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bmp388: cleanup main and add to px4_fmu-v5x board_config.h

This commit is contained in:
Daniel Agar 2019-11-20 12:19:50 -05:00
parent 3f05a7724d
commit 1af7af02db
7 changed files with 139 additions and 177 deletions
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7
boards/px4/fmu-v5x/src/board_config.h
View File

@ -276,6 +276,13 @@
#define PX4_I2C_BUS_ONBOARD 4
#define PX4_I2C_BUS_LED PX4_I2C_BUS_EXPANSION
/* Devices on the onboard bus.
*
* Note that these are unshifted addresses.
*/
#define PX4_I2C_OBDEV_BMP388 0x76
#define PX4_I2C_OBDEV_A71CH 0x49
#define BOARD_NUMBER_I2C_BUSES 4
#define BOARD_I2C_BUS_CLOCK_INIT {100000, 100000, 100000, 100000}

25
src/drivers/barometer/bmp388/bmp388.cpp
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@ -42,19 +42,13 @@
#include "bmp388.h"
BMP388::BMP388(IBMP388 *interface, const char *path) :
CDev(path),
BMP388::BMP388(IBMP388 *interface) :
ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(interface->get_device_id())),
_px4_baro(interface->get_device_id(), ORB_PRIO_DEFAULT),
_px4_baro(interface->get_device_id()),
_interface(interface),
_osr_t(BMP3_OVERSAMPLING_2X),
_osr_p(BMP3_OVERSAMPLING_16X),
_odr(BMP3_ODR_50_HZ),
_iir_coef(BMP3_IIR_FILTER_DISABLE),
_sample_perf(perf_alloc(PC_ELAPSED, "bmp388: read")),
_measure_perf(perf_alloc(PC_ELAPSED, "bmp388: measure")),
_comms_errors(perf_alloc(PC_COUNT, "bmp388: comms errors")),
_collect_phase(false)
_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
_measure_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": measure")),
_comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": comms errors"))
{
_px4_baro.set_device_type(DRV_DEVTYPE_BMP388);
}
@ -75,13 +69,6 @@ BMP388::~BMP388()
int
BMP388::init()
{
int ret = CDev::init();
if (ret != OK) {
PX4_ERR("CDev init failed");
return ret;
}
if (!soft_reset()) {
PX4_WARN("failed to reset baro during init");
return -EIO;
@ -111,6 +98,7 @@ BMP388::init()
/* do a first measurement cycle to populate reports with valid data */
if (measure()) {
PX4_WARN("measure failed");
return -EIO;
}
@ -118,6 +106,7 @@ BMP388::init()
px4_usleep(_measure_interval);
if (collect()) {
PX4_WARN("collect failed");
return -EIO;
}

33
src/drivers/barometer/bmp388/bmp388.h
View File

@ -281,14 +281,11 @@ struct fcalibration_s {
/*
* BMP388 internal constants and data structures.
*/
class IBMP388
{
public:
virtual ~IBMP388() = default;
virtual bool is_external() = 0;
virtual int init() = 0;
// read reg value
@ -307,39 +304,35 @@ public:
virtual calibration_s *get_calibration(uint8_t addr) = 0;
virtual uint32_t get_device_id() const = 0;
};
class BMP388 : public cdev::CDev, public px4::ScheduledWorkItem
class BMP388 : public px4::ScheduledWorkItem
{
public:
BMP388(IBMP388 *interface, const char *path);
BMP388(IBMP388 *interface);
virtual ~BMP388();
virtual int init();
/**
* Diagnostics - print some basic information about the driver.
*/
void print_info();
private:
PX4Barometer _px4_baro;
IBMP388 *_interface;
IBMP388 *_interface{nullptr};
unsigned _measure_interval{0}; // interval in microseconds needed to measure
uint8_t _osr_t; // oversampling rate, temperature
uint8_t _osr_p; // oversampling rate, pressure
uint8_t _odr; // output data rate
uint8_t _iir_coef; // IIR coefficient
unsigned _measure_interval{0}; // interval in microseconds needed to measure
uint8_t _osr_t{BMP3_OVERSAMPLING_2X}; // oversampling rate, temperature
uint8_t _osr_p{BMP3_OVERSAMPLING_16X}; // oversampling rate, pressure
uint8_t _odr{BMP3_ODR_50_HZ}; // output data rate
uint8_t _iir_coef{BMP3_IIR_FILTER_DISABLE}; // IIR coefficient
perf_counter_t _sample_perf;
perf_counter_t _measure_perf;
perf_counter_t _comms_errors;
struct calibration_s *_cal; // stored calibration constants
calibration_s *_cal {nullptr}; // stored calibration constants
bool _collect_phase;
bool _collect_phase{false};
void Run() override;
void start();
@ -360,6 +353,6 @@ private:
/* interface factories */
extern IBMP388 *bmp388_spi_interface(uint8_t busnum, uint32_t device, bool external);
extern IBMP388 *bmp388_i2c_interface(uint8_t busnum, uint32_t device, bool external);
typedef IBMP388 *(*BMP388_constructor)(uint8_t, uint32_t, bool);
extern IBMP388 *bmp388_spi_interface(uint8_t busnum, uint32_t device);
extern IBMP388 *bmp388_i2c_interface(uint8_t busnum, uint32_t device);
typedef IBMP388 *(*BMP388_constructor)(uint8_t, uint32_t);

16
src/drivers/barometer/bmp388/bmp388_i2c.cpp
View File

@ -46,10 +46,9 @@
class BMP388_I2C: public device::I2C, public IBMP388
{
public:
BMP388_I2C(uint8_t bus, uint32_t device, bool external);
BMP388_I2C(uint8_t bus, uint32_t device);
virtual ~BMP388_I2C() = default;
bool is_external();
int init();
uint8_t get_reg(uint8_t addr);
@ -63,23 +62,16 @@ public:
private:
struct calibration_s _cal;
struct data_s _data;
bool _external;
};
IBMP388 *bmp388_i2c_interface(uint8_t busnum, uint32_t device, bool external)
IBMP388 *bmp388_i2c_interface(uint8_t busnum, uint32_t device)
{
return new BMP388_I2C(busnum, device, external);
return new BMP388_I2C(busnum, device);
}
BMP388_I2C::BMP388_I2C(uint8_t bus, uint32_t device, bool external) :
BMP388_I2C::BMP388_I2C(uint8_t bus, uint32_t device) :
I2C("BMP388_I2C", nullptr, bus, device, 100 * 1000)
{
_external = external;
}
bool BMP388_I2C::is_external()
{
return _external;
}
int BMP388_I2C::init()

217
src/drivers/barometer/bmp388/bmp388_main.cpp
View File

@ -31,216 +31,205 @@
*
****************************************************************************/
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/getopt.h>
#include "bmp388.h"
enum BMP388_BUS {
BMP388_BUS_ALL = 0,
BMP388_BUS_I2C_INTERNAL,
BMP388_BUS_I2C_INTERNAL1,
BMP388_BUS_I2C_EXTERNAL,
BMP388_BUS_SPI_INTERNAL,
BMP388_BUS_SPI_EXTERNAL
enum class BMP388_BUS {
ALL = 0,
I2C_INTERNAL,
I2C_INTERNAL1,
I2C_EXTERNAL,
SPI_INTERNAL,
SPI_EXTERNAL
};
/**
* Local functions in support of the shell command.
*/
namespace bmp388
{
/*
* list of supported bus configurations
*/
// list of supported bus configurations
struct bmp388_bus_option {
enum BMP388_BUS busid;
const char *devpath;
BMP388_BUS busid;
BMP388_constructor interface_constructor;
uint8_t busnum;
uint32_t device;
bool external;
uint32_t address;
BMP388 *dev;
} bus_options[] = {
#if defined(PX4_SPIDEV_EXT_BARO) && defined(PX4_SPI_BUS_EXT)
{ BMP388_BUS_SPI_EXTERNAL, "/dev/bmp388_spi_ext", &bmp388_spi_interface, PX4_SPI_BUS_EXT, PX4_SPIDEV_EXT_BARO, true, NULL },
{ BMP388_BUS::SPI_EXTERNAL, &bmp388_spi_interface, PX4_SPI_BUS_EXT, PX4_SPIDEV_EXT_BARO, nullptr },
#endif
#if defined(PX4_SPIDEV_BARO)
# if defined(PX4_SPIDEV_BARO_BUS)
{ BMP388_BUS_SPI_INTERNAL, "/dev/bmp388_spi_int", &bmp388_spi_interface, PX4_SPIDEV_BARO_BUS, PX4_SPIDEV_BARO, false, NULL },
{ BMP388_BUS::SPI_INTERNAL, &bmp388_spi_interface, PX4_SPIDEV_BARO_BUS, PX4_SPIDEV_BARO, nullptr },
# else
{ BMP388_BUS_SPI_INTERNAL, "/dev/bmp388_spi_int", &bmp388_spi_interface, PX4_SPI_BUS_SENSORS, PX4_SPIDEV_BARO, false, NULL },
{ BMP388_BUS::SPI_INTERNAL, &bmp388_spi_interface, PX4_SPI_BUS_SENSORS, PX4_SPIDEV_BARO, nullptr },
# endif
#endif
#if defined(PX4_I2C_BUS_ONBOARD) && defined(PX4_I2C_OBDEV_BMP388)
{ BMP388_BUS_I2C_INTERNAL, "/dev/bmp388_i2c_int", &bmp388_i2c_interface, PX4_I2C_BUS_ONBOARD, PX4_I2C_OBDEV_BMP388, false, NULL },
{ BMP388_BUS::I2C_INTERNAL, &bmp388_i2c_interface, PX4_I2C_BUS_ONBOARD, PX4_I2C_OBDEV_BMP388, nullptr },
#endif
#if defined(PX4_I2C_BUS_ONBOARD) && defined(PX4_I2C_OBDEV1_BMP388)
{ BMP388_BUS_I2C_INTERNAL1, "/dev/bmp388_i2c_int1", &bmp388_i2c_interface, PX4_I2C_BUS_ONBOARD, PX4_I2C_OBDEV1_BMP388, false, NULL },
{ BMP388_BUS::I2C_INTERNAL1, &bmp388_i2c_interface, PX4_I2C_BUS_ONBOARD, PX4_I2C_OBDEV1_BMP388, nullptr },
#endif
#if defined(PX4_I2C_BUS_EXPANSION) && defined(PX4_I2C_OBDEV_BMP388)
{ BMP388_BUS_I2C_EXTERNAL, "/dev/bmp388_i2c_ext", &bmp388_i2c_interface, PX4_I2C_BUS_EXPANSION, PX4_I2C_OBDEV_BMP388, true, NULL },
{ BMP388_BUS::I2C_EXTERNAL, &bmp388_i2c_interface, PX4_I2C_BUS_EXPANSION, PX4_I2C_OBDEV_BMP388, nullptr },
#endif
};
#define NUM_BUS_OPTIONS (sizeof(bus_options)/sizeof(bus_options[0]))
/**
* Start the driver.
*/
bool
start_bus(struct bmp388_bus_option &bus)
// find a bus structure for a busid
static struct bmp388_bus_option *find_bus(BMP388_BUS busid)
{
if (bus.dev != nullptr) {
PX4_ERR("bus option already started");
exit(1);
for (bmp388_bus_option &bus_option : bus_options) {
if ((busid == BMP388_BUS::ALL ||
busid == bus_option.busid) && bus_option.dev != nullptr) {
return &bus_option;
}
}
IBMP388 *interface = bus.interface_constructor(bus.busnum, bus.device, bus.external);
return nullptr;
}
if (interface->init() != OK) {
delete interface;
static bool start_bus(bmp388_bus_option &bus)
{
IBMP388 *interface = bus.interface_constructor(bus.busnum, bus.address);
if ((interface == nullptr) || (interface->init() != PX4_OK)) {
PX4_WARN("no device on bus %u", (unsigned)bus.busid);
delete interface;
return false;
}
bus.dev = new BMP388(interface, bus.devpath);
BMP388 *dev = new BMP388(interface);
if (bus.dev == nullptr) {
if (dev == nullptr || (dev->init() != PX4_OK)) {
PX4_ERR("driver start failed");
delete dev;
delete interface;
return false;
}
if (OK != bus.dev->init()) {
delete bus.dev;
bus.dev = nullptr;
return false;
}
bus.dev = dev;
return true;
}
/**
* Start the driver.
*
* This function call only returns once the driver
* is either successfully up and running or failed to start.
*/
void
start(enum BMP388_BUS busid)
static int start(BMP388_BUS busid)
{
uint8_t i;
bool started = false;
for (i = 0; i < NUM_BUS_OPTIONS; i++) {
if (busid == BMP388_BUS_ALL && bus_options[i].dev != NULL) {
for (bmp388_bus_option &bus_option : bus_options) {
if (bus_option.dev != nullptr) {
// this device is already started
PX4_WARN("already started");
continue;
}
if (busid != BMP388_BUS_ALL && bus_options[i].busid != busid) {
if (busid != BMP388_BUS::ALL && bus_option.busid != busid) {
// not the one that is asked for
continue;
}
started |= start_bus(bus_options[i]);
}
if (!started) {
PX4_WARN("bus option number is %d", i);
PX4_ERR("driver start failed");
exit(1);
}
// one or more drivers started OK
exit(0);
}
/**
* Print a little info about the driver.
*/
void
info()
{
for (uint8_t i = 0; i < NUM_BUS_OPTIONS; i++) {
struct bmp388_bus_option &bus = bus_options[i];
if (bus.dev != nullptr) {
PX4_WARN("%s", bus.devpath);
bus.dev->print_info();
if (start_bus(bus_option)) {
return PX4_OK;
}
}
exit(0);
return PX4_ERROR;
}
void
usage()
static int stop(BMP388_BUS busid)
{
PX4_WARN("missing command: try 'start', 'info'");
PX4_WARN("options:");
PX4_WARN(" -X (external I2C bus TODO)");
PX4_WARN(" -I (internal I2C bus TODO)");
PX4_WARN(" -S (external SPI bus)");
PX4_WARN(" -s (internal SPI bus)");
bmp388_bus_option *bus = find_bus(busid);
if (bus != nullptr && bus->dev != nullptr) {
delete bus->dev;
bus->dev = nullptr;
} else {
PX4_WARN("driver not running");
return PX4_ERROR;
}
return PX4_OK;
}
static int status(BMP388_BUS busid)
{
bmp388_bus_option *bus = find_bus(busid);
if (bus != nullptr && bus->dev != nullptr) {
bus->dev->print_info();
return PX4_OK;
}
PX4_WARN("driver not running");
return PX4_ERROR;
}
static int usage()
{
PX4_INFO("missing command: try 'start', 'stop', 'status'");
PX4_INFO("options:");
PX4_INFO(" -X (i2c external bus)");
PX4_INFO(" -I (i2c internal bus)");
PX4_INFO(" -J (i2c internal bus 2)");
PX4_INFO(" -s (spi internal bus)");
PX4_INFO(" -S (spi external bus)");
return 0;
}
} // namespace
extern "C" __EXPORT int bmp388_main(int argc, char *argv[])
extern "C" int bmp388_main(int argc, char *argv[])
{
int myoptind = 1;
int ch;
const char *myoptarg = nullptr;
enum BMP388_BUS busid = BMP388_BUS_ALL;
BMP388_BUS busid = BMP388_BUS::ALL;
while ((ch = px4_getopt(argc, argv, "XIJSs", &myoptind, &myoptarg)) != EOF) {
switch (ch) {
case 'X':
busid = BMP388_BUS_I2C_EXTERNAL;
busid = BMP388_BUS::I2C_EXTERNAL;
break;
case 'I':
busid = BMP388_BUS_I2C_INTERNAL;
busid = BMP388_BUS::I2C_INTERNAL;
break;
case 'J':
busid = BMP388_BUS_I2C_INTERNAL1;
busid = BMP388_BUS::I2C_INTERNAL1;
break;
case 'S':
busid = BMP388_BUS_SPI_EXTERNAL;
busid = BMP388_BUS::SPI_EXTERNAL;
break;
case 's':
busid = BMP388_BUS_SPI_INTERNAL;
busid = BMP388_BUS::SPI_INTERNAL;
break;
default:
bmp388::usage();
return 0;
return bmp388::usage();
}
}
if (myoptind >= argc) {
bmp388::usage();
return -1;
return bmp388::usage();
}
const char *verb = argv[myoptind];
/*
* Start/load the driver.
*/
if (!strcmp(verb, "start")) {
bmp388::start(busid);
return bmp388::start(busid);
} else if (!strcmp(verb, "stop")) {
return bmp388::stop(busid);
} else if (!strcmp(verb, "status")) {
return bmp388::status(busid);
}
/*
* Print driver information.
*/
if (!strcmp(verb, "info")) {
bmp388::info();
}
PX4_ERR("unrecognized command, try 'start' or 'info'");
return -1;
return bmp388::usage();
}

16
src/drivers/barometer/bmp388/bmp388_spi.cpp
View File

@ -63,10 +63,9 @@ struct spi_calibration_s {
class BMP388_SPI: public device::SPI, public IBMP388
{
public:
BMP388_SPI(uint8_t bus, uint32_t device, bool is_external_device);
BMP388_SPI(uint8_t bus, uint32_t device);
virtual ~BMP388_SPI() = default;
bool is_external();
int init();
uint8_t get_reg(uint8_t addr);
@ -80,25 +79,18 @@ public:
private:
spi_calibration_s _cal;
spi_data_s _data;
bool _external;
};
IBMP388 *bmp388_spi_interface(uint8_t busnum, uint32_t device, bool external)
IBMP388 *bmp388_spi_interface(uint8_t busnum, uint32_t device)
{
return new BMP388_SPI(busnum, device, external);
return new BMP388_SPI(busnum, device);
}
BMP388_SPI::BMP388_SPI(uint8_t bus, uint32_t device, bool is_external_device) :
BMP388_SPI::BMP388_SPI(uint8_t bus, uint32_t device) :
SPI("BMP388_SPI", nullptr, bus, device, SPIDEV_MODE3, 10 * 1000 * 1000)
{
_external = is_external_device;
}
bool BMP388_SPI::is_external()
{
return _external;
};
int BMP388_SPI::init()
{
return SPI::init();

2
src/lib/drivers/barometer/PX4Barometer.hpp
View File

@ -45,7 +45,7 @@ class PX4Barometer : public cdev::CDev
{
public:
PX4Barometer(uint32_t device_id, uint8_t priority);
PX4Barometer(uint32_t device_id, uint8_t priority = ORB_PRIO_DEFAULT);
~PX4Barometer() override;
void set_device_type(uint8_t devtype);