mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-20 03:13:44 +08:00
ms5611: build on linux (navio2)
This commit is contained in:
Daniel Agar
GitHub
@@ -10,6 +10,7 @@ px4_add_board(
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DRIVERS
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#barometer # all available barometer drivers
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barometer/ms5611
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batt_smbus
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camera_trigger
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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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#barometer # all available barometer drivers
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barometer/ms5611
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batt_smbus
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camera_trigger
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differential_pressure # all available differential pressure drivers
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@@ -40,6 +40,8 @@ px4_add_module(
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ms5611_spi.cpp
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ms5611_i2c.cpp
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ms5611.cpp
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ms5611_main.cpp
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MS5611.hpp
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DEPENDS
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px4_work_queue
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)
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@@ -0,0 +1,177 @@
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/****************************************************************************
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*
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* Copyright (c) 2012-2019 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
|
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* modification, are permitted provided that the following conditions
|
||||
* 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
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
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||||
* 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.
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||||
*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* 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.
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||||
*
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****************************************************************************/
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#pragma once
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#include <drivers/device/i2c.h>
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#include <drivers/device/device.h>
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#include <drivers/device/ringbuffer.h>
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#include <drivers/device/spi.h>
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#include <drivers/drv_baro.h>
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#include <lib/cdev/CDev.hpp>
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#include <lib/perf/perf_counter.h>
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#include <px4_platform_common/getopt.h>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <systemlib/err.h>
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#include <uORB/uORB.h>
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#include "ms5611.h"
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enum MS56XX_DEVICE_TYPES {
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MS56XX_DEVICE = 0,
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MS5611_DEVICE = 5611,
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MS5607_DEVICE = 5607,
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};
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/* helper macro for handling report buffer indices */
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#define INCREMENT(_x, _lim) do { __typeof__(_x) _tmp = _x+1; if (_tmp >= _lim) _tmp = 0; _x = _tmp; } while(0)
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/* helper macro for arithmetic - returns the square of the argument */
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#define POW2(_x) ((_x) * (_x))
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/*
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* MS5611/MS5607 internal constants and data structures.
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*/
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#define ADDR_CMD_CONVERT_D1_OSR256 0x40 /* write to this address to start pressure conversion */
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#define ADDR_CMD_CONVERT_D1_OSR512 0x42 /* write to this address to start pressure conversion */
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#define ADDR_CMD_CONVERT_D1_OSR1024 0x44 /* write to this address to start pressure conversion */
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#define ADDR_CMD_CONVERT_D1_OSR2048 0x46 /* write to this address to start pressure conversion */
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#define ADDR_CMD_CONVERT_D1_OSR4096 0x48 /* write to this address to start pressure conversion */
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#define ADDR_CMD_CONVERT_D2_OSR256 0x50 /* write to this address to start temperature conversion */
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#define ADDR_CMD_CONVERT_D2_OSR512 0x52 /* write to this address to start temperature conversion */
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#define ADDR_CMD_CONVERT_D2_OSR1024 0x54 /* write to this address to start temperature conversion */
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#define ADDR_CMD_CONVERT_D2_OSR2048 0x56 /* write to this address to start temperature conversion */
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#define ADDR_CMD_CONVERT_D2_OSR4096 0x58 /* write to this address to start temperature conversion */
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/*
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use an OSR of 1024 to reduce the self-heating effect of the
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sensor. Information from MS tells us that some individual sensors
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are quite sensitive to this effect and that reducing the OSR can
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make a big difference
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*/
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#define ADDR_CMD_CONVERT_D1 ADDR_CMD_CONVERT_D1_OSR1024
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#define ADDR_CMD_CONVERT_D2 ADDR_CMD_CONVERT_D2_OSR1024
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/*
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* Maximum internal conversion time for OSR 1024 is 2.28 ms. We set an update
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* rate of 100Hz which is be very safe not to read the ADC before the
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* conversion finished
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*/
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#define MS5611_CONVERSION_INTERVAL 10000 /* microseconds */
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#define MS5611_MEASUREMENT_RATIO 3 /* pressure measurements per temperature measurement */
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#define MS5611_BARO_DEVICE_PATH_EXT "/dev/ms5611_ext"
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#define MS5611_BARO_DEVICE_PATH_INT "/dev/ms5611_int"
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class MS5611 : public cdev::CDev, public px4::ScheduledWorkItem
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{
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public:
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MS5611(device::Device *interface, ms5611::prom_u &prom_buf, const char *path, enum MS56XX_DEVICE_TYPES device_type);
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~MS5611();
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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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protected:
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device::Device *_interface;
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ms5611::prom_s _prom;
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unsigned _measure_interval{0};
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ringbuffer::RingBuffer *_reports;
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enum MS56XX_DEVICE_TYPES _device_type;
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bool _collect_phase;
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unsigned _measure_phase;
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/* intermediate temperature values per MS5611/MS5607 datasheet */
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int32_t _TEMP;
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int64_t _OFF;
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int64_t _SENS;
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float _P;
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float _T;
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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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/**
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* Initialize the automatic measurement state machine and start it.
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*
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* @note This function is called at open and error time. It might make sense
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* to make it more aggressive about resetting the bus in case of errors.
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*/
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void start();
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/**
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* Stop the automatic measurement state machine.
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*/
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void stop();
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/**
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* Perform a poll cycle; collect from the previous measurement
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* and start a new one.
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*
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* This is the heart of the measurement state machine. This function
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* alternately starts a measurement, or collects the data from the
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* previous measurement.
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*
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* When the interval between measurements is greater than the minimum
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* measurement interval, a gap is inserted between collection
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* and measurement to provide the most recent measurement possible
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* at the next interval.
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*/
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void Run() override;
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/**
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* Issue a measurement command for the current state.
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*
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* @return OK if the measurement command was successful.
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*/
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virtual int measure();
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/**
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* Collect the result of the most recent measurement.
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*/
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virtual int collect();
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};
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File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,277 @@
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/****************************************************************************
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*
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* Copyright (c) 2012-2015 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
|
||||
* 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.
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*
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****************************************************************************/
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/**
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* @file ms5611.cpp
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* Driver for the MS5611 and MS5607 barometric pressure sensor connected via I2C or SPI.
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*/
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#include "MS5611.hpp"
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#include "ms5611.h"
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enum MS5611_BUS {
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MS5611_BUS_ALL = 0,
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MS5611_BUS_I2C_INTERNAL,
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MS5611_BUS_I2C_EXTERNAL,
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MS5611_BUS_SPI_INTERNAL,
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MS5611_BUS_SPI_EXTERNAL
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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 ms5611_main(int argc, char *argv[]);
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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 ms5611
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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 ms5611_bus_option {
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enum MS5611_BUS busid;
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const char *devpath;
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MS5611_constructor interface_constructor;
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uint8_t busnum;
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MS5611 *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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{ MS5611_BUS_SPI_EXTERNAL, "/dev/ms5611_spi_ext", &MS5611_spi_interface, PX4_SPI_BUS_EXT, NULL },
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#endif
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#ifdef PX4_SPIDEV_BARO
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{ MS5611_BUS_SPI_INTERNAL, "/dev/ms5611_spi_int", &MS5611_spi_interface, PX4_SPI_BUS_BARO, NULL },
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#endif
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#ifdef PX4_I2C_BUS_ONBOARD
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{ MS5611_BUS_I2C_INTERNAL, "/dev/ms5611_int", &MS5611_i2c_interface, PX4_I2C_BUS_ONBOARD, NULL },
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#endif
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#ifdef PX4_I2C_BUS_EXPANSION
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{ MS5611_BUS_I2C_EXTERNAL, "/dev/ms5611_ext", &MS5611_i2c_interface, PX4_I2C_BUS_EXPANSION, NULL },
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#endif
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#ifdef PX4_I2C_BUS_EXPANSION1
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{ MS5611_BUS_I2C_EXTERNAL, "/dev/ms5611_ext1", &MS5611_i2c_interface, PX4_I2C_BUS_EXPANSION1, NULL },
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#endif
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#ifdef PX4_I2C_BUS_EXPANSION2
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{ MS5611_BUS_I2C_EXTERNAL, "/dev/ms5611_ext2", &MS5611_i2c_interface, PX4_I2C_BUS_EXPANSION2, NULL },
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#endif
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};
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#define NUM_BUS_OPTIONS (sizeof(bus_options)/sizeof(bus_options[0]))
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/**
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* Start the driver.
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*/
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static bool
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start_bus(struct ms5611_bus_option &bus, enum MS56XX_DEVICE_TYPES device_type)
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{
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if (bus.dev != nullptr) {
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PX4_ERR("bus option already started");
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return false;
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}
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||||
|
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prom_u prom_buf;
|
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device::Device *interface = bus.interface_constructor(prom_buf, bus.busnum);
|
||||
|
||||
if (interface->init() != OK) {
|
||||
delete interface;
|
||||
PX4_WARN("no device on bus %u", (unsigned)bus.busid);
|
||||
return false;
|
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}
|
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|
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bus.dev = new MS5611(interface, prom_buf, bus.devpath, device_type);
|
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|
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if (bus.dev != nullptr && OK != bus.dev->init()) {
|
||||
delete bus.dev;
|
||||
bus.dev = NULL;
|
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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 (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 MS5611_BUS busid, enum MS56XX_DEVICE_TYPES device_type)
|
||||
{
|
||||
uint8_t i;
|
||||
bool started = false;
|
||||
|
||||
for (i = 0; i < NUM_BUS_OPTIONS; i++) {
|
||||
if (busid == MS5611_BUS_ALL && bus_options[i].dev != NULL) {
|
||||
// this device is already started
|
||||
continue;
|
||||
}
|
||||
|
||||
if (busid != MS5611_BUS_ALL && bus_options[i].busid != busid) {
|
||||
// not the one that is asked for
|
||||
continue;
|
||||
}
|
||||
|
||||
started = started | start_bus(bus_options[i], device_type);
|
||||
}
|
||||
|
||||
if (!started) {
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
// one or more drivers started OK
|
||||
return PX4_OK;
|
||||
}
|
||||
|
||||
static int
|
||||
info()
|
||||
{
|
||||
for (uint8_t i = 0; i < NUM_BUS_OPTIONS; i++) {
|
||||
struct ms5611_bus_option &bus = bus_options[i];
|
||||
|
||||
if (bus.dev != nullptr) {
|
||||
PX4_INFO("%s", bus.devpath);
|
||||
bus.dev->print_info();
|
||||
}
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
static int
|
||||
usage()
|
||||
{
|
||||
PX4_INFO("missing command: try 'start', 'info',");
|
||||
PX4_INFO("options:");
|
||||
PX4_INFO(" -X (external I2C bus)");
|
||||
PX4_INFO(" -I (intternal I2C bus)");
|
||||
PX4_INFO(" -S (external SPI bus)");
|
||||
PX4_INFO(" -s (internal SPI bus)");
|
||||
PX4_INFO(" -T 5611|5607 (default 5611)");
|
||||
PX4_INFO(" -T 0 (autodetect version)");
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
} // namespace
|
||||
|
||||
int
|
||||
ms5611_main(int argc, char *argv[])
|
||||
{
|
||||
enum MS5611_BUS busid = MS5611_BUS_ALL;
|
||||
enum MS56XX_DEVICE_TYPES device_type = MS5611_DEVICE;
|
||||
int ch;
|
||||
int myoptind = 1;
|
||||
const char *myoptarg = NULL;
|
||||
|
||||
/* jump over start/off/etc and look at options first */
|
||||
while ((ch = px4_getopt(argc, argv, "T:XISs", &myoptind, &myoptarg)) != EOF) {
|
||||
switch (ch) {
|
||||
case 'X':
|
||||
busid = MS5611_BUS_I2C_EXTERNAL;
|
||||
break;
|
||||
|
||||
case 'I':
|
||||
busid = MS5611_BUS_I2C_INTERNAL;
|
||||
break;
|
||||
|
||||
case 'S':
|
||||
busid = MS5611_BUS_SPI_EXTERNAL;
|
||||
break;
|
||||
|
||||
case 's':
|
||||
busid = MS5611_BUS_SPI_INTERNAL;
|
||||
break;
|
||||
|
||||
case 'T': {
|
||||
int val = atoi(myoptarg);
|
||||
|
||||
if (val == 5611) {
|
||||
device_type = MS5611_DEVICE;
|
||||
break;
|
||||
|
||||
} else if (val == 5607) {
|
||||
device_type = MS5607_DEVICE;
|
||||
break;
|
||||
|
||||
} else if (val == 0) {
|
||||
device_type = MS56XX_DEVICE;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
/* FALLTHROUGH */
|
||||
|
||||
default:
|
||||
return ms5611::usage();
|
||||
}
|
||||
}
|
||||
|
||||
if (myoptind >= argc) {
|
||||
return ms5611::usage();
|
||||
}
|
||||
|
||||
const char *verb = argv[myoptind];
|
||||
|
||||
/*
|
||||
* Start/load the driver.
|
||||
*/
|
||||
if (!strcmp(verb, "start")) {
|
||||
return ms5611::start(busid, device_type);
|
||||
}
|
||||
|
||||
/*
|
||||
* Print driver information.
|
||||
*/
|
||||
if (!strcmp(verb, "info")) {
|
||||
return ms5611::info();
|
||||
}
|
||||
|
||||
return ms5611::usage();
|
||||
}
|
||||
Reference in New Issue
Block a user