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AP_Baro: MS5611: Use AP_HAL::Device abstraction

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This allows to share almost all the I2C/SPI code and remove the
AP_Serial abstraction since that is now handled by AP_HAL itself.
This commit is contained in:
Lucas De Marchi 2016-01-04 11:59:19 -02:00
parent b05954660a
commit f1ade970a3
4 changed files with 129 additions and 286 deletions
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47
libraries/AP_Baro/AP_Baro.cpp
View File

@ -20,6 +20,8 @@
*/ */
#include "AP_Baro.h" #include "AP_Baro.h"
#include <utility>
#include <AP_Common/AP_Common.h> #include <AP_Common/AP_Common.h>
#include <AP_HAL/AP_HAL.h> #include <AP_HAL/AP_HAL.h>
#include <AP_Math/AP_Math.h> #include <AP_Math/AP_Math.h>
@ -296,49 +298,36 @@ void AP_Baro::init(void)
_num_drivers = 1; _num_drivers = 1;
#elif HAL_BARO_DEFAULT == HAL_BARO_BMP085 #elif HAL_BARO_DEFAULT == HAL_BARO_BMP085
drivers[0] = new AP_Baro_BMP085(*this, drivers[0] = new AP_Baro_BMP085(*this,
hal.i2c_mgr->get_device(HAL_BARO_BMP085_BUS, HAL_BARO_BMP085_I2C_ADDR)); std::move(hal.i2c_mgr->get_device(HAL_BARO_BMP085_BUS, HAL_BARO_BMP085_I2C_ADDR)));
_num_drivers = 1; _num_drivers = 1;
#elif HAL_BARO_DEFAULT == HAL_BARO_MS5611 && HAL_BARO_MS5611_I2C_BUS == 0 #elif HAL_BARO_DEFAULT == HAL_BARO_MS5611_I2C
{
drivers[0] = new AP_Baro_MS5611(*this, new AP_SerialBus_I2C(hal.i2c, HAL_BARO_MS5611_I2C_ADDR), false);
_num_drivers = 1;
}
#elif HAL_BARO_DEFAULT == HAL_BARO_MS5611 && HAL_BARO_MS5611_I2C_BUS == 1
{
drivers[0] = new AP_Baro_MS5611(*this, new AP_SerialBus_I2C(hal.i2c1, HAL_BARO_MS5611_I2C_ADDR), false);
_num_drivers = 1;
}
#elif HAL_BARO_DEFAULT == HAL_BARO_MS5611_SPI
{
drivers[0] = new AP_Baro_MS5611(*this, drivers[0] = new AP_Baro_MS5611(*this,
new AP_SerialBus_SPI(AP_HAL::SPIDevice_MS5611, std::move(hal.i2c_mgr->get_device(HAL_BARO_MS5611_I2C_BUS, HAL_BARO_MS5611_I2C_ADDR)),
AP_HAL::SPIDeviceDriver::SPI_SPEED_HIGH), HAL_BARO_MS5611_USE_TIMER);
_num_drivers = 1;
#elif HAL_BARO_DEFAULT == HAL_BARO_MS5611_SPI
drivers[0] = new AP_Baro_MS5611(*this,
std::move(hal.spi->get_device(HAL_BARO_MS5611_NAME)),
true); true);
_num_drivers = 1; _num_drivers = 1;
} #elif HAL_BARO_DEFAULT == HAL_BARO_MS5607_I2C
#elif HAL_BARO_DEFAULT == HAL_BARO_MS5607 && HAL_BARO_MS5607_I2C_BUS == 1 drivers[0] = new AP_Baro_MS5607(*this,
{ std::move(hal.i2c_mgr->get_device(HAL_BARO_MS5607_I2C_BUS, HAL_BARO_MS5607_I2C_ADDR)),
drivers[0] = new AP_Baro_MS5607(*this, new AP_SerialBus_I2C(hal.i2c1, HAL_BARO_MS5607_I2C_ADDR), true); true);
_num_drivers = 1; _num_drivers = 1;
}
#elif HAL_BARO_DEFAULT == HAL_BARO_MS5637_I2C #elif HAL_BARO_DEFAULT == HAL_BARO_MS5637_I2C
{ drivers[0] = new AP_Baro_MS5637(*this,
AP_SerialBus *bus = new AP_SerialBus_I2C(HAL_BARO_MS5611_I2C_POINTER, std::move(hal.i2c_mgr->get_device(HAL_BARO_MS5637_I2C_BUS, HAL_BARO_MS5637_I2C_ADDR)),
HAL_BARO_MS5611_I2C_ADDR); true);
drivers[0] = new AP_Baro_MS5637(*this, bus, true);
_num_drivers = 1; _num_drivers = 1;
}
#elif HAL_BARO_DEFAULT == HAL_BARO_QFLIGHT #elif HAL_BARO_DEFAULT == HAL_BARO_QFLIGHT
{
drivers[0] = new AP_Baro_QFLIGHT(*this); drivers[0] = new AP_Baro_QFLIGHT(*this);
_num_drivers = 1; _num_drivers = 1;
}
#elif HAL_BARO_DEFAULT == HAL_BARO_QURT #elif HAL_BARO_DEFAULT == HAL_BARO_QURT
{
drivers[0] = new AP_Baro_QURT(*this); drivers[0] = new AP_Baro_QURT(*this);
_num_drivers = 1; _num_drivers = 1;
}
#endif #endif
if (_num_drivers == 0 || _num_sensors == 0 || drivers[0] == NULL) { if (_num_drivers == 0 || _num_sensors == 0 || drivers[0] == NULL) {
AP_HAL::panic("Baro: unable to initialise driver"); AP_HAL::panic("Baro: unable to initialise driver");
} }

236
libraries/AP_Baro/AP_Baro_MS5611.cpp
View File

@ -13,31 +13,31 @@
You should have received a copy of the GNU General Public License You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>. along with this program. If not, see <http://www.gnu.org/licenses/>.
*/ */
/*
originally written by Jose Julio, Pat Hickey and Jordi Muñoz
Heavily modified by Andrew Tridgell
*/
#include "AP_Baro_MS5611.h" #include "AP_Baro_MS5611.h"
#include <AP_HAL/AP_HAL.h> #include <utility>
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL &hal;
#define CMD_MS5611_RESET 0x1E static const uint8_t CMD_MS56XX_RESET = 0x1E;
#define CMD_MS56XX_PROM 0xA0 static const uint8_t CMD_MS56XX_READ_ADC = 0x00;
#define ADDR_CMD_CONVERT_D1_OSR256 0x40 /* write to this address to start pressure conversion */ /* PROM start address */
#define ADDR_CMD_CONVERT_D1_OSR512 0x42 /* write to this address to start pressure conversion */ static const uint8_t CMD_MS56XX_PROM = 0xA0;
#define ADDR_CMD_CONVERT_D1_OSR1024 0x44 /* write to this address to start pressure conversion */
#define ADDR_CMD_CONVERT_D1_OSR2048 0x46 /* write to this address to start pressure conversion */ /* write to one of these addresses to start pressure conversion */
#define ADDR_CMD_CONVERT_D1_OSR4096 0x48 /* write to this address to start pressure conversion */ #define ADDR_CMD_CONVERT_D1_OSR256 0x40
#define ADDR_CMD_CONVERT_D2_OSR256 0x50 /* write to this address to start temperature conversion */ #define ADDR_CMD_CONVERT_D1_OSR512 0x42
#define ADDR_CMD_CONVERT_D2_OSR512 0x52 /* write to this address to start temperature conversion */ #define ADDR_CMD_CONVERT_D1_OSR1024 0x44
#define ADDR_CMD_CONVERT_D2_OSR1024 0x54 /* write to this address to start temperature conversion */ #define ADDR_CMD_CONVERT_D1_OSR2048 0x46
#define ADDR_CMD_CONVERT_D2_OSR2048 0x56 /* write to this address to start temperature conversion */ #define ADDR_CMD_CONVERT_D1_OSR4096 0x48
#define ADDR_CMD_CONVERT_D2_OSR4096 0x58 /* write to this address to start temperature conversion */
/* write to one of these addresses to start temperature conversion */
#define ADDR_CMD_CONVERT_D2_OSR256 0x50
#define ADDR_CMD_CONVERT_D2_OSR512 0x52
#define ADDR_CMD_CONVERT_D2_OSR1024 0x54
#define ADDR_CMD_CONVERT_D2_OSR2048 0x56
#define ADDR_CMD_CONVERT_D2_OSR4096 0x58
/* /*
use an OSR of 1024 to reduce the self-heating effect of the use an OSR of 1024 to reduce the self-heating effect of the
@ -45,149 +45,36 @@ extern const AP_HAL::HAL& hal;
are quite sensitive to this effect and that reducing the OSR can are quite sensitive to this effect and that reducing the OSR can
make a big difference make a big difference
*/ */
#define ADDR_CMD_CONVERT_D1 ADDR_CMD_CONVERT_D1_OSR1024 static const uint8_t ADDR_CMD_CONVERT_PRESSURE = ADDR_CMD_CONVERT_D1_OSR1024;
#define ADDR_CMD_CONVERT_D2 ADDR_CMD_CONVERT_D2_OSR1024 static const uint8_t ADDR_CMD_CONVERT_TEMPERATURE = ADDR_CMD_CONVERT_D2_OSR1024;
// SPI Device //////////////////////////////////////////////////////////////////
AP_SerialBus_SPI::AP_SerialBus_SPI(enum AP_HAL::SPIDeviceType device, enum AP_HAL::SPIDeviceDriver::bus_speed speed) :
_device(device),
_speed(speed),
_spi(NULL),
_spi_sem(NULL)
{
}
void AP_SerialBus_SPI::init()
{
_spi = hal.spi->device(_device);
if (_spi == NULL) {
AP_HAL::panic("did not get valid SPI device driver!");
}
_spi_sem = _spi->get_semaphore();
if (_spi_sem == NULL) {
AP_HAL::panic("AP_SerialBus_SPI did not get valid SPI semaphroe!");
}
_spi->set_bus_speed(_speed);
}
uint16_t AP_SerialBus_SPI::read_16bits(uint8_t reg)
{
uint8_t tx[3] = { reg, 0, 0 };
uint8_t rx[3];
_spi->transaction(tx, rx, 3);
return ((uint16_t) rx[1] << 8 ) | ( rx[2] );
}
uint32_t AP_SerialBus_SPI::read_24bits(uint8_t reg)
{
uint8_t tx[4] = { reg, 0, 0, 0 };
uint8_t rx[4];
_spi->transaction(tx, rx, 4);
return (((uint32_t)rx[1])<<16) | (((uint32_t)rx[2])<<8) | ((uint32_t)rx[3]);
}
bool AP_SerialBus_SPI::write(uint8_t reg)
{
uint8_t tx[1] = { reg };
_spi->transaction(tx, NULL, 1);
return true;
}
bool AP_SerialBus_SPI::sem_take_blocking()
{
return _spi_sem->take(10);
}
bool AP_SerialBus_SPI::sem_take_nonblocking()
{
return _spi_sem->take_nonblocking();
}
void AP_SerialBus_SPI::sem_give()
{
_spi_sem->give();
}
/// I2C SerialBus
AP_SerialBus_I2C::AP_SerialBus_I2C(AP_HAL::I2CDriver *i2c, uint8_t addr) :
_i2c(i2c),
_addr(addr),
_i2c_sem(NULL)
{
}
void AP_SerialBus_I2C::init()
{
_i2c_sem = _i2c->get_semaphore();
if (_i2c_sem == NULL) {
AP_HAL::panic("AP_SerialBus_I2C did not get valid I2C semaphore!");
}
}
uint16_t AP_SerialBus_I2C::read_16bits(uint8_t reg)
{
uint8_t buf[2];
if (_i2c->readRegisters(_addr, reg, sizeof(buf), buf) == 0) {
return (((uint16_t)(buf[0]) << 8) | buf[1]);
}
return 0;
}
uint32_t AP_SerialBus_I2C::read_24bits(uint8_t reg)
{
uint8_t buf[3];
if (_i2c->readRegisters(_addr, reg, sizeof(buf), buf) == 0) {
return (((uint32_t)buf[0]) << 16) | (((uint32_t)buf[1]) << 8) | buf[2];
}
return 0;
}
bool AP_SerialBus_I2C::write(uint8_t reg)
{
return _i2c->write(_addr, 1, &reg) == 0;
}
bool AP_SerialBus_I2C::sem_take_blocking()
{
return _i2c_sem->take(10);
}
bool AP_SerialBus_I2C::sem_take_nonblocking()
{
return _i2c_sem->take_nonblocking();
}
void AP_SerialBus_I2C::sem_give()
{
_i2c_sem->give();
}
/* /*
constructor constructor
*/ */
AP_Baro_MS56XX::AP_Baro_MS56XX(AP_Baro &baro, AP_SerialBus *serial, bool use_timer) AP_Baro_MS56XX::AP_Baro_MS56XX(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev, bool use_timer)
: AP_Baro_Backend(baro) : AP_Baro_Backend(baro)
, _serial(serial) , _dev(std::move(dev))
, _use_timer(use_timer) , _use_timer(use_timer)
{ {
} }
void AP_Baro_MS56XX::_init() void AP_Baro_MS56XX::_init()
{ {
if (!_dev) {
AP_HAL::panic("AP_Baro_MS56XX: failed to use device");
}
_instance = _frontend.register_sensor(); _instance = _frontend.register_sensor();
_serial->init();
// we need to suspend timers to prevent other SPI drivers grabbing // we need to suspend timers to prevent other SPI drivers grabbing
// the bus while we do the long initialisation // the bus while we do the long initialisation
hal.scheduler->suspend_timer_procs(); hal.scheduler->suspend_timer_procs();
if (!_serial->sem_take_blocking()){ if (!_dev->get_semaphore()->take(10)) {
AP_HAL::panic("PANIC: AP_Baro_MS56XX: failed to take serial semaphore for init"); AP_HAL::panic("PANIC: AP_Baro_MS56XX: failed to take serial semaphore for init");
} }
_serial->write(CMD_MS5611_RESET); _dev->transfer(&CMD_MS56XX_RESET, 1, nullptr, 0);
hal.scheduler->delay(4); hal.scheduler->delay(4);
uint16_t prom[8]; uint16_t prom[8];
@ -203,8 +90,8 @@ void AP_Baro_MS56XX::_init()
_c5 = prom[5]; _c5 = prom[5];
_c6 = prom[6]; _c6 = prom[6];
// Send a command to read Temp first // Send a command to read temperature first
_serial->write(ADDR_CMD_CONVERT_D2); _dev->transfer(&ADDR_CMD_CONVERT_TEMPERATURE, 1, nullptr, 0);
_last_timer = AP_HAL::micros(); _last_timer = AP_HAL::micros();
_state = 0; _state = 0;
@ -213,7 +100,7 @@ void AP_Baro_MS56XX::_init()
_d1_count = 0; _d1_count = 0;
_d2_count = 0; _d2_count = 0;
_serial->sem_give(); _dev->get_semaphore()->give();
hal.scheduler->resume_timer_procs(); hal.scheduler->resume_timer_procs();
@ -251,6 +138,27 @@ static uint16_t crc4(uint16_t *data)
return (n_rem >> 12) & 0xF; return (n_rem >> 12) & 0xF;
} }
uint16_t AP_Baro_MS56XX::_read_prom_word(uint8_t word)
{
const uint8_t reg = CMD_MS56XX_PROM + (word << 1);
uint8_t val[2];
if (!_dev->transfer(&reg, 1, val, 2)) {
return 0;
}
return (val[0] << 8) | val[1];
}
uint32_t AP_Baro_MS56XX::_read_adc()
{
uint8_t val[3];
if (!_dev->transfer(&CMD_MS56XX_READ_ADC, 1, val, 3)) {
return 0;
}
return (val[0] << 16) | (val[1] << 8) | val[2];
}
bool AP_Baro_MS56XX::_read_prom(uint16_t prom[8]) bool AP_Baro_MS56XX::_read_prom(uint16_t prom[8])
{ {
/* /*
@ -261,7 +169,7 @@ bool AP_Baro_MS56XX::_read_prom(uint16_t prom[8])
* CRC field must me removed for CRC-4 calculation. * CRC field must me removed for CRC-4 calculation.
*/ */
for (uint8_t i = 0; i < 8; i++) { for (uint8_t i = 0; i < 8; i++) {
prom[i] = _serial->read_16bits(CMD_MS56XX_PROM + (i << 1)); prom[i] = _read_prom_word(i);
} }
/* save the read crc */ /* save the read crc */
@ -284,7 +192,7 @@ bool AP_Baro_MS5637::_read_prom(uint16_t prom[8])
* calculation. * calculation.
*/ */
for (uint8_t i = 0; i < 7; i++) { for (uint8_t i = 0; i < 7; i++) {
prom[i] = _serial->read_16bits(CMD_MS56XX_PROM + (i << 1)); prom[i] = _read_prom_word(i);
} }
prom[7] = 0; prom[7] = 0;
@ -311,13 +219,13 @@ void AP_Baro_MS56XX::_timer(void)
return; return;
} }
if (!_serial->sem_take_nonblocking()) { if (!_dev->get_semaphore()->take_nonblocking()) {
return; return;
} }
if (_state == 0) { if (_state == 0) {
// On state 0 we read temp // On state 0 we read temp
uint32_t d2 = _serial->read_24bits(0); uint32_t d2 = _read_adc();
if (d2 != 0) { if (d2 != 0) {
_s_D2 += d2; _s_D2 += d2;
_d2_count++; _d2_count++;
@ -329,16 +237,16 @@ void AP_Baro_MS56XX::_timer(void)
_d2_count = 16; _d2_count = 16;
} }
if (_serial->write(ADDR_CMD_CONVERT_D1)) { // Command to read pressure if (_dev->transfer(&ADDR_CMD_CONVERT_PRESSURE, 1, nullptr, 0)) {
_state++; _state++;
} }
} else { } else {
/* if read fails, re-initiate a temperature read command or we are /* if read fails, re-initiate a temperature read command or we are
* stuck */ * stuck */
_serial->write(ADDR_CMD_CONVERT_D2); _dev->transfer(&ADDR_CMD_CONVERT_TEMPERATURE, 1, nullptr, 0);
} }
} else { } else {
uint32_t d1 = _serial->read_24bits(0); uint32_t d1 = _read_adc();
if (d1 != 0) { if (d1 != 0) {
// occasional zero values have been seen on the PXF // occasional zero values have been seen on the PXF
// board. These may be SPI errors, but safest to ignore // board. These may be SPI errors, but safest to ignore
@ -355,23 +263,23 @@ void AP_Baro_MS56XX::_timer(void)
_updated = true; _updated = true;
if (_state == 4) { if (_state == 4) {
if (_serial->write(ADDR_CMD_CONVERT_D2)) { // Command to read temperature if (_dev->transfer(&ADDR_CMD_CONVERT_TEMPERATURE, 1, nullptr, 0)) {
_state = 0; _state = 0;
} }
} else { } else {
if (_serial->write(ADDR_CMD_CONVERT_D1)) { // Command to read pressure if (_dev->transfer(&ADDR_CMD_CONVERT_PRESSURE, 1, nullptr, 0)) {
_state++; _state++;
} }
} }
} else { } else {
/* if read fails, re-initiate a pressure read command or we are /* if read fails, re-initiate a pressure read command or we are
* stuck */ * stuck */
_serial->write(ADDR_CMD_CONVERT_D1); _dev->transfer(&ADDR_CMD_CONVERT_PRESSURE, 1, nullptr, 0);
} }
} }
_last_timer = AP_HAL::micros(); _last_timer = AP_HAL::micros();
_serial->sem_give(); _dev->get_semaphore()->give();
} }
void AP_Baro_MS56XX::update() void AP_Baro_MS56XX::update()
@ -408,8 +316,8 @@ void AP_Baro_MS56XX::update()
} }
/* MS5611 class */ /* MS5611 class */
AP_Baro_MS5611::AP_Baro_MS5611(AP_Baro &baro, AP_SerialBus *serial, bool use_timer) AP_Baro_MS5611::AP_Baro_MS5611(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev, bool use_timer)
: AP_Baro_MS56XX(baro, serial, use_timer) : AP_Baro_MS56XX(baro, std::move(dev), use_timer)
{ {
_init(); _init();
} }
@ -450,8 +358,8 @@ void AP_Baro_MS5611::_calculate()
} }
/* MS5607 Class */ /* MS5607 Class */
AP_Baro_MS5607::AP_Baro_MS5607(AP_Baro &baro, AP_SerialBus *serial, bool use_timer) AP_Baro_MS5607::AP_Baro_MS5607(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev, bool use_timer)
: AP_Baro_MS56XX(baro, serial, use_timer) : AP_Baro_MS56XX(baro, std::move(dev), use_timer)
{ {
_init(); _init();
} }
@ -491,9 +399,9 @@ void AP_Baro_MS5607::_calculate()
_copy_to_frontend(_instance, pressure, temperature); _copy_to_frontend(_instance, pressure, temperature);
} }
/* MS563 Class */ /* MS5637 Class */
AP_Baro_MS5637::AP_Baro_MS5637(AP_Baro &baro, AP_SerialBus *serial, bool use_timer) AP_Baro_MS5637::AP_Baro_MS5637(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev, bool use_timer)
: AP_Baro_MS56XX(baro, serial, use_timer) : AP_Baro_MS56XX(baro, std::move(dev), use_timer)
{ {
_init(); _init();
} }

87
libraries/AP_Baro/AP_Baro_MS5611.h
View File

@ -4,72 +4,7 @@
#include "AP_Baro_Backend.h" #include "AP_Baro_Backend.h"
#include <AP_HAL/AP_HAL.h> #include <AP_HAL/AP_HAL.h>
#include <AP_HAL/Device.h>
/** Abstract serial bus device driver for I2C/SPI. */
class AP_SerialBus
{
public:
/** Initialize the driver. */
virtual void init() = 0;
/** Read a 16-bit value from register "reg". */
virtual uint16_t read_16bits(uint8_t reg) = 0;
/** Read a 24-bit value */
virtual uint32_t read_24bits(uint8_t reg) = 0;
/** Write to a register with no data. */
virtual bool write(uint8_t reg) = 0;
/** Acquire the internal semaphore for this device.
* take_nonblocking should be used from the timer process,
* take_blocking from synchronous code (i.e. init) */
virtual bool sem_take_nonblocking() = 0;
virtual bool sem_take_blocking() = 0;
/** Release the internal semaphore for this device. */
virtual void sem_give() = 0;
};
/** SPI serial device. */
class AP_SerialBus_SPI : public AP_SerialBus
{
public:
AP_SerialBus_SPI(enum AP_HAL::SPIDeviceType device, enum AP_HAL::SPIDeviceDriver::bus_speed speed);
void init();
uint16_t read_16bits(uint8_t reg);
uint32_t read_24bits(uint8_t reg);
uint32_t read_adc(uint8_t reg);
bool write(uint8_t reg);
bool sem_take_nonblocking();
bool sem_take_blocking();
void sem_give();
private:
enum AP_HAL::SPIDeviceType _device;
enum AP_HAL::SPIDeviceDriver::bus_speed _speed;
AP_HAL::SPIDeviceDriver *_spi;
AP_HAL::Semaphore *_spi_sem;
};
/** I2C serial device. */
class AP_SerialBus_I2C : public AP_SerialBus
{
public:
AP_SerialBus_I2C(AP_HAL::I2CDriver *i2c, uint8_t addr);
void init();
uint16_t read_16bits(uint8_t reg);
uint32_t read_24bits(uint8_t reg);
bool write(uint8_t reg);
bool sem_take_nonblocking();
bool sem_take_blocking();
void sem_give();
private:
AP_HAL::I2CDriver *_i2c;
uint8_t _addr;
AP_HAL::Semaphore *_i2c_sem;
};
class AP_Baro_MS56XX : public AP_Baro_Backend class AP_Baro_MS56XX : public AP_Baro_Backend
{ {
@ -78,14 +13,18 @@ public:
void accumulate(); void accumulate();
protected: protected:
AP_Baro_MS56XX(AP_Baro &baro, AP_SerialBus *serial, bool use_timer); AP_Baro_MS56XX(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev, bool use_timer);
void _init(); void _init();
virtual void _calculate() = 0; virtual void _calculate() = 0;
virtual bool _read_prom(uint16_t prom[8]); virtual bool _read_prom(uint16_t prom[8]);
uint16_t _read_prom_word(uint8_t word);
uint32_t _read_adc();
void _timer(); void _timer();
AP_SerialBus *_serial; AP_HAL::OwnPtr<AP_HAL::Device> _dev;
/* Asynchronous state: */ /* Asynchronous state: */
volatile bool _updated; volatile bool _updated;
@ -107,24 +46,24 @@ protected:
class AP_Baro_MS5611 : public AP_Baro_MS56XX class AP_Baro_MS5611 : public AP_Baro_MS56XX
{ {
public: public:
AP_Baro_MS5611(AP_Baro &baro, AP_SerialBus *serial, bool use_timer); AP_Baro_MS5611(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev, bool use_timer);
private: protected:
void _calculate(); void _calculate();
}; };
class AP_Baro_MS5607 : public AP_Baro_MS56XX class AP_Baro_MS5607 : public AP_Baro_MS56XX
{ {
public: public:
AP_Baro_MS5607(AP_Baro &baro, AP_SerialBus *serial, bool use_timer); AP_Baro_MS5607(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev, bool use_timer);
private: protected:
void _calculate(); void _calculate();
}; };
class AP_Baro_MS5637 : public AP_Baro_MS56XX class AP_Baro_MS5637 : public AP_Baro_MS56XX
{ {
public: public:
AP_Baro_MS5637(AP_Baro &baro, AP_SerialBus *serial, bool use_timer); AP_Baro_MS5637(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev, bool use_timer);
private: protected:
void _calculate(); void _calculate();
bool _read_prom(uint16_t prom[8]) override; bool _read_prom(uint16_t prom[8]) override;
}; };

25
libraries/AP_HAL/AP_HAL_Boards.h
View File

@ -72,9 +72,9 @@
// barometer driver types // barometer driver types
#define HAL_BARO_BMP085 1 #define HAL_BARO_BMP085 1
#define HAL_BARO_MS5611 2 #define HAL_BARO_MS5611_I2C 2
#define HAL_BARO_MS5611_SPI 3 #define HAL_BARO_MS5611_SPI 3
#define HAL_BARO_MS5607 4 #define HAL_BARO_MS5607_I2C 4
#define HAL_BARO_PX4 5 #define HAL_BARO_PX4 5
#define HAL_BARO_HIL 6 #define HAL_BARO_HIL 6
#define HAL_BARO_VRBRAIN 7 #define HAL_BARO_VRBRAIN 7
@ -202,6 +202,7 @@
#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain" #define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"
#define HAL_INS_DEFAULT HAL_INS_MPU9250 #define HAL_INS_DEFAULT HAL_INS_MPU9250
#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI #define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
#define HAL_BARO_MS5611_NAME "ms5611"
#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250 #define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250
#define HAL_GPIO_A_LED_PIN 61 #define HAL_GPIO_A_LED_PIN 61
#define HAL_GPIO_B_LED_PIN 48 #define HAL_GPIO_B_LED_PIN 48
@ -217,9 +218,9 @@
#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_I2C #define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_I2C
#define HAL_INS_AK8963_I2C_BUS 1 #define HAL_INS_AK8963_I2C_BUS 1
#define HAL_COMPASS_AK8963_I2C_ADDR 0x0d #define HAL_COMPASS_AK8963_I2C_ADDR 0x0d
#define HAL_BARO_DEFAULT HAL_BARO_MS5607_I2C
#define HAL_BARO_MS5607_I2C_BUS 1 #define HAL_BARO_MS5607_I2C_BUS 1
#define HAL_BARO_MS5607_I2C_ADDR 0x77 #define HAL_BARO_MS5607_I2C_ADDR 0x77
#define HAL_BARO_DEFAULT HAL_BARO_MS5607
#define HAL_UTILS_HEAT HAL_LINUX_HEAT_PWM #define HAL_UTILS_HEAT HAL_LINUX_HEAT_PWM
#define HAL_LINUX_HEAT_PWM_NUM 6 #define HAL_LINUX_HEAT_PWM_NUM 6
#define HAL_LINUX_HEAT_KP 20000 #define HAL_LINUX_HEAT_KP 20000
@ -248,9 +249,10 @@
#define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs" #define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs"
#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain" #define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"
#define HAL_INS_DEFAULT HAL_INS_MPU60XX_SPI #define HAL_INS_DEFAULT HAL_INS_MPU60XX_SPI
#define HAL_BARO_DEFAULT HAL_BARO_MS5611 #define HAL_BARO_DEFAULT HAL_BARO_MS5611_I2C
#define HAL_BARO_MS5611_I2C_BUS 1 #define HAL_BARO_MS5611_I2C_BUS 10
#define HAL_BARO_MS5611_I2C_ADDR 0x77 #define HAL_BARO_MS5611_I2C_ADDR 0x77
#define HAL_BARO_MS5611_USE_TIMER true
#define HAL_COMPASS_DEFAULT HAL_COMPASS_HMC5843_MPU6000 #define HAL_COMPASS_DEFAULT HAL_COMPASS_HMC5843_MPU6000
#define HAL_OPTFLOW_ONBOARD_VDEV_PATH "/dev/video0" #define HAL_OPTFLOW_ONBOARD_VDEV_PATH "/dev/video0"
#define HAL_OPTFLOW_ONBOARD_SENSOR_WIDTH 320 #define HAL_OPTFLOW_ONBOARD_SENSOR_WIDTH 320
@ -272,9 +274,10 @@
#define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs" #define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs"
#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain" #define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"
#define HAL_INS_DEFAULT HAL_INS_MPU9250 #define HAL_INS_DEFAULT HAL_INS_MPU9250
#define HAL_BARO_DEFAULT HAL_BARO_MS5611 #define HAL_BARO_DEFAULT HAL_BARO_MS5611_I2C
#define HAL_BARO_MS5611_I2C_BUS 0 #define HAL_BARO_MS5611_I2C_BUS 1
#define HAL_BARO_MS5611_I2C_ADDR 0x77 #define HAL_BARO_MS5611_I2C_ADDR 0x77
#define HAL_BARO_MS5611_USE_TIMER false
#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250 #define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250
#define HAL_GPIO_A_LED_PIN 16 #define HAL_GPIO_A_LED_PIN 16
#define HAL_GPIO_B_LED_PIN 16 #define HAL_GPIO_B_LED_PIN 16
@ -286,12 +289,14 @@
#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain" #define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"
#define HAL_INS_DEFAULT HAL_INS_RASPILOT #define HAL_INS_DEFAULT HAL_INS_RASPILOT
#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI #define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
#define HAL_BARO_MS5611_NAME "ms5611"
#define HAL_COMPASS_DEFAULT HAL_COMPASS_RASPILOT #define HAL_COMPASS_DEFAULT HAL_COMPASS_RASPILOT
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2
#define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs" #define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs"
#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain" #define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"
#define HAL_INS_DEFAULT HAL_INS_MPU9250 #define HAL_INS_DEFAULT HAL_INS_MPU9250
#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI #define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
#define HAL_BARO_MS5611_NAME "ms5611"
#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250 #define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250
#define HAL_GPIO_A_LED_PIN 24 #define HAL_GPIO_A_LED_PIN 24
#define HAL_GPIO_B_LED_PIN 25 #define HAL_GPIO_B_LED_PIN 25
@ -310,6 +315,7 @@
#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain" #define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"
#define HAL_INS_DEFAULT HAL_INS_MPU9250 #define HAL_INS_DEFAULT HAL_INS_MPU9250
#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI #define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
#define HAL_BARO_MS5611_NAME "ms5611"
#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250 #define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250
#define HAL_OPTFLOW_ONBOARD_VDEV_PATH "/dev/video0" #define HAL_OPTFLOW_ONBOARD_VDEV_PATH "/dev/video0"
#define HAL_OPTFLOW_ONBOARD_SENSOR_WIDTH 320 #define HAL_OPTFLOW_ONBOARD_SENSOR_WIDTH 320
@ -334,9 +340,10 @@
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH
#define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs" #define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs"
#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain" #define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"
#define HAL_BARO_DEFAULT HAL_BARO_MS5611 #define HAL_BARO_DEFAULT HAL_BARO_MS5611_I2C
#define HAL_BARO_MS5611_I2C_BUS 0 #define HAL_BARO_MS5611_I2C_BUS 1
#define HAL_BARO_MS5611_I2C_ADDR 0x77 #define HAL_BARO_MS5611_I2C_ADDR 0x77
#define HAL_BARO_MS5611_USE_TIMER true
#define HAL_INS_DEFAULT HAL_INS_BH #define HAL_INS_DEFAULT HAL_INS_BH
#define HAL_INS_MPU60XX_I2C_ADDR 0x69 #define HAL_INS_MPU60XX_I2C_ADDR 0x69
#define HAL_COMPASS_DEFAULT HAL_COMPASS_BH #define HAL_COMPASS_DEFAULT HAL_COMPASS_BH