mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-18 04:33:33 +08:00
SPI bmp280 driver, I2C skeleton
This commit is contained in:
Lok Tep
@@ -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 :
|
||||
@@ -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 <px4_config.h>
|
||||
|
||||
#include <sys/types.h>
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include <stdlib.h>
|
||||
#include <semaphore.h>
|
||||
#include <string.h>
|
||||
#include <fcntl.h>
|
||||
#include <poll.h>
|
||||
#include <errno.h>
|
||||
#include <stdio.h>
|
||||
#include <math.h>
|
||||
#include <unistd.h>
|
||||
#include <getopt.h>
|
||||
|
||||
#include <nuttx/arch.h>
|
||||
#include <nuttx/wqueue.h>
|
||||
#include <nuttx/clock.h>
|
||||
|
||||
#include <arch/board/board.h>
|
||||
#include <board_config.h>
|
||||
#include <drivers/bmp280/bmp280.h>
|
||||
|
||||
#include <drivers/device/device.h>
|
||||
#include <drivers/drv_baro.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <drivers/device/ringbuffer.h>
|
||||
|
||||
#include <systemlib/perf_counter.h>
|
||||
#include <systemlib/err.h>
|
||||
|
||||
|
||||
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<struct baro_report *>(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<BMP280 *>(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; i<NUM_BUS_OPTIONS; i++) {
|
||||
if (busid == BMP280_BUS_ALL && bus_options[i].dev != NULL) {
|
||||
// this device is already started
|
||||
continue;
|
||||
}
|
||||
if (busid != BMP280_BUS_ALL && bus_options[i].busid != busid) {
|
||||
// not the one that is asked for
|
||||
continue;
|
||||
}
|
||||
started |= start_bus(bus_options[i]);
|
||||
}
|
||||
|
||||
if (!started)
|
||||
errx(1, "driver start failed");
|
||||
|
||||
// one or more drivers started OK
|
||||
exit(0);
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* find a bus structure for a busid
|
||||
*/
|
||||
struct bmp280_bus_option &find_bus(enum BMP280_BUS busid)
|
||||
{
|
||||
for (uint8_t i=0; i<NUM_BUS_OPTIONS; i++) {
|
||||
if ((busid == BMP280_BUS_ALL ||
|
||||
busid == bus_options[i].busid) && bus_options[i].dev != NULL) {
|
||||
return bus_options[i];
|
||||
}
|
||||
}
|
||||
errx(1,"bus %u not started", (unsigned)busid);
|
||||
}
|
||||
|
||||
/**
|
||||
* Perform some basic functional tests on the driver;
|
||||
* make sure we can collect data from the sensor in polled
|
||||
* and automatic modes.
|
||||
*/
|
||||
void
|
||||
test(enum BMP280_BUS busid)
|
||||
{
|
||||
struct bmp280_bus_option &bus = find_bus(busid);
|
||||
struct baro_report report;
|
||||
ssize_t sz;
|
||||
int ret;
|
||||
|
||||
int fd;
|
||||
|
||||
fd = open(bus.devpath, O_RDONLY);
|
||||
if (fd < 0)
|
||||
err(1, "open failed (try 'bmp280 start' if the driver is not running)");
|
||||
|
||||
/* do a simple demand read */
|
||||
sz = read(fd, &report, sizeof(report));
|
||||
|
||||
if (sz != sizeof(report))
|
||||
err(1, "immediate read failed");
|
||||
|
||||
warnx("single read");
|
||||
warnx("pressure: %10.4f", (double)report.pressure);
|
||||
warnx("altitude: %11.4f", (double)report.altitude);
|
||||
warnx("temperature: %8.4f", (double)report.temperature);
|
||||
warnx("time: %lld", report.timestamp);
|
||||
|
||||
/* set the queue depth to 10 */
|
||||
if (OK != ioctl(fd, SENSORIOCSQUEUEDEPTH, 10))
|
||||
errx(1, "failed to set queue depth");
|
||||
|
||||
/* start the sensor polling at 2Hz */
|
||||
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2))
|
||||
errx(1, "failed to set 2Hz poll rate");
|
||||
|
||||
/* read the sensor 5x and report each value */
|
||||
for (unsigned i = 0; i < 5; i++) {
|
||||
struct pollfd fds;
|
||||
|
||||
/* wait for data to be ready */
|
||||
fds.fd = fd;
|
||||
fds.events = POLLIN;
|
||||
ret = poll(&fds, 1, 2000);
|
||||
|
||||
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, "periodic read failed");
|
||||
|
||||
warnx("periodic read %u", i);
|
||||
warnx("pressure: %10.4f", (double)report.pressure);
|
||||
warnx("altitude: %11.4f", (double)report.altitude);
|
||||
warnx("temperature K: %8.4f", (double)report.temperature);
|
||||
warnx("time: %lld", report.timestamp);
|
||||
}
|
||||
|
||||
close(fd);
|
||||
errx(0, "PASS");
|
||||
}
|
||||
|
||||
/**
|
||||
* Reset the driver.
|
||||
*/
|
||||
void
|
||||
reset(enum BMP280_BUS busid)
|
||||
{
|
||||
struct bmp280_bus_option &bus = find_bus(busid);
|
||||
int fd;
|
||||
|
||||
fd = open(bus.devpath, O_RDONLY);
|
||||
if (fd < 0)
|
||||
err(1, "failed ");
|
||||
|
||||
if (ioctl(fd, SENSORIOCRESET, 0) < 0)
|
||||
err(1, "driver reset failed");
|
||||
|
||||
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
|
||||
err(1, "driver poll restart failed");
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
/**
|
||||
* Print a little info about the driver.
|
||||
*/
|
||||
void
|
||||
info()
|
||||
{
|
||||
for (uint8_t i=0; i<NUM_BUS_OPTIONS; i++) {
|
||||
struct bmp280_bus_option &bus = bus_options[i];
|
||||
if (bus.dev != nullptr) {
|
||||
warnx("%s", bus.devpath);
|
||||
bus.dev->print_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'");
|
||||
}
|
||||
@@ -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);
|
||||
@@ -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 <px4_config.h>
|
||||
|
||||
#include <drivers/bmp280/bmp280.h>
|
||||
#include <drivers/device/spi.h>
|
||||
|
||||
#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 */
|
||||
Reference in New Issue
Block a user