mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-06-01 02:55:07 +08:00
bmp280: build on linux and qurt
This commit is contained in:
Daniel Agar
GitHub
@@ -45,6 +45,7 @@ px4_add_board(
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LABEL qurt-default
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LABEL qurt-default
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DRIVERS
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DRIVERS
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barometer/bmp280
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gps
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gps
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imu/mpu9250
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imu/mpu9250
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spektrum_rc
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spektrum_rc
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@@ -45,6 +45,7 @@ px4_add_board(
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LABEL qurt-default
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LABEL qurt-default
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DRIVERS
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DRIVERS
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barometer/bmp280
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gps
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gps
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imu/mpu9250
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imu/mpu9250
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spektrum_rc
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spektrum_rc
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@@ -10,6 +10,7 @@ px4_add_board(
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DRIVERS
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DRIVERS
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#barometer # all available barometer drivers
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#barometer # all available barometer drivers
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barometer/bmp280
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batt_smbus
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batt_smbus
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camera_trigger
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camera_trigger
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differential_pressure # all available differential pressure drivers
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differential_pressure # all available differential pressure drivers
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@@ -8,6 +8,7 @@ px4_add_board(
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DRIVERS
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DRIVERS
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#barometer # all available barometer drivers
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#barometer # all available barometer drivers
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barometer/bmp280
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batt_smbus
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batt_smbus
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camera_trigger
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camera_trigger
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differential_pressure # all available differential pressure drivers
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differential_pressure # all available differential pressure drivers
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@@ -0,0 +1,95 @@
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/****************************************************************************
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*
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* Copyright (c) 2012-2016 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
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* 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
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* 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,
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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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#pragma once
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#include "bmp280.h"
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/*
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* BMP280 internal constants and data structures.
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*/
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class BMP280 : public cdev::CDev, public px4::ScheduledWorkItem
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{
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public:
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BMP280(bmp280::IBMP280 *interface, const char *path);
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virtual ~BMP280();
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virtual int init();
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virtual ssize_t read(cdev::file_t *filp, char *buffer, size_t buflen);
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virtual int ioctl(cdev::file_t *filp, int cmd, unsigned long arg);
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/**
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* Diagnostics - print some basic information about the driver.
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*/
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void print_info();
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private:
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bmp280::IBMP280 *_interface;
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bool _running;
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uint8_t _curr_ctrl;
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unsigned _report_interval; // 0 - no cycling, otherwise period of sending a report
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unsigned _max_measure_interval; // interval in microseconds needed to measure
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ringbuffer::RingBuffer *_reports;
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bool _collect_phase;
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orb_advert_t _baro_topic;
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int _orb_class_instance;
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int _class_instance;
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perf_counter_t _sample_perf;
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perf_counter_t _measure_perf;
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perf_counter_t _comms_errors;
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struct bmp280::calibration_s *_cal; //stored calibration constants
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struct bmp280::fcalibration_s _fcal; //pre processed calibration constants
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float _P; /* in Pa */
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float _T; /* in K */
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/* periodic execution helpers */
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void start_cycle();
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void stop_cycle();
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void Run() override;
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int measure(); //start measure
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int collect(); //get results and publish
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};
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@@ -37,9 +37,11 @@ px4_add_module(
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COMPILE_FLAGS
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COMPILE_FLAGS
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-Wno-cast-align # TODO: fix and enable
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-Wno-cast-align # TODO: fix and enable
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SRCS
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SRCS
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BMP280.hpp
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bmp280_spi.cpp
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bmp280_spi.cpp
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bmp280_i2c.cpp
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bmp280_i2c.cpp
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bmp280.cpp
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bmp280.cpp
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bmp280_main.cpp
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DEPENDS
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DEPENDS
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px4_work_queue
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px4_work_queue
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)
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)
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@@ -31,84 +31,7 @@
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*
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*
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****************************************************************************/
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****************************************************************************/
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/**
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#include "BMP280.hpp"
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* @file bmp280.cpp
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* Driver for the BMP280 barometric pressure sensor connected via I2C TODO or SPI.
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*/
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#include "bmp280.h"
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enum BMP280_BUS {
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BMP280_BUS_ALL = 0,
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BMP280_BUS_I2C_INTERNAL,
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BMP280_BUS_I2C_EXTERNAL,
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BMP280_BUS_SPI_INTERNAL,
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BMP280_BUS_SPI_EXTERNAL
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};
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/*
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* BMP280 internal constants and data structures.
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*/
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class BMP280 : public cdev::CDev, public px4::ScheduledWorkItem
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{
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public:
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BMP280(bmp280::IBMP280 *interface, const char *path);
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virtual ~BMP280();
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virtual int init();
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virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
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virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
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/**
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* Diagnostics - print some basic information about the driver.
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*/
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void print_info();
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private:
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bmp280::IBMP280 *_interface;
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bool _running;
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uint8_t _curr_ctrl;
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unsigned _report_interval; // 0 - no cycling, otherwise period of sending a report
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unsigned _max_measure_interval; // interval in microseconds needed to measure
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ringbuffer::RingBuffer *_reports;
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bool _collect_phase;
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orb_advert_t _baro_topic;
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int _orb_class_instance;
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int _class_instance;
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perf_counter_t _sample_perf;
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perf_counter_t _measure_perf;
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perf_counter_t _comms_errors;
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struct bmp280::calibration_s *_cal; //stored calibration constants
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struct bmp280::fcalibration_s _fcal; //pre processed calibration constants
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float _P; /* in Pa */
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float _T; /* in K */
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/* periodic execution helpers */
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void start_cycle();
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void stop_cycle();
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void Run() override;
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int measure(); //start measure
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int collect(); //get results and publish
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};
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/*
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* Driver 'main' command.
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*/
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extern "C" __EXPORT int bmp280_main(int argc, char *argv[]);
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BMP280::BMP280(bmp280::IBMP280 *interface, const char *path) :
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BMP280::BMP280(bmp280::IBMP280 *interface, const char *path) :
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CDev(path),
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CDev(path),
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@@ -239,7 +162,7 @@ BMP280::init()
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}
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}
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ssize_t
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ssize_t
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BMP280::read(struct file *filp, char *buffer, size_t buflen)
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BMP280::read(cdev::file_t *filp, char *buffer, size_t buflen)
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{
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{
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unsigned count = buflen / sizeof(sensor_baro_s);
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unsigned count = buflen / sizeof(sensor_baro_s);
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sensor_baro_s *brp = reinterpret_cast<sensor_baro_s *>(buffer);
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sensor_baro_s *brp = reinterpret_cast<sensor_baro_s *>(buffer);
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@@ -291,7 +214,7 @@ BMP280::read(struct file *filp, char *buffer, size_t buflen)
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}
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}
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int
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int
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BMP280::ioctl(struct file *filp, int cmd, unsigned long arg)
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BMP280::ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
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{
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{
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switch (cmd) {
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switch (cmd) {
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@@ -310,7 +233,7 @@ BMP280::ioctl(struct file *filp, int cmd, unsigned long arg)
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/* FALLTHROUGH */
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/* FALLTHROUGH */
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default: {
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default: {
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if (interval == 0) {
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if (interval == 0) {
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interval = (USEC_PER_SEC / arg);
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interval = (1000000 / arg);
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}
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}
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/* do we need to start internal polling? */
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/* do we need to start internal polling? */
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@@ -478,345 +401,3 @@ BMP280::print_info()
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_reports->get(&brp);
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_reports->get(&brp);
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print_message(brp);
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print_message(brp);
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}
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}
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/**
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* Local functions in support of the shell command.
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*/
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namespace bmp280
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{
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/*
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list of supported bus configurations
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*/
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struct bmp280_bus_option {
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enum BMP280_BUS busid;
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const char *devpath;
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BMP280_constructor interface_constructor;
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uint8_t busnum;
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uint32_t device;
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bool external;
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BMP280 *dev;
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} bus_options[] = {
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#if defined(PX4_SPIDEV_EXT_BARO) && defined(PX4_SPI_BUS_EXT)
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{ BMP280_BUS_SPI_EXTERNAL, "/dev/bmp280_spi_ext", &bmp280_spi_interface, PX4_SPI_BUS_EXT, PX4_SPIDEV_EXT_BARO, true, NULL },
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#endif
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#if defined(PX4_SPIDEV_BARO)
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# if defined(PX4_SPIDEV_BARO_BUS)
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{ BMP280_BUS_SPI_INTERNAL, "/dev/bmp280_spi_int", &bmp280_spi_interface, PX4_SPIDEV_BARO_BUS, PX4_SPIDEV_BARO, false, NULL },
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# else
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{ BMP280_BUS_SPI_INTERNAL, "/dev/bmp280_spi_int", &bmp280_spi_interface, PX4_SPI_BUS_SENSORS, PX4_SPIDEV_BARO, false, NULL },
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|
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# endif
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|
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#endif
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#if defined(PX4_I2C_BUS_ONBOARD) && defined(PX4_I2C_OBDEV_BMP280)
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{ BMP280_BUS_I2C_INTERNAL, "/dev/bmp280_i2c_int", &bmp280_i2c_interface, PX4_I2C_BUS_ONBOARD, PX4_I2C_OBDEV_BMP280, false, NULL },
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|
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#endif
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#if defined(PX4_I2C_BUS_EXPANSION) && defined(PX4_I2C_OBDEV_BMP280)
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{ BMP280_BUS_I2C_EXTERNAL, "/dev/bmp280_i2c_ext", &bmp280_i2c_interface, PX4_I2C_BUS_EXPANSION, PX4_I2C_OBDEV_BMP280, true, NULL },
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#endif
|
|
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};
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|
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#define NUM_BUS_OPTIONS (sizeof(bus_options)/sizeof(bus_options[0]))
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bool start_bus(struct bmp280_bus_option &bus);
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struct bmp280_bus_option &find_bus(enum BMP280_BUS busid);
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void start(enum BMP280_BUS busid);
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|
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void test(enum BMP280_BUS busid);
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|
||||||
void reset(enum BMP280_BUS busid);
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||||||
void info();
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|
||||||
void usage();
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|
||||||
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|
||||||
|
|
||||||
/**
|
|
||||||
* Start the driver.
|
|
||||||
*/
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|
||||||
bool
|
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start_bus(struct bmp280_bus_option &bus)
|
|
||||||
{
|
|
||||||
if (bus.dev != nullptr) {
|
|
||||||
PX4_ERR("bus option already started");
|
|
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exit(1);
|
|
||||||
}
|
|
||||||
|
|
||||||
bmp280::IBMP280 *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 BMP280(interface, bus.devpath);
|
|
||||||
|
|
||||||
if (bus.dev == nullptr) {
|
|
||||||
return false;
|
|
||||||
}
|
|
||||||
|
|
||||||
if (OK != bus.dev->init()) {
|
|
||||||
delete bus.dev;
|
|
||||||
bus.dev = nullptr;
|
|
||||||
return false;
|
|
||||||
}
|
|
||||||
|
|
||||||
int fd = open(bus.devpath, O_RDONLY);
|
|
||||||
|
|
||||||
/* set the poll rate to default, starts automatic data collection */
|
|
||||||
if (fd == -1) {
|
|
||||||
PX4_ERR("can't open baro device");
|
|
||||||
exit(1);
|
|
||||||
}
|
|
||||||
|
|
||||||
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
|
|
||||||
close(fd);
|
|
||||||
PX4_ERR("failed setting default poll rate");
|
|
||||||
exit(1);
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|
||||||
}
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|
||||||
|
|
||||||
close(fd);
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|
||||||
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 BMP280_BUS busid)
|
|
||||||
{
|
|
||||||
uint8_t i;
|
|
||||||
bool started = false;
|
|
||||||
|
|
||||||
for (i = 0; i < NUM_BUS_OPTIONS; i++) {
|
|
||||||
if (busid == BMP280_BUS_ALL && bus_options[i].dev != NULL) {
|
|
||||||
// this device is already started
|
|
||||||
continue;
|
|
||||||
}
|
|
||||||
|
|
||||||
if (busid != BMP280_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);
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
/**
|
|
||||||
* find a bus structure for a busid
|
|
||||||
*/
|
|
||||||
struct bmp280_bus_option &find_bus(enum BMP280_BUS busid)
|
|
||||||
{
|
|
||||||
for (uint8_t i = 0; i < NUM_BUS_OPTIONS; i++) {
|
|
||||||
if ((busid == BMP280_BUS_ALL ||
|
|
||||||
busid == bus_options[i].busid) && bus_options[i].dev != NULL) {
|
|
||||||
return bus_options[i];
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
PX4_ERR("bus %u not started", (unsigned)busid);
|
|
||||||
exit(1);
|
|
||||||
}
|
|
||||||
|
|
||||||
/**
|
|
||||||
* Perform some basic functional tests on the driver;
|
|
||||||
* make sure we can collect data from the sensor in polled
|
|
||||||
* and automatic modes.
|
|
||||||
*/
|
|
||||||
void
|
|
||||||
test(enum BMP280_BUS busid)
|
|
||||||
{
|
|
||||||
struct bmp280_bus_option &bus = find_bus(busid);
|
|
||||||
sensor_baro_s report;
|
|
||||||
ssize_t sz;
|
|
||||||
int ret;
|
|
||||||
|
|
||||||
int fd;
|
|
||||||
|
|
||||||
fd = open(bus.devpath, O_RDONLY);
|
|
||||||
|
|
||||||
if (fd < 0) {
|
|
||||||
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)) {
|
|
||||||
PX4_ERR("immediate read failed");
|
|
||||||
exit(1);
|
|
||||||
}
|
|
||||||
|
|
||||||
print_message(report);
|
|
||||||
|
|
||||||
/* 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) {
|
|
||||||
PX4_ERR("timed out waiting for sensor data");
|
|
||||||
exit(1);
|
|
||||||
}
|
|
||||||
|
|
||||||
/* now go get it */
|
|
||||||
sz = read(fd, &report, sizeof(report));
|
|
||||||
|
|
||||||
if (sz != sizeof(report)) {
|
|
||||||
PX4_ERR("periodic read failed");
|
|
||||||
exit(1);
|
|
||||||
}
|
|
||||||
|
|
||||||
print_message(report);
|
|
||||||
}
|
|
||||||
|
|
||||||
close(fd);
|
|
||||||
PX4_ERR("PASS");
|
|
||||||
exit(0);
|
|
||||||
}
|
|
||||||
|
|
||||||
/**
|
|
||||||
* Reset the driver.
|
|
||||||
*/
|
|
||||||
void
|
|
||||||
reset(enum BMP280_BUS busid)
|
|
||||||
{
|
|
||||||
struct bmp280_bus_option &bus = find_bus(busid);
|
|
||||||
int fd;
|
|
||||||
|
|
||||||
fd = open(bus.devpath, O_RDONLY);
|
|
||||||
|
|
||||||
if (fd < 0) {
|
|
||||||
PX4_ERR("failed ");
|
|
||||||
exit(1);
|
|
||||||
}
|
|
||||||
|
|
||||||
if (ioctl(fd, SENSORIOCRESET, 0) < 0) {
|
|
||||||
PX4_ERR("driver reset failed");
|
|
||||||
exit(1);
|
|
||||||
}
|
|
||||||
|
|
||||||
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
|
|
||||||
PX4_ERR("driver poll restart failed");
|
|
||||||
exit(1);
|
|
||||||
}
|
|
||||||
|
|
||||||
exit(0);
|
|
||||||
}
|
|
||||||
|
|
||||||
/**
|
|
||||||
* Print a little info about the driver.
|
|
||||||
*/
|
|
||||||
void
|
|
||||||
info()
|
|
||||||
{
|
|
||||||
for (uint8_t i = 0; i < NUM_BUS_OPTIONS; i++) {
|
|
||||||
struct bmp280_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', 'test', 'test2', 'reset'");
|
|
||||||
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
|
|
||||||
|
|
||||||
int
|
|
||||||
bmp280_main(int argc, char *argv[])
|
|
||||||
{
|
|
||||||
int myoptind = 1;
|
|
||||||
int ch;
|
|
||||||
const char *myoptarg = nullptr;
|
|
||||||
enum BMP280_BUS busid = BMP280_BUS_ALL;
|
|
||||||
|
|
||||||
while ((ch = px4_getopt(argc, argv, "XISs", &myoptind, &myoptarg)) != EOF) {
|
|
||||||
switch (ch) {
|
|
||||||
case 'X':
|
|
||||||
busid = BMP280_BUS_I2C_EXTERNAL;
|
|
||||||
break;
|
|
||||||
|
|
||||||
case 'I':
|
|
||||||
busid = BMP280_BUS_I2C_INTERNAL;
|
|
||||||
break;
|
|
||||||
|
|
||||||
case 'S':
|
|
||||||
busid = BMP280_BUS_SPI_EXTERNAL;
|
|
||||||
break;
|
|
||||||
|
|
||||||
case 's':
|
|
||||||
busid = BMP280_BUS_SPI_INTERNAL;
|
|
||||||
break;
|
|
||||||
|
|
||||||
default:
|
|
||||||
bmp280::usage();
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
if (myoptind >= argc) {
|
|
||||||
bmp280::usage();
|
|
||||||
return -1;
|
|
||||||
}
|
|
||||||
|
|
||||||
const char *verb = argv[myoptind];
|
|
||||||
|
|
||||||
/*
|
|
||||||
* Start/load the driver.
|
|
||||||
*/
|
|
||||||
if (!strcmp(verb, "start")) {
|
|
||||||
bmp280::start(busid);
|
|
||||||
}
|
|
||||||
|
|
||||||
/*
|
|
||||||
* Test the driver/device.
|
|
||||||
*/
|
|
||||||
if (!strcmp(verb, "test")) {
|
|
||||||
bmp280::test(busid);
|
|
||||||
}
|
|
||||||
|
|
||||||
/*
|
|
||||||
* Reset the driver.
|
|
||||||
*/
|
|
||||||
if (!strcmp(verb, "reset")) {
|
|
||||||
bmp280::reset(busid);
|
|
||||||
}
|
|
||||||
|
|
||||||
/*
|
|
||||||
* Print driver information.
|
|
||||||
*/
|
|
||||||
if (!strcmp(verb, "info")) {
|
|
||||||
bmp280::info();
|
|
||||||
}
|
|
||||||
|
|
||||||
PX4_ERR("unrecognized command, try 'start', 'test', 'reset' or 'info'");
|
|
||||||
return -1;
|
|
||||||
}
|
|
||||||
|
|||||||
@@ -0,0 +1,260 @@
|
|||||||
|
/****************************************************************************
|
||||||
|
*
|
||||||
|
* 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 bmp280.cpp
|
||||||
|
* Driver for the BMP280 barometric pressure sensor connected via I2C TODO or SPI.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include "BMP280.hpp"
|
||||||
|
|
||||||
|
enum BMP280_BUS {
|
||||||
|
BMP280_BUS_ALL = 0,
|
||||||
|
BMP280_BUS_I2C_INTERNAL,
|
||||||
|
BMP280_BUS_I2C_EXTERNAL,
|
||||||
|
BMP280_BUS_SPI_INTERNAL,
|
||||||
|
BMP280_BUS_SPI_EXTERNAL
|
||||||
|
};
|
||||||
|
|
||||||
|
/*
|
||||||
|
* Driver 'main' command.
|
||||||
|
*/
|
||||||
|
extern "C" __EXPORT int bmp280_main(int argc, char *argv[]);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Local functions in support of the shell command.
|
||||||
|
*/
|
||||||
|
namespace bmp280
|
||||||
|
{
|
||||||
|
|
||||||
|
/*
|
||||||
|
list of supported bus configurations
|
||||||
|
*/
|
||||||
|
struct bmp280_bus_option {
|
||||||
|
enum BMP280_BUS busid;
|
||||||
|
const char *devpath;
|
||||||
|
BMP280_constructor interface_constructor;
|
||||||
|
uint8_t busnum;
|
||||||
|
uint32_t device;
|
||||||
|
bool external;
|
||||||
|
BMP280 *dev;
|
||||||
|
} bus_options[] = {
|
||||||
|
#if defined(PX4_SPIDEV_EXT_BARO) && defined(PX4_SPI_BUS_EXT)
|
||||||
|
{ BMP280_BUS_SPI_EXTERNAL, "/dev/bmp280_spi_ext", &bmp280_spi_interface, PX4_SPI_BUS_EXT, PX4_SPIDEV_EXT_BARO, true, NULL },
|
||||||
|
#endif
|
||||||
|
#if defined(PX4_SPIDEV_BARO)
|
||||||
|
# if defined(PX4_SPIDEV_BARO_BUS)
|
||||||
|
{ BMP280_BUS_SPI_INTERNAL, "/dev/bmp280_spi_int", &bmp280_spi_interface, PX4_SPIDEV_BARO_BUS, PX4_SPIDEV_BARO, false, NULL },
|
||||||
|
# else
|
||||||
|
{ BMP280_BUS_SPI_INTERNAL, "/dev/bmp280_spi_int", &bmp280_spi_interface, PX4_SPI_BUS_SENSORS, PX4_SPIDEV_BARO, false, NULL },
|
||||||
|
# endif
|
||||||
|
#endif
|
||||||
|
#if defined(PX4_I2C_BUS_ONBOARD) && defined(PX4_I2C_OBDEV_BMP280)
|
||||||
|
{ BMP280_BUS_I2C_INTERNAL, "/dev/bmp280_i2c_int", &bmp280_i2c_interface, PX4_I2C_BUS_ONBOARD, PX4_I2C_OBDEV_BMP280, false, NULL },
|
||||||
|
#endif
|
||||||
|
#if defined(PX4_I2C_BUS_EXPANSION) && defined(PX4_I2C_OBDEV_BMP280)
|
||||||
|
{ BMP280_BUS_I2C_EXTERNAL, "/dev/bmp280_i2c_ext", &bmp280_i2c_interface, PX4_I2C_BUS_EXPANSION, PX4_I2C_OBDEV_BMP280, true, NULL },
|
||||||
|
#endif
|
||||||
|
};
|
||||||
|
#define NUM_BUS_OPTIONS (sizeof(bus_options)/sizeof(bus_options[0]))
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Start the driver.
|
||||||
|
*/
|
||||||
|
static bool
|
||||||
|
start_bus(struct bmp280_bus_option &bus)
|
||||||
|
{
|
||||||
|
if (bus.dev != nullptr) {
|
||||||
|
PX4_ERR("bus option already started");
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
|
||||||
|
bmp280::IBMP280 *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 BMP280(interface, bus.devpath);
|
||||||
|
|
||||||
|
if (bus.dev == nullptr) {
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (OK != bus.dev->init()) {
|
||||||
|
delete bus.dev;
|
||||||
|
bus.dev = nullptr;
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
|
||||||
|
int fd = px4_open(bus.devpath, O_RDONLY);
|
||||||
|
|
||||||
|
/* set the poll rate to default, starts automatic data collection */
|
||||||
|
if (fd == -1) {
|
||||||
|
PX4_ERR("can't open baro device");
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (px4_ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
|
||||||
|
px4_close(fd);
|
||||||
|
PX4_ERR("failed setting default poll rate");
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
|
||||||
|
px4_close(fd);
|
||||||
|
return true;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Start the driver.
|
||||||
|
*
|
||||||
|
* This function call only returns once the driver
|
||||||
|
* is either successfully up and running or failed to start.
|
||||||
|
*/
|
||||||
|
static int
|
||||||
|
start(enum BMP280_BUS busid)
|
||||||
|
{
|
||||||
|
uint8_t i;
|
||||||
|
bool started = false;
|
||||||
|
|
||||||
|
for (i = 0; i < NUM_BUS_OPTIONS; i++) {
|
||||||
|
if (busid == BMP280_BUS_ALL && bus_options[i].dev != NULL) {
|
||||||
|
// this device is already started
|
||||||
|
continue;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (busid != BMP280_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");
|
||||||
|
return PX4_ERROR;
|
||||||
|
}
|
||||||
|
|
||||||
|
// one or more drivers started OK
|
||||||
|
return PX4_OK;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Print a little info about the driver.
|
||||||
|
*/
|
||||||
|
static int
|
||||||
|
info()
|
||||||
|
{
|
||||||
|
for (uint8_t i = 0; i < NUM_BUS_OPTIONS; i++) {
|
||||||
|
struct bmp280_bus_option *bus = &bus_options[i];
|
||||||
|
|
||||||
|
if (bus != nullptr && bus->dev != nullptr) {
|
||||||
|
PX4_WARN("%s", bus->devpath);
|
||||||
|
bus->dev->print_info();
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
static int
|
||||||
|
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)");
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
} // namespace
|
||||||
|
|
||||||
|
int
|
||||||
|
bmp280_main(int argc, char *argv[])
|
||||||
|
{
|
||||||
|
int myoptind = 1;
|
||||||
|
int ch;
|
||||||
|
const char *myoptarg = nullptr;
|
||||||
|
enum BMP280_BUS busid = BMP280_BUS_ALL;
|
||||||
|
|
||||||
|
while ((ch = px4_getopt(argc, argv, "XISs", &myoptind, &myoptarg)) != EOF) {
|
||||||
|
switch (ch) {
|
||||||
|
case 'X':
|
||||||
|
busid = BMP280_BUS_I2C_EXTERNAL;
|
||||||
|
break;
|
||||||
|
|
||||||
|
case 'I':
|
||||||
|
busid = BMP280_BUS_I2C_INTERNAL;
|
||||||
|
break;
|
||||||
|
|
||||||
|
case 'S':
|
||||||
|
busid = BMP280_BUS_SPI_EXTERNAL;
|
||||||
|
break;
|
||||||
|
|
||||||
|
case 's':
|
||||||
|
busid = BMP280_BUS_SPI_INTERNAL;
|
||||||
|
break;
|
||||||
|
|
||||||
|
default:
|
||||||
|
return bmp280::usage();
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
if (myoptind >= argc) {
|
||||||
|
return bmp280::usage();
|
||||||
|
}
|
||||||
|
|
||||||
|
const char *verb = argv[myoptind];
|
||||||
|
|
||||||
|
/*
|
||||||
|
* Start/load the driver.
|
||||||
|
*/
|
||||||
|
if (!strcmp(verb, "start")) {
|
||||||
|
return bmp280::start(busid);
|
||||||
|
}
|
||||||
|
|
||||||
|
/*
|
||||||
|
* Print driver information.
|
||||||
|
*/
|
||||||
|
if (!strcmp(verb, "info")) {
|
||||||
|
return bmp280::info();
|
||||||
|
}
|
||||||
|
|
||||||
|
return bmp280::usage();
|
||||||
|
}
|
||||||
Reference in New Issue
Block a user