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AP_Baro:add driver for the SPA06 #27905

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merged 3 commits into from
Sep 11, 2024
Merged

AP_Baro:add driver for the SPA06 #27905

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0efe691
AP_Baro: add SPA06 to SPx06 driver
radiolinkW Aug 28, 2024
b775762
AP_Baro: SPx06 adds Background mode
radiolinkW Aug 28, 2024
b69e141
hwdef: RadioLinkPIX6 uses SPL06 driver
peterbarker Sep 5, 2024
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93 changes: 83 additions & 10 deletions libraries/AP_Baro/AP_Baro_SPL06.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand All @@ -44,15 +45,19 @@ 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 SPA06_REG_CALIB_COEFFS_END 0x24

#define SPL06_CALIB_COEFFS_LEN (SPL06_REG_CALIB_COEFFS_END - SPL06_REG_CALIB_COEFFS_START + 1)
// 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)
Expand All @@ -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<AP_HAL::Device> dev)
: AP_Baro_Backend(baro)
, _dev(std::move(dev))
Expand Down Expand Up @@ -108,21 +120,43 @@ 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));

Expand All @@ -135,12 +169,25 @@ 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);

#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) {
Expand All @@ -158,7 +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;
}
Expand All @@ -185,7 +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
Expand All @@ -202,6 +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();
}
Expand Down Expand Up @@ -236,8 +296,21 @@ 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;

Expand Down
9 changes: 8 additions & 1 deletion libraries/AP_Baro/AP_Baro_SPL06.h
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Original file line number Diff line number Diff line change
Expand Up @@ -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<AP_HAL::Device> dev);

/* AP_Baro public interface: */
Expand Down Expand Up @@ -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
1 change: 0 additions & 1 deletion libraries/AP_HAL_ChibiOS/hwdef/RadiolinkPIX6/hwdef.dat
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down
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