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lps25h: move to PX4Barometer and cleanup

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This commit is contained in:
Daniel Agar
2020-01-03 15:24:54 -05:00
parent bf9e193062
commit 1da7209fe1
8 changed files with 659 additions and 1053 deletions
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13
src/drivers/barometer/lps25h/CMakeLists.txt
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@@ -1,6 +1,6 @@
############################################################################
#
# Copyright (c) 2015 PX4 Development Team. All rights reserved.
# Copyright (c) 2015-2020 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
@@ -31,12 +31,15 @@
#
############################################################################
px4_add_module(
MODULE drivers__lps25h
MODULE drivers__barometer__lps25h
MAIN lps25h
COMPILE_FLAGS
-Wno-cast-align # TODO: fix and enable
SRCS
lps25h.cpp
LPS25H.cpp
LPS25H.hpp
lps25h_main.cpp
lps25h_i2c.cpp
lps25h_spi.cpp
DEPENDS
drivers_barometer
px4_work_queue
)

212
src/drivers/barometer/lps25h/LPS25H.cpp Normal file
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@@ -0,0 +1,212 @@
/****************************************************************************
*
* Copyright (c) 2016-2020 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 "LPS25H.hpp"
LPS25H::LPS25H(device::Device *interface) :
ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(interface->get_device_id())),
_px4_barometer(interface->get_device_id()),
_interface(interface),
_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
_comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": comms_errors"))
{
_interface->set_device_type(DRV_BARO_DEVTYPE_LPS25H);
_px4_barometer.set_device_type(DRV_BARO_DEVTYPE_LPS25H);
}
LPS25H::~LPS25H()
{
stop();
perf_free(_sample_perf);
perf_free(_comms_errors);
delete _interface;
}
int LPS25H::init()
{
if (reset() != OK) {
return PX4_ERROR;
}
start();
return PX4_OK;
}
void LPS25H::start()
{
/* reset the report ring and state machine */
_collect_phase = false;
/* schedule a cycle to start things */
ScheduleNow();
}
void LPS25H::stop()
{
ScheduleClear();
}
int LPS25H::reset()
{
// Power on
int ret = write_reg(ADDR_CTRL_REG1, CTRL_REG1_PD);
usleep(1000);
// Reset
ret = write_reg(ADDR_CTRL_REG2, CTRL_REG2_BOOT | CTRL_REG2_SWRESET);
usleep(5000);
// Power on
ret = write_reg(ADDR_CTRL_REG1, CTRL_REG1_PD);
usleep(1000);
return ret;
}
void LPS25H::Run()
{
/* collection phase? */
if (_collect_phase) {
/* perform collection */
if (OK != collect()) {
PX4_DEBUG("collection error");
/* restart the measurement state machine */
start();
return;
}
/* next phase is measurement */
_collect_phase = false;
/*
* Is there a collect->measure gap?
*/
if (_measure_interval > (LPS25H_CONVERSION_INTERVAL)) {
/* schedule a fresh cycle call when we are ready to measure again */
ScheduleDelayed(_measure_interval - LPS25H_CONVERSION_INTERVAL);
return;
}
}
/* measurement phase */
if (OK != measure()) {
PX4_DEBUG("measure error");
}
/* next phase is collection */
_collect_phase = true;
/* schedule a fresh cycle call when the measurement is done */
ScheduleDelayed(LPS25H_CONVERSION_INTERVAL);
}
int LPS25H::measure()
{
/*
* Send the command to begin a 16-bit measurement.
*/
int ret = write_reg(ADDR_CTRL_REG2, CTRL_REG2_ONE_SHOT);
if (OK != ret) {
perf_count(_comms_errors);
}
return ret;
}
int LPS25H::collect()
{
perf_begin(_sample_perf);
struct {
uint8_t status;
uint8_t p_xl;
uint8_t p_l;
uint8_t p_h;
int16_t t;
} report{};
/* get measurements from the device : MSB enables register address auto-increment */
const hrt_abstime timestamp_sample = hrt_absolute_time();
int ret = _interface->read(ADDR_STATUS_REG | (1 << 7), (uint8_t *)&report, sizeof(report));
if (ret != OK) {
perf_count(_comms_errors);
perf_end(_sample_perf);
return ret;
}
_px4_barometer.set_error_count(perf_event_count(_comms_errors));
/* get measurements from the device */
float temperature = 42.5f + (report.t / 480);
_px4_barometer.set_temperature(temperature);
/* raw pressure */
uint32_t raw = report.p_xl + (report.p_l << 8) + (report.p_h << 16);
/* Pressure and MSL in mBar */
float pressure = raw / 4096.0f;
_px4_barometer.update(timestamp_sample, pressure);
perf_end(_sample_perf);
return PX4_OK;
}
int LPS25H::write_reg(uint8_t reg, uint8_t val)
{
uint8_t buf = val;
return _interface->write(reg, &buf, 1);
}
int LPS25H::read_reg(uint8_t reg, uint8_t &val)
{
uint8_t buf = val;
int ret = _interface->read(reg, &buf, 1);
val = buf;
return ret;
}
void LPS25H::print_info()
{
perf_print_counter(_sample_perf);
perf_print_counter(_comms_errors);
_px4_barometer.print_status();
}

184
src/drivers/barometer/lps25h/LPS25H.hpp Normal file
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@@ -0,0 +1,184 @@
/****************************************************************************
*
* Copyright (c) 2016 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file lps25h.cpp
*
* Driver for the LPS25H barometer connected via I2C or SPI.
*/
#pragma once
#include "lps25h.h"
#include <drivers/device/Device.hpp>
#include <lib/perf/perf_counter.h>
#include <lib/drivers/barometer/PX4Barometer.hpp>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
/*
* LPS25H internal constants and data structures.
*/
/* Max measurement rate is 25Hz */
#define LPS25H_CONVERSION_INTERVAL (1000000 / 25) /* microseconds */
#define ADDR_REF_P_XL 0x08
#define ADDR_REF_P_L 0x09
#define ADDR_REF_P_H 0x0A
#define ADDR_WHO_AM_I 0x0F
#define ADDR_RES_CONF 0x10
#define ADDR_CTRL_REG1 0x20
#define ADDR_CTRL_REG2 0x21
#define ADDR_CTRL_REG3 0x22
#define ADDR_CTRL_REG4 0x23
#define ADDR_INT_CFG 0x24
#define ADDR_INT_SOURCE 0x25
#define ADDR_STATUS_REG 0x27
#define ADDR_P_OUT_XL 0x28
#define ADDR_P_OUT_L 0x29
#define ADDR_P_OUT_H 0x2A
#define ADDR_TEMP_OUT_L 0x2B
#define ADDR_TEMP_OUT_H 0x2C
#define ADDR_FIFO_CTRL 0x2E
#define ADDR_FIFO_STATUS 0x2F
#define ADDR_THS_P_L 0x30
#define ADDR_THS_P_H 0x31
#define ADDR_RPDS_L 0x39
#define ADDR_RPDS_H 0x3A
/* Data sheet is ambigious if AVGT or AVGP is first */
#define RES_CONF_AVGT_8 0x00
#define RES_CONF_AVGT_32 0x01
#define RES_CONF_AVGT_128 0x02
#define RES_CONF_AVGT_512 0x03
#define RES_CONF_AVGP_8 0x00
#define RES_CONF_AVGP_32 0x04
#define RES_CONF_AVGP_128 0x08
#define RES_CONF_AVGP_512 0x0C
#define CTRL_REG1_SIM (1 << 0)
#define CTRL_REG1_RESET_AZ (1 << 1)
#define CTRL_REG1_BDU (1 << 2)
#define CTRL_REG1_DIFF_EN (1 << 3)
#define CTRL_REG1_PD (1 << 7)
#define CTRL_REG1_ODR_SINGLE (0 << 4)
#define CTRL_REG1_ODR_1HZ (1 << 4)
#define CTRL_REG1_ODR_7HZ (2 << 4)
#define CTRL_REG1_ODR_12HZ5 (3 << 4)
#define CTRL_REG1_ODR_25HZ (4 << 4)
#define CTRL_REG2_ONE_SHOT (1 << 0)
#define CTRL_REG2_AUTO_ZERO (1 << 1)
#define CTRL_REG2_SWRESET (1 << 2)
#define CTRL_REG2_FIFO_MEAN_DEC (1 << 4)
#define CTRL_REG2_WTM_EN (1 << 5)
#define CTRL_REG2_FIFO_EN (1 << 6)
#define CTRL_REG2_BOOT (1 << 7)
#define CTRL_REG3_INT1_S_DATA 0x0
#define CTRL_REG3_INT1_S_P_HIGH 0x1
#define CTRL_REG3_INT1_S_P_LOW 0x2
#define CTRL_REG3_INT1_S_P_LIM 0x3
#define CTRL_REG3_PP_OD (1 << 6)
#define CTRL_REG3_INT_H_L (1 << 7)
#define CTRL_REG4_P1_DRDY (1 << 0)
#define CTRL_REG4_P1_OVERRUN (1 << 1)
#define CTRL_REG4_P1_WTM (1 << 2)
#define CTRL_REG4_P1_EMPTY (1 << 3)
#define INTERRUPT_CFG_PH_E (1 << 0)
#define INTERRUPT_CFG_PL_E (1 << 1)
#define INTERRUPT_CFG_LIR (1 << 2)
#define INT_SOURCE_PH (1 << 0)
#define INT_SOURCE_PL (1 << 1)
#define INT_SOURCE_IA (1 << 2)
#define STATUS_REG_T_DA (1 << 0)
#define STATUS_REG_P_DA (1 << 1)
#define STATUS_REG_T_OR (1 << 4)
#define STATUS_REG_P_OR (1 << 5)
#define FIFO_CTRL_WTM_FMEAN_2 0x01
#define FIFO_CTRL_WTM_FMEAN_4 0x03
#define FIFO_CTRL_WTM_FMEAN_8 0x07
#define FIFO_CTRL_WTM_FMEAN_16 0x0F
#define FIFO_CTRL_WTM_FMEAN_32 0x1F
#define FIFO_CTRL_F_MODE_BYPASS (0x0 << 5)
#define FIFO_CTRL_F_MODE_FIFO (0x1 << 5)
#define FIFO_CTRL_F_MODE_STREAM (0x2 << 5)
#define FIFO_CTRL_F_MODE_SFIFO (0x3 << 5)
#define FIFO_CTRL_F_MODE_BSTRM (0x4 << 5)
#define FIFO_CTRL_F_MODE_FMEAN (0x6 << 5)
#define FIFO_CTRL_F_MODE_BFIFO (0x7 << 5)
#define FIFO_STATUS_EMPTY (1 << 5)
#define FIFO_STATUS_FULL (1 << 6)
#define FIFO_STATUS_WTM (1 << 7)
class LPS25H : public px4::ScheduledWorkItem
{
public:
LPS25H(device::Device *interface);
~LPS25H() override;
int init();
void print_info();
private:
void start();
void stop();
int reset();
void Run() override;
int write_reg(uint8_t reg, uint8_t val);
int read_reg(uint8_t reg, uint8_t &val);
int measure();
int collect();
PX4Barometer _px4_barometer;
device::Device *_interface;
unsigned _measure_interval{0};
bool _collect_phase{false};
perf_counter_t _sample_perf;
perf_counter_t _comms_errors;
};

968
src/drivers/barometer/lps25h/lps25h.cpp
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@@ -1,968 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2016 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file lps25h.cpp
*
* Driver for the LPS25H barometer connected via I2C or SPI.
*/
#include "lps25h.h"
/*
* LPS25H internal constants and data structures.
*/
/* Max measurement rate is 25Hz */
#define LPS25H_CONVERSION_INTERVAL (1000000 / 25) /* microseconds */
#define ADDR_REF_P_XL 0x08
#define ADDR_REF_P_L 0x09
#define ADDR_REF_P_H 0x0A
#define ADDR_WHO_AM_I 0x0F
#define ADDR_RES_CONF 0x10
#define ADDR_CTRL_REG1 0x20
#define ADDR_CTRL_REG2 0x21
#define ADDR_CTRL_REG3 0x22
#define ADDR_CTRL_REG4 0x23
#define ADDR_INT_CFG 0x24
#define ADDR_INT_SOURCE 0x25
#define ADDR_STATUS_REG 0x27
#define ADDR_P_OUT_XL 0x28
#define ADDR_P_OUT_L 0x29
#define ADDR_P_OUT_H 0x2A
#define ADDR_TEMP_OUT_L 0x2B
#define ADDR_TEMP_OUT_H 0x2C
#define ADDR_FIFO_CTRL 0x2E
#define ADDR_FIFO_STATUS 0x2F
#define ADDR_THS_P_L 0x30
#define ADDR_THS_P_H 0x31
#define ADDR_RPDS_L 0x39
#define ADDR_RPDS_H 0x3A
/* Data sheet is ambigious if AVGT or AVGP is first */
#define RES_CONF_AVGT_8 0x00
#define RES_CONF_AVGT_32 0x01
#define RES_CONF_AVGT_128 0x02
#define RES_CONF_AVGT_512 0x03
#define RES_CONF_AVGP_8 0x00
#define RES_CONF_AVGP_32 0x04
#define RES_CONF_AVGP_128 0x08
#define RES_CONF_AVGP_512 0x0C
#define CTRL_REG1_SIM (1 << 0)
#define CTRL_REG1_RESET_AZ (1 << 1)
#define CTRL_REG1_BDU (1 << 2)
#define CTRL_REG1_DIFF_EN (1 << 3)
#define CTRL_REG1_PD (1 << 7)
#define CTRL_REG1_ODR_SINGLE (0 << 4)
#define CTRL_REG1_ODR_1HZ (1 << 4)
#define CTRL_REG1_ODR_7HZ (2 << 4)
#define CTRL_REG1_ODR_12HZ5 (3 << 4)
#define CTRL_REG1_ODR_25HZ (4 << 4)
#define CTRL_REG2_ONE_SHOT (1 << 0)
#define CTRL_REG2_AUTO_ZERO (1 << 1)
#define CTRL_REG2_SWRESET (1 << 2)
#define CTRL_REG2_FIFO_MEAN_DEC (1 << 4)
#define CTRL_REG2_WTM_EN (1 << 5)
#define CTRL_REG2_FIFO_EN (1 << 6)
#define CTRL_REG2_BOOT (1 << 7)
#define CTRL_REG3_INT1_S_DATA 0x0
#define CTRL_REG3_INT1_S_P_HIGH 0x1
#define CTRL_REG3_INT1_S_P_LOW 0x2
#define CTRL_REG3_INT1_S_P_LIM 0x3
#define CTRL_REG3_PP_OD (1 << 6)
#define CTRL_REG3_INT_H_L (1 << 7)
#define CTRL_REG4_P1_DRDY (1 << 0)
#define CTRL_REG4_P1_OVERRUN (1 << 1)
#define CTRL_REG4_P1_WTM (1 << 2)
#define CTRL_REG4_P1_EMPTY (1 << 3)
#define INTERRUPT_CFG_PH_E (1 << 0)
#define INTERRUPT_CFG_PL_E (1 << 1)
#define INTERRUPT_CFG_LIR (1 << 2)
#define INT_SOURCE_PH (1 << 0)
#define INT_SOURCE_PL (1 << 1)
#define INT_SOURCE_IA (1 << 2)
#define STATUS_REG_T_DA (1 << 0)
#define STATUS_REG_P_DA (1 << 1)
#define STATUS_REG_T_OR (1 << 4)
#define STATUS_REG_P_OR (1 << 5)
#define FIFO_CTRL_WTM_FMEAN_2 0x01
#define FIFO_CTRL_WTM_FMEAN_4 0x03
#define FIFO_CTRL_WTM_FMEAN_8 0x07
#define FIFO_CTRL_WTM_FMEAN_16 0x0F
#define FIFO_CTRL_WTM_FMEAN_32 0x1F
#define FIFO_CTRL_F_MODE_BYPASS (0x0 << 5)
#define FIFO_CTRL_F_MODE_FIFO (0x1 << 5)
#define FIFO_CTRL_F_MODE_STREAM (0x2 << 5)
#define FIFO_CTRL_F_MODE_SFIFO (0x3 << 5)
#define FIFO_CTRL_F_MODE_BSTRM (0x4 << 5)
#define FIFO_CTRL_F_MODE_FMEAN (0x6 << 5)
#define FIFO_CTRL_F_MODE_BFIFO (0x7 << 5)
#define FIFO_STATUS_EMPTY (1 << 5)
#define FIFO_STATUS_FULL (1 << 6)
#define FIFO_STATUS_WTM (1 << 7)
enum LPS25H_BUS {
LPS25H_BUS_ALL = 0,
LPS25H_BUS_I2C_INTERNAL,
LPS25H_BUS_I2C_EXTERNAL,
LPS25H_BUS_SPI
};
class LPS25H : public cdev::CDev, public px4::ScheduledWorkItem
{
public:
LPS25H(device::Device *interface, const char *path);
virtual ~LPS25H();
virtual int init();
virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
/**
* Diagnostics - print some basic information about the driver.
*/
void print_info();
protected:
device::Device *_interface;
private:
unsigned _measure_interval{0};
ringbuffer::RingBuffer *_reports{nullptr};
bool _collect_phase{false};
orb_advert_t _baro_topic{nullptr};
int _orb_class_instance{-1};
int _class_instance{-1};
perf_counter_t _sample_perf;
perf_counter_t _comms_errors;
sensor_baro_s _last_report{}; /**< used for info() */
/**
* Initialise the automatic measurement state machine and start it.
*
* @note This function is called at open and error time. It might make sense
* to make it more aggressive about resetting the bus in case of errors.
*/
void start();
/**
* Stop the automatic measurement state machine.
*/
void stop();
/**
* Reset the device
*/
int reset();
/**
* Perform a poll cycle; collect from the previous measurement
* and start a new one.
*
* This is the heart of the measurement state machine. This function
* alternately starts a measurement, or collects the data from the
* previous measurement.
*
* When the interval between measurements is greater than the minimum
* measurement interval, a gap is inserted between collection
* and measurement to provide the most recent measurement possible
* at the next interval.
*/
void Run() override;
/**
* Write a register.
*
* @param reg The register to write.
* @param val The value to write.
* @return OK on write success.
*/
int write_reg(uint8_t reg, uint8_t val);
/**
* Read a register.
*
* @param reg The register to read.
* @param val The value read.
* @return OK on read success.
*/
int read_reg(uint8_t reg, uint8_t &val);
/**
* Issue a measurement command.
*
* @return OK if the measurement command was successful.
*/
int measure();
/**
* Collect the result of the most recent measurement.
*/
int collect();
/* this class has pointer data members, do not allow copying it */
LPS25H(const LPS25H &);
LPS25H operator=(const LPS25H &);
};
/*
* Driver 'main' command.
*/
extern "C" __EXPORT int lps25h_main(int argc, char *argv[]);
LPS25H::LPS25H(device::Device *interface, const char *path) :
CDev(path),
ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(interface->get_device_id())),
_interface(interface),
_sample_perf(perf_alloc(PC_ELAPSED, "lps25h_read")),
_comms_errors(perf_alloc(PC_COUNT, "lps25h_comms_errors"))
{
_interface->set_device_type(DRV_BARO_DEVTYPE_LPS25H);
}
LPS25H::~LPS25H()
{
/* make sure we are truly inactive */
stop();
if (_class_instance != -1) {
unregister_class_devname(BARO_BASE_DEVICE_PATH, _class_instance);
}
if (_reports != nullptr) {
delete _reports;
}
// free perf counters
perf_free(_sample_perf);
perf_free(_comms_errors);
delete _interface;
}
int
LPS25H::init()
{
int ret;
ret = CDev::init();
if (ret != OK) {
PX4_DEBUG("CDev init failed");
goto out;
}
/* allocate basic report buffers */
_reports = new ringbuffer::RingBuffer(2, sizeof(sensor_baro_s));
if (_reports == nullptr) {
PX4_DEBUG("can't get memory for reports");
ret = -ENOMEM;
goto out;
}
if (reset() != OK) {
goto out;
}
/* register alternate interfaces if we have to */
_class_instance = register_class_devname(BARO_BASE_DEVICE_PATH);
ret = OK;
out:
return ret;
}
ssize_t
LPS25H::read(struct file *filp, char *buffer, size_t buflen)
{
unsigned count = buflen / sizeof(sensor_baro_s);
sensor_baro_s *brp = reinterpret_cast<sensor_baro_s *>(buffer);
int ret = 0;
/* buffer must be large enough */
if (count < 1) {
return -ENOSPC;
}
/* if automatic measurement is enabled */
if (_measure_interval > 0) {
/*
* While there is space in the caller's buffer, and reports, copy them.
* Note that we may be pre-empted by the workq thread while we are doing this;
* we are careful to avoid racing with them.
*/
while (count--) {
if (_reports->get(brp)) {
ret += sizeof(*brp);
brp++;
}
}
/* if there was no data, warn the caller */
return ret ? ret : -EAGAIN;
}
/* manual measurement - run one conversion */
/* XXX really it'd be nice to lock against other readers here */
do {
_reports->flush();
/* trigger a measurement */
if (OK != measure()) {
ret = -EIO;
break;
}
/* wait for it to complete */
usleep(LPS25H_CONVERSION_INTERVAL);
/* run the collection phase */
if (OK != collect()) {
ret = -EIO;
break;
}
if (_reports->get(brp)) {
ret = sizeof(sensor_baro_s);
}
} while (0);
return ret;
}
int
LPS25H::ioctl(struct file *filp, int cmd, unsigned long arg)
{
unsigned dummy = arg;
switch (cmd) {
case SENSORIOCSPOLLRATE: {
switch (arg) {
/* zero would be bad */
case 0:
return -EINVAL;
/* set default polling rate */
case SENSOR_POLLRATE_DEFAULT: {
/* do we need to start internal polling? */
bool want_start = (_measure_interval == 0);
/* set interval for next measurement to minimum legal value */
_measure_interval = (LPS25H_CONVERSION_INTERVAL);
/* if we need to start the poll state machine, do it */
if (want_start) {
start();
}
return OK;
}
/* adjust to a legal polling interval in Hz */
default: {
/* do we need to start internal polling? */
bool want_start = (_measure_interval == 0);
/* convert hz to tick interval via microseconds */
unsigned interval = (1000000 / arg);
/* check against maximum rate */
if (interval < (LPS25H_CONVERSION_INTERVAL)) {
return -EINVAL;
}
/* update interval for next measurement */
_measure_interval = interval;
/* if we need to start the poll state machine, do it */
if (want_start) {
start();
}
return OK;
}
}
}
case SENSORIOCRESET:
return reset();
case DEVIOCGDEVICEID:
return _interface->ioctl(cmd, dummy);
default:
/* give it to the superclass */
return CDev::ioctl(filp, cmd, arg);
}
}
void
LPS25H::start()
{
/* reset the report ring and state machine */
_collect_phase = false;
_reports->flush();
/* schedule a cycle to start things */
ScheduleNow();
}
void
LPS25H::stop()
{
ScheduleClear();
}
int
LPS25H::reset()
{
int ret = 0;
// Power on
ret = write_reg(ADDR_CTRL_REG1, CTRL_REG1_PD);
usleep(1000);
// Reset
ret = write_reg(ADDR_CTRL_REG2, CTRL_REG2_BOOT | CTRL_REG2_SWRESET);
usleep(5000);
// Power on
ret = write_reg(ADDR_CTRL_REG1, CTRL_REG1_PD);
usleep(1000);
return ret;
}
void
LPS25H::Run()
{
/* collection phase? */
if (_collect_phase) {
/* perform collection */
if (OK != collect()) {
PX4_DEBUG("collection error");
/* restart the measurement state machine */
start();
return;
}
/* next phase is measurement */
_collect_phase = false;
/*
* Is there a collect->measure gap?
*/
if (_measure_interval > (LPS25H_CONVERSION_INTERVAL)) {
/* schedule a fresh cycle call when we are ready to measure again */
ScheduleDelayed(_measure_interval - LPS25H_CONVERSION_INTERVAL);
return;
}
}
/* measurement phase */
if (OK != measure()) {
PX4_DEBUG("measure error");
}
/* next phase is collection */
_collect_phase = true;
/* schedule a fresh cycle call when the measurement is done */
ScheduleDelayed(LPS25H_CONVERSION_INTERVAL);
}
int
LPS25H::measure()
{
int ret;
/*
* Send the command to begin a 16-bit measurement.
*/
ret = write_reg(ADDR_CTRL_REG2, CTRL_REG2_ONE_SHOT);
if (OK != ret) {
perf_count(_comms_errors);
}
return ret;
}
int
LPS25H::collect()
{
#pragma pack(push, 1)
struct {
uint8_t status;
uint8_t p_xl, p_l, p_h;
int16_t t;
} report;
#pragma pack(pop)
int ret;
perf_begin(_sample_perf);
sensor_baro_s new_report;
bool sensor_is_onboard = false;
/* this should be fairly close to the end of the measurement, so the best approximation of the time */
new_report.timestamp = hrt_absolute_time();
new_report.error_count = perf_event_count(_comms_errors);
/*
* @note We could read the status register 1 here, which could tell us that
* we were too early and that the output registers are still being
* written. In the common case that would just slow us down, and
* we're better off just never being early.
*/
/* get measurements from the device : MSB enables register address auto-increment */
ret = _interface->read(ADDR_STATUS_REG | (1 << 7), (uint8_t *)&report, sizeof(report));
if (ret != OK) {
perf_count(_comms_errors);
perf_end(_sample_perf);
return ret;
}
/* get measurements from the device */
new_report.temperature = 42.5f + (report.t / 480);
/* raw pressure */
uint32_t raw = report.p_xl + (report.p_l << 8) + (report.p_h << 16);
/* Pressure and MSL in mBar */
float p = raw / 4096.0f;
new_report.pressure = p;
/* get device ID */
new_report.device_id = _interface->get_device_id();
if (_baro_topic != nullptr) {
/* publish it */
orb_publish(ORB_ID(sensor_baro), _baro_topic, &new_report);
} else {
_baro_topic = orb_advertise_multi(ORB_ID(sensor_baro), &new_report,
&_orb_class_instance, (sensor_is_onboard) ? ORB_PRIO_HIGH : ORB_PRIO_MAX);
if (_baro_topic == nullptr) {
PX4_DEBUG("ADVERT FAIL");
}
}
_last_report = new_report;
/* post a report to the ring */
_reports->force(&new_report);
/* notify anyone waiting for data */
poll_notify(POLLIN);
ret = OK;
perf_end(_sample_perf);
return ret;
}
int
LPS25H::write_reg(uint8_t reg, uint8_t val)
{
uint8_t buf = val;
return _interface->write(reg, &buf, 1);
}
int
LPS25H::read_reg(uint8_t reg, uint8_t &val)
{
uint8_t buf = val;
int ret = _interface->read(reg, &buf, 1);
val = buf;
return ret;
}
void
LPS25H::print_info()
{
perf_print_counter(_sample_perf);
perf_print_counter(_comms_errors);
printf("poll interval: %u \n", _measure_interval);
print_message(_last_report);
_reports->print_info("report queue");
}
/**
* Local functions in support of the shell command.
*/
namespace lps25h
{
/*
list of supported bus configurations
*/
struct lps25h_bus_option {
enum LPS25H_BUS busid;
const char *devpath;
LPS25H_constructor interface_constructor;
uint8_t busnum;
LPS25H *dev;
} bus_options[] = {
{ LPS25H_BUS_I2C_EXTERNAL, "/dev/lps25h_ext", &LPS25H_I2C_interface, PX4_I2C_BUS_EXPANSION, NULL },
#ifdef PX4_I2C_BUS_EXPANSION1
{ LPS25H_BUS_I2C_EXTERNAL, "/dev/lps25h_ext1", &LPS25H_I2C_interface, PX4_I2C_BUS_EXPANSION1, NULL },
#endif
#ifdef PX4_I2C_BUS_EXPANSION2
{ LPS25H_BUS_I2C_EXTERNAL, "/dev/lps25h_ext2", &LPS25H_I2C_interface, PX4_I2C_BUS_EXPANSION2, NULL },
#endif
#ifdef PX4_I2C_BUS_ONBOARD
{ LPS25H_BUS_I2C_INTERNAL, "/dev/lps25h_int", &LPS25H_I2C_interface, PX4_I2C_BUS_ONBOARD, NULL },
#endif
#ifdef PX4_SPIDEV_HMC
{ LPS25H_BUS_SPI, "/dev/lps25h_spi", &LPS25H_SPI_interface, PX4_SPI_BUS_SENSORS, NULL },
#endif
};
#define NUM_BUS_OPTIONS (sizeof(bus_options)/sizeof(bus_options[0]))
void start(enum LPS25H_BUS busid);
bool start_bus(struct lps25h_bus_option &bus);
struct lps25h_bus_option &find_bus(enum LPS25H_BUS busid);
void test(enum LPS25H_BUS busid);
void reset(enum LPS25H_BUS busid);
void info();
void usage();
/**
* start driver for a specific bus option
*/
bool
start_bus(struct lps25h_bus_option &bus)
{
if (bus.dev != nullptr) {
errx(1, "bus option already started");
}
device::Device *interface = bus.interface_constructor(bus.busnum);
if (interface->init() != OK) {
delete interface;
warnx("no device on bus %u", (unsigned)bus.busid);
return false;
}
bus.dev = new LPS25H(interface, bus.devpath);
if (bus.dev != nullptr && OK != bus.dev->init()) {
delete bus.dev;
bus.dev = NULL;
return false;
}
int fd = open(bus.devpath, O_RDONLY);
/* set the poll rate to default, starts automatic data collection */
if (fd == -1) {
errx(1, "can't open baro device");
}
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
close(fd);
errx(1, "failed setting default poll rate");
}
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.
*/
void
start(enum LPS25H_BUS busid)
{
bool started = false;
for (unsigned i = 0; i < NUM_BUS_OPTIONS; i++) {
if (busid == LPS25H_BUS_ALL && bus_options[i].dev != NULL) {
// this device is already started
continue;
}
if (busid != LPS25H_BUS_ALL && bus_options[i].busid != busid) {
// not the one that is asked for
continue;
}
started |= start_bus(bus_options[i]);
}
if (!started) {
exit(1);
}
}
/**
* find a bus structure for a busid
*/
struct lps25h_bus_option &find_bus(enum LPS25H_BUS busid)
{
for (unsigned i = 0; i < NUM_BUS_OPTIONS; i++) {
if ((busid == LPS25H_BUS_ALL ||
busid == bus_options[i].busid) && bus_options[i].dev != NULL) {
return bus_options[i];
}
}
errx(1, "bus %u not started", (unsigned)busid);
}
/**
* Perform some basic functional tests on the driver;
* make sure we can collect data from the sensor in polled
* and automatic modes.
*/
void
test(enum LPS25H_BUS busid)
{
struct lps25h_bus_option &bus = find_bus(busid);
sensor_baro_s report;
ssize_t sz;
int ret;
int fd;
fd = open(bus.devpath, O_RDONLY);
if (fd < 0) {
err(1, "open failed (try 'lps25h start' if the driver is not running)");
}
/* do a simple demand read */
sz = read(fd, &report, sizeof(report));
if (sz != sizeof(report)) {
err(1, "immediate read failed");
}
print_message(report);
/* read the sensor 5x and report each value */
for (unsigned i = 0; i < 5; i++) {
struct pollfd fds;
/* wait for data to be ready */
fds.fd = fd;
fds.events = POLLIN;
ret = poll(&fds, 1, 2000);
if (ret != 1) {
errx(1, "timed out waiting for sensor data");
}
/* now go get it */
sz = read(fd, &report, sizeof(report));
if (sz != sizeof(report)) {
err(1, "periodic read failed");
}
print_message(report);
}
close(fd);
errx(0, "PASS");
}
/**
* Reset the driver.
*/
void
reset(enum LPS25H_BUS busid)
{
struct lps25h_bus_option &bus = find_bus(busid);
const char *path = bus.devpath;
int fd = open(path, O_RDONLY);
if (fd < 0) {
err(1, "failed ");
}
if (ioctl(fd, SENSORIOCRESET, 0) < 0) {
err(1, "driver reset failed");
}
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
err(1, "driver poll restart failed");
}
exit(0);
}
/**
* Print a little info about the driver.
*/
void
info()
{
for (uint8_t i = 0; i < NUM_BUS_OPTIONS; i++) {
struct lps25h_bus_option &bus = bus_options[i];
if (bus.dev != nullptr) {
warnx("%s", bus.devpath);
bus.dev->print_info();
}
}
exit(0);
}
void
usage()
{
warnx("missing command: try 'start', 'info', 'test', 'reset'");
warnx("options:");
warnx(" -X (external I2C bus)");
warnx(" -I (internal I2C bus)");
warnx(" -S (external SPI bus)");
warnx(" -s (internal SPI bus)");
}
} // namespace
int
lps25h_main(int argc, char *argv[])
{
enum LPS25H_BUS busid = LPS25H_BUS_ALL;
int myoptind = 1;
int ch;
const char *myoptarg = nullptr;
while ((ch = px4_getopt(argc, argv, "XIS:", &myoptind, &myoptarg)) != EOF) {
switch (ch) {
#if (PX4_I2C_BUS_ONBOARD || PX4_SPIDEV_HMC)
case 'I':
busid = LPS25H_BUS_I2C_INTERNAL;
break;
#endif
case 'X':
busid = LPS25H_BUS_I2C_EXTERNAL;
break;
case 'S':
busid = LPS25H_BUS_SPI;
break;
default:
lps25h::usage();
exit(0);
}
}
if (myoptind >= argc) {
lps25h::usage();
exit(0);
}
const char *verb = argv[myoptind];
/*
* Start/load the driver.
*/
if (!strcmp(verb, "start")) {
lps25h::start(busid);
}
/*
* Test the driver/device.
*/
if (!strcmp(verb, "test")) {
lps25h::test(busid);
}
/*
* Reset the driver.
*/
if (!strcmp(verb, "reset")) {
lps25h::reset(busid);
}
/*
* Print driver information.
*/
if (!strcmp(verb, "info")) {
lps25h::info();
}
errx(1, "unrecognised command, try 'start', 'test', 'reset' or 'info'");
}

6
src/drivers/barometer/lps25h/lps25h.h
View File

@@ -43,16 +43,10 @@
#include <drivers/device/Device.hpp>
#include <drivers/device/i2c.h>
#include <drivers/device/ringbuffer.h>
#include <drivers/device/spi.h>
#include <drivers/drv_baro.h>
#include <lib/cdev/CDev.hpp>
#include <perf/perf_counter.h>
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <systemlib/err.h>
#include <uORB/uORB.h>
#define ADDR_WHO_AM_I 0x0F

41
src/drivers/barometer/lps25h/lps25h_i2c.cpp
View File

@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2016 PX4 Development Team. All rights reserved.
* Copyright (c) 2016-2020 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
@@ -39,6 +39,8 @@
#include "lps25h.h"
#include <drivers/device/i2c.h>
#define LPS25H_ADDRESS 0x5D
device::Device *LPS25H_I2C_interface(int bus);
@@ -47,20 +49,17 @@ class LPS25H_I2C : public device::I2C
{
public:
LPS25H_I2C(int bus);
virtual ~LPS25H_I2C() = default;
virtual ~LPS25H_I2C() override = default;
virtual int read(unsigned address, void *data, unsigned count);
virtual int write(unsigned address, void *data, unsigned count);
virtual int ioctl(unsigned operation, unsigned &arg);
int read(unsigned address, void *data, unsigned count) override;
int write(unsigned address, void *data, unsigned count) override;
protected:
virtual int probe();
int probe();
};
device::Device *
LPS25H_I2C_interface(int bus)
device::Device *LPS25H_I2C_interface(int bus)
{
return new LPS25H_I2C(bus);
}
@@ -68,27 +67,10 @@ LPS25H_I2C_interface(int bus)
LPS25H_I2C::LPS25H_I2C(int bus) :
I2C("LPS25H_I2C", nullptr, bus, LPS25H_ADDRESS, 400000)
{
set_device_type(DRV_BARO_DEVTYPE_LPS25H);
}
int
LPS25H_I2C::ioctl(unsigned operation, unsigned &arg)
{
int ret;
switch (operation) {
case DEVIOCGDEVICEID:
return CDev::ioctl(nullptr, operation, arg);
default:
ret = -EINVAL;
}
return ret;
}
int
LPS25H_I2C::probe()
int LPS25H_I2C::probe()
{
uint8_t id;
@@ -109,8 +91,7 @@ LPS25H_I2C::probe()
return OK;
}
int
LPS25H_I2C::write(unsigned address, void *data, unsigned count)
int LPS25H_I2C::write(unsigned address, void *data, unsigned count)
{
uint8_t buf[32];

227
src/drivers/barometer/lps25h/lps25h_main.cpp Normal file
View File

@@ -0,0 +1,227 @@
/****************************************************************************
*
* Copyright (c) 2016-2020 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 "LPS25H.hpp"
enum class LPS25H_BUS {
ALL = 0,
I2C_INTERNAL,
I2C_EXTERNAL,
SPI_INTERNAL,
SPI_EXTERNAL
};
namespace lps25h
{
struct lps25h_bus_option {
LPS25H_BUS busid;
LPS25H_constructor interface_constructor;
uint8_t busnum;
LPS25H *dev;
} bus_options[] = {
{ LPS25H_BUS::I2C_EXTERNAL, &LPS25H_I2C_interface, PX4_I2C_BUS_EXPANSION, nullptr },
#if defined(PX4_I2C_BUS_EXPANSION1)
{ LPS25H_BUS::I2C_EXTERNAL, &LPS25H_I2C_interface, PX4_I2C_BUS_EXPANSION1, nullptr },
#endif
#if defined(PX4_I2C_BUS_EXPANSION2)
{ LPS25H_BUS::I2C_EXTERNAL, &LPS25H_I2C_interface, PX4_I2C_BUS_EXPANSION2, nullptr },
#endif
#if defined(PX4_I2C_BUS_ONBOARD)
{ LPS25H_BUS::I2C_INTERNAL, &LPS25H_I2C_interface, PX4_I2C_BUS_ONBOARD, nullptr },
#endif
#if defined(PX4_SPI_BUS_SENSORS) && defined(PX4_SPIDEV_LPS22H)
{ LPS25H_BUS::SPI_EXTERNAL, &LPS25H_SPI_interface, PX4_SPI_BUS_SENSORS, nullptr },
#endif
};
// find a bus structure for a busid
static struct lps25h_bus_option *find_bus(LPS25H_BUS busid)
{
for (lps25h_bus_option &bus_option : bus_options) {
if ((busid == LPS25H_BUS::ALL ||
busid == bus_option.busid) && bus_option.dev != nullptr) {
return &bus_option;
}
}
return nullptr;
}
static bool start_bus(lps25h_bus_option &bus)
{
device::Device *interface = bus.interface_constructor(bus.busnum);
if (interface->init() != OK) {
PX4_WARN("no device on bus %u", (unsigned)bus.busid);
delete interface;
return false;
}
LPS25H *dev = new LPS25H(interface);
if (dev == nullptr) {
PX4_ERR("alloc failed");
return false;
}
if (dev->init() != PX4_OK) {
PX4_ERR("driver start failed");
delete dev;
delete interface;
return false;
}
bus.dev = dev;
return true;
}
static int start(LPS25H_BUS busid)
{
for (lps25h_bus_option &bus_option : bus_options) {
if (bus_option.dev != nullptr) {
// this device is already started
PX4_WARN("already started");
continue;
}
if (busid != LPS25H_BUS::ALL && bus_option.busid != busid) {
// not the one that is asked for
continue;
}
if (start_bus(bus_option)) {
return PX4_OK;
}
}
return PX4_ERROR;
}
static int stop(LPS25H_BUS busid)
{
lps25h_bus_option *bus = find_bus(busid);
if (bus != nullptr && bus->dev != nullptr) {
delete bus->dev;
bus->dev = nullptr;
} else {
PX4_WARN("driver not running");
return PX4_ERROR;
}
return PX4_OK;
}
static int status(LPS25H_BUS busid)
{
lps25h_bus_option *bus = find_bus(busid);
if (bus != nullptr && bus->dev != nullptr) {
bus->dev->print_info();
return PX4_OK;
}
PX4_WARN("driver not running");
return PX4_ERROR;
}
static int usage()
{
PX4_INFO("missing command: try 'start', 'stop', 'status'");
PX4_INFO("options:");
PX4_INFO(" -X (i2c external bus)");
PX4_INFO(" -I (i2c internal bus)");
PX4_INFO(" -s (spi internal bus)");
PX4_INFO(" -S (spi external bus)");
return 0;
}
} // namespace
extern "C" int lps25h_main(int argc, char *argv[])
{
int myoptind = 1;
int ch;
const char *myoptarg = nullptr;
LPS25H_BUS busid = LPS25H_BUS::ALL;
while ((ch = px4_getopt(argc, argv, "XISs:", &myoptind, &myoptarg)) != EOF) {
switch (ch) {
case 'X':
busid = LPS25H_BUS::I2C_EXTERNAL;
break;
case 'I':
busid = LPS25H_BUS::I2C_INTERNAL;
break;
case 'S':
busid = LPS25H_BUS::SPI_EXTERNAL;
break;
case 's':
busid = LPS25H_BUS::SPI_INTERNAL;
break;
default:
return lps25h::usage();
}
}
if (myoptind >= argc) {
return lps25h::usage();
}
const char *verb = argv[myoptind];
if (!strcmp(verb, "start")) {
lps25h::start(busid);
} else if (!strcmp(verb, "stop")) {
return lps25h::stop(busid);
} else if (!strcmp(verb, "status")) {
lps25h::status(busid);
}
return lps25h::usage();
}

61
src/drivers/barometer/lps25h/lps25h_spi.cpp
View File

@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2016 PX4 Development Team. All rights reserved.
* Copyright (c) 2016-2020 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
@@ -39,49 +39,42 @@
#include "lps25h.h"
#ifdef PX4_SPIDEV_HMC
#if defined(PX4_SPIDEV_LPS22H)
#include <drivers/device/spi.h>
/* SPI protocol address bits */
#define DIR_READ (1<<7)
#define DIR_WRITE (0<<7)
#define HMC_MAX_SEND_LEN 4
#define HMC_MAX_RCV_LEN 8
device::Device *LPS25H_SPI_interface(int bus);
class LPS25H_SPI : public device::SPI
{
public:
LPS25H_SPI(int bus, uint32_t device);
virtual ~LPS25H_SPI() = default;
~LPS25H_SPI() override = default;
virtual int init();
virtual int read(unsigned address, void *data, unsigned count);
virtual int write(unsigned address, void *data, unsigned count);
virtual int ioctl(unsigned operation, unsigned &arg);
int init() override;
int read(unsigned address, void *data, unsigned count) override;
int write(unsigned address, void *data, unsigned count) override;
};
device::Device *
LPS25H_SPI_interface(int bus)
device::Device *LPS25H_SPI_interface(int bus)
{
return new LPS25H_SPI(bus, PX4_SPIDEV_HMC);
return new LPS25H_SPI(bus, PX4_SPIDEV_LPS22H);
}
LPS25H_SPI::LPS25H_SPI(int bus, uint32_t device) :
SPI("LPS25H_SPI", nullptr, bus, device, SPIDEV_MODE3, 11 * 1000 * 1000 /* will be rounded to 10.4 MHz */)
SPI("LPS25H_SPI", nullptr, bus, device, SPIDEV_MODE3, 11 * 1000 * 1000)
{
_device_id.devid_s.devtype = DRV_MAG_DEVTYPE_LPS25H;
set_device_type(DRV_BARO_DEVTYPE_LPS25H);
}
int
LPS25H_SPI::init()
int LPS25H_SPI::init()
{
int ret;
ret = SPI::init();
int ret = SPI::init();
if (ret != OK) {
DEVICE_DEBUG("SPI init failed");
@@ -104,26 +97,7 @@ LPS25H_SPI::init()
return OK;
}
int
LPS25H_SPI::ioctl(unsigned operation, unsigned &arg)
{
int ret;
switch (operation) {
case DEVIOCGDEVICEID:
return CDev::ioctl(nullptr, operation, arg);
default: {
ret = -EINVAL;
}
}
return ret;
}
int
LPS25H_SPI::write(unsigned address, void *data, unsigned count)
int LPS25H_SPI::write(unsigned address, void *data, unsigned count)
{
uint8_t buf[32];
@@ -137,8 +111,7 @@ LPS25H_SPI::write(unsigned address, void *data, unsigned count)
return transfer(&buf[0], &buf[0], count + 1);
}
int
LPS25H_SPI::read(unsigned address, void *data, unsigned count)
int LPS25H_SPI::read(unsigned address, void *data, unsigned count)
{
uint8_t buf[32];
@@ -153,4 +126,4 @@ LPS25H_SPI::read(unsigned address, void *data, unsigned count)
return ret;
}
#endif /* PX4_SPIDEV_HMC */
#endif /* PX4_SPIDEV_LPS22H */