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Diffstat (limited to 'nuttx/configs/px4fmu/src/drv_ms5611.c')
-rw-r--r--nuttx/configs/px4fmu/src/drv_ms5611.c504
1 files changed, 0 insertions, 504 deletions
diff --git a/nuttx/configs/px4fmu/src/drv_ms5611.c b/nuttx/configs/px4fmu/src/drv_ms5611.c
deleted file mode 100644
index c7e91c5ea..000000000
--- a/nuttx/configs/px4fmu/src/drv_ms5611.c
+++ /dev/null
@@ -1,504 +0,0 @@
-/*
- * 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);
-
-int ms5611_reset()
-{
- int ret;
- printf("[ms5611 drv] Resettet I2C2 BUS\n");
- up_i2cuninitialize(ms5611_dev.i2c);
- ms5611_dev.i2c = up_i2cinitialize(2);
- I2C_SETFREQUENCY(ms5611_dev.i2c, 400000);
- return ret;
-}
-
-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;
- if (errno == ETIMEDOUT || ret == ETIMEDOUT) ms5611_reset();
- 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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