mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-26 01:17:51 +08:00
Add support for Bosch BMP388 barometer
This commit is contained in:
modaltb
Daniel Agar
@@ -19,7 +19,7 @@ px4_add_board(
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DRIVERS
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adc
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barometer # all available barometer drivers
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barometer/ms5611
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batt_smbus
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camera_capture
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camera_trigger
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@@ -32,6 +32,7 @@
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############################################################################
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add_subdirectory(bmp280)
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add_subdirectory(bmp388)
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add_subdirectory(lps22hb)
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#add_subdirectory(lps25h) # not ready for general inclusion
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#add_subdirectory(mpl3115a2) # not ready for general inclusion
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@@ -0,0 +1,49 @@
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############################################################################
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#
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# Copyright (c) 2019 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
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# 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
|
||||
# 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,
|
||||
# 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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px4_add_module(
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MODULE drivers__barometer__bmp388
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MAIN bmp388
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COMPILE_FLAGS
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-Wno-cast-align # TODO: fix and enable
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STACK_MAIN
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1200
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SRCS
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bmp388_spi.cpp
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bmp388_i2c.cpp
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bmp388.cpp
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bmp388_main.cpp
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DEPENDS
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drivers_barometer
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px4_work_queue
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)
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File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,365 @@
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/****************************************************************************
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*
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* Copyright (C) 2019 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
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* 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
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* 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 bmp388.h
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*
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* Shared defines for the bmp388 driver.
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*/
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#pragma once
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#include <math.h>
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#include <drivers/drv_baro.h>
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#include <drivers/drv_hrt.h>
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#include <lib/cdev/CDev.hpp>
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#include <perf/perf_counter.h>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <lib/drivers/barometer/PX4Barometer.hpp>
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#include "board_config.h"
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// From https://github.com/BoschSensortec/BMP3-Sensor-API/blob/master/bmp3_defs.h
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#define BMP3_CHIP_ID (0x50)
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/* Over sampling macros */
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#define BMP3_NO_OVERSAMPLING (0x00)
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#define BMP3_OVERSAMPLING_2X (0x01)
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#define BMP3_OVERSAMPLING_4X (0x02)
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#define BMP3_OVERSAMPLING_8X (0x03)
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#define BMP3_OVERSAMPLING_16X (0x04)
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#define BMP3_OVERSAMPLING_32X (0x05)
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/* Filter setting macros */
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#define BMP3_IIR_FILTER_DISABLE (0x00)
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#define BMP3_IIR_FILTER_COEFF_1 (0x01)
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#define BMP3_IIR_FILTER_COEFF_3 (0x02)
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#define BMP3_IIR_FILTER_COEFF_7 (0x03)
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#define BMP3_IIR_FILTER_COEFF_15 (0x04)
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#define BMP3_IIR_FILTER_COEFF_31 (0x05)
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#define BMP3_IIR_FILTER_COEFF_63 (0x06)
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#define BMP3_IIR_FILTER_COEFF_127 (0x07)
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/* Odr setting macros */
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#define BMP3_ODR_200_HZ (0x00)
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#define BMP3_ODR_100_HZ (0x01)
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#define BMP3_ODR_50_HZ (0x02)
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#define BMP3_ODR_25_HZ (0x03)
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/* Register Address */
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#define BMP3_CHIP_ID_ADDR (0x00)
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#define BMP3_ERR_REG_ADDR (0x02)
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#define BMP3_SENS_STATUS_REG_ADDR (0x03)
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#define BMP3_DATA_ADDR (0x04)
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#define BMP3_PWR_CTRL_ADDR (0x1B)
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#define BMP3_OSR_ADDR (0X1C)
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#define BMP3_CALIB_DATA_ADDR (0x31)
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#define BMP3_CMD_ADDR (0x7E)
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/* Error status macros */
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#define BMP3_FATAL_ERR (0x01)
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#define BMP3_CMD_ERR (0x02)
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#define BMP3_CONF_ERR (0x04)
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/* Status macros */
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#define BMP3_CMD_RDY (0x10)
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#define BMP3_DRDY_PRESS (0x20)
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#define BMP3_DRDY_TEMP (0x40)
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/* Power mode macros */
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#define BMP3_SLEEP_MODE (0x00)
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#define BMP3_FORCED_MODE (0x01)
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#define BMP3_NORMAL_MODE (0x03)
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#define BMP3_ENABLE (0x01)
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#define BMP3_DISABLE (0x00)
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/* Sensor component selection macros. These values are internal for API implementation.
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* Don't relate this t0 data sheet.
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*/
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#define BMP3_PRESS (1)
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#define BMP3_TEMP (1 << 1)
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#define BMP3_ALL (0x03)
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/* Macros related to size */
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#define BMP3_CALIB_DATA_LEN (21)
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#define BMP3_P_T_DATA_LEN (6)
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/* Macros to select the which sensor settings are to be set by the user.
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* These values are internal for API implementation. Don't relate this to
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* data sheet. */
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#define BMP3_PRESS_EN_SEL (1 << 1)
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#define BMP3_TEMP_EN_SEL (1 << 2)
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#define BMP3_PRESS_OS_SEL (1 << 4)
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/* Macros for bit masking */
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#define BMP3_OP_MODE_MSK (0x30)
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#define BMP3_OP_MODE_POS (0x04)
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#define BMP3_PRESS_EN_MSK (0x01)
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#define BMP3_TEMP_EN_MSK (0x02)
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#define BMP3_TEMP_EN_POS (0x01)
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#define BMP3_IIR_FILTER_MSK (0x0E)
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#define BMP3_IIR_FILTER_POS (0x01)
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#define BMP3_ODR_MSK (0x1F)
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#define BMP3_PRESS_OS_MSK (0x07)
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#define BMP3_TEMP_OS_MSK (0x38)
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#define BMP3_TEMP_OS_POS (0x03)
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#define BMP3_SET_BITS(reg_data, bitname, data) \
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((reg_data & ~(bitname##_MSK)) | \
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((data << bitname##_POS) & bitname##_MSK))
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/* Macro variant to handle the bitname position if it is zero */
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#define BMP3_SET_BITS_POS_0(reg_data, bitname, data) \
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((reg_data & ~(bitname##_MSK)) | \
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(data & bitname##_MSK))
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#define BMP3_GET_BITS(reg_data, bitname) ((reg_data & (bitname##_MSK)) >> \
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(bitname##_POS))
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/* Macro variant to handle the bitname position if it is zero */
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#define BMP3_GET_BITS_POS_0(reg_data, bitname) (reg_data & (bitname##_MSK))
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// From https://github.com/BoschSensortec/BMP3-Sensor-API/blob/master/self-test/bmp3_selftest.c
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#define BMP3_POST_SLEEP_WAIT_TIME 5000
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#define BMP3_POST_RESET_WAIT_TIME 2000
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#define BMP3_POST_INIT_WAIT_TIME 40000
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#define BMP3_TRIM_CRC_DATA_ADDR 0x30
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#define BPM3_CMD_SOFT_RESET 0xB6
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#define BMP3_ODR_ADDR 0x1D
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#define BMP3_IIR_ADDR 0x1F
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// https://github.com/BoschSensortec/BMP3-Sensor-API/blob/master/bmp3.c
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/* Power control settings */
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#define POWER_CNTL (0x0006)
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/* Odr and filter settings */
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#define ODR_FILTER (0x00F0)
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/* Interrupt control settings */
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#define INT_CTRL (0x0708)
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/* Advance settings */
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#define ADV_SETT (0x1800)
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#pragma pack(push,1)
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struct calibration_s {
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uint16_t par_t1;
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uint16_t par_t2;
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int8_t par_t3;
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int16_t par_p1;
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int16_t par_p2;
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int8_t par_p3;
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int8_t par_p4;
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uint16_t par_p5;
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uint16_t par_p6;
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int8_t par_p7;
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int8_t par_p8;
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int16_t par_p9;
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int8_t par_p10;
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int8_t par_p11;
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}; //calibration data
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struct data_s {
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uint8_t p_msb;
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uint8_t p_lsb;
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uint8_t p_xlsb;
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uint8_t t_msb;
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uint8_t t_lsb;
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uint8_t t_xlsb;
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}; // data
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struct bmp3_reg_calib_data {
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/**
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* @ Trim Variables
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*/
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/**@{*/
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uint16_t par_t1;
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uint16_t par_t2;
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int8_t par_t3;
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int16_t par_p1;
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int16_t par_p2;
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int8_t par_p3;
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int8_t par_p4;
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uint16_t par_p5;
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uint16_t par_p6;
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int8_t par_p7;
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int8_t par_p8;
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int16_t par_p9;
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int8_t par_p10;
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int8_t par_p11;
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int64_t t_lin;
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/**@}*/
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};
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#pragma pack(pop)
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/*!
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* bmp3 sensor structure which comprises of temperature and pressure data.
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*/
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struct bmp3_data {
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/* Compensated temperature */
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int64_t temperature;
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/* Compensated pressure */
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uint64_t pressure;
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};
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/*!
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* Calibration data
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*/
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struct bmp3_calib_data {
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/*! Register data */
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struct bmp3_reg_calib_data reg_calib_data;
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};
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/*!
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* bmp3 sensor structure which comprises of un-compensated temperature
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* and pressure data.
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*/
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struct bmp3_uncomp_data {
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/*! un-compensated pressure */
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uint32_t pressure;
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/*! un-compensated temperature */
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uint32_t temperature;
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};
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struct fcalibration_s {
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float t1;
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float t2;
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float t3;
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float p1;
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float p2;
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||||
float p3;
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float p4;
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float p5;
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float p6;
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float p7;
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float p8;
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float p9;
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};
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/*
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* BMP388 internal constants and data structures.
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||||
*/
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||||
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||||
class IBMP388
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||||
{
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public:
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virtual ~IBMP388() = default;
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||||
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virtual bool is_external() = 0;
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virtual int init() = 0;
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||||
|
||||
// read reg value
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||||
virtual uint8_t get_reg(uint8_t addr) = 0;
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||||
// bulk read reg value
|
||||
virtual int get_reg_buf(uint8_t addr, uint8_t *buf, uint8_t len) = 0;
|
||||
|
||||
// write reg value
|
||||
virtual int set_reg(uint8_t value, uint8_t addr) = 0;
|
||||
|
||||
// bulk read of data into buffer, return same pointer
|
||||
virtual data_s *get_data(uint8_t addr) = 0;
|
||||
|
||||
// bulk read of calibration data into buffer, return same pointer
|
||||
virtual calibration_s *get_calibration(uint8_t addr) = 0;
|
||||
|
||||
virtual uint32_t get_device_id() const = 0;
|
||||
|
||||
};
|
||||
|
||||
class BMP388 : public cdev::CDev, public px4::ScheduledWorkItem
|
||||
{
|
||||
public:
|
||||
BMP388(IBMP388 *interface, const char *path);
|
||||
virtual ~BMP388();
|
||||
|
||||
virtual int init();
|
||||
|
||||
/**
|
||||
* Diagnostics - print some basic information about the driver.
|
||||
*/
|
||||
void print_info();
|
||||
|
||||
private:
|
||||
PX4Barometer _px4_baro;
|
||||
IBMP388 *_interface;
|
||||
|
||||
unsigned _measure_interval{0}; // interval in microseconds needed to measure
|
||||
uint8_t _osr_t; // oversampling rate, temperature
|
||||
uint8_t _osr_p; // oversampling rate, pressure
|
||||
uint8_t _odr; // output data rate
|
||||
uint8_t _iir_coef; // IIR coefficient
|
||||
|
||||
perf_counter_t _sample_perf;
|
||||
perf_counter_t _measure_perf;
|
||||
perf_counter_t _comms_errors;
|
||||
|
||||
struct calibration_s *_cal; // stored calibration constants
|
||||
|
||||
bool _collect_phase;
|
||||
|
||||
void Run() override;
|
||||
void start();
|
||||
void stop();
|
||||
int measure();
|
||||
int collect(); //get results and publish
|
||||
uint32_t get_measurement_time(uint8_t osr_t, uint8_t osr_p);
|
||||
|
||||
bool soft_reset();
|
||||
bool get_calib_data();
|
||||
bool validate_trimming_param();
|
||||
bool set_sensor_settings();
|
||||
bool set_op_mode(uint8_t op_mode);
|
||||
|
||||
bool get_sensor_data(uint8_t sensor_comp, struct bmp3_data *comp_data);
|
||||
bool compensate_data(uint8_t sensor_comp, const struct bmp3_uncomp_data *uncomp_data, struct bmp3_data *comp_data);
|
||||
};
|
||||
|
||||
|
||||
/* interface factories */
|
||||
extern IBMP388 *bmp388_spi_interface(uint8_t busnum, uint32_t device, bool external);
|
||||
extern IBMP388 *bmp388_i2c_interface(uint8_t busnum, uint32_t device, bool external);
|
||||
typedef IBMP388 *(*BMP388_constructor)(uint8_t, uint32_t, bool);
|
||||
@@ -0,0 +1,134 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2019 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file bmp388_i2c.cpp
|
||||
*
|
||||
* I2C interface for BMP388
|
||||
*/
|
||||
|
||||
#include <drivers/device/i2c.h>
|
||||
|
||||
#include "bmp388.h"
|
||||
|
||||
#if defined(PX4_I2C_OBDEV_BMP388) || defined(PX4_I2C_EXT_OBDEV_BMP388)
|
||||
|
||||
class BMP388_I2C: public device::I2C, public IBMP388
|
||||
{
|
||||
public:
|
||||
BMP388_I2C(uint8_t bus, uint32_t device, bool external);
|
||||
virtual ~BMP388_I2C() = default;
|
||||
|
||||
bool is_external();
|
||||
int init();
|
||||
|
||||
uint8_t get_reg(uint8_t addr);
|
||||
int get_reg_buf(uint8_t addr, uint8_t *buf, uint8_t len);
|
||||
int set_reg(uint8_t value, uint8_t addr);
|
||||
data_s *get_data(uint8_t addr);
|
||||
calibration_s *get_calibration(uint8_t addr);
|
||||
|
||||
uint32_t get_device_id() const override { return device::I2C::get_device_id(); }
|
||||
|
||||
private:
|
||||
struct calibration_s _cal;
|
||||
struct data_s _data;
|
||||
bool _external;
|
||||
};
|
||||
|
||||
IBMP388 *bmp388_i2c_interface(uint8_t busnum, uint32_t device, bool external)
|
||||
{
|
||||
return new BMP388_I2C(busnum, device, external);
|
||||
}
|
||||
|
||||
BMP388_I2C::BMP388_I2C(uint8_t bus, uint32_t device, bool external) :
|
||||
I2C("BMP388_I2C", nullptr, bus, device, 100 * 1000)
|
||||
{
|
||||
_external = external;
|
||||
}
|
||||
|
||||
bool BMP388_I2C::is_external()
|
||||
{
|
||||
return _external;
|
||||
}
|
||||
|
||||
int BMP388_I2C::init()
|
||||
{
|
||||
return I2C::init();
|
||||
}
|
||||
|
||||
uint8_t BMP388_I2C::get_reg(uint8_t addr)
|
||||
{
|
||||
uint8_t cmd[2] = { (uint8_t)(addr), 0};
|
||||
transfer(&cmd[0], 1, &cmd[1], 1);
|
||||
|
||||
return cmd[1];
|
||||
}
|
||||
|
||||
int BMP388_I2C::get_reg_buf(uint8_t addr, uint8_t *buf, uint8_t len)
|
||||
{
|
||||
const uint8_t cmd = (uint8_t)(addr);
|
||||
return transfer(&cmd, sizeof(cmd), buf, len);
|
||||
}
|
||||
|
||||
int BMP388_I2C::set_reg(uint8_t value, uint8_t addr)
|
||||
{
|
||||
uint8_t cmd[2] = { (uint8_t)(addr), value};
|
||||
return transfer(cmd, sizeof(cmd), nullptr, 0);
|
||||
}
|
||||
|
||||
data_s *BMP388_I2C::get_data(uint8_t addr)
|
||||
{
|
||||
const uint8_t cmd = (uint8_t)(addr);
|
||||
|
||||
if (transfer(&cmd, sizeof(cmd), (uint8_t *)&_data, sizeof(struct data_s)) == OK) {
|
||||
return (&_data);
|
||||
|
||||
} else {
|
||||
return nullptr;
|
||||
}
|
||||
}
|
||||
|
||||
calibration_s *BMP388_I2C::get_calibration(uint8_t addr)
|
||||
{
|
||||
const uint8_t cmd = (uint8_t)(addr);
|
||||
|
||||
if (transfer(&cmd, sizeof(cmd), (uint8_t *)&_cal, sizeof(struct calibration_s)) == OK) {
|
||||
return &(_cal);
|
||||
|
||||
} else {
|
||||
return nullptr;
|
||||
}
|
||||
}
|
||||
|
||||
#endif /* PX4_I2C_OBDEV_BMP388 || PX4_I2C_EXT_OBDEV_BMP388 */
|
||||
@@ -0,0 +1,246 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2019 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include <px4_getopt.h>
|
||||
|
||||
#include "bmp388.h"
|
||||
|
||||
enum BMP388_BUS {
|
||||
BMP388_BUS_ALL = 0,
|
||||
BMP388_BUS_I2C_INTERNAL,
|
||||
BMP388_BUS_I2C_INTERNAL1,
|
||||
BMP388_BUS_I2C_EXTERNAL,
|
||||
BMP388_BUS_SPI_INTERNAL,
|
||||
BMP388_BUS_SPI_EXTERNAL
|
||||
};
|
||||
|
||||
/**
|
||||
* Local functions in support of the shell command.
|
||||
*/
|
||||
namespace bmp388
|
||||
{
|
||||
|
||||
/*
|
||||
* list of supported bus configurations
|
||||
*/
|
||||
struct bmp388_bus_option {
|
||||
enum BMP388_BUS busid;
|
||||
const char *devpath;
|
||||
BMP388_constructor interface_constructor;
|
||||
uint8_t busnum;
|
||||
uint32_t device;
|
||||
bool external;
|
||||
BMP388 *dev;
|
||||
} bus_options[] = {
|
||||
#if defined(PX4_SPIDEV_EXT_BARO) && defined(PX4_SPI_BUS_EXT)
|
||||
{ BMP388_BUS_SPI_EXTERNAL, "/dev/bmp388_spi_ext", &bmp388_spi_interface, PX4_SPI_BUS_EXT, PX4_SPIDEV_EXT_BARO, true, NULL },
|
||||
#endif
|
||||
#if defined(PX4_SPIDEV_BARO)
|
||||
# if defined(PX4_SPIDEV_BARO_BUS)
|
||||
{ BMP388_BUS_SPI_INTERNAL, "/dev/bmp388_spi_int", &bmp388_spi_interface, PX4_SPIDEV_BARO_BUS, PX4_SPIDEV_BARO, false, NULL },
|
||||
# else
|
||||
{ BMP388_BUS_SPI_INTERNAL, "/dev/bmp388_spi_int", &bmp388_spi_interface, PX4_SPI_BUS_SENSORS, PX4_SPIDEV_BARO, false, NULL },
|
||||
# endif
|
||||
#endif
|
||||
#if defined(PX4_I2C_BUS_ONBOARD) && defined(PX4_I2C_OBDEV_BMP388)
|
||||
{ BMP388_BUS_I2C_INTERNAL, "/dev/bmp388_i2c_int", &bmp388_i2c_interface, PX4_I2C_BUS_ONBOARD, PX4_I2C_OBDEV_BMP388, false, NULL },
|
||||
#endif
|
||||
#if defined(PX4_I2C_BUS_ONBOARD) && defined(PX4_I2C_OBDEV1_BMP388)
|
||||
{ BMP388_BUS_I2C_INTERNAL1, "/dev/bmp388_i2c_int1", &bmp388_i2c_interface, PX4_I2C_BUS_ONBOARD, PX4_I2C_OBDEV1_BMP388, false, NULL },
|
||||
#endif
|
||||
#if defined(PX4_I2C_BUS_EXPANSION) && defined(PX4_I2C_OBDEV_BMP388)
|
||||
{ BMP388_BUS_I2C_EXTERNAL, "/dev/bmp388_i2c_ext", &bmp388_i2c_interface, PX4_I2C_BUS_EXPANSION, PX4_I2C_OBDEV_BMP388, true, NULL },
|
||||
#endif
|
||||
};
|
||||
#define NUM_BUS_OPTIONS (sizeof(bus_options)/sizeof(bus_options[0]))
|
||||
|
||||
/**
|
||||
* Start the driver.
|
||||
*/
|
||||
bool
|
||||
start_bus(struct bmp388_bus_option &bus)
|
||||
{
|
||||
if (bus.dev != nullptr) {
|
||||
PX4_ERR("bus option already started");
|
||||
exit(1);
|
||||
}
|
||||
|
||||
IBMP388 *interface = bus.interface_constructor(bus.busnum, bus.device, bus.external);
|
||||
|
||||
if (interface->init() != OK) {
|
||||
delete interface;
|
||||
PX4_WARN("no device on bus %u", (unsigned)bus.busid);
|
||||
return false;
|
||||
}
|
||||
|
||||
bus.dev = new BMP388(interface, bus.devpath);
|
||||
|
||||
if (bus.dev == nullptr) {
|
||||
return false;
|
||||
}
|
||||
|
||||
if (OK != bus.dev->init()) {
|
||||
delete bus.dev;
|
||||
bus.dev = nullptr;
|
||||
return false;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
/**
|
||||
* Start the driver.
|
||||
*
|
||||
* This function call only returns once the driver
|
||||
* is either successfully up and running or failed to start.
|
||||
*/
|
||||
void
|
||||
start(enum BMP388_BUS busid)
|
||||
{
|
||||
uint8_t i;
|
||||
bool started = false;
|
||||
|
||||
for (i = 0; i < NUM_BUS_OPTIONS; i++) {
|
||||
if (busid == BMP388_BUS_ALL && bus_options[i].dev != NULL) {
|
||||
// this device is already started
|
||||
continue;
|
||||
}
|
||||
|
||||
if (busid != BMP388_BUS_ALL && bus_options[i].busid != busid) {
|
||||
// not the one that is asked for
|
||||
continue;
|
||||
}
|
||||
|
||||
started |= start_bus(bus_options[i]);
|
||||
}
|
||||
|
||||
if (!started) {
|
||||
PX4_WARN("bus option number is %d", i);
|
||||
PX4_ERR("driver start failed");
|
||||
exit(1);
|
||||
}
|
||||
|
||||
// one or more drivers started OK
|
||||
exit(0);
|
||||
}
|
||||
|
||||
/**
|
||||
* Print a little info about the driver.
|
||||
*/
|
||||
void
|
||||
info()
|
||||
{
|
||||
for (uint8_t i = 0; i < NUM_BUS_OPTIONS; i++) {
|
||||
struct bmp388_bus_option &bus = bus_options[i];
|
||||
|
||||
if (bus.dev != nullptr) {
|
||||
PX4_WARN("%s", bus.devpath);
|
||||
bus.dev->print_info();
|
||||
}
|
||||
}
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
void
|
||||
usage()
|
||||
{
|
||||
PX4_WARN("missing command: try 'start', 'info'");
|
||||
PX4_WARN("options:");
|
||||
PX4_WARN(" -X (external I2C bus TODO)");
|
||||
PX4_WARN(" -I (internal I2C bus TODO)");
|
||||
PX4_WARN(" -S (external SPI bus)");
|
||||
PX4_WARN(" -s (internal SPI bus)");
|
||||
}
|
||||
|
||||
} // namespace
|
||||
|
||||
extern "C" __EXPORT int bmp388_main(int argc, char *argv[])
|
||||
{
|
||||
int myoptind = 1;
|
||||
int ch;
|
||||
const char *myoptarg = nullptr;
|
||||
enum BMP388_BUS busid = BMP388_BUS_ALL;
|
||||
|
||||
while ((ch = px4_getopt(argc, argv, "XIJSs", &myoptind, &myoptarg)) != EOF) {
|
||||
switch (ch) {
|
||||
case 'X':
|
||||
busid = BMP388_BUS_I2C_EXTERNAL;
|
||||
break;
|
||||
|
||||
case 'I':
|
||||
busid = BMP388_BUS_I2C_INTERNAL;
|
||||
break;
|
||||
|
||||
case 'J':
|
||||
busid = BMP388_BUS_I2C_INTERNAL1;
|
||||
break;
|
||||
|
||||
case 'S':
|
||||
busid = BMP388_BUS_SPI_EXTERNAL;
|
||||
break;
|
||||
|
||||
case 's':
|
||||
busid = BMP388_BUS_SPI_INTERNAL;
|
||||
break;
|
||||
|
||||
default:
|
||||
bmp388::usage();
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
|
||||
if (myoptind >= argc) {
|
||||
bmp388::usage();
|
||||
return -1;
|
||||
}
|
||||
|
||||
const char *verb = argv[myoptind];
|
||||
|
||||
/*
|
||||
* Start/load the driver.
|
||||
*/
|
||||
if (!strcmp(verb, "start")) {
|
||||
bmp388::start(busid);
|
||||
}
|
||||
|
||||
/*
|
||||
* Print driver information.
|
||||
*/
|
||||
if (!strcmp(verb, "info")) {
|
||||
bmp388::info();
|
||||
}
|
||||
|
||||
PX4_ERR("unrecognized command, try 'start' or 'info'");
|
||||
return -1;
|
||||
}
|
||||
@@ -0,0 +1,151 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2019 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file bmp388_spi.cpp
|
||||
*
|
||||
* SPI interface for BMP388 (NOTE: untested!)
|
||||
*/
|
||||
|
||||
#include <drivers/device/spi.h>
|
||||
|
||||
#include "bmp388.h"
|
||||
|
||||
|
||||
/* SPI protocol address bits */
|
||||
#define DIR_READ (1<<7) //for set
|
||||
#define DIR_WRITE ~(1<<7) //for clear
|
||||
|
||||
#if defined(PX4_SPIDEV_BARO) || defined(PX4_SPIDEV_EXT_BARO)
|
||||
|
||||
#pragma pack(push,1)
|
||||
struct spi_data_s {
|
||||
uint8_t addr;
|
||||
struct data_s data;
|
||||
};
|
||||
|
||||
struct spi_calibration_s {
|
||||
uint8_t addr;
|
||||
struct calibration_s cal;
|
||||
};
|
||||
#pragma pack(pop)
|
||||
|
||||
class BMP388_SPI: public device::SPI, public IBMP388
|
||||
{
|
||||
public:
|
||||
BMP388_SPI(uint8_t bus, uint32_t device, bool is_external_device);
|
||||
virtual ~BMP388_SPI() = default;
|
||||
|
||||
bool is_external();
|
||||
int init();
|
||||
|
||||
uint8_t get_reg(uint8_t addr);
|
||||
int get_reg_buf(uint8_t addr, uint8_t *buf, uint8_t len);
|
||||
int set_reg(uint8_t value, uint8_t addr);
|
||||
data_s *get_data(uint8_t addr);
|
||||
calibration_s *get_calibration(uint8_t addr);
|
||||
|
||||
uint32_t get_device_id() const override { return device::SPI::get_device_id(); }
|
||||
|
||||
private:
|
||||
spi_calibration_s _cal;
|
||||
spi_data_s _data;
|
||||
bool _external;
|
||||
};
|
||||
|
||||
IBMP388 *bmp388_spi_interface(uint8_t busnum, uint32_t device, bool external)
|
||||
{
|
||||
return new BMP388_SPI(busnum, device, external);
|
||||
}
|
||||
|
||||
BMP388_SPI::BMP388_SPI(uint8_t bus, uint32_t device, bool is_external_device) :
|
||||
SPI("BMP388_SPI", nullptr, bus, device, SPIDEV_MODE3, 10 * 1000 * 1000)
|
||||
{
|
||||
_external = is_external_device;
|
||||
}
|
||||
|
||||
bool BMP388_SPI::is_external()
|
||||
{
|
||||
return _external;
|
||||
};
|
||||
|
||||
int BMP388_SPI::init()
|
||||
{
|
||||
return SPI::init();
|
||||
};
|
||||
|
||||
uint8_t BMP388_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 BMP388_SPI::get_reg_buf(uint8_t addr, uint8_t *buf, uint8_t len)
|
||||
{
|
||||
uint8_t cmd[1] = {(uint8_t)(addr | DIR_READ)};
|
||||
return transfer(&cmd[0], buf, len);
|
||||
}
|
||||
|
||||
int BMP388_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);
|
||||
}
|
||||
|
||||
data_s *BMP388_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) {
|
||||
return &(_data.data);
|
||||
|
||||
} else {
|
||||
return nullptr;
|
||||
}
|
||||
}
|
||||
|
||||
calibration_s *BMP388_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;
|
||||
}
|
||||
}
|
||||
|
||||
#endif /* PX4_SPIDEV_BARO || PX4_SPIDEV_EXT_BARO */
|
||||
@@ -115,6 +115,7 @@
|
||||
#define DRV_GYR_DEVTYPE_ADIS16497 0x64
|
||||
#define DRV_BARO_DEVTYPE_BAROSIM 0x65
|
||||
#define DRV_DEVTYPE_BMI088 0x66
|
||||
#define DRV_DEVTYPE_BMP388 0x67
|
||||
|
||||
/*
|
||||
* ioctl() definitions
|
||||
|
||||
Reference in New Issue
Block a user