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Diffstat (limited to 'src/drivers/ms5611/ms5611.cpp')
-rw-r--r--src/drivers/ms5611/ms5611.cpp153
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'");
generated by cgit v1.2.3 (git 2.39.1) at 2024-07-08 08:33:07 +0000