From 0efe6916ddfc71abad72ee138c1cfcae7851345c Mon Sep 17 00:00:00 2001 From: Wu Date: Wed, 28 Aug 2024 15:40:23 +0800 Subject: [PATCH 1/3] AP_Baro: add SPA06 to SPx06 driver --- libraries/AP_Baro/AP_Baro_SPL06.cpp | 59 ++++++++++++++++++++++++----- libraries/AP_Baro/AP_Baro_SPL06.h | 9 ++++- 2 files changed, 57 insertions(+), 11 deletions(-) diff --git a/libraries/AP_Baro/AP_Baro_SPL06.cpp b/libraries/AP_Baro/AP_Baro_SPL06.cpp index 19bfdf336c8b88..c72b6079085204 100644 --- a/libraries/AP_Baro/AP_Baro_SPL06.cpp +++ b/libraries/AP_Baro/AP_Baro_SPL06.cpp @@ -23,6 +23,7 @@ extern const AP_HAL::HAL &hal; #define SPL06_CHIP_ID 0x10 +#define SPA06_CHIP_ID 0x11 #define SPL06_REG_PRESSURE_B2 0x00 // Pressure MSB Register #define SPL06_REG_PRESSURE_B1 0x01 // Pressure middle byte Register @@ -44,8 +45,7 @@ extern const AP_HAL::HAL &hal; #define SPL06_REG_CHIP_ID 0x0D // Chip ID Register #define SPL06_REG_CALIB_COEFFS_START 0x10 #define SPL06_REG_CALIB_COEFFS_END 0x21 - -#define SPL06_CALIB_COEFFS_LEN (SPL06_REG_CALIB_COEFFS_END - SPL06_REG_CALIB_COEFFS_START + 1) +#define SPA06_REG_CALIB_COEFFS_END 0x24 // TEMPERATURE_CFG_REG #define SPL06_TEMP_USE_EXT_SENSOR (1<<7) @@ -108,21 +108,43 @@ bool AP_Baro_SPL06::_init() // Sometimes SPL06 has init problems, that's due to failure of reading using SPI for the first time. The SPL06 is a dual // protocol sensor(I2C and SPI), sometimes it takes one SPI operation to convert it to SPI mode after it starts up. - bool is_SPL06 = false; for (uint8_t i=0; i<5; i++) { - if (_dev->read_registers(SPL06_REG_CHIP_ID, &whoami, 1) && - whoami == SPL06_CHIP_ID) { - is_SPL06=true; - break; + if (_dev->read_registers(SPL06_REG_CHIP_ID, &whoami, 1)) { + switch(whoami) { + case SPL06_CHIP_ID: + type = Type::SPL06; + break; + case SPA06_CHIP_ID: + type = Type::SPA06; + break; + default: + type = Type::UNKNOWN; + break; + } } + + if (type != Type::UNKNOWN) + break; } - if(!is_SPL06) { + if (type == Type::UNKNOWN) { return false; } // read the calibration data + uint8_t SPL06_CALIB_COEFFS_LEN = 18; + switch(type) { + case Type::SPL06: + SPL06_CALIB_COEFFS_LEN = SPL06_REG_CALIB_COEFFS_END - SPL06_REG_CALIB_COEFFS_START + 1; + break; + case Type::SPA06: + SPL06_CALIB_COEFFS_LEN = SPA06_REG_CALIB_COEFFS_END - SPL06_REG_CALIB_COEFFS_START + 1; + break; + default: + break; + } + uint8_t buf[SPL06_CALIB_COEFFS_LEN]; _dev->read_registers(SPL06_REG_CALIB_COEFFS_START, buf, sizeof(buf)); @@ -135,6 +157,10 @@ bool AP_Baro_SPL06::_init() _c20 = ((uint16_t)buf[12] << 8) | (uint16_t)buf[13]; _c21 = ((uint16_t)buf[14] << 8) | (uint16_t)buf[15]; _c30 = ((uint16_t)buf[16] << 8) | (uint16_t)buf[17]; + if(type == Type::SPA06) { + _c31 = (buf[18] & 0x80 ? 0xF000 : 0) | ((uint16_t)buf[18] << 4) | (((uint16_t)buf[19] & 0xF0) >> 4); + _c40 = ((buf[19] & 0x8 ? 0xF000 : 0) | ((uint16_t)buf[19] & 0x0F) << 8) | (uint16_t)buf[20]; + } // setup temperature and pressure measurements _dev->setup_checked_registers(3, 20); @@ -236,8 +262,21 @@ void AP_Baro_SPL06::_update_temperature(int32_t temp_raw) void AP_Baro_SPL06::_update_pressure(int32_t press_raw) { const float press_raw_sc = (float)press_raw / raw_value_scale_factor(SPL06_PRESSURE_OVERSAMPLING); - const float pressure_cal = (float)_c00 + press_raw_sc * ((float)_c10 + press_raw_sc * ((float)_c20 + press_raw_sc * _c30)); - const float press_temp_comp = _temp_raw * ((float)_c01 + press_raw_sc * ((float)_c11 + press_raw_sc * _c21)); + float pressure_cal = 0; + float press_temp_comp = 0; + + switch(type) { + case Type::SPL06: + pressure_cal = (float)_c00 + press_raw_sc * ((float)_c10 + press_raw_sc * ((float)_c20 + press_raw_sc * _c30)); + press_temp_comp = _temp_raw * ((float)_c01 + press_raw_sc * ((float)_c11 + press_raw_sc * _c21)); + break; + case Type::SPA06: + pressure_cal = (float)_c00 + press_raw_sc * ((float)_c10 + press_raw_sc * ((float)_c20 + press_raw_sc * ((float)_c30 + press_raw_sc * _c40))); + press_temp_comp = _temp_raw * ((float)_c01 + press_raw_sc * ((float)_c11 + press_raw_sc * ((float)_c21) + press_raw_sc * _c31)); + break; + default: + break; + } const float press_comp = pressure_cal + press_temp_comp; diff --git a/libraries/AP_Baro/AP_Baro_SPL06.h b/libraries/AP_Baro/AP_Baro_SPL06.h index 7dcba34ee804c4..1cdda4762fd4cf 100644 --- a/libraries/AP_Baro/AP_Baro_SPL06.h +++ b/libraries/AP_Baro/AP_Baro_SPL06.h @@ -18,6 +18,11 @@ class AP_Baro_SPL06 : public AP_Baro_Backend { public: + enum class Type { + UNKNOWN, + SPL06, + SPA06, + }; AP_Baro_SPL06(AP_Baro &baro, AP_HAL::OwnPtr dev); /* AP_Baro public interface: */ @@ -45,7 +50,9 @@ class AP_Baro_SPL06 : public AP_Baro_Backend // Internal calibration registers int32_t _c00, _c10; - int16_t _c0, _c1, _c01, _c11, _c20, _c21, _c30; + int16_t _c0, _c1, _c01, _c11, _c20, _c21, _c30, _c31, _c40; + + Type type; }; #endif // AP_BARO_SPL06_ENABLED From b775762e4b58aaac2997e1e9cf4be5e820fbc9c5 Mon Sep 17 00:00:00 2001 From: Wu Date: Wed, 28 Aug 2024 16:24:23 +0800 Subject: [PATCH 2/3] AP_Baro: SPx06 adds Background mode --- libraries/AP_Baro/AP_Baro_SPL06.cpp | 36 ++++++++++++++++++++++++++++- 1 file changed, 35 insertions(+), 1 deletion(-) diff --git a/libraries/AP_Baro/AP_Baro_SPL06.cpp b/libraries/AP_Baro/AP_Baro_SPL06.cpp index c72b6079085204..6ca52a2f0286e3 100644 --- a/libraries/AP_Baro/AP_Baro_SPL06.cpp +++ b/libraries/AP_Baro/AP_Baro_SPL06.cpp @@ -47,12 +47,17 @@ extern const AP_HAL::HAL &hal; #define SPL06_REG_CALIB_COEFFS_END 0x21 #define SPA06_REG_CALIB_COEFFS_END 0x24 +// PRESSURE_CFG_REG +#define SPL06_PRES_RATE_32HZ (0x05 << 4) + // TEMPERATURE_CFG_REG #define SPL06_TEMP_USE_EXT_SENSOR (1<<7) +#define SPL06_TEMP_RATE_32HZ (0x05 << 4) // MODE_AND_STATUS_REG #define SPL06_MEAS_PRESSURE (1<<0) // measure pressure #define SPL06_MEAS_TEMPERATURE (1<<1) // measure temperature +#define SPL06_MEAS_CON_PRE_TEM 0x07 #define SPL06_MEAS_CFG_CONTINUOUS (1<<2) #define SPL06_MEAS_CFG_PRESSURE_RDY (1<<4) @@ -70,6 +75,13 @@ extern const AP_HAL::HAL &hal; #define SPL06_OVERSAMPLING_TO_REG_VALUE(n) (ffs(n)-1) +#define SPL06_BACKGROUND_SAMPLE_RATE 32 + +// enable Background Mode for continuous measurement +#ifndef AP_BARO_SPL06_BACKGROUND_ENABLE +#define AP_BARO_SPL06_BACKGROUND_ENABLE 0 +#endif + AP_Baro_SPL06::AP_Baro_SPL06(AP_Baro &baro, AP_HAL::OwnPtr dev) : AP_Baro_Backend(baro) , _dev(std::move(dev)) @@ -165,8 +177,17 @@ bool AP_Baro_SPL06::_init() // setup temperature and pressure measurements _dev->setup_checked_registers(3, 20); +#if AP_BARO_SPL06_BACKGROUND_ENABLE + //set rate and oversampling + _dev->write_register(SPL06_REG_TEMPERATURE_CFG, SPL06_TEMP_RATE_32HZ | SPL06_OVERSAMPLING_TO_REG_VALUE(SPL06_TEMPERATURE_OVERSAMPLING), true); + _dev->write_register(SPL06_REG_PRESSURE_CFG, SPL06_PRES_RATE_32HZ | SPL06_OVERSAMPLING_TO_REG_VALUE(SPL06_PRESSURE_OVERSAMPLING), true); + + //enable background mode + _dev->write_register(SPL06_REG_MODE_AND_STATUS, SPL06_MEAS_CON_PRE_TEM, true); +#else _dev->write_register(SPL06_REG_TEMPERATURE_CFG, SPL06_TEMP_USE_EXT_SENSOR | SPL06_OVERSAMPLING_TO_REG_VALUE(SPL06_TEMPERATURE_OVERSAMPLING), true); _dev->write_register(SPL06_REG_PRESSURE_CFG, SPL06_OVERSAMPLING_TO_REG_VALUE(SPL06_PRESSURE_OVERSAMPLING), true); +#endif //AP_BARO_SPL06_BACKGROUND_ENABLE uint8_t int_and_fifo_reg_value = 0; if (SPL06_TEMPERATURE_OVERSAMPLING > 8) { @@ -184,7 +205,11 @@ bool AP_Baro_SPL06::_init() // request 50Hz update _timer_counter = -1; +#if AP_BARO_SPL06_BACKGROUND_ENABLE + _dev->register_periodic_callback(1000000/SPL06_BACKGROUND_SAMPLE_RATE, FUNCTOR_BIND_MEMBER(&AP_Baro_SPL06::_timer, void)); +#else _dev->register_periodic_callback(20 * AP_USEC_PER_MSEC, FUNCTOR_BIND_MEMBER(&AP_Baro_SPL06::_timer, void)); +#endif //AP_BARO_SPL06_BACKGROUND_ENABLE return true; } @@ -211,7 +236,15 @@ void AP_Baro_SPL06::_timer(void) { uint8_t buf[3]; - if ((_timer_counter == -1) || (_timer_counter == 49)) { +#if AP_BARO_SPL06_BACKGROUND_ENABLE + _dev->read_registers(SPL06_REG_TEMPERATURE_START, buf, sizeof(buf)); + _update_temperature((int32_t)((buf[0] & 0x80 ? 0xFF000000 : 0) | ((uint32_t)buf[0] << 16) | ((uint32_t)buf[1] << 8) | buf[2])); + + _dev->read_registers(SPL06_REG_PRESSURE_START, buf, sizeof(buf)); + _update_pressure((int32_t)((buf[0] & 0x80 ? 0xFF000000 : 0) | ((uint32_t)buf[0] << 16) | ((uint32_t)buf[1] << 8) | buf[2])); +#else + //command mode + if ((_timer_counter == -1) || (_timer_counter == 49)) { // First call and every second start a temperature measurement (50Hz call) _dev->write_register(SPL06_REG_MODE_AND_STATUS, SPL06_MEAS_TEMPERATURE, false); _timer_counter = 0; // Next cycle we are reading the temperature @@ -228,6 +261,7 @@ void AP_Baro_SPL06::_timer(void) _dev->write_register(SPL06_REG_MODE_AND_STATUS, SPL06_MEAS_PRESSURE, false); _timer_counter += 1; } +#endif //AP_BARO_SPL06_BACKGROUND_ENABLE _dev->check_next_register(); } From b69e1418a755bf1ebd5cf10023a5ec7bff6295f6 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Thu, 5 Sep 2024 18:02:31 +1000 Subject: [PATCH 3/3] hwdef: RadioLinkPIX6 uses SPL06 driver --- libraries/AP_HAL_ChibiOS/hwdef/RadiolinkPIX6/hwdef.dat | 1 - 1 file changed, 1 deletion(-) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/RadiolinkPIX6/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/RadiolinkPIX6/hwdef.dat index 82c7d676b1c446..c7edef50b09dbd 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/RadiolinkPIX6/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/RadiolinkPIX6/hwdef.dat @@ -187,7 +187,6 @@ COMPASS IST8310 I2C:ALL_INTERNAL:0x0E false ROTATION_YAW_180 # one baro BARO SPL06 I2C:0:0x76 -BARO SPA06 I2C:0:0x76 # microSD support PC8 SDMMC_D0 SDMMC1