src/main/sensors/barometer.c

   1 /*
   2  * This file is part of Cleanflight.
   3  *
   4  * Cleanflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Cleanflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #include <stdbool.h>
  19 #include <stdint.h>
  20 #include <math.h>
  21
  22 #include "platform.h"
  23 #include "build/debug.h"
  24
  25 #include "common/calibration.h"
  26 #include "common/log.h"
  27 #include "common/maths.h"
  28 #include "common/time.h"
  29 #include "common/utils.h"
  30
  31 #include "config/parameter_group.h"
  32 #include "config/parameter_group_ids.h"
  33
  34 #include "drivers/barometer/barometer.h"
  35 #include "drivers/barometer/barometer_bmp085.h"
  36 #include "drivers/barometer/barometer_bmp280.h"
  37 #include "drivers/barometer/barometer_bmp388.h"
  38 #include "drivers/barometer/barometer_lps25h.h"
  39 #include "drivers/barometer/barometer_fake.h"
  40 #include "drivers/barometer/barometer_ms56xx.h"
  41 #include "drivers/barometer/barometer_spl06.h"
  42 #include "drivers/barometer/barometer_dps310.h"
  43 #include "drivers/barometer/barometer_2smpb_02b.h"
  44 #include "drivers/barometer/barometer_msp.h"
  45 #include "drivers/time.h"
  46
  47 #include "fc/runtime_config.h"
  48 #include "fc/settings.h"
  49
  50 #include "sensors/barometer.h"
  51 #include "sensors/sensors.h"
  52
  53 #ifdef USE_HARDWARE_REVISION_DETECTION
  54 #include "hardware_revision.h"
  55 #endif
  56
  57 baro_t baro;                        // barometer access functions
  58
  59 #ifdef USE_BARO
  60
  61 PG_REGISTER_WITH_RESET_TEMPLATE(barometerConfig_t, barometerConfig, PG_BAROMETER_CONFIG, 4);
  62
  63 PG_RESET_TEMPLATE(barometerConfig_t, barometerConfig,
  64     .baro_hardware = SETTING_BARO_HARDWARE_DEFAULT,
  65     .baro_calibration_tolerance = SETTING_BARO_CAL_TOLERANCE_DEFAULT
  66 );
  67
  68 static zeroCalibrationScalar_t zeroCalibration;
  69 static float baroGroundAltitude = 0;
  70 static float baroGroundPressure = 101325.0f; // 101325 pascal, 1 standard atmosphere
  71
  72 bool baroDetect(baroDev_t *dev, baroSensor_e baroHardwareToUse)
  73 {
  74     // Detect what pressure sensors are available. baro->update() is set to sensor-specific update function
  75
  76     baroSensor_e baroHardware = BARO_NONE;
  77     requestedSensors[SENSOR_INDEX_BARO] = baroHardwareToUse;
  78
  79     switch (baroHardwareToUse) {
  80     case BARO_AUTODETECT:
  81     case BARO_BMP085:
  82 #ifdef USE_BARO_BMP085
  83         if (bmp085Detect(dev)) {
  84             baroHardware = BARO_BMP085;
  85             break;
  86         }
  87 #endif
  88         /* If we are asked for a specific sensor - break out, otherwise - fall through and continue */
  89         if (baroHardwareToUse != BARO_AUTODETECT) {
  90             break;
  91         }
  92         FALLTHROUGH;
  93
  94     case BARO_MS5607:
  95 #ifdef USE_BARO_MS5607
  96         if (ms5607Detect(dev)) {
  97             baroHardware = BARO_MS5607;
  98             break;
  99         }
 100 #endif
 101         /* If we are asked for a specific sensor - break out, otherwise - fall through and continue */
 102         if (baroHardwareToUse != BARO_AUTODETECT) {
 103             break;
 104         }
 105         FALLTHROUGH;
 106
 107     case BARO_MS5611:
 108 #ifdef USE_BARO_MS5611
 109         if (ms5611Detect(dev)) {
 110             baroHardware = BARO_MS5611;
 111             break;
 112         }
 113 #endif
 114         /* If we are asked for a specific sensor - break out, otherwise - fall through and continue */
 115         if (baroHardwareToUse != BARO_AUTODETECT) {
 116             break;
 117         }
 118         FALLTHROUGH;
 119
 120     case BARO_BMP280:
 121 #if defined(USE_BARO_BMP280) || defined(USE_BARO_SPI_BMP280)
 122         if (bmp280Detect(dev)) {
 123             baroHardware = BARO_BMP280;
 124             break;
 125         }
 126 #endif
 127         /* If we are asked for a specific sensor - break out, otherwise - fall through and continue */
 128         if (baroHardwareToUse != BARO_AUTODETECT) {
 129             break;
 130         }
 131         FALLTHROUGH;
 132
 133     case BARO_BMP388:
 134 #if defined(USE_BARO_BMP388) || defined(USE_BARO_SPI_BMP388)
 135         if (bmp388Detect(dev)) {
 136             baroHardware = BARO_BMP388;
 137             break;
 138         }
 139 #endif
 140         /* If we are asked for a specific sensor - break out, otherwise - fall through and continue */
 141         if (baroHardwareToUse != BARO_AUTODETECT) {
 142             break;
 143         }
 144         FALLTHROUGH;
 145
 146     case BARO_SPL06:
 147 #if defined(USE_BARO_SPL06) || defined(USE_BARO_SPI_SPL06)
 148         if (spl06Detect(dev)) {
 149             baroHardware = BARO_SPL06;
 150             break;
 151         }
 152 #endif
 153         /* If we are asked for a specific sensor - break out, otherwise - fall through and continue */
 154         if (baroHardwareToUse != BARO_AUTODETECT) {
 155             break;
 156         }
 157         FALLTHROUGH;
 158
 159     case BARO_LPS25H:
 160 #if defined(USE_BARO_LPS25H)
 161         if (lps25hDetect(dev)) {
 162             baroHardware = BARO_LPS25H;
 163             break;
 164         }
 165 #endif
 166         /* If we are asked for a specific sensor - break out, otherwise - fall through and continue */
 167         if (baroHardwareToUse != BARO_AUTODETECT) {
 168             break;
 169         }
 170         FALLTHROUGH;
 171
 172     case BARO_DPS310:
 173 #if defined(USE_BARO_DPS310)
 174         if (baroDPS310Detect(dev)) {
 175             baroHardware = BARO_DPS310;
 176             break;
 177         }
 178 #endif
 179         /* If we are asked for a specific sensor - break out, otherwise - fall through and continue */
 180         if (baroHardwareToUse != BARO_AUTODETECT) {
 181             break;
 182         }
 183         FALLTHROUGH;
 184
 185     case BARO_B2SMPB:
 186 #if defined(USE_BARO_B2SMPB)
 187         if (baro2SMPB02BDetect(dev)) {
 188             baroHardware = BARO_B2SMPB;
 189             break;
 190         }
 191 #endif
 192         /* If we are asked for a specific sensor - break out, otherwise - fall through and continue */
 193         if (baroHardwareToUse != BARO_AUTODETECT) {
 194             break;
 195         }
 196         FALLTHROUGH;
 197
 198     case BARO_MSP:
 199 #ifdef USE_BARO_MSP
 200         // Skip autodetection for MSP baro, only allow manual config
 201         if (baroHardwareToUse != BARO_AUTODETECT && mspBaroDetect(dev)) {
 202             baroHardware = BARO_MSP;
 203             break;
 204         }
 205 #endif
 206         /* If we are asked for a specific sensor - break out, otherwise - fall through and continue */
 207         if (baroHardwareToUse != BARO_AUTODETECT) {
 208             break;
 209         }
 210         FALLTHROUGH;
 211
 212     case BARO_FAKE:
 213 #ifdef USE_FAKE_BARO
 214         if (fakeBaroDetect(dev)) {
 215             baroHardware = BARO_FAKE;
 216             break;
 217         }
 218 #endif
 219         /* If we are asked for a specific sensor - break out, otherwise - fall through and continue */
 220         if (baroHardwareToUse != BARO_AUTODETECT) {
 221             break;
 222         }
 223         FALLTHROUGH;
 224
 225     case BARO_NONE:
 226         baroHardware = BARO_NONE;
 227         break;
 228     }
 229
 230     if (baroHardware == BARO_NONE) {
 231         sensorsClear(SENSOR_BARO);
 232         return false;
 233     }
 234
 235     detectedSensors[SENSOR_INDEX_BARO] = baroHardware;
 236     sensorsSet(SENSOR_BARO);
 237     return true;
 238 }
 239
 240 bool baroInit(void)
 241 {
 242     if (!baroDetect(&baro.dev, barometerConfig()->baro_hardware)) {
 243         return false;
 244     }
 245     return true;
 246 }
 247
 248 typedef enum {
 249     BAROMETER_NEEDS_SAMPLES = 0,
 250     BAROMETER_NEEDS_CALCULATION
 251 } barometerState_e;
 252
 253 uint32_t baroUpdate(void)
 254 {
 255     static barometerState_e state = BAROMETER_NEEDS_SAMPLES;
 256
 257 #ifdef USE_SIMULATOR
 258     if (ARMING_FLAG(SIMULATOR_MODE_HITL)) {
 259         return 0;
 260     }
 261 #endif
 262
 263     switch (state) {
 264         default:
 265         case BAROMETER_NEEDS_SAMPLES:
 266             if (baro.dev.get_ut) {
 267                 baro.dev.get_ut(&baro.dev);
 268             }
 269             if (baro.dev.start_up) {
 270                 baro.dev.start_up(&baro.dev);
 271             }
 272             state = BAROMETER_NEEDS_CALCULATION;
 273             return baro.dev.up_delay;
 274         break;
 275
 276         case BAROMETER_NEEDS_CALCULATION:
 277             if (baro.dev.get_up) {
 278                 baro.dev.get_up(&baro.dev);
 279             }
 280             if (baro.dev.start_ut) {
 281                 baro.dev.start_ut(&baro.dev);
 282             }
 283             //output: baro.baroPressure, baro.baroTemperature
 284             baro.dev.calculate(&baro.dev, &baro.baroPressure, &baro.baroTemperature);
 285             state = BAROMETER_NEEDS_SAMPLES;
 286             return baro.dev.ut_delay;
 287         break;
 288     }
 289 }
 290
 291 static float pressureToAltitude(const float pressure)
 292 {
 293     return (1.0f - powf(pressure / 101325.0f, 0.190295f)) * 4433000.0f;
 294 }
 295
 296 float altitudeToPressure(const float altCm)
 297 {
 298     return powf(1.0f - (altCm / 4433000.0f), 5.254999) * 101325.0f;
 299 }
 300
 301 bool baroIsCalibrationComplete(void)
 302 {
 303     return zeroCalibrationIsCompleteS(&zeroCalibration) && zeroCalibrationIsSuccessfulS(&zeroCalibration);
 304 }
 305
 306 void baroStartCalibration(void)
 307 {
 308     const float acceptedPressureVariance = (101325.0f - altitudeToPressure(barometerConfig()->baro_calibration_tolerance)); // max 30cm deviation during calibration (at sea level)
 309     zeroCalibrationStartS(&zeroCalibration, CALIBRATING_BARO_TIME_MS, acceptedPressureVariance, false);
 310 }
 311
 312 int32_t baroCalculateAltitude(void)
 313 {
 314     if (!baroIsCalibrationComplete()) {
 315         zeroCalibrationAddValueS(&zeroCalibration, baro.baroPressure);
 316
 317         if (zeroCalibrationIsCompleteS(&zeroCalibration)) {
 318             zeroCalibrationGetZeroS(&zeroCalibration, &baroGroundPressure);
 319             baroGroundAltitude = pressureToAltitude(baroGroundPressure);
 320             LOG_DEBUG(BARO, "Barometer calibration complete (%d)", (int)lrintf(baroGroundAltitude));
 321         }
 322
 323         baro.BaroAlt = 0;
 324     }
 325     else {
 326         // calculates height from ground via baro readings
 327         baro.BaroAlt = pressureToAltitude(baro.baroPressure) - baroGroundAltitude;
 328    }
 329
 330     return baro.BaroAlt;
 331 }
 332
 333 int32_t baroGetLatestAltitude(void)
 334 {
 335     return baro.BaroAlt;
 336 }
 337
 338 int16_t baroGetTemperature(void)
 339 {
 340     return CENTIDEGREES_TO_DECIDEGREES(baro.baroTemperature);
 341 }
 342
 343 bool baroIsHealthy(void)
 344 {
 345     return sensors(SENSOR_BARO);
 346 }
 347
 348 #endif /* BARO */