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-rw-r--r--src/drivers/ms5611/ms5611.cpp258
-rw-r--r--src/drivers/ms5611/ms5611.h6
-rw-r--r--src/drivers/ms5611/ms5611_i2c.cpp18
-rw-r--r--src/drivers/ms5611/ms5611_spi.cpp25
4 files changed, 160 insertions, 147 deletions
diff --git a/src/drivers/ms5611/ms5611.cpp b/src/drivers/ms5611/ms5611.cpp
index 75b1f65fd..f03d6404f 100644
--- a/src/drivers/ms5611/ms5611.cpp
+++ b/src/drivers/ms5611/ms5611.cpp
@@ -69,6 +69,14 @@
#include "ms5611.h"
+enum MS5611_BUS {
+ MS5611_BUS_ALL = 0,
+ MS5611_BUS_I2C_INTERNAL,
+ MS5611_BUS_I2C_EXTERNAL,
+ MS5611_BUS_SPI_INTERNAL,
+ MS5611_BUS_SPI_EXTERNAL
+};
+
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
# undef ERROR
@@ -784,15 +792,38 @@ MS5611::print_info()
namespace ms5611
{
-/* initialize explicitely for clarity */
-MS5611 *g_dev_ext = nullptr;
-MS5611 *g_dev_int = nullptr;
+/*
+ list of supported bus configurations
+ */
+struct ms5611_bus_option {
+ enum MS5611_BUS busid;
+ const char *devpath;
+ MS5611_constructor interface_constructor;
+ uint8_t busnum;
+ MS5611 *dev;
+} bus_options[] = {
+#if defined(PX4_SPIDEV_EXT_BARO) && defined(PX4_SPI_BUS_EXT)
+ { MS5611_BUS_SPI_EXTERNAL, "/dev/ms5611_spi_ext", &MS5611_spi_interface, PX4_SPI_BUS_EXT, NULL },
+#endif
+#ifdef PX4_SPIDEV_BARO
+ { MS5611_BUS_SPI_INTERNAL, "/dev/ms5611_spi_int", &MS5611_spi_interface, PX4_SPI_BUS_SENSORS, NULL },
+#endif
+#ifdef PX4_I2C_BUS_ONBOARD
+ { MS5611_BUS_I2C_INTERNAL, "/dev/ms5611_int", &MS5611_i2c_interface, PX4_I2C_BUS_ONBOARD, NULL },
+#endif
+#ifdef PX4_I2C_BUS_EXPANSION
+ { MS5611_BUS_I2C_EXTERNAL, "/dev/ms5611_ext", &MS5611_i2c_interface, PX4_I2C_BUS_EXPANSION, NULL },
+#endif
+};
+#define NUM_BUS_OPTIONS (sizeof(bus_options)/sizeof(bus_options[0]))
-void start(bool external_bus);
-void test(bool external_bus);
-void reset(bool external_bus);
+bool start_bus(struct ms5611_bus_option &bus);
+struct ms5611_bus_option &find_bus(enum MS5611_BUS busid);
+void start(enum MS5611_BUS busid);
+void test(enum MS5611_BUS busid);
+void reset(enum MS5611_BUS busid);
void info();
-void calibrate(unsigned altitude, bool external_bus);
+void calibrate(unsigned altitude, enum MS5611_BUS busid);
void usage();
/**
@@ -845,89 +876,89 @@ crc4(uint16_t *n_prom)
/**
* Start the driver.
*/
-void
-start(bool external_bus)
+bool
+start_bus(struct ms5611_bus_option &bus)
{
- int fd;
- prom_u prom_buf;
-
- 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, "int already started");
- }
-
- device::Device *interface = nullptr;
-
- /* create the driver, try SPI first, fall back to I2C if unsuccessful */
- if (MS5611_spi_interface != nullptr)
- interface = MS5611_spi_interface(prom_buf, external_bus);
- if (interface == nullptr && (MS5611_i2c_interface != nullptr))
- interface = MS5611_i2c_interface(prom_buf);
-
- if (interface == nullptr)
- errx(1, "failed to allocate an interface");
+ ::printf("starting bus %s\n", bus.devpath);
+ usleep(5000);
+ if (bus.dev != nullptr)
+ errx(1,"bus option already started");
+ prom_u prom_buf;
+ device::Device *interface = bus.interface_constructor(prom_buf, bus.busnum);
if (interface->init() != OK) {
delete interface;
- errx(1, "interface init failed");
+ warnx("no device on bus %u", (unsigned)bus.busid);
+ return false;
}
- 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);
-
+ bus.dev = new MS5611(interface, prom_buf, bus.devpath);
+ if (bus.dev != nullptr && OK != bus.dev->init()) {
+ delete bus.dev;
+ bus.dev = NULL;
+ return false;
}
+
+ int fd = open(bus.devpath, O_RDONLY);
/* set the poll rate to default, starts automatic data collection */
-
- if (fd < 0) {
- warnx("can't open baro device");
- goto fail;
+ if (fd == -1) {
+ errx(1, "can't open baro device");
}
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
- warnx("failed setting default poll rate");
- goto fail;
+ close(fd);
+ errx(1, "failed setting default poll rate");
}
- exit(0);
+ close(fd);
+ return true;
+}
-fail:
- if (g_dev_int != nullptr) {
- delete g_dev_int;
- g_dev_int = nullptr;
- }
+/**
+ * Start the driver.
+ *
+ * This function call only returns once the driver
+ * is either successfully up and running or failed to start.
+ */
+void
+start(enum MS5611_BUS busid)
+{
+ uint8_t i;
+ bool started = false;
- if (g_dev_ext != nullptr) {
- delete g_dev_ext;
- g_dev_ext = nullptr;
+ for (i=0; i<NUM_BUS_OPTIONS; i++) {
+ if (busid == MS5611_BUS_ALL && bus_options[i].dev != NULL) {
+ // this device is already started
+ continue;
+ }
+ if (busid != MS5611_BUS_ALL && bus_options[i].busid != busid) {
+ // not the one that is asked for
+ continue;
+ }
+ started |= start_bus(bus_options[i]);
}
- errx(1, "driver start failed");
+ if (!started)
+ errx(1, "driver start failed");
+
+ // one or more drivers started OK
+ exit(0);
+}
+
+
+/**
+ * find a bus structure for a busid
+ */
+struct ms5611_bus_option &find_bus(enum MS5611_BUS busid)
+{
+ for (uint8_t i=0; i<NUM_BUS_OPTIONS; i++) {
+ if ((busid == MS5611_BUS_ALL ||
+ busid == bus_options[i].busid) && bus_options[i].dev != NULL) {
+ return bus_options[i];
+ }
+ }
+ errx(1,"bus %u not started", (unsigned)busid);
}
/**
@@ -936,20 +967,16 @@ fail:
* and automatic modes.
*/
void
-test(bool external_bus)
+test(enum MS5611_BUS busid)
{
+ struct ms5611_bus_option &bus = find_bus(busid);
struct baro_report report;
ssize_t sz;
int ret;
int fd;
- if (external_bus) {
- fd = open(MS5611_BARO_DEVICE_PATH_EXT, O_RDONLY);
- } else {
- fd = open(MS5611_BARO_DEVICE_PATH_INT, O_RDONLY);
- }
-
+ fd = open(bus.devpath, O_RDONLY);
if (fd < 0)
err(1, "open failed (try 'ms5611 start' if the driver is not running)");
@@ -998,6 +1025,7 @@ test(bool external_bus)
warnx("time: %lld", report.timestamp);
}
+ close(fd);
errx(0, "PASS");
}
@@ -1005,16 +1033,12 @@ test(bool external_bus)
* Reset the driver.
*/
void
-reset(bool external_bus)
+reset(enum MS5611_BUS busid)
{
+ struct ms5611_bus_option &bus = find_bus(busid);
int fd;
- if (external_bus) {
- fd = open(MS5611_BARO_DEVICE_PATH_EXT, O_RDONLY);
- } else {
- fd = open(MS5611_BARO_DEVICE_PATH_INT, O_RDONLY);
- }
-
+ fd = open(bus.devpath, O_RDONLY);
if (fd < 0)
err(1, "failed ");
@@ -1033,19 +1057,13 @@ reset(bool external_bus)
void
info()
{
- if (g_dev_ext == nullptr && g_dev_int == nullptr)
- errx(1, "driver not running");
-
- if (g_dev_ext) {
- warnx("ext:");
- g_dev_ext->print_info();
- }
-
- if (g_dev_int) {
- warnx("int:");
- g_dev_int->print_info();
+ for (uint8_t i=0; i<NUM_BUS_OPTIONS; i++) {
+ struct ms5611_bus_option &bus = bus_options[i];
+ if (bus.dev != nullptr) {
+ warnx("%s", bus.devpath);
+ bus.dev->print_info();
+ }
}
-
exit(0);
}
@@ -1053,19 +1071,16 @@ info()
* Calculate actual MSL pressure given current altitude
*/
void
-calibrate(unsigned altitude, bool external_bus)
+calibrate(unsigned altitude, enum MS5611_BUS busid)
{
+ struct ms5611_bus_option &bus = find_bus(busid);
struct baro_report report;
float pressure;
float p1;
int fd;
- if (external_bus) {
- fd = open(MS5611_BARO_DEVICE_PATH_EXT, O_RDONLY);
- } else {
- fd = open(MS5611_BARO_DEVICE_PATH_INT, O_RDONLY);
- }
+ fd = open(bus.devpath, O_RDONLY);
if (fd < 0)
err(1, "open failed (try 'ms5611 start' if the driver is not running)");
@@ -1120,6 +1135,7 @@ calibrate(unsigned altitude, bool external_bus)
if (ioctl(fd, BAROIOCSMSLPRESSURE, (unsigned long)p1) != OK)
err(1, "BAROIOCSMSLPRESSURE");
+ close(fd);
exit(0);
}
@@ -1128,7 +1144,10 @@ usage()
{
warnx("missing command: try 'start', 'info', 'test', 'test2', 'reset', 'calibrate'");
warnx("options:");
- warnx(" -X (external bus)");
+ warnx(" -X (external I2C bus)");
+ warnx(" -I (intternal I2C bus)");
+ warnx(" -S (external SPI bus)");
+ warnx(" -s (internal SPI bus)");
}
} // namespace
@@ -1136,14 +1155,23 @@ usage()
int
ms5611_main(int argc, char *argv[])
{
- bool external_bus = false;
+ enum MS5611_BUS busid = MS5611_BUS_ALL;
int ch;
/* jump over start/off/etc and look at options first */
- while ((ch = getopt(argc, argv, "X")) != EOF) {
+ while ((ch = getopt(argc, argv, "XISs")) != EOF) {
switch (ch) {
case 'X':
- external_bus = true;
+ busid = MS5611_BUS_I2C_EXTERNAL;
+ break;
+ case 'I':
+ busid = MS5611_BUS_I2C_INTERNAL;
+ break;
+ case 'S':
+ busid = MS5611_BUS_SPI_EXTERNAL;
+ break;
+ case 's':
+ busid = MS5611_BUS_SPI_INTERNAL;
break;
default:
ms5611::usage();
@@ -1153,29 +1181,23 @@ 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.
*/
if (!strcmp(verb, "start"))
- ms5611::start(external_bus);
+ ms5611::start(busid);
/*
* Test the driver/device.
*/
if (!strcmp(verb, "test"))
- ms5611::test(external_bus);
+ ms5611::test(busid);
/*
* Reset the driver.
*/
if (!strcmp(verb, "reset"))
- ms5611::reset(external_bus);
+ ms5611::reset(busid);
/*
* Print driver information.
@@ -1192,7 +1214,7 @@ ms5611_main(int argc, char *argv[])
long altitude = strtol(argv[optind+1], nullptr, 10);
- ms5611::calibrate(altitude, external_bus);
+ ms5611::calibrate(altitude, busid);
}
errx(1, "unrecognised command, try 'start', 'test', 'reset' or 'info'");
diff --git a/src/drivers/ms5611/ms5611.h b/src/drivers/ms5611/ms5611.h
index 3f1f6c473..c8211b8dd 100644
--- a/src/drivers/ms5611/ms5611.h
+++ b/src/drivers/ms5611/ms5611.h
@@ -80,6 +80,6 @@ extern bool crc4(uint16_t *n_prom);
} /* namespace */
/* interface factories */
-extern device::Device *MS5611_spi_interface(ms5611::prom_u &prom_buf, bool external_bus) weak_function;
-extern device::Device *MS5611_i2c_interface(ms5611::prom_u &prom_buf) weak_function;
-
+extern device::Device *MS5611_spi_interface(ms5611::prom_u &prom_buf, uint8_t busnum) weak_function;
+extern device::Device *MS5611_i2c_interface(ms5611::prom_u &prom_buf, uint8_t busnum) weak_function;
+typedef device::Device* (*MS5611_constructor)(ms5611::prom_u &prom_buf, uint8_t busnum);
diff --git a/src/drivers/ms5611/ms5611_i2c.cpp b/src/drivers/ms5611/ms5611_i2c.cpp
index 87d9b94a6..ca651409f 100644
--- a/src/drivers/ms5611/ms5611_i2c.cpp
+++ b/src/drivers/ms5611/ms5611_i2c.cpp
@@ -56,14 +56,6 @@
#include "board_config.h"
-#ifdef PX4_I2C_OBDEV_MS5611
-
-#ifndef PX4_I2C_BUS_ONBOARD
- #define MS5611_BUS 1
-#else
- #define MS5611_BUS PX4_I2C_BUS_ONBOARD
-#endif
-
#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) */
@@ -74,7 +66,7 @@ device::Device *MS5611_i2c_interface(ms5611::prom_u &prom_buf);
class MS5611_I2C : public device::I2C
{
public:
- MS5611_I2C(int bus, ms5611::prom_u &prom_buf);
+ MS5611_I2C(uint8_t bus, ms5611::prom_u &prom_buf);
virtual ~MS5611_I2C();
virtual int init();
@@ -113,12 +105,12 @@ private:
};
device::Device *
-MS5611_i2c_interface(ms5611::prom_u &prom_buf)
+MS5611_i2c_interface(ms5611::prom_u &prom_buf, uint8_t busnum)
{
- return new MS5611_I2C(MS5611_BUS, prom_buf);
+ return new MS5611_I2C(busnum, prom_buf);
}
-MS5611_I2C::MS5611_I2C(int bus, ms5611::prom_u &prom) :
+MS5611_I2C::MS5611_I2C(uint8_t bus, ms5611::prom_u &prom) :
I2C("MS5611_I2C", nullptr, bus, 0, 400000),
_prom(prom)
{
@@ -274,5 +266,3 @@ MS5611_I2C::_read_prom()
/* calculate CRC and return success/failure accordingly */
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 5234ce8d6..554a1d659 100644
--- a/src/drivers/ms5611/ms5611_spi.cpp
+++ b/src/drivers/ms5611/ms5611_spi.cpp
@@ -60,14 +60,14 @@
#define DIR_WRITE (0<<7)
#define ADDR_INCREMENT (1<<6)
-#ifdef PX4_SPIDEV_BARO
+#if defined(PX4_SPIDEV_BARO) || defined(PX4_SPIDEV_EXT_BARO)
device::Device *MS5611_spi_interface(ms5611::prom_u &prom_buf, bool external_bus);
class MS5611_SPI : public device::SPI
{
public:
- MS5611_SPI(int bus, spi_dev_e device, ms5611::prom_u &prom_buf);
+ MS5611_SPI(uint8_t bus, spi_dev_e device, ms5611::prom_u &prom_buf);
virtual ~MS5611_SPI();
virtual int init();
@@ -115,20 +115,21 @@ private:
};
device::Device *
-MS5611_spi_interface(ms5611::prom_u &prom_buf, bool external_bus)
+MS5611_spi_interface(ms5611::prom_u &prom_buf, uint8_t busnum)
{
- if (external_bus) {
- #ifdef PX4_SPI_BUS_EXT
- return new MS5611_SPI(PX4_SPI_BUS_EXT, (spi_dev_e)PX4_SPIDEV_EXT_BARO, prom_buf);
- #else
+#ifdef PX4_SPI_BUS_EXT
+ if (busnum == PX4_SPI_BUS_EXT) {
+#ifdef PX4_SPIDEV_EXT_BARO
+ return new MS5611_SPI(busnum, (spi_dev_e)PX4_SPIDEV_EXT_BARO, prom_buf);
+#else
return nullptr;
- #endif
- } else {
- return new MS5611_SPI(PX4_SPI_BUS_SENSORS, (spi_dev_e)PX4_SPIDEV_BARO, prom_buf);
+#endif
}
+#endif
+ return new MS5611_SPI(busnum, (spi_dev_e)PX4_SPIDEV_BARO, prom_buf);
}
-MS5611_SPI::MS5611_SPI(int bus, spi_dev_e device, ms5611::prom_u &prom_buf) :
+MS5611_SPI::MS5611_SPI(uint8_t bus, spi_dev_e device, ms5611::prom_u &prom_buf) :
SPI("MS5611_SPI", nullptr, bus, device, SPIDEV_MODE3, 11*1000*1000 /* will be rounded to 10.4 MHz */),
_prom(prom_buf)
{
@@ -281,4 +282,4 @@ MS5611_SPI::_transfer(uint8_t *send, uint8_t *recv, unsigned len)
return transfer(send, recv, len);
}
-#endif /* PX4_SPIDEV_BARO */
+#endif /* PX4_SPIDEV_BARO || PX4_SPIDEV_EXT_BARO */
generated by cgit v1.2.3 (git 2.39.1) at 2024-07-06 05:05:49 +0000