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-rw-r--r--src/drivers/ms5611/module.mk2
-rw-r--r--src/drivers/ms5611/ms5611.cpp59
-rw-r--r--src/drivers/ms5611/ms5611.h11
-rw-r--r--src/drivers/ms5611/ms5611_i2c.cpp46
-rw-r--r--src/drivers/ms5611/ms5611_spi.cpp72
5 files changed, 117 insertions, 73 deletions
diff --git a/src/drivers/ms5611/module.mk b/src/drivers/ms5611/module.mk
index 3c4b0f093..20f8aa173 100644
--- a/src/drivers/ms5611/module.mk
+++ b/src/drivers/ms5611/module.mk
@@ -37,4 +37,4 @@
MODULE_COMMAND = ms5611
-SRCS = ms5611.cpp
+SRCS = ms5611.cpp ms5611_spi.cpp ms5611_i2c.cpp
diff --git a/src/drivers/ms5611/ms5611.cpp b/src/drivers/ms5611/ms5611.cpp
index b8c396f7b..9d9888a90 100644
--- a/src/drivers/ms5611/ms5611.cpp
+++ b/src/drivers/ms5611/ms5611.cpp
@@ -93,7 +93,7 @@ static const int ERROR = -1;
class MS5611 : public device::CDev
{
public:
- MS5611(device::Device *interface);
+ MS5611(device::Device *interface, ms5611::prom_u &prom_buf);
~MS5611();
virtual int init();
@@ -109,7 +109,7 @@ public:
protected:
Device *_interface;
- ms5611::prom_u _prom;
+ ms5611::prom_s _prom;
struct work_s _work;
unsigned _measure_ticks;
@@ -191,9 +191,10 @@ protected:
*/
extern "C" __EXPORT int ms5611_main(int argc, char *argv[]);
-MS5611::MS5611(device::Device *interface) :
+MS5611::MS5611(device::Device *interface, ms5611::prom_u &prom_buf) :
CDev("MS5611", BARO_DEVICE_PATH),
_interface(interface),
+ _prom(prom_buf.s),
_measure_ticks(0),
_num_reports(0),
_next_report(0),
@@ -230,13 +231,11 @@ MS5611::~MS5611()
int
MS5611::init()
{
+ int ret;
- /* verify that the interface is ok */
- unsigned arg = (unsigned)&_prom;
- _interface->ioctl(IOCTL_SET_PROMBUFFER, arg);
- int ret = _interface->init();
+ ret = CDev::init();
if (ret != OK) {
- debug("interface init failed");
+ debug("CDev init failed");
goto out;
}
@@ -598,14 +597,14 @@ MS5611::collect()
if (_measure_phase == 0) {
/* temperature offset (in ADC units) */
- int32_t dT = (int32_t)raw - ((int32_t)_prom.s.c5_reference_temp << 8);
+ int32_t dT = (int32_t)raw - ((int32_t)_prom.c5_reference_temp << 8);
/* absolute temperature in centidegrees - note intermediate value is outside 32-bit range */
- _TEMP = 2000 + (int32_t)(((int64_t)dT * _prom.s.c6_temp_coeff_temp) >> 23);
+ _TEMP = 2000 + (int32_t)(((int64_t)dT * _prom.c6_temp_coeff_temp) >> 23);
/* base sensor scale/offset values */
- _SENS = ((int64_t)_prom.s.c1_pressure_sens << 15) + (((int64_t)_prom.s.c3_temp_coeff_pres_sens * dT) >> 8);
- _OFF = ((int64_t)_prom.s.c2_pressure_offset << 16) + (((int64_t)_prom.s.c4_temp_coeff_pres_offset * dT) >> 7);
+ _SENS = ((int64_t)_prom.c1_pressure_sens << 15) + (((int64_t)_prom.c3_temp_coeff_pres_sens * dT) >> 8);
+ _OFF = ((int64_t)_prom.c2_pressure_offset << 16) + (((int64_t)_prom.c4_temp_coeff_pres_offset * dT) >> 7);
/* temperature compensation */
if (_TEMP < 2000) {
@@ -711,14 +710,14 @@ MS5611::print_info()
printf("OFF: %lld\n", _OFF);
printf("MSL pressure: %10.4f\n", (double)(_msl_pressure / 100.f));
- printf("factory_setup %u\n", _prom.s.factory_setup);
- printf("c1_pressure_sens %u\n", _prom.s.c1_pressure_sens);
- printf("c2_pressure_offset %u\n", _prom.s.c2_pressure_offset);
- printf("c3_temp_coeff_pres_sens %u\n", _prom.s.c3_temp_coeff_pres_sens);
- printf("c4_temp_coeff_pres_offset %u\n", _prom.s.c4_temp_coeff_pres_offset);
- printf("c5_reference_temp %u\n", _prom.s.c5_reference_temp);
- printf("c6_temp_coeff_temp %u\n", _prom.s.c6_temp_coeff_temp);
- printf("serial_and_crc %u\n", _prom.s.serial_and_crc);
+ printf("factory_setup %u\n", _prom.factory_setup);
+ printf("c1_pressure_sens %u\n", _prom.c1_pressure_sens);
+ printf("c2_pressure_offset %u\n", _prom.c2_pressure_offset);
+ printf("c3_temp_coeff_pres_sens %u\n", _prom.c3_temp_coeff_pres_sens);
+ printf("c4_temp_coeff_pres_offset %u\n", _prom.c4_temp_coeff_pres_offset);
+ printf("c5_reference_temp %u\n", _prom.c5_reference_temp);
+ printf("c6_temp_coeff_temp %u\n", _prom.c6_temp_coeff_temp);
+ printf("serial_and_crc %u\n", _prom.serial_and_crc);
}
/**
@@ -789,6 +788,7 @@ void
start()
{
int fd;
+ prom_u prom_buf;
if (g_dev != nullptr)
errx(1, "already started");
@@ -797,14 +797,19 @@ start()
/* create the driver, try SPI first, fall back to I2C if unsuccessful */
if (MS5611_spi_interface != nullptr)
- interface = MS5611_spi_interface();
+ interface = MS5611_spi_interface(prom_buf);
if (interface == nullptr && (MS5611_i2c_interface != nullptr))
- interface = MS5611_i2c_interface();
+ interface = MS5611_i2c_interface(prom_buf);
if (interface == nullptr)
errx(1, "failed to allocate an interface");
- g_dev = new MS5611(interface);
+ if (interface->init() != OK) {
+ delete interface;
+ errx(1, "interface init failed");
+ }
+
+ g_dev = new MS5611(interface, prom_buf);
if (g_dev == nullptr) {
delete interface;
errx(1, "failed to allocate driver");
@@ -814,10 +819,14 @@ start()
/* set the poll rate to default, starts automatic data collection */
fd = open(BARO_DEVICE_PATH, O_RDONLY);
- if (fd < 0)
+ if (fd < 0) {
+ warnx("can't open baro device");
goto fail;
- if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
+ }
+ if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
+ warnx("failed setting default poll rate");
goto fail;
+ }
exit(0);
diff --git a/src/drivers/ms5611/ms5611.h b/src/drivers/ms5611/ms5611.h
index 872011dc9..76fb84de8 100644
--- a/src/drivers/ms5611/ms5611.h
+++ b/src/drivers/ms5611/ms5611.h
@@ -45,15 +45,9 @@
#define ADDR_PROM_C1 0xA2 /* address of 6x 2 bytes calibration data */
/* interface ioctls */
-#define IOCTL_SET_PROMBUFFER 1
#define IOCTL_RESET 2
#define IOCTL_MEASURE 3
-
-/* interface factories */
-extern device::Device *MS5611_spi_interface() weak_function;
-extern device::Device *MS5611_i2c_interface() weak_function;
-
namespace ms5611
{
@@ -84,3 +78,8 @@ union prom_u {
extern bool crc4(uint16_t *n_prom);
} /* namespace */
+
+/* interface factories */
+extern device::Device *MS5611_spi_interface(ms5611::prom_u &prom_buf) weak_function;
+extern device::Device *MS5611_i2c_interface(ms5611::prom_u &prom_buf) weak_function;
+
diff --git a/src/drivers/ms5611/ms5611_i2c.cpp b/src/drivers/ms5611/ms5611_i2c.cpp
index 7f5667c28..06867cc9d 100644
--- a/src/drivers/ms5611/ms5611_i2c.cpp
+++ b/src/drivers/ms5611/ms5611_i2c.cpp
@@ -37,6 +37,25 @@
* I2C interface for MS5611
*/
+/* XXX trim includes */
+#include <nuttx/config.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <assert.h>
+#include <debug.h>
+#include <errno.h>
+#include <unistd.h>
+
+#include <arch/board/board.h>
+
+#include <drivers/device/i2c.h>
+
+#include "ms5611.h"
+
+#ifdef PX4_I2C_OBDEV_MS5611
+
#ifndef PX4_I2C_BUS_ONBOARD
#define MS5611_BUS 1
#else
@@ -48,12 +67,12 @@
-device::Device *MS5611_i2c_interface();
+device::Device *MS5611_i2c_interface(ms5611::prom_u &prom_buf);
-class MS5611_I2C : device::I2C
+class MS5611_I2C : public device::I2C
{
public:
- MS5611_I2C(int bus);
+ MS5611_I2C(int bus, ms5611::prom_u &prom_buf);
virtual ~MS5611_I2C();
virtual int init();
@@ -64,7 +83,7 @@ protected:
virtual int probe();
private:
- ms5611::prom_u *_prom
+ ms5611::prom_u &_prom;
int _probe_address(uint8_t address);
@@ -92,15 +111,12 @@ private:
};
device::Device *
-MS5611_i2c_interface()
+MS5611_i2c_interface(ms5611::prom_u &prom_buf)
{
-#ifdef PX4_I2C_OBDEV_MS5611
- return new MS5611_I2C(MS5611_BUS);
-#endif
- return nullptr;
+ return new MS5611_I2C(MS5611_BUS, prom_buf);
}
-MS5611_I2C::MS5611_I2C(int bus, ms5611_prom_u &prom) :
+MS5611_I2C::MS5611_I2C(int bus, ms5611::prom_u &prom) :
I2C("MS5611_I2C", nullptr, bus, 0, 400000),
_prom(prom)
{
@@ -146,11 +162,6 @@ MS5611_I2C::ioctl(unsigned operation, unsigned &arg)
int ret;
switch (operation) {
- case IOCTL_SET_PROMBUFFER:
- _prom = reinterpret_cast<ms5611_prom_u *>(arg);
- ret = OK;
- break;
-
case IOCTL_RESET:
ret = _reset();
break;
@@ -255,10 +266,11 @@ MS5611_I2C::_read_prom()
/* assemble 16 bit value and convert from big endian (sensor) to little endian (MCU) */
cvt.b[0] = prom_buf[1];
cvt.b[1] = prom_buf[0];
- _prom->c[i] = cvt.w;
+ _prom.c[i] = cvt.w;
}
/* calculate CRC and return success/failure accordingly */
- return ms5611::crc4(&_prom->c[0]) ? OK : -EIO;
+ return ms5611::crc4(&_prom.c[0]) ? OK : -EIO;
}
+#endif /* PX4_I2C_OBDEV_MS5611 */
diff --git a/src/drivers/ms5611/ms5611_spi.cpp b/src/drivers/ms5611/ms5611_spi.cpp
index eed8e1697..156832a61 100644
--- a/src/drivers/ms5611/ms5611_spi.cpp
+++ b/src/drivers/ms5611/ms5611_spi.cpp
@@ -37,31 +37,44 @@
* SPI interface for MS5611
*/
+/* XXX trim includes */
+#include <nuttx/config.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <assert.h>
+#include <debug.h>
+#include <errno.h>
+#include <unistd.h>
+
+#include <arch/board/board.h>
+
+#include <drivers/device/spi.h>
+
+#include "ms5611.h"
/* SPI protocol address bits */
#define DIR_READ (1<<7)
#define DIR_WRITE (0<<7)
#define ADDR_INCREMENT (1<<6)
-device::Device *MS5611_spi_interface();
+#ifdef PX4_SPIDEV_BARO
+
+device::Device *MS5611_spi_interface(ms5611::prom_u &prom_buf);
-class MS5611_SPI : device::SPI
+class MS5611_SPI : public device::SPI
{
public:
- MS5611_SPI(int bus, spi_dev_e device);
+ MS5611_SPI(int bus, spi_dev_e device, ms5611::prom_u &prom_buf);
virtual ~MS5611_SPI();
virtual int init();
virtual int read(unsigned offset, void *data, unsigned count);
virtual int ioctl(unsigned operation, unsigned &arg);
-protected:
- virtual int probe();
-
private:
- ms5611::prom_u *_prom
-
- int _probe_address(uint8_t address);
+ ms5611::prom_u &_prom;
/**
* Send a reset command to the MS5611.
@@ -93,12 +106,19 @@ private:
};
device::Device *
-MS5611_spi_interface()
+MS5611_spi_interface(ms5611::prom_u &prom_buf)
+{
+ return new MS5611_SPI(1 /* XXX MAGIC NUMBER */, (spi_dev_e)PX4_SPIDEV_BARO, prom_buf);
+}
+
+MS5611_SPI::MS5611_SPI(int bus, spi_dev_e device, ms5611::prom_u &prom_buf) :
+ SPI("MS5611_SPI", nullptr, bus, device, SPIDEV_MODE3, 2000000),
+ _prom(prom_buf)
+{
+}
+
+MS5611_SPI::~MS5611_SPI()
{
-#ifdef PX4_SPIDEV_BARO
- return new MS5611_SPI(1 /* XXX MAGIC NUMBER */, (spi_dev_e)PX4_SPIDEV_BARO);
-#endif
- return nullptr;
}
int
@@ -107,18 +127,24 @@ MS5611_SPI::init()
int ret;
ret = SPI::init();
- if (ret != OK)
+ if (ret != OK) {
+ debug("SPI init failed");
goto out;
+ }
/* send reset command */
ret = _reset();
- if (ret != OK)
+ if (ret != OK) {
+ debug("reset failed");
goto out;
+ }
/* read PROM */
ret = _read_prom();
- if (ret != OK)
+ if (ret != OK) {
+ debug("prom readout failed");
goto out;
+ }
out:
return ret;
@@ -139,9 +165,9 @@ MS5611_SPI::read(unsigned offset, void *data, unsigned count)
if (ret == OK) {
/* fetch the raw value */
- cvt->b[0] = data[3];
- cvt->b[1] = data[2];
- cvt->b[2] = data[1];
+ cvt->b[0] = buf[3];
+ cvt->b[1] = buf[2];
+ cvt->b[2] = buf[1];
cvt->b[3] = 0;
ret = count;
@@ -156,10 +182,6 @@ MS5611_SPI::ioctl(unsigned operation, unsigned &arg)
int ret;
switch (operation) {
- case IOCTL_SET_PROMBUFFER:
- _prom = reinterpret_cast<ms5611_prom_u *>(arg);
- return OK;
-
case IOCTL_RESET:
ret = _reset();
break;
@@ -226,3 +248,5 @@ MS5611_SPI::_reg16(unsigned reg)
return (uint16_t)(cmd[1] << 8) | cmd[2];
}
+
+#endif /* PX4_SPIDEV_BARO */
generated by cgit v1.2.3 (git 2.39.1) at 2024-09-09 03:14:32 +0000