src/main/drivers/barometer/barometer_bmp388.c

   1 /*
   2  * This file is part of INAV.
   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  * INAV port: Michel Pastor
  22  */
  23
  24 #include <stdbool.h>
  25 #include <stdint.h>
  26 #include <string.h>
  27
  28 #include <platform.h>
  29 #include "build/build_config.h"
  30 #include "build/debug.h"
  31 #include "common/utils.h"
  32 #include "common/log.h" // XXX
  33
  34 #include "drivers/time.h"
  35 #include "drivers/io.h"
  36 #include "drivers/bus.h"
  37 #include "drivers/barometer/barometer.h"
  38 #include "drivers/barometer/barometer_bmp388.h"
  39
  40 #if defined(USE_BARO) && (defined(USE_BARO_BMP388) || defined(USE_BARO_SPI_BMP388))
  41
  42 #define BMP388_I2C_ADDR                                 (0x76) // same as BMP280/BMP180
  43 #define BMP388_DEFAULT_CHIP_ID                          (0x50) // from https://github.com/BoschSensortec/BMP3-Sensor-API/blob/master/bmp3_defs.h#L130
  44
  45 #define BMP388_CMD_REG                                  (0x7E)
  46 #define BMP388_RESERVED_UPPER_REG                       (0x7D)
  47 // everything between BMP388_RESERVED_UPPER_REG and BMP388_RESERVED_LOWER_REG is reserved.
  48 #define BMP388_RESERVED_LOWER_REG                       (0x20)
  49 #define BMP388_CONFIG_REG                               (0x1F)
  50 #define BMP388_RESERVED_0x1E_REG                        (0x1E)
  51 #define BMP388_ODR_REG                                  (0x1D)
  52 #define BMP388_OSR_REG                                  (0x1C)
  53 #define BMP388_PWR_CTRL_REG                             (0x1B)
  54 #define BMP388_IF_CONFIG_REG                            (0x1A)
  55 #define BMP388_INT_CTRL_REG                             (0x19)
  56 #define BMP388_FIFO_CONFIG_2_REG                        (0x18)
  57 #define BMP388_FIFO_CONFIG_1_REG                        (0x17)
  58 #define BMP388_FIFO_WTM_1_REG                           (0x16)
  59 #define BMP388_FIFO_WTM_0_REG                           (0x15)
  60 #define BMP388_FIFO_DATA_REG                            (0x14)
  61 #define BMP388_FIFO_LENGTH_1_REG                        (0x13)
  62 #define BMP388_FIFO_LENGTH_0_REG                        (0x12)
  63 #define BMP388_INT_STATUS_REG                           (0x11)
  64 #define BMP388_EVENT_REG                                (0x10)
  65 #define BMP388_SENSORTIME_3_REG                         (0x0F) // BME780 only
  66 #define BMP388_SENSORTIME_2_REG                         (0x0E)
  67 #define BMP388_SENSORTIME_1_REG                         (0x0D)
  68 #define BMP388_SENSORTIME_0_REG                         (0x0C)
  69 #define BMP388_RESERVED_0x0B_REG                        (0x0B)
  70 #define BMP388_RESERVED_0x0A_REG                        (0x0A)
  71
  72 // see friendly register names below
  73 #define BMP388_DATA_5_REG                               (0x09)
  74 #define BMP388_DATA_4_REG                               (0x08)
  75 #define BMP388_DATA_3_REG                               (0x07)
  76 #define BMP388_DATA_2_REG                               (0x06)
  77 #define BMP388_DATA_1_REG                               (0x05)
  78 #define BMP388_DATA_0_REG                               (0x04)
  79
  80 #define BMP388_STATUS_REG                               (0x03)
  81 #define BMP388_ERR_REG                                  (0x02)
  82 #define BMP388_RESERVED_0x01_REG                        (0x01)
  83 #define BMP388_CHIP_ID_REG                              (0x00)
  84
  85 // friendly register names, from datasheet 4.3.4
  86 #define BMP388_PRESS_MSB_23_16_REG                      BMP388_DATA_2_REG
  87 #define BMP388_PRESS_LSB_15_8_REG                       BMP388_DATA_1_REG
  88 #define BMP388_PRESS_XLSB_7_0_REG                       BMP388_DATA_0_REG
  89
  90 // friendly register names, from datasheet 4.3.5
  91 #define BMP388_TEMP_MSB_23_16_REG                       BMP388_DATA_5_REG
  92 #define BMP388_TEMP_LSB_15_8_REG                        BMP388_DATA_4_REG
  93 #define BMP388_TEMP_XLSB_7_0_REG                        BMP388_DATA_3_REG
  94
  95 #define BMP388_DATA_FRAME_SIZE                          ((BMP388_DATA_5_REG - BMP388_DATA_0_REG) + 1) // +1 for inclusive
  96
  97 // from Datasheet 3.3
  98 #define BMP388_MODE_SLEEP                               (0x00)
  99 #define BMP388_MODE_FORCED                              (0x01)
 100 #define BMP388_MODE_NORMAL                              (0x02)
 101
 102 #define BMP388_CALIRATION_LOWER_REG                     (0x30) // See datasheet 4.3.19, "calibration data"
 103 #define BMP388_TRIMMING_NVM_PAR_T1_LSB_REG              (0x31) // See datasheet 3.11.1 "Memory map trimming coefficients"
 104 #define BMP388_TRIMMING_NVM_PAR_P11_REG                 (0x45) // See datasheet 3.11.1 "Memory map trimming coefficients"
 105 #define BMP388_CALIRATION_UPPER_REG                     (0x57)
 106
 107 #define BMP388_TRIMMING_DATA_LENGTH                     ((BMP388_TRIMMING_NVM_PAR_P11_REG - BMP388_TRIMMING_NVM_PAR_T1_LSB_REG) + 1) // +1 for inclusive
 108
 109 #define BMP388_OVERSAMP_1X               (0x00)
 110 #define BMP388_OVERSAMP_2X               (0x01)
 111 #define BMP388_OVERSAMP_4X               (0x02)
 112 #define BMP388_OVERSAMP_8X               (0x03)
 113 #define BMP388_OVERSAMP_16X              (0x04)
 114 #define BMP388_OVERSAMP_32X              (0x05)
 115
 116 // INT_CTRL register
 117 #define BMP388_INT_OD_BIT                   0
 118 #define BMP388_INT_LEVEL_BIT                1
 119 #define BMP388_INT_LATCH_BIT                2
 120 #define BMP388_INT_FWTM_EN_BIT              3
 121 #define BMP388_INT_FFULL_EN_BIT             4
 122 #define BMP388_INT_RESERVED_5_BIT           5
 123 #define BMP388_INT_DRDY_EN_BIT              6
 124 #define BMP388_INT_RESERVED_7_BIT           7
 125
 126 // OSR register
 127 #define BMP388_OSR_P_BIT                    0 // to 2
 128 #define BMP388_OSR4_T_BIT                   3 // to 5
 129 #define BMP388_OSR_P_MASK                   (0x03)  // -----111
 130 #define BMP388_OSR4_T_MASK                  (0x38)  // --111---
 131
 132 // configure pressure and temperature oversampling, forced sampling mode
 133 #define BMP388_PRESSURE_OSR              (BMP388_OVERSAMP_8X)
 134 #define BMP388_TEMPERATURE_OSR           (BMP388_OVERSAMP_1X)
 135
 136 // see Datasheet 3.11.1 Memory Map Trimming Coefficients
 137 typedef struct bmp388_calib_param_s {
 138     uint16_t T1;
 139     uint16_t T2;
 140     int8_t T3;
 141     int16_t P1;
 142     int16_t P2;
 143     int8_t P3;
 144     int8_t P4;
 145     uint16_t P5;
 146     uint16_t P6;
 147     int8_t P7;
 148     int8_t P8;
 149     int16_t P9;
 150     int8_t P10;
 151     int8_t P11;
 152 } __attribute__((packed)) bmp388_calib_param_t;
 153
 154 STATIC_ASSERT(sizeof(bmp388_calib_param_t) == BMP388_TRIMMING_DATA_LENGTH, bmp388_calibration_structure_incorrectly_packed);
 155
 156 static bmp388_calib_param_t bmp388_cal;
 157 // uncompensated pressure and temperature
 158 static uint32_t bmp388_up = 0;
 159 static uint32_t bmp388_ut = 0;
 160 static uint8_t sensor_data[BMP388_DATA_FRAME_SIZE+1];
 161
 162 static int64_t t_lin = 0;
 163
 164 static bool bmp388StartUT(baroDev_t *baro);
 165 static bool bmp388GetUT(baroDev_t *baro);
 166 static bool bmp388StartUP(baroDev_t *baro);
 167 static bool bmp388GetUP(baroDev_t *baro);
 168
 169 static bool bmp388Calculate(baroDev_t *baro, int32_t *pressure, int32_t *temperature);
 170
 171 static bool bmp388BeginForcedMeasurement(busDevice_t *busdev)
 172 {
 173     // enable pressure measurement, temperature measurement, set power mode and start sampling
 174     uint8_t mode = BMP388_MODE_FORCED << 4 | 1 << 1 | 1 << 0;
 175     return busWrite(busdev, BMP388_PWR_CTRL_REG, mode);
 176 }
 177
 178 static bool bmp388StartUT(baroDev_t *baro)
 179 {
 180     UNUSED(baro);
 181     // dummy
 182     return true;
 183 }
 184
 185 static bool bmp388GetUT(baroDev_t *baro)
 186 {
 187     UNUSED(baro);
 188     // dummy
 189     return true;
 190 }
 191
 192 static bool bmp388StartUP(baroDev_t *baro)
 193 {
 194     // start measurement
 195     return bmp388BeginForcedMeasurement(baro->busDev);
 196 }
 197
 198 static bool bmp388GetUP(baroDev_t *baro)
 199 {
 200     if (baro->busDev->busType == BUSTYPE_SPI) {
 201         // In SPI mode, first byte read is a dummy byte
 202         busReadBuf(baro->busDev, BMP388_DATA_0_REG, &sensor_data[0], BMP388_DATA_FRAME_SIZE + 1);
 203     } else {
 204         // In I2C mode, no dummy byte is read
 205         busReadBuf(baro->busDev, BMP388_DATA_0_REG, &sensor_data[1], BMP388_DATA_FRAME_SIZE);
 206     }
 207
 208     bmp388_up = sensor_data[1] << 0 | sensor_data[2] << 8 | sensor_data[3] << 16;
 209     bmp388_ut = sensor_data[4] << 0 | sensor_data[5] << 8 | sensor_data[6] << 16;
 210     return true;
 211 }
 212
 213 // Returns temperature in DegC, resolution is 0.01 DegC. Output value of "5123" equals 51.23 DegC
 214 static int64_t bmp388CompensateTemperature(uint32_t uncomp_temperature)
 215 {
 216     uint64_t partial_data1;
 217     uint64_t partial_data2;
 218     uint64_t partial_data3;
 219     int64_t partial_data4;
 220     int64_t partial_data5;
 221     int64_t partial_data6;
 222     int64_t comp_temp;
 223
 224     partial_data1 = uncomp_temperature - (256 * bmp388_cal.T1);
 225     partial_data2 = bmp388_cal.T2 * partial_data1;
 226     partial_data3 = partial_data1 * partial_data1;
 227     partial_data4 = (int64_t)partial_data3 * bmp388_cal.T3;
 228     partial_data5 = ((int64_t)(partial_data2 * 262144) + partial_data4);
 229     partial_data6 = partial_data5 / 4294967296;
 230     /* Update t_lin, needed for pressure calculation */
 231     t_lin = partial_data6;
 232     comp_temp = (int64_t)((partial_data6 * 25)  / 16384);
 233
 234     return comp_temp;
 235 }
 236
 237 static uint64_t bmp388CompensatePressure(uint32_t uncomp_pressure)
 238 {
 239     int64_t partial_data1;
 240     int64_t partial_data2;
 241     int64_t partial_data3;
 242     int64_t partial_data4;
 243     int64_t partial_data5;
 244     int64_t partial_data6;
 245     int64_t offset;
 246     int64_t sensitivity;
 247     uint64_t comp_press;
 248
 249     partial_data1 = t_lin * t_lin;
 250     partial_data2 = partial_data1 / 64;
 251     partial_data3 = (partial_data2 * t_lin) / 256;
 252     partial_data4 = (bmp388_cal.P8 * partial_data3) / 32;
 253     partial_data5 = (bmp388_cal.P7 * partial_data1) * 16;
 254     partial_data6 = (bmp388_cal.P6 * t_lin) * 4194304;
 255     offset = (bmp388_cal.P5 * 140737488355328) + partial_data4 + partial_data5 + partial_data6;
 256
 257     partial_data2 = (bmp388_cal.P4 * partial_data3) / 32;
 258     partial_data4 = (bmp388_cal.P3 * partial_data1) * 4;
 259     partial_data5 = (bmp388_cal.P2 - 16384) * t_lin * 2097152;
 260     sensitivity = ((bmp388_cal.P1 - 16384) * 70368744177664) + partial_data2 + partial_data4 + partial_data5;
 261
 262     partial_data1 = (sensitivity / 16777216) * uncomp_pressure;
 263     partial_data2 = bmp388_cal.P10 * t_lin;
 264     partial_data3 = partial_data2 + (65536 * bmp388_cal.P9);
 265     partial_data4 = (partial_data3 * uncomp_pressure) / 8192;
 266     partial_data5 = (partial_data4 * uncomp_pressure) / 512;
 267     partial_data6 = (int64_t)((uint64_t)uncomp_pressure * (uint64_t)uncomp_pressure);
 268     partial_data2 = (bmp388_cal.P11 * partial_data6) / 65536;
 269     partial_data3 = (partial_data2 * uncomp_pressure) / 128;
 270     partial_data4 = (offset / 4) + partial_data1 + partial_data5 + partial_data3;
 271     comp_press = (((uint64_t)partial_data4 * 25) / (uint64_t)1099511627776);
 272
 273     return comp_press;
 274 }
 275
 276 STATIC_UNIT_TESTED bool bmp388Calculate(baroDev_t *baro, int32_t *pressure, int32_t *temperature)
 277 {
 278     UNUSED(baro);
 279
 280     // calculate
 281     int64_t t;
 282     int64_t p;
 283
 284     t = bmp388CompensateTemperature(bmp388_ut);
 285     p = bmp388CompensatePressure(bmp388_up);
 286
 287     if (pressure)
 288         *pressure = (int32_t)(p / 256);
 289     if (temperature)
 290         *temperature = t;
 291
 292     return true;
 293 }
 294
 295 #define DETECTION_MAX_RETRY_COUNT   5
 296 static bool deviceDetect(busDevice_t * busDev)
 297 {
 298     uint8_t chipId[2];
 299     uint8_t nRead;
 300     uint8_t * pId;
 301
 302     if (busDev->busType == BUSTYPE_SPI) {
 303         // In SPI mode, first byte read is a dummy byte
 304         nRead = 2;
 305         pId = &chipId[1];
 306     } else {
 307         // In I2C mode, no dummy byte is read
 308         nRead = 1;
 309         pId = &chipId[0];
 310     }
 311
 312     for (int retry = 0; retry < DETECTION_MAX_RETRY_COUNT; retry++) {
 313         delay(100);
 314
 315         bool ack = busReadBuf(busDev, BMP388_CHIP_ID_REG, chipId, nRead);
 316
 317         if (ack && *pId == BMP388_DEFAULT_CHIP_ID) {
 318             return true;
 319         }
 320     };
 321
 322     return false;
 323 }
 324
 325 bool bmp388Detect(baroDev_t *baro)
 326 {
 327     baro->busDev = busDeviceInit(BUSTYPE_ANY, DEVHW_BMP388, 0, OWNER_BARO);
 328     if (baro->busDev == NULL) {
 329         return false;
 330     }
 331
 332     busSetSpeed(baro->busDev, BUS_SPEED_STANDARD);
 333
 334     if (!deviceDetect(baro->busDev)) {
 335         busDeviceDeInit(baro->busDev);
 336         return false;
 337     }
 338
 339     // read calibration
 340     if (baro->busDev->busType == BUSTYPE_SPI) {
 341         // In SPI mode, first byte read is a dummy byte
 342         uint8_t calibration_buf[sizeof(bmp388_calib_param_t) + 1];
 343         busReadBuf(baro->busDev, BMP388_TRIMMING_NVM_PAR_T1_LSB_REG, calibration_buf, sizeof(bmp388_calib_param_t) + 1);
 344         memcpy(&bmp388_cal, calibration_buf + 1, sizeof(bmp388_calib_param_t));
 345     } else {
 346         // In I2C mode, no dummy byte is read
 347         busReadBuf(baro->busDev, BMP388_TRIMMING_NVM_PAR_T1_LSB_REG, (uint8_t*)&bmp388_cal, sizeof(bmp388_calib_param_t));
 348     }
 349
 350     // set oversampling + power mode (forced), and start sampling
 351     busWrite(baro->busDev, BMP388_OSR_REG,
 352         ((BMP388_PRESSURE_OSR << BMP388_OSR_P_BIT) & BMP388_OSR_P_MASK) |
 353         ((BMP388_TEMPERATURE_OSR << BMP388_OSR4_T_BIT) & BMP388_OSR4_T_MASK)
 354     );
 355
 356     bmp388BeginForcedMeasurement(baro->busDev);
 357
 358     baro->ut_delay = 0;
 359     baro->get_ut = bmp388GetUT;
 360     baro->start_ut = bmp388StartUT;
 361
 362     baro->up_delay = 234 + (392 + ((1 << (BMP388_PRESSURE_OSR + 1)) * 2000)) + (313 + ((1 << (BMP388_TEMPERATURE_OSR + 1)) * 2000));
 363     baro->start_up = bmp388StartUP;
 364     baro->get_up = bmp388GetUP;
 365
 366     baro->calculate = bmp388Calculate;
 367
 368     return true;
 369 }
 370
 371 #endif