diff --git a/src/drivers/ms5611/CMakeLists.txt b/src/drivers/ms5611/CMakeLists.txt index 1cfa739a2e..1c5ebbb673 100644 --- a/src/drivers/ms5611/CMakeLists.txt +++ b/src/drivers/ms5611/CMakeLists.txt @@ -33,19 +33,8 @@ set(srcs ms5611_spi.cpp ms5611_i2c.cpp - ) - -if(${OS} STREQUAL "nuttx") - list(APPEND srcs - ms5611_nuttx.cpp - ) -else() - list(APPEND srcs - ms5611_posix.cpp - ms5611_sim.cpp - ) - -endif() + ms5611.cpp +) px4_add_module( MODULE drivers__ms5611 diff --git a/src/drivers/ms5611/ms5611_nuttx.cpp b/src/drivers/ms5611/ms5611.cpp similarity index 100% rename from src/drivers/ms5611/ms5611_nuttx.cpp rename to src/drivers/ms5611/ms5611.cpp diff --git a/src/drivers/ms5611/ms5611_posix.cpp b/src/drivers/ms5611/ms5611_posix.cpp deleted file mode 100644 index b4b22f6c35..0000000000 --- a/src/drivers/ms5611/ms5611_posix.cpp +++ /dev/null @@ -1,1335 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2012-2015 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 ms5611.cpp - * Driver for the MS5611 barometric pressure sensor connected via I2C or SPI. - */ - -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include - -#include -#include -#include -#include - -#include -#include - -#include "ms5611.h" - -enum MS5611_BUS { - MS5611_BUS_ALL = 0, - MS5611_BUS_I2C_INTERNAL, - MS5611_BUS_I2C_EXTERNAL, - MS5611_BUS_SPI_INTERNAL, - MS5611_BUS_SPI_EXTERNAL, - MS5611_BUS_SIM_EXTERNAL -}; - -/* oddly, ERROR is not defined for c++ */ -#ifdef ERROR -# undef ERROR -#endif -static const int ERROR = -1; - -//#ifndef CONFIG_SCHED_WORKQUEUE -//# error This requires CONFIG_SCHED_WORKQUEUE. -//#endif - -/* helper macro for handling report buffer indices */ -#define INCREMENT(_x, _lim) do { __typeof__(_x) _tmp = _x+1; if (_tmp >= _lim) _tmp = 0; _x = _tmp; } while(0) - -/* helper macro for arithmetic - returns the square of the argument */ -#define POW2(_x) ((_x) * (_x)) - -/* - * MS5611 internal constants and data structures. - */ - -/* internal conversion time: 9.17 ms, so should not be read at rates higher than 100 Hz */ -#define MS5611_CONVERSION_INTERVAL 10000 /* microseconds */ -#define MS5611_MEASUREMENT_RATIO 3 /* pressure measurements per temperature measurement */ -#define MS5611_BARO_DEVICE_PATH_EXT "/dev/ms5611_ext" -#define MS5611_BARO_DEVICE_PATH_INT "/dev/ms5611_int" - -class MS5611 : public device::VDev -{ -public: - MS5611(device::Device *interface, ms5611::prom_u &prom_buf, const char *path); - ~MS5611(); - - virtual int init(); - - virtual ssize_t read(device::file_t *handlep, char *buffer, size_t buflen); - virtual int ioctl(device::file_t *handlep, int cmd, unsigned long arg); - - /** - * Diagnostics - print some basic information about the driver. - */ - void print_info(); - -protected: - Device *_interface; - - ms5611::prom_s _prom; - - struct work_s _work; - unsigned _measure_ticks; - - ringbuffer::RingBuffer *_reports; - - bool _collect_phase; - unsigned _measure_phase; - - /* intermediate temperature values per MS5611 datasheet */ - int32_t _TEMP; - int64_t _OFF; - int64_t _SENS; - float _P; - float _T; - - /* altitude conversion calibration */ - unsigned _msl_pressure; /* in Pa */ - - orb_advert_t _baro_topic; - int _orb_class_instance; - int _class_instance; - - perf_counter_t _sample_perf; - perf_counter_t _measure_perf; - perf_counter_t _comms_errors; - perf_counter_t _buffer_overflows; - - /** - * Initialize 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_cycle(); - - /** - * Stop the automatic measurement state machine. - */ - void stop_cycle(); - - /** - * 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 cycle(); - - /** - * Get the internal / external state - * - * @return true if the sensor is not on the main MCU board - */ - bool is_external() { return (_orb_class_instance == 0); /* XXX put this into the interface class */ } - - /** - * Static trampoline from the workq context; because we don't have a - * generic workq wrapper yet. - * - * @param arg Instance pointer for the driver that is polling. - */ - static void cycle_trampoline(void *arg); - - /** - * Issue a measurement command for the current state. - * - * @return OK if the measurement command was successful. - */ - virtual int measure(); - - /** - * Collect the result of the most recent measurement. - */ - virtual int collect(); -}; - -/* - * Driver 'main' command. - */ -extern "C" __EXPORT int ms5611_main(int argc, char *argv[]); - -MS5611::MS5611(device::Device *interface, ms5611::prom_u &prom_buf, const char *path) : - VDev("MS5611", path), - _interface(interface), - _prom(prom_buf.s), - _measure_ticks(0), - _reports(nullptr), - _collect_phase(false), - _measure_phase(0), - _TEMP(0), - _OFF(0), - _SENS(0), - _msl_pressure(101325), - _baro_topic(nullptr), - _orb_class_instance(-1), - _class_instance(-1), - _sample_perf(perf_alloc(PC_ELAPSED, "ms5611_read")), - _measure_perf(perf_alloc(PC_ELAPSED, "ms5611_measure")), - _comms_errors(perf_alloc(PC_COUNT, "ms5611_comms_errors")), - _buffer_overflows(perf_alloc(PC_COUNT, "ms5611_buffer_overflows")) -{ - // work_cancel in stop_cycle called from the dtor will explode if we don't do this... - memset(&_work, 0, sizeof(_work)); -} - -MS5611::~MS5611() -{ - /* make sure we are truly inactive */ - stop_cycle(); - - if (_class_instance != -1) { - unregister_class_devname(get_devname(), _class_instance); - } - - /* free any existing reports */ - if (_reports != nullptr) { - delete _reports; - } - - // free perf counters - perf_free(_sample_perf); - perf_free(_measure_perf); - perf_free(_comms_errors); - perf_free(_buffer_overflows); - - delete _interface; -} - -int -MS5611::init() -{ - int ret; - warnx("MS5611::init"); - - ret = VDev::init(); - - if (ret != OK) { - DEVICE_DEBUG("VDev init failed"); - goto out; - } - - /* allocate basic report buffers */ - _reports = new ringbuffer::RingBuffer(2, sizeof(baro_report)); - - if (_reports == nullptr) { - DEVICE_DEBUG("can't get memory for reports"); - ret = -ENOMEM; - goto out; - } - - /* register alternate interfaces if we have to */ - _class_instance = register_class_devname(BARO_BASE_DEVICE_PATH); - - struct baro_report brp; - /* do a first measurement cycle to populate reports with valid data */ - _measure_phase = 0; - _reports->flush(); - - /* this do..while is goto without goto */ - do { - /* do temperature first */ - if (OK != measure()) { - ret = -EIO; - warnx("temp measure failed"); - break; - } - - usleep(MS5611_CONVERSION_INTERVAL); - - if (OK != collect()) { - ret = -EIO; - warnx("temp collect failed"); - break; - } - - /* now do a pressure measurement */ - if (OK != measure()) { - ret = -EIO; - warnx("pressure collect failed"); - break; - } - - usleep(MS5611_CONVERSION_INTERVAL); - - if (OK != collect()) { - ret = -EIO; - warnx("pressure collect failed"); - break; - } - - /* state machine will have generated a report, copy it out */ - _reports->get(&brp); - - ret = OK; - - _baro_topic = orb_advertise_multi(ORB_ID(sensor_baro), &brp, - &_orb_class_instance, (is_external()) ? ORB_PRIO_HIGH : ORB_PRIO_DEFAULT); - - if (_baro_topic == nullptr) { - warnx("failed to create sensor_baro publication"); - } - - //warnx("sensor_baro publication %ld", _baro_topic); - - } while (0); - -out: - return ret; -} - -ssize_t -MS5611::read(device::file_t *handlep, char *buffer, size_t buflen) -{ - unsigned count = buflen / sizeof(struct baro_report); - struct baro_report *brp = reinterpret_cast(buffer); - int ret = 0; - - /* buffer must be large enough */ - if (count < 1) { - return -ENOSPC; - } - - /* if automatic measurement is enabled */ - if (_measure_ticks > 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 */ - do { - _measure_phase = 0; - _reports->flush(); - - /* do temperature first */ - if (OK != measure()) { - ret = -EIO; - break; - } - - usleep(MS5611_CONVERSION_INTERVAL); - - if (OK != collect()) { - ret = -EIO; - break; - } - - /* now do a pressure measurement */ - if (OK != measure()) { - ret = -EIO; - break; - } - - usleep(MS5611_CONVERSION_INTERVAL); - - if (OK != collect()) { - ret = -EIO; - break; - } - - /* state machine will have generated a report, copy it out */ - if (_reports->get(brp)) { - ret = sizeof(*brp); - } - - } while (0); - - return ret; -} - -int -MS5611::ioctl(device::file_t *handlep, int cmd, unsigned long arg) -{ - switch (cmd) { - - case SENSORIOCSPOLLRATE: { - switch (arg) { - - /* switching to manual polling */ - case SENSOR_POLLRATE_MANUAL: - stop_cycle(); - _measure_ticks = 0; - return OK; - - /* external signalling not supported */ - case SENSOR_POLLRATE_EXTERNAL: - - /* zero would be bad */ - case 0: - return -EINVAL; - - /* set default/max polling rate */ - case SENSOR_POLLRATE_MAX: - case SENSOR_POLLRATE_DEFAULT: { - /* do we need to start internal polling? */ - bool want_start = (_measure_ticks == 0); - - /* set interval for next measurement to minimum legal value */ - _measure_ticks = USEC2TICK(MS5611_CONVERSION_INTERVAL); - - /* if we need to start the poll state machine, do it */ - if (want_start) { - start_cycle(); - } - - return OK; - } - - /* adjust to a legal polling interval in Hz */ - default: { - /* do we need to start internal polling? */ - bool want_start = (_measure_ticks == 0); - - /* convert hz to tick interval via microseconds */ - unsigned ticks = USEC2TICK(1000000 / arg); - - /* check against maximum rate */ - if ((unsigned long)ticks < USEC2TICK(MS5611_CONVERSION_INTERVAL)) { - return -EINVAL; - } - - /* update interval for next measurement */ - _measure_ticks = ticks; - - /* if we need to start the poll state machine, do it */ - if (want_start) { - start_cycle(); - } - - return OK; - } - } - } - - case SENSORIOCGPOLLRATE: - if (_measure_ticks == 0) { - return SENSOR_POLLRATE_MANUAL; - } - - return (1000 / _measure_ticks); - - case SENSORIOCSQUEUEDEPTH: { - /* lower bound is mandatory, upper bound is a sanity check */ - if ((arg < 1) || (arg > 100)) { - return -EINVAL; - } - - if (!_reports->resize(arg)) { - return -ENOMEM; - } - - return OK; - } - - case SENSORIOCGQUEUEDEPTH: - return _reports->size(); - - case SENSORIOCRESET: - /* - * Since we are initialized, we do not need to do anything, since the - * PROM is correctly read and the part does not need to be configured. - */ - return OK; - - case BAROIOCSMSLPRESSURE: - - /* range-check for sanity */ - if ((arg < 80000) || (arg > 120000)) { - return -EINVAL; - } - - _msl_pressure = arg; - return OK; - - case BAROIOCGMSLPRESSURE: - return _msl_pressure; - - default: - break; - } - - /* give it to the bus-specific superclass */ - // return bus_ioctl(filp, cmd, arg); - return VDev::ioctl(handlep, cmd, arg); -} - -void -MS5611::start_cycle() -{ - - /* reset the report ring and state machine */ - _collect_phase = false; - _measure_phase = 0; - _reports->flush(); - - /* schedule a cycle to start things */ - work_queue(HPWORK, &_work, (worker_t)&MS5611::cycle_trampoline, this, 1); -} - -void -MS5611::stop_cycle() -{ - work_cancel(HPWORK, &_work); -} - -void -MS5611::cycle_trampoline(void *arg) -{ - MS5611 *dev = reinterpret_cast(arg); - - dev->cycle(); -} - -void -MS5611::cycle() -{ - int ret; - unsigned dummy; - - /* collection phase? */ - if (_collect_phase) { - - /* perform collection */ - ret = collect(); - - if (ret != OK) { - if (ret == -6) { - /* - * The ms5611 seems to regularly fail to respond to - * its address; this happens often enough that we'd rather not - * spam the console with a message for this. - */ - } else { - //DEVICE_LOG("collection error %d", ret); - } - - /* issue a reset command to the sensor */ - _interface->dev_ioctl(IOCTL_RESET, dummy); - /* reset the collection state machine and try again */ - start_cycle(); - return; - } - - /* next phase is measurement */ - _collect_phase = false; - - /* - * Is there a collect->measure gap? - * Don't inject one after temperature measurements, so we can keep - * doing pressure measurements at something close to the desired rate. - */ - if ((_measure_phase != 0) && - ((unsigned long)_measure_ticks > USEC2TICK(MS5611_CONVERSION_INTERVAL))) { - - /* schedule a fresh cycle call when we are ready to measure again */ - work_queue(HPWORK, - &_work, - (worker_t)&MS5611::cycle_trampoline, - this, - _measure_ticks - USEC2TICK(MS5611_CONVERSION_INTERVAL)); - - return; - } - } - - /* measurement phase */ - ret = measure(); - - if (ret != OK) { - //DEVICE_LOG("measure error %d", ret); - /* issue a reset command to the sensor */ - _interface->dev_ioctl(IOCTL_RESET, dummy); - /* reset the collection state machine and try again */ - start_cycle(); - return; - } - - /* next phase is collection */ - _collect_phase = true; - - /* schedule a fresh cycle call when the measurement is done */ - work_queue(HPWORK, - &_work, - (worker_t)&MS5611::cycle_trampoline, - this, - USEC2TICK(MS5611_CONVERSION_INTERVAL)); -} - -int -MS5611::measure() -{ - int ret; - - perf_begin(_measure_perf); - - /* - * In phase zero, request temperature; in other phases, request pressure. - */ - unsigned addr = (_measure_phase == 0) ? ADDR_CMD_CONVERT_D2 : ADDR_CMD_CONVERT_D1; - - /* - * Send the command to begin measuring. - */ - ret = _interface->dev_ioctl(IOCTL_MEASURE, addr); - - if (OK != ret) { - perf_count(_comms_errors); - } - - perf_end(_measure_perf); - - return ret; -} - -int -MS5611::collect() -{ - int ret; - uint32_t raw; - - perf_begin(_sample_perf); - - struct baro_report report; - /* this should be fairly close to the end of the conversion, so the best approximation of the time */ - report.timestamp = hrt_absolute_time(); - report.error_count = perf_event_count(_comms_errors); - - /* read the most recent measurement - read offset/size are hardcoded in the interface */ - ret = _interface->dev_read(0, (void *)&raw, 0); - - if (ret < 0) { - perf_count(_comms_errors); - perf_end(_sample_perf); - return ret; - } - - /* handle a measurement */ - if (_measure_phase == 0) { - - /* temperature offset (in ADC units) */ - int32_t dT = (int32_t)raw - ((int32_t)_prom.c5_reference_temp << 8); - - /* absolute temperature in centidegrees - note intermediate value is outside 32-bit range */ - _TEMP = 2000 + (int32_t)(((int64_t)dT * _prom.c6_temp_coeff_temp) >> 23); - - /* base sensor scale/offset values */ - _SENS = ((int64_t)_prom.c1_pressure_sens << 15) + (((int64_t)_prom.c3_temp_coeff_pres_sens * dT) >> 8); - _OFF = ((int64_t)_prom.c2_pressure_offset << 16) + (((int64_t)_prom.c4_temp_coeff_pres_offset * dT) >> 7); - - /* temperature compensation */ - if (_TEMP < 2000) { - - int32_t T2 = POW2(dT) >> 31; - - int64_t f = POW2((int64_t)_TEMP - 2000); - int64_t OFF2 = 5 * f >> 1; - int64_t SENS2 = 5 * f >> 2; - - if (_TEMP < -1500) { - int64_t f2 = POW2(_TEMP + 1500); - OFF2 += 7 * f2; - SENS2 += 11 * f2 >> 1; - } - - _TEMP -= T2; - _OFF -= OFF2; - _SENS -= SENS2; - } - - } else { - - /* pressure calculation, result in Pa */ - int32_t P = (((raw * _SENS) >> 21) - _OFF) >> 15; - _P = P * 0.01f; - _T = _TEMP * 0.01f; - - /* generate a new report */ - report.temperature = _TEMP / 100.0f; - report.pressure = P / 100.0f; /* convert to millibar */ - - /* altitude calculations based on http://www.kansasflyer.org/index.asp?nav=Avi&sec=Alti&tab=Theory&pg=1 */ - - /* - * PERFORMANCE HINT: - * - * The single precision calculation is 50 microseconds faster than the double - * precision variant. It is however not obvious if double precision is required. - * Pending more inspection and tests, we'll leave the double precision variant active. - * - * Measurements: - * double precision: ms5611_read: 992 events, 258641us elapsed, min 202us max 305us - * single precision: ms5611_read: 963 events, 208066us elapsed, min 202us max 241us - */ - - /* tropospheric properties (0-11km) for standard atmosphere */ - const double T1 = 15.0 + 273.15; /* temperature at base height in Kelvin */ - const double a = -6.5 / 1000; /* temperature gradient in degrees per metre */ - const double g = 9.80665; /* gravity constant in m/s/s */ - const double R = 287.05; /* ideal gas constant in J/kg/K */ - - /* current pressure at MSL in kPa */ - double p1 = _msl_pressure / 1000.0; - - /* measured pressure in kPa */ - double p = P / 1000.0; - - /* - * Solve: - * - * / -(aR / g) \ - * | (p / p1) . T1 | - T1 - * \ / - * h = ------------------------------- + h1 - * a - */ - report.altitude = (((pow((p / p1), (-(a * R) / g))) * T1) - T1) / a; - - /* publish it */ - if (!(_pub_blocked)) { - if (_baro_topic != (orb_advert_t)(-1)) { - /* publish it */ - orb_publish(ORB_ID(sensor_baro), _baro_topic, &report); - - } else { - printf("MS5611::collect _baro_topic not initialized\n"); - } - } - - if (_reports->force(&report)) { - perf_count(_buffer_overflows); - } - - /* notify anyone waiting for data */ - poll_notify(POLLIN); - } - - /* update the measurement state machine */ - INCREMENT(_measure_phase, MS5611_MEASUREMENT_RATIO + 1); - - perf_end(_sample_perf); - - return OK; -} - -void -MS5611::print_info() -{ - perf_print_counter(_sample_perf); - perf_print_counter(_comms_errors); - perf_print_counter(_buffer_overflows); - printf("poll interval: %u ticks\n", _measure_ticks); - _reports->print_info("report queue"); - printf("TEMP: %d\n", _TEMP); - printf("SENS: %lld\n", (long long)_SENS); - printf("OFF: %lld\n", (long long)_OFF); - printf("P: %.3f\n", (double)_P); - printf("T: %.3f\n", (double)_T); - printf("MSL pressure: %10.4f\n", (double)(_msl_pressure / 100.f)); - - printf("factory_setup %u\n", _prom.factory_setup); - printf("c1_pressure_sens %u\n", _prom.c1_pressure_sens); - printf("c2_pressure_offset %u\n", _prom.c2_pressure_offset); - printf("c3_temp_coeff_pres_sens %u\n", _prom.c3_temp_coeff_pres_sens); - printf("c4_temp_coeff_pres_offset %u\n", _prom.c4_temp_coeff_pres_offset); - printf("c5_reference_temp %u\n", _prom.c5_reference_temp); - printf("c6_temp_coeff_temp %u\n", _prom.c6_temp_coeff_temp); - printf("serial_and_crc %u\n", _prom.serial_and_crc); -} - -/** - * Local functions in support of the shell command. - */ -namespace ms5611 -{ - -/* - list of supported bus configurations - */ -struct ms5611_bus_option { - enum MS5611_BUS busid; - const char *devpath; - MS5611_constructor interface_constructor; - uint8_t busnum; - MS5611 *dev; -} bus_options[] = { -#if 0 -#if defined(PX4_SPIDEV_EXT_BARO) && defined(PX4_SPI_BUS_EXT) - { MS5611_BUS_SPI_EXTERNAL, "/dev/ms5611_spi_ext", &MS5611_spi_interface, PX4_SPI_BUS_EXT, NULL }, -#endif -#ifdef PX4_SPIDEV_BARO - { MS5611_BUS_SPI_INTERNAL, "/dev/ms5611_spi_int", &MS5611_spi_interface, PX4_SPI_BUS_SENSORS, NULL }, -#endif -#ifdef PX4_I2C_BUS_ONBOARD - { MS5611_BUS_I2C_INTERNAL, "/dev/ms5611_int", &MS5611_i2c_interface, PX4_I2C_BUS_ONBOARD, NULL }, -#endif -#ifdef PX4_I2C_BUS_EXPANSION - { MS5611_BUS_I2C_EXTERNAL, "/dev/ms5611_ext", &MS5611_i2c_interface, PX4_I2C_BUS_EXPANSION, NULL }, -#endif -#endif -#ifdef PX4_SIM_BUS_TEST - { MS5611_BUS_SIM_EXTERNAL, "/dev/ms5611_sim", &MS5611_sim_interface, PX4_SIM_BUS_TEST, NULL }, -#endif -}; -#define NUM_BUS_OPTIONS (sizeof(bus_options)/sizeof(bus_options[0])) - -bool start_bus(struct ms5611_bus_option &bus); -bool find_bus(enum MS5611_BUS busid, ms5611_bus_option &bus); -int start(enum MS5611_BUS busid); -int test(enum MS5611_BUS busid); -int reset(enum MS5611_BUS busid); -int info(); -int calibrate(unsigned altitude, enum MS5611_BUS busid); -void usage(); - -/** - * MS5611 crc4 cribbed from the datasheet - */ -bool -crc4(uint16_t *n_prom) -{ - int16_t cnt; - uint16_t n_rem; - uint16_t crc_read; - uint8_t n_bit; - - n_rem = 0x00; - - /* save the read crc */ - crc_read = n_prom[7]; - - /* remove CRC byte */ - n_prom[7] = (0xFF00 & (n_prom[7])); - - for (cnt = 0; cnt < 16; cnt++) { - /* uneven bytes */ - if (cnt & 1) { - n_rem ^= (uint8_t)((n_prom[cnt >> 1]) & 0x00FF); - - } else { - n_rem ^= (uint8_t)(n_prom[cnt >> 1] >> 8); - } - - for (n_bit = 8; n_bit > 0; n_bit--) { - if (n_rem & 0x8000) { - n_rem = (n_rem << 1) ^ 0x3000; - - } else { - n_rem = (n_rem << 1); - } - } - } - - /* final 4 bit remainder is CRC value */ - n_rem = (0x000F & (n_rem >> 12)); - n_prom[7] = crc_read; - - /* return true if CRCs match */ - return (0x000F & crc_read) == (n_rem ^ 0x00); -} - - -/** - * Start the driver. - */ -bool -start_bus(struct ms5611_bus_option &bus) -{ - if (bus.dev != nullptr) { - warnx("bus option already started"); - return false; - } - - prom_u prom_buf; - device::Device *interface = bus.interface_constructor(prom_buf, bus.busnum); - - if (interface->init() != OK) { - delete interface; - warnx("no device on bus %u", (unsigned)bus.busid); - return false; - } - - bus.dev = new MS5611(interface, prom_buf, bus.devpath); - - if (bus.dev != nullptr && OK != bus.dev->init()) { - delete bus.dev; - bus.dev = NULL; - warnx("bus init failed %p", bus.dev); - return false; - } - - int fd = px4_open(bus.devpath, O_RDONLY); - - /* set the poll rate to default, starts automatic data collection */ - if (fd == -1) { - warnx("can't open baro device"); - return false; - } - - if (px4_ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) { - px4_close(fd); - warnx("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. - */ -int -start(enum MS5611_BUS busid) -{ - 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 |= start_bus(bus_options[i]); - } - - if (!started) { - warnx("driver start failed"); - return 1; - } - - // one or more drivers started OK - return 0; -} - - -/** - * find a bus structure for a busid - */ -bool find_bus(enum MS5611_BUS busid, ms5611_bus_option &bus) -{ - for (uint8_t i = 0; i < NUM_BUS_OPTIONS; i++) { - if ((busid == MS5611_BUS_ALL || - busid == bus_options[i].busid) && bus_options[i].dev != NULL) { - bus = bus_options[i]; - return true; - } - } - - PX4_WARN("bus %u not started", (unsigned)busid); - return false; -} - -/** - * Perform some basic functional tests on the driver; - * make sure we can collect data from the sensor in polled - * and automatic modes. - */ -int -test(enum MS5611_BUS busid) -{ - struct ms5611_bus_option bus; - - if (!find_bus(busid, bus)) { - return 1; - } - - struct baro_report report; - - ssize_t sz; - - int ret; - - int fd; - - fd = px4_open(bus.devpath, O_RDONLY); - - if (fd < 0) { - warn("open failed (try 'ms5611 start' if the driver is not running)"); - return 1; - } - - /* do a simple demand read */ - sz = px4_read(fd, &report, sizeof(report)); - - if (sz != sizeof(report)) { - warn("immediate read failed"); - return 1; - } - - warnx("single read"); - warnx("pressure: %10.4f", (double)report.pressure); - warnx("altitude: %11.4f", (double)report.altitude); - warnx("temperature: %8.4f", (double)report.temperature); - warnx("time: %lld", (long long)report.timestamp); - - /* set the queue depth to 10 */ - if (OK != px4_ioctl(fd, SENSORIOCSQUEUEDEPTH, 10)) { - warnx("failed to set queue depth"); - return 1; - } - - /* start the sensor polling at 2Hz */ - if (OK != px4_ioctl(fd, SENSORIOCSPOLLRATE, 2)) { - warnx("failed to set 2Hz poll rate"); - return 1; - } - - /* 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) { - warnx("timed out waiting for sensor data"); - } - - /* now go get it */ - sz = px4_read(fd, &report, sizeof(report)); - - if (sz != sizeof(report)) { - warn("periodic read failed"); - return 1; - } - - warnx("periodic read %u", i); - warnx("pressure: %10.4f", (double)report.pressure); - warnx("altitude: %11.4f", (double)report.altitude); - warnx("temperature: %8.4f", (double)report.temperature); - warnx("time: %lld", (long long)report.timestamp); - } - - close(fd); - warnx("PASS"); - return 0; -} - -/** - * Reset the driver. - */ -int -reset(enum MS5611_BUS busid) -{ - struct ms5611_bus_option bus; - - if (!find_bus(busid, bus)) { - return 1; - } - - int fd; - - fd = open(bus.devpath, O_RDONLY); - - if (fd < 0) { - warn("failed "); - return 1; - } - - if (px4_ioctl(fd, SENSORIOCRESET, 0) < 0) { - warn("driver reset failed"); - return 1; - } - - if (px4_ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) { - warn("driver poll restart failed"); - return 1; - } - - return 0; -} - -/** - * Print a little info about the driver. - */ -int -info() -{ - for (uint8_t i = 0; i < NUM_BUS_OPTIONS; i++) { - struct ms5611_bus_option &bus = bus_options[i]; - - if (bus.dev != nullptr) { - warnx("%s", bus.devpath); - bus.dev->print_info(); - } - } - - return 0; -} - -/** - * Calculate actual MSL pressure given current altitude - */ -int -calibrate(unsigned altitude, enum MS5611_BUS busid) -{ - struct ms5611_bus_option bus; - - if (!find_bus(busid, bus)) { - return 1; - } - - struct baro_report report; - - float pressure; - - float p1; - - int fd; - - fd = px4_open(bus.devpath, O_RDONLY); - - if (fd < 0) { - warn("open failed (try 'ms5611 start' if the driver is not running)"); - return 1; - } - - /* start the sensor polling at max */ - if (OK != px4_ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MAX)) { - warnx("failed to set poll rate"); - return 1; - } - - /* average a few measurements */ - pressure = 0.0f; - - for (unsigned i = 0; i < 20; i++) { - struct pollfd fds; - int ret; - ssize_t sz; - - /* wait for data to be ready */ - fds.fd = fd; - fds.events = POLLIN; - ret = poll(&fds, 1, 1000); - - if (ret != 1) { - warnx("timed out waiting for sensor data"); - return 1; - } - - /* now go get it */ - sz = px4_read(fd, &report, sizeof(report)); - - if (sz != sizeof(report)) { - warn("sensor read failed"); - return 1; - } - - pressure += report.pressure; - } - - pressure /= 20; /* average */ - pressure /= 10; /* scale from millibar to kPa */ - - /* tropospheric properties (0-11km) for standard atmosphere */ - const float T1 = 15.0 + 273.15; /* temperature at base height in Kelvin */ - const float a = -6.5 / 1000; /* temperature gradient in degrees per metre */ - const float g = 9.80665f; /* gravity constant in m/s/s */ - const float R = 287.05f; /* ideal gas constant in J/kg/K */ - - warnx("averaged pressure %10.4fkPa at %um", (double)pressure, altitude); - - p1 = pressure * (powf(((T1 + (a * (float)altitude)) / T1), (g / (a * R)))); - - warnx("calculated MSL pressure %10.4fkPa", (double)p1); - - /* save as integer Pa */ - p1 *= 1000.0f; - - if (px4_ioctl(fd, BAROIOCSMSLPRESSURE, (unsigned long)p1) != OK) { - warn("BAROIOCSMSLPRESSURE"); - return 1; - } - - close(fd); - return 0; -} - -void -usage() -{ - warnx("missing command: try 'start', 'info', 'test', 'test2', 'reset', 'calibrate'"); - warnx("options:"); - warnx(" -X (external I2C bus)"); - warnx(" -I (intternal I2C bus)"); - warnx(" -S (Simulation bus)"); -} - -} // namespace - -int -ms5611_main(int argc, char *argv[]) -{ - enum MS5611_BUS busid = MS5611_BUS_ALL; - int ch; - int ret; - - if (argc < 2) { - ms5611::usage(); - return 1; - } - - /* jump over start/off/etc and look at options first */ - int myoptind = 1; - const char *myoptarg = NULL; - - while ((ch = px4_getopt(argc, argv, "XIS", &myoptind, &myoptarg)) != EOF) { - printf("ch = %d\n", ch); - - switch (ch) { - case 'X': - busid = MS5611_BUS_I2C_EXTERNAL; - break; - - case 'I': - busid = MS5611_BUS_I2C_INTERNAL; - break; - - case 'S': - busid = MS5611_BUS_SIM_EXTERNAL; - break; - - default: - ms5611::usage(); - return 1; - } - } - - const char *verb = argv[myoptind]; - - /* - * Start/load the driver. - */ - if (!strcmp(verb, "start")) { - ret = ms5611::start(busid); - } - - /* - * Test the driver/device. - */ - else if (!strcmp(verb, "test")) { - ret = ms5611::test(busid); - } - - /* - * Reset the driver. - */ - else if (!strcmp(verb, "reset")) { - ret = ms5611::reset(busid); - } - - /* - * Print driver information. - */ - else if (!strcmp(verb, "info")) { - ret = ms5611::info(); - } - - /* - * Perform MSL pressure calibration given an altitude in metres - */ - else if (!strcmp(verb, "calibrate")) { - if (argc < 2) { - PX4_WARN("missing altitude"); - } - - long altitude = strtol(argv[optind + 1], nullptr, 10); - - ret = ms5611::calibrate(altitude, busid); - - } else { - ms5611::usage(); - warnx("unrecognised command, try 'start', 'test', 'reset' or 'info'"); - return 1; - } - - return ret; -} diff --git a/src/drivers/ms5611/ms5611_sim.cpp b/src/drivers/ms5611/ms5611_sim.cpp deleted file mode 100644 index 72c02f6b38..0000000000 --- a/src/drivers/ms5611/ms5611_sim.cpp +++ /dev/null @@ -1,206 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2013 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 ms5611_i2c.cpp - * - * SIM interface for MS5611 - */ - -/* XXX trim includes */ -#include -#include - -#include -#include -#include -#include -//#include -#include -#include - -#include -#include "ms5611.h" -#include "board_config.h" - -device::Device *MS5611_sim_interface(ms5611::prom_u &prom_buf); - -class MS5611_SIM : public device::SIM -{ -public: - MS5611_SIM(uint8_t bus, ms5611::prom_u &prom_buf); - virtual ~MS5611_SIM(); - - virtual int init(); - virtual int dev_read(unsigned offset, void *data, unsigned count); - virtual int dev_ioctl(unsigned operation, unsigned &arg); - - virtual int transfer(const uint8_t *send, unsigned send_len, - uint8_t *recv, unsigned recv_len); -private: - ms5611::prom_u &_prom; - - /** - * Send a reset command to the MS5611. - * - * This is required after any bus reset. - */ - int _reset(); - - /** - * Send a measure command to the MS5611. - * - * @param addr Which address to use for the measure operation. - */ - int _measure(unsigned addr); - - /** - * Read the MS5611 PROM - * - * @return PX4_OK if the PROM reads successfully. - */ - int _read_prom(); - -}; - -device::Device * -MS5611_sim_interface(ms5611::prom_u &prom_buf, uint8_t busnum) -{ - return new MS5611_SIM(busnum, prom_buf); -} - -MS5611_SIM::MS5611_SIM(uint8_t bus, ms5611::prom_u &prom) : - SIM("MS5611_SIM", "/dev/MS5611_SIM", bus, 0), - _prom(prom) -{ -} - -MS5611_SIM::~MS5611_SIM() -{ -} - -int -MS5611_SIM::init() -{ - return SIM::init(); -} - -int -MS5611_SIM::dev_read(unsigned offset, void *data, unsigned count) -{ - union _cvt { - uint8_t b[4]; - uint32_t w; - } *cvt = (_cvt *)data; - uint8_t buf[3]; - - /* read the most recent measurement */ - uint8_t cmd = 0; - int ret = transfer(&cmd, 1, &buf[0], 3); - - if (ret == PX4_OK) { - /* fetch the raw value */ - cvt->b[0] = buf[2]; - cvt->b[1] = buf[1]; - cvt->b[2] = buf[0]; - cvt->b[3] = 0; - } - - return ret; -} - -int -MS5611_SIM::dev_ioctl(unsigned operation, unsigned &arg) -{ - int ret; - - switch (operation) { - case IOCTL_RESET: - ret = _reset(); - break; - - case IOCTL_MEASURE: - ret = _measure(arg); - break; - - default: - ret = EINVAL; - } - - return ret; -} - -int -MS5611_SIM::_reset() -{ - unsigned old_retrycount = _retries; - uint8_t cmd = ADDR_RESET_CMD; - int result; - - /* bump the retry count */ - _retries = 10; - result = transfer(&cmd, 1, nullptr, 0); - _retries = old_retrycount; - - return result; -} - -int -MS5611_SIM::_measure(unsigned addr) -{ - /* - * Disable retries on this command; we can't know whether failure - * means the device did or did not see the command. - */ - _retries = 0; - - uint8_t cmd = addr; - return transfer(&cmd, 1, nullptr, 0); -} - -int -MS5611_SIM::_read_prom() -{ - int ret = 1; - // TODO input simlation data - return ret; -} - -int -MS5611_SIM::transfer(const uint8_t *send, unsigned send_len, - uint8_t *recv, unsigned recv_len) -{ - // TODO add Simulation data connection so calls retrieve - // data from the simulator - return 0; -}