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Diffstat (limited to 'nuttx/configs/px4fmu/src/drv_ms5611.c')
-rw-r--r--nuttx/configs/px4fmu/src/drv_ms5611.c493
1 files changed, 493 insertions, 0 deletions
diff --git a/nuttx/configs/px4fmu/src/drv_ms5611.c b/nuttx/configs/px4fmu/src/drv_ms5611.c
new file mode 100644
index 000000000..7fea65159
--- /dev/null
+++ b/nuttx/configs/px4fmu/src/drv_ms5611.c
@@ -0,0 +1,493 @@
+/*
+ * 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;
+}
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