Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-29 19:57:12 +08:00
Code Issues Actions 15 Packages Projects Releases Wiki Activity

ms5611: fix start_bus() logic to work on linux and add RPi I2C bus config (#13814)

Browse Source
This commit is contained in:
SalimTerryLi
2019-12-31 05:16:56 +08:00
committed by Daniel Agar
parent c8fb3c589a
commit 87e5da189b
4 changed files with 23 additions and 16 deletions
Download Patch File Download Diff File Expand all files Collapse all files
boards/px4/raspberrypi/src/board_config.h
+4 -2
View File
@@ -48,8 +48,10 @@
/* /*
* I2C busses * I2C busses
*/ */
#define PX4_I2C_BUS_EXPANSION 1 #define PX4_I2C_BUS_ONBOARD 1
#define PX4_NUMBER_I2C_BUSES 1 #define PX4_I2C_BUS_EXPANSION 0
#define PX4_NUMBER_I2C_BUSES 2
#define ADC_BATTERY_VOLTAGE_CHANNEL 0 #define ADC_BATTERY_VOLTAGE_CHANNEL 0
#define ADC_BATTERY_CURRENT_CHANNEL 1 #define ADC_BATTERY_CURRENT_CHANNEL 1
src/drivers/barometer/ms5611/MS5611.hpp
+6 -6
View File
@@ -96,12 +96,12 @@ class MS5611 : public cdev::CDev, public px4::ScheduledWorkItem
{ {
public: public:
MS5611(device::Device *interface, ms5611::prom_u &prom_buf, const char *path, enum MS56XX_DEVICE_TYPES device_type); MS5611(device::Device *interface, ms5611::prom_u &prom_buf, const char *path, enum MS56XX_DEVICE_TYPES device_type);
~MS5611(); ~MS5611() override;
virtual int init(); int init() override;
virtual ssize_t read(cdev::file_t *filp, char *buffer, size_t buflen); ssize_t read(cdev::file_t *filp, char *buffer, size_t buflen) override;
virtual int ioctl(cdev::file_t *filp, int cmd, unsigned long arg); int ioctl(cdev::file_t *filp, int cmd, unsigned long arg) override;
/** /**
* Diagnostics - print some basic information about the driver. * Diagnostics - print some basic information about the driver.
@@ -168,10 +168,10 @@ protected:
* *
* @return OK if the measurement command was successful. * @return OK if the measurement command was successful.
*/ */
virtual int measure(); int measure();
/** /**
* Collect the result of the most recent measurement. * Collect the result of the most recent measurement.
*/ */
virtual int collect(); int collect();
}; };
src/drivers/barometer/ms5611/ms5611_i2c.cpp
+5 -5
View File
@@ -50,13 +50,13 @@ class MS5611_I2C : public device::I2C
{ {
public: public:
MS5611_I2C(uint8_t bus, ms5611::prom_u &prom_buf); MS5611_I2C(uint8_t bus, ms5611::prom_u &prom_buf);
virtual ~MS5611_I2C() = default; ~MS5611_I2C() override = default;
virtual int read(unsigned offset, void *data, unsigned count); int read(unsigned offset, void *data, unsigned count) override;
virtual int ioctl(unsigned operation, unsigned &arg); int ioctl(unsigned operation, unsigned &arg) override;
protected: protected:
virtual int probe(); int probe() override;
private: private:
ms5611::prom_u &_prom; ms5611::prom_u &_prom;
@@ -240,7 +240,7 @@ MS5611_I2C::_read_prom()
last_val = prom_buf[0]; last_val = prom_buf[0];
} }
if (prom_buf[0] != last_val || prom_buf[1] != last_val) { if ((prom_buf[0] != last_val) || (prom_buf[1] != last_val)) {
bits_stuck = false; bits_stuck = false;
} }
src/drivers/barometer/ms5611/ms5611_main.cpp
+8 -3
View File
@@ -111,9 +111,14 @@ start_bus(struct ms5611_bus_option &bus, enum MS56XX_DEVICE_TYPES device_type)
bus.dev = new MS5611(interface, prom_buf, bus.devpath, device_type); bus.dev = new MS5611(interface, prom_buf, bus.devpath, device_type);
if (bus.dev != nullptr && OK != bus.dev->init()) { if (bus.dev == nullptr) {
PX4_ERR("alloc failed");
return false;
}
if (bus.dev->init() != PX4_OK) {
delete bus.dev; delete bus.dev;
bus.dev = NULL; bus.dev = nullptr;
return false; return false;
} }
@@ -125,7 +130,7 @@ start_bus(struct ms5611_bus_option &bus, enum MS56XX_DEVICE_TYPES device_type)
return false; return false;
} }
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) { if (px4_ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
px4_close(fd); px4_close(fd);
PX4_ERR("failed setting default poll rate"); PX4_ERR("failed setting default poll rate");
return false; return false;