forked from Archive/PX4-Autopilot
bmp285 support added
This commit is contained in:
Sergej Scheiermann
Lorenz Meier
parent
c3711efd27
commit
5923e66cf3
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@ -236,6 +236,10 @@ then
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then
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fi
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# expansion i2c used for BMP285
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if bmp285 start
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then
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fi
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fi
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if ver hwcmp PX4FMU_V1
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@ -53,6 +53,7 @@ set(config_module_list
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drivers/bmi160
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drivers/bmi055
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drivers/bmm150
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drivers/bmp285
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drivers/tap_esc
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drivers/iridiumsbd
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@ -113,7 +113,7 @@ void start(bool external_bus, enum Rotation rotation)
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fail:
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if (*g_dev_ptr != nullptr) {
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delete(*g_dev_ptr);
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delete (*g_dev_ptr);
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*g_dev_ptr = nullptr;
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}
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@ -0,0 +1,44 @@
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############################################################################
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#
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# Copyright (c) 2016 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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px4_add_module(
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MODULE drivers__bmp285
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MAIN bmp285
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COMPILE_FLAGS
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SRCS
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bmp285_main.cpp
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bmp285.cpp
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DEPENDS
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platforms__common
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)
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# vim: set noet ft=cmake fenc=utf-8 ff=unix :
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@ -0,0 +1,557 @@
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/****************************************************************************
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*
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* Copyright (c) 2012-2016 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file bmp285.cpp
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* Driver for the BMP285 barometric pressure sensor connected via I2C TODO or SPI.
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*/
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#include <drivers/bmp285/bmp285.hpp>
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#ifndef CONFIG_SCHED_WORKQUEUE
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# error This requires CONFIG_SCHED_WORKQUEUE.
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#endif
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BMP285::BMP285(int bus, uint16_t address, const char *path, bool external) :
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I2C("BMP285", path, bus, address, BMP285_BUS_SPEED),
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_curr_ctrl(0),
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_report_ticks(0),
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_max_mesure_ticks(0),
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_reports(nullptr),
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_collect_phase(false),
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_msl_pressure(101325),
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_baro_topic(nullptr),
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_orb_class_instance(-1),
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_class_instance(-1),
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_sample_perf(perf_alloc(PC_ELAPSED, "bmp285_read")),
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_measure_perf(perf_alloc(PC_ELAPSED, "bmp285_measure")),
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_comms_errors(perf_alloc(PC_COUNT, "bmp285_comms_errors")),
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_buffer_overflows(perf_alloc(PC_COUNT, "bmp285_buffer_overflows")),
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_P(0.0f),
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_T(0.0f)
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{
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_external = external;
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// work_cancel in stop_cycle called from the dtor will explode if we don't do this...
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memset(&_work, 0, sizeof(_work));
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}
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BMP285::~BMP285()
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{
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/* make sure we are truly inactive */
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stop_cycle();
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if (_class_instance != -1) {
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unregister_class_devname(get_devname(), _class_instance);
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}
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/* free any existing reports */
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if (_reports != nullptr) {
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delete _reports;
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}
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// free perf counters
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perf_free(_sample_perf);
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perf_free(_measure_perf);
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perf_free(_comms_errors);
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perf_free(_buffer_overflows);
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}
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int
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BMP285::init()
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{
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int ret;
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/* do I2C init (and probe) first */
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ret = I2C::init();
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/* if probe/setup failed, bail now */
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if (ret != OK) {
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DEVICE_DEBUG("I2C setup failed");
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return ret;
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}
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/* allocate basic report buffers */
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_reports = new ringbuffer::RingBuffer(2, sizeof(baro_report));
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if (_reports == nullptr) {
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DEVICE_DEBUG("can't get memory for reports");
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ret = -ENOMEM;
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return ret;
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}
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/* register alternate interfaces if we have to */
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_class_instance = register_class_devname(BARO_BASE_DEVICE_PATH);
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/* reset sensor */
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write_reg(BPM285_ADDR_RESET, BPM285_VALUE_RESET);
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usleep(10000);
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/* check id*/
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if (read_reg(BPM285_ADDR_ID) != BPM285_VALUE_ID) {
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warnx("id of your baro is not: 0x%02x", BPM285_VALUE_ID);
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return -EIO;
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}
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/* Put sensor in Normal mode */
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ret = write_reg(BPM285_ADDR_CTRL, _curr_ctrl | BPM285_CTRL_MODE_NORMAL);
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/* set config, recommended settings */
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_curr_ctrl = BPM285_CTRL_P16 | BPM285_CTRL_T2;
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write_reg(BPM285_ADDR_CTRL, _curr_ctrl);
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_max_mesure_ticks = USEC2TICK(BPM285_MT_INIT + BPM285_MT * (16 - 1 + 2 - 1));
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/* Configure filter settings */
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write_reg(BPM285_ADDR_CONFIG, BPM285_CONFIG_F16);
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/* get calibration and pre process them*/
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get_calibration(BPM285_ADDR_CAL);
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_fcal.t1 = _cal.t1 * powf(2, 4);
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_fcal.t2 = _cal.t2 * powf(2, -14);
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_fcal.t3 = _cal.t3 * powf(2, -34);
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_fcal.p1 = _cal.p1 * (powf(2, 4) / -100000.0f);
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_fcal.p2 = _cal.p1 * _cal.p2 * (powf(2, -31) / -100000.0f);
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_fcal.p3 = _cal.p1 * _cal.p3 * (powf(2, -51) / -100000.0f);
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_fcal.p4 = _cal.p4 * powf(2, 4) - powf(2, 20);
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_fcal.p5 = _cal.p5 * powf(2, -14);
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_fcal.p6 = _cal.p6 * powf(2, -31);
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_fcal.p7 = _cal.p7 * powf(2, -4);
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_fcal.p8 = _cal.p8 * powf(2, -19) + 1.0f;
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_fcal.p9 = _cal.p9 * powf(2, -35);
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/* do a first measurement cycle to populate reports with valid data */
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struct baro_report brp;
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_reports->flush();
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if (measure()) {
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return -EIO;
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}
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usleep(TICK2USEC(_max_mesure_ticks));
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if (collect()) {
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return -EIO;
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}
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_reports->get(&brp);
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_baro_topic = orb_advertise_multi(ORB_ID(sensor_baro), &brp,
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&_orb_class_instance, (is_external()) ? ORB_PRIO_HIGH : ORB_PRIO_DEFAULT);
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if (_baro_topic == nullptr) {
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warnx("failed to create sensor_baro publication");
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return -ENOMEM;
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}
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return OK;
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}
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ssize_t
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BMP285::read(struct file *filp, char *buffer, size_t buflen)
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{
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unsigned count = buflen / sizeof(struct baro_report);
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struct baro_report *brp = reinterpret_cast<struct baro_report *>(buffer);
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int ret = 0;
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/* buffer must be large enough */
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if (count < 1) {
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return -ENOSPC;
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}
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/* if automatic measurement is enabled */
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if (_report_ticks > 0) {
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/*
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* While there is space in the caller's buffer, and reports, copy them.
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* Note that we may be pre-empted by the workq thread while we are doing this;
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* we are careful to avoid racing with them.
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*/
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while (count--) {
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if (_reports->get(brp)) {
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ret += sizeof(*brp);
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brp++;
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}
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}
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/* if there was no data, warn the caller */
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return ret ? ret : -EAGAIN;
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}
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/* manual measurement - run one conversion */
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_reports->flush();
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if (measure()) {
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return -EIO;
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}
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usleep(TICK2USEC(_max_mesure_ticks));
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if (collect()) {
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return -EIO;
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}
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if (_reports->get(brp)) { //get new generated report
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ret = sizeof(*brp);
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}
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return ret;
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}
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int
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BMP285::ioctl(struct file *filp, int cmd, unsigned long arg)
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{
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switch (cmd) {
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case SENSORIOCSPOLLRATE: {
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unsigned ticks = 0;
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switch (arg) {
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case SENSOR_POLLRATE_MANUAL:
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stop_cycle();
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_report_ticks = 0;
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return OK;
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case SENSOR_POLLRATE_EXTERNAL:
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case 0:
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return -EINVAL;
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case SENSOR_POLLRATE_MAX:
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case SENSOR_POLLRATE_DEFAULT:
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ticks = _max_mesure_ticks;
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default: {
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if (ticks == 0) {
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ticks = USEC2TICK(USEC_PER_SEC / arg);
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}
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/* do we need to start internal polling? */
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bool want_start = (_report_ticks == 0);
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/* check against maximum rate */
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if (ticks < _max_mesure_ticks) {
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return -EINVAL;
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}
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_report_ticks = ticks;
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if (want_start) {
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start_cycle();
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}
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return OK;
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}
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}
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break;
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}
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case SENSORIOCGPOLLRATE:
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if (_report_ticks == 0) {
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return SENSOR_POLLRATE_MANUAL;
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}
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return (USEC_PER_SEC / USEC_PER_TICK / _report_ticks);
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case SENSORIOCSQUEUEDEPTH: {
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/* lower bound is mandatory, upper bound is a sanity check */
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if ((arg < 1) || (arg > 100)) {
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return -EINVAL;
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}
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irqstate_t flags = px4_enter_critical_section();
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if (!_reports->resize(arg)) {
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px4_leave_critical_section(flags);
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return -ENOMEM;
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}
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px4_leave_critical_section(flags);
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return OK;
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}
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case SENSORIOCGQUEUEDEPTH:
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return _reports->size();
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case SENSORIOCRESET:
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/*
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* Since we are initialized, we do not need to do anything, since the
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* PROM is correctly read and the part does not need to be configured.
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*/
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return OK;
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case BAROIOCSMSLPRESSURE:
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/* range-check for sanity */
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if ((arg < 80000) || (arg > 120000)) {
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return -EINVAL;
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}
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_msl_pressure = arg;
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return OK;
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case BAROIOCGMSLPRESSURE:
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return _msl_pressure;
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default:
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break;
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}
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return CDev::ioctl(filp, cmd, arg);
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}
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void
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BMP285::start_cycle()
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{
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/* reset the report ring and state machine */
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_collect_phase = false;
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_reports->flush();
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/* schedule a cycle to start things */
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work_queue(HPWORK, &_work, (worker_t)&BMP285::cycle_trampoline, this, 1);
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}
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void
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BMP285::stop_cycle()
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{
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work_cancel(HPWORK, &_work);
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}
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void
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BMP285::cycle_trampoline(void *arg)
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{
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BMP285 *dev = reinterpret_cast<BMP285 *>(arg);
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dev->cycle();
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}
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void
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BMP285::cycle()
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{
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if (_collect_phase) {
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collect();
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unsigned wait_gap = _report_ticks - _max_mesure_ticks;
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if (wait_gap != 0) {
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work_queue(HPWORK, &_work, (worker_t)&BMP285::cycle_trampoline, this,
|
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wait_gap); //need to wait some time before new measurement
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return;
|
||||
}
|
||||
|
||||
}
|
||||
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measure();
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work_queue(HPWORK, &_work, (worker_t)&BMP285::cycle_trampoline, this, _max_mesure_ticks);
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}
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int
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BMP285::measure()
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{
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_collect_phase = true;
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perf_begin(_measure_perf);
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/* start measure */
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int ret = write_reg(BPM285_ADDR_CTRL, _curr_ctrl | BPM285_CTRL_MODE_FORCE);
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if (ret != OK) {
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perf_count(_comms_errors);
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perf_cancel(_measure_perf);
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return -EIO;
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}
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perf_end(_measure_perf);
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return OK;
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}
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int
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BMP285::collect()
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{
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_collect_phase = false;
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perf_begin(_sample_perf);
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struct baro_report report;
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/* this should be fairly close to the end of the conversion, so the best approximation of the time */
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report.timestamp = hrt_absolute_time();
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report.error_count = perf_event_count(_comms_errors);
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bmp285::data_s *data = get_data(BPM285_ADDR_DATA);
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if (data == nullptr) {
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perf_count(_comms_errors);
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perf_cancel(_sample_perf);
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return -EIO;
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}
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//convert data to number 20 bit
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uint32_t p_raw = data->p_msb << 12 | data->p_lsb << 4 | data->p_xlsb >> 4;
|
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uint32_t t_raw = data->t_msb << 12 | data->t_lsb << 4 | data->t_xlsb >> 4;
|
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|
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// Temperature
|
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float ofs = (float) t_raw - _fcal.t1;
|
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float t_fine = (ofs * _fcal.t3 + _fcal.t2) * ofs;
|
||||
_T = t_fine * (1.0f / 5120.0f);
|
||||
|
||||
// Pressure
|
||||
float tf = t_fine - 128000.0f;
|
||||
float x1 = (tf * _fcal.p6 + _fcal.p5) * tf + _fcal.p4;
|
||||
float x2 = (tf * _fcal.p3 + _fcal.p2) * tf + _fcal.p1;
|
||||
|
||||
float pf = ((float) p_raw + x1) / x2;
|
||||
_P = (pf * _fcal.p9 + _fcal.p8) * pf + _fcal.p7;
|
||||
|
||||
|
||||
report.temperature = _T;
|
||||
report.pressure = _P / 100.0f; // to mbar
|
||||
|
||||
|
||||
/* altitude calculations based on http://www.kansasflyer.org/index.asp?nav=Avi&sec=Alti&tab=Theory&pg=1 */
|
||||
|
||||
/* tropospheric properties (0-11km) for standard atmosphere */
|
||||
const float T1 = 15.0f + 273.15f; /* temperature at base height in Kelvin */
|
||||
const float a = -6.5f / 1000.0f; /* temperature gradient in degrees per metre */
|
||||
const float g = 9.80665f; /* gravity constant in m/s/s */
|
||||
const float R = 287.05f; /* ideal gas constant in J/kg/K */
|
||||
float pK = _P / _msl_pressure;
|
||||
|
||||
/*
|
||||
* Solve:
|
||||
*
|
||||
* / -(aR / g) \
|
||||
* | (p / p1) . T1 | - T1
|
||||
* \ /
|
||||
* h = ------------------------------- + h1
|
||||
* a
|
||||
*/
|
||||
report.altitude = (((powf(pK, (-(a * R) / g))) * T1) - T1) / a;
|
||||
|
||||
|
||||
/* publish it */
|
||||
if (!(_pub_blocked)) {
|
||||
/* publish it */
|
||||
orb_publish(ORB_ID(sensor_baro), _baro_topic, &report);
|
||||
}
|
||||
|
||||
if (_reports->force(&report)) {
|
||||
perf_count(_buffer_overflows);
|
||||
}
|
||||
|
||||
/* notify anyone waiting for data */
|
||||
poll_notify(POLLIN);
|
||||
|
||||
perf_end(_sample_perf);
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
void
|
||||
BMP285::print_info()
|
||||
{
|
||||
perf_print_counter(_sample_perf);
|
||||
perf_print_counter(_comms_errors);
|
||||
perf_print_counter(_buffer_overflows);
|
||||
printf("poll interval: %u us \n", _report_ticks * USEC_PER_TICK);
|
||||
_reports->print_info("report queue");
|
||||
printf("P Pa: %.3f\n", (double)_P);
|
||||
printf("T: %.3f\n", (double)_T);
|
||||
printf("MSL pressure Pa: %u\n", _msl_pressure);
|
||||
|
||||
}
|
||||
|
||||
bool BMP285::is_external()
|
||||
{
|
||||
return _external;
|
||||
};
|
||||
|
||||
|
||||
uint8_t
|
||||
BMP285::read_reg(unsigned reg)
|
||||
{
|
||||
const uint8_t cmd = (uint8_t)(reg) ;
|
||||
uint8_t result;
|
||||
|
||||
transfer(&cmd, sizeof(cmd), &result, 1);
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
int
|
||||
BMP285::write_reg(unsigned reg, uint8_t value)
|
||||
{
|
||||
uint8_t cmd[2] = {(uint8_t)reg, value};
|
||||
|
||||
return transfer(cmd, sizeof(cmd), nullptr, 0);
|
||||
}
|
||||
|
||||
bmp285::data_s *BMP285::get_data(uint8_t reg)
|
||||
{
|
||||
const uint8_t cmd = (uint8_t)(reg);
|
||||
|
||||
if (transfer(&cmd, sizeof(cmd), (uint8_t *)&_data, sizeof(struct bmp285::data_s)) == OK) {
|
||||
return (&_data);
|
||||
|
||||
} else {
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
}
|
||||
bmp285::calibration_s *BMP285::get_calibration(uint8_t reg)
|
||||
{
|
||||
const uint8_t cmd = (uint8_t)(reg) ;
|
||||
|
||||
if (transfer(&cmd, sizeof(cmd), (uint8_t *)&_cal, sizeof(struct bmp285::calibration_s)) == OK) {
|
||||
return &(_cal);
|
||||
|
||||
} else {
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
|
@ -0,0 +1,278 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012-2016 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file bmp285.h
|
||||
*
|
||||
* Shared defines for the bmp285 driver.
|
||||
*/
|
||||
|
||||
#ifndef BMP285_HPP_
|
||||
#define BMP285_HPP_
|
||||
|
||||
#include <px4_config.h>
|
||||
|
||||
#include <sys/types.h>
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include <stdlib.h>
|
||||
#include <semaphore.h>
|
||||
#include <string.h>
|
||||
#include <fcntl.h>
|
||||
#include <poll.h>
|
||||
#include <errno.h>
|
||||
#include <stdio.h>
|
||||
#include <math.h>
|
||||
#include <unistd.h>
|
||||
#include <getopt.h>
|
||||
|
||||
#include <nuttx/arch.h>
|
||||
#include <nuttx/wqueue.h>
|
||||
#include <nuttx/clock.h>
|
||||
|
||||
#include <arch/board/board.h>
|
||||
#include <board_config.h>
|
||||
|
||||
|
||||
#include <drivers/device/device.h>
|
||||
#include <drivers/drv_baro.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <drivers/device/ringbuffer.h>
|
||||
#include <drivers/device/i2c.h>
|
||||
#include <systemlib/perf_counter.h>
|
||||
#include <systemlib/err.h>
|
||||
|
||||
|
||||
#pragma once
|
||||
|
||||
|
||||
#define BMP285_DEVICE_PATH_PRESSURE "/dev/bmp285_i2c_int"
|
||||
|
||||
#define BMP285_DEVICE_PATH_PRESSURE_EXT "/dev/bmp285_i2c_ext"
|
||||
|
||||
#define BMP285_SLAVE_ADDRESS PX4_I2C_OBDEV_BMP285
|
||||
|
||||
#define BMP285_BUS_SPEED 1000*100
|
||||
|
||||
#define BPM285_ADDR_CAL 0x88 /* address of 12x 2 bytes calibration data */
|
||||
#define BPM285_ADDR_DATA 0xF7 /* address of 2x 3 bytes p-t data */
|
||||
|
||||
#define BPM285_ADDR_CONFIG 0xF5 /* configuration */
|
||||
#define BPM285_ADDR_CTRL 0xF4 /* controll */
|
||||
#define BPM285_ADDR_STATUS 0xF3 /* state */
|
||||
#define BPM285_ADDR_RESET 0xE0 /* reset */
|
||||
#define BPM285_ADDR_ID 0xD0 /* id */
|
||||
|
||||
#define BPM285_VALUE_ID 0x58 /* chip id */
|
||||
#define BPM285_VALUE_RESET 0xB6 /* reset */
|
||||
|
||||
#define BPM285_STATUS_MEASURING 1<<3 /* if in process of measure */
|
||||
#define BPM285_STATUS_COPING 1<<0 /* if in process of data copy */
|
||||
|
||||
#define BPM285_CTRL_P0 0x0<<2 /* no p measure */
|
||||
#define BPM285_CTRL_P1 0x1<<2
|
||||
#define BPM285_CTRL_P2 0x2<<2
|
||||
#define BPM285_CTRL_P4 0x3<<2
|
||||
#define BPM285_CTRL_P8 0x4<<2
|
||||
#define BPM285_CTRL_P16 0x5<<2
|
||||
|
||||
#define BPM285_CTRL_T0 0x0<<5 /* no t measure */
|
||||
#define BPM285_CTRL_T1 0x1<<5
|
||||
#define BPM285_CTRL_T2 0x2<<5
|
||||
#define BPM285_CTRL_T4 0x3<<5
|
||||
#define BPM285_CTRL_T8 0x4<<5
|
||||
#define BPM285_CTRL_T16 0x5<<5
|
||||
|
||||
#define BPM285_CONFIG_F0 0x0<<2 /* no filter */
|
||||
#define BPM285_CONFIG_F2 0x1<<2
|
||||
#define BPM285_CONFIG_F4 0x2<<2
|
||||
#define BPM285_CONFIG_F8 0x3<<2
|
||||
#define BPM285_CONFIG_F16 0x4<<2
|
||||
|
||||
#define BMP285_CTRL_T_SB0 0x0<<5
|
||||
#define BMP285_CTRL_T_SB1 0x1<<5
|
||||
#define BMP285_CTRL_T_SB2 0x2<<5
|
||||
#define BMP285_CTRL_T_SB3 0x3<<5
|
||||
#define BMP285_CTRL_T_SB4 0x4<<5
|
||||
#define BMP285_CTRL_T_SB5 0x5<<5
|
||||
#define BMP285_CTRL_T_SB6 0x6<<5
|
||||
#define BMP285_CTRL_T_SB7 0x7<<5
|
||||
|
||||
|
||||
#define BPM285_CTRL_MODE_SLEEP 0x0
|
||||
#define BPM285_CTRL_MODE_FORCE 0x1 /* on demand, goes to sleep after */
|
||||
#define BPM285_CTRL_MODE_NORMAL 0x3
|
||||
|
||||
#define BPM285_MT_INIT 6400 /* max measure time of initial p + t in us */
|
||||
#define BPM285_MT 2300 /* max measure time of p or t in us */
|
||||
|
||||
|
||||
|
||||
namespace bmp285
|
||||
{
|
||||
|
||||
#pragma pack(push,1)
|
||||
struct calibration_s {
|
||||
uint16_t t1;
|
||||
int16_t t2;
|
||||
int16_t t3;
|
||||
|
||||
uint16_t p1;
|
||||
int16_t p2;
|
||||
int16_t p3;
|
||||
int16_t p4;
|
||||
int16_t p5;
|
||||
int16_t p6;
|
||||
int16_t p7;
|
||||
int16_t p8;
|
||||
int16_t p9;
|
||||
}; //calibration data
|
||||
|
||||
struct data_s {
|
||||
uint8_t p_msb;
|
||||
uint8_t p_lsb;
|
||||
uint8_t p_xlsb;
|
||||
|
||||
uint8_t t_msb;
|
||||
uint8_t t_lsb;
|
||||
uint8_t t_xlsb;
|
||||
}; // data
|
||||
|
||||
#pragma pack(pop)
|
||||
|
||||
struct fcalibration_s {
|
||||
float t1;
|
||||
float t2;
|
||||
float t3;
|
||||
|
||||
float p1;
|
||||
float p2;
|
||||
float p3;
|
||||
float p4;
|
||||
float p5;
|
||||
float p6;
|
||||
float p7;
|
||||
float p8;
|
||||
float p9;
|
||||
};
|
||||
|
||||
} /* namespace */
|
||||
|
||||
|
||||
/*
|
||||
* BMP285 internal constants and data structures.
|
||||
*/
|
||||
|
||||
|
||||
|
||||
class BMP285 : public device::I2C
|
||||
{
|
||||
public:
|
||||
BMP285(int bus, uint16_t address, const char *path, bool external);
|
||||
~BMP285();
|
||||
|
||||
bool is_external();
|
||||
virtual int init();
|
||||
|
||||
virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
|
||||
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
|
||||
|
||||
/**
|
||||
* Diagnostics - print some basic information about the driver.
|
||||
*/
|
||||
void print_info();
|
||||
bmp285::data_s *get_data(uint8_t reg);
|
||||
bmp285::calibration_s *get_calibration(uint8_t addr);
|
||||
|
||||
private:
|
||||
uint8_t _curr_ctrl;
|
||||
struct work_s _work;
|
||||
bool _external;
|
||||
|
||||
unsigned _report_ticks; // 0 - no cycling, otherwise period of sending a report
|
||||
unsigned _max_mesure_ticks; //ticks needed to measure
|
||||
|
||||
ringbuffer::RingBuffer *_reports;
|
||||
|
||||
bool _collect_phase;
|
||||
|
||||
/* altitude conversion calibration */
|
||||
unsigned _msl_pressure; /* in Pa */
|
||||
|
||||
orb_advert_t _baro_topic;
|
||||
int _orb_class_instance;
|
||||
int _class_instance;
|
||||
|
||||
perf_counter_t _sample_perf;
|
||||
perf_counter_t _measure_perf;
|
||||
perf_counter_t _comms_errors;
|
||||
perf_counter_t _buffer_overflows;
|
||||
|
||||
struct bmp285::calibration_s _cal;
|
||||
struct bmp285::data_s _data;
|
||||
|
||||
struct bmp285::fcalibration_s _fcal; //pre processed calibration constants
|
||||
|
||||
float _P; /* in Pa */
|
||||
float _T; /* in K */
|
||||
|
||||
|
||||
/* periodic execution helpers */
|
||||
void start_cycle();
|
||||
void stop_cycle();
|
||||
void cycle(); //main execution
|
||||
static void cycle_trampoline(void *arg);
|
||||
/**
|
||||
* Read a register from the BMP285
|
||||
*
|
||||
* @param The register to read.
|
||||
* @return The value that was read.
|
||||
*/
|
||||
uint8_t read_reg(unsigned reg);
|
||||
|
||||
/**
|
||||
* Write a register in the BMP285
|
||||
*
|
||||
* @param reg The register to write.
|
||||
* @param value The new value to write.
|
||||
* @return The value returned after transfer of data.
|
||||
*/
|
||||
int write_reg(unsigned reg, uint8_t value);
|
||||
|
||||
int measure(); //start measure
|
||||
int collect(); //get results and publish
|
||||
|
||||
};
|
||||
|
||||
#endif
|
||||
|
||||
|
|
@ -0,0 +1,370 @@
|
|||
|
||||
#include <drivers/bmp285/bmp285.hpp>
|
||||
|
||||
|
||||
/** driver 'main' command */
|
||||
extern "C" { __EXPORT int bmp285_main(int argc, char *argv[]); }
|
||||
|
||||
/**
|
||||
* Local functions in support of the shell command.
|
||||
*/
|
||||
namespace bmp285
|
||||
{
|
||||
|
||||
BMP285 *g_dev_int; // on internal bus
|
||||
BMP285 *g_dev_ext; // on external bus
|
||||
|
||||
|
||||
void start(bool);
|
||||
void test(bool);
|
||||
void reset(bool);
|
||||
void info(bool);
|
||||
void calibrate(bool, unsigned);
|
||||
void usage();
|
||||
|
||||
|
||||
|
||||
/**
|
||||
* Start the driver.
|
||||
*
|
||||
* This function only returns if the driver is up and running
|
||||
* or failed to detect the sensor.
|
||||
*/
|
||||
void
|
||||
start(bool external_bus)
|
||||
{
|
||||
int fd;
|
||||
BMP285 **g_dev_ptr = external_bus ? &g_dev_ext : &g_dev_int;
|
||||
const char *path = external_bus ? BMP285_DEVICE_PATH_PRESSURE_EXT : BMP285_DEVICE_PATH_PRESSURE;
|
||||
|
||||
if (*g_dev_ptr != nullptr)
|
||||
/* if already started, the still command succeeded */
|
||||
{
|
||||
errx(0, "already started");
|
||||
}
|
||||
|
||||
|
||||
/* create the driver */
|
||||
if (external_bus) {
|
||||
#if defined(PX4_I2C_BUS_EXPANSION) && defined(PX4_I2C_EXT_OBDEV_BMP285)
|
||||
*g_dev_ptr = new BMP285(PX4_I2C_BUS_EXPANSION, BMP285_SLAVE_ADDRESS, path, external_bus);
|
||||
#else
|
||||
errx(0, "External SPI not available");
|
||||
#endif
|
||||
|
||||
} else {
|
||||
*g_dev_ptr = new BMP285(PX4_I2C_BUS_BMP285, BMP285_SLAVE_ADDRESS, path, external_bus);
|
||||
}
|
||||
|
||||
if (*g_dev_ptr == nullptr) {
|
||||
goto fail;
|
||||
}
|
||||
|
||||
if (OK != (*g_dev_ptr)->init()) {
|
||||
goto fail;
|
||||
}
|
||||
|
||||
/* set the poll rate to default, starts automatic data collection */
|
||||
fd = open(path, O_RDONLY);
|
||||
|
||||
|
||||
if (fd < 0) {
|
||||
goto fail;
|
||||
}
|
||||
|
||||
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
|
||||
goto fail;
|
||||
}
|
||||
|
||||
close(fd);
|
||||
|
||||
exit(0);
|
||||
fail:
|
||||
|
||||
if (*g_dev_ptr != nullptr) {
|
||||
delete (*g_dev_ptr);
|
||||
*g_dev_ptr = nullptr;
|
||||
}
|
||||
|
||||
errx(1, "driver start failed");
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* Perform some basic functional tests on the driver;
|
||||
* make sure we can collect data from the sensor in polled
|
||||
* and automatic modes.
|
||||
*/
|
||||
void
|
||||
test(bool external_bus)
|
||||
{
|
||||
const char *path = external_bus ? BMP285_DEVICE_PATH_PRESSURE_EXT : BMP285_DEVICE_PATH_PRESSURE;
|
||||
struct baro_report report;
|
||||
ssize_t sz;
|
||||
int ret;
|
||||
|
||||
|
||||
/* get the driver */
|
||||
int fd = open(path, O_RDONLY);
|
||||
|
||||
if (fd < 0) {
|
||||
err(1, "open failed (try 'bmp285 start' if the driver is not running)");
|
||||
}
|
||||
|
||||
/* do a simple demand read */
|
||||
sz = read(fd, &report, sizeof(report));
|
||||
|
||||
if (sz != sizeof(report)) {
|
||||
err(1, "immediate read failed");
|
||||
}
|
||||
|
||||
warnx("single read");
|
||||
warnx("pressure: %10.4f", (double)report.pressure);
|
||||
warnx("altitude: %11.4f", (double)report.altitude);
|
||||
warnx("temperature: %8.4f", (double)report.temperature);
|
||||
warnx("time: %lld", report.timestamp);
|
||||
|
||||
/* set the queue depth to 10 */
|
||||
if (OK != ioctl(fd, SENSORIOCSQUEUEDEPTH, 10)) {
|
||||
errx(1, "failed to set queue depth");
|
||||
}
|
||||
|
||||
/* start the sensor polling at 2Hz */
|
||||
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
|
||||
errx(1, "failed to set 2Hz poll rate");
|
||||
}
|
||||
|
||||
/* read the sensor 5x and report each value */
|
||||
for (unsigned i = 0; i < 5; i++) {
|
||||
struct pollfd fds;
|
||||
|
||||
/* wait for data to be ready */
|
||||
fds.fd = fd;
|
||||
fds.events = POLLIN;
|
||||
ret = poll(&fds, 1, 2000);
|
||||
|
||||
if (ret != 1) {
|
||||
errx(1, "timed out waiting for sensor data");
|
||||
}
|
||||
|
||||
/* now go get it */
|
||||
sz = read(fd, &report, sizeof(report));
|
||||
|
||||
if (sz != sizeof(report)) {
|
||||
err(1, "periodic read failed");
|
||||
}
|
||||
|
||||
warnx("periodic read %u", i);
|
||||
warnx("pressure: %10.4f", (double)report.pressure);
|
||||
warnx("altitude: %11.4f", (double)report.altitude);
|
||||
warnx("temperature K: %8.4f", (double)report.temperature);
|
||||
warnx("time: %lld", report.timestamp);
|
||||
}
|
||||
|
||||
close(fd);
|
||||
errx(0, "PASS");
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
* Reset the driver.
|
||||
*/
|
||||
void
|
||||
reset(bool external_bus)
|
||||
{
|
||||
const char *path = external_bus ? BMP285_DEVICE_PATH_PRESSURE_EXT : BMP285_DEVICE_PATH_PRESSURE;
|
||||
int fd = open(path, O_RDONLY);
|
||||
|
||||
if (fd < 0) {
|
||||
err(1, "failed ");
|
||||
}
|
||||
|
||||
if (ioctl(fd, SENSORIOCRESET, 0) < 0) {
|
||||
err(1, "driver reset failed");
|
||||
}
|
||||
|
||||
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
|
||||
err(1, "driver poll restart failed");
|
||||
}
|
||||
|
||||
close(fd);
|
||||
exit(0);
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
* Print a little info about the driver.
|
||||
*/
|
||||
void
|
||||
info(bool external_bus)
|
||||
{
|
||||
BMP285 **g_dev_ptr = external_bus ? &g_dev_ext : &g_dev_int;
|
||||
|
||||
if (*g_dev_ptr == nullptr) {
|
||||
errx(1, "driver not running");
|
||||
}
|
||||
|
||||
printf("state @ %p\n", *g_dev_ptr);
|
||||
(*g_dev_ptr)->print_info();
|
||||
|
||||
exit(0);
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
* Calculate actual MSL pressure given current altitude
|
||||
*/
|
||||
void
|
||||
calibrate(bool external_bus, unsigned altitude)
|
||||
{
|
||||
const char *path = external_bus ? BMP285_DEVICE_PATH_PRESSURE_EXT : BMP285_DEVICE_PATH_PRESSURE;
|
||||
struct baro_report report;
|
||||
float pressure;
|
||||
float p1;
|
||||
|
||||
/* get the driver */
|
||||
int fd = open(path, O_RDONLY);
|
||||
|
||||
|
||||
if (fd < 0) {
|
||||
err(1, "open failed (try 'bmp285 start' if the driver is not running)");
|
||||
}
|
||||
|
||||
/* start the sensor polling at max */
|
||||
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MAX)) {
|
||||
errx(1, "failed to set poll rate");
|
||||
}
|
||||
|
||||
/* average a few measurements */
|
||||
pressure = 0.0f;
|
||||
|
||||
for (unsigned i = 0; i < 20; i++) {
|
||||
struct pollfd fds;
|
||||
int ret;
|
||||
ssize_t sz;
|
||||
|
||||
/* wait for data to be ready */
|
||||
fds.fd = fd;
|
||||
fds.events = POLLIN;
|
||||
ret = poll(&fds, 1, 1000);
|
||||
|
||||
if (ret != 1) {
|
||||
errx(1, "timed out waiting for sensor data");
|
||||
}
|
||||
|
||||
/* now go get it */
|
||||
sz = read(fd, &report, sizeof(report));
|
||||
|
||||
if (sz != sizeof(report)) {
|
||||
err(1, "sensor read failed");
|
||||
}
|
||||
|
||||
pressure += report.pressure;
|
||||
}
|
||||
|
||||
pressure /= 20; /* average */
|
||||
pressure /= 10; /* scale from millibar to kPa */
|
||||
|
||||
/* tropospheric properties (0-11km) for standard atmosphere */
|
||||
const float T1 = 15.0 + 273.15; /* temperature at base height in Kelvin */
|
||||
const float a = -6.5 / 1000; /* temperature gradient in degrees per metre */
|
||||
const float g = 9.80665f; /* gravity constant in m/s/s */
|
||||
const float R = 287.05f; /* ideal gas constant in J/kg/K */
|
||||
|
||||
warnx("averaged pressure %10.4fkPa at %um", (double)pressure, altitude);
|
||||
|
||||
float value = (powf(((T1 + (a * (float)altitude)) / T1), (g / (a * R))));
|
||||
warnx("power value is %10.4f", (double)value);
|
||||
p1 = pressure * (powf(((T1 + (a * (float)altitude)) / T1), (g / (a * R))));
|
||||
|
||||
warnx("calculated MSL pressure %10.4fkPa", (double)p1);
|
||||
|
||||
/* save as integer Pa */
|
||||
p1 *= 1000.0f;
|
||||
warnx("p1 is %10.4fkPa at %um", (double)p1);
|
||||
|
||||
if (ioctl(fd, BAROIOCSMSLPRESSURE, (unsigned long)p1) != OK) {
|
||||
err(1, "BAROIOCSMSLPRESSURE");
|
||||
}
|
||||
|
||||
close(fd);
|
||||
exit(0);
|
||||
}
|
||||
|
||||
|
||||
void
|
||||
usage()
|
||||
{
|
||||
warnx("missing command: try 'start', 'test', 'info',\n'reset', 'calibrate'");
|
||||
warnx("options:");
|
||||
warnx(" -X (external bus)");
|
||||
}
|
||||
|
||||
} // namespace
|
||||
|
||||
int
|
||||
bmp285_main(int argc, char *argv[])
|
||||
{
|
||||
bool external_bus = false;
|
||||
int ch;
|
||||
|
||||
/* jump over start/off/etc and look at options first */
|
||||
while ((ch = getopt(argc, argv, "X:")) != EOF) {
|
||||
switch (ch) {
|
||||
case 'X':
|
||||
external_bus = true;
|
||||
break;
|
||||
|
||||
default:
|
||||
bmp285::usage();
|
||||
exit(0);
|
||||
}
|
||||
}
|
||||
|
||||
const char *verb = argv[optind];
|
||||
|
||||
/*
|
||||
* Start/load the driver.
|
||||
*/
|
||||
if (!strcmp(verb, "start")) {
|
||||
bmp285::start(external_bus);
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* Test the driver/device.
|
||||
*/
|
||||
if (!strcmp(verb, "test")) {
|
||||
bmp285::test(external_bus);
|
||||
}
|
||||
|
||||
/*
|
||||
* Reset the driver.
|
||||
*/
|
||||
if (!strcmp(verb, "reset")) {
|
||||
bmp285::reset(external_bus);
|
||||
}
|
||||
|
||||
/*
|
||||
* Print driver information.
|
||||
*/
|
||||
if (!strcmp(verb, "info")) {
|
||||
bmp285::info(external_bus);
|
||||
}
|
||||
|
||||
/*
|
||||
* Perform MSL pressure calibration given an altitude in metres
|
||||
*/
|
||||
if (!strcmp(verb, "calibrate")) {
|
||||
if (argc < 2) {
|
||||
errx(1, "missing altitude");
|
||||
}
|
||||
|
||||
long altitude = strtol(argv[optind + 1], nullptr, 10);
|
||||
|
||||
bmp285::calibrate(external_bus, altitude);
|
||||
}
|
||||
|
||||
bmp285::usage();
|
||||
exit(1);
|
||||
}
|
||||
|
|
@ -156,6 +156,7 @@
|
|||
#define PX4_I2C_BUS_EXPANSION 1
|
||||
#define PX4_I2C_BUS_LED PX4_I2C_BUS_EXPANSION
|
||||
#define PX4_I2C_BUS_BMM150 PX4_I2C_BUS_EXPANSION
|
||||
#define PX4_I2C_BUS_BMP285 PX4_I2C_BUS_EXPANSION
|
||||
|
||||
/* Devices on the external bus.
|
||||
*
|
||||
|
|
@ -165,6 +166,7 @@
|
|||
#define PX4_I2C_OBDEV_HMC5883 0x1e
|
||||
#define PX4_I2C_OBDEV_LIS3MDL 0x1e
|
||||
#define PX4_I2C_OBDEV_BMM150 0x10
|
||||
#define PX4_I2C_OBDEV_BMP285 0x76
|
||||
|
||||
/*
|
||||
* ADC channels
|
||||
|
|
|
|||
|
|
@ -89,6 +89,7 @@
|
|||
#define DRV_ACC_DEVTYPE_BMI055 0x41
|
||||
#define DRV_GYR_DEVTYPE_BMI055 0x42
|
||||
#define DRV_MAG_DEVTYPE_BMM150 0x43
|
||||
#define DRV_BARO_DEVTYPE_BMP285 0x44
|
||||
|
||||
/*
|
||||
* ioctl() definitions
|
||||
|
|
|
|||
Loading…
Reference in New Issue