mirror of
https://git.intern.spaceteamaachen.de/ALPAKA/driver-ms56xx.git
synced 2025-06-09 17:46:00 +00:00
More updates to the sensor API
This commit is contained in:
dario
parent
4c4f2658e2
commit
26f3a6fcf6
@ -2,8 +2,24 @@
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#define STA_SENSORS_MS5607_HPP
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#include <sta/bus/spi/device.hpp>
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#include <sta/bus/i2c/device.hpp>
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#include <sta/endian.hpp>
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#include <sta/stm32/delay.hpp>
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// Important: The pin CSB shall be connected to VDD or GND (do not leave unconnected!).
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/**
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* @brief MS56xx address when the CS pin is connected to GND.
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*
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*/
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#define MS56XX_ADDRESS_CS_LOW 0x1110111
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/**
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* @brief MS56xx address when the CS pin is connected to VDD.
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*
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*/
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#define MS56XX_ADDRESS_CS_HIGH 0x1110110
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namespace sta
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{
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@ -16,7 +32,7 @@ namespace sta
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/**
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* @brief Signature for delay msec function.
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*/
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using DelayMsFunc = void (*)(uint32_t);
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using DelayUsFunc = void (*)(uint32_t);
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/**
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* @brief Different OSR levels for the sensor
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@ -31,12 +47,49 @@ namespace sta
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};
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/**
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* @brief Driver class for the MS56xx pressure sensor series.
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* @brief Different units supported by the pressure sensor.
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*
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*/
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enum Unit
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{
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hPa,
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Pa,
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mbar
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};
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/**
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* @brief All possible commands to send to the sensor
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*
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*/
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enum Operations {
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RESET = 0x1E,
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READ_PROM = 0xA2,
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D1_CONVERSION = 0x40,
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D2_CONVERSION = 0x50,
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ADC_RESULT = 0x00
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};
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/**
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* @brief SPI driver for the MS56xx pressure sensor series.
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*
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* @param device The SPI device for bus communication.
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* @param osr The output sampling rate for the sensor.
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* @param delay Function for triggering microsecond delays.
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* @param osr The oversampling rate for the sensor.
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*
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* @note Set PS pin to low for SPI. Maximum SPI frequency 20MHz, mode 0 and 3 are supported.
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*/
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MS56xx(SPIDevice * device, DelayMsFunc delay, osr=OsrLevel::_1024);
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MS56xx(SPIDevice * device, DelayUsFunc delay, OsrLevel osr = OsrLevel::_1024);
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/**
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* @brief I2C driver for the MS56xx pressure sensor series.
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*
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* @param device The I2C device for bus communication.
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* @param delay Function for triggering microsecond delays.
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* @param osr The oversampling rate for the sensor.
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*
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* @note Set PS pin to high for I2C. Chip select pin represents LSB of address.
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*/
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MS56xx(I2CDevice * device, DelayUsFunc delay, OsrLevel osr = OsrLevel::_1024);
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/**
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* @brief Initialize the driver. Computes the pressure value at altitude 0.
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@ -45,13 +98,61 @@ namespace sta
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*/
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bool init();
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/**
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* @brief Set the oversampling rate.
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*
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* @param osr The new oversampling rate.
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*/
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void setOsr(OsrLevel osr);
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/**
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* @brief Reads the current pressure value from the sensor.
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*
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* @param temperature The temperature in Celsius * 100 (e.g. 20.3 deg. C -> 2030)
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* @param unit Specifies the unit for the pressure measurement. Default is hPa.
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* @return uint32_t The measured value in the specified unit.
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*/
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int32_t getPressure(int32_t temperature, Unit unit = Unit::hPa);
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/**
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* @brief Reads the current pressure value from the sensor. Obtains the temperature value from the interal sensor.
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*
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* @param unit Specifies the unit for the pressure measurement. Default is hPa.
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* @return int32_t The measured value in the specified unit.
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*/
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int32_t getPressure(Unit unit = Unit::hPa);
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/**
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* @brief Reads the current temperature value from the sensor.
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*
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* @return int32_t The measured temperature.
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* @note There are better sensors for temperature measurements than the MS56xx.
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*/
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int32_t getTemperature();
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/**
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* @brief Set the Pressure Reference object
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*
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* @param pressRef The reference pressure value measured at a reference altitude.
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* @param altRef The reference altitude for the reference pressure.
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*/
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void setPressureReference(float pressRef, float altRef);
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/**
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* @brief Provide a reference pressure value at a reference altitude in order to estimate the sealevel pressure.
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*
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* @param pressRef The reference pressure value measured at a reference altitude.
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* @param altRef The reference altitude for the reference pressure.
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* @param unit The unit of the provided pressure value.
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*/
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void setPressureReference(float pressRef, float altRef, Unit unit = Unit::hPa);
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/**
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* @brief Estimate the current altitude based on the pressure readings.
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*
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* @param temperature A temperature measurement from an external source.
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* @return float The altitude estimate in meters.
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*/
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float getAltitudeEstimate(int32_t temperature);
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/**
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* @brief Estimate the current altitude based on the pressure readings.
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@ -59,83 +160,70 @@ namespace sta
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* @return float The altitude estimate in meters.
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*/
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float getAltitudeEstimate();
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// Request Calculation of uncompensated pressure
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// Takes a few ms -> Call, then do sth. else, then get Pressure with function
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// If calculation already running, do nothing
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void requestAdcReadout(uint32_t curTime);
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// Function to get Pressure
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// Parameter should be Temperature in Celsius * 100 (e.g. 20.3 deg. C -> 2030)
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// If currently still processing, use old value
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// If currently not processing, start processing to minimize potential waiting times
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int32_t getPressure(int32_t temp, uint32_t curTime);
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// --- DEPRECATED ---
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// Parameterless version of function above
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// Calls getTemperature, to get temp
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// NOT RECOMMENDED
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int32_t getPressure();
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// Getter for temperature
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// Deprecated because of time constrains
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// NOT RECOMMENDED
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int32_t getTemperature();
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// --- DEPRECATED ---
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void changeOsrLevel(OsrLevel newOsr) {
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// Don't I need to write this to the sensor?
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this->osr_ = newOsr;
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}
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private:
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// Helper method to keep code clean
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void pulseCS(uint32_t ms=1) {
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this->device_->endTransmission();
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sta::delayMs(ms);
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this->device_->beginTransmission();
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}
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/**
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* @brief Reset the sensor.
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*
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*/
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void reset();
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// Last Pressure Value measured; Used to give any output if still calculating ADC
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int32_t lastPresVal;
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// Value to store, when adc was started
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// On STM32 with HAL_GetTick() (Gives ms since startup)
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uint32_t adcStartTime;
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// To prevent calculation of adc without reading value
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bool presRead;
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/**
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* @brief Read all constants from the PROM
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*
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*/
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void readPROM();
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// STA internal object for SPi abstraction
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SPIDevice * device_;
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DelayMsFunc delay_;
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OsrLevel osr_;
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/**
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* @brief
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*
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* @param ms
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*/
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void pulseCS(uint32_t ms=1);
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// 6 Different constants; Includes Offsets, references etc.
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uint16_t sens, off, tcs, tco, t_ref, tempsens;
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// All possible commands to send to the sensor
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enum Operations {
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RESET = 0x1E,
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READ_PROM = 0xA2,
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D1_CONVERSION = 0x40,
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D2_CONVERSION = 0x50,
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ADC_RESULT = 0x00
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};
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/**
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* @brief Compute the pressure values from the ADC output.
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*
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* @param d1
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* @param dT
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* @param unit The unit to return the pressure values in.
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* @return int32_t
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*/
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int32_t calculatePressure(uint32_t d1, int32_t dT, Unit unit);
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// Request pure ADC converted values from the sensor
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// Calculations with offset required
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uint32_t readPressure();
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// Read temp should not be used, rather give temp from e.g. SCA3300 as parameter to readPres
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uint32_t readTemp();
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// Calculate pure ADC values to final pressure/temperature values
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int32_t calculatePressure(uint32_t d1, int32_t dT);
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/**
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* @brief Compute the temperature values from the ADC output
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*
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* @param d2
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* @return int32_t
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*/
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int32_t calculateTemperature(uint32_t d2);
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/**
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* @brief
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*
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* @param temp
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* @return int32_t
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*/
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int32_t reverseTempCalc(int32_t temp);
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void reset();
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void readPROM();
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uint16_t uint_8BufferTouint16_t(uint8_t* buffer);
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private:
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bool busCommand(uint8_t command);
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bool busRead(uint8_t reg, uint8_t * buffer, size_t length);
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bool busWrite(uint8_t reg, uint8_t * buffer, size_t length);
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private:
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// STA internal object for SPi abstraction
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Device * device_;
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DelayUsFunc delay_;
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OsrLevel osr_;
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// Pressure at sealevel.
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int32_t sealevel_;
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// 6 Different constants; Includes Offsets, references etc.
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uint16_t sens, off, tcs, tco, t_ref, tempsens;
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// Constants for waiting
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const uint32_t RESET_DELAY = 2800; // in uS
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264
src/MS56xx.cpp
264
src/MS56xx.cpp
@ -1,22 +1,27 @@
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#include <sta/drivers/MS56xx.hpp>
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#include <sta/debug/assert.hpp>
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namespace sta
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{
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// Forward declaration
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uint16_t uint_8BufferTouint16_t(uint8_t* buffer);
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MS56xx::MS56xx(SpiDevice * device, DelayMsFunc delay, OsrLevel level)
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MS56xx::MS56xx(SPIDevice * device, DelayUsFunc delay, OsrLevel level /* = OsrLevel::_1024 */)
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: device_{device},
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delay_{delay},
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osr_{level}
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{
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this->lastPresVal = -1;
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this->adcStartTime = -1;
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this->presRead = true;
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STA_ASSERT(device != nullptr);
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}
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void MS56xx::init()
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MS56xx::MS56xx(I2CDevice * device, DelayUsFunc delay, OsrLevel osr = OsrLevel::_1024)
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: device_{device},
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delay_{delay},
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osr_{osr}
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{
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STA_ASSERT(device != nullptr);
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}
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bool MS56xx::init()
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{
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// Reset device on start-up
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this->reset();
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@ -25,145 +30,114 @@ namespace sta
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this->readPROM();
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}
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void MS56xx::setPressureReference(float pressRef, float altRef)
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void MS56xx::pulseCS(uint32_t ms=1) {
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this->device_->endTransmission();
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delay_(ms * 1000);
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this->device_->beginTransmission();
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}
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void MS56xx::setOsr(OsrLevel osr)
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{
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osr_ = osr;
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}
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void MS56xx::reset()
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{
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busCommand(MS56xx::Operations::RESET);
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delay_(MS56xx::RESET_DELAY);
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}
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// Helper method to keep code clean
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void MS56xx::pulseCS(uint32_t ms=1) {
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this->device_->endTransmission();
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delay_(ms * 1000);
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this->device_->beginTransmission();
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}
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int32_t MS56xx::getPressure(int32_t temperature, Unit unit /* = Unit::hPa */)
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{
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// Request the ADC to read pressure values.
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busCommand(MS56xx::Operations::D1_CONVERSION + 2*this->osr_);
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// This might be an incorrect duration.
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delay_(10 * 1000);
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uint8_t buffer[3] = { 0x00, 0x00, 0x00 };
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busRead(MS56xx::Operations::ADC_RESULT, buffer, 3);
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uint32_t d1_val = buffer[0] << 16 | buffer[1] << 8 | buffer[2];
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int32_t pressure = calculatePressure(d1_val, reverseTempCalc(temperature), unit);
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return pressure;
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}
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int32_t MS56xx::getPressure(Unit unit = Unit::hPa)
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{
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int32_t temperature = getTemperature();
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return getPressure(temperature, unit);
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}
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int32_t MS56xx::getTemperature() {
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busCommand(MS56xx::Operations::D2_CONVERSION + 2*this->osr_);
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// This might be an incorrect duration.
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delay_(10 * 1000);
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uint8_t buffer[3] = { 0x00, 0x00, 0x00 };
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busRead(MS56xx::Operations::ADC_RESULT, buffer, 3);
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// Convert the raw values to actual temperature values.
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uint32_t res = buffer[0] | buffer[1] << 8 | buffer[2] << 16;
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int32_t temperature = calculateTemperature(res);
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return temperature;
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}
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void MS56xx::setPressureReference(float pressRef, float altRef, Unit unit /* = Unit::hPa */)
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{
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// TODO
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}
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float MS56xx::getAltitudeEstimate(int32_t temperature)
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{
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int32_t pressure = getPressure(temperature, Unit::hPa);
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}
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float MS56xx::getAltitudeEstimate()
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{
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return 0.0; // TODO
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}
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int32_t temperature = getTemperature();
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void MS56xx::requestAdcReadout(uint32_t time) {
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// Get current state of calculation
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if (time-adcStartTime < delayTimes(this->osr_) || !presRead) {
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// Time since last adc command is not enough
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return;
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}
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this->device_->beginTransmission();
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this->device_->transfer(MS56xx::Operations::D1_CONVERSION + 2*this->osr_);
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this->device_->endTransmission();
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adcStartTime = time;
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presRead = false;
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}
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int32_t MS56xx::getPressure(int32_t temp, uint32_t time) {
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if (time-adcStartTime < delayTimes(this->osr_) || presRead) {
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// Time since last adc command is not enough
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return lastPresVal;
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}
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uint8_t buffer[3] = { 0 };
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this->device_->beginTransmission();
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this->device_->transfer(MS56xx::Operations::ADC_RESULT);
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this->device_->receive(buffer, 3);
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this->device_->endTransmission();
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this->presRead = true;
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uint32_t d1_val = buffer[0] << 16 | buffer[1] << 8 | buffer[2];
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this->requestAdcReadout(time);
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return calculatePressure(d1_val, reverseTempCalc(temp));
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return getAltitudeEstimate(temperature);
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}
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int32_t MS56xx::reverseTempCalc(int32_t temp) {
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return this->tempsens;
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}
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// DEPRECATED
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int32_t MS56xx::getPressure() {
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// Get pure ADC value from the sensor
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uint32_t d1 = readPressure();
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// Since pressure is temp-dependant, temperature needs to be polled
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// Could be too costly timewise, since 8ms is needed for the ADC
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// May need future optimisation
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uint32_t d2 = readTemp();
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int32_t dT = d2 - ( ((uint32_t)this->t_ref) << 8);
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return calculatePressure(d1, dT);
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}
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// DON'T USE
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uint32_t MS56xx::readPressure() {
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// Request pressure value conversion
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this->device_->beginTransmission();
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this->device_->transfer(MS56xx::Operations::D1_CONVERSION + 2*this->osr_);
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this->device_->endTransmission();
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// Wait for ADC to finish
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// Could do sth. else and schedule continuation with scheduler in RTOS
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// TODO: Find out min
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sta::delayMs(10);
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// Request readout of ADC value
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uint8_t d1Arr[3];
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this->device_->beginTransmission();
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this->device_->transfer(MS56xx::Operations::ADC_RESULT);
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this->device_->receive(d1Arr, 3);
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this->device_->endTransmission();
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// Convert into best possible type
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uint32_t res = 0;
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// Shifting may not be necessary, but idk w/o testing
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res |= d1Arr[0] | (d1Arr[1] << 8) | (d1Arr[2] << 16);
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return res;
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}
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// Calculations from the Datasheet
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// Probably problems with type conversions
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// If we used Rust...
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int32_t MS56xx::calculatePressure(uint32_t d1, int32_t dT) {
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int32_t MS56xx::calculatePressure(uint32_t d1, int32_t dT, Unit unit) {
|
||||
int64_t offset = ( ((uint64_t)this->off) << 17) + ( ( ((uint64_t)this->tco) * dT ) >> 6);
|
||||
int64_t sensitivity = ( ((uint64_t)this->sens) << 16) + ( ( ((uint64_t)this->tcs) * dT ) >> 7);
|
||||
int32_t pres = ( (( ((uint64_t)d1) * sensitivity) >> 21) - offset ) >> 15;
|
||||
|
||||
switch (unit)
|
||||
{
|
||||
case Unit::hPa:
|
||||
/* code */
|
||||
break;
|
||||
case Unit::Pa:
|
||||
|
||||
break;
|
||||
case Unit::mbar:
|
||||
break;
|
||||
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
return pres;
|
||||
}
|
||||
|
||||
// NOT RECOMMENDED
|
||||
// USE TEMP FROM SCA3300 OR STH. ELSE
|
||||
int32_t MS56xx::getTemperature() {
|
||||
// Get pure ADC value from the sensor
|
||||
uint32_t d2 = readTemp();
|
||||
|
||||
return calculateTemperature(d2);
|
||||
}
|
||||
|
||||
// OLD; DON'T USE
|
||||
uint32_t MS56xx::readTemp() {
|
||||
// Request ADC conversion of temperature
|
||||
this->device_->beginTransmission();
|
||||
this->device_->transfer(MS56xx::Operations::D2_CONVERSION + 2*this->osr_);
|
||||
this->device_->endTransmission();
|
||||
|
||||
// Wait for ADC to finish
|
||||
// Could do sth. else and schedule continuation with scheduler in RTOS
|
||||
// TODO: Test out min
|
||||
sta::delayMs(10);
|
||||
|
||||
|
||||
// Request ADC readout
|
||||
uint8_t d2Arr[3];
|
||||
this->device_->beginTransmission();
|
||||
this->device_->transfer(MS56xx::Operations::ADC_RESULT);
|
||||
this->device_->receive(d2Arr, 3);
|
||||
this->device_->endTransmission();
|
||||
|
||||
// Convert into best possible type
|
||||
uint32_t res = 0;
|
||||
// Shifting may be unnecessary? Don't know really w/o testing
|
||||
res |= d2Arr[0] | d2Arr[1] << 8 | d2Arr[2] << 16;
|
||||
return res;
|
||||
}
|
||||
|
||||
// Calculations from the Datasheet
|
||||
// Probably problems with type conversions
|
||||
// If we used Rust...
|
||||
int32_t MS56xx::calculateTemperature(uint32_t d2) {
|
||||
int32_t dT = d2 - ( ((uint32_t)this->t_ref) << 8);
|
||||
int32_t temp = 2000 + ((dT * ((uint32_t)this->tempsens)) >> 23);
|
||||
@ -174,14 +148,6 @@ namespace sta
|
||||
return temp;
|
||||
}
|
||||
|
||||
// Reset sequence as described in datasheet
|
||||
void MS56xx::reset() {
|
||||
this->device_->beginTransmission();
|
||||
this->device_->transfer(MS56xx::Operations::RESET);
|
||||
this->device_->endTransmission();
|
||||
delayUs(MS56xx::RESET_DELAY);
|
||||
}
|
||||
|
||||
// Read all constants from the PROM
|
||||
// May be moved to be called in reset() function in future
|
||||
// Request value x -> Read value x; Then request value y etc.
|
||||
@ -235,7 +201,31 @@ namespace sta
|
||||
// Helper function:
|
||||
// Take first bytes from buffer, swap them and store those in uint16_t
|
||||
// Swap may not be necessary
|
||||
uint16_t uint_8BufferTouint16_t(uint8_t* buffer) {
|
||||
uint16_t MS56xx::uint_8BufferTouint16_t(uint8_t* buffer) {
|
||||
return (buffer[0] << 8) | buffer[1];
|
||||
}
|
||||
|
||||
bool MS56xx::busCommand(uint8_t command)
|
||||
{
|
||||
this->device_->beginTransmission();
|
||||
this->device_->transfer(command);
|
||||
this->device_->endTransmission();
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
bool MS56xx::busRead(uint8_t reg, uint8_t * buffer, size_t length)
|
||||
{
|
||||
this->device_->beginTransmission();
|
||||
this->device_->transfer(reg);
|
||||
this->device_->receive(buffer, length);
|
||||
this->device_->endTransmission();
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
bool MS56xx::busWrite(uint8_t reg, uint8_t * buffer, size_t length)
|
||||
{
|
||||
return true;
|
||||
}
|
||||
}
|
||||
Loading…
x
Reference in New Issue
Block a user