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author | Thomas Gubler <thomasgubler@gmail.com> | 2015-01-05 10:02:07 +0100 |
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committer | Thomas Gubler <thomasgubler@gmail.com> | 2015-01-05 10:02:07 +0100 |
commit | 16b9f666e790a2b939f7890b39cc6e4cf2552165 (patch) | |
tree | ee936b06d15e75e12b175f6786772781aff32cd8 /src/drivers/ms5611/ms5611.cpp | |
parent | e16c4ff76e7eff2da88bcbef5d05dd4ba11e7203 (diff) | |
parent | c3ed35f5cc8e2617e61747e904dbaa652d1cc2c8 (diff) | |
download | px4-firmware-16b9f666e790a2b939f7890b39cc6e4cf2552165.tar.gz px4-firmware-16b9f666e790a2b939f7890b39cc6e4cf2552165.tar.bz2 px4-firmware-16b9f666e790a2b939f7890b39cc6e4cf2552165.zip |
Merge remote-tracking branch 'upstream/master' into dev_ros
Conflicts:
src/lib/mathlib/math/Matrix.hpp
src/modules/mc_att_control/mc_att_control_main.cpp
src/modules/uORB/topics/vehicle_status.h
src/platforms/px4_includes.h
Diffstat (limited to 'src/drivers/ms5611/ms5611.cpp')
-rw-r--r-- | src/drivers/ms5611/ms5611.cpp | 153 |
1 files changed, 101 insertions, 52 deletions
diff --git a/src/drivers/ms5611/ms5611.cpp b/src/drivers/ms5611/ms5611.cpp index 889643d0d..0a793cbc9 100644 --- a/src/drivers/ms5611/ms5611.cpp +++ b/src/drivers/ms5611/ms5611.cpp @@ -91,12 +91,13 @@ static const int ERROR = -1; /* 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 "/dev/ms5611" +#define MS5611_BARO_DEVICE_PATH_EXT "/dev/ms5611_ext" +#define MS5611_BARO_DEVICE_PATH_INT "/dev/ms5611_int" class MS5611 : public device::CDev { public: - MS5611(device::Device *interface, ms5611::prom_u &prom_buf); + MS5611(device::Device *interface, ms5611::prom_u &prom_buf, const char* path); ~MS5611(); virtual int init(); @@ -133,6 +134,7 @@ protected: unsigned _msl_pressure; /* in Pa */ orb_advert_t _baro_topic; + orb_id_t _orb_id; int _class_instance; @@ -195,8 +197,8 @@ protected: */ extern "C" __EXPORT int ms5611_main(int argc, char *argv[]); -MS5611::MS5611(device::Device *interface, ms5611::prom_u &prom_buf) : - CDev("MS5611", MS5611_BARO_DEVICE_PATH), +MS5611::MS5611(device::Device *interface, ms5611::prom_u &prom_buf, const char* path) : + CDev("MS5611", path), _interface(interface), _prom(prom_buf.s), _measure_ticks(0), @@ -224,7 +226,7 @@ MS5611::~MS5611() stop_cycle(); if (_class_instance != -1) - unregister_class_devname(MS5611_BARO_DEVICE_PATH, _class_instance); + unregister_class_devname(get_devname(), _class_instance); /* free any existing reports */ if (_reports != nullptr) @@ -261,6 +263,7 @@ MS5611::init() /* register alternate interfaces if we have to */ _class_instance = register_class_devname(BARO_DEVICE_PATH); + _orb_id = ORB_ID_TRIPLE(sensor_baro, _class_instance); struct baro_report brp; /* do a first measurement cycle to populate reports with valid data */ @@ -300,14 +303,7 @@ MS5611::init() ret = OK; - switch (_class_instance) { - case CLASS_DEVICE_PRIMARY: - _baro_topic = orb_advertise(ORB_ID(sensor_baro0), &brp); - break; - case CLASS_DEVICE_SECONDARY: - _baro_topic = orb_advertise(ORB_ID(sensor_baro1), &brp); - break; - } + _baro_topic = orb_advertise(_orb_id, &brp); if (_baro_topic < 0) { warnx("failed to create sensor_baro publication"); @@ -729,15 +725,7 @@ MS5611::collect() /* publish it */ if (!(_pub_blocked)) { /* publish it */ - switch (_class_instance) { - case CLASS_DEVICE_PRIMARY: - orb_publish(ORB_ID(sensor_baro0), _baro_topic, &report); - break; - - case CLASS_DEVICE_SECONDARY: - orb_publish(ORB_ID(sensor_baro1), _baro_topic, &report); - break; - } + orb_publish(_orb_id, _baro_topic, &report); } if (_reports->force(&report)) { @@ -787,13 +775,15 @@ MS5611::print_info() namespace ms5611 { -MS5611 *g_dev; +/* initialize explicitely for clarity */ +MS5611 *g_dev_ext = nullptr; +MS5611 *g_dev_int = nullptr; void start(bool external_bus); -void test(); -void reset(); +void test(bool external_bus); +void reset(bool external_bus); void info(); -void calibrate(unsigned altitude); +void calibrate(unsigned altitude, bool external_bus); void usage(); /** @@ -852,9 +842,13 @@ start(bool external_bus) int fd; prom_u prom_buf; - if (g_dev != nullptr) + if (external_bus && (g_dev_ext != nullptr)) { + /* if already started, the still command succeeded */ + errx(0, "ext already started"); + } else if (!external_bus && (g_dev_int != nullptr)) { /* if already started, the still command succeeded */ - errx(0, "already started"); + errx(0, "int already started"); + } device::Device *interface = nullptr; @@ -872,16 +866,35 @@ start(bool external_bus) errx(1, "interface init failed"); } - g_dev = new MS5611(interface, prom_buf); - if (g_dev == nullptr) { - delete interface; - errx(1, "failed to allocate driver"); + if (external_bus) { + g_dev_ext = new MS5611(interface, prom_buf, MS5611_BARO_DEVICE_PATH_EXT); + if (g_dev_ext == nullptr) { + delete interface; + errx(1, "failed to allocate driver"); + } + + if (g_dev_ext->init() != OK) + goto fail; + + fd = open(MS5611_BARO_DEVICE_PATH_EXT, O_RDONLY); + + } else { + + g_dev_int = new MS5611(interface, prom_buf, MS5611_BARO_DEVICE_PATH_INT); + if (g_dev_int == nullptr) { + delete interface; + errx(1, "failed to allocate driver"); + } + + if (g_dev_int->init() != OK) + goto fail; + + fd = open(MS5611_BARO_DEVICE_PATH_INT, O_RDONLY); + } - if (g_dev->init() != OK) - goto fail; /* set the poll rate to default, starts automatic data collection */ - fd = open(MS5611_BARO_DEVICE_PATH, O_RDONLY); + if (fd < 0) { warnx("can't open baro device"); goto fail; @@ -895,9 +908,14 @@ start(bool external_bus) fail: - if (g_dev != nullptr) { - delete g_dev; - g_dev = nullptr; + if (g_dev_int != nullptr) { + delete g_dev_int; + g_dev_int = nullptr; + } + + if (g_dev_ext != nullptr) { + delete g_dev_ext; + g_dev_ext = nullptr; } errx(1, "driver start failed"); @@ -909,16 +927,22 @@ fail: * and automatic modes. */ void -test() +test(bool external_bus) { struct baro_report report; ssize_t sz; int ret; - int fd = open(MS5611_BARO_DEVICE_PATH, O_RDONLY); + int fd; + + if (external_bus) { + fd = open(MS5611_BARO_DEVICE_PATH_EXT, O_RDONLY); + } else { + fd = open(MS5611_BARO_DEVICE_PATH_INT, O_RDONLY); + } if (fd < 0) - err(1, "%s open failed (try 'ms5611 start' if the driver is not running)", MS5611_BARO_DEVICE_PATH); + err(1, "open failed (try 'ms5611 start' if the driver is not running)"); /* do a simple demand read */ sz = read(fd, &report, sizeof(report)); @@ -972,9 +996,15 @@ test() * Reset the driver. */ void -reset() +reset(bool external_bus) { - int fd = open(MS5611_BARO_DEVICE_PATH, O_RDONLY); + int fd; + + if (external_bus) { + fd = open(MS5611_BARO_DEVICE_PATH_EXT, O_RDONLY); + } else { + fd = open(MS5611_BARO_DEVICE_PATH_INT, O_RDONLY); + } if (fd < 0) err(1, "failed "); @@ -994,11 +1024,18 @@ reset() void info() { - if (g_dev == nullptr) + if (g_dev_ext == nullptr && g_dev_int == nullptr) errx(1, "driver not running"); - printf("state @ %p\n", g_dev); - g_dev->print_info(); + if (g_dev_ext) { + warnx("ext:"); + g_dev_ext->print_info(); + } + + if (g_dev_int) { + warnx("int:"); + g_dev_int->print_info(); + } exit(0); } @@ -1007,16 +1044,22 @@ info() * Calculate actual MSL pressure given current altitude */ void -calibrate(unsigned altitude) +calibrate(unsigned altitude, bool external_bus) { struct baro_report report; float pressure; float p1; - int fd = open(MS5611_BARO_DEVICE_PATH, O_RDONLY); + int fd; + + if (external_bus) { + fd = open(MS5611_BARO_DEVICE_PATH_EXT, O_RDONLY); + } else { + fd = open(MS5611_BARO_DEVICE_PATH_INT, O_RDONLY); + } if (fd < 0) - err(1, "%s open failed (try 'ms5611 start' if the driver is not running)", MS5611_BARO_DEVICE_PATH); + err(1, "open failed (try 'ms5611 start' if the driver is not running)"); /* start the sensor polling at max */ if (OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MAX)) @@ -1101,6 +1144,12 @@ ms5611_main(int argc, char *argv[]) const char *verb = argv[optind]; + if (argc > optind+1) { + if (!strcmp(argv[optind+1], "-X")) { + external_bus = true; + } + } + /* * Start/load the driver. */ @@ -1111,13 +1160,13 @@ ms5611_main(int argc, char *argv[]) * Test the driver/device. */ if (!strcmp(verb, "test")) - ms5611::test(); + ms5611::test(external_bus); /* * Reset the driver. */ if (!strcmp(verb, "reset")) - ms5611::reset(); + ms5611::reset(external_bus); /* * Print driver information. @@ -1134,7 +1183,7 @@ ms5611_main(int argc, char *argv[]) long altitude = strtol(argv[optind+1], nullptr, 10); - ms5611::calibrate(altitude); + ms5611::calibrate(altitude, external_bus); } errx(1, "unrecognised command, try 'start', 'test', 'reset' or 'info'"); |