From 7f18fcd55617bac9167c403e61b993853945e848 Mon Sep 17 00:00:00 2001 From: px4dev Date: Fri, 19 Oct 2012 18:51:50 -0700 Subject: Clean out old drivers we're not using anymore. --- nuttx/configs/px4fmu/include/drv_bma180.h | 99 ------ nuttx/configs/px4fmu/include/drv_hmc5883l.h | 100 ------ nuttx/configs/px4fmu/include/drv_l3gd20.h | 108 ------ nuttx/configs/px4fmu/include/drv_lis331.h | 83 ----- nuttx/configs/px4fmu/include/drv_ms5611.h | 76 ----- nuttx/configs/px4fmu/src/Makefile | 2 +- nuttx/configs/px4fmu/src/drv_bma180.c | 341 ------------------- nuttx/configs/px4fmu/src/drv_hmc5833l.c | 386 --------------------- nuttx/configs/px4fmu/src/drv_l3gd20.c | 364 -------------------- nuttx/configs/px4fmu/src/drv_lis331.c | 272 --------------- nuttx/configs/px4fmu/src/drv_ms5611.c | 504 ---------------------------- 11 files changed, 1 insertion(+), 2334 deletions(-) delete mode 100644 nuttx/configs/px4fmu/include/drv_bma180.h delete mode 100644 nuttx/configs/px4fmu/include/drv_hmc5883l.h delete mode 100644 nuttx/configs/px4fmu/include/drv_l3gd20.h delete mode 100644 nuttx/configs/px4fmu/include/drv_lis331.h delete mode 100644 nuttx/configs/px4fmu/include/drv_ms5611.h delete mode 100644 nuttx/configs/px4fmu/src/drv_bma180.c delete mode 100644 nuttx/configs/px4fmu/src/drv_hmc5833l.c delete mode 100644 nuttx/configs/px4fmu/src/drv_l3gd20.c delete mode 100644 nuttx/configs/px4fmu/src/drv_lis331.c delete mode 100644 nuttx/configs/px4fmu/src/drv_ms5611.c (limited to 'nuttx') diff --git a/nuttx/configs/px4fmu/include/drv_bma180.h b/nuttx/configs/px4fmu/include/drv_bma180.h deleted file mode 100644 index a403415e4..000000000 --- a/nuttx/configs/px4fmu/include/drv_bma180.h +++ /dev/null @@ -1,99 +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 BOSCH BMA180 MEMS accelerometer - */ - -/* IMPORTANT NOTES: - * - * SPI max. clock frequency: 25 Mhz - * CS has to be high before transfer, - * go low right before transfer and - * go high again right after transfer - * - */ - -#include - -#define _BMA180BASE 0x6300 -#define BMA180C(_x) _IOC(_BMA180BASE, _x) - -/* - * Sets the sensor internal sampling rate, and if a buffer - * has been configured, the rate at which entries will be - * added to the buffer. - */ -#define BMA180_SETRATE BMA180C(1) - -#define BMA180_RATE_LP_10HZ (0<<4) -#define BMA180_RATE_LP_20HZ (1<<4) -#define BMA180_RATE_LP_40HZ (2<<4) -#define BMA180_RATE_LP_75HZ (3<<4) -#define BMA180_RATE_LP_150HZ (4<<4) -#define BMA180_RATE_LP_300HZ (5<<4) -#define BMA180_RATE_LP_600HZ (6<<4) -#define BMA180_RATE_LP_1200HZ (7<<4) - -/* - * Sets the sensor internal range. - */ -#define BMA180_SETRANGE BMA180C(2) - -#define BMA180_RANGE_1G (0<<1) -#define BMA180_RANGE_1_5G (1<<1) -#define BMA180_RANGE_2G (2<<1) -#define BMA180_RANGE_3G (3<<1) -#define BMA180_RANGE_4G (4<<1) -#define BMA180_RANGE_8G (5<<1) -#define BMA180_RANGE_16G (6<<1) - -/* - * Sets the address of a shared BMA180_buffer - * structure that is maintained by the driver. - * - * If zero is passed as the address, disables - * the buffer updating. - */ -#define BMA180_SETBUFFER BMA180C(3) - -struct bma180_buffer { - uint32_t size; /* number of entries in the samples[] array */ - uint32_t next; /* the next entry that will be populated */ - struct { - uint16_t x; - uint16_t y; - uint16_t z; - uint8_t temp; - } samples[]; -}; - -extern int bma180_attach(struct spi_dev_s *spi, int spi_id); diff --git a/nuttx/configs/px4fmu/include/drv_hmc5883l.h b/nuttx/configs/px4fmu/include/drv_hmc5883l.h deleted file mode 100644 index 741c3e154..000000000 --- a/nuttx/configs/px4fmu/include/drv_hmc5883l.h +++ /dev/null @@ -1,100 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 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 - * 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 PX4 nor the names of its 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 ST HMC5883L gyroscope - */ - -#include - -#define _HMC5883LBASE 0x6100 -#define HMC5883LC(_x) _IOC(_HMC5883LBASE, _x) - -/* - * Sets the sensor internal sampling rate, and if a buffer - * has been configured, the rate at which entries will be - * added to the buffer. - */ -#define HMC5883L_SETRATE HMC5883LC(1) - -/* set rate (configuration A register */ -#define HMC5883L_RATE_0_75HZ (0 << 2) /* 0.75 Hz */ -#define HMC5883L_RATE_1_50HZ (1 << 2) /* 1.5 Hz */ -#define HMC5883L_RATE_3_00HZ (2 << 2) /* 3 Hz */ -#define HMC5883L_RATE_7_50HZ (3 << 2) /* 7.5 Hz */ -#define HMC5883L_RATE_15HZ (4 << 2) /* 15 Hz (default) */ -#define HMC5883L_RATE_30HZ (5 << 2) /* 30 Hz */ -#define HMC5883L_RATE_75HZ (6 << 2) /* 75 Hz */ - -/* - * Sets the sensor internal range. - */ -#define HMC5883L_SETRANGE HMC5883LC(2) - -#define HMC5883L_RANGE_0_88GA (0 << 5) -#define HMC5883L_RANGE_1_33GA (1 << 5) -#define HMC5883L_RANGE_1_90GA (2 << 5) -#define HMC5883L_RANGE_2_50GA (3 << 5) -#define HMC5883L_RANGE_4_00GA (4 << 5) - -/* - * Set the sensor measurement mode. - */ -#define HMC5883L_MODE_NORMAL (0 << 0) -#define HMC5883L_MODE_POSITIVE_BIAS (1 << 0) -#define HMC5883L_MODE_NEGATIVE_BIAS (1 << 1) - -/* - * Sets the address of a shared HMC5883L_buffer - * structure that is maintained by the driver. - * - * If zero is passed as the address, disables - * the buffer updating. - */ -#define HMC5883L_SETBUFFER HMC5883LC(3) - -struct hmc5883l_buffer { - uint32_t size; /* number of entries in the samples[] array */ - uint32_t next; /* the next entry that will be populated */ - struct { - int16_t x; - int16_t y; - int16_t z; - } samples[]; -}; - -#define HMC5883L_RESET HMC5883LC(4) -#define HMC5883L_CALIBRATION_ON HMC5883LC(5) -#define HMC5883L_CALIBRATION_OFF HMC5883LC(6) - -extern int hmc5883l_attach(struct i2c_dev_s *i2c); diff --git a/nuttx/configs/px4fmu/include/drv_l3gd20.h b/nuttx/configs/px4fmu/include/drv_l3gd20.h deleted file mode 100644 index 3b284d60d..000000000 --- a/nuttx/configs/px4fmu/include/drv_l3gd20.h +++ /dev/null @@ -1,108 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 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 - * 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 PX4 nor the names of its 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 ST L3GD20 gyroscope - */ - -/* IMPORTANT NOTES: - * - * SPI max. clock frequency: 10 Mhz - * CS has to be high before transfer, - * go low right before transfer and - * go high again right after transfer - * - */ - -#include - -#define _L3GD20BASE 0x6200 -#define L3GD20C(_x) _IOC(_L3GD20BASE, _x) - -/* - * Sets the sensor internal sampling rate, and if a buffer - * has been configured, the rate at which entries will be - * added to the buffer. - */ -#define L3GD20_SETRATE L3GD20C(1) - -#define L3GD20_RATE_95HZ_LP_12_5HZ ((0<<7) | (0<<6) | (0<<5) | (0<<4)) -#define L3GD20_RATE_95HZ_LP_25HZ ((0<<7) | (0<<6) | (0<<5) | (1<<4)) -#define L3GD20_RATE_190HZ_LP_12_5HZ ((0<<7) | (1<<6) | (0<<5) | (0<<4)) -#define L3GD20_RATE_190HZ_LP_25HZ ((0<<7) | (1<<6) | (0<<5) | (1<<4)) -#define L3GD20_RATE_190HZ_LP_50HZ ((0<<7) | (1<<6) | (1<<5) | (0<<4)) -#define L3GD20_RATE_190HZ_LP_70HZ ((0<<7) | (1<<6) | (1<<5) | (1<<4)) -#define L3GD20_RATE_380HZ_LP_20HZ ((1<<7) | (0<<6) | (0<<5) | (0<<4)) -#define L3GD20_RATE_380HZ_LP_25HZ ((1<<7) | (0<<6) | (0<<5) | (1<<4)) -#define L3GD20_RATE_380HZ_LP_50HZ ((1<<7) | (0<<6) | (1<<5) | (0<<4)) -#define L3GD20_RATE_380HZ_LP_100HZ ((1<<7) | (0<<6) | (1<<5) | (1<<4)) -#define L3GD20_RATE_760HZ_LP_30HZ ((1<<7) | (1<<6) | (0<<5) | (0<<4)) -#define L3GD20_RATE_760HZ_LP_35HZ ((1<<7) | (1<<6) | (0<<5) | (1<<4)) -#define L3GD20_RATE_760HZ_LP_50HZ ((1<<7) | (1<<6) | (1<<5) | (0<<4)) -#define L3GD20_RATE_760HZ_LP_100HZ ((1<<7) | (1<<6) | (1<<5) | (1<<4)) - -/* - * Sets the sensor internal range. - */ -#define L3GD20_SETRANGE L3GD20C(2) - -#define L3GD20_RANGE_250DPS (0<<4) -#define L3GD20_RANGE_500DPS (1<<4) -#define L3GD20_RANGE_2000DPS (3<<4) - -#define L3GD20_RATE_95HZ ((0<<6) | (0<<4)) -#define L3GD20_RATE_190HZ ((1<<6) | (0<<4)) -#define L3GD20_RATE_380HZ ((2<<6) | (1<<4)) -#define L3GD20_RATE_760HZ ((3<<6) | (2<<4)) - - - -/* - * Sets the address of a shared l3gd20_buffer - * structure that is maintained by the driver. - * - * If zero is passed as the address, disables - * the buffer updating. - */ -#define L3GD20_SETBUFFER L3GD20C(3) - -struct l3gd20_buffer { - uint32_t size; /* number of entries in the samples[] array */ - uint32_t next; /* the next entry that will be populated */ - struct { - int16_t x; - int16_t y; - int16_t z; - } samples[]; -}; - -extern int l3gd20_attach(struct spi_dev_s *spi, int spi_id); diff --git a/nuttx/configs/px4fmu/include/drv_lis331.h b/nuttx/configs/px4fmu/include/drv_lis331.h deleted file mode 100644 index f4699cda0..000000000 --- a/nuttx/configs/px4fmu/include/drv_lis331.h +++ /dev/null @@ -1,83 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 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 - * 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 PX4 nor the names of its 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 ST LIS331 MEMS accelerometer - */ - -#include - -#define _LIS331BASE 0x6900 -#define LIS331C(_x) _IOC(_LIS331BASE, _x) - -/* - * Sets the sensor internal sampling rate, and if a buffer - * has been configured, the rate at which entries will be - * added to the buffer. - */ -#define LIS331_SETRATE LIS331C(1) - -#define LIS331_RATE_50Hz (0<<3) -#define LIS331_RATE_100Hz (1<<3) -#define LIS331_RATE_400Hz (2<<3) -#define LIS331_RATE_1000Hz (3<<3) - -/* - * Sets the sensor internal range. - */ -#define LIS331_SETRANGE LIS331C(2) - -#define LIS331_RANGE_2G (0<<4) -#define LIS331_RANGE_4G (1<<4) -#define LIS331_RANGE_8G (3<<4) - -/* - * Sets the address of a shared lis331_buffer - * structure that is maintained by the driver. - * - * If zero is passed as the address, disables - * the buffer updating. - */ -#define LIS331_SETBUFFER LIS331C(3) - -struct lis331_buffer { - uint32_t size; /* number of entries in the samples[] array */ - uint32_t next; /* the next entry that will be populated */ - struct { - uint16_t x; - uint16_t y; - uint16_t z; - } samples[]; -}; - -extern int lis331_attach(struct spi_dev_s *spi, int spi_id); diff --git a/nuttx/configs/px4fmu/include/drv_ms5611.h b/nuttx/configs/px4fmu/include/drv_ms5611.h deleted file mode 100644 index 922a11219..000000000 --- a/nuttx/configs/px4fmu/include/drv_ms5611.h +++ /dev/null @@ -1,76 +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 Meas Spec MS5611 barometric pressure sensor - */ - -#include - -#define _MS5611BASE 0x6A00 -#define MS5611C(_x) _IOC(_MS5611BASE, _x) - -/* - * Sets the sensor internal sampling rate, and if a buffer - * has been configured, the rate at which entries will be - * added to the buffer. - */ -#define MS5611_SETRATE MS5611C(1) - -/* set rate (configuration A register */ -#define MS5611_RATE_0_75HZ (0 << 2) /* 0.75 Hz */ - -/* - * Sets the sensor internal range. - */ -#define MS5611_SETRANGE MS5611C(2) - -#define MS5611_RANGE_0_88GA (0 << 5) - -/* - * Sets the address of a shared MS5611_buffer - * structure that is maintained by the driver. - * - * If zero is passed as the address, disables - * the buffer updating. - */ -#define MS5611_SETBUFFER MS5611C(3) - -struct ms5611_buffer { - uint32_t size; /* number of entries in the samples[] array */ - uint32_t next; /* the next entry that will be populated */ - struct { - uint32_t pressure; - uint16_t temperature; - } samples[]; -}; - -extern int ms5611_attach(struct i2c_dev_s *i2c); diff --git a/nuttx/configs/px4fmu/src/Makefile b/nuttx/configs/px4fmu/src/Makefile index 5a60b7d19..48b528f6a 100644 --- a/nuttx/configs/px4fmu/src/Makefile +++ b/nuttx/configs/px4fmu/src/Makefile @@ -41,7 +41,7 @@ ASRCS = AOBJS = $(ASRCS:.S=$(OBJEXT)) CSRCS = up_boot.c up_leds.c up_spi.c up_hrt.c \ - drv_gpio.c drv_bma180.c drv_l3gd20.c \ + drv_gpio.c \ drv_led.c drv_eeprom.c \ drv_tone_alarm.c up_pwm_servo.c up_usbdev.c \ up_cpuload.c diff --git a/nuttx/configs/px4fmu/src/drv_bma180.c b/nuttx/configs/px4fmu/src/drv_bma180.c deleted file mode 100644 index da80cc2e2..000000000 --- a/nuttx/configs/px4fmu/src/drv_bma180.c +++ /dev/null @@ -1,341 +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 Bosch BMA 180 MEMS accelerometer - */ - -#include - -#include -#include -#include -#include - -#include -#include -#include - -#include - -#include "chip.h" -#include "px4fmu-internal.h" - -#include - -/* - * BMA180 registers - */ - -/* Important Notes: - * - * - MAX SPI clock: 25 MHz - * - Readout time: 0.417 ms in high accuracy mode - * - Boot / ready time: 1.27 ms - * - */ - -#define DIR_READ (1<<7) -#define DIR_WRITE (0<<7) -#define ADDR_INCREMENT (1<<6) - -#define ADDR_CHIP_ID 0x00 -#define CHIP_ID 0x03 -#define ADDR_VERSION 0x01 - -#define ADDR_CTRL_REG0 0x0D -#define ADDR_CTRL_REG1 0x0E -#define ADDR_CTRL_REG2 0x0F -#define ADDR_BWTCS 0x20 -#define ADDR_CTRL_REG3 0x21 -#define ADDR_CTRL_REG4 0x22 -#define ADDR_OLSB1 0x35 - -#define ADDR_ACC_X_LSB 0x02 -#define ADDR_ACC_Z_MSB 0x07 -#define ADDR_TEMPERATURE 0x08 - -#define ADDR_STATUS_REG1 0x09 -#define ADDR_STATUS_REG2 0x0A -#define ADDR_STATUS_REG3 0x0B -#define ADDR_STATUS_REG4 0x0C - -#define ADDR_RESET 0x10 -#define SOFT_RESET 0xB6 - -#define ADDR_DIS_I2C 0x27 - -#define REG0_WRITE_ENABLE 0x10 - -#define RANGEMASK 0x0E -#define BWMASK 0xF0 - - -static ssize_t bma180_read(struct file *filp, FAR char *buffer, size_t buflen); -static int bma180_ioctl(struct file *filp, int cmd, unsigned long arg); - -static const struct file_operations bma180_fops = { - .read = bma180_read, - .ioctl = bma180_ioctl, -}; - -struct bma180_dev_s -{ - struct spi_dev_s *spi; - int spi_id; - uint8_t rate; - struct bma180_buffer *buffer; -}; - -static struct bma180_dev_s bma180_dev; - -static void bma180_write_reg(uint8_t address, uint8_t data); -static uint8_t bma180_read_reg(uint8_t address); -static bool read_fifo(uint16_t *data); -static int bma180_set_range(uint8_t range); -static int bma180_set_rate(uint8_t rate); - -static void -bma180_write_reg(uint8_t address, uint8_t data) -{ - uint8_t cmd[2] = { address | DIR_WRITE, data }; - - SPI_SELECT(bma180_dev.spi, bma180_dev.spi_id, true); - SPI_SNDBLOCK(bma180_dev.spi, &cmd, sizeof(cmd)); - SPI_SELECT(bma180_dev.spi, bma180_dev.spi_id, false); -} - -static uint8_t -bma180_read_reg(uint8_t address) -{ - uint8_t cmd[2] = {address | DIR_READ, 0}; - uint8_t data[2]; - - SPI_SELECT(bma180_dev.spi, bma180_dev.spi_id, true); - SPI_EXCHANGE(bma180_dev.spi, cmd, data, sizeof(cmd)); - SPI_SELECT(bma180_dev.spi, bma180_dev.spi_id, false); - - return data[1]; -} - -static bool -read_fifo(uint16_t *data) -{ - struct { /* status register and data as read back from the device */ - uint8_t cmd; - int16_t x; - int16_t y; - int16_t z; - uint8_t temp; - } __attribute__((packed)) report; - - report.cmd = ADDR_ACC_X_LSB | DIR_READ | ADDR_INCREMENT; - - SPI_LOCK(bma180_dev.spi, true); - report.x = bma180_read_reg(ADDR_ACC_X_LSB); - report.x |= (bma180_read_reg(ADDR_ACC_X_LSB+1) << 8); - report.y = bma180_read_reg(ADDR_ACC_X_LSB+2); - report.y |= (bma180_read_reg(ADDR_ACC_X_LSB+3) << 8); - report.z = bma180_read_reg(ADDR_ACC_X_LSB+4); - report.z |= (bma180_read_reg(ADDR_ACC_X_LSB+5) << 8); - report.temp = bma180_read_reg(ADDR_ACC_X_LSB+6); - SPI_LOCK(bma180_dev.spi, false); - - /* Collect status and remove two top bits */ - - uint8_t new_data = (report.x & 0x01) + (report.x & 0x01) + (report.x & 0x01); - report.x = (report.x >> 2); - report.y = (report.y >> 2); - report.z = (report.z >> 2); - - data[0] = report.x; - data[1] = report.y; - data[2] = report.z; - - /* return 1 for all three axes new */ - return (new_data > 0); // bit funky, depends on timing -} - -static int -bma180_set_range(uint8_t range) -{ - /* enable writing to chip config */ - uint8_t ctrl0 = bma180_read_reg(ADDR_CTRL_REG0); - ctrl0 |= REG0_WRITE_ENABLE; - bma180_write_reg(ADDR_CTRL_REG0, ctrl0); - - /* set range */ - uint8_t olsb1 = bma180_read_reg(ADDR_OLSB1); - olsb1 &= (~RANGEMASK); - olsb1 |= (range);// & RANGEMASK); - bma180_write_reg(ADDR_OLSB1, olsb1); - - // up_udelay(500); - - /* block writing to chip config */ - ctrl0 = bma180_read_reg(ADDR_CTRL_REG0); - ctrl0 &= (~REG0_WRITE_ENABLE); - bma180_write_reg(ADDR_CTRL_REG0, ctrl0); - - uint8_t new_olsb1 = bma180_read_reg(ADDR_OLSB1); - - /* return 0 on success, 1 on failure */ - return !(olsb1 == new_olsb1); -} - -static int -bma180_set_rate(uint8_t rate) -{ - /* enable writing to chip config */ - uint8_t ctrl0 = bma180_read_reg(ADDR_CTRL_REG0); - ctrl0 |= REG0_WRITE_ENABLE; - bma180_write_reg(ADDR_CTRL_REG0, ctrl0); - - /* set rate / bandwidth */ - uint8_t bwtcs = bma180_read_reg(ADDR_BWTCS); - bwtcs &= (~BWMASK); - bwtcs |= (rate);// & BWMASK); - bma180_write_reg(ADDR_BWTCS, bwtcs); - - // up_udelay(500); - - /* block writing to chip config */ - ctrl0 = bma180_read_reg(ADDR_CTRL_REG0); - ctrl0 &= (~REG0_WRITE_ENABLE); - bma180_write_reg(ADDR_CTRL_REG0, ctrl0); - - uint8_t new_bwtcs = bma180_read_reg(ADDR_BWTCS); - - /* return 0 on success, 1 on failure */ - return !(bwtcs == new_bwtcs); -} - -static ssize_t -bma180_read(struct file *filp, char *buffer, size_t buflen) -{ - /* if the buffer is large enough, and data are available, return success */ - if (buflen >= 6) { - if (read_fifo((uint16_t *)buffer)) - return 6; - - /* no data */ - return 0; - } - - /* buffer too small */ - errno = ENOSPC; - return ERROR; -} - -static int -bma180_ioctl(struct file *filp, int cmd, unsigned long arg) -{ - int result = ERROR; - - switch (cmd) { - case BMA180_SETRATE: - result = bma180_set_rate(arg); - break; - - case BMA180_SETRANGE: - result = bma180_set_range(arg); - break; - - case BMA180_SETBUFFER: - bma180_dev.buffer = (struct bma180_buffer *)arg; - result = 0; - break; - } - - if (result) - errno = EINVAL; - return result; -} - -int -bma180_attach(struct spi_dev_s *spi, int spi_id) -{ - int result = ERROR; - - bma180_dev.spi = spi; - bma180_dev.spi_id = spi_id; - - SPI_LOCK(bma180_dev.spi, true); - - /* verify that the device is attached and functioning */ - if (bma180_read_reg(ADDR_CHIP_ID) == CHIP_ID) { - - bma180_write_reg(ADDR_RESET, SOFT_RESET); // page 48 - - up_udelay(13000); // wait 12 ms, see page 49 - - /* Configuring the BMA180 */ - - /* enable writing to chip config */ - uint8_t ctrl0 = bma180_read_reg(ADDR_CTRL_REG0); - ctrl0 |= REG0_WRITE_ENABLE; - bma180_write_reg(ADDR_CTRL_REG0, ctrl0); - - /* disable I2C interface, datasheet page 31 */ - uint8_t disi2c = bma180_read_reg(ADDR_DIS_I2C); - disi2c |= 0x01; - bma180_write_reg(ADDR_DIS_I2C, disi2c); - - /* block writing to chip config */ - ctrl0 = bma180_read_reg(ADDR_CTRL_REG0); - ctrl0 &= (~REG0_WRITE_ENABLE); - bma180_write_reg(ADDR_CTRL_REG0, ctrl0); - - // up_udelay(500); - - /* set rate */ - result = bma180_set_rate(BMA180_RATE_LP_600HZ); - - // up_udelay(500); - - /* set range */ - result += bma180_set_range(BMA180_RANGE_4G); - - // up_udelay(500); - - if (result == 0) { - /* make ourselves available */ - register_driver("/dev/bma180", &bma180_fops, 0666, NULL); - } - } else { - errno = EIO; - } - - SPI_LOCK(bma180_dev.spi, false); - - return result; -} - diff --git a/nuttx/configs/px4fmu/src/drv_hmc5833l.c b/nuttx/configs/px4fmu/src/drv_hmc5833l.c deleted file mode 100644 index d51d654f7..000000000 --- a/nuttx/configs/px4fmu/src/drv_hmc5833l.c +++ /dev/null @@ -1,386 +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. - */ - -/** - * @file drv_hmc5883l.c - * Driver for the Honeywell/ST HMC5883L MEMS magnetometer - */ - -#include - -#include -#include -#include -#include -#include - -#include -#include - -#include "chip.h" -#include "px4fmu-internal.h" - -#include - -#define ADDR_CONF_A 0x00 -#define ADDR_CONF_B 0x01 -#define ADDR_MODE 0x02 -#define ADDR_DATA_OUT_X_MSB 0x03 -#define ADDR_DATA_OUT_X_LSB 0x04 -#define ADDR_DATA_OUT_Z_MSB 0x05 -#define ADDR_DATA_OUT_Z_LSB 0x06 -#define ADDR_DATA_OUT_Y_MSB 0x07 -#define ADDR_DATA_OUT_Y_LSB 0x08 -#define ADDR_STATUS 0x09 -#define ADDR_ID_A 0x10 -#define ADDR_ID_B 0x11 -#define ADDR_ID_C 0x12 - -#define HMC5883L_ADDRESS 0x1E - -/* modes not changeable outside of driver */ -#define HMC5883L_MODE_NORMAL (0 << 0) /* default */ -#define HMC5883L_MODE_POSITIVE_BIAS (1 << 0) /* positive bias */ -#define HMC5883L_MODE_NEGATIVE_BIAS (1 << 1) /* negative bias */ - -#define HMC5883L_AVERAGING_1 (0 << 5) /* conf a register */ -#define HMC5883L_AVERAGING_2 (1 << 5) -#define HMC5883L_AVERAGING_4 (2 << 5) -#define HMC5883L_AVERAGING_8 (3 << 5) - -#define MODE_REG_CONTINOUS_MODE (0 << 0) -#define MODE_REG_SINGLE_MODE (1 << 0) /* default */ - -#define STATUS_REG_DATA_OUT_LOCK (1 << 1) /* page 16: set if data is only partially read, read device to reset */ -#define STATUS_REG_DATA_READY (1 << 0) /* page 16: set if all axes have valid measurements */ - -#define ID_A_WHO_AM_I 'H' -#define ID_B_WHO_AM_I '4' -#define ID_C_WHO_AM_I '3' - -static FAR struct hmc5883l_dev_s hmc5883l_dev; - -static ssize_t hmc5883l_read(struct file *filp, FAR char *buffer, size_t buflen); -static int hmc5883l_ioctl(struct file *filp, int cmd, unsigned long arg); - -static const struct file_operations hmc5883l_fops = { - .open = 0, - .close = 0, - .read = hmc5883l_read, - .write = 0, - .seek = 0, - .ioctl = hmc5883l_ioctl, -#ifndef CONFIG_DISABLE_POLL - .poll = 0 -#endif -}; - -struct hmc5883l_dev_s -{ - struct i2c_dev_s *i2c; - uint8_t rate; - struct hmc5883l_buffer *buffer; -}; -static bool hmc5883l_calibration_enabled = false; - -static int hmc5883l_write_reg(uint8_t address, uint8_t data); -static int hmc5883l_read_reg(uint8_t address); -static int hmc5883l_reset(void); - -static int -hmc5883l_write_reg(uint8_t address, uint8_t data) -{ - uint8_t cmd[] = {address, data}; - return I2C_WRITE(hmc5883l_dev.i2c, cmd, 2); -} - -static int -hmc5883l_read_reg(uint8_t address) -{ - uint8_t cmd = address; - uint8_t data; - - int ret = I2C_WRITEREAD(hmc5883l_dev.i2c, &cmd, 1, &data, 1); - /* return data on success, error code on failure */ - if (ret == OK) { - ret = data; - } - return ret; -} - -static int -hmc5883l_set_range(uint8_t range) -{ - I2C_SETADDRESS(hmc5883l_dev.i2c, HMC5883L_ADDRESS, 7); - - - /* mask out illegal bit positions */ - uint8_t write_range = range; //& REG4_RANGE_MASK; - /* immediately return if user supplied invalid value */ - if (write_range != range) return EINVAL; - /* set remaining bits to a sane value */ -// write_range |= REG4_BDU; - /* write to device */ - hmc5883l_write_reg(ADDR_CONF_B, write_range); - /* return 0 if register value is now written value, 1 if unchanged */ - return !(hmc5883l_read_reg(ADDR_CONF_B) == write_range); -} - -static int -hmc5883l_set_rate(uint8_t rate) -{ - I2C_SETADDRESS(hmc5883l_dev.i2c, HMC5883L_ADDRESS, 7); - /* mask out illegal bit positions */ - uint8_t write_rate = rate;// & REG1_RATE_LP_MASK; - /* immediately return if user supplied invalid value */ - if (write_rate != rate) return EINVAL; - /* set remaining bits to a sane value */ -// write_rate |= REG1_POWER_NORMAL | REG1_Z_ENABLE | REG1_Y_ENABLE | REG1_X_ENABLE; - write_rate |= HMC5883L_AVERAGING_8; - /* write to device */ - hmc5883l_write_reg(ADDR_CONF_A, write_rate); - /* return 0 if register value is now written value, 1 if unchanged */ - return !(hmc5883l_read_reg(ADDR_CONF_A) == write_rate); -} - -static int -hmc5883l_set_mode(uint8_t mode) -{ - // I2C_SETADDRESS(hmc5883l_dev.i2c, HMC5883L_ADDRESS, 7); - // /* mask out illegal bit positions */ - // uint8_t write_mode = mode & 0x03; - // /* immediately return if user supplied invalid value */ - // if (write_mode != mode) return EINVAL; - // /* set mode */ - // write_mode |= hmc5883l_read_reg(ADDR_CONF_A); - // /* set remaining bits to a sane value */ - // write_mode |= HMC5883L_AVERAGING_8; - // /* write to device */ - // hmc5883l_write_reg(ADDR_CONF_A, write_mode); - // /* return 0 if register value is now written value, 1 if unchanged */ - // return !(hmc5883l_read_reg(ADDR_CONF_A) == write_mode); -} - -static bool -read_values(int16_t *data) -{ - struct { /* status register and data as read back from the device */ - int16_t x; - int16_t z; - int16_t y; - uint8_t status; - } __attribute__((packed)) hmc_report; - hmc_report.status = 0; - - static int read_err_count = 0; - - /* exchange the report structure with the device */ - - uint8_t cmd = ADDR_DATA_OUT_X_MSB; - - int ret = 0; - - I2C_SETADDRESS(hmc5883l_dev.i2c, HMC5883L_ADDRESS, 7); - - /* set device into single mode, trigger next measurement */ - ret = hmc5883l_write_reg(ADDR_MODE, MODE_REG_SINGLE_MODE); - - /* Only execute consecutive steps on success */ - if (ret == OK) - { - cmd = ADDR_DATA_OUT_X_MSB; - ret = I2C_WRITEREAD(hmc5883l_dev.i2c, &cmd, 1, (uint8_t*)&hmc_report, 6); - if (ret == OK) - { - /* Six bytes to read, stop if timed out */ - int hmc_status = hmc5883l_read_reg(ADDR_STATUS); - if (hmc_status < 0) - { - //if (hmc_status == ETIMEDOUT) - hmc5883l_reset(); - ret = hmc_status; - } - else - { - hmc_report.status = hmc_status; - ret = OK; - } - } - else - { - if (ret == ETIMEDOUT || ret == -ETIMEDOUT) hmc5883l_reset(); - } - } - else - { - if (ret == ETIMEDOUT || ret == -ETIMEDOUT) hmc5883l_reset(); - } - - if (ret != OK) - { - read_err_count++; - /* If the last reads failed as well, reset the bus and chip */ - if (read_err_count > 3) hmc5883l_reset(); - - *get_errno_ptr() = -ret; - } else { - read_err_count = 0; - /* write values, and exchange the two 8bit blocks (big endian to little endian) */ - data[0] = ((hmc_report.x & 0x00FF) << 8) | ((hmc_report.x & 0xFF00) >> 8); - data[1] = ((hmc_report.y & 0x00FF) << 8) | ((hmc_report.y & 0xFF00) >> 8); - data[2] = ((hmc_report.z & 0x00FF) << 8) | ((hmc_report.z & 0xFF00) >> 8); - // XXX TODO - // write mode, range and lp-frequency enum values into data[3]-[6] - if ((hmc_report.status & STATUS_REG_DATA_READY) > 0) - { - ret = 14; - } else { - ret = -EAGAIN; - } - } - - /* return len if new data is available, error else. hmc_report.status is 0 on errors */ - return ret; -} - -static ssize_t -hmc5883l_read(struct file *filp, char *buffer, size_t buflen) -{ - /* if the buffer is large enough, and data are available, return success */ - if (buflen >= 14) { - return read_values((int16_t *)buffer); - } - - /* buffer too small */ - *get_errno_ptr() = ENOSPC; - return -ERROR; -} - -static int -hmc5883l_ioctl(struct file *filp, int cmd, unsigned long arg) -{ - int result = ERROR; - - switch (cmd) { - case HMC5883L_SETRATE: - result = hmc5883l_set_rate(arg); - break; - - case HMC5883L_SETRANGE: - result = hmc5883l_set_range(arg); - break; - - case HMC5883L_CALIBRATION_ON: - hmc5883l_calibration_enabled = true; - result = OK; - break; - - case HMC5883L_CALIBRATION_OFF: - hmc5883l_calibration_enabled = false; - result = OK; - break; -// -// case HMC5883L_SETBUFFER: -// hmc5883l_dev.buffer = (struct hmc5883l_buffer *)arg; -// result = 0; -// break; - - case HMC5883L_RESET: - result = hmc5883l_reset(); - break; - } - - if (result) - errno = EINVAL; - return result; -} - -extern int up_i2creset(FAR struct i2c_dev_s * dev); - -int hmc5883l_reset() -{ - int ret; -#if 1 - ret = up_i2creset(hmc5883l_dev.i2c); - printf("HMC5883: BUS RESET %s\n", ret ? "FAIL" : "OK"); -#else - printf("[hmc5883l drv] Resettet I2C2 BUS\n"); - up_i2cuninitialize(hmc5883l_dev.i2c); - hmc5883l_dev.i2c = up_i2cinitialize(2); - I2C_SETFREQUENCY(hmc5883l_dev.i2c, 400000); -#endif - return ret; -} - -int -hmc5883l_attach(struct i2c_dev_s *i2c) -{ - int result = ERROR; - - hmc5883l_dev.i2c = i2c; - -// I2C_LOCK(hmc5883l_dev.i2c, true); - I2C_SETADDRESS(hmc5883l_dev.i2c, HMC5883L_ADDRESS, 7); - - uint8_t cmd = ADDR_STATUS; - uint8_t status_id[4] = {0, 0, 0, 0}; - - - int ret = I2C_WRITEREAD(i2c, &cmd, 1, status_id, 4); - - /* verify that the device is attached and functioning */ - if ((ret >= 0) && (status_id[1] == ID_A_WHO_AM_I) && (status_id[2] == ID_B_WHO_AM_I) && (status_id[3] == ID_C_WHO_AM_I)) { - - /* set update rate to 75 Hz */ - /* set 0.88 Ga range */ - if ((ret != 0) || (hmc5883l_set_range(HMC5883L_RANGE_0_88GA) != 0) || - (hmc5883l_set_rate(HMC5883L_RATE_75HZ) != 0)) - { - errno = EIO; - } else { - - /* set device into single mode, start measurement */ - ret = hmc5883l_write_reg(ADDR_MODE, MODE_REG_SINGLE_MODE); - - /* make ourselves available */ - register_driver("/dev/hmc5883l", &hmc5883l_fops, 0666, NULL); - - result = 0; - } - - } else { - errno = EIO; - } - - - - return result; -} diff --git a/nuttx/configs/px4fmu/src/drv_l3gd20.c b/nuttx/configs/px4fmu/src/drv_l3gd20.c deleted file mode 100644 index 19f2d032f..000000000 --- a/nuttx/configs/px4fmu/src/drv_l3gd20.c +++ /dev/null @@ -1,364 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 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 - * 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 PX4 nor the names of its 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 ST L3GD20 MEMS gyroscope - */ - -#include - -#include -#include -#include -#include - -#include -#include -#include -#include - -#include "chip.h" -#include "stm32_internal.h" -#include "px4fmu-internal.h" - -#define DIR_READ (1<<7) -#define DIR_WRITE (0<<7) -#define ADDR_INCREMENT (1<<6) - -#define ADDR_WHO_AM_I 0x0F -#define WHO_I_AM 0xD4 -#define ADDR_CTRL_REG1 0x20 -#define ADDR_CTRL_REG2 0x21 -#define ADDR_CTRL_REG3 0x22 -#define ADDR_CTRL_REG4 0x23 -#define ADDR_CTRL_REG5 0x24 -#define ADDR_REFERENCE 0x25 -#define ADDR_OUT_TEMP 0x26 -#define ADDR_STATUS_REG 0x27 -#define ADDR_OUT_X_L 0x28 -#define ADDR_OUT_X_H 0x29 -#define ADDR_OUT_Y_L 0x2A -#define ADDR_OUT_Y_H 0x2B -#define ADDR_OUT_Z_L 0x2C -#define ADDR_OUT_Z_H 0x2D -#define ADDR_FIFO_CTRL_REG 0x2E -#define ADDR_FIFO_SRC_REG 0x2F -#define ADDR_INT1_CFG 0x30 -#define ADDR_INT1_SRC 0x31 -#define ADDR_INT1_TSH_XH 0x32 -#define ADDR_INT1_TSH_XL 0x33 -#define ADDR_INT1_TSH_YH 0x34 -#define ADDR_INT1_TSH_YL 0x35 -#define ADDR_INT1_TSH_ZH 0x36 -#define ADDR_INT1_TSH_ZL 0x37 -#define ADDR_INT1_DURATION 0x38 - -#define REG1_RATE_LP_MASK 0xF0 /* Mask to guard partial register update */ -#define REG4_RANGE_MASK 0x30 /* Mask to guard partial register update */ - -/* Internal configuration values */ -#define REG1_POWER_NORMAL (1<<3) -#define REG1_Z_ENABLE (1<<2) -#define REG1_Y_ENABLE (1<<1) -#define REG1_X_ENABLE (1<<0) - -#define REG4_BDU (1<<7) -#define REG4_BLE (1<<6) -//#define REG4_SPI_3WIRE (1<<0) - -#define REG5_FIFO_ENABLE (1<<6) -#define REG5_REBOOT_MEMORY (1<<7) - -#define STATUS_ZYXOR (1<<7) -#define STATUS_ZOR (1<<6) -#define STATUS_YOR (1<<5) -#define STATUS_XOR (1<<4) -#define STATUS_ZYXDA (1<<3) -#define STATUS_ZDA (1<<2) -#define STATUS_YDA (1<<1) -#define STATUS_XDA (1<<0) - -#define FIFO_CTRL_BYPASS_MODE (0<<5) -#define FIFO_CTRL_FIFO_MODE (1<<5) -#define FIFO_CTRL_STREAM_MODE (1<<6) -#define FIFO_CTRL_STREAM_TO_FIFO_MODE (3<<5) -#define FIFO_CTRL_BYPASS_TO_STREAM_MODE (1<<7) - -static FAR struct l3gd20_dev_s l3gd20_dev; - -static ssize_t l3gd20_read(struct file *filp, FAR char *buffer, size_t buflen); -static int l3gd20_ioctl(struct file *filp, int cmd, unsigned long arg); - -static const struct file_operations l3gd20_fops = { - .open = 0, - .close = 0, - .read = l3gd20_read, - .write = 0, - .seek = 0, - .ioctl = l3gd20_ioctl, -#ifndef CONFIG_DISABLE_POLL - .poll = 0 -#endif -}; - -struct l3gd20_dev_s -{ - struct spi_dev_s *spi; - int spi_id; - uint8_t rate; - struct l3gd20_buffer *buffer; -}; - -static void l3gd20_write_reg(uint8_t address, uint8_t data); -static uint8_t l3gd20_read_reg(uint8_t address); - -static void -l3gd20_write_reg(uint8_t address, uint8_t data) -{ - uint8_t cmd[2] = { address | DIR_WRITE, data }; - - SPI_SELECT(l3gd20_dev.spi, l3gd20_dev.spi_id, true); - SPI_SNDBLOCK(l3gd20_dev.spi, &cmd, sizeof(cmd)); - SPI_SELECT(l3gd20_dev.spi, l3gd20_dev.spi_id, false); -} - -static uint8_t -l3gd20_read_reg(uint8_t address) -{ - uint8_t cmd[2] = {address | DIR_READ, 0}; - uint8_t data[2]; - - SPI_SELECT(l3gd20_dev.spi, l3gd20_dev.spi_id, true); - SPI_EXCHANGE(l3gd20_dev.spi, cmd, data, sizeof(cmd)); - SPI_SELECT(l3gd20_dev.spi, l3gd20_dev.spi_id, false); - - return data[1]; -} - -static int -set_range(uint8_t range) -{ - /* mask out illegal bit positions */ - uint8_t write_range = range & REG4_RANGE_MASK; - /* immediately return if user supplied invalid value */ - if (write_range != range) return EINVAL; - /* set remaining bits to a sane value */ - write_range |= REG4_BDU; - /* write to device */ - l3gd20_write_reg(ADDR_CTRL_REG4, write_range); - /* return 0 if register value is now written value, 1 if unchanged */ - return !(l3gd20_read_reg(ADDR_CTRL_REG4) == write_range); -} - -static int -set_rate(uint8_t rate) -{ - /* mask out illegal bit positions */ - uint8_t write_rate = rate & REG1_RATE_LP_MASK; - /* immediately return if user supplied invalid value */ - if (write_rate != rate) return EINVAL; - /* set remaining bits to a sane value */ - write_rate |= REG1_POWER_NORMAL | REG1_Z_ENABLE | REG1_Y_ENABLE | REG1_X_ENABLE; - /* write to device */ - l3gd20_write_reg(ADDR_CTRL_REG1, write_rate); - /* return 0 if register value is now written value, 1 if unchanged */ - return !(l3gd20_read_reg(ADDR_CTRL_REG1) == write_rate); -} - -static int -read_fifo(int16_t *data) -{ - - struct { /* status register and data as read back from the device */ - uint8_t cmd; - uint8_t temp; - uint8_t status; - int16_t x; - int16_t y; - int16_t z; - } __attribute__((packed)) report = {.status = 11}; - - report.cmd = 0x26 | DIR_READ | ADDR_INCREMENT; - - SPI_LOCK(l3gd20_dev.spi, true); - SPI_SELECT(l3gd20_dev.spi, PX4_SPIDEV_GYRO, true); - SPI_SETFREQUENCY(l3gd20_dev.spi, 25000000); - - SPI_EXCHANGE(l3gd20_dev.spi, &report, &report, sizeof(report)); - - /* XXX if the status value is unchanged, attempt a second exchange */ - if (report.status == 11) SPI_EXCHANGE(l3gd20_dev.spi, &report, &report, sizeof(report)); - /* XXX set magic error value if this still didn't succeed */ - if (report.status == 11) report.status = 12; - - SPI_SETFREQUENCY(l3gd20_dev.spi, 10000000); - SPI_SELECT(l3gd20_dev.spi, PX4_SPIDEV_GYRO, false); - SPI_LOCK(l3gd20_dev.spi, false); - - data[0] = report.x; - data[1] = report.y; - data[2] = report.z; - - /* if all axes are valid, return buflen (6), else return negative status */ - int ret = -((int)report.status); - if (STATUS_ZYXDA == (report.status & STATUS_ZYXDA) || STATUS_ZYXOR == (report.status & STATUS_ZYXOR)) - { - ret = 6; - } - - return ret; -} - -static ssize_t -l3gd20_read(struct file *filp, char *buffer, size_t buflen) -{ - /* if the buffer is large enough, and data are available, return success */ - if (buflen >= 6) { - /* return buflen or a negative value */ - int ret = read_fifo((int16_t *)buffer); - if (ret != 6) *get_errno_ptr() = EAGAIN; - return ret; - } - - /* buffer too small */ - *get_errno_ptr() = ENOSPC; - return ERROR; -} - -static int -l3gd20_ioctl(struct file *filp, int cmd, unsigned long arg) -{ - int result = ERROR; - - switch (cmd) { - case L3GD20_SETRATE: - if ((arg & REG1_RATE_LP_MASK) == arg) { - SPI_LOCK(l3gd20_dev.spi, true); - set_rate(arg); - SPI_LOCK(l3gd20_dev.spi, false); - result = 0; - l3gd20_dev.rate = arg; - } - break; - - case L3GD20_SETRANGE: - if ((arg & REG4_RANGE_MASK) == arg) { - SPI_LOCK(l3gd20_dev.spi, true); - set_range(arg); - SPI_LOCK(l3gd20_dev.spi, false); - result = 0; - } - break; - - case L3GD20_SETBUFFER: - l3gd20_dev.buffer = (struct l3gd20_buffer *)arg; - result = 0; - break; - } - - if (result) - errno = EINVAL; - return result; -} - -int -l3gd20_attach(struct spi_dev_s *spi, int spi_id) -{ - int result = ERROR; - - l3gd20_dev.spi = spi; - l3gd20_dev.spi_id = spi_id; - - SPI_LOCK(l3gd20_dev.spi, true); - /* read dummy value to void to clear SPI statemachine on sensor */ - (void)l3gd20_read_reg(ADDR_WHO_AM_I); - - /* verify that the device is attached and functioning */ - if (l3gd20_read_reg(ADDR_WHO_AM_I) == WHO_I_AM) { - - /* reset device memory */ - //l3gd20_write_reg(ADDR_CTRL_REG5, REG5_REBOOT_MEMORY); - //up_udelay(1000); - - /* set default configuration */ - l3gd20_write_reg(ADDR_CTRL_REG1, REG1_POWER_NORMAL | REG1_Z_ENABLE | REG1_Y_ENABLE | REG1_X_ENABLE); - l3gd20_write_reg(ADDR_CTRL_REG2, 0); /* disable high-pass filters */ - l3gd20_write_reg(ADDR_CTRL_REG3, 0); /* no interrupts - we don't use them */ - l3gd20_write_reg(ADDR_CTRL_REG4, 0x10); - l3gd20_write_reg(ADDR_CTRL_REG5, 0); - - l3gd20_write_reg(ADDR_CTRL_REG5, REG5_FIFO_ENABLE); /* disable wake-on-interrupt */ - l3gd20_write_reg(ADDR_FIFO_CTRL_REG, FIFO_CTRL_STREAM_MODE); /* Enable FIFO, old data is overwritten */ - - if ((set_range(L3GD20_RANGE_500DPS) != 0) || - (set_rate(L3GD20_RATE_760HZ_LP_100HZ) != 0)) /* takes device out of low-power mode */ - { - errno = EIO; - } else { - /* Read out the first few funky values */ - struct { /* status register and data as read back from the device */ - uint8_t cmd; - uint8_t temp; - uint8_t status; - int16_t x; - int16_t y; - int16_t z; - } __attribute__((packed)) report; - - report.cmd = 0x26 | DIR_READ | ADDR_INCREMENT; - - SPI_SELECT(spi, PX4_SPIDEV_GYRO, true); - SPI_EXCHANGE(spi, &report, &report, sizeof(report)); - SPI_SELECT(spi, PX4_SPIDEV_GYRO, false); - up_udelay(500); - /* And read another set */ - SPI_SELECT(spi, PX4_SPIDEV_GYRO, true); - SPI_EXCHANGE(spi, &report, &report, sizeof(report)); - SPI_SELECT(spi, PX4_SPIDEV_GYRO, false); - - - /* make ourselves available */ - register_driver("/dev/l3gd20", &l3gd20_fops, 0666, NULL); - - result = 0; - } - - } else { - - errno = EIO; - } - - SPI_LOCK(l3gd20_dev.spi, false); - - return result; -} diff --git a/nuttx/configs/px4fmu/src/drv_lis331.c b/nuttx/configs/px4fmu/src/drv_lis331.c deleted file mode 100644 index fd477b46f..000000000 --- a/nuttx/configs/px4fmu/src/drv_lis331.c +++ /dev/null @@ -1,272 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 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 - * 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 PX4 nor the names of its 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 ST LIS331 MEMS accelerometer - */ - -#include - -#include -#include -#include -#include - -#include -#include - -#include "up_arch.h" -#include "chip.h" -#include "stm32_internal.h" -#include "px4fmu-internal.h" - -#include - -/* - * LIS331 registers - */ - -#define DIR_READ (1<<7) -#define DIR_WRITE (0<<7) -#define ADDR_INCREMENT (1<<6) - -#define ADDR_WHO_AM_I 0x0f -#define WHO_I_AM 0x32 - -#define ADDR_CTRL_REG1 0x20 /* sample rate constants are in the public header */ -#define REG1_POWER_NORMAL (1<<5) -#define REG1_RATE_MASK (3<<3) -#define REG1_Z_ENABLE (1<<2) -#define REG1_Y_ENABLE (1<<1) -#define REG1_X_ENABLE (1<<0) - -#define ADDR_CTRL_REG2 0x21 - -#define ADDR_CTRL_REG3 0x22 - -#define ADDR_CTRL_REG4 0x23 -#define REG4_BDU (1<<7) -#define REG4_BIG_ENDIAN (1<<6) -#define REG4_RANGE_MASK (3<<4) -#define REG4_SPI_3WIRE (1<<0) - -#define ADDR_CTRL_REG5 0x24 - -#define ADDR_HP_FILTER_RESET 0x25 -#define ADDR_REFERENCE 0x26 -#define ADDR_STATUS_REG 0x27 -#define STATUS_ZYXOR (1<<7) -#define STATUS_ZOR (1<<6) -#define STATUS_YOR (1<<5) -#define STATUS_XOR (1<<4) -#define STATUS_ZYXDA (1<<3) -#define STATUS_ZDA (1<<2) -#define STATUS_YDA (1<<1) -#define STATUS_XDA (1<<0) - -#define ADDR_OUT_X 0x28 /* 16 bits */ -#define ADDR_OUT_Y 0x2A /* 16 bits */ -#define ADDR_OUT_Z 0x2C /* 16 bits */ - - -static ssize_t lis331_read(struct file *filp, FAR char *buffer, size_t buflen); -static int lis331_ioctl(struct file *filp, int cmd, unsigned long arg); - -static const struct file_operations lis331_fops = { - .read = lis331_read, - .ioctl = lis331_ioctl, -}; - -struct lis331_dev_s -{ - struct spi_dev_s *spi; - int spi_id; - - uint8_t rate; - struct lis331_buffer *buffer; -}; - -static struct lis331_dev_s lis331_dev; - -static void write_reg(uint8_t address, uint8_t data); -static uint8_t read_reg(uint8_t address); -static bool read_fifo(uint16_t *data); -static void set_range(uint8_t range); -static void set_rate(uint8_t rate); - -static void -write_reg(uint8_t address, uint8_t data) -{ - uint8_t cmd[2] = { address | DIR_WRITE, data }; - - SPI_SELECT(lis331_dev.spi, lis331_dev.spi_id, true); - SPI_SNDBLOCK(lis331_dev.spi, &cmd, sizeof(cmd)); - SPI_SELECT(lis331_dev.spi, lis331_dev.spi_id, false); -} - -static uint8_t -read_reg(uint8_t address) -{ - uint8_t cmd[2] = {address | DIR_READ, 0}; - uint8_t data[2]; - - SPI_SELECT(lis331_dev.spi, lis331_dev.spi_id, true); - SPI_EXCHANGE(lis331_dev.spi, cmd, data, sizeof(cmd)); - SPI_SELECT(lis331_dev.spi, lis331_dev.spi_id, false); - - return data[1]; -} - -static bool -read_fifo(uint16_t *data) -{ - struct { /* status register and data as read back from the device */ - uint8_t cmd; - uint8_t status; - int16_t x; - int16_t y; - int16_t z; - } __attribute__((packed)) report; - - report.cmd = ADDR_STATUS_REG | DIR_READ | ADDR_INCREMENT; - - /* exchange the report structure with the device */ - SPI_LOCK(lis331_dev.spi, true); - SPI_SELECT(lis331_dev.spi, lis331_dev.spi_id, true); - SPI_EXCHANGE(lis331_dev.spi, &report, &report, sizeof(report)); - SPI_SELECT(lis331_dev.spi, lis331_dev.spi_id, false); - SPI_LOCK(lis331_dev.spi, false); - - data[0] = report.x; - data[1] = report.y; - data[2] = report.z; - - return report.status & STATUS_ZYXDA; -} - -static void -set_range(uint8_t range) -{ - range &= REG4_RANGE_MASK; - write_reg(ADDR_CTRL_REG4, range | REG4_BDU); -} - -static void -set_rate(uint8_t rate) -{ - rate &= REG1_RATE_MASK; - write_reg(ADDR_CTRL_REG1, rate | REG1_POWER_NORMAL | REG1_Z_ENABLE | REG1_Y_ENABLE | REG1_X_ENABLE); -} - -static ssize_t -lis331_read(struct file *filp, char *buffer, size_t buflen) -{ - /* if the buffer is large enough, and data are available, return success */ - if (buflen >= 12) { - if (read_fifo((uint16_t *)buffer)) - return 12; - - /* no data */ - return 0; - } - - /* buffer too small */ - errno = ENOSPC; - return ERROR; -} - -static int -lis331_ioctl(struct file *filp, int cmd, unsigned long arg) -{ - int result = ERROR; - - switch (cmd) { - case LIS331_SETRATE: - if ((arg & REG1_RATE_MASK) == arg) { - set_rate(arg); - result = 0; - lis331_dev.rate = arg; - } - break; - - case LIS331_SETRANGE: - if ((arg & REG4_RANGE_MASK) == arg) { - set_range(arg); - result = 0; - } - break; - - case LIS331_SETBUFFER: - lis331_dev.buffer = (struct lis331_buffer *)arg; - result = 0; - break; - } - - if (result) - errno = EINVAL; - return result; -} - -int -lis331_attach(struct spi_dev_s *spi, int spi_id) -{ - int result = ERROR; - - lis331_dev.spi = spi; - - SPI_LOCK(lis331_dev.spi, true); - - /* verify that the device is attached and functioning */ - if (read_reg(ADDR_WHO_AM_I) == WHO_I_AM) { - - /* set default configuration */ - write_reg(ADDR_CTRL_REG2, 0); /* disable interrupt-generating high-pass filters */ - write_reg(ADDR_CTRL_REG3, 0); /* no interrupts - we don't use them */ - write_reg(ADDR_CTRL_REG5, 0); /* disable wake-on-interrupt */ - - set_range(LIS331_RANGE_4G); - set_rate(LIS331_RATE_400Hz); /* takes device out of low-power mode */ - - /* make ourselves available */ - register_driver("/dev/lis331", &lis331_fops, 0666, NULL); - - result = 0; - } else { - errno = EIO; - } - - SPI_LOCK(lis331_dev.spi, false); - - return result; -} - 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 -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include - -#include "chip.h" -#include "px4fmu-internal.h" - -#include -#include - -/* 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; -} -- cgit v1.2.3