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WIP on MEAS bringup, ETS airspeed sensors should be operational

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Lorenz Meier
2013-07-14 21:12:09 +02:00
parent 319eb18ab5
commit 08ddbbc23e
1 changed files with 121 additions and 81 deletions
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src/drivers/meas_airspeed/meas_airspeed.cpp
+121 -81
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@@ -45,7 +45,7 @@
*
* Interface application notes:
*
* - Interfacing to MEAS Digital Pressure Modules (http://www.meas-spec.com/application-notes.aspx#)
* - Interfacing to MEAS Digital Pressure Modules (http://www.meas-spec.com/downloads/Interfacing_to_MEAS_Digital_Pressure_Modules.pdf)
*/
#include <nuttx/config.h>
@@ -94,7 +94,12 @@
#define I2C_ADDRESS_MS5525DSO 0x77 /* 7-bit address, addr. pin pulled low */
/* Register address */
#define READ_CMD 0x07 /* Read the data */
#define ADDR_RESET_CMD 0x1E /* write to this address to reset chip */
#define ADDR_CMD_CONVERT_D1 0x48 /* write to this address to start temperature conversion */
#define ADDR_CMD_CONVERT_D2 0x58 /* write to this address to start pressure conversion */
#define ADDR_DATA 0x00 /* address of 3 bytes / 32bit pressure data */
#define ADDR_PROM_SETUP 0xA0 /* address of 8x 2 bytes factory and calibration data */
#define ADDR_PROM_C1 0xA2 /* address of 6x 2 bytes calibration data */
/**
* The Eagle Tree Airspeed V3 cannot provide accurate reading below speeds of 15km/h.
@@ -136,122 +141,122 @@ MEASAirspeed::MEASAirspeed(int bus, int address) : Airspeed(bus, address,
int
MEASAirspeed::measure()
{
// int ret;
int ret;
// /*
// * Send the command to begin a measurement.
// */
// uint8_t cmd = READ_CMD;
// ret = transfer(&cmd, 1, nullptr, 0);
/*
* Send the command to begin a measurement.
*/
uint8_t cmd = ADDR_RESET_CMD;
ret = transfer(&cmd, 1, nullptr, 0);
// if (OK != ret) {
// perf_count(_comms_errors);
// log("i2c::transfer returned %d", ret);
// return ret;
// }
if (OK != ret) {
perf_count(_comms_errors);
log("i2c::transfer returned %d", ret);
return ret;
}
// ret = OK;
ret = OK;
// return ret;
return ret;
}
int
MEASAirspeed::collect()
{
// int ret = -EIO;
int ret = -EIO;
// /* read from the sensor */
// uint8_t val[2] = {0, 0};
/* read from the sensor */
uint8_t val[2] = {0, 0};
// perf_begin(_sample_perf);
perf_begin(_sample_perf);
// ret = transfer(nullptr, 0, &val[0], 2);
ret = transfer(nullptr, 0, &val[0], 2);
// if (ret < 0) {
// log("error reading from sensor: %d", ret);
// return ret;
// }
if (ret < 0) {
log("error reading from sensor: %d", ret);
return ret;
}
// uint16_t diff_pres_pa = val[1] << 8 | val[0];
uint16_t diff_pres_pa = val[1] << 8 | val[0];
// if (diff_pres_pa < _diff_pres_offset + MIN_ACCURATE_DIFF_PRES_PA) {
// diff_pres_pa = 0;
if (diff_pres_pa < _diff_pres_offset + MIN_ACCURATE_DIFF_PRES_PA) {
diff_pres_pa = 0;
// } else {
// diff_pres_pa -= _diff_pres_offset;
// }
} else {
diff_pres_pa -= _diff_pres_offset;
}
// // XXX we may want to smooth out the readings to remove noise.
// XXX we may want to smooth out the readings to remove noise.
// _reports[_next_report].timestamp = hrt_absolute_time();
// _reports[_next_report].differential_pressure_pa = diff_pres_pa;
_reports[_next_report].timestamp = hrt_absolute_time();
_reports[_next_report].differential_pressure_pa = diff_pres_pa;
// // Track maximum differential pressure measured (so we can work out top speed).
// if (diff_pres_pa > _reports[_next_report].max_differential_pressure_pa) {
// _reports[_next_report].max_differential_pressure_pa = diff_pres_pa;
// }
// Track maximum differential pressure measured (so we can work out top speed).
if (diff_pres_pa > _reports[_next_report].max_differential_pressure_pa) {
_reports[_next_report].max_differential_pressure_pa = diff_pres_pa;
}
// /* announce the airspeed if needed, just publish else */
// orb_publish(ORB_ID(differential_pressure), _airspeed_pub, &_reports[_next_report]);
/* announce the airspeed if needed, just publish else */
orb_publish(ORB_ID(differential_pressure), _airspeed_pub, &_reports[_next_report]);
// /* post a report to the ring - note, not locked */
// INCREMENT(_next_report, _num_reports);
/* post a report to the ring - note, not locked */
INCREMENT(_next_report, _num_reports);
// /* if we are running up against the oldest report, toss it */
// if (_next_report == _oldest_report) {
// perf_count(_buffer_overflows);
// INCREMENT(_oldest_report, _num_reports);
// }
/* if we are running up against the oldest report, toss it */
if (_next_report == _oldest_report) {
perf_count(_buffer_overflows);
INCREMENT(_oldest_report, _num_reports);
}
// /* notify anyone waiting for data */
// poll_notify(POLLIN);
/* notify anyone waiting for data */
poll_notify(POLLIN);
// ret = OK;
ret = OK;
// perf_end(_sample_perf);
perf_end(_sample_perf);
// return ret;
return ret;
}
void
MEASAirspeed::cycle()
{
// /* collection phase? */
// if (_collect_phase) {
/* collection phase? */
if (_collect_phase) {
// /* perform collection */
// if (OK != collect()) {
// log("collection error");
// /* restart the measurement state machine */
// start();
// return;
// }
/* perform collection */
if (OK != collect()) {
log("collection error");
/* restart the measurement state machine */
start();
return;
}
// /* next phase is measurement */
// _collect_phase = false;
/* next phase is measurement */
_collect_phase = false;
// /*
// * Is there a collect->measure gap?
// */
// if (_measure_ticks > USEC2TICK(CONVERSION_INTERVAL)) {
/*
* Is there a collect->measure gap?
*/
if (_measure_ticks > USEC2TICK(CONVERSION_INTERVAL)) {
// /* schedule a fresh cycle call when we are ready to measure again */
// work_queue(HPWORK,
// &_work,
// (worker_t)&Airspeed::cycle_trampoline,
// this,
// _measure_ticks - USEC2TICK(CONVERSION_INTERVAL));
/* schedule a fresh cycle call when we are ready to measure again */
work_queue(HPWORK,
&_work,
(worker_t)&Airspeed::cycle_trampoline,
this,
_measure_ticks - USEC2TICK(CONVERSION_INTERVAL));
// return;
// }
// }
return;
}
}
// /* measurement phase */
// if (OK != measure())
// log("measure error");
/* measurement phase */
if (OK != measure())
log("measure error");
// /* next phase is collection */
// _collect_phase = true;
/* next phase is collection */
_collect_phase = true;
/* schedule a fresh cycle call when the measurement is done */
work_queue(HPWORK,
@@ -293,7 +298,42 @@ start(int i2c_bus)
errx(1, "already started");
/* create the driver, try the MS4525DO first */
g_dev = new MEASAirspeed(i2c_bus, I2C_ADDRESS_MS4525DO);
//g_dev = new MEASAirspeed(i2c_bus, I2C_ADDRESS_MS4525DO);
{
int bus = PX4_I2C_BUS_EXPANSION;
//delete g_dev;
// XXX hack scan all addresses
for (int i = 1; i < 0xFF / 2; i++) {
warnx("scanning addr (7 bit): %0x", i);
g_dev = new MEASAirspeed(bus, i);
warnx("probing");
if (OK == g_dev->init()) {
warnx("SUCCESS!");
exit(0);
} else {
delete g_dev;
}
}
// bus = PX4_I2C_BUS_ESC;
// for (int i = 1; i < 0xFF / 2; i++) {
// warnx("scanning addr (7 bit): %0x", i);
// g_dev = new MEASAirspeed(bus, i);
// if (OK == g_dev->init()) {
// warnx("SUCCESS!");
// exit(0);
// } else {
// delete g_dev;
// }
// }
exit(1);
}
/* check if the MS4525DO was instantiated */
if (g_dev == nullptr)