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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 +1,302 @@
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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_spi.cpp
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*
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* SPI 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 <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/spi.h>
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#include "ms5611.h"
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#include "board_config.h"
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/* SPI protocol address bits */
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#define DIR_READ (1<<7)
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#define DIR_WRITE (0<<7)
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#define ADDR_INCREMENT (1<<6)
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#if defined(PX4_SPIDEV_BARO) || defined(PX4_SPIDEV_EXT_BARO)
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device::Device *MS5611_spi_interface(ms5611::prom_u &prom_buf, bool external_bus);
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class MS5611_SPI : public device::SPI
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{
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public:
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MS5611_SPI(uint8_t bus, uint32_t device, ms5611::prom_u &prom_buf);
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virtual ~MS5611_SPI();
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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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private:
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ms5611::prom_u &_prom;
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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 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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* Read a 16-bit register value.
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*
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* @param reg The register to read.
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*/
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uint16_t _reg16(unsigned reg);
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/**
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* Wrapper around transfer() that prevents interrupt-context transfers
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* from pre-empting us. The sensor may (does) share a bus with sensors
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* that are polled from interrupt context (or we may be pre-empted)
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* so we need to guarantee that transfers complete without interruption.
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*/
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int _transfer(uint8_t *send, uint8_t *recv, unsigned len);
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};
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device::Device *
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MS5611_spi_interface(ms5611::prom_u &prom_buf, uint8_t busnum)
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{
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#ifdef PX4_SPI_BUS_EXT
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if (busnum == PX4_SPI_BUS_EXT) {
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#ifdef PX4_SPIDEV_EXT_BARO
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return new MS5611_SPI(busnum, PX4_SPIDEV_EXT_BARO, prom_buf);
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#else
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return nullptr;
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#endif
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}
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#endif
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return new MS5611_SPI(busnum, PX4_SPIDEV_BARO, prom_buf);
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}
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MS5611_SPI::MS5611_SPI(uint8_t bus, uint32_t device, ms5611::prom_u &prom_buf) :
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SPI("MS5611_SPI", nullptr, bus, device, SPIDEV_MODE3, 20 * 1000 * 1000 /* will be rounded to 10.4 MHz */),
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_prom(prom_buf)
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{
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}
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MS5611_SPI::~MS5611_SPI()
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{
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}
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int
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MS5611_SPI::init()
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{
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int ret;
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#if defined(PX4_SPI_BUS_RAMTRON) && \
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(PX4_SPI_BUS_BARO == PX4_SPI_BUS_RAMTRON)
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SPI::set_lockmode(LOCK_THREADS);
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#endif
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ret = SPI::init();
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if (ret != OK) {
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DEVICE_DEBUG("SPI init failed");
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goto out;
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}
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/* send reset command */
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ret = _reset();
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if (ret != OK) {
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DEVICE_DEBUG("reset failed");
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goto out;
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}
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/* read PROM */
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ret = _read_prom();
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if (ret != OK) {
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DEVICE_DEBUG("prom readout failed");
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goto out;
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}
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out:
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return ret;
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}
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int
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MS5611_SPI::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[4] = { 0 | DIR_WRITE, 0, 0, 0 };
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/* read the most recent measurement */
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int ret = _transfer(&buf[0], &buf[0], sizeof(buf));
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if (ret == OK) {
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/* fetch the raw value */
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cvt->b[0] = buf[3];
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cvt->b[1] = buf[2];
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cvt->b[2] = buf[1];
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cvt->b[3] = 0;
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ret = count;
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}
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return ret;
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}
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int
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MS5611_SPI::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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if (ret != OK) {
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errno = ret;
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return -1;
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}
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return 0;
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}
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int
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MS5611_SPI::_reset()
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{
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uint8_t cmd = ADDR_RESET_CMD | DIR_WRITE;
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return _transfer(&cmd, nullptr, 1);
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}
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int
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MS5611_SPI::_measure(unsigned addr)
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{
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uint8_t cmd = addr | DIR_WRITE;
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return _transfer(&cmd, nullptr, 1);
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}
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int
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MS5611_SPI::_read_prom()
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{
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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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/* read and convert PROM words */
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bool all_zero = true;
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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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_prom.c[i] = _reg16(cmd);
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if (_prom.c[i] != 0) {
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all_zero = false;
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}
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//DEVICE_DEBUG("prom[%u]=0x%x", (unsigned)i, (unsigned)_prom.c[i]);
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}
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/* calculate CRC and return success/failure accordingly */
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int ret = ms5611::crc4(&_prom.c[0]) ? OK : -EIO;
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if (ret != OK) {
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DEVICE_DEBUG("crc failed");
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}
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if (all_zero) {
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DEVICE_DEBUG("prom all zero");
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ret = -EIO;
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}
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return ret;
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}
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uint16_t
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MS5611_SPI::_reg16(unsigned reg)
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{
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uint8_t cmd[3] = { (uint8_t)(reg | DIR_READ), 0, 0 };
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_transfer(cmd, cmd, sizeof(cmd));
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return (uint16_t)(cmd[1] << 8) | cmd[2];
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}
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int
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MS5611_SPI::_transfer(uint8_t *send, uint8_t *recv, unsigned len)
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{
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return transfer(send, recv, len);
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}
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#endif /* PX4_SPIDEV_BARO || PX4_SPIDEV_EXT_BARO */
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