mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-06-08 02:17:07 +08:00
ms5611: allow for all 4 bus combinations in ms5611 driver
this uses the same table driven approach as the hmc5883 driver, and allows for a ms5611 baro on any of the 4 bus combinations. A simple "ms5611 start" will start all baros that are found.
This commit is contained in:
Andrew Tridgell
committed by
Lorenz Meier
Lorenz Meier
parent
a2a244584e
commit
04a9050410
+142
-120
@@ -69,6 +69,14 @@
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#include "ms5611.h"
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enum MS5611_BUS {
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MS5611_BUS_ALL = 0,
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MS5611_BUS_I2C_INTERNAL,
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MS5611_BUS_I2C_EXTERNAL,
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MS5611_BUS_SPI_INTERNAL,
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MS5611_BUS_SPI_EXTERNAL
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};
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/* oddly, ERROR is not defined for c++ */
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#ifdef ERROR
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# undef ERROR
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@@ -784,15 +792,38 @@ MS5611::print_info()
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namespace ms5611
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{
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/* initialize explicitely for clarity */
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MS5611 *g_dev_ext = nullptr;
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MS5611 *g_dev_int = nullptr;
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/*
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list of supported bus configurations
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*/
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struct ms5611_bus_option {
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enum MS5611_BUS busid;
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const char *devpath;
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MS5611_constructor interface_constructor;
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uint8_t busnum;
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MS5611 *dev;
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} bus_options[] = {
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#if defined(PX4_SPIDEV_EXT_BARO) && defined(PX4_SPI_BUS_EXT)
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{ MS5611_BUS_SPI_EXTERNAL, "/dev/ms5611_spi_ext", &MS5611_spi_interface, PX4_SPI_BUS_EXT, NULL },
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#endif
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#ifdef PX4_SPIDEV_BARO
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{ MS5611_BUS_SPI_INTERNAL, "/dev/ms5611_spi_int", &MS5611_spi_interface, PX4_SPI_BUS_SENSORS, NULL },
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#endif
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#ifdef PX4_I2C_BUS_ONBOARD
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{ MS5611_BUS_I2C_INTERNAL, "/dev/ms5611_int", &MS5611_i2c_interface, PX4_I2C_BUS_ONBOARD, NULL },
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#endif
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#ifdef PX4_I2C_BUS_EXPANSION
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{ MS5611_BUS_I2C_EXTERNAL, "/dev/ms5611_ext", &MS5611_i2c_interface, PX4_I2C_BUS_EXPANSION, NULL },
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#endif
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};
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#define NUM_BUS_OPTIONS (sizeof(bus_options)/sizeof(bus_options[0]))
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void start(bool external_bus);
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void test(bool external_bus);
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void reset(bool external_bus);
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bool start_bus(struct ms5611_bus_option &bus);
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struct ms5611_bus_option &find_bus(enum MS5611_BUS busid);
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void start(enum MS5611_BUS busid);
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void test(enum MS5611_BUS busid);
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void reset(enum MS5611_BUS busid);
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void info();
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void calibrate(unsigned altitude, bool external_bus);
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void calibrate(unsigned altitude, enum MS5611_BUS busid);
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void usage();
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/**
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@@ -845,89 +876,89 @@ crc4(uint16_t *n_prom)
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/**
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* Start the driver.
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*/
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void
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start(bool external_bus)
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bool
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start_bus(struct ms5611_bus_option &bus)
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{
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int fd;
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::printf("starting bus %s\n", bus.devpath);
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usleep(5000);
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if (bus.dev != nullptr)
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errx(1,"bus option already started");
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prom_u prom_buf;
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if (external_bus && (g_dev_ext != nullptr)) {
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/* if already started, the still command succeeded */
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errx(0, "ext already started");
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} else if (!external_bus && (g_dev_int != nullptr)) {
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/* if already started, the still command succeeded */
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errx(0, "int already started");
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}
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device::Device *interface = nullptr;
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/* create the driver, try SPI first, fall back to I2C if unsuccessful */
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if (MS5611_spi_interface != nullptr)
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interface = MS5611_spi_interface(prom_buf, external_bus);
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if (interface == nullptr && (MS5611_i2c_interface != nullptr))
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interface = MS5611_i2c_interface(prom_buf);
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if (interface == nullptr)
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errx(1, "failed to allocate an interface");
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device::Device *interface = bus.interface_constructor(prom_buf, bus.busnum);
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if (interface->init() != OK) {
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delete interface;
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errx(1, "interface init failed");
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warnx("no device on bus %u", (unsigned)bus.busid);
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return false;
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}
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if (external_bus) {
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g_dev_ext = new MS5611(interface, prom_buf, MS5611_BARO_DEVICE_PATH_EXT);
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if (g_dev_ext == nullptr) {
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delete interface;
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errx(1, "failed to allocate driver");
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}
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if (g_dev_ext->init() != OK)
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goto fail;
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fd = open(MS5611_BARO_DEVICE_PATH_EXT, O_RDONLY);
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} else {
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g_dev_int = new MS5611(interface, prom_buf, MS5611_BARO_DEVICE_PATH_INT);
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if (g_dev_int == nullptr) {
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delete interface;
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errx(1, "failed to allocate driver");
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}
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if (g_dev_int->init() != OK)
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goto fail;
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fd = open(MS5611_BARO_DEVICE_PATH_INT, O_RDONLY);
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bus.dev = new MS5611(interface, prom_buf, bus.devpath);
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if (bus.dev != nullptr && OK != bus.dev->init()) {
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delete bus.dev;
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bus.dev = NULL;
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return false;
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}
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int fd = open(bus.devpath, O_RDONLY);
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/* set the poll rate to default, starts automatic data collection */
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if (fd < 0) {
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warnx("can't open baro device");
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goto fail;
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if (fd == -1) {
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errx(1, "can't open baro device");
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}
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if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
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warnx("failed setting default poll rate");
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goto fail;
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close(fd);
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errx(1, "failed setting default poll rate");
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}
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close(fd);
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return true;
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}
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/**
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* Start the driver.
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*
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* This function call only returns once the driver
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* is either successfully up and running or failed to start.
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*/
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void
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start(enum MS5611_BUS busid)
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{
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uint8_t i;
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bool started = false;
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for (i=0; i<NUM_BUS_OPTIONS; i++) {
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if (busid == MS5611_BUS_ALL && bus_options[i].dev != NULL) {
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// this device is already started
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continue;
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}
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if (busid != MS5611_BUS_ALL && bus_options[i].busid != busid) {
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// not the one that is asked for
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continue;
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}
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started |= start_bus(bus_options[i]);
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}
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if (!started)
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errx(1, "driver start failed");
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// one or more drivers started OK
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exit(0);
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}
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fail:
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if (g_dev_int != nullptr) {
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delete g_dev_int;
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g_dev_int = nullptr;
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}
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if (g_dev_ext != nullptr) {
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delete g_dev_ext;
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g_dev_ext = nullptr;
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}
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errx(1, "driver start failed");
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/**
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* find a bus structure for a busid
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*/
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struct ms5611_bus_option &find_bus(enum MS5611_BUS busid)
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{
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for (uint8_t i=0; i<NUM_BUS_OPTIONS; i++) {
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if ((busid == MS5611_BUS_ALL ||
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busid == bus_options[i].busid) && bus_options[i].dev != NULL) {
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return bus_options[i];
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}
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}
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errx(1,"bus %u not started", (unsigned)busid);
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}
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/**
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@@ -936,20 +967,16 @@ fail:
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* and automatic modes.
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*/
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void
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test(bool external_bus)
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test(enum MS5611_BUS busid)
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{
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struct ms5611_bus_option &bus = find_bus(busid);
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struct baro_report report;
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ssize_t sz;
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int ret;
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int fd;
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if (external_bus) {
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fd = open(MS5611_BARO_DEVICE_PATH_EXT, O_RDONLY);
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} else {
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fd = open(MS5611_BARO_DEVICE_PATH_INT, O_RDONLY);
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}
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fd = open(bus.devpath, O_RDONLY);
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if (fd < 0)
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err(1, "open failed (try 'ms5611 start' if the driver is not running)");
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@@ -998,6 +1025,7 @@ test(bool external_bus)
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warnx("time: %lld", report.timestamp);
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}
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close(fd);
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errx(0, "PASS");
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}
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@@ -1005,16 +1033,12 @@ test(bool external_bus)
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* Reset the driver.
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*/
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void
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reset(bool external_bus)
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reset(enum MS5611_BUS busid)
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{
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struct ms5611_bus_option &bus = find_bus(busid);
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int fd;
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if (external_bus) {
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fd = open(MS5611_BARO_DEVICE_PATH_EXT, O_RDONLY);
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} else {
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fd = open(MS5611_BARO_DEVICE_PATH_INT, O_RDONLY);
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}
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fd = open(bus.devpath, O_RDONLY);
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if (fd < 0)
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err(1, "failed ");
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@@ -1033,19 +1057,13 @@ reset(bool external_bus)
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void
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info()
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{
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if (g_dev_ext == nullptr && g_dev_int == nullptr)
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errx(1, "driver not running");
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if (g_dev_ext) {
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warnx("ext:");
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g_dev_ext->print_info();
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for (uint8_t i=0; i<NUM_BUS_OPTIONS; i++) {
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struct ms5611_bus_option &bus = bus_options[i];
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if (bus.dev != nullptr) {
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warnx("%s", bus.devpath);
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bus.dev->print_info();
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}
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}
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if (g_dev_int) {
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warnx("int:");
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g_dev_int->print_info();
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}
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exit(0);
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}
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@@ -1053,19 +1071,16 @@ info()
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* Calculate actual MSL pressure given current altitude
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*/
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void
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calibrate(unsigned altitude, bool external_bus)
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calibrate(unsigned altitude, enum MS5611_BUS busid)
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{
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struct ms5611_bus_option &bus = find_bus(busid);
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struct baro_report report;
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float pressure;
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float p1;
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int fd;
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if (external_bus) {
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fd = open(MS5611_BARO_DEVICE_PATH_EXT, O_RDONLY);
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} else {
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fd = open(MS5611_BARO_DEVICE_PATH_INT, O_RDONLY);
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}
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fd = open(bus.devpath, O_RDONLY);
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if (fd < 0)
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err(1, "open failed (try 'ms5611 start' if the driver is not running)");
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@@ -1120,6 +1135,7 @@ calibrate(unsigned altitude, bool external_bus)
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if (ioctl(fd, BAROIOCSMSLPRESSURE, (unsigned long)p1) != OK)
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err(1, "BAROIOCSMSLPRESSURE");
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close(fd);
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exit(0);
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}
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@@ -1128,7 +1144,10 @@ usage()
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{
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warnx("missing command: try 'start', 'info', 'test', 'test2', 'reset', 'calibrate'");
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warnx("options:");
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warnx(" -X (external bus)");
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warnx(" -X (external I2C bus)");
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warnx(" -I (intternal I2C bus)");
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warnx(" -S (external SPI bus)");
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warnx(" -s (internal SPI bus)");
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}
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} // namespace
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@@ -1136,14 +1155,23 @@ usage()
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int
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ms5611_main(int argc, char *argv[])
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{
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bool external_bus = false;
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enum MS5611_BUS busid = MS5611_BUS_ALL;
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int ch;
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/* jump over start/off/etc and look at options first */
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while ((ch = getopt(argc, argv, "X")) != EOF) {
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while ((ch = getopt(argc, argv, "XISs")) != EOF) {
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switch (ch) {
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case 'X':
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external_bus = true;
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busid = MS5611_BUS_I2C_EXTERNAL;
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break;
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case 'I':
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busid = MS5611_BUS_I2C_INTERNAL;
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break;
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case 'S':
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busid = MS5611_BUS_SPI_EXTERNAL;
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break;
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case 's':
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busid = MS5611_BUS_SPI_INTERNAL;
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break;
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default:
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ms5611::usage();
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@@ -1153,29 +1181,23 @@ ms5611_main(int argc, char *argv[])
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const char *verb = argv[optind];
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if (argc > optind+1) {
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if (!strcmp(argv[optind+1], "-X")) {
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external_bus = true;
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}
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}
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/*
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* Start/load the driver.
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*/
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if (!strcmp(verb, "start"))
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ms5611::start(external_bus);
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ms5611::start(busid);
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/*
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* Test the driver/device.
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*/
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if (!strcmp(verb, "test"))
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ms5611::test(external_bus);
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ms5611::test(busid);
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/*
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* Reset the driver.
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*/
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if (!strcmp(verb, "reset"))
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ms5611::reset(external_bus);
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ms5611::reset(busid);
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/*
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* Print driver information.
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@@ -1192,7 +1214,7 @@ ms5611_main(int argc, char *argv[])
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long altitude = strtol(argv[optind+1], nullptr, 10);
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ms5611::calibrate(altitude, external_bus);
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ms5611::calibrate(altitude, busid);
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}
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errx(1, "unrecognised command, try 'start', 'test', 'reset' or 'info'");
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@@ -80,6 +80,6 @@ extern bool crc4(uint16_t *n_prom);
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} /* namespace */
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/* interface factories */
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extern device::Device *MS5611_spi_interface(ms5611::prom_u &prom_buf, bool external_bus) weak_function;
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extern device::Device *MS5611_i2c_interface(ms5611::prom_u &prom_buf) weak_function;
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extern device::Device *MS5611_spi_interface(ms5611::prom_u &prom_buf, uint8_t busnum) weak_function;
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extern device::Device *MS5611_i2c_interface(ms5611::prom_u &prom_buf, uint8_t busnum) weak_function;
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typedef device::Device* (*MS5611_constructor)(ms5611::prom_u &prom_buf, uint8_t busnum);
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@@ -56,14 +56,6 @@
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#include "board_config.h"
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#ifdef PX4_I2C_OBDEV_MS5611
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#ifndef PX4_I2C_BUS_ONBOARD
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#define MS5611_BUS 1
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#else
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#define MS5611_BUS PX4_I2C_BUS_ONBOARD
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#endif
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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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@@ -74,7 +66,7 @@ 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(int bus, ms5611::prom_u &prom_buf);
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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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@@ -113,12 +105,12 @@ private:
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};
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device::Device *
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MS5611_i2c_interface(ms5611::prom_u &prom_buf)
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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(MS5611_BUS, prom_buf);
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return new MS5611_I2C(busnum, prom_buf);
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}
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MS5611_I2C::MS5611_I2C(int bus, ms5611::prom_u &prom) :
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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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@@ -274,5 +266,3 @@ MS5611_I2C::_read_prom()
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/* calculate CRC and return success/failure accordingly */
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return ms5611::crc4(&_prom.c[0]) ? OK : -EIO;
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}
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#endif /* PX4_I2C_OBDEV_MS5611 */
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@@ -60,14 +60,14 @@
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#define DIR_WRITE (0<<7)
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#define ADDR_INCREMENT (1<<6)
|
||||
|
||||
#ifdef PX4_SPIDEV_BARO
|
||||
#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(int bus, spi_dev_e device, ms5611::prom_u &prom_buf);
|
||||
MS5611_SPI(uint8_t bus, spi_dev_e device, ms5611::prom_u &prom_buf);
|
||||
virtual ~MS5611_SPI();
|
||||
|
||||
virtual int init();
|
||||
@@ -115,20 +115,21 @@ private:
|
||||
};
|
||||
|
||||
device::Device *
|
||||
MS5611_spi_interface(ms5611::prom_u &prom_buf, bool external_bus)
|
||||
MS5611_spi_interface(ms5611::prom_u &prom_buf, uint8_t busnum)
|
||||
{
|
||||
if (external_bus) {
|
||||
#ifdef PX4_SPI_BUS_EXT
|
||||
return new MS5611_SPI(PX4_SPI_BUS_EXT, (spi_dev_e)PX4_SPIDEV_EXT_BARO, prom_buf);
|
||||
#else
|
||||
#ifdef PX4_SPI_BUS_EXT
|
||||
if (busnum == PX4_SPI_BUS_EXT) {
|
||||
#ifdef PX4_SPIDEV_EXT_BARO
|
||||
return new MS5611_SPI(busnum, (spi_dev_e)PX4_SPIDEV_EXT_BARO, prom_buf);
|
||||
#else
|
||||
return nullptr;
|
||||
#endif
|
||||
} else {
|
||||
return new MS5611_SPI(PX4_SPI_BUS_SENSORS, (spi_dev_e)PX4_SPIDEV_BARO, prom_buf);
|
||||
#endif
|
||||
}
|
||||
#endif
|
||||
return new MS5611_SPI(busnum, (spi_dev_e)PX4_SPIDEV_BARO, prom_buf);
|
||||
}
|
||||
|
||||
MS5611_SPI::MS5611_SPI(int bus, spi_dev_e device, ms5611::prom_u &prom_buf) :
|
||||
MS5611_SPI::MS5611_SPI(uint8_t bus, spi_dev_e device, ms5611::prom_u &prom_buf) :
|
||||
SPI("MS5611_SPI", nullptr, bus, device, SPIDEV_MODE3, 11*1000*1000 /* will be rounded to 10.4 MHz */),
|
||||
_prom(prom_buf)
|
||||
{
|
||||
@@ -281,4 +282,4 @@ MS5611_SPI::_transfer(uint8_t *send, uint8_t *recv, unsigned len)
|
||||
return transfer(send, recv, len);
|
||||
}
|
||||
|
||||
#endif /* PX4_SPIDEV_BARO */
|
||||
#endif /* PX4_SPIDEV_BARO || PX4_SPIDEV_EXT_BARO */
|
||||
|
||||
Reference in New Issue
Block a user