src/main/sensors/temperature.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 <string.h>
  21
  22 #include "platform.h"
  23
  24 #include "common/maths.h"
  25 #include "common/printf.h"
  26
  27 #include "config/parameter_group.h"
  28 #include "config/parameter_group_ids.h"
  29
  30 #include "drivers/1-wire.h"
  31 #include "drivers/temperature/temperature.h"
  32 #include "drivers/temperature/lm75.h"
  33 #include "drivers/temperature/ds18b20.h"
  34
  35 #include "fc/runtime_config.h"
  36
  37 #include "sensors/sensors.h"
  38 #include "sensors/temperature.h"
  39 #include "sensors/gyro.h"
  40 #include "sensors/barometer.h"
  41
  42 #include "scheduler/protothreads.h"
  43
  44
  45 PG_REGISTER_ARRAY(tempSensorConfig_t, MAX_TEMP_SENSORS, tempSensorConfig, PG_TEMP_SENSOR_CONFIG, 2);
  46
  47 #define MPU_TEMP_VALID_BIT 0
  48 #define BARO_TEMP_VALID_BIT 1
  49 #define MPU_TEMP_VALID (mpuBaroTempValid & (1 << MPU_TEMP_VALID_BIT))
  50 #define BARO_TEMP_VALID (mpuBaroTempValid & (1 << BARO_TEMP_VALID_BIT))
  51
  52 static uint16_t mpuTemperature, baroTemperature;
  53 static uint8_t mpuBaroTempValid = 0;
  54
  55 #ifdef USE_TEMPERATURE_SENSOR
  56 static int16_t  tempSensorValue[MAX_TEMP_SENSORS];
  57
  58 // Each bit corresponds to a sensor LSB = first sensor. 1 = valid value
  59 static uint8_t sensorStatus[MAX_TEMP_SENSORS / 8 + (MAX_TEMP_SENSORS % 8 ? 1 : 0)];
  60
  61 #ifdef USE_TEMPERATURE_LM75
  62 static temperatureDev_t lm75Dev[8];
  63 #endif
  64
  65 #ifdef DS18B20_DRIVER_AVAILABLE
  66 static owDev_t *owDev;
  67 #endif
  68
  69 static void newSensorCheckAndEnter(uint8_t type, uint64_t addr)
  70 {
  71     int8_t foundConfigIndex = -1, firstFreeConfigSlot = -1;
  72
  73     // try to find sensor or free config slot
  74     for (uint8_t configIndex = 0; configIndex < MAX_TEMP_SENSORS; ++configIndex) {
  75
  76         const tempSensorConfig_t *configSlot = tempSensorConfig(configIndex);
  77
  78         if ((configSlot->type == type) && (configSlot->address == addr)) {
  79             foundConfigIndex = configIndex;
  80             break;
  81         }
  82
  83         if ((firstFreeConfigSlot == -1) && !configSlot->type) firstFreeConfigSlot = configIndex;
  84
  85     }
  86
  87     // if new sensor and have free config slot enter new sensor
  88     if ((foundConfigIndex == -1) && (firstFreeConfigSlot != -1)) {
  89         tempSensorConfig_t *configSlot = tempSensorConfigMutable(firstFreeConfigSlot);
  90         configSlot->type = type;
  91         configSlot->address = addr;
  92         configSlot->osdSymbol = 0;
  93         configSlot->label[0] = '\0';
  94         configSlot->alarm_min = -200;
  95         configSlot->alarm_max = 600;
  96     }
  97 }
  98
  99 void temperatureInit(void)
 100 {
 101     memset(sensorStatus, 0, sizeof(sensorStatus) * sizeof(*sensorStatus));
 102
 103     sensorsSet(SENSOR_TEMP);
 104
 105 #ifdef USE_TEMPERATURE_LM75
 106     memset(lm75Dev, 0, sizeof(lm75Dev));
 107     for (uint8_t lm75Addr = 0; lm75Addr < 8; ++lm75Addr) {
 108         if (lm75Detect(lm75Dev + lm75Addr, lm75Addr))
 109             newSensorCheckAndEnter(TEMP_SENSOR_LM75, lm75Addr);
 110     }
 111 #endif
 112
 113 #ifdef DS18B20_DRIVER_AVAILABLE
 114     owDev = getOwDev();
 115     if (owDev) {
 116         uint64_t ds18b20_rom_table[MAX_TEMP_SENSORS];
 117         uint8_t ds18b20_rom_count = MAX_TEMP_SENSORS;
 118         ds18b20Enumerate(owDev, ds18b20_rom_table, &ds18b20_rom_count);
 119
 120         for (uint8_t rom_index = 0; rom_index < ds18b20_rom_count; ++rom_index)
 121             newSensorCheckAndEnter(TEMP_SENSOR_DS18B20, ds18b20_rom_table[rom_index]);
 122     }
 123 #endif
 124
 125     // configure sensors
 126     for (uint8_t configIndex = 0; configIndex < MAX_TEMP_SENSORS; ++configIndex) {
 127         const tempSensorConfig_t *configSlot = tempSensorConfig(configIndex);
 128
 129         switch (configSlot->type) {
 130 #ifdef DS18B20_DRIVER_AVAILABLE
 131             case TEMP_SENSOR_DS18B20:
 132                 if (owDev) {
 133                     tempSensorValue[configIndex] = TEMPERATURE_INVALID_VALUE;
 134                     ds18b20Configure(owDev, configSlot->address, DS18B20_CONFIG_9BIT);
 135                 }
 136                 break;
 137 #endif
 138
 139             default:;
 140         }
 141     }
 142 }
 143
 144 static bool temperatureSensorValueIsValid(uint8_t temperatureUpdateSensorIndex)
 145 {
 146     uint8_t mask = 1 << (temperatureUpdateSensorIndex % 8);
 147     uint8_t byteIndex = temperatureUpdateSensorIndex / 8;
 148     return sensorStatus[byteIndex] & mask;
 149 }
 150
 151 // returns decidegrees centigrade
 152 bool getSensorTemperature(uint8_t temperatureUpdateSensorIndex, int16_t *temperature)
 153 {
 154     *temperature = tempSensorValue[temperatureUpdateSensorIndex];
 155     return temperatureSensorValueIsValid(temperatureUpdateSensorIndex);
 156 }
 157
 158 // Converts 64bit integer address to hex format
 159 // hex_address must be at least 17 bytes long (16 chars + NULL)
 160 void tempSensorAddressToString(uint64_t address, char *hex_address)
 161 {
 162     if (address < 8)
 163         tfp_sprintf(hex_address, "%d", (int)address);
 164     else {
 165         uint32_t *address32 = (uint32_t *)&address;
 166         tfp_sprintf(hex_address, "%08lx%08lx", (unsigned long)address32[1], (unsigned long)address32[0]);
 167     }
 168 }
 169
 170 // Converts address string in hex format to unsigned integer
 171 // the hex_address parameter must be NULL or space terminated
 172 bool tempSensorStringToAddress(const char *hex_address, uint64_t *address)
 173 {
 174     uint16_t char_count = 0;
 175     *address = 0;
 176     while (*hex_address && (*hex_address != ' ')) {
 177         if (++char_count > 16) return false;
 178         char byte = *hex_address++;
 179         if (byte >= '0' && byte <= '9') byte = byte - '0';
 180         else if (byte >= 'a' && byte <='f') byte = byte - 'a' + 10;
 181         else if (byte >= 'A' && byte <='F') byte = byte - 'A' + 10;
 182         else return false;
 183         *address = (*address << 4) | (byte & 0xF);
 184     }
 185     return true;
 186 }
 187 #endif /* USE_TEMPERATURE_SENSOR */
 188
 189 #ifdef USE_TEMPERATURE_SENSOR
 190
 191 static uint8_t temperatureUpdateSensorIndex;
 192 static bool temperatureUpdateValueValid;
 193
 194 #ifdef DS18B20_DRIVER_AVAILABLE
 195 static uint8_t temperatureUpdateIndex;
 196 static uint8_t temperatureUpdateBuf[9];
 197 #endif
 198
 199 #endif /* defined(USE_TEMPERATURE_SENSOR) */
 200
 201 PROTOTHREAD(temperatureUpdate)
 202 {
 203     ptBegin(temperatureUpdate);
 204
 205     while (1) {
 206
 207         if (gyroReadTemperature()) {
 208             mpuTemperature = gyroGetTemperature();
 209             mpuBaroTempValid |= (1 << MPU_TEMP_VALID_BIT);
 210         } else
 211             mpuBaroTempValid &= ~(1 << MPU_TEMP_VALID_BIT);
 212
 213 #ifdef USE_BARO
 214         if (sensors(SENSOR_BARO)) {
 215             baroTemperature = baroGetTemperature();
 216             mpuBaroTempValid |= (1 << BARO_TEMP_VALID_BIT);
 217         } else
 218             mpuBaroTempValid &= ~(1 << BARO_TEMP_VALID_BIT);
 219 #endif
 220
 221 #ifdef USE_TEMPERATURE_SENSOR
 222
 223         temperatureUpdateSensorIndex = 0;
 224         do {
 225             const tempSensorConfig_t *configSlot = tempSensorConfig(temperatureUpdateSensorIndex);
 226             temperatureUpdateValueValid = false;
 227
 228 #ifdef USE_TEMPERATURE_LM75
 229             if (configSlot->type == TEMP_SENSOR_LM75) {
 230                 if (configSlot->address < 8) {
 231                     temperatureDev_t *dev = lm75Dev + configSlot->address;
 232                     if (dev->read && dev->read(dev, &tempSensorValue[temperatureUpdateSensorIndex])) temperatureUpdateValueValid = true;
 233                 }
 234             }
 235 #endif
 236
 237 #ifdef DS18B20_DRIVER_AVAILABLE
 238             if ((configSlot->type == TEMP_SENSOR_DS18B20) && owDev) {
 239                 bool ack = owDev->owResetCommand(owDev);
 240                 if (!ack) goto temperatureUpdateError;
 241                 ptWait(owDev->owBusReady(owDev));
 242
 243                 ack = owDev->owMatchRomCommand(owDev);
 244                 if (!ack) goto temperatureUpdateError;
 245                 ptWait(owDev->owBusReady(owDev));
 246
 247                 temperatureUpdateIndex = 0;
 248                 do {
 249                     ack = owDev->owWriteByteCommand(owDev, ((uint8_t *)&tempSensorConfig(temperatureUpdateSensorIndex)->address)[temperatureUpdateIndex]);
 250                     if (!ack) goto temperatureUpdateError;
 251                     ptWait(owDev->owBusReady(owDev));
 252                 } while (++temperatureUpdateIndex < 8);
 253
 254                 ack = ds18b20ReadScratchpadCommand(owDev);
 255                 if (!ack) goto temperatureUpdateError;
 256                 ptWait(owDev->owBusReady(owDev));
 257
 258                 temperatureUpdateIndex = 0;
 259                 do {
 260                     ack = owDev->owReadByteCommand(owDev);
 261                     if (!ack) goto temperatureUpdateError;
 262                     ptWait(owDev->owBusReady(owDev));
 263                     ack = owDev->owReadByteResult(owDev, temperatureUpdateBuf + temperatureUpdateIndex);
 264                     if (!ack) goto temperatureUpdateError;
 265                 } while (++temperatureUpdateIndex < 9);
 266
 267                 int16_t temperature;
 268                 if (ds18b20ReadTemperatureFromScratchPadBuf(temperatureUpdateBuf, &temperature)) {
 269                     if (temperatureSensorValueIsValid(temperatureUpdateSensorIndex) || (tempSensorValue[temperatureUpdateSensorIndex] == -1240)) {
 270                         tempSensorValue[temperatureUpdateSensorIndex] = temperature;
 271                         temperatureUpdateValueValid = true;
 272                     } else
 273                         tempSensorValue[temperatureUpdateSensorIndex] = -1240;
 274                 } else
 275                     tempSensorValue[temperatureUpdateSensorIndex] = TEMPERATURE_INVALID_VALUE;
 276             }
 277
 278 temperatureUpdateError:;
 279 #endif
 280
 281            uint8_t statusMask = 1 << (temperatureUpdateSensorIndex % 8);
 282            uint8_t byteIndex = temperatureUpdateSensorIndex / 8;
 283            if (temperatureUpdateValueValid)
 284                sensorStatus[byteIndex] |= statusMask;
 285            else
 286                sensorStatus[byteIndex] &= ~statusMask;
 287
 288            ptYield();
 289
 290         } while (++temperatureUpdateSensorIndex < MAX_TEMP_SENSORS);
 291
 292 #ifdef DS18B20_DRIVER_AVAILABLE
 293         if (owDev) {
 294             bool ack = owDev->owResetCommand(owDev);
 295             if (!ack) goto ds18b20StartConversionError;
 296             ptWait(owDev->owBusReady(owDev));
 297
 298             ack = owDev->owSkipRomCommand(owDev);
 299             if (!ack) goto ds18b20StartConversionError;
 300             ptWait(owDev->owBusReady(owDev));
 301
 302             ds18b20StartConversionCommand(owDev);
 303         }
 304
 305 ds18b20StartConversionError:;
 306 #endif
 307
 308 #endif /* defined(USE_TEMPERATURE_SENSOR) */
 309
 310         ptDelayMs(100); // DS18B20 sensors take 94ms for a temperature conversion with 9bit resolution
 311
 312     }
 313
 314     ptEnd(0);
 315 }
 316
 317 // returns decidegrees centigrade
 318 bool getIMUTemperature(int16_t *temperature)
 319 {
 320     *temperature = mpuTemperature;
 321     return MPU_TEMP_VALID;
 322 }
 323
 324 // returns decidegrees centigrade
 325 bool getBaroTemperature(int16_t *temperature)
 326 {
 327     *temperature = baroTemperature;
 328     return BARO_TEMP_VALID;
 329 }
 330
 331 void resetTempSensorConfig(void)
 332 {
 333     memset(tempSensorConfigMutable(0), 0, sizeof(tempSensorConfig_t) * MAX_TEMP_SENSORS);
 334 }