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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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move all barometers to the same folder
This commit is contained in:
Daniel Agar
@@ -0,0 +1,284 @@
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/****************************************************************************
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*
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* Copyright (c) 2013 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file ms5611_i2c.cpp
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*
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* I2C interface for MS5611
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*/
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/* XXX trim includes */
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#include <px4_config.h>
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#include <px4_defines.h>
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#include <sys/types.h>
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#include <stdint.h>
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#include <stdbool.h>
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#include <assert.h>
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#include <errno.h>
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#include <unistd.h>
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#include <arch/board/board.h>
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#include <drivers/device/i2c.h>
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#include "ms5611.h"
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#include "board_config.h"
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#define MS5611_ADDRESS_1 0x76 /* address select pins pulled high (PX4FMU series v1.6+) */
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#define MS5611_ADDRESS_2 0x77 /* address select pins pulled low (PX4FMU prototypes) */
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device::Device *MS5611_i2c_interface(ms5611::prom_u &prom_buf);
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class MS5611_I2C : public device::I2C
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{
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public:
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MS5611_I2C(uint8_t bus, ms5611::prom_u &prom_buf);
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virtual ~MS5611_I2C();
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virtual int init();
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virtual int read(unsigned offset, void *data, unsigned count);
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virtual int ioctl(unsigned operation, unsigned &arg);
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protected:
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virtual int probe();
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private:
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ms5611::prom_u &_prom;
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int _probe_address(uint8_t address);
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/**
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* Send a reset command to the MS5611.
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*
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* This is required after any bus reset.
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*/
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int _reset();
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/**
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* Send a measure command to the MS5611.
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*
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* @param addr Which address to use for the measure operation.
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*/
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int _measure(unsigned addr);
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/**
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* Read the MS5611 PROM
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*
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* @return PX4_OK if the PROM reads successfully.
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*/
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int _read_prom();
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};
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device::Device *
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MS5611_i2c_interface(ms5611::prom_u &prom_buf, uint8_t busnum)
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{
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return new MS5611_I2C(busnum, prom_buf);
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}
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MS5611_I2C::MS5611_I2C(uint8_t bus, ms5611::prom_u &prom) :
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I2C("MS5611_I2C", nullptr, bus, 0, 400000),
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_prom(prom)
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{
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}
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MS5611_I2C::~MS5611_I2C()
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{
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}
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int
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MS5611_I2C::init()
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{
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/* this will call probe(), and thereby _probe_address */
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return I2C::init();
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}
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int
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MS5611_I2C::read(unsigned offset, void *data, unsigned count)
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{
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union _cvt {
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uint8_t b[4];
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uint32_t w;
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} *cvt = (_cvt *)data;
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uint8_t buf[3];
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/* read the most recent measurement */
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uint8_t cmd = 0;
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int ret = transfer(&cmd, 1, &buf[0], 3);
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if (ret == PX4_OK) {
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/* fetch the raw value */
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cvt->b[0] = buf[2];
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cvt->b[1] = buf[1];
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cvt->b[2] = buf[0];
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cvt->b[3] = 0;
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}
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return ret;
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}
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int
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MS5611_I2C::ioctl(unsigned operation, unsigned &arg)
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{
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int ret;
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switch (operation) {
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case IOCTL_RESET:
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ret = _reset();
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break;
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case IOCTL_MEASURE:
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ret = _measure(arg);
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break;
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default:
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ret = EINVAL;
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}
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return ret;
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}
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int
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MS5611_I2C::probe()
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{
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_retries = 10;
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if ((PX4_OK == _probe_address(MS5611_ADDRESS_1)) ||
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(PX4_OK == _probe_address(MS5611_ADDRESS_2))) {
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/*
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* Disable retries; we may enable them selectively in some cases,
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* but the device gets confused if we retry some of the commands.
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*/
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_retries = 0;
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return PX4_OK;
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}
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return -EIO;
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}
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int
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MS5611_I2C::_probe_address(uint8_t address)
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{
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/* select the address we are going to try */
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set_device_address(address);
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/* send reset command */
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if (PX4_OK != _reset()) {
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return -EIO;
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}
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/* read PROM */
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if (PX4_OK != _read_prom()) {
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return -EIO;
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}
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return PX4_OK;
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}
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int
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MS5611_I2C::_reset()
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{
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unsigned old_retrycount = _retries;
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uint8_t cmd = ADDR_RESET_CMD;
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int result;
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/* bump the retry count */
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_retries = 10;
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result = transfer(&cmd, 1, nullptr, 0);
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_retries = old_retrycount;
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return result;
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}
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int
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MS5611_I2C::_measure(unsigned addr)
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{
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/*
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* Disable retries on this command; we can't know whether failure
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* means the device did or did not see the command.
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*/
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_retries = 0;
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uint8_t cmd = addr;
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return transfer(&cmd, 1, nullptr, 0);
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}
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int
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MS5611_I2C::_read_prom()
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{
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uint8_t prom_buf[2];
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union {
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uint8_t b[2];
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uint16_t w;
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} cvt;
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/*
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* Wait for PROM contents to be in the device (2.8 ms) in the case we are
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* called immediately after reset.
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*/
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usleep(3000);
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uint8_t last_val = 0;
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bool bits_stuck = true;
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/* read and convert PROM words */
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for (int i = 0; i < 8; i++) {
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uint8_t cmd = ADDR_PROM_SETUP + (i * 2);
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if (PX4_OK != transfer(&cmd, 1, &prom_buf[0], 2)) {
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break;
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}
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/* check if all bytes are zero */
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if (i == 0) {
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/* initialize to first byte read */
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last_val = prom_buf[0];
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}
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if (prom_buf[0] != last_val || prom_buf[1] != last_val) {
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bits_stuck = false;
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}
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/* assemble 16 bit value and convert from big endian (sensor) to little endian (MCU) */
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cvt.b[0] = prom_buf[1];
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cvt.b[1] = prom_buf[0];
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_prom.c[i] = cvt.w;
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}
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/* calculate CRC and return success/failure accordingly */
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return (ms5611::crc4(&_prom.c[0]) && !bits_stuck) ? PX4_OK : -EIO;
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}
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