mirror of
https://gitee.com/xiaohuolufeihua/bizhang_-obav.git
synced 2026-05-22 01:12:31 +00:00
Fresh import of the PX4 firmware sources.
This commit is contained in:
px4dev
944
apps/drivers/ms5611/ms5611.cpp
Normal file
944
apps/drivers/ms5611/ms5611.cpp
Normal file
@@ -0,0 +1,944 @@
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||||
/****************************************************************************
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||||
*
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||||
* Copyright (C) 2012 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.
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||||
*
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||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
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||||
*
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||||
****************************************************************************/
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||||
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||||
/**
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* @file Driver for the MS5611 barometric pressure sensor connected via I2C
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*/
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#include <nuttx/config.h>
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#include <drivers/device/i2c.h>
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#include <sys/types.h>
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#include <stdint.h>
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#include <stdbool.h>
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#include <semaphore.h>
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#include <string.h>
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#include <fcntl.h>
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#include <poll.h>
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#include <errno.h>
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#include <stdio.h>
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#include <math.h>
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#include <unistd.h>
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#include <nuttx/arch.h>
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#include <nuttx/wqueue.h>
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#include <nuttx/clock.h>
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#include <arch/board/up_hrt.h>
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#include <drivers/drv_baro.h>
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/**
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* Calibration PROM as reported by the device.
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*/
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#pragma pack(push,1)
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struct ms5611_prom_s {
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uint16_t factory_setup;
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uint16_t c1_pressure_sens;
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uint16_t c2_pressure_offset;
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uint16_t c3_temp_coeff_pres_sens;
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uint16_t c4_temp_coeff_pres_offset;
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uint16_t c5_reference_temp;
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uint16_t c6_temp_coeff_temp;
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uint16_t serial_and_crc;
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};
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/**
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* Grody hack for crc4()
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*/
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union ms5611_prom_u {
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uint16_t c[8];
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struct ms5611_prom_s s;
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};
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#pragma pack(pop)
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class MS5611 : public device::I2C
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{
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public:
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MS5611(int bus);
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~MS5611();
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virtual int init();
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virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
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virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
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virtual int open_first(struct file *filp);
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virtual int close_last(struct file *filp);
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/**
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* Diagnostics - print some basic information about the driver.
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*/
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void print_info();
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protected:
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virtual int probe();
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private:
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union ms5611_prom_u _prom;
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struct work_s _work;
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unsigned _measure_ticks;
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unsigned _num_reports;
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volatile unsigned _next_report;
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volatile unsigned _oldest_report;
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struct baro_report *_reports;
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bool _collect_phase;
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unsigned _measure_phase;
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int32_t _dT;
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int64_t _temp64;
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int _orbject;
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||||
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unsigned _reads;
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unsigned _measure_errors;
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unsigned _read_errors;
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unsigned _buf_overflows;
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/**
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* Test whether the device supported by the driver is present at a
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* specific address.
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*
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* @param address The I2C bus address to probe.
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* @return True if the device is present.
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*/
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int probe_address(uint8_t address);
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/**
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* Initialise the automatic measurement state machine and start it.
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*
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* @note This function is called at open and error time. It might make sense
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* to make it more aggressive about resetting the bus in case of errors.
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*/
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void start();
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/**
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* Stop the automatic measurement state machine.
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*/
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void stop();
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/**
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* Perform a poll cycle; collect from the previous measurement
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* and start a new one.
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*
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* This is the heart of the measurement state machine. This function
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* alternately starts a measurement, or collects the data from the
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* previous measurement.
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*
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* When the interval between measurements is greater than the minimum
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* measurement interval, a gap is inserted between collection
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* and measurement to provide the most recent measurement possible
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* at the next interval.
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*/
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void cycle();
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/**
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* Static trampoline from the workq context; because we don't have a
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* generic workq wrapper yet.
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*
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* @param arg Instance pointer for the driver that is polling.
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*/
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static void cycle_trampoline(void *arg);
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/**
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* Issue a measurement command for the current state.
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*
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* @return OK if the measurement command was successful.
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*/
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int measure();
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/**
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* Collect the result of the most recent measurement.
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*/
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int collect();
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/**
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* Read the MS5611 PROM
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*
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* @return OK if the PROM reads successfully.
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*/
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int read_prom();
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||||
/**
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||||
* PROM CRC routine ported from MS5611 application note
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*
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* @param n_prom Pointer to words read from PROM.
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* @return True if the CRC matches.
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*/
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bool crc4(uint16_t *n_prom);
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||||
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};
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/* helper macro for handling report buffer indices */
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#define INCREMENT(_x, _lim) do { _x++; if (_x >= _lim) _x = 0; } while(0)
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/*
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* MS5611 internal constants and data structures.
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*/
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||||
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/* internal conversion time: 9.17 ms, so should not be read at rates higher than 100 Hz */
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#define MS5611_CONVERSION_INTERVAL 10000 /* microseconds */
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#define MS5611_MEASUREMENT_RATIO 3 /* pressure measurements per temperature measurement */
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#define MS5611_ADDRESS_1 0x76 /* address select pins pulled high (PX4FMU series v1.6+) */
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#define MS5611_ADDRESS_2 0x77 /* address select pins pulled low (PX4FMU prototypes) */
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#define ADDR_RESET_CMD 0x1E /* read from this address to reset chip (0b0011110 on bus) */
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#define ADDR_CMD_CONVERT_D1 0x48 /* 4096 samples to this address to start conversion (0b01001000 on bus) */
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#define ADDR_CMD_CONVERT_D2 0x58 /* 4096 samples */
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#define ADDR_DATA 0x00 /* address of 3 bytes / 32bit pressure data */
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#define ADDR_PROM_SETUP 0xA0 /* address of 8x 2 bytes factory and calibration data */
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#define ADDR_PROM_C1 0xA2 /* address of 6x 2 bytes calibration data */
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/*
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* Driver 'main' command.
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*/
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extern "C" __EXPORT int ms5611_main(int argc, char *argv[]);
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MS5611::MS5611(int bus) :
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I2C("MS5611", BARO_DEVICE_PATH, bus, 0, 400000),
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_measure_ticks(0),
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_num_reports(0),
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_next_report(0),
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_oldest_report(0),
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_reports(nullptr),
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_collect_phase(false),
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_measure_phase(0),
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_dT(0),
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_temp64(0),
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_reads(0),
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_measure_errors(0),
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_read_errors(0),
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_buf_overflows(0)
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{
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// enable debug() calls
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_debug_enabled = true;
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// work_cancel in the dtor will explode if we don't do this...
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_work.worker = nullptr;
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}
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MS5611::~MS5611()
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{
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/* make sure we are truly inactive */
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stop();
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/* free any existing reports */
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if (_reports != nullptr)
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delete[] _reports;
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}
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int
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MS5611::init()
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{
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int ret;
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/* do I2C init (and probe) first */
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ret = I2C::init();
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/* assuming we're good, advertise the object */
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if (ret == OK) {
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struct baro_report b;
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/* if this fails (e.g. no object in the system) that's OK */
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memset(&b, 0, sizeof(b));
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_orbject = orb_advertise(ORB_ID(sensor_baro), &b);
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if (_orbject < 0)
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debug("failed to create sensor_baro object");
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}
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return ret;
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}
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int
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MS5611::open_first(struct file *filp)
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{
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/* reset to manual-poll mode */
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_measure_ticks = 0;
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/* allocate basic report buffers */
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_num_reports = 2;
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_reports = new struct baro_report[_num_reports];
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_oldest_report = _next_report = 0;
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return OK;
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}
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int
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MS5611::close_last(struct file *filp)
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{
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/* stop measurement */
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stop();
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/* free report buffers */
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if (_reports != nullptr) {
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delete[] _reports;
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_num_reports = 0;
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}
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_measure_ticks = 0;
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return OK;
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}
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int
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MS5611::probe()
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{
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if (OK == probe_address(MS5611_ADDRESS_1))
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return OK;
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if (OK == probe_address(MS5611_ADDRESS_2))
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return OK;
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return -EIO;
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}
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int
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MS5611::probe_address(uint8_t address)
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{
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||||
uint8_t cmd = ADDR_RESET_CMD;
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||||
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/* select the address we are going to try */
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||||
set_address(address);
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||||
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/* send reset command */
|
||||
if (OK != transfer(&cmd, 1, nullptr, 0))
|
||||
return -EIO;
|
||||
|
||||
/* wait for PROM contents to be in the device (2.8 ms) */
|
||||
usleep(3000);
|
||||
|
||||
/* read PROM */
|
||||
if (OK != read_prom())
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||||
return -EIO;
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
ssize_t
|
||||
MS5611::read(struct file *filp, char *buffer, size_t buflen)
|
||||
{
|
||||
unsigned count = buflen / sizeof(struct baro_report);
|
||||
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 (_oldest_report != _next_report) {
|
||||
memcpy(buffer, _reports + _oldest_report, sizeof(*_reports));
|
||||
ret += sizeof(_reports[0]);
|
||||
INCREMENT(_oldest_report, _num_reports);
|
||||
}
|
||||
}
|
||||
|
||||
_reads++;
|
||||
|
||||
/* 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 {
|
||||
_measure_phase = 0;
|
||||
_oldest_report = _next_report = 0;
|
||||
|
||||
/* 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 */
|
||||
memcpy(buffer, _reports, sizeof(*_reports));
|
||||
ret = sizeof(*_reports);
|
||||
_reads++;
|
||||
|
||||
} while (0);
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
int
|
||||
MS5611::ioctl(struct file *filp, int cmd, unsigned long arg)
|
||||
{
|
||||
switch (cmd) {
|
||||
|
||||
case BAROIOCSPOLLRATE: {
|
||||
switch (arg) {
|
||||
|
||||
/* switching to manual polling */
|
||||
case BARO_POLLRATE_MANUAL:
|
||||
stop();
|
||||
_measure_ticks = 0;
|
||||
return OK;
|
||||
|
||||
/* external signalling not supported */
|
||||
case BARO_POLLRATE_EXTERNAL:
|
||||
|
||||
/* zero would be bad */
|
||||
case 0:
|
||||
return -EINVAL;
|
||||
|
||||
/* 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 (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();
|
||||
|
||||
return OK;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
case BAROIOCSQUEUEDEPTH: {
|
||||
/* lower bound is mandatory, upper bound is a sanity check */
|
||||
if ((arg < 2) || (arg > 100))
|
||||
return -EINVAL;
|
||||
|
||||
/* allocate new buffer */
|
||||
struct baro_report *buf = new struct baro_report[arg];
|
||||
|
||||
if (nullptr == buf)
|
||||
return -ENOMEM;
|
||||
|
||||
/* reset the measurement state machine with the new buffer, free the old */
|
||||
stop();
|
||||
delete[] _reports;
|
||||
_num_reports = arg;
|
||||
_reports = buf;
|
||||
start();
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
case BAROIOCSREPORTFORMAT:
|
||||
return -EINVAL;
|
||||
|
||||
default:
|
||||
/* give it to the superclass */
|
||||
return I2C::ioctl(filp, cmd, arg);
|
||||
}
|
||||
}
|
||||
|
||||
void
|
||||
MS5611::start()
|
||||
{
|
||||
/* make sure we are stopped first */
|
||||
stop();
|
||||
|
||||
/* reset the report ring and state machine */
|
||||
_collect_phase = false;
|
||||
_measure_phase = 0;
|
||||
_oldest_report = _next_report = 0;
|
||||
|
||||
/* schedule a cycle to start things */
|
||||
work_queue(&_work, (worker_t)&MS5611::cycle_trampoline, this, 1);
|
||||
}
|
||||
|
||||
void
|
||||
MS5611::stop()
|
||||
{
|
||||
work_cancel(&_work);
|
||||
}
|
||||
|
||||
void
|
||||
MS5611::cycle_trampoline(void *arg)
|
||||
{
|
||||
MS5611 *dev = (MS5611 *)arg;
|
||||
|
||||
dev->cycle();
|
||||
}
|
||||
|
||||
void
|
||||
MS5611::cycle()
|
||||
{
|
||||
/* collection phase? */
|
||||
if (_collect_phase) {
|
||||
|
||||
/* perform collection */
|
||||
if (OK != collect()) {
|
||||
log("FATAL collection error - restarting\n");
|
||||
start();
|
||||
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) &&
|
||||
(_measure_ticks > USEC2TICK(MS5611_CONVERSION_INTERVAL))) {
|
||||
|
||||
/* schedule a fresh cycle call when we are ready to measure again */
|
||||
work_queue(&_work,
|
||||
(worker_t)&MS5611::cycle_trampoline,
|
||||
this,
|
||||
_measure_ticks - USEC2TICK(MS5611_CONVERSION_INTERVAL));
|
||||
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
/* measurement phase */
|
||||
if (OK != measure()) {
|
||||
log("FATAL measure error - restarting\n");
|
||||
start();
|
||||
}
|
||||
|
||||
/* next phase is collection */
|
||||
_collect_phase = true;
|
||||
|
||||
/* schedule a fresh cycle call when the measurement is done */
|
||||
work_queue(&_work,
|
||||
(worker_t)&MS5611::cycle_trampoline,
|
||||
this,
|
||||
USEC2TICK(MS5611_CONVERSION_INTERVAL));
|
||||
}
|
||||
|
||||
int
|
||||
MS5611::measure()
|
||||
{
|
||||
int ret;
|
||||
|
||||
/*
|
||||
* In phase zero, request temperature; in other phases, request pressure.
|
||||
*/
|
||||
uint8_t cmd_data = (_measure_phase == 0) ? ADDR_CMD_CONVERT_D2 : ADDR_CMD_CONVERT_D1;
|
||||
|
||||
/*
|
||||
* Send the command to begin measuring.
|
||||
*/
|
||||
ret = transfer(&cmd_data, 1, nullptr, 0);
|
||||
|
||||
if (OK != ret)
|
||||
_measure_errors++;
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
int
|
||||
MS5611::collect()
|
||||
{
|
||||
uint8_t cmd;
|
||||
uint8_t data[3];
|
||||
|
||||
/* read the most recent measurement */
|
||||
cmd = 0;
|
||||
|
||||
/* this should be fairly close to the end of the conversion, so the best approximation of the time */
|
||||
_reports[_next_report].timestamp = hrt_absolute_time();
|
||||
|
||||
if (OK != transfer(&cmd, 1, &data[0], 3)) {
|
||||
_read_errors++;
|
||||
return -EIO;
|
||||
}
|
||||
|
||||
/* fetch the raw value */
|
||||
uint32_t raw = (((uint32_t)data[0]) << 16) | (((uint32_t)data[1]) << 8) | ((uint32_t)data[2]);
|
||||
|
||||
/* handle a measurement */
|
||||
if (_measure_phase == 0) {
|
||||
|
||||
/* temperature calculation */
|
||||
_dT = raw - (((int32_t)_prom.s.c5_reference_temp) * 256);
|
||||
_temp64 = 2000 + (((int64_t)_dT) * _prom.s.c6_temp_coeff_temp) / 8388608;
|
||||
|
||||
} else {
|
||||
|
||||
/* pressure calculation */
|
||||
int64_t offset = (int64_t)_prom.s.c2_pressure_offset * 65536 + ((int64_t)_dT * _prom.s.c4_temp_coeff_pres_offset) / 128;
|
||||
int64_t sens = (int64_t)_prom.s.c1_pressure_sens * 32768 + ((int64_t)_dT * _prom.s.c3_temp_coeff_pres_sens) / 256;
|
||||
|
||||
/* it's pretty cold, second order temperature compensation needed */
|
||||
if (_temp64 < 2000) {
|
||||
/* second order temperature compensation */
|
||||
int64_t temp2 = (((int64_t)_dT) * _dT) >> 31;
|
||||
int64_t tmp_64 = (_temp64 - 2000) * (_temp64 - 2000);
|
||||
int64_t offset2 = (5 * tmp_64) >> 1;
|
||||
int64_t sens2 = (5 * tmp_64) >> 2;
|
||||
_temp64 = _temp64 - temp2;
|
||||
offset = offset - offset2;
|
||||
sens = sens - sens2;
|
||||
}
|
||||
|
||||
int64_t press_int64 = (((raw * sens) / 2097152 - offset) / 32768);
|
||||
|
||||
/* generate a new report */
|
||||
_reports[_next_report].temperature = _temp64 / 100.0f;
|
||||
_reports[_next_report].pressure = press_int64 / 100.0f;
|
||||
/* convert as double for max. precision, store as float (more than enough precision) */
|
||||
_reports[_next_report].altitude = (44330.0 * (1.0 - pow((press_int64 / 101325.0), 0.190295)));
|
||||
|
||||
/* publish it */
|
||||
orb_publish(ORB_ID(sensor_baro), _orbject, &_reports[_next_report]);
|
||||
|
||||
/* post a report to the ring - note, not locked */
|
||||
INCREMENT(_next_report, _num_reports);
|
||||
|
||||
/* if we are running up against the oldest report, toss it */
|
||||
if (_next_report == _oldest_report) {
|
||||
_buf_overflows++;
|
||||
INCREMENT(_oldest_report, _num_reports);
|
||||
}
|
||||
|
||||
/* notify anyone waiting for data */
|
||||
poll_notify(POLLIN);
|
||||
}
|
||||
|
||||
|
||||
/* update the measurement state machine */
|
||||
INCREMENT(_measure_phase, MS5611_MEASUREMENT_RATIO + 1);
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
int
|
||||
MS5611::read_prom()
|
||||
{
|
||||
/* read PROM data */
|
||||
uint8_t prom_buf[2] = {255, 255};
|
||||
|
||||
for (int i = 0; i < 8; i++) {
|
||||
uint8_t cmd = ADDR_PROM_SETUP + (i * 2);
|
||||
|
||||
if (OK != transfer(&cmd, 1, &prom_buf[0], 2))
|
||||
break;
|
||||
|
||||
/* assemble 16 bit value and convert from big endian (sensor) to little endian (MCU) */
|
||||
_prom.c[i] = (((uint16_t)prom_buf[0]) << 8) | ((uint16_t)prom_buf[1]);
|
||||
|
||||
}
|
||||
|
||||
/* calculate CRC and return false */
|
||||
return crc4(&_prom.c[0]) ? OK : -EIO;
|
||||
}
|
||||
|
||||
bool
|
||||
MS5611::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);
|
||||
}
|
||||
|
||||
void
|
||||
MS5611::print_info()
|
||||
{
|
||||
printf("reads: %u\n", _reads);
|
||||
printf("measure errors: %u\n", _measure_errors);
|
||||
printf("read errors: %u\n", _read_errors);
|
||||
printf("read overflows: %u\n", _buf_overflows);
|
||||
printf("poll interval: %u ticks\n", _measure_ticks);
|
||||
printf("report queue: %u (%u/%u @ %p)\n",
|
||||
_num_reports, _oldest_report, _next_report, _reports);
|
||||
printf("dT/temp64: %d/%lld\n", _dT, _temp64);
|
||||
}
|
||||
|
||||
/**
|
||||
* Local functions in support of the shell command.
|
||||
*/
|
||||
namespace
|
||||
{
|
||||
|
||||
/* oddly, ERROR is not defined for c++ */
|
||||
#ifdef ERROR
|
||||
# undef ERROR
|
||||
#endif
|
||||
const int ERROR = -1;
|
||||
|
||||
MS5611 *g_dev;
|
||||
|
||||
/*
|
||||
* XXX this should just be part of the generic sensors test...
|
||||
*/
|
||||
|
||||
|
||||
int
|
||||
test_fail(const char *fmt, ...)
|
||||
{
|
||||
va_list ap;
|
||||
|
||||
fprintf(stderr, "FAIL: ");
|
||||
va_start(ap, fmt);
|
||||
vfprintf(stderr, fmt, ap);
|
||||
va_end(ap);
|
||||
fprintf(stderr, "\n");
|
||||
fflush(stderr);
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
int
|
||||
test_note(const char *fmt, ...)
|
||||
{
|
||||
va_list ap;
|
||||
|
||||
fprintf(stderr, "note: ");
|
||||
va_start(ap, fmt);
|
||||
vfprintf(stderr, fmt, ap);
|
||||
va_end(ap);
|
||||
fprintf(stderr, "\n");
|
||||
fflush(stderr);
|
||||
return OK;
|
||||
}
|
||||
|
||||
/**
|
||||
* Perform some basic functional tests on the driver;
|
||||
* make sure we can collect data from the sensor in polled
|
||||
* and automatic modes.
|
||||
*
|
||||
* @param fd An open file descriptor on the driver.
|
||||
*/
|
||||
int
|
||||
test(int fd)
|
||||
{
|
||||
struct baro_report report;
|
||||
ssize_t sz;
|
||||
int ret;
|
||||
|
||||
|
||||
/* do a simple demand read */
|
||||
sz = read(fd, &report, sizeof(report));
|
||||
|
||||
if (sz != sizeof(report))
|
||||
return test_fail("immediate read failed: %d", errno);
|
||||
|
||||
test_note("single read");
|
||||
test_note("pressure: %u", (unsigned)report.pressure);
|
||||
test_note("altitude: %u", (unsigned)report.altitude);
|
||||
test_note("temperature: %u", (unsigned)report.temperature);
|
||||
test_note("time: %lld", report.timestamp);
|
||||
usleep(1000000);
|
||||
|
||||
/* set the queue depth to 10 */
|
||||
if (OK != ioctl(fd, BAROIOCSQUEUEDEPTH, 10))
|
||||
return test_fail("failed to set queue depth");
|
||||
|
||||
/* start the sensor polling at 2Hz */
|
||||
if (OK != ioctl(fd, BAROIOCSPOLLRATE, 2))
|
||||
return test_fail("failed to set 2Hz poll rate");
|
||||
|
||||
/* 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)
|
||||
return test_fail("timed out waiting for sensor data");
|
||||
|
||||
/* now go get it */
|
||||
sz = read(fd, &report, sizeof(report));
|
||||
|
||||
if (sz != sizeof(report))
|
||||
return test_fail("periodic read failed: %d", errno);
|
||||
|
||||
test_note("periodic read %u", i);
|
||||
test_note("pressure: %u", (unsigned)report.pressure);
|
||||
test_note("altitude: %u", (unsigned)report.altitude);
|
||||
test_note("temperature: %u", (unsigned)report.temperature);
|
||||
test_note("time: %lld", report.timestamp);
|
||||
}
|
||||
|
||||
return test_note("PASS");
|
||||
return OK;
|
||||
}
|
||||
|
||||
int
|
||||
info()
|
||||
{
|
||||
if (g_dev == nullptr) {
|
||||
fprintf(stderr, "MS5611: driver not running\n");
|
||||
return -ENOENT;
|
||||
}
|
||||
|
||||
printf("state @ %p\n", g_dev);
|
||||
g_dev->print_info();
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
|
||||
} // namespace
|
||||
|
||||
int
|
||||
ms5611_main(int argc, char *argv[])
|
||||
{
|
||||
/*
|
||||
* Start/load the driver.
|
||||
*
|
||||
* XXX it would be nice to have a wrapper for this...
|
||||
*/
|
||||
if (!strcmp(argv[1], "start")) {
|
||||
|
||||
if (g_dev != nullptr) {
|
||||
fprintf(stderr, "MS5611: already loaded\n");
|
||||
return -EBUSY;
|
||||
}
|
||||
|
||||
/* create the driver */
|
||||
/* XXX HORRIBLE hack - the bus number should not come from here */
|
||||
g_dev = new MS5611(2);
|
||||
|
||||
if (g_dev == nullptr) {
|
||||
fprintf(stderr, "MS5611: driver alloc failed\n");
|
||||
return -ENOMEM;
|
||||
}
|
||||
|
||||
if (OK != g_dev->init()) {
|
||||
fprintf(stderr, "MS5611: driver init failed\n");
|
||||
usleep(100000);
|
||||
delete g_dev;
|
||||
g_dev = nullptr;
|
||||
return -EIO;
|
||||
}
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
/*
|
||||
* Test the driver/device.
|
||||
*/
|
||||
if (!strcmp(argv[1], "test")) {
|
||||
int fd, ret;
|
||||
|
||||
fd = open(BARO_DEVICE_PATH, O_RDONLY);
|
||||
|
||||
if (fd < 0)
|
||||
return test_fail("driver open failed: %d", errno);
|
||||
|
||||
ret = test(fd);
|
||||
close(fd);
|
||||
return ret;
|
||||
}
|
||||
|
||||
/*
|
||||
* Print driver information.
|
||||
*/
|
||||
if (!strcmp(argv[1], "info"))
|
||||
return info();
|
||||
|
||||
fprintf(stderr, "unrecognised command, try 'start', 'test' or 'info'\n");
|
||||
return -EINVAL;
|
||||
}
|
||||
Reference in New Issue
Block a user