mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-25 02:33:34 +08:00
move all barometers to the same folder
This commit is contained in:
Daniel Agar
@@ -0,0 +1,45 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2016 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
px4_add_module(
|
||||
MODULE drivers__bmp280
|
||||
MAIN bmp280
|
||||
COMPILE_FLAGS
|
||||
SRCS
|
||||
bmp280_spi.cpp
|
||||
bmp280_i2c.cpp
|
||||
bmp280.cpp
|
||||
DEPENDS
|
||||
platforms__common
|
||||
)
|
||||
# vim: set noet ft=cmake fenc=utf-8 ff=unix :
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,159 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012-2016 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() = default;
|
||||
|
||||
virtual bool is_external() = 0;
|
||||
virtual int init() = 0;
|
||||
|
||||
// read reg value
|
||||
virtual uint8_t get_reg(uint8_t addr) = 0;
|
||||
|
||||
// write reg value
|
||||
virtual int set_reg(uint8_t value, uint8_t addr) = 0;
|
||||
|
||||
// bulk read of data into buffer, return same pointer
|
||||
virtual bmp280::data_s *get_data(uint8_t addr) = 0;
|
||||
|
||||
// bulk read of calibration data into buffer, return same pointer
|
||||
virtual bmp280::calibration_s *get_calibration(uint8_t addr) = 0;
|
||||
|
||||
};
|
||||
|
||||
} /* 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 +1,128 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2016 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 "bmp280.h"
|
||||
#include <drivers/device/i2c.h>
|
||||
|
||||
#include "board_config.h"
|
||||
|
||||
#if defined(PX4_I2C_OBDEV_BMP280) || defined(PX4_I2C_EXT_OBDEV_BMP280)
|
||||
|
||||
class BMP280_I2C: public device::I2C, public bmp280::IBMP280
|
||||
{
|
||||
public:
|
||||
BMP280_I2C(uint8_t bus, uint8_t device, bool external);
|
||||
virtual ~BMP280_I2C() = default;
|
||||
|
||||
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:
|
||||
struct bmp280::calibration_s _cal;
|
||||
struct bmp280::data_s _data;
|
||||
bool _external;
|
||||
};
|
||||
|
||||
bmp280::IBMP280 *bmp280_i2c_interface(uint8_t busnum, uint8_t device, bool external)
|
||||
{
|
||||
return new BMP280_I2C(busnum, device, external);
|
||||
}
|
||||
|
||||
BMP280_I2C::BMP280_I2C(uint8_t bus, uint8_t device, bool external) :
|
||||
I2C("BMP280_I2C", nullptr, bus, device, 100 * 1000)
|
||||
{
|
||||
_external = external;
|
||||
}
|
||||
|
||||
bool BMP280_I2C::is_external()
|
||||
{
|
||||
return _external;
|
||||
}
|
||||
|
||||
int BMP280_I2C::init()
|
||||
{
|
||||
return I2C::init();
|
||||
}
|
||||
|
||||
uint8_t BMP280_I2C::get_reg(uint8_t addr)
|
||||
{
|
||||
uint8_t cmd[2] = { (uint8_t)(addr), 0};
|
||||
transfer(&cmd[0], 1, &cmd[1], 1);
|
||||
|
||||
return cmd[1];
|
||||
}
|
||||
|
||||
int BMP280_I2C::set_reg(uint8_t value, uint8_t addr)
|
||||
{
|
||||
uint8_t cmd[2] = { (uint8_t)(addr), value};
|
||||
return transfer(cmd, sizeof(cmd), nullptr, 0);
|
||||
}
|
||||
|
||||
bmp280::data_s *BMP280_I2C::get_data(uint8_t addr)
|
||||
{
|
||||
const uint8_t cmd = (uint8_t)(addr);
|
||||
|
||||
if (transfer(&cmd, sizeof(cmd), (uint8_t *)&_data, sizeof(struct bmp280::data_s)) == OK) {
|
||||
return (&_data);
|
||||
|
||||
} else {
|
||||
return nullptr;
|
||||
}
|
||||
}
|
||||
|
||||
bmp280::calibration_s *BMP280_I2C::get_calibration(uint8_t addr)
|
||||
{
|
||||
const uint8_t cmd = (uint8_t)(addr) ;
|
||||
|
||||
if (transfer(&cmd, sizeof(cmd), (uint8_t *)&_cal, sizeof(struct bmp280::calibration_s)) == OK) {
|
||||
return &(_cal);
|
||||
|
||||
} else {
|
||||
return nullptr;
|
||||
}
|
||||
}
|
||||
|
||||
#endif /* PX4_I2C_OBDEV_BMP280 || PX4_I2C_EXT_OBDEV_BMP280 */
|
||||
@@ -0,0 +1,144 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2016 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 "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, uint32_t device, bool external);
|
||||
virtual ~BMP280_SPI() = default;
|
||||
|
||||
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, device, external);
|
||||
}
|
||||
|
||||
BMP280_SPI::BMP280_SPI(uint8_t bus, uint32_t device, bool external) :
|
||||
SPI("BMP280_SPI", nullptr, bus, device, SPIDEV_MODE3, 10 * 1000 * 1000)
|
||||
{
|
||||
_external = external;
|
||||
}
|
||||
|
||||
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