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Fresh import of the PX4 firmware sources.

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px4dev
2012-08-04 15:12:36 -07:00
commit 8a365179ea
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nuttx/configs/px4fmu/src/drv_ms5611.c Normal file
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/*
* Copyright (C) 2012 Lorenz Meier. 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 of the author or the names of contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
/*
* Driver for the Measurement Specialties MS5611 barometric pressure sensor
*/
#include <nuttx/config.h>
#include <nuttx/i2c.h>
#include <nuttx/arch.h>
#include <arch/board/board.h>
#include <stdint.h>
#include <stdbool.h>
#include <debug.h>
#include <errno.h>
#include <string.h>
#include <stdio.h>
#include <math.h>
#include "chip.h"
#include "px4fmu-internal.h"
#include <arch/board/up_hrt.h>
#include <arch/board/drv_ms5611.h>
/* internal conversion time: 9.17 ms, so should not be read at rates higher than 100 Hz */
#define MS5611_MIN_INTER_MEASUREMENT_INTERVAL 9200
#define MS5611_ADDRESS_1 0x76 /* address select pins pulled high (PX4FMU series v1.6+) */
#define MS5611_ADDRESS_2 0x77 /* address select pins pulled low (PX4FMU prototypes) */
#define ADDR_RESET_CMD 0x1E /* read from this address to reset chip (0b0011110 on bus) */
#define ADDR_CMD_CONVERT_D1 0x48 /* 4096 samples to this address to start conversion (0b01001000 on bus) */
#define ADDR_CMD_CONVERT_D2 0x58 /* 4096 samples */
#define ADDR_DATA 0x00 /* address of 3 bytes / 32bit pressure data */
#define ADDR_PROM_SETUP 0xA0 /* address of 8x 2 bytes factory and calibration data */
#define ADDR_PROM_C1 0xA2 /* address of 6x 2 bytes calibration data */
static FAR struct ms5611_dev_s ms5611_dev;
static ssize_t ms5611_read(struct file *filp, FAR char *buffer, size_t buflen);
static int ms5611_ioctl(struct file *filp, int cmd, unsigned long arg);
static const struct file_operations ms5611_fops = {
.read = ms5611_read,
.ioctl = ms5611_ioctl,
};
struct ms5611_prom_s
{
uint16_t factory_setup;
uint16_t c1_pressure_sens;
uint16_t c2_pressure_offset;
uint16_t c3_temp_coeff_pres_sens;
uint16_t c4_temp_coeff_pres_offset;
uint16_t c5_reference_temp;
uint16_t c6_temp_coeff_temp;
uint16_t serial_and_crc;
} __attribute__((packed));
union ms5611_prom_u
{
uint16_t c[8];
struct ms5611_prom_s s;
} __attribute__((packed));
struct ms5611_dev_s
{
union ms5611_prom_u prom;
struct i2c_dev_s *i2c;
struct ms5611_buffer *buffer;
} __attribute__((packed));
static FAR uint8_t MS5611_ADDRESS;
static FAR struct {
/* status register and data as read back from the device */
float pressure;
float altitude;
float temperature;
uint32_t d1_raw;
uint32_t d2_raw;
uint32_t measurements_count;
uint8_t last_state;
uint64_t last_read;
} ms5611_report = {
.pressure = 0.0f,
.altitude = 0.0f,
.temperature = 0.0f,
.last_state = 0,
/* make sure the first readout can be performed */
.last_read = 0,
};
static int ms5611_read_prom(void);
static bool
read_values(float *data)
{
int ret;
uint8_t cmd_data[3];
/* check validity of pointer */
if (data == NULL)
{
*get_errno_ptr() = EINVAL;
return -EINVAL;
}
/* only start reading when data is available */
if (ms5611_report.measurements_count > 0)
{
/* do not read more often than at minimum 9.17 ms intervals */
if ((hrt_absolute_time() - ms5611_report.last_read) < MS5611_MIN_INTER_MEASUREMENT_INTERVAL)
{
/* set errno to 'come back later' */
ret = -EAGAIN;
goto handle_return;
}
else
{
/* set new value */
ms5611_report.last_read = hrt_absolute_time();
}
/* Read out last measurement */
cmd_data[0] = 0x00;
struct i2c_msg_s msgv[2] = {
{
.addr = MS5611_ADDRESS,
.flags = 0,
.buffer = cmd_data,
.length = 1
},
{
.addr = MS5611_ADDRESS,
.flags = I2C_M_READ,
.buffer = cmd_data,
.length = 3
}
};
ret = I2C_TRANSFER(ms5611_dev.i2c, msgv, 2);
if (ret != OK) goto handle_return;
/* at value 1 the last reading was temperature */
if (ms5611_report.last_state == 1)
{
/* put temperature into the raw set */
ms5611_report.d2_raw = (((uint32_t)cmd_data[0]) << 16) | (((uint32_t)cmd_data[1]) << 8) | ((uint32_t)cmd_data[2]);
}
else
{
/* put altitude into the raw set */
ms5611_report.d1_raw = (((uint32_t)cmd_data[0]) << 16) | (((uint32_t)cmd_data[1]) << 8) | ((uint32_t)cmd_data[2]);
}
}
ms5611_report.measurements_count++;
/*
* this block reads four pressure values and one temp value,
* resulting in 80 Hz pressure update and 20 Hz temperature updates
* at 100 Hz continuous operation.
*/
if (ms5611_report.last_state == 0)
{
/* request first a temperature reading */
cmd_data[0] = ADDR_CMD_CONVERT_D2;
}
else
{
/* request pressure reading */
cmd_data[0] = ADDR_CMD_CONVERT_D1;
}
if (ms5611_report.last_state == 3)
{
ms5611_report.last_state = 0;
}
else
{
ms5611_report.last_state++;
}
/* write measurement command */
struct i2c_msg_s conv_cmd[1] = {
{
.addr = MS5611_ADDRESS,
.flags = 0,
.buffer = cmd_data,
.length = 1
},
};
ret = I2C_TRANSFER(ms5611_dev.i2c, conv_cmd, 1);
if (ret != OK) goto handle_return;
/* only write back values after first complete set */
if (ms5611_report.measurements_count > 2)
{
/* Calculate results */
/* temperature calculation */
int32_t dT = ms5611_report.d2_raw - (((int32_t)ms5611_dev.prom.s.c5_reference_temp)*256);
int64_t temp_int64 = 2000 + (((int64_t)dT)*ms5611_dev.prom.s.c6_temp_coeff_temp)/8388608;
/* pressure calculation */
int64_t offset = (int64_t)ms5611_dev.prom.s.c2_pressure_offset * 65536 + ((int64_t)dT*ms5611_dev.prom.s.c4_temp_coeff_pres_offset)/128;
int64_t sens = (int64_t)ms5611_dev.prom.s.c1_pressure_sens * 32768 + ((int64_t)dT*ms5611_dev.prom.s.c3_temp_coeff_pres_sens)/256;
/* it's pretty cold, second order temperature compensation needed */
if (temp_int64 < 2000)
{
/* second order temperature compensation */
int64_t temp2 = (((int64_t)dT)*dT) >> 31;
int64_t tmp_64 = (temp_int64-2000)*(temp_int64-2000);
int64_t offset2 = (5*tmp_64)>>1;
int64_t sens2 = (5*tmp_64)>>2;
temp_int64 = temp_int64 - temp2;
offset = offset - offset2;
sens = sens - sens2;
}
int64_t press_int64 = (((ms5611_report.d1_raw*sens)/2097152-offset)/32768);
ms5611_report.temperature = temp_int64 / 100.0f;
ms5611_report.pressure = press_int64 / 100.0f;
/* convert as double for max. precision, store as float (more than enough precision) */
ms5611_report.altitude = (44330.0 * (1.0 - pow((press_int64 / 101325.0), 0.190295)));
/* Write back float values */
data[0] = ms5611_report.pressure;
data[1] = ms5611_report.altitude;
data[2] = ms5611_report.temperature;
}
else
{
/* not ready, try again */
ret = -EINPROGRESS;
}
/* return 1 if new data is available, 0 else */
handle_return:
if (ret == OK)
{
return (sizeof(ms5611_report.d1_raw) + sizeof(ms5611_report.altitude) + sizeof(ms5611_report.d2_raw));
}
else
{
errno = -ret;
return ret;
}
}
static ssize_t
ms5611_read(struct file *filp, char *buffer, size_t buflen)
{
/* if the buffer is large enough, and data are available, return success */
if (buflen >= 12) {
return read_values((float *)buffer);
}
/* buffer too small */
errno = ENOSPC;
return -ENOSPC;
}
static int
ms5611_ioctl(struct file *filp, int cmd, unsigned long arg)
{
return -ENOSYS;
// switch (cmd) {
// case MS5611_SETRATE:
// if ((arg & REG1_RATE_LP_MASK) == arg) {
// set_rate(arg);
// result = 0;
// dev.rate = arg;
// }
// break;
//
// case MS5611_SETBUFFER:
// dev.buffer = (struct ms5611_buffer *)arg;
// result = 0;
// break;
// }
//
// if (result)
// errno = EINVAL;
// return result;
}
int ms5611_crc4(uint16_t n_prom[])
{
/* routine ported from MS5611 application note */
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 0 == OK if CRCs match, 1 else */
return !((0x000F & crc_read) == (n_rem ^ 0x00));
}
int ms5611_read_prom()
{
/* read PROM data */
uint8_t prom_buf[2] = {255,255};
int retval = 0;
for (int i = 0; i < 8; i++)
{
uint8_t cmd = {ADDR_PROM_SETUP + (i*2)};
I2C_SETADDRESS(ms5611_dev.i2c, MS5611_ADDRESS, 7);
retval = I2C_WRITEREAD(ms5611_dev.i2c, &cmd, 1, prom_buf, 2);
/* assemble 16 bit value and convert from big endian (sensor) to little endian (MCU) */
ms5611_dev.prom.c[i] = (((uint16_t)prom_buf[0])<<8) | ((uint16_t)prom_buf[1]);
if (retval != OK)
{
break;
}
}
/* calculate CRC and return error if mismatch */
return ms5611_crc4(ms5611_dev.prom.c);
}
int
ms5611_attach(struct i2c_dev_s *i2c)
{
int result = ERROR;
ms5611_dev.i2c = i2c;
MS5611_ADDRESS = MS5611_ADDRESS_1;
/* write reset command */
uint8_t cmd_data = ADDR_RESET_CMD;
struct i2c_msg_s reset_cmd[1] = {
{
.addr = MS5611_ADDRESS,
.flags = 0,
.buffer = &cmd_data,
.length = 1
},
};
int ret = I2C_TRANSFER(ms5611_dev.i2c, reset_cmd, 1);
if (ret == OK)
{
/* wait for PROM contents to be in the device (2.8 ms) */
up_udelay(3000);
/* read PROM */
ret = ms5611_read_prom();
}
/* check if the address was wrong */
if (ret != OK)
{
/* try second address */
MS5611_ADDRESS = MS5611_ADDRESS_2;
/* write reset command */
cmd_data = ADDR_RESET_CMD;
struct i2c_msg_s reset_cmd_2[1] = {
{
.addr = MS5611_ADDRESS,
.flags = 0,
.buffer = &cmd_data,
.length = 1
},
};
ret = I2C_TRANSFER(ms5611_dev.i2c, reset_cmd_2, 1);
/* wait for PROM contents to be in the device (2.8 ms) */
up_udelay(3000);
/* read PROM */
ret = ms5611_read_prom();
}
if (ret < 0) return -EIO;
/* verify that the device is attached and functioning */
if (ret == OK) {
if (MS5611_ADDRESS == MS5611_ADDRESS_1)
{
printf("[ms5611 driver] Attached MS5611 at addr #1 (0x76)\n");
}
else
{
printf("[ms5611 driver] Attached MS5611 at addr #2 (0x77)\n");
}
/* trigger temperature read */
(void)read_values(NULL);
/* wait for conversion to complete */
up_udelay(9200);
/* trigger pressure read */
(void)read_values(NULL);
/* wait for conversion to complete */
up_udelay(9200);
/* now a read_values call would obtain valid results */
/* make ourselves available */
register_driver("/dev/ms5611", &ms5611_fops, 0666, NULL);
result = OK;
} else {
errno = EIO;
}
return result;
}