mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-31 19:11:36 +08:00
move all barometers to the same folder
This commit is contained in:
Daniel Agar
@@ -0,0 +1,48 @@
|
||||
############################################################################
|
||||
#
|
||||
# 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
|
||||
ms5611_spi.cpp
|
||||
ms5611_i2c.cpp
|
||||
ms5611.cpp
|
||||
)
|
||||
|
||||
px4_add_module(
|
||||
MODULE drivers__ms5611
|
||||
MAIN ms5611
|
||||
STACK_MAIN 1200
|
||||
COMPILE_FLAGS
|
||||
SRCS ${srcs}
|
||||
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 +1,82 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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 ms5611.h
|
||||
*
|
||||
* Shared defines for the ms5611 driver.
|
||||
*/
|
||||
|
||||
#define ADDR_RESET_CMD 0x1E /* write to this address to reset chip */
|
||||
#define ADDR_PROM_SETUP 0xA0 /* address of 8x 2 bytes factory and calibration data */
|
||||
|
||||
/* interface ioctls */
|
||||
#define IOCTL_RESET 2
|
||||
#define IOCTL_MEASURE 3
|
||||
|
||||
namespace ms5611
|
||||
{
|
||||
|
||||
/**
|
||||
* Calibration PROM as reported by the device.
|
||||
*/
|
||||
#pragma pack(push,1)
|
||||
struct prom_s {
|
||||
uint16_t factory_setup;
|
||||
uint16_t c1_pressure_sens;
|
||||
uint16_t c2_pressure_offset;
|
||||
uint16_t c3_temp_coeff_pres_sens;
|
||||
uint16_t c4_temp_coeff_pres_offset;
|
||||
uint16_t c5_reference_temp;
|
||||
uint16_t c6_temp_coeff_temp;
|
||||
uint16_t serial_and_crc;
|
||||
};
|
||||
|
||||
/**
|
||||
* Grody hack for crc4()
|
||||
*/
|
||||
union prom_u {
|
||||
uint16_t c[8];
|
||||
prom_s s;
|
||||
};
|
||||
#pragma pack(pop)
|
||||
|
||||
extern bool crc4(uint16_t *n_prom);
|
||||
|
||||
} /* namespace */
|
||||
|
||||
/* interface factories */
|
||||
extern device::Device *MS5611_spi_interface(ms5611::prom_u &prom_buf, uint8_t busnum);
|
||||
extern device::Device *MS5611_i2c_interface(ms5611::prom_u &prom_buf, uint8_t busnum);
|
||||
extern device::Device *MS5611_sim_interface(ms5611::prom_u &prom_buf, uint8_t busnum);
|
||||
typedef device::Device *(*MS5611_constructor)(ms5611::prom_u &prom_buf, uint8_t busnum);
|
||||
@@ -0,0 +1,284 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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 ms5611_i2c.cpp
|
||||
*
|
||||
* I2C interface for MS5611
|
||||
*/
|
||||
|
||||
/* XXX trim includes */
|
||||
#include <px4_config.h>
|
||||
#include <px4_defines.h>
|
||||
|
||||
#include <sys/types.h>
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include <assert.h>
|
||||
#include <errno.h>
|
||||
#include <unistd.h>
|
||||
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include <drivers/device/i2c.h>
|
||||
|
||||
#include "ms5611.h"
|
||||
|
||||
#include "board_config.h"
|
||||
|
||||
#define MS5611_ADDRESS_1 0x76 /* address select pins pulled high (PX4FMU series v1.6+) */
|
||||
#define MS5611_ADDRESS_2 0x77 /* address select pins pulled low (PX4FMU prototypes) */
|
||||
|
||||
|
||||
|
||||
device::Device *MS5611_i2c_interface(ms5611::prom_u &prom_buf);
|
||||
|
||||
class MS5611_I2C : public device::I2C
|
||||
{
|
||||
public:
|
||||
MS5611_I2C(uint8_t bus, ms5611::prom_u &prom_buf);
|
||||
virtual ~MS5611_I2C();
|
||||
|
||||
virtual int init();
|
||||
virtual int read(unsigned offset, void *data, unsigned count);
|
||||
virtual int ioctl(unsigned operation, unsigned &arg);
|
||||
|
||||
protected:
|
||||
virtual int probe();
|
||||
|
||||
private:
|
||||
ms5611::prom_u &_prom;
|
||||
|
||||
int _probe_address(uint8_t address);
|
||||
|
||||
/**
|
||||
* Send a reset command to the MS5611.
|
||||
*
|
||||
* This is required after any bus reset.
|
||||
*/
|
||||
int _reset();
|
||||
|
||||
/**
|
||||
* Send a measure command to the MS5611.
|
||||
*
|
||||
* @param addr Which address to use for the measure operation.
|
||||
*/
|
||||
int _measure(unsigned addr);
|
||||
|
||||
/**
|
||||
* Read the MS5611 PROM
|
||||
*
|
||||
* @return PX4_OK if the PROM reads successfully.
|
||||
*/
|
||||
int _read_prom();
|
||||
|
||||
};
|
||||
|
||||
device::Device *
|
||||
MS5611_i2c_interface(ms5611::prom_u &prom_buf, uint8_t busnum)
|
||||
{
|
||||
return new MS5611_I2C(busnum, prom_buf);
|
||||
}
|
||||
|
||||
MS5611_I2C::MS5611_I2C(uint8_t bus, ms5611::prom_u &prom) :
|
||||
I2C("MS5611_I2C", nullptr, bus, 0, 400000),
|
||||
_prom(prom)
|
||||
{
|
||||
}
|
||||
|
||||
MS5611_I2C::~MS5611_I2C()
|
||||
{
|
||||
}
|
||||
|
||||
int
|
||||
MS5611_I2C::init()
|
||||
{
|
||||
/* this will call probe(), and thereby _probe_address */
|
||||
return I2C::init();
|
||||
}
|
||||
|
||||
int
|
||||
MS5611_I2C::read(unsigned offset, void *data, unsigned count)
|
||||
{
|
||||
union _cvt {
|
||||
uint8_t b[4];
|
||||
uint32_t w;
|
||||
} *cvt = (_cvt *)data;
|
||||
uint8_t buf[3];
|
||||
|
||||
/* read the most recent measurement */
|
||||
uint8_t cmd = 0;
|
||||
int ret = transfer(&cmd, 1, &buf[0], 3);
|
||||
|
||||
if (ret == PX4_OK) {
|
||||
/* fetch the raw value */
|
||||
cvt->b[0] = buf[2];
|
||||
cvt->b[1] = buf[1];
|
||||
cvt->b[2] = buf[0];
|
||||
cvt->b[3] = 0;
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
int
|
||||
MS5611_I2C::ioctl(unsigned operation, unsigned &arg)
|
||||
{
|
||||
int ret;
|
||||
|
||||
switch (operation) {
|
||||
case IOCTL_RESET:
|
||||
ret = _reset();
|
||||
break;
|
||||
|
||||
case IOCTL_MEASURE:
|
||||
ret = _measure(arg);
|
||||
break;
|
||||
|
||||
default:
|
||||
ret = EINVAL;
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
int
|
||||
MS5611_I2C::probe()
|
||||
{
|
||||
_retries = 10;
|
||||
|
||||
if ((PX4_OK == _probe_address(MS5611_ADDRESS_1)) ||
|
||||
(PX4_OK == _probe_address(MS5611_ADDRESS_2))) {
|
||||
/*
|
||||
* Disable retries; we may enable them selectively in some cases,
|
||||
* but the device gets confused if we retry some of the commands.
|
||||
*/
|
||||
_retries = 0;
|
||||
return PX4_OK;
|
||||
}
|
||||
|
||||
return -EIO;
|
||||
}
|
||||
|
||||
int
|
||||
MS5611_I2C::_probe_address(uint8_t address)
|
||||
{
|
||||
/* select the address we are going to try */
|
||||
set_device_address(address);
|
||||
|
||||
/* send reset command */
|
||||
if (PX4_OK != _reset()) {
|
||||
return -EIO;
|
||||
}
|
||||
|
||||
/* read PROM */
|
||||
if (PX4_OK != _read_prom()) {
|
||||
return -EIO;
|
||||
}
|
||||
|
||||
return PX4_OK;
|
||||
}
|
||||
|
||||
int
|
||||
MS5611_I2C::_reset()
|
||||
{
|
||||
unsigned old_retrycount = _retries;
|
||||
uint8_t cmd = ADDR_RESET_CMD;
|
||||
int result;
|
||||
|
||||
/* bump the retry count */
|
||||
_retries = 10;
|
||||
result = transfer(&cmd, 1, nullptr, 0);
|
||||
_retries = old_retrycount;
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
int
|
||||
MS5611_I2C::_measure(unsigned addr)
|
||||
{
|
||||
/*
|
||||
* Disable retries on this command; we can't know whether failure
|
||||
* means the device did or did not see the command.
|
||||
*/
|
||||
_retries = 0;
|
||||
|
||||
uint8_t cmd = addr;
|
||||
return transfer(&cmd, 1, nullptr, 0);
|
||||
}
|
||||
|
||||
int
|
||||
MS5611_I2C::_read_prom()
|
||||
{
|
||||
uint8_t prom_buf[2];
|
||||
union {
|
||||
uint8_t b[2];
|
||||
uint16_t w;
|
||||
} cvt;
|
||||
|
||||
/*
|
||||
* Wait for PROM contents to be in the device (2.8 ms) in the case we are
|
||||
* called immediately after reset.
|
||||
*/
|
||||
usleep(3000);
|
||||
|
||||
uint8_t last_val = 0;
|
||||
bool bits_stuck = true;
|
||||
|
||||
/* read and convert PROM words */
|
||||
for (int i = 0; i < 8; i++) {
|
||||
uint8_t cmd = ADDR_PROM_SETUP + (i * 2);
|
||||
|
||||
if (PX4_OK != transfer(&cmd, 1, &prom_buf[0], 2)) {
|
||||
break;
|
||||
}
|
||||
|
||||
/* check if all bytes are zero */
|
||||
if (i == 0) {
|
||||
/* initialize to first byte read */
|
||||
last_val = prom_buf[0];
|
||||
}
|
||||
|
||||
if (prom_buf[0] != last_val || prom_buf[1] != last_val) {
|
||||
bits_stuck = false;
|
||||
}
|
||||
|
||||
/* assemble 16 bit value and convert from big endian (sensor) to little endian (MCU) */
|
||||
cvt.b[0] = prom_buf[1];
|
||||
cvt.b[1] = prom_buf[0];
|
||||
_prom.c[i] = cvt.w;
|
||||
}
|
||||
|
||||
/* calculate CRC and return success/failure accordingly */
|
||||
return (ms5611::crc4(&_prom.c[0]) && !bits_stuck) ? PX4_OK : -EIO;
|
||||
}
|
||||
@@ -0,0 +1,302 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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 ms5611_spi.cpp
|
||||
*
|
||||
* SPI interface for MS5611
|
||||
*/
|
||||
|
||||
/* XXX trim includes */
|
||||
#include <px4_config.h>
|
||||
|
||||
#include <sys/types.h>
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include <assert.h>
|
||||
#include <errno.h>
|
||||
#include <unistd.h>
|
||||
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include <drivers/device/spi.h>
|
||||
|
||||
#include "ms5611.h"
|
||||
#include "board_config.h"
|
||||
|
||||
/* SPI protocol address bits */
|
||||
#define DIR_READ (1<<7)
|
||||
#define DIR_WRITE (0<<7)
|
||||
#define ADDR_INCREMENT (1<<6)
|
||||
|
||||
#if defined(PX4_SPIDEV_BARO) || defined(PX4_SPIDEV_EXT_BARO)
|
||||
|
||||
device::Device *MS5611_spi_interface(ms5611::prom_u &prom_buf, bool external_bus);
|
||||
|
||||
class MS5611_SPI : public device::SPI
|
||||
{
|
||||
public:
|
||||
MS5611_SPI(uint8_t bus, uint32_t device, ms5611::prom_u &prom_buf);
|
||||
virtual ~MS5611_SPI();
|
||||
|
||||
virtual int init();
|
||||
virtual int read(unsigned offset, void *data, unsigned count);
|
||||
virtual int ioctl(unsigned operation, unsigned &arg);
|
||||
|
||||
private:
|
||||
ms5611::prom_u &_prom;
|
||||
|
||||
/**
|
||||
* Send a reset command to the MS5611.
|
||||
*
|
||||
* This is required after any bus reset.
|
||||
*/
|
||||
int _reset();
|
||||
|
||||
/**
|
||||
* Send a measure command to the MS5611.
|
||||
*
|
||||
* @param addr Which address to use for the measure operation.
|
||||
*/
|
||||
int _measure(unsigned addr);
|
||||
|
||||
/**
|
||||
* Read the MS5611 PROM
|
||||
*
|
||||
* @return OK if the PROM reads successfully.
|
||||
*/
|
||||
int _read_prom();
|
||||
|
||||
/**
|
||||
* Read a 16-bit register value.
|
||||
*
|
||||
* @param reg The register to read.
|
||||
*/
|
||||
uint16_t _reg16(unsigned reg);
|
||||
|
||||
/**
|
||||
* Wrapper around transfer() that prevents interrupt-context transfers
|
||||
* from pre-empting us. The sensor may (does) share a bus with sensors
|
||||
* that are polled from interrupt context (or we may be pre-empted)
|
||||
* so we need to guarantee that transfers complete without interruption.
|
||||
*/
|
||||
int _transfer(uint8_t *send, uint8_t *recv, unsigned len);
|
||||
};
|
||||
|
||||
device::Device *
|
||||
MS5611_spi_interface(ms5611::prom_u &prom_buf, uint8_t busnum)
|
||||
{
|
||||
#ifdef PX4_SPI_BUS_EXT
|
||||
|
||||
if (busnum == PX4_SPI_BUS_EXT) {
|
||||
#ifdef PX4_SPIDEV_EXT_BARO
|
||||
return new MS5611_SPI(busnum, PX4_SPIDEV_EXT_BARO, prom_buf);
|
||||
#else
|
||||
return nullptr;
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
return new MS5611_SPI(busnum, PX4_SPIDEV_BARO, prom_buf);
|
||||
}
|
||||
|
||||
MS5611_SPI::MS5611_SPI(uint8_t bus, uint32_t device, ms5611::prom_u &prom_buf) :
|
||||
SPI("MS5611_SPI", nullptr, bus, device, SPIDEV_MODE3, 20 * 1000 * 1000 /* will be rounded to 10.4 MHz */),
|
||||
_prom(prom_buf)
|
||||
{
|
||||
}
|
||||
|
||||
MS5611_SPI::~MS5611_SPI()
|
||||
{
|
||||
}
|
||||
|
||||
int
|
||||
MS5611_SPI::init()
|
||||
{
|
||||
int ret;
|
||||
|
||||
#if defined(PX4_SPI_BUS_RAMTRON) && \
|
||||
(PX4_SPI_BUS_BARO == PX4_SPI_BUS_RAMTRON)
|
||||
SPI::set_lockmode(LOCK_THREADS);
|
||||
#endif
|
||||
|
||||
ret = SPI::init();
|
||||
|
||||
if (ret != OK) {
|
||||
DEVICE_DEBUG("SPI init failed");
|
||||
goto out;
|
||||
}
|
||||
|
||||
/* send reset command */
|
||||
ret = _reset();
|
||||
|
||||
if (ret != OK) {
|
||||
DEVICE_DEBUG("reset failed");
|
||||
goto out;
|
||||
}
|
||||
|
||||
/* read PROM */
|
||||
ret = _read_prom();
|
||||
|
||||
if (ret != OK) {
|
||||
DEVICE_DEBUG("prom readout failed");
|
||||
goto out;
|
||||
}
|
||||
|
||||
out:
|
||||
return ret;
|
||||
}
|
||||
|
||||
int
|
||||
MS5611_SPI::read(unsigned offset, void *data, unsigned count)
|
||||
{
|
||||
union _cvt {
|
||||
uint8_t b[4];
|
||||
uint32_t w;
|
||||
} *cvt = (_cvt *)data;
|
||||
uint8_t buf[4] = { 0 | DIR_WRITE, 0, 0, 0 };
|
||||
|
||||
/* read the most recent measurement */
|
||||
int ret = _transfer(&buf[0], &buf[0], sizeof(buf));
|
||||
|
||||
if (ret == OK) {
|
||||
/* fetch the raw value */
|
||||
cvt->b[0] = buf[3];
|
||||
cvt->b[1] = buf[2];
|
||||
cvt->b[2] = buf[1];
|
||||
cvt->b[3] = 0;
|
||||
|
||||
ret = count;
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
int
|
||||
MS5611_SPI::ioctl(unsigned operation, unsigned &arg)
|
||||
{
|
||||
int ret;
|
||||
|
||||
switch (operation) {
|
||||
case IOCTL_RESET:
|
||||
ret = _reset();
|
||||
break;
|
||||
|
||||
case IOCTL_MEASURE:
|
||||
ret = _measure(arg);
|
||||
break;
|
||||
|
||||
default:
|
||||
ret = EINVAL;
|
||||
}
|
||||
|
||||
if (ret != OK) {
|
||||
errno = ret;
|
||||
return -1;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
int
|
||||
MS5611_SPI::_reset()
|
||||
{
|
||||
uint8_t cmd = ADDR_RESET_CMD | DIR_WRITE;
|
||||
|
||||
return _transfer(&cmd, nullptr, 1);
|
||||
}
|
||||
|
||||
int
|
||||
MS5611_SPI::_measure(unsigned addr)
|
||||
{
|
||||
uint8_t cmd = addr | DIR_WRITE;
|
||||
|
||||
return _transfer(&cmd, nullptr, 1);
|
||||
}
|
||||
|
||||
|
||||
int
|
||||
MS5611_SPI::_read_prom()
|
||||
{
|
||||
/*
|
||||
* Wait for PROM contents to be in the device (2.8 ms) in the case we are
|
||||
* called immediately after reset.
|
||||
*/
|
||||
usleep(3000);
|
||||
|
||||
/* read and convert PROM words */
|
||||
bool all_zero = true;
|
||||
|
||||
for (int i = 0; i < 8; i++) {
|
||||
uint8_t cmd = (ADDR_PROM_SETUP + (i * 2));
|
||||
_prom.c[i] = _reg16(cmd);
|
||||
|
||||
if (_prom.c[i] != 0) {
|
||||
all_zero = false;
|
||||
}
|
||||
|
||||
//DEVICE_DEBUG("prom[%u]=0x%x", (unsigned)i, (unsigned)_prom.c[i]);
|
||||
}
|
||||
|
||||
/* calculate CRC and return success/failure accordingly */
|
||||
int ret = ms5611::crc4(&_prom.c[0]) ? OK : -EIO;
|
||||
|
||||
if (ret != OK) {
|
||||
DEVICE_DEBUG("crc failed");
|
||||
}
|
||||
|
||||
if (all_zero) {
|
||||
DEVICE_DEBUG("prom all zero");
|
||||
ret = -EIO;
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
uint16_t
|
||||
MS5611_SPI::_reg16(unsigned reg)
|
||||
{
|
||||
uint8_t cmd[3] = { (uint8_t)(reg | DIR_READ), 0, 0 };
|
||||
|
||||
_transfer(cmd, cmd, sizeof(cmd));
|
||||
|
||||
return (uint16_t)(cmd[1] << 8) | cmd[2];
|
||||
}
|
||||
|
||||
int
|
||||
MS5611_SPI::_transfer(uint8_t *send, uint8_t *recv, unsigned len)
|
||||
{
|
||||
return transfer(send, recv, len);
|
||||
}
|
||||
|
||||
#endif /* PX4_SPIDEV_BARO || PX4_SPIDEV_EXT_BARO */
|
||||
Reference in New Issue
Block a user