bmp388.cpp 16.1 KB
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 450 451 452 453 454 455 456 457 458 459 460 461 462 463 464 465 466 467 468 469 470 471 472 473 474 475 476 477 478 479 480 481 482 483 484 485 486 487 488 489 490 491 492 493 494 495 496 497 498 499 500 501 502 503 504 505 506 507 508 509 510 511 512 513 514 515 516 517 518 519 520 521 522 523 524 525 526 527 528 529 530 531 532 533 534 535 536 537 538 539 540 541 542 543 544 545 546 547 548 549 550 551 552 553 554 555 556 557 558 559 560 561 562 563 564 565 566 567 568 569 570 571 572 573 574 575 576 577 578 579 580 581 582 583 584 585 586 587 588 589
/****************************************************************************
 *
 *   Copyright (c) 2019 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
 * 3. Neither the name PX4 nor the names of its contributors may be
 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
 * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 ****************************************************************************/

/**
 * @file bmp388.cpp
 *
 * Driver for the BMP388 barometric pressure sensor connected via SPI or I2C
 *
 * Refer to: https://github.com/BoschSensortec/BMP3-Sensor-API
 */

#include "bmp388.h"

BMP388::BMP388(I2CSPIBusOption bus_option, int bus, IBMP388 *interface) :
	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(interface->get_device_id()), bus_option, bus,
		     interface->get_device_address()),
	_px4_baro(interface->get_device_id()),
	_interface(interface),
	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
	_measure_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": measure")),
	_comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": comms errors"))
{
}

BMP388::~BMP388()
{
	/* free perf counters */
	perf_free(_sample_perf);
	perf_free(_measure_perf);
	perf_free(_comms_errors);

	delete _interface;
}

int
BMP388::init()
{
	if (!soft_reset()) {
		PX4_DEBUG("failed to reset baro during init");
		return -EIO;
	}

	if (_interface->get_reg(BMP3_CHIP_ID_ADDR) != BMP3_CHIP_ID) {
		PX4_WARN("id of your baro is not: 0x%02x", BMP3_CHIP_ID);
		return -EIO;
	}

	_cal = _interface->get_calibration(BMP3_CALIB_DATA_ADDR);

	if (!_cal) {
		PX4_WARN("failed to get baro cal init");
		return -EIO;
	}

	if (!validate_trimming_param()) {
		PX4_WARN("failed to validate trim param");
		return -EIO;
	}

	if (!set_sensor_settings()) {
		PX4_WARN("failed to set sensor settings");
		return -EIO;
	}

	start();

	return OK;
}

void
BMP388::print_status()
{
	I2CSPIDriverBase::print_status();
	perf_print_counter(_sample_perf);
	perf_print_counter(_measure_perf);
	perf_print_counter(_comms_errors);
	printf("measurement interval:  %u us \n", _measure_interval);
}

void
BMP388::start()
{
	_collect_phase = false;

	// wait a bit longer for the first measurement, as otherwise the first readout might fail
	ScheduleOnInterval(_measure_interval, _measure_interval * 3);
}

void
BMP388::RunImpl()
{
	if (_collect_phase) {
		collect();
	}

	measure();
}

int
BMP388::measure()
{
	_collect_phase = true;

	perf_begin(_measure_perf);

	/* start measurement */
	if (!set_op_mode(BMP3_FORCED_MODE)) {
		PX4_DEBUG("failed to set operating mode");
		perf_count(_comms_errors);
		perf_cancel(_measure_perf);
		return -EIO;
	}

	perf_end(_measure_perf);

	return OK;
}

int
BMP388::collect()
{
	_collect_phase = false;

	/* enable pressure and temperature */
	uint8_t sensor_comp = BMP3_PRESS | BMP3_TEMP;
	bmp3_data data{};

	perf_begin(_sample_perf);

	/* this should be fairly close to the end of the conversion, so the best approximation of the time */
	const hrt_abstime timestamp_sample = hrt_absolute_time();

	if (!get_sensor_data(sensor_comp, &data)) {
		perf_count(_comms_errors);
		perf_cancel(_sample_perf);
		return -EIO;
	}

	_px4_baro.set_error_count(perf_event_count(_comms_errors));

	float temperature = (float)(data.temperature / 100.0f);
	float pressure = (float)(data.pressure / 100.0f); // to Pascal
	pressure = pressure / 100.0f; // to mbar

	_px4_baro.set_temperature(temperature);
	_px4_baro.update(timestamp_sample, pressure);

	perf_end(_sample_perf);

	return OK;
}

/*!
 * @brief This API performs the soft reset of the sensor.
 *
 * Refer: https://github.com/BoschSensortec/BMP3-Sensor-API/blob/master/bmp3.c
 */
bool
BMP388::soft_reset()
{
	bool    result = false;
	uint8_t status;
	int     ret;

	status = _interface->get_reg(BMP3_SENS_STATUS_REG_ADDR);

	if (status & BMP3_CMD_RDY) {
		ret = _interface->set_reg(BPM3_CMD_SOFT_RESET, BMP3_CMD_ADDR);

		if (ret == OK) {
			usleep(BMP3_POST_RESET_WAIT_TIME);
			status = _interface->get_reg(BMP3_ERR_REG_ADDR);

			if ((status & BMP3_CMD_ERR) == 0) {
				result = true;
			}
		}
	}

	return result;
}

/*
 * @brief function to calculate CRC for the trimming parameters
 *
 * Refer: https://github.com/BoschSensortec/BMP3-Sensor-API/blob/master/self-test/bmp3_selftest.c
 * */
static int8_t cal_crc(uint8_t seed, uint8_t data)
{
	int8_t poly = 0x1D;
	int8_t var2;
	uint8_t i;

	for (i = 0; i < 8; i++) {
		if ((seed & 0x80) ^ (data & 0x80)) {
			var2 = 1;

		} else {
			var2 = 0;
		}

		seed = (seed & 0x7F) << 1;
		data = (data & 0x7F) << 1;
		seed = seed ^ (uint8_t)(poly * var2);
	}

	return (int8_t)seed;
}

/*
 * @brief Function to verify the trimming parameters
 *
 * Refer: https://github.com/BoschSensortec/BMP3-Sensor-API/blob/master/self-test/bmp3_selftest.c
 * */
bool
BMP388::validate_trimming_param()
{
	uint8_t crc = 0xFF;
	uint8_t stored_crc;
	uint8_t *trim_param = (uint8_t *)_cal;

	static_assert(BMP3_CALIB_DATA_LEN <= sizeof(*_cal), "unexpected struct size");

	for (int i = 0; i < BMP3_CALIB_DATA_LEN; i++) {
		crc = (uint8_t)cal_crc(crc, trim_param[i]);
	}

	crc = (crc ^ 0xFF);

	stored_crc = _interface->get_reg(BMP3_TRIM_CRC_DATA_ADDR);

	return stored_crc == crc;
}

uint32_t
BMP388::get_measurement_time()
{
	/*
	  From BST-BMP388-DS001.pdf, page 25, table 21

	  Pressure      Temperature   Measurement     Max Time
	  Oversample    Oversample    Time (Forced)
	  x1            1x            4.9 ms          5.7 ms
	  x2            1x            6.9 ms          8.7 ms
	  x4            1x            10.9 ms         13.3 ms
	  x8            1x            18.9 ms         22.5 ms
	  x16           2x            36.9 ms         43.3 ms
	  x32           2x            68.9 ms         (not documented)
	*/

	uint32_t meas_time_us = 0; // unsupported value by default

	if (osr_t == BMP3_NO_OVERSAMPLING) {
		switch (osr_p) {
		case BMP3_NO_OVERSAMPLING:
			meas_time_us = 5700;
			break;

		case BMP3_OVERSAMPLING_2X:
			meas_time_us = 8700;
			break;

		case BMP3_OVERSAMPLING_4X:
			meas_time_us = 13300;
			break;

		case BMP3_OVERSAMPLING_8X:
			meas_time_us = 22500;
			break;
		}

	} else if (osr_t == BMP3_OVERSAMPLING_2X) {
		switch (osr_p) {
		case BMP3_OVERSAMPLING_16X:
			meas_time_us = 43300;
			break;

		case BMP3_OVERSAMPLING_32X:
			meas_time_us = 68900;
			break;
		}
	}

	return meas_time_us;
}

/*!
 * @brief This API sets the power control(pressure enable and
 * temperature enable), over sampling, odr and filter
 * settings in the sensor.
 *
 * Refer: https://github.com/BoschSensortec/BMP3-Sensor-API/blob/master/bmp3.c
 */
bool
BMP388::set_sensor_settings()
{
	_measure_interval = get_measurement_time();

	if (_measure_interval == 0) {
		PX4_WARN("unsupported oversampling selected");
		return false;
	}

	/* Select the pressure and temperature sensor to be enabled */
	uint8_t pwc_ctl_reg = 0;
	pwc_ctl_reg = BMP3_SET_BITS_POS_0(pwc_ctl_reg, BMP3_PRESS_EN, BMP3_ENABLE);
	pwc_ctl_reg = BMP3_SET_BITS(pwc_ctl_reg, BMP3_TEMP_EN, BMP3_ENABLE);

	int ret = _interface->set_reg(pwc_ctl_reg, BMP3_PWR_CTRL_ADDR);

	if (ret != OK) {
		PX4_WARN("failed to set settings BMP3_PWR_CTRL_ADDR");
		return false;
	}

	/* Select the over sampling settings for pressure and temperature */
	uint8_t osr_ctl_reg = 0;
	osr_ctl_reg = BMP3_SET_BITS_POS_0(osr_ctl_reg, BMP3_PRESS_OS, osr_p);
	osr_ctl_reg = BMP3_SET_BITS(osr_ctl_reg, BMP3_TEMP_OS, osr_t);

	ret = _interface->set_reg(osr_ctl_reg, BMP3_OSR_ADDR);

	if (ret != OK) {
		PX4_WARN("failed to set settings BMP3_OSR_ADDR");
		return false;
	}

	/* Using 'forced mode' so this is not required but here for future use possibly */
	uint8_t odr_ctl_reg = 0;
	odr_ctl_reg = BMP3_SET_BITS_POS_0(odr_ctl_reg, BMP3_ODR, odr);

	ret = _interface->set_reg(odr_ctl_reg, BMP3_ODR_ADDR);

	if (ret != OK) {
		PX4_WARN("failed to set output data rate register");
		return false;
	}

	uint8_t iir_ctl_reg = 0;
	iir_ctl_reg = BMP3_SET_BITS(iir_ctl_reg, BMP3_IIR_FILTER, iir_coef);
	ret = _interface->set_reg(iir_ctl_reg, BMP3_IIR_ADDR);

	if (ret != OK) {
		PX4_WARN("failed to set IIR settings");
		return false;
	}

	return true;
}


/*!
 * @brief This API sets the power mode of the sensor.
 *
 * Refer: https://github.com/BoschSensortec/BMP3-Sensor-API/blob/master/bmp3.c
 */
bool
BMP388::set_op_mode(uint8_t op_mode)
{
	bool    result = false;
	uint8_t last_set_mode;
	uint8_t op_mode_reg_val;
	int     ret = OK;

	op_mode_reg_val = _interface->get_reg(BMP3_PWR_CTRL_ADDR);
	last_set_mode = BMP3_GET_BITS(op_mode_reg_val, BMP3_OP_MODE);

	/* Device needs to be put in sleep mode to transition */
	if (last_set_mode != BMP3_SLEEP_MODE) {
		op_mode_reg_val = op_mode_reg_val & (~(BMP3_OP_MODE_MSK));
		ret = _interface->set_reg(op_mode_reg_val, BMP3_PWR_CTRL_ADDR);

		if (ret != OK) {
			return false;
		}

		px4_usleep(BMP3_POST_SLEEP_WAIT_TIME);
	}

	if (ret == OK) {
		op_mode_reg_val = _interface->get_reg(BMP3_PWR_CTRL_ADDR);
		op_mode_reg_val = BMP3_SET_BITS(op_mode_reg_val, BMP3_OP_MODE, op_mode);
		ret = _interface->set_reg(op_mode_reg_val, BMP3_PWR_CTRL_ADDR);

		if (ret != OK) {
			return false;
		}

		result = true;
	}

	return result;
}

/*!
 *  @brief This internal API is used to parse the pressure or temperature or
 *  both the data and store it in the bmp3_uncomp_data structure instance.
 *
 * Refer: https://github.com/BoschSensortec/BMP3-Sensor-API/blob/master/bmp3.c
 */
static void parse_sensor_data(const uint8_t *reg_data, struct bmp3_uncomp_data *uncomp_data)
{
	uint32_t data_xlsb;
	uint32_t data_lsb;
	uint32_t data_msb;

	data_xlsb = (uint32_t)reg_data[0];
	data_lsb = (uint32_t)reg_data[1] << 8;
	data_msb = (uint32_t)reg_data[2] << 16;
	uncomp_data->pressure = data_msb | data_lsb | data_xlsb;

	data_xlsb = (uint32_t)reg_data[3];
	data_lsb = (uint32_t)reg_data[4] << 8;
	data_msb = (uint32_t)reg_data[5] << 16;
	uncomp_data->temperature = data_msb | data_lsb | data_xlsb;
}


/*!
 * @brief This internal API is used to compensate the raw temperature data and
 * return the compensated temperature data in integer data type.
 * For eg if returned temperature is 2426 then it is 2426/100 = 24.26 deg Celsius
 *
 * Refer: https://github.com/BoschSensortec/BMP3-Sensor-API/blob/master/bmp3.c
 */
static int64_t compensate_temperature(const struct bmp3_uncomp_data *uncomp_data, struct bmp3_calib_data *calib_data)
{
	int64_t partial_data1;
	int64_t partial_data2;
	int64_t partial_data3;
	int64_t partial_data4;
	int64_t partial_data5;
	int64_t partial_data6;
	int64_t comp_temp;

	partial_data1 = ((int64_t)uncomp_data->temperature - (256 * calib_data->reg_calib_data.par_t1));
	partial_data2 = calib_data->reg_calib_data.par_t2 * partial_data1;
	partial_data3 = (partial_data1 * partial_data1);
	partial_data4 = (int64_t)partial_data3 * calib_data->reg_calib_data.par_t3;
	partial_data5 = ((int64_t)(partial_data2 * 262144) + partial_data4);
	partial_data6 = partial_data5 / 4294967296;

	/* Store t_lin in dev. structure for pressure calculation */
	calib_data->reg_calib_data.t_lin = partial_data6;
	comp_temp = (int64_t)((partial_data6 * 25) / 16384);

	return comp_temp;
}

/*!
 * @brief This internal API is used to compensate the raw pressure data and
 * return the compensated pressure data in integer data type.
 * for eg return if pressure is 9528709 which is 9528709/100 = 95287.09 Pascal or 952.8709 hecto Pascal
 *
 * Refer: https://github.com/BoschSensortec/BMP3-Sensor-API/blob/master/bmp3.c
 */
static uint64_t compensate_pressure(const struct bmp3_uncomp_data *uncomp_data,
				    const struct bmp3_calib_data *calib_data)
{
	const struct bmp3_reg_calib_data *reg_calib_data = &calib_data->reg_calib_data;
	int64_t partial_data1;
	int64_t partial_data2;
	int64_t partial_data3;
	int64_t partial_data4;
	int64_t partial_data5;
	int64_t partial_data6;
	int64_t offset;
	int64_t sensitivity;
	uint64_t comp_press;

	partial_data1 = reg_calib_data->t_lin * reg_calib_data->t_lin;
	partial_data2 = partial_data1 / 64;
	partial_data3 = (partial_data2 * reg_calib_data->t_lin) / 256;
	partial_data4 = (reg_calib_data->par_p8 * partial_data3) / 32;
	partial_data5 = (reg_calib_data->par_p7 * partial_data1) * 16;
	partial_data6 = (reg_calib_data->par_p6 * reg_calib_data->t_lin) * 4194304;
	offset = (reg_calib_data->par_p5 * 140737488355328) + partial_data4 + partial_data5 + partial_data6;
	partial_data2 = (reg_calib_data->par_p4 * partial_data3) / 32;
	partial_data4 = (reg_calib_data->par_p3 * partial_data1) * 4;
	partial_data5 = (reg_calib_data->par_p2 - 16384) * reg_calib_data->t_lin * 2097152;
	sensitivity = ((reg_calib_data->par_p1 - 16384) * 70368744177664) + partial_data2 + partial_data4 + partial_data5;
	partial_data1 = (sensitivity / 16777216) * uncomp_data->pressure;
	partial_data2 = reg_calib_data->par_p10 * reg_calib_data->t_lin;
	partial_data3 = partial_data2 + (65536 * reg_calib_data->par_p9);
	partial_data4 = (partial_data3 * uncomp_data->pressure) / 8192;
	/*dividing by 10 followed by multiplying by 10 to avoid overflow caused by (uncomp_data->pressure * partial_data4) */
	partial_data5 = (uncomp_data->pressure * (partial_data4 / 10)) / 512;
	partial_data5 = partial_data5 * 10;
	partial_data6 = (int64_t)((uint64_t)uncomp_data->pressure * (uint64_t)uncomp_data->pressure);
	partial_data2 = (reg_calib_data->par_p11 * partial_data6) / 65536;
	partial_data3 = (partial_data2 * uncomp_data->pressure) / 128;
	partial_data4 = (offset / 4) + partial_data1 + partial_data5 + partial_data3;
	comp_press = (((uint64_t)partial_data4 * 25) / (uint64_t)1099511627776);

	return comp_press;
}

/*!
 * @brief This internal API is used to compensate the pressure or temperature
 * or both the data according to the component selected by the user.
 *
 * Refer: https://github.com/BoschSensortec/BMP3-Sensor-API/blob/master/bmp3.c
 */
bool
BMP388::compensate_data(uint8_t sensor_comp,
			const struct bmp3_uncomp_data *uncomp_data,
			struct bmp3_data *comp_data)
{
	int8_t rslt = OK;
	struct bmp3_calib_data calib_data = {0};
	struct bmp3_reg_calib_data *reg_calib_data = &calib_data.reg_calib_data;
	memcpy(reg_calib_data, _cal, 21);

	if ((uncomp_data != NULL) && (comp_data != NULL)) {
		if (sensor_comp & (BMP3_PRESS | BMP3_TEMP)) {
			comp_data->temperature = compensate_temperature(uncomp_data, &calib_data);
		}

		if (sensor_comp & BMP3_PRESS) {
			comp_data->pressure = compensate_pressure(uncomp_data, &calib_data);
		}

	} else {
		rslt = -1;
	}

	return (rslt == 0);
}

/*!
 * @brief This API reads the pressure, temperature or both data from the
 * sensor, compensates the data and store it in the bmp3_data structure
 * instance passed by the user.
 */
bool
BMP388::get_sensor_data(uint8_t sensor_comp, struct bmp3_data *comp_data)
{
	bool result = false;
	int8_t rslt;

	uint8_t reg_data[BMP3_P_T_DATA_LEN];
	struct bmp3_uncomp_data uncomp_data;

	rslt = _interface->get_reg_buf(BMP3_SENS_STATUS_REG_ADDR, reg_data, BMP3_P_T_DATA_LEN);

	if (rslt == OK) {
		uint8_t status = reg_data[0];

		// check if data ready (both temp and pressure)
		if ((status & (3 << 5)) != (3 << 5)) {
			return false;
		}

		parse_sensor_data(reg_data + 1, &uncomp_data);
		result = compensate_data(sensor_comp, &uncomp_data, comp_data);
	}

	return result;
}