drivers/differential_pressure: split ms4515 and ms4525

ROMFS/px4fmu_test/init.d/rc.sensors

@@ -24,7 +24,7 @@ if ms5525 start -X
 then
 fi
 
-if ms4525_airspeed start -X
+if ms4525 start -X
 then
 fi
 

boards/av/x-v1/init/rc.board_sensors

@@ -11,7 +11,7 @@ lps22hb -s start
 
 lsm303agr -s -R 4 start
 
-ms4525_airspeed -T 4515 -I -b 3 start
+ms4515 -I -b 3 start
 
 if ! param greater SENS_EN_PMW3901 0
 then

posix-configs/rpi/px4_fw.config

@@ -36,7 +36,7 @@ board_adc start
 battery_status start
 
 gps start -d /dev/spidev0.0 -i spi -p ubx
-ms4525_airspeed start -X
+ms4525 start -X
 rc_update start
 sensors start
 commander start

src/drivers/differential_pressure/CMakeLists.txt

@@ -32,6 +32,7 @@
 ############################################################################
 
 add_subdirectory(ets)
+add_subdirectory(ms4515)
 add_subdirectory(ms4525)
 add_subdirectory(ms5525)
-add_subdirectory(sdp3x)
+add_subdirectory(sdp3x)

src/drivers/differential_pressure/ms4515/CMakeLists.txt

@@ -0,0 +1,43 @@
+############################################################################
+#
+#   Copyright (c) 2015-2021 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+px4_add_module(
+	MODULE drivers__differential_pressure__ms4515
+	MAIN ms4515
+	COMPILE_FLAGS
+	SRCS
+		MS4515.cpp
+		MS4515.hpp
+	DEPENDS
+		mathlib
+		px4_work_queue
+	)

src/drivers/differential_pressure/ms4515/MS4515.cpp

@@ -0,0 +1,275 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013-2021 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 "MS4515.hpp"
+
+/* Register address */
+#define ADDR_READ_MR		0x00	/* write to this address to start conversion */
+
+/* Measurement rate is 100Hz */
+#define MEAS_RATE 100
+#define CONVERSION_INTERVAL	(1000000 / MEAS_RATE)	/* microseconds */
+
+MS4515::MS4515(I2CSPIBusOption bus_option, const int bus, int bus_frequency, int address) :
+	I2C(DRV_DIFF_PRESS_DEVTYPE_MS4515, MODULE_NAME, bus, address, bus_frequency),
+	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus, address)
+{
+}
+
+MS4515::~MS4515()
+{
+	perf_free(_sample_perf);
+	perf_free(_comms_errors);
+}
+
+int MS4515::probe()
+{
+	uint8_t cmd = 0;
+	int ret = transfer(&cmd, 1, nullptr, 0);
+
+	return ret;
+}
+
+int MS4515::measure()
+{
+	// Send the command to begin a measurement.
+	uint8_t cmd = 0;
+	int ret = transfer(&cmd, 1, nullptr, 0);
+
+	if (OK != ret) {
+		perf_count(_comms_errors);
+	}
+
+	return ret;
+}
+
+int MS4515::collect()
+{
+	/* read from the sensor */
+	perf_begin(_sample_perf);
+
+	const hrt_abstime timestamp_sample = hrt_absolute_time();
+
+	uint8_t val[4] {};
+	int ret = transfer(nullptr, 0, &val[0], 4);
+
+	if (ret < 0) {
+		perf_count(_comms_errors);
+		perf_end(_sample_perf);
+		return ret;
+	}
+
+	uint8_t status = (val[0] & 0xC0) >> 6;
+
+	switch (status) {
+	case 0:
+		// Normal Operation. Good Data Packet
+		break;
+
+	case 1:
+		// Reserved
+		return -EAGAIN;
+
+	case 2:
+		// Stale Data. Data has been fetched since last measurement cycle.
+		return -EAGAIN;
+
+	case 3:
+		// Fault Detected
+		perf_count(_comms_errors);
+		perf_end(_sample_perf);
+		return -EAGAIN;
+	}
+
+	/* mask the used bits */
+	int16_t dp_raw = (0x3FFF & ((val[0] << 8) + val[1]));
+	int16_t dT_raw = (0xFFE0 & ((val[2] << 8) + val[3])) >> 5;
+
+	// dT max is almost certainly an invalid reading
+	if (dT_raw == 2047) {
+		perf_count(_comms_errors);
+		return -EAGAIN;
+	}
+
+	// only publish changes
+	if ((dp_raw != _dp_raw_prev) || (dT_raw != _dT_raw_prev)) {
+
+		_dp_raw_prev = dp_raw;
+		_dT_raw_prev = dT_raw;
+
+		float temperature = ((200.0f * dT_raw) / 2047) - 50;
+
+		// Calculate differential pressure. As its centered around 8000
+		// and can go positive or negative
+		const float P_min = -1.0f;
+		const float P_max = 1.0f;
+		const float IN_H20_to_Pa = 248.84f;
+		/*
+		this equation is an inversion of the equation in the
+		pressure transfer function figure on page 4 of the datasheet
+
+		We negate the result so that positive differential pressures
+		are generated when the bottom port is used as the static
+		port on the pitot and top port is used as the dynamic port
+		*/
+		float diff_press_PSI = -((dp_raw - 0.1f * 16383) * (P_max - P_min) / (0.8f * 16383) + P_min);
+		float diff_press_pa_raw = diff_press_PSI * IN_H20_to_Pa;
+
+		/*
+		With the above calculation the MS4525 sensor will produce a
+		positive number when the top port is used as a dynamic port
+		and bottom port is used as the static port
+		*/
+		sensor_differential_pressure_s report{};
+		report.timestamp_sample = timestamp_sample;
+		report.device_id = get_device_id();
+		report.differential_pressure_pa = diff_press_pa_raw;
+		report.temperature = temperature;
+		report.error_count = perf_event_count(_comms_errors);
+		report.timestamp = hrt_absolute_time();
+		_differential_pressure_pub.publish(report);
+	}
+
+	perf_end(_sample_perf);
+
+	return PX4_OK;
+}
+
+void MS4515::RunImpl()
+{
+	int ret;
+
+	/* collection phase? */
+	if (_collect_phase) {
+
+		/* perform collection */
+		ret = collect();
+
+		if (OK != ret) {
+			/* restart the measurement state machine */
+			_collect_phase = false;
+			_sensor_ok = false;
+			ScheduleNow();
+			return;
+		}
+
+		/* next phase is measurement */
+		_collect_phase = false;
+
+		/*
+		 * Is there a collect->measure gap?
+		 */
+		if (_measure_interval > CONVERSION_INTERVAL) {
+
+			/* schedule a fresh cycle call when we are ready to measure again */
+			ScheduleDelayed(_measure_interval - CONVERSION_INTERVAL);
+
+			return;
+		}
+	}
+
+	/* measurement phase */
+	ret = measure();
+
+	if (PX4_OK != ret) {
+		DEVICE_DEBUG("measure error");
+	}
+
+	_sensor_ok = (ret == OK);
+
+	/* next phase is collection */
+	_collect_phase = true;
+
+	/* schedule a fresh cycle call when the measurement is done */
+	ScheduleDelayed(CONVERSION_INTERVAL);
+}
+
+I2CSPIDriverBase *MS4515::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
+				      int runtime_instance)
+{
+	MS4515 *instance = new MS4515(iterator.configuredBusOption(), iterator.bus(), cli.bus_frequency, cli.i2c_address);
+
+	if (instance == nullptr) {
+		PX4_ERR("alloc failed");
+		return nullptr;
+	}
+
+	if (instance->init() != PX4_OK) {
+		delete instance;
+		return nullptr;
+	}
+
+	instance->ScheduleNow();
+	return instance;
+}
+
+void MS4515::print_usage()
+{
+	PRINT_MODULE_USAGE_NAME("ms4515", "driver");
+	PRINT_MODULE_USAGE_SUBCATEGORY("airspeed_sensor");
+	PRINT_MODULE_USAGE_COMMAND("start");
+	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+}
+
+extern "C" __EXPORT int ms4515_main(int argc, char *argv[])
+{
+	using ThisDriver = MS4515;
+	BusCLIArguments cli{true, false};
+	cli.default_i2c_frequency = 100000;
+	cli.i2c_address = I2C_ADDRESS_MS4515DO;
+
+	const char *verb = cli.optarg();
+
+	if (!verb) {
+		ThisDriver::print_usage();
+		return -1;
+	}
+
+	BusInstanceIterator iterator(MODULE_NAME, cli, DRV_DIFF_PRESS_DEVTYPE_MS4515);
+
+	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;
+}

src/drivers/differential_pressure/ms4515/MS4515.hpp

@@ -0,0 +1,89 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013, 2014 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.
+ *
+ ****************************************************************************/
+
+/**
+ *
+ * Driver for the MEAS Spec series connected via I2C.
+ *
+ * Supported sensors:
+ *
+ *    - MS4515DO
+ *
+ * Interface application notes:
+ *
+ *    - Interfacing to MEAS Digital Pressure Modules (http://www.meas-spec.com/downloads/Interfacing_to_MEAS_Digital_Pressure_Modules.pdf)
+ */
+
+#pragma once
+
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/i2c_spi_buses.h>
+#include <drivers/device/i2c.h>
+#include <uORB/topics/sensor_differential_pressure.h>
+#include <uORB/PublicationMulti.hpp>
+
+#define I2C_ADDRESS_MS4515DO	0x46	/* I2C bus address is 1010001x */
+
+class MS4515 : public device::I2C, public I2CSPIDriver<MS4515>
+{
+public:
+	MS4515(I2CSPIBusOption bus_option, const int bus, int bus_frequency, int address = I2C_ADDRESS_MS4515DO);
+
+	virtual ~MS4515();
+
+	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
+					     int runtime_instance);
+	static void print_usage();
+
+	void	RunImpl();
+
+private:
+	int	probe() override;
+
+	int	measure();
+	int	collect();
+
+	bool _sensor_ok{false};
+	int _measure_interval{0};
+	bool _collect_phase{false};
+	unsigned _conversion_interval{0};
+
+	int16_t _dp_raw_prev{0};
+	int16_t _dT_raw_prev{0};
+
+	uORB::PublicationMulti<sensor_differential_pressure_s>	_differential_pressure_pub{ORB_ID(sensor_differential_pressure)};
+
+	perf_counter_t _sample_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": read")};
+	perf_counter_t _comms_errors{perf_alloc(PC_COUNT, MODULE_NAME": com err")};
+};

src/drivers/differential_pressure/ms4525/CMakeLists.txt

@@ -31,11 +31,12 @@
 #
 ############################################################################
 px4_add_module(
-	MODULE drivers__ms4525_airspeed
+	MODULE drivers__differential_pressure__ms4525
-	MAIN ms4525_airspeed
+	MAIN ms4525
 	COMPILE_FLAGS
 	SRCS
-		ms4525_airspeed.cpp
+		MS4525.cpp
+		MS4525.hpp
 	DEPENDS
 		mathlib
 		px4_work_queue

src/drivers/differential_pressure/ms4525/MS4525.cpp

@@ -31,39 +31,7 @@
  *
  ****************************************************************************/
 
-/**
+#include "MS4525.hpp"
- * @file meas_airspeed.cpp
- * @author Lorenz Meier
- * @author Sarthak Kaingade
- * @author Simon Wilks
- * @author Thomas Gubler
- *
- * Driver for the MEAS Spec series connected via I2C.
- *
- * Supported sensors:
- *
- *    - MS4525DO (http://www.meas-spec.com/downloads/MS4525DO.pdf)
- *
- * Interface application notes:
- *
- *    - Interfacing to MEAS Digital Pressure Modules (http://www.meas-spec.com/downloads/Interfacing_to_MEAS_Digital_Pressure_Modules.pdf)
- */
-
-#include <px4_platform_common/getopt.h>
-#include <px4_platform_common/module.h>
-#include <px4_platform_common/i2c_spi_buses.h>
-#include <drivers/device/i2c.h>
-#include <uORB/topics/sensor_differential_pressure.h>
-#include <uORB/PublicationMulti.hpp>
-
-enum MS_DEVICE_TYPE {
-	DEVICE_TYPE_MS4515	= 4515,
-	DEVICE_TYPE_MS4525	= 4525
-};
-
-/* I2C bus address is 1010001x */
-#define I2C_ADDRESS_MS4515DO	0x46
-#define I2C_ADDRESS_MS4525DO	0x28	/**< 7-bit address. Depends on the order code (this is for code "I") */
 
 /* Register address */
 #define ADDR_READ_MR			0x00	/* write to this address to start conversion */
@@ -72,44 +40,27 @@ enum MS_DEVICE_TYPE {
 #define MEAS_RATE 100
 #define CONVERSION_INTERVAL	(1000000 / MEAS_RATE)	/* microseconds */
 
-class MEASAirspeed : public device::I2C, public I2CSPIDriver<MEASAirspeed>
+MS4525::MS4525(I2CSPIBusOption bus_option, const int bus, int bus_frequency, int address) :
-{
-public:
-	MEASAirspeed(I2CSPIBusOption bus_option, const int bus, int bus_frequency, int address = I2C_ADDRESS_MS4525DO);
-
-	virtual ~MEASAirspeed() = default;
-
-	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-					     int runtime_instance);
-	static void print_usage();
-
-	void	RunImpl();
-
-private:
-	int	measure();
-	int	collect();
-
-	bool _sensor_ok{false};
-	int _measure_interval{0};
-	bool _collect_phase{false};
-	unsigned _conversion_interval{0};
-
-	int16_t _dp_raw_prev{0};
-	int16_t _dT_raw_prev{0};
-
-	uORB::PublicationMulti<sensor_differential_pressure_s>	_differential_pressure_pub{ORB_ID(sensor_differential_pressure)};
-
-	perf_counter_t _sample_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": read")};
-	perf_counter_t _comms_errors{perf_alloc(PC_COUNT, MODULE_NAME": com err")};
-};
-
-MEASAirspeed::MEASAirspeed(I2CSPIBusOption bus_option, const int bus, int bus_frequency, int address) :
 	I2C(DRV_DIFF_PRESS_DEVTYPE_MS4525, MODULE_NAME, bus, address, bus_frequency),
 	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus, address)
 {
 }
 
-int MEASAirspeed::measure()
+MS4525::~MS4525()
+{
+	perf_free(_sample_perf);
+	perf_free(_comms_errors);
+}
+
+int MS4525::probe()
+{
+	uint8_t cmd = 0;
+	int ret = transfer(&cmd, 1, nullptr, 0);
+
+	return ret;
+}
+
+int MS4525::measure()
 {
 	// Send the command to begin a measurement.
 	uint8_t cmd = 0;
@@ -122,15 +73,14 @@ int MEASAirspeed::measure()
 	return ret;
 }
 
-int MEASAirspeed::collect()
+int MS4525::collect()
 {
 	/* read from the sensor */
-	uint8_t val[4] {};
-
 	perf_begin(_sample_perf);
 
 	const hrt_abstime timestamp_sample = hrt_absolute_time();
 
+	uint8_t val[4] {};
 	int ret = transfer(nullptr, 0, &val[0], 4);
 
 	if (ret < 0) {
@@ -172,7 +122,7 @@ int MEASAirspeed::collect()
 	}
 
 	// only publish changes
-	if ((dp_raw != _dp_raw_prev) && (dT_raw != _dT_raw_prev)) {
+	if ((dp_raw != _dp_raw_prev) || (dT_raw != _dT_raw_prev)) {
 
 		_dp_raw_prev = dp_raw;
 		_dT_raw_prev = dT_raw;
@@ -215,7 +165,7 @@ int MEASAirspeed::collect()
 	return PX4_OK;
 }
 
-void MEASAirspeed::RunImpl()
+void MS4525::RunImpl()
 {
 	int ret;
 
@@ -264,11 +214,10 @@ void MEASAirspeed::RunImpl()
 	ScheduleDelayed(CONVERSION_INTERVAL);
 }
 
-I2CSPIDriverBase *MEASAirspeed::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
+I2CSPIDriverBase *MS4525::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-		int runtime_instance)
+				      int runtime_instance)
 {
-	MEASAirspeed *instance = new MEASAirspeed(iterator.configuredBusOption(), iterator.bus(), cli.bus_frequency,
+	MS4525 *instance = new MS4525(iterator.configuredBusOption(), iterator.bus(), cli.bus_frequency, cli.i2c_address);
-			cli.i2c_address);
 
 	if (instance == nullptr) {
 		PX4_ERR("alloc failed");
@@ -284,48 +233,30 @@ I2CSPIDriverBase *MEASAirspeed::instantiate(const BusCLIArguments &cli, const Bu
 	return instance;
 }
 
-void MEASAirspeed::print_usage()
+void MS4525::print_usage()
 {
-	PRINT_MODULE_USAGE_NAME("ms4525_airspeed", "driver");
+	PRINT_MODULE_USAGE_NAME("ms4525", "driver");
 	PRINT_MODULE_USAGE_SUBCATEGORY("airspeed_sensor");
 	PRINT_MODULE_USAGE_COMMAND("start");
 	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
-	PRINT_MODULE_USAGE_PARAM_STRING('T', "4525", "4525|4515", "Device type", true);
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 }
 
-extern "C" __EXPORT int ms4525_airspeed_main(int argc, char *argv[])
+extern "C" __EXPORT int ms4525_main(int argc, char *argv[])
 {
-	int ch;
+	using ThisDriver = MS4525;
-	using ThisDriver = MEASAirspeed;
 	BusCLIArguments cli{true, false};
 	cli.default_i2c_frequency = 100000;
-	int device_type = DEVICE_TYPE_MS4525;
+	cli.i2c_address = I2C_ADDRESS_MS4525DO;
 
-	while ((ch = cli.getopt(argc, argv, "T:")) != EOF) {
+	const char *verb = cli.parseDefaultArguments(argc, argv);
-		switch (ch) {
-		case 'T':
-			device_type = atoi(cli.optarg());
-			break;
-		}
-	}
-
-	const char *verb = cli.optarg();
 
 	if (!verb) {
 		ThisDriver::print_usage();
 		return -1;
 	}
 
-	if (device_type == DEVICE_TYPE_MS4525) {
+	BusInstanceIterator iterator(MODULE_NAME, cli, DRV_DIFF_PRESS_DEVTYPE_MS4525);
-		cli.i2c_address = I2C_ADDRESS_MS4525DO;
-
-	} else {
-		cli.i2c_address = I2C_ADDRESS_MS4515DO;
-	}
-
-	BusInstanceIterator iterator(MODULE_NAME, cli,
-				     DRV_DIFF_PRESS_DEVTYPE_MS4525);
 
 	if (!strcmp(verb, "start")) {
 		return ThisDriver::module_start(cli, iterator);

src/drivers/differential_pressure/ms4525/MS4525.hpp

@@ -0,0 +1,94 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013, 2014 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 MS4525.hpp
+ * @author Lorenz Meier
+ * @author Sarthak Kaingade
+ * @author Simon Wilks
+ * @author Thomas Gubler
+ *
+ * Driver for the MEAS Spec series connected via I2C.
+ *
+ * Supported sensors:
+ *
+ *    - MS4525DO (http://www.meas-spec.com/downloads/MS4525DO.pdf)
+ *
+ * Interface application notes:
+ *
+ *    - Interfacing to MEAS Digital Pressure Modules (http://www.meas-spec.com/downloads/Interfacing_to_MEAS_Digital_Pressure_Modules.pdf)
+ */
+
+#pragma once
+
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/i2c_spi_buses.h>
+#include <drivers/device/i2c.h>
+#include <uORB/topics/sensor_differential_pressure.h>
+#include <uORB/PublicationMulti.hpp>
+
+#define I2C_ADDRESS_MS4525DO	0x28	/**< 7-bit address. Depends on the order code (this is for code "I") */
+
+class MS4525 : public device::I2C, public I2CSPIDriver<MS4525>
+{
+public:
+	MS4525(I2CSPIBusOption bus_option, const int bus, int bus_frequency, int address = I2C_ADDRESS_MS4525DO);
+
+	virtual ~MS4525();
+
+	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
+					     int runtime_instance);
+	static void print_usage();
+
+	void	RunImpl();
+
+private:
+	int	probe() override;
+
+	int	measure();
+	int	collect();
+
+	bool _sensor_ok{false};
+	int _measure_interval{0};
+	bool _collect_phase{false};
+	unsigned _conversion_interval{0};
+
+	int16_t _dp_raw_prev{0};
+	int16_t _dT_raw_prev{0};
+
+	uORB::PublicationMulti<sensor_differential_pressure_s>	_differential_pressure_pub{ORB_ID(sensor_differential_pressure)};
+
+	perf_counter_t _sample_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": read")};
+	perf_counter_t _comms_errors{perf_alloc(PC_COUNT, MODULE_NAME": com err")};
+};

src/drivers/drv_sensor.h

@@ -101,13 +101,14 @@
 #define DRV_IMU_DEVTYPE_ST_LSM9DS1_AG   0x44
 #define DRV_MAG_DEVTYPE_ST_LSM9DS1_M    0x45
 #define DRV_DIFF_PRESS_DEVTYPE_ETS3     0x46
-#define DRV_DIFF_PRESS_DEVTYPE_MS4525   0x47
+#define DRV_DIFF_PRESS_DEVTYPE_MS4515   0x47
-#define DRV_DIFF_PRESS_DEVTYPE_MS5525   0x48
+#define DRV_DIFF_PRESS_DEVTYPE_MS4525   0x48
-#define DRV_DIFF_PRESS_DEVTYPE_SDP31    0x49
+#define DRV_DIFF_PRESS_DEVTYPE_MS5525   0x49
-#define DRV_DIFF_PRESS_DEVTYPE_SDP32    0x4A
+#define DRV_DIFF_PRESS_DEVTYPE_SDP31    0x4A
-#define DRV_DIFF_PRESS_DEVTYPE_SDP33    0x4B
+#define DRV_DIFF_PRESS_DEVTYPE_SDP32    0x4B
-#define DRV_BARO_DEVTYPE_LPS33HW        0x4C
+#define DRV_DIFF_PRESS_DEVTYPE_SDP33    0x4C
 
+#define DRV_BARO_DEVTYPE_LPS33HW        0x50
 #define DRV_BARO_DEVTYPE_MPL3115A2	0x51
 #define DRV_ACC_DEVTYPE_FXOS8701C	0x52