mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-20 16:57:35 +08:00
astyle formatted
This commit is contained in:
Lok Tep
@@ -31,22 +31,22 @@
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#
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############################################################################
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set(srcs
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bmp280_spi.cpp
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)
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bmp280_spi.cpp
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)
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if(${OS} STREQUAL "nuttx")
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if ($ {OS} STREQUAL "nuttx")
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list(APPEND srcs
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bmp280.cpp
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)
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endif()
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bmp280.cpp
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)
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endif()
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px4_add_module(
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MODULE drivers__bmp280
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MAIN bmp280
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COMPILE_FLAGS
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-Os
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SRCS ${srcs}
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DEPENDS
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px4_add_module(
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MODULE drivers__bmp280
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MAIN bmp280
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COMPILE_FLAGS
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- Os
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SRCS $ {srcs}
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DEPENDS
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platforms__common
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)
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# vim: set noet ft=cmake fenc=utf-8 ff=unix :
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# vim: set noet ft=cmake fenc=utf-8 ff=unix :
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+142
-91
@@ -88,7 +88,7 @@ enum BMP280_BUS {
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class BMP280 : public device::CDev
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{
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public:
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BMP280(bmp280::IBMP280 *interface, const char* path);
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BMP280(bmp280::IBMP280 *interface, const char *path);
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~BMP280();
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virtual int init();
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@@ -102,7 +102,7 @@ public:
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void print_info();
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private:
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bmp280::IBMP280* _interface;
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bmp280::IBMP280 *_interface;
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uint8_t _curr_ctrl;
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@@ -126,7 +126,7 @@ private:
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perf_counter_t _comms_errors;
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perf_counter_t _buffer_overflows;
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struct bmp280::calibration_s* _cal; //stored calibration constants
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struct bmp280::calibration_s *_cal; //stored calibration constants
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struct bmp280::fcalibration_s _fcal; //pre processed calibration constants
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float _P; /* in Pa */
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@@ -148,7 +148,7 @@ private:
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*/
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extern "C" __EXPORT int bmp280_main(int argc, char *argv[]);
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BMP280::BMP280(bmp280::IBMP280 *interface, const char* path) :
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BMP280::BMP280(bmp280::IBMP280 *interface, const char *path) :
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CDev("BMP280", path),
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_interface(interface),
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_report_ticks(0),
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@@ -172,12 +172,14 @@ BMP280::~BMP280()
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/* make sure we are truly inactive */
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stop_cycle();
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if (_class_instance != -1)
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if (_class_instance != -1) {
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unregister_class_devname(get_devname(), _class_instance);
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}
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/* free any existing reports */
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if (_reports != nullptr)
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if (_reports != nullptr) {
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delete _reports;
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}
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// free perf counters
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perf_free(_sample_perf);
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@@ -196,6 +198,7 @@ BMP280::init()
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int ret;
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ret = CDev::init();
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if (ret != OK) {
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DEVICE_DEBUG("CDev init failed");
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return ret;
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@@ -214,37 +217,37 @@ BMP280::init()
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_class_instance = register_class_devname(BARO_BASE_DEVICE_PATH);
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/* reset sensor */
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_interface->set_reg(BPM280_VALUE_RESET,BPM280_ADDR_RESET);
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_interface->set_reg(BPM280_VALUE_RESET, BPM280_ADDR_RESET);
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usleep(10000);
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/* check id*/
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if ( _interface->get_reg(BPM280_ADDR_ID) != BPM280_VALUE_ID ) {
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warnx("id of your baro is not: 0x%02x",BPM280_VALUE_ID);
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if (_interface->get_reg(BPM280_ADDR_ID) != BPM280_VALUE_ID) {
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warnx("id of your baro is not: 0x%02x", BPM280_VALUE_ID);
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return -EIO;
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}
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/* set config, recommended settings */
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_curr_ctrl = BPM280_CTRL_P16 | BPM280_CTRL_T2;
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_interface->set_reg(_curr_ctrl,BPM280_ADDR_CTRL);
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_max_mesure_ticks = USEC2TICK( BPM280_MT_INIT + BPM280_MT*(16-1 + 2-1) );
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_interface->set_reg(BPM280_CONFIG_F16,BPM280_ADDR_CONFIG);
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_interface->set_reg(_curr_ctrl, BPM280_ADDR_CTRL);
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_max_mesure_ticks = USEC2TICK(BPM280_MT_INIT + BPM280_MT * (16 - 1 + 2 - 1));
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_interface->set_reg(BPM280_CONFIG_F16, BPM280_ADDR_CONFIG);
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/* get calibration and pre process them*/
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_cal = _interface->get_calibration(BPM280_ADDR_CAL);
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_fcal.t1 = _cal->t1 * powf(2, 4 );
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_fcal.t1 = _cal->t1 * powf(2, 4);
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_fcal.t2 = _cal->t2 * powf(2, -14);
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_fcal.t3 = _cal->t3 * powf(2, -34);
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_fcal.p1 = _cal->p1 * (powf(2, 4 ) / -100000.0f);
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_fcal.p1 = _cal->p1 * (powf(2, 4) / -100000.0f);
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_fcal.p2 = _cal->p1 * _cal->p2 * (powf(2, -31) / -100000.0f);
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_fcal.p3 = _cal->p1 * _cal->p3 * (powf(2, -51) / -100000.0f);
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_fcal.p4 = _cal->p4 * powf(2, 4 ) - powf(2, 20);
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_fcal.p4 = _cal->p4 * powf(2, 4) - powf(2, 20);
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_fcal.p5 = _cal->p5 * powf(2, -14);
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_fcal.p6 = _cal->p6 * powf(2, -31);
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_fcal.p7 = _cal->p7 * powf(2, -4 );
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_fcal.p7 = _cal->p7 * powf(2, -4);
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_fcal.p8 = _cal->p8 * powf(2, -19) + 1.0f;
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_fcal.p9 = _cal->p9 * powf(2, -35);
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@@ -252,20 +255,20 @@ BMP280::init()
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struct baro_report brp;
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_reports->flush();
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if ( measure() ) {
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if (measure()) {
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return -EIO;
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}
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usleep( TICK2USEC(_max_mesure_ticks) );
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usleep(TICK2USEC(_max_mesure_ticks));
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if ( collect() ) {
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if (collect()) {
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return -EIO;
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}
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_reports->get(&brp);
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_baro_topic = orb_advertise_multi(ORB_ID(sensor_baro), &brp,
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&_orb_class_instance, _interface->is_external()? ORB_PRIO_HIGH : ORB_PRIO_DEFAULT);
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&_orb_class_instance, _interface->is_external() ? ORB_PRIO_HIGH : ORB_PRIO_DEFAULT);
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if (_baro_topic == nullptr) {
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warnx("failed to create sensor_baro publication");
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@@ -284,8 +287,9 @@ BMP280::read(struct file *filp, char *buffer, size_t buflen)
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int ret = 0;
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/* buffer must be large enough */
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if (count < 1)
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if (count < 1) {
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return -ENOSPC;
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}
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/* if automatic measurement is enabled */
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if (_report_ticks > 0) {
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@@ -310,13 +314,13 @@ BMP280::read(struct file *filp, char *buffer, size_t buflen)
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_reports->flush();
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if ( measure() ) {
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if (measure()) {
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return -EIO;
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}
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usleep( TICK2USEC(_max_mesure_ticks) );
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usleep(TICK2USEC(_max_mesure_ticks));
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if ( collect() ) {
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if (collect()) {
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return -EIO;
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}
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@@ -334,9 +338,9 @@ BMP280::ioctl(struct file *filp, int cmd, unsigned long arg)
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case SENSORIOCSPOLLRATE: {
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unsigned ticks = 0;
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unsigned ticks = 0;
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switch (arg) {
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switch (arg) {
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case SENSOR_POLLRATE_MANUAL:
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stop_cycle();
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@@ -349,48 +353,57 @@ BMP280::ioctl(struct file *filp, int cmd, unsigned long arg)
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case SENSOR_POLLRATE_MAX:
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case SENSOR_POLLRATE_DEFAULT:
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ticks = _max_mesure_ticks;
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ticks = _max_mesure_ticks;
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default: {
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if (ticks == 0) {
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ticks = USEC2TICK(USEC_PER_SEC / arg);
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}
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/* do we need to start internal polling? */
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bool want_start = (_report_ticks == 0);
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/* check against maximum rate */
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if (ticks < _max_mesure_ticks)
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if (ticks < _max_mesure_ticks) {
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return -EINVAL;
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}
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_report_ticks = ticks;
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if (want_start)
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if (want_start) {
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start_cycle();
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}
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return OK;
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}
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}
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}
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break;
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}
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break;
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}
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case SENSORIOCGPOLLRATE:
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if (_report_ticks == 0)
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if (_report_ticks == 0) {
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return SENSOR_POLLRATE_MANUAL;
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}
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return (USEC_PER_SEC/USEC_PER_TICK/_report_ticks);
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return (USEC_PER_SEC / USEC_PER_TICK / _report_ticks);
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case SENSORIOCSQUEUEDEPTH: {
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/* lower bound is mandatory, upper bound is a sanity check */
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if ((arg < 1) || (arg > 100))
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return -EINVAL;
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/* lower bound is mandatory, upper bound is a sanity check */
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if ((arg < 1) || (arg > 100)) {
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return -EINVAL;
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}
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irqstate_t flags = irqsave();
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if (!_reports->resize(arg)) {
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irqrestore(flags);
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return -ENOMEM;
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}
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irqstate_t flags = irqsave();
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if (!_reports->resize(arg)) {
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irqrestore(flags);
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return -ENOMEM;
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return OK;
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}
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irqrestore(flags);
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return OK;
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}
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case SENSORIOCGQUEUEDEPTH:
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return _reports->size();
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@@ -405,8 +418,9 @@ BMP280::ioctl(struct file *filp, int cmd, unsigned long arg)
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case BAROIOCSMSLPRESSURE:
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/* range-check for sanity */
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if ((arg < 80000) || (arg > 120000))
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if ((arg < 80000) || (arg > 120000)) {
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return -EINVAL;
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}
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_msl_pressure = arg;
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return OK;
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@@ -454,15 +468,16 @@ BMP280::cycle()
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collect();
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unsigned wait_gap = _report_ticks - _max_mesure_ticks;
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if ( wait_gap != 0 ) {
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work_queue(HPWORK,&_work,(worker_t)&BMP280::cycle_trampoline,this,wait_gap); //need to wait some time before new measurement
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if (wait_gap != 0) {
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work_queue(HPWORK, &_work, (worker_t)&BMP280::cycle_trampoline, this,
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wait_gap); //need to wait some time before new measurement
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return;
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}
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}
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measure();
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work_queue(HPWORK,&_work,(worker_t)&BMP280::cycle_trampoline,this,_max_mesure_ticks);
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work_queue(HPWORK, &_work, (worker_t)&BMP280::cycle_trampoline, this, _max_mesure_ticks);
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}
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@@ -474,9 +489,9 @@ BMP280::measure()
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perf_begin(_measure_perf);
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/* start measure */
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int ret = _interface->set_reg(_curr_ctrl | BPM280_CTRL_MODE_FORCE,BPM280_ADDR_CTRL);
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int ret = _interface->set_reg(_curr_ctrl | BPM280_CTRL_MODE_FORCE, BPM280_ADDR_CTRL);
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if ( ret != OK) {
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if (ret != OK) {
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perf_count(_comms_errors);
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perf_cancel(_measure_perf);
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return -EIO;
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@@ -497,23 +512,24 @@ BMP280::collect()
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struct baro_report report;
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/* this should be fairly close to the end of the conversion, so the best approximation of the time */
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report.timestamp = hrt_absolute_time();
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report.error_count = perf_event_count(_comms_errors);
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report.error_count = perf_event_count(_comms_errors);
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bmp280::data_s* data = _interface->get_data(BPM280_ADDR_DATA);
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if (data == nullptr) {
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perf_count(_comms_errors);
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perf_cancel(_sample_perf);
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return -EIO;
|
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}
|
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bmp280::data_s *data = _interface->get_data(BPM280_ADDR_DATA);
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//convert data to number 20 bit
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uint32_t p_raw = data->p_msb<<12 | data->p_lsb<<4 | data->p_xlsb>>4;
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uint32_t t_raw = data->t_msb<<12 | data->t_lsb<<4 | data->t_xlsb>>4;
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if (data == nullptr) {
|
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perf_count(_comms_errors);
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perf_cancel(_sample_perf);
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return -EIO;
|
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}
|
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|
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// Temperature
|
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//convert data to number 20 bit
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uint32_t p_raw = data->p_msb << 12 | data->p_lsb << 4 | data->p_xlsb >> 4;
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uint32_t t_raw = data->t_msb << 12 | data->t_lsb << 4 | data->t_xlsb >> 4;
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|
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// Temperature
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float ofs = (float) t_raw - _fcal.t1;
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float t_fine = (ofs * _fcal.t3 + _fcal.t2) * ofs;
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_T = t_fine * (1.0f/5120.0f);
|
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_T = t_fine * (1.0f / 5120.0f);
|
||||
|
||||
// Pressure
|
||||
float tf = t_fine - 128000.0f;
|
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@@ -525,7 +541,7 @@ BMP280::collect()
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|
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report.temperature = _T;
|
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report.pressure = _P/100.0f; // to mbar
|
||||
report.pressure = _P / 100.0f; // to mbar
|
||||
|
||||
|
||||
/* altitude calculations based on http://www.kansasflyer.org/index.asp?nav=Avi&sec=Alti&tab=Theory&pg=1 */
|
||||
@@ -603,13 +619,13 @@ struct bmp280_bus_option {
|
||||
{ BMP280_BUS_SPI_EXTERNAL, "/dev/bmp280_spi_ext", &bmp280_spi_interface, PX4_SPI_BUS_EXT, PX4_SPIDEV_EXT_BARO , true , NULL },
|
||||
#endif
|
||||
#ifdef PX4_SPIDEV_BARO
|
||||
{ BMP280_BUS_SPI_INTERNAL, "/dev/bmp280_spi_int", &bmp280_spi_interface, PX4_SPI_BUS_SENSORS,PX4_SPIDEV_BARO, false ,NULL },
|
||||
{ BMP280_BUS_SPI_INTERNAL, "/dev/bmp280_spi_int", &bmp280_spi_interface, PX4_SPI_BUS_SENSORS, PX4_SPIDEV_BARO, false , NULL },
|
||||
#endif
|
||||
#ifdef PX4_I2C_OBDEV_BMP280
|
||||
{ BMP280_BUS_I2C_INTERNAL, "/dev/bmp280_i2c_int", nullptr, PX4_I2C_BUS_ONBOARD, PX4_I2C_OBDEV_BMP280, false, NULL },
|
||||
#endif
|
||||
#if defined(PX4_I2C_BUS_EXPANSION) && defined(PX4_I2C_EXT_OBDEV_BMP280)
|
||||
{ BMP280_BUS_I2C_EXTERNAL, "/dev/bmp280_i2c_ext", nullptr, PX4_I2C_BUS_EXPANSION,PX4_I2C_EXT_OBDEV_BMP280 , true , NULL },
|
||||
{ BMP280_BUS_I2C_EXTERNAL, "/dev/bmp280_i2c_ext", nullptr, PX4_I2C_BUS_EXPANSION, PX4_I2C_EXT_OBDEV_BMP280 , true , NULL },
|
||||
#endif
|
||||
};
|
||||
#define NUM_BUS_OPTIONS (sizeof(bus_options)/sizeof(bus_options[0]))
|
||||
@@ -630,10 +646,12 @@ void usage();
|
||||
bool
|
||||
start_bus(struct bmp280_bus_option &bus)
|
||||
{
|
||||
if (bus.dev != nullptr)
|
||||
errx(1,"bus option already started");
|
||||
if (bus.dev != nullptr) {
|
||||
errx(1, "bus option already started");
|
||||
}
|
||||
|
||||
bmp280::IBMP280 *interface = bus.interface_constructor(bus.busnum, bus.device, bus.external);
|
||||
|
||||
if (interface->init() != OK) {
|
||||
delete interface;
|
||||
warnx("no device on bus %u", (unsigned)bus.busid);
|
||||
@@ -641,6 +659,7 @@ start_bus(struct bmp280_bus_option &bus)
|
||||
}
|
||||
|
||||
bus.dev = new BMP280(interface, bus.devpath);
|
||||
|
||||
if (bus.dev != nullptr && OK != bus.dev->init()) {
|
||||
delete bus.dev;
|
||||
bus.dev = NULL;
|
||||
@@ -653,6 +672,7 @@ start_bus(struct bmp280_bus_option &bus)
|
||||
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");
|
||||
@@ -675,20 +695,23 @@ start(enum BMP280_BUS busid)
|
||||
uint8_t i;
|
||||
bool started = false;
|
||||
|
||||
for (i=0; i<NUM_BUS_OPTIONS; i++) {
|
||||
for (i = 0; i < NUM_BUS_OPTIONS; i++) {
|
||||
if (busid == BMP280_BUS_ALL && bus_options[i].dev != NULL) {
|
||||
// this device is already started
|
||||
continue;
|
||||
}
|
||||
|
||||
if (busid != BMP280_BUS_ALL && bus_options[i].busid != busid) {
|
||||
// not the one that is asked for
|
||||
continue;
|
||||
}
|
||||
|
||||
started |= start_bus(bus_options[i]);
|
||||
}
|
||||
|
||||
if (!started)
|
||||
if (!started) {
|
||||
errx(1, "driver start failed");
|
||||
}
|
||||
|
||||
// one or more drivers started OK
|
||||
exit(0);
|
||||
@@ -700,13 +723,14 @@ start(enum BMP280_BUS busid)
|
||||
*/
|
||||
struct bmp280_bus_option &find_bus(enum BMP280_BUS busid)
|
||||
{
|
||||
for (uint8_t i=0; i<NUM_BUS_OPTIONS; i++) {
|
||||
for (uint8_t i = 0; i < NUM_BUS_OPTIONS; i++) {
|
||||
if ((busid == BMP280_BUS_ALL ||
|
||||
busid == bus_options[i].busid) && bus_options[i].dev != NULL) {
|
||||
return bus_options[i];
|
||||
}
|
||||
}
|
||||
errx(1,"bus %u not started", (unsigned)busid);
|
||||
|
||||
errx(1, "bus %u not started", (unsigned)busid);
|
||||
}
|
||||
|
||||
/**
|
||||
@@ -725,14 +749,17 @@ test(enum BMP280_BUS busid)
|
||||
int fd;
|
||||
|
||||
fd = open(bus.devpath, O_RDONLY);
|
||||
if (fd < 0)
|
||||
|
||||
if (fd < 0) {
|
||||
err(1, "open failed (try 'bmp280 start' if the driver is not running)");
|
||||
}
|
||||
|
||||
/* do a simple demand read */
|
||||
sz = read(fd, &report, sizeof(report));
|
||||
|
||||
if (sz != sizeof(report))
|
||||
if (sz != sizeof(report)) {
|
||||
err(1, "immediate read failed");
|
||||
}
|
||||
|
||||
warnx("single read");
|
||||
warnx("pressure: %10.4f", (double)report.pressure);
|
||||
@@ -741,12 +768,14 @@ test(enum BMP280_BUS busid)
|
||||
warnx("time: %lld", report.timestamp);
|
||||
|
||||
/* set the queue depth to 10 */
|
||||
if (OK != ioctl(fd, SENSORIOCSQUEUEDEPTH, 10))
|
||||
if (OK != ioctl(fd, SENSORIOCSQUEUEDEPTH, 10)) {
|
||||
errx(1, "failed to set queue depth");
|
||||
}
|
||||
|
||||
/* start the sensor polling at 2Hz */
|
||||
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2))
|
||||
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
|
||||
errx(1, "failed to set 2Hz poll rate");
|
||||
}
|
||||
|
||||
/* read the sensor 5x and report each value */
|
||||
for (unsigned i = 0; i < 5; i++) {
|
||||
@@ -757,14 +786,16 @@ test(enum BMP280_BUS busid)
|
||||
fds.events = POLLIN;
|
||||
ret = poll(&fds, 1, 2000);
|
||||
|
||||
if (ret != 1)
|
||||
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))
|
||||
if (sz != sizeof(report)) {
|
||||
err(1, "periodic read failed");
|
||||
}
|
||||
|
||||
warnx("periodic read %u", i);
|
||||
warnx("pressure: %10.4f", (double)report.pressure);
|
||||
@@ -787,14 +818,18 @@ reset(enum BMP280_BUS busid)
|
||||
int fd;
|
||||
|
||||
fd = open(bus.devpath, O_RDONLY);
|
||||
if (fd < 0)
|
||||
|
||||
if (fd < 0) {
|
||||
err(1, "failed ");
|
||||
}
|
||||
|
||||
if (ioctl(fd, SENSORIOCRESET, 0) < 0)
|
||||
if (ioctl(fd, SENSORIOCRESET, 0) < 0) {
|
||||
err(1, "driver reset failed");
|
||||
}
|
||||
|
||||
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
|
||||
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
|
||||
err(1, "driver poll restart failed");
|
||||
}
|
||||
|
||||
exit(0);
|
||||
}
|
||||
@@ -805,13 +840,15 @@ reset(enum BMP280_BUS busid)
|
||||
void
|
||||
info()
|
||||
{
|
||||
for (uint8_t i=0; i<NUM_BUS_OPTIONS; i++) {
|
||||
for (uint8_t i = 0; i < NUM_BUS_OPTIONS; i++) {
|
||||
struct bmp280_bus_option &bus = bus_options[i];
|
||||
|
||||
if (bus.dev != nullptr) {
|
||||
warnx("%s", bus.devpath);
|
||||
bus.dev->print_info();
|
||||
}
|
||||
}
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
@@ -830,12 +867,14 @@ calibrate(unsigned altitude, enum BMP280_BUS busid)
|
||||
|
||||
fd = open(bus.devpath, O_RDONLY);
|
||||
|
||||
if (fd < 0)
|
||||
if (fd < 0) {
|
||||
err(1, "open failed (try 'bmp280 start' if the driver is not running)");
|
||||
}
|
||||
|
||||
/* start the sensor polling at max */
|
||||
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MAX))
|
||||
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MAX)) {
|
||||
errx(1, "failed to set poll rate");
|
||||
}
|
||||
|
||||
/* average a few measurements */
|
||||
pressure = 0.0f;
|
||||
@@ -850,14 +889,16 @@ calibrate(unsigned altitude, enum BMP280_BUS busid)
|
||||
fds.events = POLLIN;
|
||||
ret = poll(&fds, 1, 1000);
|
||||
|
||||
if (ret != 1)
|
||||
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))
|
||||
if (sz != sizeof(report)) {
|
||||
err(1, "sensor read failed");
|
||||
}
|
||||
|
||||
pressure += report.pressure;
|
||||
}
|
||||
@@ -880,8 +921,9 @@ calibrate(unsigned altitude, enum BMP280_BUS busid)
|
||||
/* save as integer Pa */
|
||||
p1 *= 1000.0f;
|
||||
|
||||
if (ioctl(fd, BAROIOCSMSLPRESSURE, (unsigned long)p1) != OK)
|
||||
if (ioctl(fd, BAROIOCSMSLPRESSURE, (unsigned long)p1) != OK) {
|
||||
err(1, "BAROIOCSMSLPRESSURE");
|
||||
}
|
||||
|
||||
close(fd);
|
||||
exit(0);
|
||||
@@ -913,16 +955,20 @@ bmp280_main(int argc, char *argv[])
|
||||
busid = BMP280_BUS_I2C_EXTERNAL;
|
||||
errx(1, "not supported yet");
|
||||
break;
|
||||
|
||||
case 'I':
|
||||
busid = BMP280_BUS_I2C_INTERNAL;
|
||||
errx(1, "not supported yet");
|
||||
break;
|
||||
|
||||
case 'S':
|
||||
busid = BMP280_BUS_SPI_EXTERNAL;
|
||||
break;
|
||||
|
||||
case 's':
|
||||
busid = BMP280_BUS_SPI_INTERNAL;
|
||||
break;
|
||||
|
||||
default:
|
||||
bmp280::usage();
|
||||
exit(0);
|
||||
@@ -934,35 +980,40 @@ bmp280_main(int argc, char *argv[])
|
||||
/*
|
||||
* Start/load the driver.
|
||||
*/
|
||||
if (!strcmp(verb, "start"))
|
||||
if (!strcmp(verb, "start")) {
|
||||
bmp280::start(busid);
|
||||
}
|
||||
|
||||
/*
|
||||
* Test the driver/device.
|
||||
*/
|
||||
if (!strcmp(verb, "test"))
|
||||
if (!strcmp(verb, "test")) {
|
||||
bmp280::test(busid);
|
||||
}
|
||||
|
||||
/*
|
||||
* Reset the driver.
|
||||
*/
|
||||
if (!strcmp(verb, "reset"))
|
||||
if (!strcmp(verb, "reset")) {
|
||||
bmp280::reset(busid);
|
||||
}
|
||||
|
||||
/*
|
||||
* Print driver information.
|
||||
*/
|
||||
if (!strcmp(verb, "info"))
|
||||
if (!strcmp(verb, "info")) {
|
||||
bmp280::info();
|
||||
}
|
||||
|
||||
/*
|
||||
* Perform MSL pressure calibration given an altitude in metres
|
||||
*/
|
||||
if (!strcmp(verb, "calibrate")) {
|
||||
if (argc < 2)
|
||||
if (argc < 2) {
|
||||
errx(1, "missing altitude");
|
||||
}
|
||||
|
||||
long altitude = strtol(argv[optind+1], nullptr, 10);
|
||||
long altitude = strtol(argv[optind + 1], nullptr, 10);
|
||||
|
||||
bmp280::calibrate(altitude, busid);
|
||||
}
|
||||
|
||||
+51
-50
@@ -85,67 +85,68 @@ namespace bmp280
|
||||
{
|
||||
|
||||
#pragma pack(push,1)
|
||||
struct calibration_s {
|
||||
uint16_t t1;
|
||||
int16_t t2;
|
||||
int16_t t3;
|
||||
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
|
||||
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;
|
||||
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
|
||||
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;
|
||||
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;
|
||||
};
|
||||
float p1;
|
||||
float p2;
|
||||
float p3;
|
||||
float p4;
|
||||
float p5;
|
||||
float p6;
|
||||
float p7;
|
||||
float p8;
|
||||
float p9;
|
||||
};
|
||||
|
||||
class IBMP280
|
||||
{
|
||||
public:
|
||||
virtual ~IBMP280() = 0;
|
||||
class IBMP280
|
||||
{
|
||||
public:
|
||||
virtual ~IBMP280() = 0;
|
||||
|
||||
virtual bool is_external() = 0;
|
||||
virtual int init() = 0;
|
||||
virtual bool is_external() = 0;
|
||||
virtual int init() = 0;
|
||||
|
||||
virtual uint8_t get_reg(uint8_t addr) = 0; //read reg value
|
||||
virtual int set_reg(uint8_t value, uint8_t addr) = 0; //write reg value
|
||||
virtual bmp280::data_s* get_data(uint8_t addr) = 0; //bulk read of data into buffer, return same pointer
|
||||
virtual bmp280::calibration_s* get_calibration(uint8_t addr) = 0; //bulk read of calibration data into buffer, return same pointer
|
||||
virtual uint8_t get_reg(uint8_t addr) = 0; //read reg value
|
||||
virtual int set_reg(uint8_t value, uint8_t addr) = 0; //write reg value
|
||||
virtual bmp280::data_s *get_data(uint8_t addr) = 0; //bulk read of data into buffer, return same pointer
|
||||
virtual bmp280::calibration_s *get_calibration(uint8_t addr) =
|
||||
0; //bulk read of calibration data into buffer, return same pointer
|
||||
|
||||
};
|
||||
};
|
||||
|
||||
} /* 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);
|
||||
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);
|
||||
|
||||
@@ -73,8 +73,8 @@ public:
|
||||
|
||||
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);
|
||||
bmp280::data_s *get_data(uint8_t addr);
|
||||
bmp280::calibration_s *get_calibration(uint8_t addr);
|
||||
|
||||
private:
|
||||
spi_calibration_s _cal;
|
||||
@@ -82,48 +82,57 @@ private:
|
||||
bool _external;
|
||||
};
|
||||
|
||||
bmp280::IBMP280* bmp280_spi_interface(uint8_t busnum, uint8_t device, bool external)
|
||||
bmp280::IBMP280 *bmp280_spi_interface(uint8_t busnum, uint8_t device, bool external)
|
||||
{
|
||||
return new BMP280_SPI(busnum, (spi_dev_e)device, external);
|
||||
}
|
||||
|
||||
BMP280_SPI::BMP280_SPI(uint8_t bus, spi_dev_e device, bool external) :
|
||||
SPI("BMP280_SPI", nullptr, bus, device, SPIDEV_MODE3, 10 * 1000 * 1000) {
|
||||
SPI("BMP280_SPI", nullptr, bus, device, SPIDEV_MODE3, 10 * 1000 * 1000)
|
||||
{
|
||||
_external = external;
|
||||
}
|
||||
|
||||
bmp280::IBMP280::~IBMP280() {
|
||||
bmp280::IBMP280::~IBMP280()
|
||||
{
|
||||
}
|
||||
|
||||
BMP280_SPI::~BMP280_SPI() {
|
||||
BMP280_SPI::~BMP280_SPI()
|
||||
{
|
||||
}
|
||||
|
||||
|
||||
bool BMP280_SPI::is_external() {
|
||||
bool BMP280_SPI::is_external()
|
||||
{
|
||||
return _external;
|
||||
};
|
||||
|
||||
int BMP280_SPI::init() {
|
||||
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);
|
||||
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);
|
||||
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
|
||||
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) {
|
||||
if (transfer((uint8_t *)&_data, (uint8_t *)&_data, sizeof(struct spi_data_s)) == OK) {
|
||||
return &(_data.data);
|
||||
|
||||
} else {
|
||||
return nullptr;
|
||||
}
|
||||
@@ -131,10 +140,13 @@ bmp280::data_s* BMP280_SPI::get_data(uint8_t addr) {
|
||||
|
||||
}
|
||||
|
||||
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) {
|
||||
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;
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user