From 07557bc3626a1e9346a5e3e754eddae705c59960 Mon Sep 17 00:00:00 2001 From: Lok Tep Date: Tue, 3 May 2016 16:26:50 +0200 Subject: [PATCH] SPI bmp280 driver, I2C skeleton --- src/drivers/bmp280/CMakeLists.txt | 52 ++ src/drivers/bmp280/bmp280.cpp | 971 ++++++++++++++++++++++++++++++ src/drivers/bmp280/bmp280.h | 151 +++++ src/drivers/bmp280/bmp280_spi.cpp | 145 +++++ 4 files changed, 1319 insertions(+) create mode 100644 src/drivers/bmp280/CMakeLists.txt create mode 100644 src/drivers/bmp280/bmp280.cpp create mode 100644 src/drivers/bmp280/bmp280.h create mode 100644 src/drivers/bmp280/bmp280_spi.cpp diff --git a/src/drivers/bmp280/CMakeLists.txt b/src/drivers/bmp280/CMakeLists.txt new file mode 100644 index 0000000000..f35bd1b820 --- /dev/null +++ b/src/drivers/bmp280/CMakeLists.txt @@ -0,0 +1,52 @@ +############################################################################ +# +# Copyright (c) 2015 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. +# +############################################################################ +set(srcs + bmp280_spi.cpp + ) + +if(${OS} STREQUAL "nuttx") + list(APPEND srcs + bmp280.cpp + ) +endif() + +px4_add_module( + MODULE drivers__bmp280 + MAIN bmp280 + COMPILE_FLAGS + -Os + SRCS ${srcs} + DEPENDS + platforms__common + ) +# vim: set noet ft=cmake fenc=utf-8 ff=unix : diff --git a/src/drivers/bmp280/bmp280.cpp b/src/drivers/bmp280/bmp280.cpp new file mode 100644 index 0000000000..d516a3db35 --- /dev/null +++ b/src/drivers/bmp280/bmp280.cpp @@ -0,0 +1,971 @@ +/**************************************************************************** + * + * Copyright (c) 2012-2015 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 bmp280.cpp + * Driver for the BMP280 barometric pressure sensor connected via I2C TODO or SPI. + */ + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include + +#include +#include +#include + +#include +#include +#include +#include + +#include +#include + + +enum BMP280_BUS { + BMP280_BUS_ALL = 0, + BMP280_BUS_I2C_INTERNAL, + BMP280_BUS_I2C_EXTERNAL, + BMP280_BUS_SPI_INTERNAL, + BMP280_BUS_SPI_EXTERNAL +}; + +#ifndef CONFIG_SCHED_WORKQUEUE +# error This requires CONFIG_SCHED_WORKQUEUE. +#endif + +/* + * BMP280 internal constants and data structures. + */ + +class BMP280 : public device::CDev +{ +public: + BMP280(bmp280::IBMP280 *interface, const char* path); + ~BMP280(); + + virtual int init(); + + virtual ssize_t read(struct file *filp, char *buffer, size_t buflen); + virtual int ioctl(struct file *filp, int cmd, unsigned long arg); + + /** + * Diagnostics - print some basic information about the driver. + */ + void print_info(); + +private: + bmp280::IBMP280* _interface; + + uint8_t _curr_ctrl; + + struct work_s _work; + unsigned _report_ticks; // 0 - no cycling, otherwise period of sending a report + unsigned _max_mesure_ticks; //ticks needed to measure + + ringbuffer::RingBuffer *_reports; + + bool _collect_phase; + + /* altitude conversion calibration */ + unsigned _msl_pressure; /* in Pa */ + + orb_advert_t _baro_topic; + int _orb_class_instance; + int _class_instance; + + perf_counter_t _sample_perf; + perf_counter_t _measure_perf; + perf_counter_t _comms_errors; + perf_counter_t _buffer_overflows; + + struct bmp280::calibration_s* _cal; //stored calibration constants + struct bmp280::fcalibration_s _fcal; //pre processed calibration constants + + float _P; /* in Pa */ + float _T; /* in K */ + + + /* periodic execution helpers */ + void start_cycle(); + void stop_cycle(); + void cycle(); //main execution + static void cycle_trampoline(void *arg); + + int measure(); //start measure + int collect(); //get results and publish +}; + +/* + * Driver 'main' command. + */ +extern "C" __EXPORT int bmp280_main(int argc, char *argv[]); + +BMP280::BMP280(bmp280::IBMP280 *interface, const char* path) : + CDev("BMP280", path), + _interface(interface), + _report_ticks(0), + _reports(nullptr), + _collect_phase(false), + _msl_pressure(101325), + _baro_topic(nullptr), + _orb_class_instance(-1), + _class_instance(-1), + _sample_perf(perf_alloc(PC_ELAPSED, "bmp280_read")), + _measure_perf(perf_alloc(PC_ELAPSED, "bmp280_measure")), + _comms_errors(perf_alloc(PC_COUNT, "bmp280_comms_errors")), + _buffer_overflows(perf_alloc(PC_COUNT, "bmp280_buffer_overflows")) +{ + // work_cancel in stop_cycle called from the dtor will explode if we don't do this... + memset(&_work, 0, sizeof(_work)); +} + +BMP280::~BMP280() +{ + /* make sure we are truly inactive */ + stop_cycle(); + + if (_class_instance != -1) + unregister_class_devname(get_devname(), _class_instance); + + /* free any existing reports */ + if (_reports != nullptr) + delete _reports; + + // free perf counters + perf_free(_sample_perf); + perf_free(_measure_perf); + perf_free(_comms_errors); + perf_free(_buffer_overflows); + + delete _interface; + + +} + +int +BMP280::init() +{ + int ret; + + ret = CDev::init(); + if (ret != OK) { + DEVICE_DEBUG("CDev init failed"); + return ret; + } + + /* allocate basic report buffers */ + _reports = new ringbuffer::RingBuffer(2, sizeof(baro_report)); + + if (_reports == nullptr) { + DEVICE_DEBUG("can't get memory for reports"); + ret = -ENOMEM; + return ret; + } + + /* register alternate interfaces if we have to */ + _class_instance = register_class_devname(BARO_BASE_DEVICE_PATH); + + /* reset sensor */ + _interface->set_reg(BPM280_VALUE_RESET,BPM280_ADDR_RESET); + usleep(10000); + + /* check id*/ + if ( _interface->get_reg(BPM280_ADDR_ID) != BPM280_VALUE_ID ) { + warnx("id of your baro is not: 0x%02x",BPM280_VALUE_ID); + return -EIO; + } + + /* set config, recommended settings */ + _curr_ctrl = BPM280_CTRL_P16 | BPM280_CTRL_T2; + _interface->set_reg(_curr_ctrl,BPM280_ADDR_CTRL); + _max_mesure_ticks = USEC2TICK( BPM280_MT_INIT + BPM280_MT*(16-1 + 2-1) ); + _interface->set_reg(BPM280_CONFIG_F16,BPM280_ADDR_CONFIG); + + /* get calibration and pre process them*/ + _cal = _interface->get_calibration(BPM280_ADDR_CAL); + + _fcal.t1 = _cal->t1 * powf(2, 4 ); + _fcal.t2 = _cal->t2 * powf(2, -14); + _fcal.t3 = _cal->t3 * powf(2, -34); + + _fcal.p1 = _cal->p1 * (powf(2, 4 ) / -100000.0f); + _fcal.p2 = _cal->p1 * _cal->p2 * (powf(2, -31) / -100000.0f); + _fcal.p3 = _cal->p1 * _cal->p3 * (powf(2, -51) / -100000.0f); + + _fcal.p4 = _cal->p4 * powf(2, 4 ) - powf(2, 20); + _fcal.p5 = _cal->p5 * powf(2, -14); + _fcal.p6 = _cal->p6 * powf(2, -31); + + _fcal.p7 = _cal->p7 * powf(2, -4 ); + _fcal.p8 = _cal->p8 * powf(2, -19) + 1.0f; + _fcal.p9 = _cal->p9 * powf(2, -35); + + /* do a first measurement cycle to populate reports with valid data */ + struct baro_report brp; + _reports->flush(); + + if ( measure() ) { + return -EIO; + } + + usleep( TICK2USEC(_max_mesure_ticks) ); + + if ( collect() ) { + return -EIO; + } + + _reports->get(&brp); + + _baro_topic = orb_advertise_multi(ORB_ID(sensor_baro), &brp, + &_orb_class_instance, _interface->is_external()? ORB_PRIO_HIGH : ORB_PRIO_DEFAULT); + + if (_baro_topic == nullptr) { + warnx("failed to create sensor_baro publication"); + return -ENOMEM; + } + + return OK; + +} + +ssize_t +BMP280::read(struct file *filp, char *buffer, size_t buflen) +{ + unsigned count = buflen / sizeof(struct baro_report); + struct baro_report *brp = reinterpret_cast(buffer); + int ret = 0; + + /* buffer must be large enough */ + if (count < 1) + return -ENOSPC; + + /* if automatic measurement is enabled */ + if (_report_ticks > 0) { + + /* + * While there is space in the caller's buffer, and reports, copy them. + * Note that we may be pre-empted by the workq thread while we are doing this; + * we are careful to avoid racing with them. + */ + while (count--) { + if (_reports->get(brp)) { + ret += sizeof(*brp); + brp++; + } + } + + /* if there was no data, warn the caller */ + return ret ? ret : -EAGAIN; + } + + /* manual measurement - run one conversion */ + + _reports->flush(); + + if ( measure() ) { + return -EIO; + } + + usleep( TICK2USEC(_max_mesure_ticks) ); + + if ( collect() ) { + return -EIO; + } + + if (_reports->get(brp)) { //get new generated report + ret = sizeof(*brp); + } + + return ret; +} + +int +BMP280::ioctl(struct file *filp, int cmd, unsigned long arg) +{ + switch (cmd) { + + case SENSORIOCSPOLLRATE: { + + unsigned ticks = 0; + + switch (arg) { + + case SENSOR_POLLRATE_MANUAL: + stop_cycle(); + _report_ticks = 0; + return OK; + + case SENSOR_POLLRATE_EXTERNAL: + case 0: + return -EINVAL; + + case SENSOR_POLLRATE_MAX: + case SENSOR_POLLRATE_DEFAULT: + ticks = _max_mesure_ticks; + default: { + if (ticks == 0) { + ticks = USEC2TICK(USEC_PER_SEC / arg); + } + /* do we need to start internal polling? */ + bool want_start = (_report_ticks == 0); + + /* check against maximum rate */ + if (ticks < _max_mesure_ticks) + return -EINVAL; + + _report_ticks = ticks; + if (want_start) + start_cycle(); + + return OK; + } + } + + break; + } + + case SENSORIOCGPOLLRATE: + if (_report_ticks == 0) + return SENSOR_POLLRATE_MANUAL; + + return (USEC_PER_SEC/USEC_PER_TICK/_report_ticks); + + case SENSORIOCSQUEUEDEPTH: { + /* lower bound is mandatory, upper bound is a sanity check */ + if ((arg < 1) || (arg > 100)) + return -EINVAL; + + irqstate_t flags = irqsave(); + if (!_reports->resize(arg)) { + irqrestore(flags); + return -ENOMEM; + } + irqrestore(flags); + return OK; + } + + case SENSORIOCGQUEUEDEPTH: + return _reports->size(); + + case SENSORIOCRESET: + /* + * Since we are initialized, we do not need to do anything, since the + * PROM is correctly read and the part does not need to be configured. + */ + return OK; + + case BAROIOCSMSLPRESSURE: + + /* range-check for sanity */ + if ((arg < 80000) || (arg > 120000)) + return -EINVAL; + + _msl_pressure = arg; + return OK; + + case BAROIOCGMSLPRESSURE: + return _msl_pressure; + + default: + break; + } + + return CDev::ioctl(filp, cmd, arg); +} + +void +BMP280::start_cycle() +{ + + /* reset the report ring and state machine */ + _collect_phase = false; + _reports->flush(); + + /* schedule a cycle to start things */ + work_queue(HPWORK, &_work, (worker_t)&BMP280::cycle_trampoline, this, 1); +} + +void +BMP280::stop_cycle() +{ + work_cancel(HPWORK, &_work); +} + +void +BMP280::cycle_trampoline(void *arg) +{ + BMP280 *dev = reinterpret_cast(arg); + + dev->cycle(); +} + +void +BMP280::cycle() +{ + if (_collect_phase) { + collect(); + unsigned wait_gap = _report_ticks - _max_mesure_ticks; + + if ( wait_gap != 0 ) { + work_queue(HPWORK,&_work,(worker_t)&BMP280::cycle_trampoline,this,wait_gap); //need to wait some time before new measurement + return; + } + + } + + measure(); + work_queue(HPWORK,&_work,(worker_t)&BMP280::cycle_trampoline,this,_max_mesure_ticks); + +} + +int +BMP280::measure() +{ + _collect_phase = true; + + perf_begin(_measure_perf); + + /* start measure */ + int ret = _interface->set_reg(_curr_ctrl | BPM280_CTRL_MODE_FORCE,BPM280_ADDR_CTRL); + + if ( ret != OK) { + perf_count(_comms_errors); + perf_cancel(_measure_perf); + return -EIO; + } + + perf_end(_measure_perf); + + return OK; +} + +int +BMP280::collect() +{ + _collect_phase = false; + + perf_begin(_sample_perf); + + struct baro_report report; + /* this should be fairly close to the end of the conversion, so the best approximation of the time */ + report.timestamp = hrt_absolute_time(); + report.error_count = perf_event_count(_comms_errors); + + bmp280::data_s* data = _interface->get_data(BPM280_ADDR_DATA); + if (data == nullptr) { + perf_count(_comms_errors); + perf_cancel(_sample_perf); + return -EIO; + } + + //convert data to number 20 bit + uint32_t p_raw = data->p_msb<<12 | data->p_lsb<<4 | data->p_xlsb>>4; + uint32_t t_raw = data->t_msb<<12 | data->t_lsb<<4 | data->t_xlsb>>4; + + // Temperature + float ofs = (float) t_raw - _fcal.t1; + float t_fine = (ofs * _fcal.t3 + _fcal.t2) * ofs; + _T = t_fine * (1.0f/5120.0f); + + // Pressure + float tf = t_fine - 128000.0f; + float x1 = (tf * _fcal.p6 + _fcal.p5) * tf + _fcal.p4; + float x2 = (tf * _fcal.p3 + _fcal.p2) * tf + _fcal.p1; + + float pf = ((float) p_raw + x1) / x2; + _P = (pf * _fcal.p9 + _fcal.p8) * pf + _fcal.p7; + + + report.temperature = _T; + report.pressure = _P/100.0f; // to mbar + + + /* altitude calculations based on http://www.kansasflyer.org/index.asp?nav=Avi&sec=Alti&tab=Theory&pg=1 */ + + /* tropospheric properties (0-11km) for standard atmosphere */ + const float T1 = 15.0f + 273.15f; /* temperature at base height in Kelvin */ + const float a = -6.5f / 1000.0f; /* temperature gradient in degrees per metre */ + const float g = 9.80665f; /* gravity constant in m/s/s */ + const float R = 287.05f; /* ideal gas constant in J/kg/K */ + float pK = _P / _msl_pressure; + + /* + * Solve: + * + * / -(aR / g) \ + * | (p / p1) . T1 | - T1 + * \ / + * h = ------------------------------- + h1 + * a + */ + report.altitude = (((powf(pK, (-(a * R) / g))) * T1) - T1) / a; + + + /* publish it */ + if (!(_pub_blocked)) { + /* publish it */ + orb_publish(ORB_ID(sensor_baro), _baro_topic, &report); + } + + if (_reports->force(&report)) { + perf_count(_buffer_overflows); + } + + /* notify anyone waiting for data */ + poll_notify(POLLIN); + + perf_end(_sample_perf); + + return OK; +} + +void +BMP280::print_info() +{ + perf_print_counter(_sample_perf); + perf_print_counter(_comms_errors); + perf_print_counter(_buffer_overflows); + printf("poll interval: %u us \n", _report_ticks * USEC_PER_TICK); + _reports->print_info("report queue"); + printf("P Pa: %.3f\n", (double)_P); + printf("T: %.3f\n", (double)_T); + printf("MSL pressure Pa: %u\n", _msl_pressure); + +} + +/** + * Local functions in support of the shell command. + */ +namespace bmp280 +{ + +/* + list of supported bus configurations + */ +struct bmp280_bus_option { + enum BMP280_BUS busid; + const char *devpath; + BMP280_constructor interface_constructor; + uint8_t busnum; + uint8_t device; + bool external; + BMP280 *dev; +} bus_options[] = { +#if defined(PX4_SPIDEV_EXT_BARO) && defined(PX4_SPI_BUS_EXT) + { BMP280_BUS_SPI_EXTERNAL, "/dev/bmp280_spi_ext", &bmp280_spi_interface, PX4_SPI_BUS_EXT, PX4_SPIDEV_EXT_BARO , true , NULL }, +#endif +#ifdef PX4_SPIDEV_BARO + { BMP280_BUS_SPI_INTERNAL, "/dev/bmp280_spi_int", &bmp280_spi_interface, PX4_SPI_BUS_SENSORS,PX4_SPIDEV_BARO, false ,NULL }, +#endif +#ifdef PX4_I2C_OBDEV_BMP280 + { BMP280_BUS_I2C_INTERNAL, "/dev/bmp280_i2c_int", nullptr, PX4_I2C_BUS_ONBOARD, PX4_I2C_OBDEV_BMP280, false, NULL }, +#endif +#if defined(PX4_I2C_BUS_EXPANSION) && defined(PX4_I2C_EXT_OBDEV_BMP280) + { BMP280_BUS_I2C_EXTERNAL, "/dev/bmp280_i2c_ext", nullptr, PX4_I2C_BUS_EXPANSION,PX4_I2C_EXT_OBDEV_BMP280 , true , NULL }, +#endif +}; +#define NUM_BUS_OPTIONS (sizeof(bus_options)/sizeof(bus_options[0])) + +bool start_bus(struct bmp280_bus_option &bus); +struct bmp280_bus_option &find_bus(enum BMP280_BUS busid); +void start(enum BMP280_BUS busid); +void test(enum BMP280_BUS busid); +void reset(enum BMP280_BUS busid); +void info(); +void calibrate(unsigned altitude, enum BMP280_BUS busid); +void usage(); + + +/** + * Start the driver. + */ +bool +start_bus(struct bmp280_bus_option &bus) +{ + if (bus.dev != nullptr) + errx(1,"bus option already started"); + + bmp280::IBMP280 *interface = bus.interface_constructor(bus.busnum, bus.device, bus.external); + if (interface->init() != OK) { + delete interface; + warnx("no device on bus %u", (unsigned)bus.busid); + return false; + } + + bus.dev = new BMP280(interface, bus.devpath); + if (bus.dev != nullptr && OK != bus.dev->init()) { + delete bus.dev; + bus.dev = NULL; + return false; + } + + int fd = open(bus.devpath, O_RDONLY); + + /* set the poll rate to default, starts automatic data collection */ + if (fd == -1) { + errx(1, "can't open baro device"); + } + if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) { + close(fd); + errx(1, "failed setting default poll rate"); + } + + close(fd); + return true; +} + + +/** + * Start the driver. + * + * This function call only returns once the driver + * is either successfully up and running or failed to start. + */ +void +start(enum BMP280_BUS busid) +{ + uint8_t i; + bool started = false; + + for (i=0; iprint_info(); + } + } + exit(0); +} + +/** + * Calculate actual MSL pressure given current altitude + */ +void +calibrate(unsigned altitude, enum BMP280_BUS busid) +{ + struct bmp280_bus_option &bus = find_bus(busid); + struct baro_report report; + float pressure; + float p1; + + int fd; + + fd = open(bus.devpath, O_RDONLY); + + if (fd < 0) + err(1, "open failed (try 'bmp280 start' if the driver is not running)"); + + /* start the sensor polling at max */ + if (OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MAX)) + errx(1, "failed to set poll rate"); + + /* average a few measurements */ + pressure = 0.0f; + + for (unsigned i = 0; i < 20; i++) { + struct pollfd fds; + int ret; + ssize_t sz; + + /* wait for data to be ready */ + fds.fd = fd; + fds.events = POLLIN; + ret = poll(&fds, 1, 1000); + + if (ret != 1) + errx(1, "timed out waiting for sensor data"); + + /* now go get it */ + sz = read(fd, &report, sizeof(report)); + + if (sz != sizeof(report)) + err(1, "sensor read failed"); + + pressure += report.pressure; + } + + pressure /= 20; /* average */ + pressure /= 10; /* scale from millibar to kPa */ + + /* tropospheric properties (0-11km) for standard atmosphere */ + const float T1 = 15.0 + 273.15; /* temperature at base height in Kelvin */ + const float a = -6.5 / 1000; /* temperature gradient in degrees per metre */ + const float g = 9.80665f; /* gravity constant in m/s/s */ + const float R = 287.05f; /* ideal gas constant in J/kg/K */ + + warnx("averaged pressure %10.4fkPa at %um", (double)pressure, altitude); + + p1 = pressure * (powf(((T1 + (a * (float)altitude)) / T1), (g / (a * R)))); + + warnx("calculated MSL pressure %10.4fkPa", (double)p1); + + /* save as integer Pa */ + p1 *= 1000.0f; + + if (ioctl(fd, BAROIOCSMSLPRESSURE, (unsigned long)p1) != OK) + err(1, "BAROIOCSMSLPRESSURE"); + + close(fd); + exit(0); +} + +void +usage() +{ + warnx("missing command: try 'start', 'info', 'test', 'test2', 'reset', 'calibrate'"); + warnx("options:"); + warnx(" -X (external I2C bus TODO)"); + warnx(" -I (internal I2C bus TODO)"); + warnx(" -S (external SPI bus)"); + warnx(" -s (internal SPI bus)"); +} + +} // namespace + +int +bmp280_main(int argc, char *argv[]) +{ + enum BMP280_BUS busid = BMP280_BUS_ALL; + int ch; + + /* jump over start/off/etc and look at options first */ + while ((ch = getopt(argc, argv, "XISs")) != EOF) { + switch (ch) { + case 'X': + busid = BMP280_BUS_I2C_EXTERNAL; + errx(1, "not supported yet"); + break; + case 'I': + busid = BMP280_BUS_I2C_INTERNAL; + errx(1, "not supported yet"); + break; + case 'S': + busid = BMP280_BUS_SPI_EXTERNAL; + break; + case 's': + busid = BMP280_BUS_SPI_INTERNAL; + break; + default: + bmp280::usage(); + exit(0); + } + } + + const char *verb = argv[optind]; + + /* + * Start/load the driver. + */ + if (!strcmp(verb, "start")) + bmp280::start(busid); + + /* + * Test the driver/device. + */ + if (!strcmp(verb, "test")) + bmp280::test(busid); + + /* + * Reset the driver. + */ + if (!strcmp(verb, "reset")) + bmp280::reset(busid); + + /* + * Print driver information. + */ + if (!strcmp(verb, "info")) + bmp280::info(); + + /* + * Perform MSL pressure calibration given an altitude in metres + */ + if (!strcmp(verb, "calibrate")) { + if (argc < 2) + errx(1, "missing altitude"); + + long altitude = strtol(argv[optind+1], nullptr, 10); + + bmp280::calibrate(altitude, busid); + } + + errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'"); +} diff --git a/src/drivers/bmp280/bmp280.h b/src/drivers/bmp280/bmp280.h new file mode 100644 index 0000000000..44155b12fc --- /dev/null +++ b/src/drivers/bmp280/bmp280.h @@ -0,0 +1,151 @@ +/**************************************************************************** + * + * Copyright (C) 2012-2013 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 bmp280.h + * + * Shared defines for the bmp280 driver. + */ +#pragma once + +#define BPM280_ADDR_CAL 0x88 /* address of 12x 2 bytes calibration data */ +#define BPM280_ADDR_DATA 0xF7 /* address of 2x 3 bytes p-t data */ + +#define BPM280_ADDR_CONFIG 0xF5 /* configuration */ +#define BPM280_ADDR_CTRL 0xF4 /* controll */ +#define BPM280_ADDR_STATUS 0xF3 /* state */ +#define BPM280_ADDR_RESET 0xE0 /* reset */ +#define BPM280_ADDR_ID 0xD0 /* id */ + +#define BPM280_VALUE_ID 0x58 /* chip id */ +#define BPM280_VALUE_RESET 0xB6 /* reset */ + +#define BPM280_STATUS_MEASURING 1<<3 /* if in process of measure */ +#define BPM280_STATUS_COPING 1<<0 /* if in process of data copy */ + +#define BPM280_CTRL_P0 0x0<<2 /* no p measure */ +#define BPM280_CTRL_P1 0x1<<2 +#define BPM280_CTRL_P2 0x2<<2 +#define BPM280_CTRL_P4 0x3<<2 +#define BPM280_CTRL_P8 0x4<<2 +#define BPM280_CTRL_P16 0x5<<2 + +#define BPM280_CTRL_T0 0x0<<5 /* no t measure */ +#define BPM280_CTRL_T1 0x1<<5 +#define BPM280_CTRL_T2 0x2<<5 +#define BPM280_CTRL_T4 0x3<<5 +#define BPM280_CTRL_T8 0x4<<5 +#define BPM280_CTRL_T16 0x5<<5 + +#define BPM280_CONFIG_F0 0x0<<2 /* no filter */ +#define BPM280_CONFIG_F2 0x1<<2 +#define BPM280_CONFIG_F4 0x2<<2 +#define BPM280_CONFIG_F8 0x3<<2 +#define BPM280_CONFIG_F16 0x4<<2 + + +#define BPM280_CTRL_MODE_SLEEP 0x0 +#define BPM280_CTRL_MODE_FORCE 0x1 /* on demand, goes to sleep after */ +#define BPM280_CTRL_MODE_NORMAL 0x3 + +#define BPM280_MT_INIT 6400 /* max measure time of initial p + t in us */ +#define BPM280_MT 2300 /* max measure time of p or t in us */ + +namespace bmp280 +{ + +#pragma pack(push,1) + struct calibration_s { + uint16_t t1; + int16_t t2; + int16_t t3; + + uint16_t p1; + int16_t p2; + int16_t p3; + int16_t p4; + int16_t p5; + int16_t p6; + int16_t p7; + int16_t p8; + int16_t p9; + }; //calibration data + + struct data_s { + uint8_t p_msb; + uint8_t p_lsb; + uint8_t p_xlsb; + + uint8_t t_msb; + uint8_t t_lsb; + uint8_t t_xlsb; + }; // data +#pragma pack(pop) + + struct fcalibration_s { + float t1; + float t2; + float t3; + + float p1; + float p2; + float p3; + float p4; + float p5; + float p6; + float p7; + float p8; + float p9; + }; + + class IBMP280 + { + public: + virtual ~IBMP280() = 0; + + virtual bool is_external() = 0; + virtual int init() = 0; + + virtual uint8_t get_reg(uint8_t addr) = 0; //read reg value + virtual int set_reg(uint8_t value, uint8_t addr) = 0; //write reg value + virtual bmp280::data_s* get_data(uint8_t addr) = 0; //bulk read of data into buffer, return same pointer + virtual bmp280::calibration_s* get_calibration(uint8_t addr) = 0; //bulk read of calibration data into buffer, return same pointer + + }; + +} /* namespace */ + +/* interface factories */ +extern bmp280::IBMP280* bmp280_spi_interface(uint8_t busnum, uint8_t device, bool external); +extern bmp280::IBMP280* bmp280_i2c_interface(uint8_t busnum, uint8_t device, bool external); +typedef bmp280::IBMP280* (*BMP280_constructor)(uint8_t, uint8_t, bool); diff --git a/src/drivers/bmp280/bmp280_spi.cpp b/src/drivers/bmp280/bmp280_spi.cpp new file mode 100644 index 0000000000..017e411da5 --- /dev/null +++ b/src/drivers/bmp280/bmp280_spi.cpp @@ -0,0 +1,145 @@ +/**************************************************************************** + * + * Copyright (c) 2013 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 bmp280_spi.cpp + * + * SPI interface for BMP280 + */ + +#include + +#include +#include + +#include "board_config.h" + +/* SPI protocol address bits */ +#define DIR_READ (1<<7) //for set +#define DIR_WRITE ~(1<<7) //for clear + +#if defined(PX4_SPIDEV_BARO) || defined(PX4_SPIDEV_EXT_BARO) + +#pragma pack(push,1) +struct spi_data_s { + uint8_t addr; + struct bmp280::data_s data; +}; + +struct spi_calibration_s { + uint8_t addr; + struct bmp280::calibration_s cal; +}; +#pragma pack(pop) + +class BMP280_SPI: public device::SPI, public bmp280::IBMP280 +{ +public: + BMP280_SPI(uint8_t bus, spi_dev_e device, bool external); + ~BMP280_SPI(); + + bool is_external(); + int init(); + + uint8_t get_reg(uint8_t addr); + int set_reg(uint8_t value, uint8_t addr); + bmp280::data_s* get_data(uint8_t addr); + bmp280::calibration_s* get_calibration(uint8_t addr); + +private: + spi_calibration_s _cal; + spi_data_s _data; + bool _external; +}; + +bmp280::IBMP280* bmp280_spi_interface(uint8_t busnum, uint8_t device, bool external) +{ + return new BMP280_SPI(busnum, (spi_dev_e)device, external); +} + +BMP280_SPI::BMP280_SPI(uint8_t bus, spi_dev_e device, bool external) : + SPI("BMP280_SPI", nullptr, bus, device, SPIDEV_MODE3, 10 * 1000 * 1000) { + _external = external; +} + +bmp280::IBMP280::~IBMP280() { +} + +BMP280_SPI::~BMP280_SPI() { +} + + +bool BMP280_SPI::is_external() { + return _external; +}; + +int BMP280_SPI::init() { + return SPI::init(); +}; + +uint8_t BMP280_SPI::get_reg(uint8_t addr) { + uint8_t cmd[2] = { (uint8_t)(addr|DIR_READ), 0}; //set MSB bit + transfer(&cmd[0],&cmd[0],2); + + return cmd[1]; +} + +int BMP280_SPI::set_reg(uint8_t value, uint8_t addr) { + uint8_t cmd[2] = { (uint8_t)(addr&DIR_WRITE), value}; //clear MSB bit + return transfer(&cmd[0],nullptr,2); +} + +bmp280::data_s* BMP280_SPI::get_data(uint8_t addr) { + _data.addr = (uint8_t)(addr|DIR_READ); //set MSB bit + + if( transfer((uint8_t *)&_data,(uint8_t *)&_data, sizeof(struct spi_data_s)) == OK) { + return &(_data.data); + } else { + return nullptr; + } + + +} + +bmp280::calibration_s* BMP280_SPI::get_calibration(uint8_t addr) { + _cal.addr = addr|DIR_READ; + if( transfer((uint8_t *)&_cal,(uint8_t *)&_cal, sizeof(struct spi_calibration_s)) == OK) { + return &(_cal.cal); + } else { + return nullptr; + } +} + + + +#endif /* PX4_SPIDEV_BARO || PX4_SPIDEV_EXT_BARO */