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ms5611: build on linux (navio2)

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Daniel Agar 2019-11-13 13:01:00 -05:00 committed by GitHub
parent 7996ee496c
commit bcfa2eecd8
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6 changed files with 463 additions and 485 deletions
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1
boards/emlid/navio2/cross.cmake
View File

@ -10,6 +10,7 @@ px4_add_board(
DRIVERS
#barometer # all available barometer drivers
barometer/ms5611
batt_smbus
camera_trigger
differential_pressure # all available differential pressure drivers

1
boards/emlid/navio2/native.cmake
View File

@ -8,6 +8,7 @@ px4_add_board(
DRIVERS
#barometer # all available barometer drivers
barometer/ms5611
batt_smbus
camera_trigger
differential_pressure # all available differential pressure drivers

2
src/drivers/barometer/ms5611/CMakeLists.txt
View File

@ -40,6 +40,8 @@ px4_add_module(
ms5611_spi.cpp
ms5611_i2c.cpp
ms5611.cpp
ms5611_main.cpp
MS5611.hpp
DEPENDS
px4_work_queue
)

177
src/drivers/barometer/ms5611/MS5611.hpp Normal file
View File

@ -0,0 +1,177 @@
/****************************************************************************
*
* Copyright (c) 2012-2019 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#pragma once
#include <drivers/device/i2c.h>
#include <drivers/device/device.h>
#include <drivers/device/ringbuffer.h>
#include <drivers/device/spi.h>
#include <drivers/drv_baro.h>
#include <lib/cdev/CDev.hpp>
#include <lib/perf/perf_counter.h>
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <systemlib/err.h>
#include <uORB/uORB.h>
#include "ms5611.h"
enum MS56XX_DEVICE_TYPES {
MS56XX_DEVICE = 0,
MS5611_DEVICE = 5611,
MS5607_DEVICE = 5607,
};
/* helper macro for handling report buffer indices */
#define INCREMENT(_x, _lim) do { __typeof__(_x) _tmp = _x+1; if (_tmp >= _lim) _tmp = 0; _x = _tmp; } while(0)
/* helper macro for arithmetic - returns the square of the argument */
#define POW2(_x) ((_x) * (_x))
/*
* MS5611/MS5607 internal constants and data structures.
*/
#define ADDR_CMD_CONVERT_D1_OSR256 0x40 /* write to this address to start pressure conversion */
#define ADDR_CMD_CONVERT_D1_OSR512 0x42 /* write to this address to start pressure conversion */
#define ADDR_CMD_CONVERT_D1_OSR1024 0x44 /* write to this address to start pressure conversion */
#define ADDR_CMD_CONVERT_D1_OSR2048 0x46 /* write to this address to start pressure conversion */
#define ADDR_CMD_CONVERT_D1_OSR4096 0x48 /* write to this address to start pressure conversion */
#define ADDR_CMD_CONVERT_D2_OSR256 0x50 /* write to this address to start temperature conversion */
#define ADDR_CMD_CONVERT_D2_OSR512 0x52 /* write to this address to start temperature conversion */
#define ADDR_CMD_CONVERT_D2_OSR1024 0x54 /* write to this address to start temperature conversion */
#define ADDR_CMD_CONVERT_D2_OSR2048 0x56 /* write to this address to start temperature conversion */
#define ADDR_CMD_CONVERT_D2_OSR4096 0x58 /* write to this address to start temperature conversion */
/*
use an OSR of 1024 to reduce the self-heating effect of the
sensor. Information from MS tells us that some individual sensors
are quite sensitive to this effect and that reducing the OSR can
make a big difference
*/
#define ADDR_CMD_CONVERT_D1 ADDR_CMD_CONVERT_D1_OSR1024
#define ADDR_CMD_CONVERT_D2 ADDR_CMD_CONVERT_D2_OSR1024
/*
* Maximum internal conversion time for OSR 1024 is 2.28 ms. We set an update
* rate of 100Hz which is be very safe not to read the ADC before the
* conversion finished
*/
#define MS5611_CONVERSION_INTERVAL 10000 /* microseconds */
#define MS5611_MEASUREMENT_RATIO 3 /* pressure measurements per temperature measurement */
#define MS5611_BARO_DEVICE_PATH_EXT "/dev/ms5611_ext"
#define MS5611_BARO_DEVICE_PATH_INT "/dev/ms5611_int"
class MS5611 : public cdev::CDev, public px4::ScheduledWorkItem
{
public:
MS5611(device::Device *interface, ms5611::prom_u &prom_buf, const char *path, enum MS56XX_DEVICE_TYPES device_type);
~MS5611();
virtual int init();
virtual ssize_t read(cdev::file_t *filp, char *buffer, size_t buflen);
virtual int ioctl(cdev::file_t *filp, int cmd, unsigned long arg);
/**
* Diagnostics - print some basic information about the driver.
*/
void print_info();
protected:
device::Device *_interface;
ms5611::prom_s _prom;
unsigned _measure_interval{0};
ringbuffer::RingBuffer *_reports;
enum MS56XX_DEVICE_TYPES _device_type;
bool _collect_phase;
unsigned _measure_phase;
/* intermediate temperature values per MS5611/MS5607 datasheet */
int32_t _TEMP;
int64_t _OFF;
int64_t _SENS;
float _P;
float _T;
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;
/**
* Initialize the automatic measurement state machine and start it.
*
* @note This function is called at open and error time. It might make sense
* to make it more aggressive about resetting the bus in case of errors.
*/
void start();
/**
* Stop the automatic measurement state machine.
*/
void stop();
/**
* Perform a poll cycle; collect from the previous measurement
* and start a new one.
*
* This is the heart of the measurement state machine. This function
* alternately starts a measurement, or collects the data from the
* previous measurement.
*
* When the interval between measurements is greater than the minimum
* measurement interval, a gap is inserted between collection
* and measurement to provide the most recent measurement possible
* at the next interval.
*/
void Run() override;
/**
* Issue a measurement command for the current state.
*
* @return OK if the measurement command was successful.
*/
virtual int measure();
/**
* Collect the result of the most recent measurement.
*/
virtual int collect();
};

490
src/drivers/barometer/ms5611/ms5611.cpp
View File

@ -36,149 +36,10 @@
* Driver for the MS5611 and MS5607 barometric pressure sensor connected via I2C or SPI.
*/
#include "MS5611.hpp"
#include "ms5611.h"
enum MS56XX_DEVICE_TYPES {
MS56XX_DEVICE = 0,
MS5611_DEVICE = 5611,
MS5607_DEVICE = 5607,
};
enum MS5611_BUS {
MS5611_BUS_ALL = 0,
MS5611_BUS_I2C_INTERNAL,
MS5611_BUS_I2C_EXTERNAL,
MS5611_BUS_SPI_INTERNAL,
MS5611_BUS_SPI_EXTERNAL
};
/* helper macro for handling report buffer indices */
#define INCREMENT(_x, _lim) do { __typeof__(_x) _tmp = _x+1; if (_tmp >= _lim) _tmp = 0; _x = _tmp; } while(0)
/* helper macro for arithmetic - returns the square of the argument */
#define POW2(_x) ((_x) * (_x))
/*
* MS5611/MS5607 internal constants and data structures.
*/
#define ADDR_CMD_CONVERT_D1_OSR256 0x40 /* write to this address to start pressure conversion */
#define ADDR_CMD_CONVERT_D1_OSR512 0x42 /* write to this address to start pressure conversion */
#define ADDR_CMD_CONVERT_D1_OSR1024 0x44 /* write to this address to start pressure conversion */
#define ADDR_CMD_CONVERT_D1_OSR2048 0x46 /* write to this address to start pressure conversion */
#define ADDR_CMD_CONVERT_D1_OSR4096 0x48 /* write to this address to start pressure conversion */
#define ADDR_CMD_CONVERT_D2_OSR256 0x50 /* write to this address to start temperature conversion */
#define ADDR_CMD_CONVERT_D2_OSR512 0x52 /* write to this address to start temperature conversion */
#define ADDR_CMD_CONVERT_D2_OSR1024 0x54 /* write to this address to start temperature conversion */
#define ADDR_CMD_CONVERT_D2_OSR2048 0x56 /* write to this address to start temperature conversion */
#define ADDR_CMD_CONVERT_D2_OSR4096 0x58 /* write to this address to start temperature conversion */
/*
use an OSR of 1024 to reduce the self-heating effect of the
sensor. Information from MS tells us that some individual sensors
are quite sensitive to this effect and that reducing the OSR can
make a big difference
*/
#define ADDR_CMD_CONVERT_D1 ADDR_CMD_CONVERT_D1_OSR1024
#define ADDR_CMD_CONVERT_D2 ADDR_CMD_CONVERT_D2_OSR1024
/*
* Maximum internal conversion time for OSR 1024 is 2.28 ms. We set an update
* rate of 100Hz which is be very safe not to read the ADC before the
* conversion finished
*/
#define MS5611_CONVERSION_INTERVAL 10000 /* microseconds */
#define MS5611_MEASUREMENT_RATIO 3 /* pressure measurements per temperature measurement */
#define MS5611_BARO_DEVICE_PATH_EXT "/dev/ms5611_ext"
#define MS5611_BARO_DEVICE_PATH_INT "/dev/ms5611_int"
class MS5611 : public cdev::CDev, public px4::ScheduledWorkItem
{
public:
MS5611(device::Device *interface, ms5611::prom_u &prom_buf, const char *path, enum MS56XX_DEVICE_TYPES device_type);
~MS5611();
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();
protected:
device::Device *_interface;
ms5611::prom_s _prom;
unsigned _measure_interval{0};
ringbuffer::RingBuffer *_reports;
enum MS56XX_DEVICE_TYPES _device_type;
bool _collect_phase;
unsigned _measure_phase;
/* intermediate temperature values per MS5611/MS5607 datasheet */
int32_t _TEMP;
int64_t _OFF;
int64_t _SENS;
float _P;
float _T;
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;
/**
* Initialize the automatic measurement state machine and start it.
*
* @note This function is called at open and error time. It might make sense
* to make it more aggressive about resetting the bus in case of errors.
*/
void start();
/**
* Stop the automatic measurement state machine.
*/
void stop();
/**
* Perform a poll cycle; collect from the previous measurement
* and start a new one.
*
* This is the heart of the measurement state machine. This function
* alternately starts a measurement, or collects the data from the
* previous measurement.
*
* When the interval between measurements is greater than the minimum
* measurement interval, a gap is inserted between collection
* and measurement to provide the most recent measurement possible
* at the next interval.
*/
void Run() override;
/**
* Issue a measurement command for the current state.
*
* @return OK if the measurement command was successful.
*/
virtual int measure();
/**
* Collect the result of the most recent measurement.
*/
virtual int collect();
};
/*
* Driver 'main' command.
*/
extern "C" __EXPORT int ms5611_main(int argc, char *argv[]);
#include <cdev/CDev.hpp>
MS5611::MS5611(device::Device *interface, ms5611::prom_u &prom_buf, const char *path,
enum MS56XX_DEVICE_TYPES device_type) :
@ -342,7 +203,7 @@ out:
}
ssize_t
MS5611::read(struct file *filp, char *buffer, size_t buflen)
MS5611::read(cdev::file_t *filp, char *buffer, size_t buflen)
{
unsigned count = buflen / sizeof(sensor_baro_s);
sensor_baro_s *brp = reinterpret_cast<sensor_baro_s *>(buffer);
@ -414,7 +275,7 @@ MS5611::read(struct file *filp, char *buffer, size_t buflen)
}
int
MS5611::ioctl(struct file *filp, int cmd, unsigned long arg)
MS5611::ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
{
switch (cmd) {
@ -740,45 +601,6 @@ MS5611::print_info()
namespace ms5611
{
/*
list of supported bus configurations
*/
struct ms5611_bus_option {
enum MS5611_BUS busid;
const char *devpath;
MS5611_constructor interface_constructor;
uint8_t busnum;
MS5611 *dev;
} bus_options[] = {
#if defined(PX4_SPIDEV_EXT_BARO) && defined(PX4_SPI_BUS_EXT)
{ MS5611_BUS_SPI_EXTERNAL, "/dev/ms5611_spi_ext", &MS5611_spi_interface, PX4_SPI_BUS_EXT, NULL },
#endif
#ifdef PX4_SPIDEV_BARO
{ MS5611_BUS_SPI_INTERNAL, "/dev/ms5611_spi_int", &MS5611_spi_interface, PX4_SPI_BUS_BARO, NULL },
#endif
#ifdef PX4_I2C_BUS_ONBOARD
{ MS5611_BUS_I2C_INTERNAL, "/dev/ms5611_int", &MS5611_i2c_interface, PX4_I2C_BUS_ONBOARD, NULL },
#endif
#ifdef PX4_I2C_BUS_EXPANSION
{ MS5611_BUS_I2C_EXTERNAL, "/dev/ms5611_ext", &MS5611_i2c_interface, PX4_I2C_BUS_EXPANSION, NULL },
#endif
#ifdef PX4_I2C_BUS_EXPANSION1
{ MS5611_BUS_I2C_EXTERNAL, "/dev/ms5611_ext1", &MS5611_i2c_interface, PX4_I2C_BUS_EXPANSION1, NULL },
#endif
#ifdef PX4_I2C_BUS_EXPANSION2
{ MS5611_BUS_I2C_EXTERNAL, "/dev/ms5611_ext2", &MS5611_i2c_interface, PX4_I2C_BUS_EXPANSION2, NULL },
#endif
};
#define NUM_BUS_OPTIONS (sizeof(bus_options)/sizeof(bus_options[0]))
bool start_bus(struct ms5611_bus_option &bus, enum MS56XX_DEVICE_TYPES device_type);
struct ms5611_bus_option &find_bus(enum MS5611_BUS busid);
void start(enum MS5611_BUS busid, enum MS56XX_DEVICE_TYPES device_type);
void test(enum MS5611_BUS busid);
void reset(enum MS5611_BUS busid);
void info();
void usage();
/**
* MS5611 crc4 cribbed from the datasheet
*/
@ -825,306 +647,4 @@ crc4(uint16_t *n_prom)
return (0x000F & crc_read) == (n_rem ^ 0x00);
}
/**
* Start the driver.
*/
bool
start_bus(struct ms5611_bus_option &bus, enum MS56XX_DEVICE_TYPES device_type)
{
if (bus.dev != nullptr) {
errx(1, "bus option already started");
}
prom_u prom_buf;
device::Device *interface = bus.interface_constructor(prom_buf, bus.busnum);
if (interface->init() != OK) {
delete interface;
warnx("no device on bus %u", (unsigned)bus.busid);
return false;
}
bus.dev = new MS5611(interface, prom_buf, bus.devpath, device_type);
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 MS5611_BUS busid, enum MS56XX_DEVICE_TYPES device_type)
{
uint8_t i;
bool started = false;
for (i = 0; i < NUM_BUS_OPTIONS; i++) {
if (busid == MS5611_BUS_ALL && bus_options[i].dev != NULL) {
// this device is already started
continue;
}
if (busid != MS5611_BUS_ALL && bus_options[i].busid != busid) {
// not the one that is asked for
continue;
}
started = started | start_bus(bus_options[i], device_type);
}
if (!started) {
exit(1);
}
// one or more drivers started OK
exit(0);
}
/**
* find a bus structure for a busid
*/
struct ms5611_bus_option &find_bus(enum MS5611_BUS busid)
{
for (uint8_t i = 0; i < NUM_BUS_OPTIONS; i++) {
if ((busid == MS5611_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 MS5611_BUS busid)
{
struct ms5611_bus_option &bus = find_bus(busid);
sensor_baro_s report;
ssize_t sz;
int ret;
int fd;
fd = open(bus.devpath, O_RDONLY);
if (fd < 0) {
err(1, "open failed (try 'ms5611 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");
}
print_message(report);
/* 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");
}
print_message(report);
}
close(fd);
errx(0, "PASS");
}
/**
* Reset the driver.
*/
void
reset(enum MS5611_BUS busid)
{
struct ms5611_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 ms5611_bus_option &bus = bus_options[i];
if (bus.dev != nullptr) {
warnx("%s", bus.devpath);
bus.dev->print_info();
}
}
exit(0);
}
void
usage()
{
warnx("missing command: try 'start', 'info', 'test', 'reset'");
warnx("options:");
warnx(" -X (external I2C bus)");
warnx(" -I (intternal I2C bus)");
warnx(" -S (external SPI bus)");
warnx(" -s (internal SPI bus)");
warnx(" -T 5611|5607 (default 5611)");
warnx(" -T 0 (autodetect version)");
}
} // namespace
int
ms5611_main(int argc, char *argv[])
{
enum MS5611_BUS busid = MS5611_BUS_ALL;
enum MS56XX_DEVICE_TYPES device_type = MS5611_DEVICE;
int ch;
int myoptind = 1;
const char *myoptarg = NULL;
/* jump over start/off/etc and look at options first */
while ((ch = px4_getopt(argc, argv, "T:XISs", &myoptind, &myoptarg)) != EOF) {
switch (ch) {
case 'X':
busid = MS5611_BUS_I2C_EXTERNAL;
break;
case 'I':
busid = MS5611_BUS_I2C_INTERNAL;
break;
case 'S':
busid = MS5611_BUS_SPI_EXTERNAL;
break;
case 's':
busid = MS5611_BUS_SPI_INTERNAL;
break;
case 'T': {
int val = atoi(myoptarg);
if (val == 5611) {
device_type = MS5611_DEVICE;
break;
} else if (val == 5607) {
device_type = MS5607_DEVICE;
break;
} else if (val == 0) {
device_type = MS56XX_DEVICE;
break;
}
}
/* FALLTHROUGH */
default:
ms5611::usage();
return 0;
}
}
if (myoptind >= argc) {
ms5611::usage();
return -1;
}
const char *verb = argv[myoptind];
/*
* Start/load the driver.
*/
if (!strcmp(verb, "start")) {
ms5611::start(busid, device_type);
}
/*
* Test the driver/device.
*/
if (!strcmp(verb, "test")) {
ms5611::test(busid);
}
/*
* Reset the driver.
*/
if (!strcmp(verb, "reset")) {
ms5611::reset(busid);
}
/*
* Print driver information.
*/
if (!strcmp(verb, "info")) {
ms5611::info();
}
PX4_ERR("unrecognised command, try 'start', 'test', 'reset' or 'info'");
return -1;
}
} // namespace ms5611

277
src/drivers/barometer/ms5611/ms5611_main.cpp Normal file
View File

@ -0,0 +1,277 @@
/****************************************************************************
*
* 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 ms5611.cpp
* Driver for the MS5611 and MS5607 barometric pressure sensor connected via I2C or SPI.
*/
#include "MS5611.hpp"
#include "ms5611.h"
enum MS5611_BUS {
MS5611_BUS_ALL = 0,
MS5611_BUS_I2C_INTERNAL,
MS5611_BUS_I2C_EXTERNAL,
MS5611_BUS_SPI_INTERNAL,
MS5611_BUS_SPI_EXTERNAL
};
/*
* Driver 'main' command.
*/
extern "C" __EXPORT int ms5611_main(int argc, char *argv[]);
/**
* Local functions in support of the shell command.
*/
namespace ms5611
{
/*
list of supported bus configurations
*/
struct ms5611_bus_option {
enum MS5611_BUS busid;
const char *devpath;
MS5611_constructor interface_constructor;
uint8_t busnum;
MS5611 *dev;
} bus_options[] = {
#if defined(PX4_SPIDEV_EXT_BARO) && defined(PX4_SPI_BUS_EXT)
{ MS5611_BUS_SPI_EXTERNAL, "/dev/ms5611_spi_ext", &MS5611_spi_interface, PX4_SPI_BUS_EXT, NULL },
#endif
#ifdef PX4_SPIDEV_BARO
{ MS5611_BUS_SPI_INTERNAL, "/dev/ms5611_spi_int", &MS5611_spi_interface, PX4_SPI_BUS_BARO, NULL },
#endif
#ifdef PX4_I2C_BUS_ONBOARD
{ MS5611_BUS_I2C_INTERNAL, "/dev/ms5611_int", &MS5611_i2c_interface, PX4_I2C_BUS_ONBOARD, NULL },
#endif
#ifdef PX4_I2C_BUS_EXPANSION
{ MS5611_BUS_I2C_EXTERNAL, "/dev/ms5611_ext", &MS5611_i2c_interface, PX4_I2C_BUS_EXPANSION, NULL },
#endif
#ifdef PX4_I2C_BUS_EXPANSION1
{ MS5611_BUS_I2C_EXTERNAL, "/dev/ms5611_ext1", &MS5611_i2c_interface, PX4_I2C_BUS_EXPANSION1, NULL },
#endif
#ifdef PX4_I2C_BUS_EXPANSION2
{ MS5611_BUS_I2C_EXTERNAL, "/dev/ms5611_ext2", &MS5611_i2c_interface, PX4_I2C_BUS_EXPANSION2, NULL },
#endif
};
#define NUM_BUS_OPTIONS (sizeof(bus_options)/sizeof(bus_options[0]))
/**
* Start the driver.
*/
static bool
start_bus(struct ms5611_bus_option &bus, enum MS56XX_DEVICE_TYPES device_type)
{
if (bus.dev != nullptr) {
PX4_ERR("bus option already started");
return false;
}
prom_u prom_buf;
device::Device *interface = bus.interface_constructor(prom_buf, bus.busnum);
if (interface->init() != OK) {
delete interface;
PX4_WARN("no device on bus %u", (unsigned)bus.busid);
return false;
}
bus.dev = new MS5611(interface, prom_buf, bus.devpath, device_type);
if (bus.dev != nullptr && OK != bus.dev->init()) {
delete bus.dev;
bus.dev = NULL;
return false;
}
int fd = px4_open(bus.devpath, O_RDONLY);
/* set the poll rate to default, starts automatic data collection */
if (fd == -1) {
PX4_ERR("can't open baro device");
return false;
}
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
px4_close(fd);
PX4_ERR("failed setting default poll rate");
return false;
}
px4_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.
*/
static int
start(enum MS5611_BUS busid, enum MS56XX_DEVICE_TYPES device_type)
{
uint8_t i;
bool started = false;
for (i = 0; i < NUM_BUS_OPTIONS; i++) {
if (busid == MS5611_BUS_ALL && bus_options[i].dev != NULL) {
// this device is already started
continue;
}
if (busid != MS5611_BUS_ALL && bus_options[i].busid != busid) {
// not the one that is asked for
continue;
}
started = started | start_bus(bus_options[i], device_type);
}
if (!started) {
return PX4_ERROR;
}
// one or more drivers started OK
return PX4_OK;
}
static int
info()
{
for (uint8_t i = 0; i < NUM_BUS_OPTIONS; i++) {
struct ms5611_bus_option &bus = bus_options[i];
if (bus.dev != nullptr) {
PX4_INFO("%s", bus.devpath);
bus.dev->print_info();
}
}
return 0;
}
static int
usage()
{
PX4_INFO("missing command: try 'start', 'info',");
PX4_INFO("options:");
PX4_INFO(" -X (external I2C bus)");
PX4_INFO(" -I (intternal I2C bus)");
PX4_INFO(" -S (external SPI bus)");
PX4_INFO(" -s (internal SPI bus)");
PX4_INFO(" -T 5611|5607 (default 5611)");
PX4_INFO(" -T 0 (autodetect version)");
return 0;
}
} // namespace
int
ms5611_main(int argc, char *argv[])
{
enum MS5611_BUS busid = MS5611_BUS_ALL;
enum MS56XX_DEVICE_TYPES device_type = MS5611_DEVICE;
int ch;
int myoptind = 1;
const char *myoptarg = NULL;
/* jump over start/off/etc and look at options first */
while ((ch = px4_getopt(argc, argv, "T:XISs", &myoptind, &myoptarg)) != EOF) {
switch (ch) {
case 'X':
busid = MS5611_BUS_I2C_EXTERNAL;
break;
case 'I':
busid = MS5611_BUS_I2C_INTERNAL;
break;
case 'S':
busid = MS5611_BUS_SPI_EXTERNAL;
break;
case 's':
busid = MS5611_BUS_SPI_INTERNAL;
break;
case 'T': {
int val = atoi(myoptarg);
if (val == 5611) {
device_type = MS5611_DEVICE;
break;
} else if (val == 5607) {
device_type = MS5607_DEVICE;
break;
} else if (val == 0) {
device_type = MS56XX_DEVICE;
break;
}
}
/* FALLTHROUGH */
default:
return ms5611::usage();
}
}
if (myoptind >= argc) {
return ms5611::usage();
}
const char *verb = argv[myoptind];
/*
* Start/load the driver.
*/
if (!strcmp(verb, "start")) {
return ms5611::start(busid, device_type);
}
/*
* Print driver information.
*/
if (!strcmp(verb, "info")) {
return ms5611::info();
}
return ms5611::usage();
}