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BMP581: Add Bosch BMP581 barometer (#23064)
* BMP581: Add Bosch BMP581 barometer * Copyright：fix copyright header year * style: not use pointers and Bool returns, Check the failed condition return * delay: Replace usleep() with ScheduleDelayed() * definitions: Delete unused definitions * comment: Delet redundant comments * constants: Change to uppercase * BMP581: run make format
This commit is contained in:
Liu1
GitHub
@@ -1,6 +1,6 @@
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############################################################################
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#
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# Copyright (c) 2017 PX4 Development Team. All rights reserved.
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# Copyright (c) 2017-2024 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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@@ -33,6 +33,7 @@
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add_subdirectory(bmp280)
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add_subdirectory(bmp388)
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add_subdirectory(bmp581)
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add_subdirectory(dps310)
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add_subdirectory(lps22hb)
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#add_subdirectory(lps25h) # not ready for general inclusion
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@@ -4,6 +4,7 @@ menu "barometer"
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default n
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select DRIVERS_BAROMETER_BMP280
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select DRIVERS_BAROMETER_BMP388
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select DRIVERS_BAROMETER_BMP581
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select DRIVERS_BAROMETER_DPS310
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select DRIVERS_BAROMETER_LPS22HB
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select DRIVERS_BAROMETER_LPS33HW
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@@ -0,0 +1,44 @@
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############################################################################
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#
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# Copyright (c) 2024 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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px4_add_module(
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MODULE drivers__barometer__bmp581
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MAIN bmp581
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SRCS
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bmp581_spi.cpp
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bmp581_i2c.cpp
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bmp581.cpp
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bmp581_main.cpp
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DEPENDS
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px4_work_queue
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)
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@@ -0,0 +1,5 @@
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menuconfig DRIVERS_BAROMETER_BMP581
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bool "bmp581"
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default n
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---help---
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Enable support for bmp581
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File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,320 @@
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/****************************************************************************
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*
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* Copyright (C) 2024 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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/**
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* @file bmp581.h
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*
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* Shared defines for the bmp581 driver.
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*/
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#pragma once
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#include <math.h>
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#include <drivers/drv_hrt.h>
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#include <lib/cdev/CDev.hpp>
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#include <perf/perf_counter.h>
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#include <px4_platform_common/i2c_spi_buses.h>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <uORB/PublicationMulti.hpp>
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#include <uORB/topics/sensor_baro.h>
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#include "board_config.h"
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// From https://github.com/boschsensortec/BMP5-Sensor-API/blob/master/bmp5_defs.h
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/* BIT SLICE GET AND SET FUNCTIONS */
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#define BMP5_GET_BITSLICE(regvar, bitname) \
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((regvar & bitname##_MSK) >> bitname##_POS)
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#define BMP5_SET_BITSLICE(regvar, bitname, val) \
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((regvar & ~bitname##_MSK) | \
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((val << bitname##_POS) & bitname##_MSK))
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#define BMP5_SET_BIT_VAL_0(reg_data, bitname) (reg_data & ~(bitname##_MSK))
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#define BMP5_SET_BITS_POS_0(reg_data, bitname, data) \
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((reg_data & ~(bitname##_MSK)) | \
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(data & bitname##_MSK))
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#define BMP5_GET_BITS_POS_0(reg_data, bitname) (reg_data & (bitname##_MSK))
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/* Chip id of BMP5 */
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#define BMP581_CHIP_ID_PRIM (0x50)
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#define BMP581_CHIP_ID_SEC (0x51)
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#define BMP5_ENABLE (0x01)
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#define BMP5_DISABLE (0x00)
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/* Register addresses */
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#define BMP5_REG_CHIP_ID_ADDR (0x01)
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#define BMP5_REG_REV_ID_ADDR (0x02)
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#define BMP5_REG_INT_CONFIG_ADDR (0x14)
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#define BMP5_REG_INT_SOURCE_ADDR (0x15)
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#define BMP5_REG_FIFO_SEL_ADDR (0x18)
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#define BMP5_REG_TEMP_DATA_XLSB_ADDR (0x1D)
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#define BMP5_REG_INT_STATUS_ADDR (0x27)
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#define BMP5_REG_STATUS_ADDR (0x28)
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#define BMP5_REG_NVM_ADDR (0x2B)
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#define BMP5_REG_DSP_CONFIG_ADDR (0x30)
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#define BMP5_REG_DSP_IIR_ADDR (0x31)
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#define BMP5_REG_OSR_CONFIG_ADDR (0x36)
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#define BMP5_REG_ODR_CONFIG_ADDR (0x37)
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#define BMP5_REG_CMD_ADDR (0x7E)
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/* Delay definition */
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#define BMP5_DELAY_US_SOFT_RESET (2000)
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#define BMP5_DELAY_US_STANDBY (2500)
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/* Soft reset command */
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#define BMP5_SOFT_RESET_CMD (0xB6)
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/* Deepstandby enable/disable */
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#define BMP5_DEEP_ENABLED (0)
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#define BMP5_DEEP_DISABLED (1)
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/* ODR settings */
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#define BMP5_ODR_50_HZ (0x0F)
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#define BMP5_ODR_05_HZ (0x18)
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#define BMP5_ODR_01_HZ (0x1C)
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/* Oversampling for temperature and pressure */
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#define BMP5_OVERSAMPLING_1X (0x00)
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#define BMP5_OVERSAMPLING_2X (0x01)
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#define BMP5_OVERSAMPLING_4X (0x02)
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#define BMP5_OVERSAMPLING_8X (0x03)
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#define BMP5_OVERSAMPLING_16X (0x04)
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#define BMP5_OVERSAMPLING_32X (0x05)
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#define BMP5_OVERSAMPLING_64X (0x06)
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#define BMP5_OVERSAMPLING_128X (0x07)
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/* IIR filter for temperature and pressure */
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#define BMP5_IIR_FILTER_BYPASS (0x00)
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#define BMP5_IIR_FILTER_COEFF_1 (0x01)
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/* Macro is used to bypass both iir_t and iir_p together */
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#define BMP5_IIR_BYPASS (0xC0)
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/* Interrupt configurations */
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#define BMP5_INT_MODE_PULSED (0)
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#define BMP5_INT_POL_ACTIVE_HIGH (1)
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#define BMP5_INT_OD_PUSHPULL (0)
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/* NVM and Interrupt status asserted macros */
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#define BMP5_INT_ASSERTED_POR_SOFTRESET_COMPLETE (0x10)
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#define BMP5_INT_NVM_RDY (0x02)
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#define BMP5_INT_NVM_ERR (0x04)
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/* Interrupt configurations */
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#define BMP5_INT_MODE_MSK (0x01)
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#define BMP5_INT_POL_MSK (0x02)
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#define BMP5_INT_POL_POS (1)
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#define BMP5_INT_OD_MSK (0x04)
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#define BMP5_INT_OD_POS (2)
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#define BMP5_INT_EN_MSK (0x08)
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#define BMP5_INT_EN_POS (3)
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#define BMP5_INT_DRDY_EN_MSK (0x01)
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#define BMP5_INT_FIFO_FULL_EN_MSK (0x02)
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#define BMP5_INT_FIFO_FULL_EN_POS (1)
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#define BMP5_INT_FIFO_THRES_EN_MSK (0x04)
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#define BMP5_INT_FIFO_THRES_EN_POS (2)
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#define BMP5_INT_OOR_PRESS_EN_MSK (0x08)
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#define BMP5_INT_OOR_PRESS_EN_POS (3)
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/* ODR configuration */
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#define BMP5_ODR_MSK (0x7C)
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#define BMP5_ODR_POS (2)
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/* OSR configurations */
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#define BMP5_TEMP_OS_MSK (0x07)
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#define BMP5_PRESS_OS_MSK (0x38)
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#define BMP5_PRESS_OS_POS (3)
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/* Pressure enable */
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#define BMP5_PRESS_EN_MSK (0x40)
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#define BMP5_PRESS_EN_POS (6)
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/* IIR configurations */
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#define BMP5_SET_IIR_TEMP_MSK (0x07)
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#define BMP5_SET_IIR_PRESS_MSK (0x38)
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#define BMP5_SET_IIR_PRESS_POS (3)
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#define BMP5_SHDW_SET_IIR_TEMP_MSK (0x08)
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#define BMP5_SHDW_SET_IIR_TEMP_POS (3)
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#define BMP5_SHDW_SET_IIR_PRESS_MSK (0x20)
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#define BMP5_SHDW_SET_IIR_PRESS_POS (5)
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#define BMP5_IIR_FLUSH_FORCED_EN_MSK (0x04)
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#define BMP5_IIR_FLUSH_FORCED_EN_POS (2)
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/* Powermode */
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#define BMP5_POWERMODE_MSK (0x03)
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#define BMP5_DEEP_DISABLE_MSK (0x80)
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#define BMP5_DEEP_DISABLE_POS (7)
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/* Fifo configurations */
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#define BMP5_FIFO_FRAME_SEL_MSK (0x03)
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/* NVM and Interrupt status asserted macros */
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#define BMP5_INT_ASSERTED_DRDY (0x01)
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/*!
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* @brief Enumerator for powermode selection
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*/
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enum bmp5_powermode {
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BMP5_POWERMODE_STANDBY,
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BMP5_POWERMODE_NORMAL,
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BMP5_POWERMODE_FORCED,
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BMP5_POWERMODE_CONTINOUS,
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BMP5_POWERMODE_DEEP_STANDBY
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};
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/*!
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* @brief Enumerator for interface selection
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*/
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enum bmp5_intf {
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BMP5_SPI_INTF,
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BMP5_I2C_INTF,
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};
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/*!
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* @brief BMP5 sensor data structure which comprises of temperature and pressure in floating point with data type as
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* float for pressure and temperature.
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*/
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struct bmp5_sensor_data {
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float pressure;
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float temperature;
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};
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/*
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* BMP581 internal constants and data structures.
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*/
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class IBMP581
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{
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public:
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virtual ~IBMP581() = default;
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virtual int init() = 0;
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// read reg value
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virtual uint8_t get_reg(uint8_t addr) = 0;
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// bulk read reg value
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virtual int get_reg_buf(uint8_t addr, uint8_t *buf, uint8_t len) = 0;
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// write reg value
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virtual int set_reg(uint8_t value, uint8_t addr) = 0;
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virtual uint32_t get_device_id() const = 0;
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virtual uint8_t get_device_address() const = 0;
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};
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class BMP581 : public I2CSPIDriver<BMP581>
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{
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public:
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BMP581(const I2CSPIDriverConfig &config, IBMP581 *interface);
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virtual ~BMP581();
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static I2CSPIDriverBase *instantiate(const I2CSPIDriverConfig &config, int runtime_instance);
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static void print_usage();
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virtual int init();
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void print_status();
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void RunImpl();
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private:
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static constexpr uint8_t OVERSAMPLING_TEMPERATURE{BMP5_OVERSAMPLING_2X};
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static constexpr uint8_t OVERSAMPLING_PRESSURE{BMP5_OVERSAMPLING_32X};
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static constexpr uint8_t OUTPUT_DATA_RATE{BMP5_ODR_50_HZ};
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static constexpr uint8_t PRESSURE_ENABLE{BMP5_ENABLE};
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static constexpr uint8_t IIR_FILTER_COEFF_TEMPERATURE{BMP5_IIR_FILTER_COEFF_1};
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static constexpr uint8_t IIR_FILTER_COEFF_PRESSURE{BMP5_IIR_FILTER_COEFF_1};
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static constexpr uint8_t INTERRUPT_MODE{BMP5_INT_MODE_PULSED};
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static constexpr uint8_t INTERRUPT_POLARITY{BMP5_INT_POL_ACTIVE_HIGH};
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static constexpr uint8_t INTERRUPT_DRIVE{BMP5_INT_OD_PUSHPULL};
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uORB::PublicationMulti<sensor_baro_s> _sensor_baro_pub{ORB_ID(sensor_baro)};
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IBMP581 *_interface{nullptr};
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|
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unsigned _measure_interval{0}; // interval in microseconds needed to measure
|
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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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|
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bool _collect_phase{false};
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|
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uint8_t _chip_id{0};
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uint8_t _chip_rev_id{0};
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|
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void start();
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int measure();
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int collect(); // get results and publish
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|
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uint32_t get_measurement_time();
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int soft_reset();
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int set_config();
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uint8_t get_interrupt_status();
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int configure_interrupt();
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int int_source_select();
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uint8_t get_power_mode();
|
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int set_power_mode(uint8_t power_mode);
|
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uint8_t check_deepstandby_mode();
|
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int set_standby_mode();
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int set_deep_standby_mode();
|
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int set_osr_odr_press_config();
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int set_iir_config();
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int get_sensor_data(bmp5_sensor_data *sensor_data);
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};
|
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|
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|
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/* interface factories */
|
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extern IBMP581 *bmp581_spi_interface(uint8_t busnum, uint32_t device, int bus_frequency, spi_mode_e spi_mode);
|
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extern IBMP581 *bmp581_i2c_interface(uint8_t busnum, uint32_t device, int bus_frequency);
|
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extern enum bmp5_intf intf;
|
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@@ -0,0 +1,95 @@
|
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/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2024 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 bmp581_i2c.cpp
|
||||
*
|
||||
* I2C interface for BMP581
|
||||
*/
|
||||
|
||||
#include <drivers/device/i2c.h>
|
||||
|
||||
#include "bmp581.h"
|
||||
|
||||
class BMP581_I2C: public device::I2C, public IBMP581
|
||||
{
|
||||
public:
|
||||
BMP581_I2C(uint8_t bus, uint32_t device, int bus_frequency);
|
||||
virtual ~BMP581_I2C() = default;
|
||||
|
||||
int init();
|
||||
|
||||
uint8_t get_reg(uint8_t addr);
|
||||
int get_reg_buf(uint8_t addr, uint8_t *buf, uint8_t len);
|
||||
int set_reg(uint8_t value, uint8_t addr);
|
||||
|
||||
uint32_t get_device_id() const override { return device::I2C::get_device_id(); }
|
||||
|
||||
uint8_t get_device_address() const override { return device::I2C::get_device_address(); }
|
||||
};
|
||||
|
||||
IBMP581 *bmp581_i2c_interface(uint8_t busnum, uint32_t device, int bus_frequency)
|
||||
{
|
||||
return new BMP581_I2C(busnum, device, bus_frequency);
|
||||
}
|
||||
|
||||
BMP581_I2C::BMP581_I2C(uint8_t bus, uint32_t device, int bus_frequency) :
|
||||
I2C(DRV_BARO_DEVTYPE_BMP581, MODULE_NAME, bus, device, bus_frequency)
|
||||
{
|
||||
}
|
||||
|
||||
int BMP581_I2C::init()
|
||||
{
|
||||
return I2C::init();
|
||||
}
|
||||
|
||||
uint8_t BMP581_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 BMP581_I2C::get_reg_buf(uint8_t addr, uint8_t *buf, uint8_t len)
|
||||
{
|
||||
const uint8_t cmd = (uint8_t)(addr);
|
||||
return transfer(&cmd, sizeof(cmd), buf, len);
|
||||
}
|
||||
|
||||
int BMP581_I2C::set_reg(uint8_t value, uint8_t addr)
|
||||
{
|
||||
uint8_t cmd[2] = { (uint8_t)(addr), value};
|
||||
return transfer(cmd, sizeof(cmd), nullptr, 0);
|
||||
}
|
||||
|
||||
@@ -0,0 +1,127 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2024 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
#include <px4_platform_common/getopt.h>
|
||||
#include <px4_platform_common/module.h>
|
||||
|
||||
#include "bmp581.h"
|
||||
|
||||
enum bmp5_intf intf;
|
||||
|
||||
void BMP581::print_usage()
|
||||
{
|
||||
PRINT_MODULE_USAGE_NAME("bmp581", "driver");
|
||||
PRINT_MODULE_USAGE_SUBCATEGORY("baro");
|
||||
PRINT_MODULE_USAGE_COMMAND("start");
|
||||
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, true);
|
||||
PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x46);
|
||||
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
|
||||
}
|
||||
|
||||
I2CSPIDriverBase *BMP581::instantiate(const I2CSPIDriverConfig &config, int runtime_instance)
|
||||
{
|
||||
IBMP581 *interface = nullptr;
|
||||
|
||||
if (config.bus_type == BOARD_I2C_BUS) {
|
||||
interface = bmp581_i2c_interface(config.bus, config.i2c_address, config.bus_frequency);
|
||||
intf = BMP5_I2C_INTF;
|
||||
|
||||
} else if (config.bus_type == BOARD_SPI_BUS) {
|
||||
interface = bmp581_spi_interface(config.bus, config.spi_devid, config.bus_frequency, config.spi_mode);
|
||||
intf = BMP5_SPI_INTF;
|
||||
}
|
||||
|
||||
if (interface == nullptr) {
|
||||
PX4_ERR("failed creating interface for bus %i (devid 0x%" PRIx32 ")", config.bus, config.spi_devid);
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
if (interface->init() != OK) {
|
||||
delete interface;
|
||||
PX4_DEBUG("no device on bus %i (devid 0x%" PRIx32 ")", config.bus, config.spi_devid);
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
BMP581 *dev = new BMP581(config, interface);
|
||||
|
||||
if (dev == nullptr) {
|
||||
delete interface;
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
if (dev->init() != OK) {
|
||||
delete dev;
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
return dev;
|
||||
}
|
||||
|
||||
|
||||
extern "C" int bmp581_main(int argc, char *argv[])
|
||||
{
|
||||
using ThisDriver = BMP581;
|
||||
BusCLIArguments cli{true, true};
|
||||
cli.i2c_address = 0x46;
|
||||
cli.default_i2c_frequency = 100 * 1000;
|
||||
cli.default_spi_frequency = 10 * 1000 * 1000;
|
||||
|
||||
const char *verb = cli.parseDefaultArguments(argc, argv);
|
||||
|
||||
if (!verb) {
|
||||
ThisDriver::print_usage();
|
||||
return -1;
|
||||
}
|
||||
|
||||
BusInstanceIterator iterator(MODULE_NAME, cli, DRV_BARO_DEVTYPE_BMP581);
|
||||
|
||||
if (!strcmp(verb, "start")) {
|
||||
return ThisDriver::module_start(cli, iterator);
|
||||
}
|
||||
|
||||
if (!strcmp(verb, "stop")) {
|
||||
return ThisDriver::module_stop(iterator);
|
||||
}
|
||||
|
||||
if (!strcmp(verb, "status")) {
|
||||
return ThisDriver::module_status(iterator);
|
||||
}
|
||||
|
||||
ThisDriver::print_usage();
|
||||
return -1;
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
@@ -0,0 +1,102 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2024 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 bmp581_spi.cpp
|
||||
*
|
||||
* SPI interface for BMP 581 (NOTE: untested!)
|
||||
*/
|
||||
|
||||
#include <drivers/device/spi.h>
|
||||
|
||||
#include "bmp581.h"
|
||||
|
||||
/* SPI protocol address bits */
|
||||
#define DIR_READ (1<<7) //for set
|
||||
#define DIR_WRITE ~(1<<7) //for clear
|
||||
|
||||
class BMP581_SPI: public device::SPI, public IBMP581
|
||||
{
|
||||
public:
|
||||
BMP581_SPI(uint8_t bus, uint32_t device, int bus_frequency, spi_mode_e spi_mode);
|
||||
virtual ~BMP581_SPI() = default;
|
||||
|
||||
int init();
|
||||
|
||||
uint8_t get_reg(uint8_t addr);
|
||||
int get_reg_buf(uint8_t addr, uint8_t *buf, uint8_t len);
|
||||
int set_reg(uint8_t value, uint8_t addr);
|
||||
|
||||
uint32_t get_device_id() const override { return device::SPI::get_device_id(); }
|
||||
|
||||
uint8_t get_device_address() const override { return device::SPI::get_device_address(); }
|
||||
};
|
||||
|
||||
IBMP581 *bmp581_spi_interface(uint8_t busnum, uint32_t device, int bus_frequency, spi_mode_e spi_mode)
|
||||
{
|
||||
return new BMP581_SPI(busnum, device, bus_frequency, spi_mode);
|
||||
}
|
||||
|
||||
BMP581_SPI::BMP581_SPI(uint8_t bus, uint32_t device, int bus_frequency, spi_mode_e spi_mode) :
|
||||
SPI(DRV_BARO_DEVTYPE_BMP581, MODULE_NAME, bus, device, spi_mode, bus_frequency)
|
||||
{
|
||||
}
|
||||
|
||||
int BMP581_SPI::init()
|
||||
{
|
||||
return SPI::init();
|
||||
}
|
||||
|
||||
uint8_t BMP581_SPI::get_reg(uint8_t addr)
|
||||
{
|
||||
uint8_t cmd[2] = { (uint8_t)(addr | DIR_READ), 0}; //set MSB bit
|
||||
transfer(&cmd[0], &cmd[0], 2);
|
||||
return cmd[1];
|
||||
}
|
||||
|
||||
int BMP581_SPI::get_reg_buf(uint8_t addr, uint8_t *buf, uint8_t len)
|
||||
{
|
||||
uint8_t cmd[len + 1] = {(uint8_t)(addr | DIR_READ)};
|
||||
int ret;
|
||||
|
||||
ret = transfer(&cmd[0], &cmd[0], (len + 1));
|
||||
memcpy(buf, &cmd[1], len);
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
int BMP581_SPI::set_reg(uint8_t value, uint8_t addr)
|
||||
{
|
||||
uint8_t cmd[2] = { (uint8_t)(addr & DIR_WRITE), value}; //clear MSB bit
|
||||
return transfer(&cmd[0], nullptr, 2);
|
||||
}
|
||||
@@ -1,6 +1,6 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012-2023 PX4 Development Team. All rights reserved.
|
||||
* Copyright (c) 2012-2024 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
|
||||
@@ -151,6 +151,7 @@
|
||||
#define DRV_ACC_DEVTYPE_BMI085 0x6C
|
||||
#define DRV_GYR_DEVTYPE_BMI085 0x6D
|
||||
#define DRV_BARO_DEVTYPE_BMP390 0x6E
|
||||
#define DRV_BARO_DEVTYPE_BMP581 0x6F
|
||||
|
||||
#define DRV_DIST_DEVTYPE_LL40LS 0x70
|
||||
#define DRV_DIST_DEVTYPE_MAPPYDOT 0x71
|
||||
|
||||
Reference in New Issue
Block a user