diff options
Diffstat (limited to 'src/drivers/ms5611/ms5611.cpp')
| -rw-r--r-- | src/drivers/ms5611/ms5611.cpp | 87 |
1 files changed, 68 insertions, 19 deletions
diff --git a/src/drivers/ms5611/ms5611.cpp b/src/drivers/ms5611/ms5611.cpp index 6326cf7fc..0ef056273 100644 --- a/src/drivers/ms5611/ms5611.cpp +++ b/src/drivers/ms5611/ms5611.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012-2013 PX4 Development Team. All rights reserved. + * Copyright (c) 2012-2014 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -90,6 +90,7 @@ 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" class MS5611 : public device::CDev { @@ -132,6 +133,8 @@ protected: orb_advert_t _baro_topic; + int _class_instance; + perf_counter_t _sample_perf; perf_counter_t _measure_perf; perf_counter_t _comms_errors; @@ -192,7 +195,7 @@ protected: extern "C" __EXPORT int ms5611_main(int argc, char *argv[]); MS5611::MS5611(device::Device *interface, ms5611::prom_u &prom_buf) : - CDev("MS5611", BARO_DEVICE_PATH), + CDev("MS5611", MS5611_BARO_DEVICE_PATH), _interface(interface), _prom(prom_buf.s), _measure_ticks(0), @@ -204,6 +207,7 @@ MS5611::MS5611(device::Device *interface, ms5611::prom_u &prom_buf) : _SENS(0), _msl_pressure(101325), _baro_topic(-1), + _class_instance(-1), _sample_perf(perf_alloc(PC_ELAPSED, "ms5611_read")), _measure_perf(perf_alloc(PC_ELAPSED, "ms5611_measure")), _comms_errors(perf_alloc(PC_COUNT, "ms5611_comms_errors")), @@ -218,6 +222,9 @@ MS5611::~MS5611() /* make sure we are truly inactive */ stop_cycle(); + if (_class_instance != -1) + unregister_class_devname(MS5611_BARO_DEVICE_PATH, _class_instance); + /* free any existing reports */ if (_reports != nullptr) delete _reports; @@ -251,18 +258,57 @@ MS5611::init() goto out; } - /* get a publish handle on the baro topic */ - struct baro_report zero_report; - memset(&zero_report, 0, sizeof(zero_report)); - _baro_topic = orb_advertise(ORB_ID(sensor_baro), &zero_report); + /* register alternate interfaces if we have to */ + _class_instance = register_class_devname(BARO_DEVICE_PATH); - if (_baro_topic < 0) { - debug("failed to create sensor_baro object"); - ret = -ENOSPC; - goto out; - } + struct baro_report brp; + /* do a first measurement cycle to populate reports with valid data */ + _measure_phase = 0; + _reports->flush(); + + /* this do..while is goto without goto */ + do { + /* do temperature first */ + if (OK != measure()) { + ret = -EIO; + break; + } + + usleep(MS5611_CONVERSION_INTERVAL); + + if (OK != collect()) { + ret = -EIO; + break; + } + + /* now do a pressure measurement */ + if (OK != measure()) { + ret = -EIO; + break; + } + + usleep(MS5611_CONVERSION_INTERVAL); + + if (OK != collect()) { + ret = -EIO; + break; + } + + /* state machine will have generated a report, copy it out */ + _reports->get(&brp); + + ret = OK; + + if (_class_instance == CLASS_DEVICE_PRIMARY) { + + _baro_topic = orb_advertise(ORB_ID(sensor_baro), &brp); + + if (_baro_topic < 0) + debug("failed to create sensor_baro publication"); + } + + } while (0); - ret = OK; out: return ret; } @@ -670,7 +716,10 @@ MS5611::collect() report.altitude = (((pow((p / p1), (-(a * R) / g))) * T1) - T1) / a; /* publish it */ - orb_publish(ORB_ID(sensor_baro), _baro_topic, &report); + if (_baro_topic > 0 && !(_pub_blocked)) { + /* publish it */ + orb_publish(ORB_ID(sensor_baro), _baro_topic, &report); + } if (_reports->force(&report)) { perf_count(_buffer_overflows); @@ -812,7 +861,7 @@ start() goto fail; /* set the poll rate to default, starts automatic data collection */ - fd = open(BARO_DEVICE_PATH, O_RDONLY); + fd = open(MS5611_BARO_DEVICE_PATH, O_RDONLY); if (fd < 0) { warnx("can't open baro device"); goto fail; @@ -846,10 +895,10 @@ test() ssize_t sz; int ret; - int fd = open(BARO_DEVICE_PATH, O_RDONLY); + int fd = open(MS5611_BARO_DEVICE_PATH, O_RDONLY); if (fd < 0) - err(1, "%s open failed (try 'ms5611 start' if the driver is not running)", BARO_DEVICE_PATH); + err(1, "%s open failed (try 'ms5611 start' if the driver is not running)", MS5611_BARO_DEVICE_PATH); /* do a simple demand read */ sz = read(fd, &report, sizeof(report)); @@ -905,7 +954,7 @@ test() void reset() { - int fd = open(BARO_DEVICE_PATH, O_RDONLY); + int fd = open(MS5611_BARO_DEVICE_PATH, O_RDONLY); if (fd < 0) err(1, "failed "); @@ -944,10 +993,10 @@ calibrate(unsigned altitude) float pressure; float p1; - int fd = open(BARO_DEVICE_PATH, O_RDONLY); + int fd = open(MS5611_BARO_DEVICE_PATH, O_RDONLY); if (fd < 0) - err(1, "%s open failed (try 'ms5611 start' if the driver is not running)", BARO_DEVICE_PATH); + err(1, "%s open failed (try 'ms5611 start' if the driver is not running)", MS5611_BARO_DEVICE_PATH); /* start the sensor polling at max */ if (OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MAX)) |