402     sensitivity = ((bmp388_cal.P1 - 16384) * 70368744177664) + partial_data2 + partial_data4
 403             + partial_data5;
 404
 405     partial_data1 = (sensitivity / 16777216) * uncomp_pressure;
 406     partial_data2 = bmp388_cal.P10 * t_lin;
 407     partial_data3 = partial_data2 + (65536 * bmp388_cal.P9);
 408     partial_data4 = (partial_data3 * uncomp_pressure) / 8192;
 409     partial_data5 = (partial_data4 * uncomp_pressure) / 512;
 410     partial_data6 = (int64_t)((uint64_t)uncomp_pressure * (uint64_t)uncomp_pressure);
 411     partial_data2 = (bmp388_cal.P11 * partial_data6) / 65536;
 412     partial_data3 = (partial_data2 * uncomp_pressure) / 128;
 413     partial_data4 = (offset / 4) + partial_data1 + partial_data5 + partial_data3;
 414     comp_press = (((uint64_t)partial_data4 * 25) / (uint64_t)1099511627776);
 415
 416 #ifdef DEBUG_BARO_BMP388
 417     debug[1] = ((comp_press & 0xFFFF0000) >> 32);
 418     debug[2] = ((comp_press & 0x0000FFFF) >>  0);
 419 #endif
 420     return comp_press;
 421 }
 422
 423 STATIC_UNIT_TESTED void bmp388Calculate(int32_t *pressure, int32_t *temperature)
 424 {
 425     // calculate
 426     int64_t t;
 427     int64_t p;
 428
 429     t = bmp388CompensateTemperature(bmp388_ut);
 430     p = bmp388CompensatePressure(bmp388_up);
 431
 432     if (pressure)
 433         *pressure = (int32_t)(p / 256);
 434     if (temperature)
 435         *temperature = t;
 436 }
 437
 438 #endif