changes on drivers according to comments from DavidS

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -180,42 +180,37 @@ fi
 if ver hwcmp PX4FMU_V4
 then
 	# External I2C bus
-	#if hmc5883 -C -T -X start
+	if hmc5883 -C -T -X start
-	#then
+	then
-	#fi
+	fi
 
-	#if lis3mdl -R 2 start
+	if lis3mdl -R 2 start
-	#then
+	then
-	#fi
+	fi
 
 	# Internal SPI bus is rotated 90 deg yaw
-	#if hmc5883 -C -T -S -R 2 start
+	if hmc5883 -C -T -S -R 2 start
-	#then
+	then
-	#fi
+	fi
 
 	# Internal SPI bus ICM-20608-G is rotated 90 deg yaw
-	#if mpu6000 -R 2 -T 20608 start
+	if mpu6000 -R 2 -T 20608 start
-	#then
+	then
-	#fi
+	fi
-
-	# Internal SPI bus ICM-20602-G is rotated 90 deg yaw
-	#if mpu6000 -R 2 -T 20602 start
-	#then
-	#fi
 
 	# Start either MPU9250 or BMI160. They are both connected to the same SPI bus and use the same
 	# chip select pin. There are different boards with either one of them and the WHO_AM_I register
 	# will prevent the incorrect driver from a successful initialization.
 
 	# Internal SPI bus mpu9250 is rotated 90 deg yaw
-	#if mpu9250 -R 2 start
+	if mpu9250 -R 2 start
-	#then
+	then
-	#fi
+	fi
 
 	# Internal SPI bus BMI160
-	#if bmi160 start
+	if bmi160 start
-	#then
+	then
-	#fi
+	fi
 
 	# Start either ICM2060X or BMI055. They are both connected to the same SPI bus and use the same
 	# chip select pin. There are different boards with either one of them and the WHO_AM_I register
@@ -231,13 +226,13 @@ then
 	then
 	fi
 
-	# expansion i2c used for BMM150
+	# expansion i2c used for BMM150 rotated by 90deg
-	if bmm150 start
+	if bmm150 -R 2 start
 	then
 	fi
 	
-	# expansion i2c used for BMP285
+	# expansion i2c used for BMP280
-	if bmp285 start
+	if bmp280 -I start
 	then
 	fi
 fi

cmake/configs/nuttx_px4fmu-v4_default.cmake

@@ -53,7 +53,6 @@ set(config_module_list
 	drivers/bmi160
 	drivers/bmi055
 	drivers/bmm150
-	drivers/bmp285
 	drivers/tap_esc
 	drivers/iridiumsbd
 

src/drivers/bmm150/bmm150.cpp

@@ -71,7 +71,8 @@ void start(bool external_bus, enum Rotation rotation)
 	if (*g_dev_ptr != nullptr)
 		/* if already started, the still command succeeded */
 	{
-		errx(0, "already started");
+		PX4_ERR("already started");
+		exit(0);
 	}
 
 	/* create the driver */
@@ -79,7 +80,8 @@ void start(bool external_bus, enum Rotation rotation)
 #if defined(PX4_SPI_BUS_EXT) && defined(PX4_SPIDEV_EXT_BMI)
 		*g_dev_ptr = new BMM150(PX4_I2C_BUS_BMM150, path, external_bus, rotation);
 #else
-		errx(0, "External I2C not available");
+		PX4_ERR("External I2C not available");
+		exit(0);
 #endif
 
 	} else {
@@ -117,7 +119,9 @@ fail:
 		*g_dev_ptr = nullptr;
 	}
 
-	errx(1, "driver start failed");
+	PX4_ERR("driver start failed");
+	exit(1);
+
 }
 
 
@@ -132,37 +136,41 @@ void test(bool external_bus)
 	/* get the driver */
 	fd = open(path, O_RDONLY);
 
-	if (fd < 0)
+	if (fd < 0) {
-		err(1, "%s open failed (try 'bmm150 start' if the driver is not running)",
+		PX4_ERR("%s open failed (try 'bmm150 start' if the driver is not running)",
 			path);
+		exit(1);
+	}
 
 	/* reset to Max polling rate*/
 	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MAX) < 0) {
-		err(1, "reset to Max polling rate");
+		PX4_ERR("reset to Max polling rate");
+		exit(1);
 	}
 
 	/* do a simple demand read */
 	sz = read(fd, &m_report, sizeof(m_report));
 
 	if (sz != sizeof(m_report)) {
-		err(1, "immediate mag read failed");
+		PX4_ERR("immediate mag read failed");
+		exit(1);
 	}
 
-	warnx("single read");
+	PX4_WARN("single read");
-	warnx("time:     %lld", m_report.timestamp);
+	PX4_WARN("time:     %lld", m_report.timestamp);
-	warnx("mag  x:  \t%8.4f\t", (double)m_report.x);
+	PX4_WARN("mag  x:  \t%8.4f\t", (double)m_report.x);
-	warnx("mag  y:  \t%8.4f\t", (double)m_report.y);
+	PX4_WARN("mag  y:  \t%8.4f\t", (double)m_report.y);
-	warnx("mag  z:  \t%8.4f\t", (double)m_report.z);
+	PX4_WARN("mag  z:  \t%8.4f\t", (double)m_report.z);
-	warnx("mag  x:  \t%d\traw 0x%0x", (short)m_report.x_raw, (unsigned short)m_report.x_raw);
+	PX4_WARN("mag  x:  \t%d\traw 0x%0x", (short)m_report.x_raw, (unsigned short)m_report.x_raw);
-	warnx("mag  y:  \t%d\traw 0x%0x", (short)m_report.y_raw, (unsigned short)m_report.y_raw);
+	PX4_WARN("mag  y:  \t%d\traw 0x%0x", (short)m_report.y_raw, (unsigned short)m_report.y_raw);
-	warnx("mag  z:  \t%d\traw 0x%0x", (short)m_report.z_raw, (unsigned short)m_report.z_raw);
+	PX4_WARN("mag  z:  \t%d\traw 0x%0x", (short)m_report.z_raw, (unsigned short)m_report.z_raw);
 
-	errx(0, "PASS");
+	PX4_ERR("PASS");
+	exit(0);
 
 }
 
 
-
 void
 reset(bool external_bus)
 {
@@ -170,15 +178,18 @@ reset(bool external_bus)
 	int fd = open(path, O_RDONLY);
 
 	if (fd < 0) {
-		err(1, "failed ");
+		PX4_ERR("failed");
+		exit(1);
 	}
 
 	if (ioctl(fd, SENSORIOCRESET, 0) < 0) {
-		err(1, "driver reset failed");
+		PX4_ERR("driver reset failed");
+		exit(1);
 	}
 
 	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
-		err(1, "driver poll restart failed");
+		PX4_ERR("driver poll restart failed");
+		exit(1);
 	}
 
 	exit(0);
@@ -191,7 +202,8 @@ info(bool external_bus)
 	BMM150 **g_dev_ptr = external_bus ? &g_dev_ext : &g_dev_int;
 
 	if (*g_dev_ptr == nullptr) {
-		errx(1, "driver not running");
+		PX4_ERR("driver not running");
+		exit(1);
 	}
 
 	printf("state @ %p\n", *g_dev_ptr);
@@ -210,7 +222,8 @@ regdump(bool external_bus)
 	BMM150 **g_dev_ptr = external_bus ? &g_dev_ext : &g_dev_int;
 
 	if (*g_dev_ptr == nullptr) {
-		errx(1, "driver not running");
+		PX4_ERR("driver not running");
+		exit(1);
 	}
 
 	printf("regdump @ %p\n", *g_dev_ptr);
@@ -222,9 +235,9 @@ regdump(bool external_bus)
 void
 usage()
 {
-	warnx("missing command: try 'start', 'info', 'test', 'stop',\n'reset', 'regdump'");
+	PX4_WARN("missing command: try 'start', 'info', 'test', 'stop',\n'reset', 'regdump'");
-	warnx("options:");
+	PX4_WARN("options:");
-	warnx("    -X    (external bus)");
+	PX4_WARN("    -X    (external bus)");
 
 }
 
@@ -236,9 +249,11 @@ BMM150 :: BMM150(int bus, const char *path, bool external, enum Rotation rotatio
 	I2C("BMM150", path, bus, BMM150_SLAVE_ADDRESS, BMM150_BUS_SPEED),
 	_work{},
 	_external(false),
+	_running(false),
 	_call_interval(0),
 	_report{0},
 	_reports(nullptr),
+	_collect_phase(false),
 	_scale{},
 	_range_scale(0.01), /* default range scale from from uT to gauss */
 	_topic(nullptr),
@@ -261,6 +276,8 @@ BMM150 :: BMM150(int bus, const char *path, bool external, enum Rotation rotatio
 	_sample_perf(perf_alloc(PC_ELAPSED, "bmm150_read")),
 	_bad_transfers(perf_alloc(PC_COUNT, "bmm150_bad_transfers")),
 	_good_transfers(perf_alloc(PC_COUNT, "bmm150_good_transfers")),
+	_measure_perf(perf_alloc(PC_ELAPSED, "bmp280_measure")),
+	_comms_errors(perf_alloc(PC_COUNT, "bmp280_comms_errors")),
 	_duplicates(perf_alloc(PC_COUNT, "bmm150_duplicates")),
 	_rotation(rotation),
 	_got_duplicate(false),
@@ -298,10 +315,17 @@ BMM150 :: ~BMM150()
 		unregister_class_devname(MAG_BASE_DEVICE_PATH, _class_instance);
 	}
 
+	if (_topic != nullptr) {
+		orb_unadvertise(_topic);
+	}
+
+
 	/* delete the perf counter */
 	perf_free(_sample_perf);
 	perf_free(_bad_transfers);
 	perf_free(_good_transfers);
+	perf_free(_measure_perf);
+	perf_free(_comms_errors);
 	perf_free(_duplicates);
 
 }
@@ -333,7 +357,7 @@ int BMM150::init()
 
 	/* check  id*/
 	if (read_reg(BMM150_CHIP_ID_REG) != BMM150_CHIP_ID) {
-		warnx("id of magnetometer is not: 0x%02x", BMM150_CHIP_ID);
+		PX4_WARN("id of magnetometer is not: 0x%02x", BMM150_CHIP_ID);
 		return -EIO;
 	}
 
@@ -345,7 +369,15 @@ int BMM150::init()
 
 	_class_instance = register_class_devname(MAG_BASE_DEVICE_PATH);
 
-	collect();
+	if (measure()) {
+		return -EIO;
+	}
+
+	up_udelay(10000);
+
+	if (collect()) {
+		return -EIO;
+	}
 
 	/* advertise sensor topic, measure manually to initialize valid report */
 	struct mag_report mrb;
@@ -356,7 +388,7 @@ int BMM150::init()
 				     &_orb_class_instance, (is_external()) ? ORB_PRIO_HIGH : ORB_PRIO_MAX);
 
 	if (_topic == nullptr) {
-		warnx("ADVERT FAIL");
+		PX4_WARN("ADVERT FAIL");
 	}
 
 out:
@@ -381,18 +413,21 @@ void
 BMM150::start()
 {
 	/* reset the report ring and state machine */
+	_collect_phase = false;
+	_running = true;
 	_reports->flush();
 
 	/* schedule a cycle to start things */
 	work_queue(HPWORK, &_work, (worker_t)&BMM150::cycle_trampoline, this, 1);
 
-
 }
 
 void
 BMM150::stop()
 {
+	_running = false;
 	work_cancel(HPWORK, &_work);
+
 }
 
 ssize_t
@@ -430,6 +465,15 @@ BMM150::read(struct file *filp, char *buffer, size_t buflen)
 	do {
 		_reports->flush();
 
+		/* trigger a measurement */
+		if (OK != measure()) {
+			ret = -EIO;
+			break;
+		}
+
+		/* wait for it to complete */
+		usleep(BMM150_CONVERSION_INTERVAL);
+
 		/* run the collection phase */
 		if (OK != collect()) {
 			ret = -EIO;
@@ -455,21 +499,65 @@ BMM150::cycle_trampoline(void *arg)
 
 	/* make measurement */
 	dev->cycle();
-
 }
 
 void
 BMM150::cycle()
 {
+	if (_collect_phase) {
 		collect();
-	work_queue(HPWORK, &_work, (worker_t)&BMM150::cycle_trampoline, this, USEC2TICK(BMM150_CONVERSION_INTERVAL));
+		unsigned wait_gap = _call_interval - USEC2TICK(BMM150_CONVERSION_INTERVAL);
+
+		if ((wait_gap != 0) && (_running)) {
+			work_queue(HPWORK, &_work, (worker_t)&BMM150::cycle_trampoline, this,
+				   wait_gap); //need to wait some time before new measurement
+			return;
+		}
 
 	}
 
+	measure();
+
+	if ((_running)) {
+		/* schedule a fresh cycle call when the measurement is done */
+		work_queue(HPWORK,
+			   &_work,
+			   (worker_t)&BMM150::cycle_trampoline,
+			   this,
+			   USEC2TICK(BMM150_CONVERSION_INTERVAL));
+	}
+
+
+}
+
+int
+BMM150::measure()
+{
+	_collect_phase = true;
+
+	perf_begin(_measure_perf);
+
+	/* start measure */
+	int ret = set_power_mode(BMM150_FORCED_MODE);
+
+	if (ret != OK) {
+		perf_count(_comms_errors);
+		perf_cancel(_measure_perf);
+		return -EIO;
+	}
+
+	perf_end(_measure_perf);
+
+	return OK;
+}
+
+
 
 int
 BMM150::collect()
 {
+	_collect_phase = false;
+
 	bool mag_notify = true;
 	uint8_t mag_data[8], status;
 	uint16_t resistance, lsb, msb, msblsb;
@@ -537,6 +625,7 @@ BMM150::collect()
 	    mrb.z_raw == 0 &&
 	    resistance == 0) {
 		// all zero data - probably a I2C bus error
+		perf_count(_comms_errors);
 		perf_count(_bad_transfers);
 		perf_end(_sample_perf);
 		return -EIO;
@@ -601,6 +690,9 @@ BMM150::collect()
 	// should use this sensor based on whether it has had failures
 	mrb.error_count = perf_event_count(_bad_transfers);
 
+	// apply user specified rotation
+	rotate_3f(_rotation, mrb.x, mrb.y, mrb.z);
+
 
 	/* Scaling the data */
 	mrb.x = ((mrb.x * _range_scale) - _scale.x_offset) * _scale.x_scale;
@@ -1029,7 +1121,6 @@ BMM150::print_info()
 	       (double)(1.0f / _range_scale));
 	printf("\n");
 
-
 }
 
 void

src/drivers/bmm150/bmm150.hpp

@@ -17,6 +17,7 @@
 #include <math.h>
 #include <unistd.h>
 #include <getopt.h>
+#include <px4_log.h>
 
 #include <systemlib/perf_counter.h>
 #include <systemlib/err.h>
@@ -128,9 +129,10 @@
 /* Preset modes - Data rates */
 #define BMM150_LOWPOWER_DR                   BMM150_DATA_RATE_30HZ
 #define BMM150_REGULAR_DR                    BMM150_DATA_RATE_30HZ
-#define BMM150_HIGHACCURACY_DR               BMM150_DATA_RATE_25HZ
+#define BMM150_HIGHACCURACY_DR               BMM150_DATA_RATE_20HZ
 #define BMM150_ENHANCED_DR                   BMM150_DATA_RATE_10HZ
 
+
 /* Power modes value definitions */
 #define BMM150_NORMAL_MODE                   0x00
 #define BMM150_FORCED_MODE                   0x02
@@ -201,6 +203,11 @@ public:
 	virtual ssize_t       read(struct file *filp, char *buffer, size_t buflen);
 	virtual int       ioctl(struct file *filp, int cmd, unsigned long arg);
 
+	/**
+	 * Stop automatic measurement.
+	 */
+	void            stop();
+
 	/**
 	  * Diagnostics - print some basic information about the driver.
 	  */
@@ -215,6 +222,8 @@ private:
 	work_s            _work;
 	bool _external;
 
+	bool _running;
+
 	/* altitude conversion calibration */
 	unsigned        _call_interval;
 
@@ -222,6 +231,8 @@ private:
 	struct mag_report _report;
 	ringbuffer::RingBuffer  *_reports;
 
+	bool            _collect_phase;
+
 	struct mag_calibration_s    _scale;
 	float           _range_scale;
 
@@ -251,6 +262,8 @@ private:
 	perf_counter_t      _sample_perf;
 	perf_counter_t      _bad_transfers;
 	perf_counter_t      _good_transfers;
+	perf_counter_t      _measure_perf;
+	perf_counter_t      _comms_errors;
 	perf_counter_t      _duplicates;
 
 	enum Rotation       _rotation;
@@ -265,12 +278,7 @@ private:
 	 */
 	void            start();
 
-	/**
+	int     measure(); //start measure
-	 * Stop automatic measurement.
-	 */
-	void            stop();
-
-
 	int     collect(); //get results and publish
 
 	static void     cycle_trampoline(void *arg);

src/drivers/bmp280/CMakeLists.txt

@@ -37,6 +37,7 @@ px4_add_module(
 	COMPILE_FLAGS
 	SRCS
 		bmp280_spi.cpp
+		bmp280_i2c.cpp
 		bmp280.cpp
 	DEPENDS
 		platforms__common

src/drivers/bmp280/bmp280.cpp

@@ -51,6 +51,7 @@
 #include <math.h>
 #include <unistd.h>
 #include <getopt.h>
+#include <px4_log.h>
 
 #include <nuttx/arch.h>
 #include <nuttx/wqueue.h>
@@ -104,6 +105,8 @@ public:
 private:
 	bmp280::IBMP280	*_interface;
 
+	bool                _running;
+
 	uint8_t				_curr_ctrl;
 
 	struct work_s		_work;
@@ -150,6 +153,7 @@ extern "C" __EXPORT int bmp280_main(int argc, char *argv[]);
 BMP280::BMP280(bmp280::IBMP280 *interface, const char *path) :
 	CDev("BMP280", path),
 	_interface(interface),
+	_running(false),
 	_report_ticks(0),
 	_reports(nullptr),
 	_collect_phase(false),
@@ -161,8 +165,6 @@ BMP280::BMP280(bmp280::IBMP280 *interface, const char *path) :
 	_measure_perf(perf_alloc(PC_ELAPSED, "bmp280_measure")),
 	_comms_errors(perf_alloc(PC_COUNT, "bmp280_comms_errors"))
 {
-	_device_id.devid_s.devtype = DRV_BARO_DEVTYPE_BMP280;
-
 	// work_cancel in stop_cycle called from the dtor will explode if we don't do this...
 	memset(&_work, 0, sizeof(_work));
 }
@@ -181,6 +183,11 @@ BMP280::~BMP280()
 		delete _reports;
 	}
 
+	if (_baro_topic != nullptr) {
+		orb_unadvertise(_baro_topic);
+	}
+
+
 	// free perf counters
 	perf_free(_sample_perf);
 	perf_free(_measure_perf);
@@ -221,7 +228,7 @@ BMP280::init()
 
 	/* check  id*/
 	if (_interface->get_reg(BPM280_ADDR_ID) != BPM280_VALUE_ID) {
-		warnx("id of your baro is not: 0x%02x", BPM280_VALUE_ID);
+		PX4_WARN("id of your baro is not: 0x%02x", BPM280_VALUE_ID);
 		return -EIO;
 	}
 
@@ -270,7 +277,7 @@ BMP280::init()
 					  &_orb_class_instance, _interface->is_external() ? ORB_PRIO_HIGH : ORB_PRIO_DEFAULT);
 
 	if (_baro_topic == nullptr) {
-		warnx("failed to create sensor_baro publication");
+		PX4_WARN("failed to create sensor_baro publication");
 		return -ENOMEM;
 	}
 
@@ -440,6 +447,7 @@ BMP280::start_cycle()
 
 	/* reset the report ring and state machine */
 	_collect_phase = false;
+	_running = true;
 	_reports->flush();
 
 	/* schedule a cycle to start things */
@@ -449,6 +457,7 @@ BMP280::start_cycle()
 void
 BMP280::stop_cycle()
 {
+	_running = false;
 	work_cancel(HPWORK, &_work);
 }
 
@@ -467,7 +476,7 @@ BMP280::cycle()
 		collect();
 		unsigned wait_gap = _report_ticks - _max_mesure_ticks;
 
-		if (wait_gap != 0) {
+		if ((wait_gap != 0) && (_running)) {
 			work_queue(HPWORK, &_work, (worker_t)&BMP280::cycle_trampoline, this,
 				   wait_gap); //need to wait some time before new measurement
 			return;
@@ -476,7 +485,10 @@ BMP280::cycle()
 	}
 
 	measure();
+
+	if (_running) {
 		work_queue(HPWORK, &_work, (worker_t)&BMP280::cycle_trampoline, this, _max_mesure_ticks);
+	}
 
 }
 
@@ -542,8 +554,6 @@ BMP280::collect()
 	report.temperature = _T;
 	report.pressure = _P / 100.0f; // to mbar
 
-	/* Get device ID */
-	report.device_id = _device_id.devid;
 
 	/* altitude calculations based on http://www.kansasflyer.org/index.asp?nav=Avi&sec=Alti&tab=Theory&pg=1 */
 
@@ -620,10 +630,10 @@ struct bmp280_bus_option {
 	{ 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 },
+	{ BMP280_BUS_I2C_INTERNAL, "/dev/bmp280_i2c_int", &bmp280_i2c_interface, PX4_I2C_BUS_EXPANSION, 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", &bmp280_i2c_interface, PX4_I2C_BUS_EXPANSION, PX4_I2C_EXT_OBDEV_BMP280, true, NULL },
 #endif
 };
 #define NUM_BUS_OPTIONS (sizeof(bus_options)/sizeof(bus_options[0]))
@@ -645,14 +655,15 @@ bool
 start_bus(struct bmp280_bus_option &bus)
 {
 	if (bus.dev != nullptr) {
-		errx(1, "bus option already started");
+		PX4_ERR("bus option already started");
+		exit(1);
 	}
 
 	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);
+		PX4_WARN("no device on bus %u", (unsigned)bus.busid);
 		return false;
 	}
 
@@ -668,14 +679,17 @@ start_bus(struct bmp280_bus_option &bus)
 
 	/* set the poll rate to default, starts automatic data collection */
 	if (fd == -1) {
-		errx(1, "can't open baro device");
+		PX4_ERR("can't open baro device");
+		exit(1);
 	}
 
 	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
 		close(fd);
-		errx(1, "failed setting default poll rate");
+		PX4_ERR("failed setting default poll rate");
+		exit(1);
 	}
 
+
 	close(fd);
 	return true;
 }
@@ -708,7 +722,9 @@ start(enum BMP280_BUS busid)
 	}
 
 	if (!started) {
-		errx(1, "driver start failed");
+		PX4_WARN("bus option number is %d", i);
+		PX4_ERR("driver start failed");
+		exit(1);
 	}
 
 	// one or more drivers started OK
@@ -728,7 +744,8 @@ struct bmp280_bus_option &find_bus(enum BMP280_BUS busid)
 		}
 	}
 
-	errx(1, "bus %u not started", (unsigned)busid);
+	PX4_ERR("bus %u not started", (unsigned)busid);
+	exit(1);
 }
 
 /**
@@ -749,30 +766,34 @@ test(enum BMP280_BUS busid)
 	fd = open(bus.devpath, O_RDONLY);
 
 	if (fd < 0) {
-		err(1, "open failed (try 'bmp280 start' if the driver is not running)");
+		PX4_ERR("open failed (try 'bmp280 start' if the driver is not running)");
+		exit(1);
 	}
 
 	/* do a simple demand read */
 	sz = read(fd, &report, sizeof(report));
 
 	if (sz != sizeof(report)) {
-		err(1, "immediate read failed");
+		PX4_ERR("immediate read failed");
+		exit(1);
 	}
 
-	warnx("single read");
+	PX4_WARN("single read");
-	warnx("pressure:    %10.4f", (double)report.pressure);
+	PX4_WARN("pressure:    %10.4f", (double)report.pressure);
-	warnx("altitude:    %11.4f", (double)report.altitude);
+	PX4_WARN("altitude:    %11.4f", (double)report.altitude);
-	warnx("temperature: %8.4f", (double)report.temperature);
+	PX4_WARN("temperature: %8.4f", (double)report.temperature);
-	warnx("time:        %lld", report.timestamp);
+	PX4_WARN("time:        %lld", report.timestamp);
 
 	/* set the queue depth to 10 */
 	if (OK != ioctl(fd, SENSORIOCSQUEUEDEPTH, 10)) {
-		errx(1, "failed to set queue depth");
+		PX4_ERR("failed to set queue depth");
+		exit(1);
 	}
 
 	/* start the sensor polling at 2Hz */
 	if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
-		errx(1, "failed to set 2Hz poll rate");
+		PX4_ERR("failed to set 2Hz poll rate");
+		exit(1);
 	}
 
 	/* read the sensor 5x and report each value */
@@ -785,25 +806,28 @@ test(enum BMP280_BUS busid)
 		ret = poll(&fds, 1, 2000);
 
 		if (ret != 1) {
-			errx(1, "timed out waiting for sensor data");
+			PX4_ERR("timed out waiting for sensor data");
+			exit(1);
 		}
 
 		/* now go get it */
 		sz = read(fd, &report, sizeof(report));
 
 		if (sz != sizeof(report)) {
-			err(1, "periodic read failed");
+			PX4_ERR("periodic read failed");
+			exit(1);
 		}
 
-		warnx("periodic read %u", i);
+		PX4_WARN("periodic read %u", i);
-		warnx("pressure:    %10.4f", (double)report.pressure);
+		PX4_WARN("pressure:    %10.4f", (double)report.pressure);
-		warnx("altitude:    %11.4f", (double)report.altitude);
+		PX4_WARN("altitude:    %11.4f", (double)report.altitude);
-		warnx("temperature K: %8.4f", (double)report.temperature);
+		PX4_WARN("temperature K: %8.4f", (double)report.temperature);
-		warnx("time:        %lld", report.timestamp);
+		PX4_WARN("time:        %lld", report.timestamp);
 	}
 
 	close(fd);
-	errx(0, "PASS");
+	PX4_ERR("PASS");
+	exit(0);
 }
 
 /**
@@ -818,15 +842,18 @@ reset(enum BMP280_BUS busid)
 	fd = open(bus.devpath, O_RDONLY);
 
 	if (fd < 0) {
-		err(1, "failed ");
+		PX4_ERR("failed ");
+		exit(1);
 	}
 
 	if (ioctl(fd, SENSORIOCRESET, 0) < 0) {
-		err(1, "driver reset failed");
+		PX4_ERR("driver reset failed");
+		exit(1);
 	}
 
 	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
-		err(1, "driver poll restart failed");
+		PX4_ERR("driver poll restart failed");
+		exit(1);
 	}
 
 	exit(0);
@@ -842,7 +869,7 @@ info()
 		struct bmp280_bus_option &bus = bus_options[i];
 
 		if (bus.dev != nullptr) {
-			warnx("%s", bus.devpath);
+			PX4_WARN("%s", bus.devpath);
 			bus.dev->print_info();
 		}
 	}
@@ -866,12 +893,14 @@ calibrate(unsigned altitude, enum BMP280_BUS busid)
 	fd = open(bus.devpath, O_RDONLY);
 
 	if (fd < 0) {
-		err(1, "open failed (try 'bmp280 start' if the driver is not running)");
+		PX4_ERR("open failed (try 'bmp280 start' if the driver is not running)");
+		exit(1);
 	}
 
 	/* start the sensor polling at max */
 	if (OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MAX)) {
-		errx(1, "failed to set poll rate");
+		PX4_ERR("failed to set poll rate");
+		exit(1);
 	}
 
 	/* average a few measurements */
@@ -888,14 +917,16 @@ calibrate(unsigned altitude, enum BMP280_BUS busid)
 		ret = poll(&fds, 1, 1000);
 
 		if (ret != 1) {
-			errx(1, "timed out waiting for sensor data");
+			PX4_ERR("timed out waiting for sensor data");
+			exit(1);
 		}
 
 		/* now go get it */
 		sz = read(fd, &report, sizeof(report));
 
 		if (sz != sizeof(report)) {
-			err(1, "sensor read failed");
+			PX4_ERR("sensor read failed");
+			exit(1);
 		}
 
 		pressure += report.pressure;
@@ -910,17 +941,18 @@ calibrate(unsigned altitude, enum BMP280_BUS busid)
 	const float g  = 9.80665f;	/* gravity constant in m/s/s */
 	const float R  = 287.05f;	/* ideal gas constant in J/kg/K */
 
-	warnx("averaged pressure %10.4fkPa at %um", (double)pressure, altitude);
+	PX4_WARN("averaged pressure %10.4fkPa at %um", (double)pressure, altitude);
 
 	p1 = pressure * (powf(((T1 + (a * (float)altitude)) / T1), (g / (a * R))));
 
-	warnx("calculated MSL pressure %10.4fkPa", (double)p1);
+	PX4_WARN("calculated MSL pressure %10.4fkPa", (double)p1);
 
 	/* save as integer Pa */
 	p1 *= 1000.0f;
 
 	if (ioctl(fd, BAROIOCSMSLPRESSURE, (unsigned long)p1) != OK) {
-		err(1, "BAROIOCSMSLPRESSURE");
+		PX4_ERR("BAROIOCSMSLPRESSURE");
+		exit(1);
 	}
 
 	close(fd);
@@ -930,16 +962,23 @@ calibrate(unsigned altitude, enum BMP280_BUS busid)
 void
 usage()
 {
-	warnx("missing command: try 'start', 'info', 'test', 'test2', 'reset', 'calibrate'");
+	PX4_WARN("missing command: try 'start', 'info', 'test', 'test2', 'reset', 'calibrate'");
-	warnx("options:");
+	PX4_WARN("options:");
-	warnx("    -X    (external I2C bus TODO)");
+	PX4_WARN("    -X    (external I2C bus TODO)");
-	warnx("    -I    (internal I2C bus TODO)");
+	PX4_WARN("    -I    (internal I2C bus TODO)");
-	warnx("    -S    (external SPI bus)");
+	PX4_WARN("    -S    (external SPI bus)");
-	warnx("    -s    (internal SPI bus)");
+	PX4_WARN("    -s    (internal SPI bus)");
 }
 
 } // namespace
 
+
+bmp280::IBMP280::~IBMP280()
+{
+
+}
+
+
 int
 bmp280_main(int argc, char *argv[])
 {
@@ -951,12 +990,12 @@ bmp280_main(int argc, char *argv[])
 		switch (ch) {
 		case 'X':
 			busid = BMP280_BUS_I2C_EXTERNAL;
-			errx(1, "not supported yet");
 			break;
 
 		case 'I':
 			busid = BMP280_BUS_I2C_INTERNAL;
-			errx(1, "not supported yet");
+			//PX4_ERR("not supported yet");
+			//exit(1);
 			break;
 
 		case 'S':
@@ -1008,7 +1047,8 @@ bmp280_main(int argc, char *argv[])
 	 */
 	if (!strcmp(verb, "calibrate")) {
 		if (argc < 2) {
-			errx(1, "missing altitude");
+			PX4_ERR("missing altitude");
+			exit(1);
 		}
 
 		long altitude = strtol(argv[optind + 1], nullptr, 10);
@@ -1016,5 +1056,6 @@ bmp280_main(int argc, char *argv[])
 		bmp280::calibrate(altitude, busid);
 	}
 
-	errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'");
+	PX4_ERR("unrecognized command, try 'start', 'test', 'reset' or 'info'");
+	exit(1);
 }

src/drivers/bmp280/bmp280.h

@@ -50,28 +50,28 @@
 #define BPM280_VALUE_ID		0x58	/* chip id */
 #define BPM280_VALUE_RESET	0xB6	/* reset */
 
-#define BPM280_STATUS_MEASURING	1<<3	/* if in process of measure */
+#define BPM280_STATUS_MEASURING	(1<<3)	/* if in process of measure */
-#define BPM280_STATUS_COPING	1<<0	/* if in process of data copy */
+#define BPM280_STATUS_COPING	(1<<0)	/* if in process of data copy */
 
-#define BPM280_CTRL_P0		0x0<<2		/* no p measure */
+#define BPM280_CTRL_P0		(0x0<<2)		/* no p measure */
-#define BPM280_CTRL_P1		0x1<<2
+#define BPM280_CTRL_P1		(0x1<<2)
-#define BPM280_CTRL_P2		0x2<<2
+#define BPM280_CTRL_P2		(0x2<<2)
-#define BPM280_CTRL_P4		0x3<<2
+#define BPM280_CTRL_P4		(0x3<<2)
-#define BPM280_CTRL_P8		0x4<<2
+#define BPM280_CTRL_P8		(0x4<<2)
-#define BPM280_CTRL_P16		0x5<<2
+#define BPM280_CTRL_P16		(0x5<<2)
 
-#define BPM280_CTRL_T0		0x0<<5		/* no t measure */
+#define BPM280_CTRL_T0		(0x0<<5)		/* no t measure */
-#define BPM280_CTRL_T1		0x1<<5
+#define BPM280_CTRL_T1		(0x1<<5)
-#define BPM280_CTRL_T2		0x2<<5
+#define BPM280_CTRL_T2		(0x2<<5)
-#define BPM280_CTRL_T4		0x3<<5
+#define BPM280_CTRL_T4		(0x3<<5)
-#define BPM280_CTRL_T8		0x4<<5
+#define BPM280_CTRL_T8		(0x4<<5)
-#define BPM280_CTRL_T16		0x5<<5
+#define BPM280_CTRL_T16		(0x5<<5)
 
-#define BPM280_CONFIG_F0		0x0<<2		/* no filter */
+#define BPM280_CONFIG_F0		(0x0<<2)		/* no filter */
-#define BPM280_CONFIG_F2		0x1<<2
+#define BPM280_CONFIG_F2		(0x1<<2)
-#define BPM280_CONFIG_F4		0x2<<2
+#define BPM280_CONFIG_F4		(0x2<<2)
-#define BPM280_CONFIG_F8		0x3<<2
+#define BPM280_CONFIG_F8		(0x3<<2)
-#define BPM280_CONFIG_F16		0x4<<2
+#define BPM280_CONFIG_F16		(0x4<<2)
 
 
 #define BPM280_CTRL_MODE_SLEEP	0x0
@@ -146,6 +146,8 @@ public:
 
 } /* 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);

src/drivers/bmp280/bmp280_i2c.cpp

@@ -0,0 +1,142 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2016 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 bmp280_spi.cpp
+ *
+ * SPI interface for BMP280
+ */
+
+#include <px4_config.h>
+
+#include <drivers/bmp280/bmp280.h>
+#include <drivers/device/i2c.h>
+
+#include "board_config.h"
+
+
+#if defined(PX4_I2C_OBDEV_BMP280) || defined(PX4_I2C_EXT_OBDEV_BMP280)
+
+
+class BMP280_I2C: public device::I2C, public bmp280::IBMP280
+{
+public:
+	BMP280_I2C(uint8_t bus, uint8_t device, bool external);
+	~BMP280_I2C();
+
+	bool is_external();
+	int init();
+
+	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);
+
+private:
+	struct bmp280::calibration_s _cal;
+	struct bmp280::data_s _data;
+	bool _external;
+};
+
+bmp280::IBMP280 *bmp280_i2c_interface(uint8_t busnum, uint8_t device, bool external)
+{
+	return new BMP280_I2C(busnum, device, external);
+}
+
+BMP280_I2C::BMP280_I2C(uint8_t bus, uint8_t device, bool external) :
+	I2C("BMP280_I2C", nullptr, bus, device, 100 * 1000)
+{
+	_external = external;
+}
+
+
+BMP280_I2C::~BMP280_I2C()
+{
+}
+
+
+bool BMP280_I2C::is_external()
+{
+	return _external;
+}
+
+int BMP280_I2C::init()
+{
+	return I2C::init();
+}
+
+uint8_t BMP280_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 BMP280_I2C::set_reg(uint8_t value, uint8_t addr)
+{
+	uint8_t cmd[2] = { (uint8_t)(addr), value};
+	return transfer(cmd, sizeof(cmd), nullptr, 0);
+
+}
+
+bmp280::data_s *BMP280_I2C::get_data(uint8_t addr)
+{
+	const uint8_t cmd = (uint8_t)(addr);
+
+	if (transfer(&cmd, sizeof(cmd), (uint8_t *)&_data, sizeof(struct bmp280::data_s)) == OK) {
+		return (&_data);
+
+	} else {
+		return nullptr;
+	}
+
+
+}
+
+bmp280::calibration_s *BMP280_I2C::get_calibration(uint8_t addr)
+{
+	const uint8_t cmd = (uint8_t)(addr) ;
+
+	if (transfer(&cmd, sizeof(cmd), (uint8_t *)&_cal, sizeof(struct bmp280::calibration_s)) == OK) {
+		return &(_cal);
+
+	} else {
+		return nullptr;
+	}
+}
+
+
+
+#endif /* PX4_I2C_OBDEV_BMP280 || PX4_I2C_EXT_OBDEV_BMP280 */

src/drivers/bmp280/bmp280_spi.cpp

@@ -93,9 +93,6 @@ BMP280_SPI::BMP280_SPI(uint8_t bus, spi_dev_e device, bool external) :
 	_external = external;
 }
 
-bmp280::IBMP280::~IBMP280()
-{
-}
 
 BMP280_SPI::~BMP280_SPI()
 {

src/drivers/bmp285/CMakeLists.txt

@@ -1,44 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2016 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.
-#
-############################################################################
-
-px4_add_module(
-	MODULE drivers__bmp285
-	MAIN bmp285
-	COMPILE_FLAGS
-	SRCS
-		bmp285_main.cpp
-		bmp285.cpp
-	DEPENDS
-		platforms__common
-	)
-# vim: set noet ft=cmake fenc=utf-8 ff=unix :

src/drivers/bmp285/bmp285.hpp

@@ -1,278 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012-2016 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 bmp285.h
- *
- * Shared defines for the bmp285 driver.
- */
-
-#ifndef BMP285_HPP_
-#define BMP285_HPP_
-
-#include <px4_config.h>
-
-#include <sys/types.h>
-#include <stdint.h>
-#include <stdbool.h>
-#include <stdlib.h>
-#include <semaphore.h>
-#include <string.h>
-#include <fcntl.h>
-#include <poll.h>
-#include <errno.h>
-#include <stdio.h>
-#include <math.h>
-#include <unistd.h>
-#include <getopt.h>
-
-#include <nuttx/arch.h>
-#include <nuttx/wqueue.h>
-#include <nuttx/clock.h>
-
-#include <arch/board/board.h>
-#include <board_config.h>
-
-
-#include <drivers/device/device.h>
-#include <drivers/drv_baro.h>
-#include <drivers/drv_hrt.h>
-#include <drivers/device/ringbuffer.h>
-#include <drivers/device/i2c.h>
-#include <systemlib/perf_counter.h>
-#include <systemlib/err.h>
-
-
-#pragma once
-
-
-#define BMP285_DEVICE_PATH_PRESSURE         "/dev/bmp285_i2c_int"
-
-#define BMP285_DEVICE_PATH_PRESSURE_EXT     "/dev/bmp285_i2c_ext"
-
-#define BMP285_SLAVE_ADDRESS                 PX4_I2C_OBDEV_BMP285
-
-#define BMP285_BUS_SPEED                     1000*100
-
-#define BPM285_ADDR_CAL		0x88	/* address of 12x 2 bytes calibration data */
-#define BPM285_ADDR_DATA	0xF7	/* address of 2x 3 bytes p-t data */
-
-#define BPM285_ADDR_CONFIG	0xF5	/* configuration */
-#define BPM285_ADDR_CTRL	0xF4	/* controll */
-#define BPM285_ADDR_STATUS	0xF3	/* state */
-#define BPM285_ADDR_RESET	0xE0	/* reset */
-#define BPM285_ADDR_ID		0xD0	/* id */
-
-#define BPM285_VALUE_ID		0x58	/* chip id */
-#define BPM285_VALUE_RESET	0xB6	/* reset */
-
-#define BPM285_STATUS_MEASURING	1<<3	/* if in process of measure */
-#define BPM285_STATUS_COPING	1<<0	/* if in process of data copy */
-
-#define BPM285_CTRL_P0		0x0<<2		/* no p measure */
-#define BPM285_CTRL_P1		0x1<<2
-#define BPM285_CTRL_P2		0x2<<2
-#define BPM285_CTRL_P4		0x3<<2
-#define BPM285_CTRL_P8		0x4<<2
-#define BPM285_CTRL_P16		0x5<<2
-
-#define BPM285_CTRL_T0		0x0<<5		/* no t measure */
-#define BPM285_CTRL_T1		0x1<<5
-#define BPM285_CTRL_T2		0x2<<5
-#define BPM285_CTRL_T4		0x3<<5
-#define BPM285_CTRL_T8		0x4<<5
-#define BPM285_CTRL_T16		0x5<<5
-
-#define BPM285_CONFIG_F0		0x0<<2		/* no filter */
-#define BPM285_CONFIG_F2		0x1<<2
-#define BPM285_CONFIG_F4		0x2<<2
-#define BPM285_CONFIG_F8		0x3<<2
-#define BPM285_CONFIG_F16		0x4<<2
-
-#define BMP285_CTRL_T_SB0       0x0<<5
-#define BMP285_CTRL_T_SB1       0x1<<5
-#define BMP285_CTRL_T_SB2       0x2<<5
-#define BMP285_CTRL_T_SB3       0x3<<5
-#define BMP285_CTRL_T_SB4       0x4<<5
-#define BMP285_CTRL_T_SB5       0x5<<5
-#define BMP285_CTRL_T_SB6       0x6<<5
-#define BMP285_CTRL_T_SB7       0x7<<5
-
-
-#define BPM285_CTRL_MODE_SLEEP	0x0
-#define BPM285_CTRL_MODE_FORCE	0x1		/* on demand, goes to sleep after */
-#define BPM285_CTRL_MODE_NORMAL	0x3
-
-#define BPM285_MT_INIT		6400	/* max measure time of initial p + t in us */
-#define BPM285_MT			2300	/* max measure time of p or t in us */
-
-
-
-namespace bmp285
-{
-
-#pragma pack(push,1)
-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
-
-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
-
-#pragma pack(pop)
-
-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;
-};
-
-} /* namespace */
-
-
-/*
- * BMP285 internal constants and data structures.
- */
-
-
-
-class BMP285 : public device::I2C
-{
-public:
-	BMP285(int bus, uint16_t address, const char *path, bool external);
-	~BMP285();
-
-	bool is_external();
-	virtual int     init();
-
-	virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
-	virtual int     ioctl(struct file *filp, int cmd, unsigned long arg);
-
-	/**
-	 * Diagnostics - print some basic information about the driver.
-	 */
-	void            print_info();
-	bmp285::data_s *get_data(uint8_t reg);
-	bmp285::calibration_s *get_calibration(uint8_t addr);
-
-private:
-	uint8_t             _curr_ctrl;
-	struct work_s       _work;
-	bool _external;
-
-	unsigned            _report_ticks; // 0 - no cycling, otherwise period of sending a report
-	unsigned            _max_mesure_ticks; //ticks needed to measure
-
-	ringbuffer::RingBuffer  *_reports;
-
-	bool            _collect_phase;
-
-	/* altitude conversion calibration */
-	unsigned        _msl_pressure;  /* in Pa */
-
-	orb_advert_t        _baro_topic;
-	int                 _orb_class_instance;
-	int                 _class_instance;
-
-	perf_counter_t      _sample_perf;
-	perf_counter_t      _measure_perf;
-	perf_counter_t      _comms_errors;
-	perf_counter_t      _buffer_overflows;
-
-	struct bmp285::calibration_s _cal;
-	struct bmp285::data_s _data;
-
-	struct bmp285::fcalibration_s _fcal; //pre processed calibration constants
-
-	float           _P; /* in Pa */
-	float           _T; /* in K */
-
-
-	/* periodic execution helpers */
-	void            start_cycle();
-	void            stop_cycle();
-	void            cycle(); //main execution
-	static void     cycle_trampoline(void *arg);
-	/**
-	 * Read a register from the BMP285
-	 *
-	 * @param       The register to read.
-	 * @return      The value that was read.
-	 */
-	uint8_t         read_reg(unsigned reg);
-
-	/**
-	 * Write a register in the BMP285
-	 *
-	 * @param reg       The register to write.
-	 * @param value     The new value to write.
-	 * @return          The value returned after transfer of data.
-	 */
-	int            write_reg(unsigned reg, uint8_t value);
-
-	int     measure(); //start measure
-	int     collect(); //get results and publish
-
-};
-
-#endif
-

src/drivers/bmp285/bmp285_main.cpp

@@ -1,370 +0,0 @@
-
-#include <drivers/bmp285/bmp285.hpp>
-
-
-/** driver 'main' command */
-extern "C" { __EXPORT int bmp285_main(int argc, char *argv[]); }
-
-/**
- * Local functions in support of the shell command.
- */
-namespace bmp285
-{
-
-BMP285	*g_dev_int; // on internal bus
-BMP285	*g_dev_ext; // on external bus
-
-
-void    start(bool);
-void    test(bool);
-void    reset(bool);
-void    info(bool);
-void    calibrate(bool, unsigned);
-void    usage();
-
-
-
-/**
- * Start the driver.
- *
- * This function only returns if the driver is up and running
- * or failed to detect the sensor.
- */
-void
-start(bool external_bus)
-{
-	int fd;
-	BMP285 **g_dev_ptr = external_bus ? &g_dev_ext : &g_dev_int;
-	const char *path = external_bus ? BMP285_DEVICE_PATH_PRESSURE_EXT : BMP285_DEVICE_PATH_PRESSURE;
-
-	if (*g_dev_ptr != nullptr)
-		/* if already started, the still command succeeded */
-	{
-		errx(0, "already started");
-	}
-
-
-	/* create the driver */
-	if (external_bus) {
-#if defined(PX4_I2C_BUS_EXPANSION) && defined(PX4_I2C_EXT_OBDEV_BMP285)
-		*g_dev_ptr = new BMP285(PX4_I2C_BUS_EXPANSION, BMP285_SLAVE_ADDRESS, path, external_bus);
-#else
-		errx(0, "External SPI not available");
-#endif
-
-	} else {
-		*g_dev_ptr = new BMP285(PX4_I2C_BUS_BMP285, BMP285_SLAVE_ADDRESS, path, external_bus);
-	}
-
-	if (*g_dev_ptr == nullptr) {
-		goto fail;
-	}
-
-	if (OK != (*g_dev_ptr)->init()) {
-		goto fail;
-	}
-
-	/* set the poll rate to default, starts automatic data collection */
-	fd = open(path, O_RDONLY);
-
-
-	if (fd < 0) {
-		goto fail;
-	}
-
-	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
-		goto fail;
-	}
-
-	close(fd);
-
-	exit(0);
-fail:
-
-	if (*g_dev_ptr != nullptr) {
-		delete (*g_dev_ptr);
-		*g_dev_ptr = nullptr;
-	}
-
-	errx(1, "driver start failed");
-}
-
-
-/**
- * Perform some basic functional tests on the driver;
- * make sure we can collect data from the sensor in polled
- * and automatic modes.
- */
-void
-test(bool external_bus)
-{
-	const char *path = external_bus ? BMP285_DEVICE_PATH_PRESSURE_EXT : BMP285_DEVICE_PATH_PRESSURE;
-	struct baro_report report;
-	ssize_t sz;
-	int ret;
-
-
-	/* get the driver */
-	int fd = open(path, O_RDONLY);
-
-	if (fd < 0) {
-		err(1, "open failed (try 'bmp285 start' if the driver is not running)");
-	}
-
-	/* do a simple demand read */
-	sz = read(fd, &report, sizeof(report));
-
-	if (sz != sizeof(report)) {
-		err(1, "immediate read failed");
-	}
-
-	warnx("single read");
-	warnx("pressure:    %10.4f", (double)report.pressure);
-	warnx("altitude:    %11.4f", (double)report.altitude);
-	warnx("temperature: %8.4f", (double)report.temperature);
-	warnx("time:        %lld", report.timestamp);
-
-	/* set the queue depth to 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)) {
-		errx(1, "failed to set 2Hz poll rate");
-	}
-
-	/* read the sensor 5x and report each value */
-	for (unsigned i = 0; i < 5; i++) {
-		struct pollfd fds;
-
-		/* wait for data to be ready */
-		fds.fd = fd;
-		fds.events = POLLIN;
-		ret = poll(&fds, 1, 2000);
-
-		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)) {
-			err(1, "periodic read failed");
-		}
-
-		warnx("periodic read %u", i);
-		warnx("pressure:    %10.4f", (double)report.pressure);
-		warnx("altitude:    %11.4f", (double)report.altitude);
-		warnx("temperature K: %8.4f", (double)report.temperature);
-		warnx("time:        %lld", report.timestamp);
-	}
-
-	close(fd);
-	errx(0, "PASS");
-
-}
-
-/**
- * Reset the driver.
- */
-void
-reset(bool external_bus)
-{
-	const char *path = external_bus ? BMP285_DEVICE_PATH_PRESSURE_EXT : BMP285_DEVICE_PATH_PRESSURE;
-	int fd =  open(path, O_RDONLY);
-
-	if (fd < 0) {
-		err(1, "failed ");
-	}
-
-	if (ioctl(fd, SENSORIOCRESET, 0) < 0) {
-		err(1, "driver reset failed");
-	}
-
-	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
-		err(1, "driver poll restart failed");
-	}
-
-	close(fd);
-	exit(0);
-
-}
-
-/**
- * Print a little info about the driver.
- */
-void
-info(bool external_bus)
-{
-	BMP285 **g_dev_ptr = external_bus ? &g_dev_ext : &g_dev_int;
-
-	if (*g_dev_ptr == nullptr) {
-		errx(1, "driver not running");
-	}
-
-	printf("state @ %p\n", *g_dev_ptr);
-	(*g_dev_ptr)->print_info();
-
-	exit(0);
-
-}
-
-/**
- * Calculate actual MSL pressure given current altitude
- */
-void
-calibrate(bool external_bus, unsigned altitude)
-{
-	const char *path = external_bus ? BMP285_DEVICE_PATH_PRESSURE_EXT : BMP285_DEVICE_PATH_PRESSURE;
-	struct baro_report report;
-	float   pressure;
-	float   p1;
-
-	/* get the driver */
-	int fd = open(path, O_RDONLY);
-
-
-	if (fd < 0) {
-		err(1, "open failed (try 'bmp285 start' if the driver is not running)");
-	}
-
-	/* start the sensor polling at max */
-	if (OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MAX)) {
-		errx(1, "failed to set poll rate");
-	}
-
-	/* average a few measurements */
-	pressure = 0.0f;
-
-	for (unsigned i = 0; i < 20; i++) {
-		struct pollfd fds;
-		int ret;
-		ssize_t sz;
-
-		/* wait for data to be ready */
-		fds.fd = fd;
-		fds.events = POLLIN;
-		ret = poll(&fds, 1, 1000);
-
-		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)) {
-			err(1, "sensor read failed");
-		}
-
-		pressure += report.pressure;
-	}
-
-	pressure /= 20;     /* average */
-	pressure /= 10;     /* scale from millibar to kPa */
-
-	/* tropospheric properties (0-11km) for standard atmosphere */
-	const float T1 = 15.0 + 273.15; /* temperature at base height in Kelvin */
-	const float a  = -6.5 / 1000;   /* temperature gradient in degrees per metre */
-	const float g  = 9.80665f;  /* gravity constant in m/s/s */
-	const float R  = 287.05f;   /* ideal gas constant in J/kg/K */
-
-	warnx("averaged pressure %10.4fkPa at %um", (double)pressure, altitude);
-
-	float value = (powf(((T1 + (a * (float)altitude)) / T1), (g / (a * R))));
-	warnx("power value is %10.4f", (double)value);
-	p1 = pressure * (powf(((T1 + (a * (float)altitude)) / T1), (g / (a * R))));
-
-	warnx("calculated MSL pressure %10.4fkPa", (double)p1);
-
-	/* save as integer Pa */
-	p1 *= 1000.0f;
-	warnx("p1 is %10.4fkPa at %um", (double)p1);
-
-	if (ioctl(fd, BAROIOCSMSLPRESSURE, (unsigned long)p1) != OK) {
-		err(1, "BAROIOCSMSLPRESSURE");
-	}
-
-	close(fd);
-	exit(0);
-}
-
-
-void
-usage()
-{
-	warnx("missing command: try 'start',  'test',  'info',\n'reset',  'calibrate'");
-	warnx("options:");
-	warnx("    -X    (external bus)");
-}
-
-} // namespace
-
-int
-bmp285_main(int argc, char *argv[])
-{
-	bool external_bus = false;
-	int ch;
-
-	/* jump over start/off/etc and look at options first */
-	while ((ch = getopt(argc, argv, "X:")) != EOF) {
-		switch (ch) {
-		case 'X':
-			external_bus = true;
-			break;
-
-		default:
-			bmp285::usage();
-			exit(0);
-		}
-	}
-
-	const char *verb = argv[optind];
-
-	/*
-	 * Start/load the driver.
-	 */
-	if (!strcmp(verb, "start")) {
-		bmp285::start(external_bus);
-	}
-
-
-	/*
-	 * Test the driver/device.
-	 */
-	if (!strcmp(verb, "test")) {
-		bmp285::test(external_bus);
-	}
-
-	/*
-	 * Reset the driver.
-	 */
-	if (!strcmp(verb, "reset")) {
-		bmp285::reset(external_bus);
-	}
-
-	/*
-	 * Print driver information.
-	 */
-	if (!strcmp(verb, "info")) {
-		bmp285::info(external_bus);
-	}
-
-	/*
-	 * Perform MSL pressure calibration given an altitude in metres
-	 */
-	if (!strcmp(verb, "calibrate")) {
-		if (argc < 2) {
-			errx(1, "missing altitude");
-		}
-
-		long altitude = strtol(argv[optind + 1], nullptr, 10);
-
-		bmp285::calibrate(external_bus, altitude);
-	}
-
-	bmp285::usage();
-	exit(1);
-}

src/drivers/boards/px4fmu-v4/board_config.h

@@ -156,7 +156,6 @@
 #define PX4_I2C_BUS_EXPANSION	1
 #define PX4_I2C_BUS_LED			PX4_I2C_BUS_EXPANSION
 #define PX4_I2C_BUS_BMM150 		PX4_I2C_BUS_EXPANSION
-#define PX4_I2C_BUS_BMP285 		PX4_I2C_BUS_EXPANSION
 
 /* Devices on the external bus.
  *
@@ -166,7 +165,7 @@
 #define PX4_I2C_OBDEV_HMC5883	0x1e
 #define PX4_I2C_OBDEV_LIS3MDL	0x1e
 #define PX4_I2C_OBDEV_BMM150	0x10
-#define PX4_I2C_OBDEV_BMP285	0x76
+#define PX4_I2C_OBDEV_BMP280	0x76
 
 /*
  * ADC channels