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Bosch bmp280 barometer cleanup

This commit is contained in:
Daniel Agar 2019-11-23 15:31:22 -05:00 committed by GitHub
parent cbea76f62a
commit 92559f7a85
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
11 changed files with 409 additions and 688 deletions
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3
boards/holybro/kakutef7/init/rc.board_sensors
View File

@ -12,11 +12,10 @@ then
fi
# Internal Baro
bmp280 start
bmp280 -I start
# Possible external compasses
ist8310 -C -b 1 start
ist8310 -C -b 2 start
hmc5883 -C -T -X start
qmc5883 -X start

2
boards/nxp/fmuk66-v3/init/rc.board_sensors
View File

@ -19,7 +19,7 @@ bmp280 -I start
mpl3115a2 -I start
# Internal SPI (accel + mag)
fxos8701cq start -R 0
fxos8701cq start
# Internal SPI (gyro)
fxas21002c start

203
src/drivers/barometer/bmp280/BMP280.cpp Normal file
View File

@ -0,0 +1,203 @@
/****************************************************************************
*
* Copyright (c) 2016-2019 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.
*
****************************************************************************/
#include "BMP280.hpp"
BMP280::BMP280(bmp280::IBMP280 *interface) :
ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(interface->get_device_id())),
_px4_baro(interface->get_device_id()),
_interface(interface),
_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": sample")),
_measure_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": measure")),
_comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": comms errors"))
{
}
BMP280::~BMP280()
{
// make sure we are truly inactive
Stop();
// free perf counters
perf_free(_sample_perf);
perf_free(_measure_perf);
perf_free(_comms_errors);
delete _interface;
}
int
BMP280::init()
{
// reset sensor
_interface->set_reg(BMP280_VALUE_RESET, BMP280_ADDR_RESET);
usleep(10000);
// check id
if (_interface->get_reg(BMP280_ADDR_ID) != BMP280_VALUE_ID) {
PX4_WARN("id of your baro is not: 0x%02x", BMP280_VALUE_ID);
return -EIO;
}
// set config, recommended settings
_interface->set_reg(_curr_ctrl, BMP280_ADDR_CTRL);
_interface->set_reg(BMP280_CONFIG_F16, BMP280_ADDR_CONFIG);
// get calibration and pre process them
_cal = _interface->get_calibration(BMP280_ADDR_CAL);
_fcal.t1 = _cal->t1 * powf(2, 4);
_fcal.t2 = _cal->t2 * powf(2, -14);
_fcal.t3 = _cal->t3 * powf(2, -34);
_fcal.p1 = _cal->p1 * (powf(2, 4) / -100000.0f);
_fcal.p2 = _cal->p1 * _cal->p2 * (powf(2, -31) / -100000.0f);
_fcal.p3 = _cal->p1 * _cal->p3 * (powf(2, -51) / -100000.0f);
_fcal.p4 = _cal->p4 * powf(2, 4) - powf(2, 20);
_fcal.p5 = _cal->p5 * powf(2, -14);
_fcal.p6 = _cal->p6 * powf(2, -31);
_fcal.p7 = _cal->p7 * powf(2, -4);
_fcal.p8 = _cal->p8 * powf(2, -19) + 1.0f;
_fcal.p9 = _cal->p9 * powf(2, -35);
Start();
return OK;
}
void
BMP280::Start()
{
// reset the report ring and state machine
_collect_phase = false;
// schedule a cycle to start things
ScheduleNow();
}
void
BMP280::Stop()
{
ScheduleClear();
}
void
BMP280::Run()
{
if (_collect_phase) {
collect();
} else {
measure();
}
ScheduleDelayed(_measure_interval);
}
int
BMP280::measure()
{
perf_begin(_measure_perf);
_collect_phase = true;
// start measure
int ret = _interface->set_reg(_curr_ctrl | BMP280_CTRL_MODE_FORCE, BMP280_ADDR_CTRL);
if (ret != OK) {
perf_count(_comms_errors);
perf_cancel(_measure_perf);
return -EIO;
}
perf_end(_measure_perf);
return OK;
}
int
BMP280::collect()
{
perf_begin(_sample_perf);
_collect_phase = false;
// this should be fairly close to the end of the conversion, so the best approximation of the time
const hrt_abstime timestamp_sample = hrt_absolute_time();
bmp280::data_s *data = _interface->get_data(BMP280_ADDR_DATA);
if (data == nullptr) {
perf_count(_comms_errors);
perf_cancel(_sample_perf);
return -EIO;
}
// convert data to number 20 bit
uint32_t p_raw = data->p_msb << 12 | data->p_lsb << 4 | data->p_xlsb >> 4;
uint32_t t_raw = data->t_msb << 12 | data->t_lsb << 4 | data->t_xlsb >> 4;
// Temperature
float ofs = (float) t_raw - _fcal.t1;
float t_fine = (ofs * _fcal.t3 + _fcal.t2) * ofs;
const float 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;
const float P = (pf * _fcal.p9 + _fcal.p8) * pf + _fcal.p7;
_px4_baro.set_error_count(perf_event_count(_comms_errors));
_px4_baro.set_temperature(T);
float pressure = P / 100.0f; // to mbar
_px4_baro.update(timestamp_sample, pressure);
perf_end(_sample_perf);
return OK;
}
void
BMP280::print_info()
{
perf_print_counter(_sample_perf);
perf_print_counter(_measure_perf);
perf_print_counter(_comms_errors);
_px4_baro.print_status();
}

62
src/drivers/barometer/bmp280/BMP280.hpp
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2012-2016 PX4 Development Team. All rights reserved.
* Copyright (c) 2016-2019 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
@ -35,61 +35,43 @@
#include "bmp280.h"
/*
* BMP280 internal constants and data structures.
*/
#include <drivers/drv_hrt.h>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <lib/drivers/barometer/PX4Barometer.hpp>
#include <lib/perf/perf_counter.h>
class BMP280 : public cdev::CDev, public px4::ScheduledWorkItem
class BMP280 : public px4::ScheduledWorkItem
{
public:
BMP280(bmp280::IBMP280 *interface, const char *path);
BMP280(bmp280::IBMP280 *interface);
virtual ~BMP280();
virtual int init();
virtual ssize_t read(cdev::file_t *filp, char *buffer, size_t buflen);
virtual int ioctl(cdev::file_t *filp, int cmd, unsigned long arg);
/**
* Diagnostics - print some basic information about the driver.
*/
int init();
void print_info();
private:
bmp280::IBMP280 *_interface;
void Run() override;
void Start();
void Stop();
bool _running;
int measure(); //start measure
int collect(); //get results and publish
uint8_t _curr_ctrl;
PX4Barometer _px4_baro;
unsigned _report_interval; // 0 - no cycling, otherwise period of sending a report
unsigned _max_measure_interval; // interval in microseconds needed to measure
bmp280::IBMP280 *_interface;
ringbuffer::RingBuffer *_reports;
// set config, recommended settings
static constexpr uint8_t _curr_ctrl{BMP280_CTRL_P16 | BMP280_CTRL_T2};
static constexpr uint32_t _measure_interval{BMP280_MT_INIT + BMP280_MT *(16 - 1 + 2 - 1)};
bool _collect_phase;
orb_advert_t _baro_topic;
int _orb_class_instance;
int _class_instance;
bool _collect_phase{false};
perf_counter_t _sample_perf;
perf_counter_t _measure_perf;
perf_counter_t _comms_errors;
struct bmp280::calibration_s *_cal; //stored calibration constants
struct bmp280::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 Run() override;
int measure(); //start measure
int collect(); //get results and publish
bmp280::calibration_s *_cal{nullptr}; //stored calibration constants
bmp280::fcalibration_s _fcal{}; //pre processed calibration constants
};

64
src/drivers/barometer/bmp280/bmp280_i2c.cpp → src/drivers/barometer/bmp280/BMP280_I2C.cpp
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2016 PX4 Development Team. All rights reserved.
* Copyright (c) 2016-2019 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
@ -37,55 +37,46 @@
* SPI interface for BMP280
*/
#include "bmp280.h"
#include <px4_platform_common/px4_config.h>
#include <drivers/device/i2c.h>
#if defined(PX4_I2C_OBDEV_BMP280) || defined(PX4_I2C_EXT_OBDEV_BMP280)
class BMP280_I2C: public device::I2C, public bmp280::IBMP280
{
public:
BMP280_I2C(uint8_t bus, uint32_t device, bool external);
virtual ~BMP280_I2C() = default;
BMP280_I2C(uint8_t bus, uint32_t device);
virtual ~BMP280_I2C() override = default;
bool is_external();
int init();
int init() override { return I2C::init(); }
uint8_t get_reg(uint8_t addr);
int set_reg(uint8_t value, uint8_t addr);
bmp280::data_s *get_data(uint8_t addr);
bmp280::calibration_s *get_calibration(uint8_t addr);
uint8_t get_reg(uint8_t addr) override;
int set_reg(uint8_t value, uint8_t addr) override;
bmp280::data_s *get_data(uint8_t addr) override;
bmp280::calibration_s *get_calibration(uint8_t addr) override;
uint32_t get_device_id() const override { return device::I2C::get_device_id(); }
private:
struct bmp280::calibration_s _cal;
struct bmp280::data_s _data;
bool _external;
bmp280::calibration_s _cal{};
bmp280::data_s _data{};
};
bmp280::IBMP280 *bmp280_i2c_interface(uint8_t busnum, uint32_t device, bool external)
bmp280::IBMP280 *bmp280_i2c_interface(uint8_t busnum, uint32_t device)
{
return new BMP280_I2C(busnum, device, external);
return new BMP280_I2C(busnum, device);
}
BMP280_I2C::BMP280_I2C(uint8_t bus, uint32_t device, bool external) :
BMP280_I2C::BMP280_I2C(uint8_t bus, uint32_t device) :
I2C("BMP280_I2C", nullptr, bus, device, 100 * 1000)
{
_external = external;
}
bool BMP280_I2C::is_external()
{
return _external;
}
int BMP280_I2C::init()
{
return I2C::init();
}
uint8_t BMP280_I2C::get_reg(uint8_t addr)
uint8_t
BMP280_I2C::get_reg(uint8_t addr)
{
uint8_t cmd[2] = { (uint8_t)(addr), 0};
transfer(&cmd[0], 1, &cmd[1], 1);
@ -93,17 +84,19 @@ uint8_t BMP280_I2C::get_reg(uint8_t addr)
return cmd[1];
}
int BMP280_I2C::set_reg(uint8_t value, uint8_t addr)
int
BMP280_I2C::set_reg(uint8_t value, uint8_t addr)
{
uint8_t cmd[2] = { (uint8_t)(addr), value};
return transfer(cmd, sizeof(cmd), nullptr, 0);
}
bmp280::data_s *BMP280_I2C::get_data(uint8_t addr)
bmp280::data_s *
BMP280_I2C::get_data(uint8_t addr)
{
const uint8_t cmd = (uint8_t)(addr);
const uint8_t cmd = addr;
if (transfer(&cmd, sizeof(cmd), (uint8_t *)&_data, sizeof(struct bmp280::data_s)) == OK) {
if (transfer(&cmd, sizeof(cmd), (uint8_t *)&_data, sizeof(bmp280::data_s)) == OK) {
return (&_data);
} else {
@ -111,11 +104,12 @@ bmp280::data_s *BMP280_I2C::get_data(uint8_t addr)
}
}
bmp280::calibration_s *BMP280_I2C::get_calibration(uint8_t addr)
bmp280::calibration_s *
BMP280_I2C::get_calibration(uint8_t addr)
{
const uint8_t cmd = (uint8_t)(addr) ;
const uint8_t cmd = addr;
if (transfer(&cmd, sizeof(cmd), (uint8_t *)&_cal, sizeof(struct bmp280::calibration_s)) == OK) {
if (transfer(&cmd, sizeof(cmd), (uint8_t *)&_cal, sizeof(bmp280::calibration_s)) == OK) {
return &(_cal);
} else {

69
src/drivers/barometer/bmp280/bmp280_spi.cpp → src/drivers/barometer/bmp280/BMP280_SPI.cpp
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2016 PX4 Development Team. All rights reserved.
* Copyright (c) 2016-2019 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
@ -39,13 +39,15 @@
#include "bmp280.h"
#include <px4_platform_common/px4_config.h>
#include <drivers/device/spi.h>
#if defined(PX4_SPIDEV_BARO) || defined(PX4_SPIDEV_EXT_BARO)
/* SPI protocol address bits */
#define DIR_READ (1<<7) //for set
#define DIR_WRITE ~(1<<7) //for clear
#if defined(PX4_SPIDEV_BARO) || defined(PX4_SPIDEV_EXT_BARO)
#pragma pack(push,1)
struct spi_data_s {
uint8_t addr;
@ -61,65 +63,57 @@ struct spi_calibration_s {
class BMP280_SPI: public device::SPI, public bmp280::IBMP280
{
public:
BMP280_SPI(uint8_t bus, uint32_t device, bool is_external_device);
virtual ~BMP280_SPI() = default;
BMP280_SPI(uint8_t bus, uint32_t device);
virtual ~BMP280_SPI() override = default;
bool is_external();
int init();
int init() override { return SPI::init(); }
uint8_t get_reg(uint8_t addr);
int set_reg(uint8_t value, uint8_t addr);
bmp280::data_s *get_data(uint8_t addr);
bmp280::calibration_s *get_calibration(uint8_t addr);
uint8_t get_reg(uint8_t addr) override;
int set_reg(uint8_t value, uint8_t addr) override;
bmp280::data_s *get_data(uint8_t addr) override;
bmp280::calibration_s *get_calibration(uint8_t addr) override;
uint32_t get_device_id() const override { return device::SPI::get_device_id(); }
private:
spi_calibration_s _cal;
spi_data_s _data;
bool _external;
spi_calibration_s _cal{};
spi_data_s _data{};
};
bmp280::IBMP280 *bmp280_spi_interface(uint8_t busnum, uint32_t device, bool external)
bmp280::IBMP280 *
bmp280_spi_interface(uint8_t busnum, uint32_t device)
{
return new BMP280_SPI(busnum, device, external);
return new BMP280_SPI(busnum, device);
}
BMP280_SPI::BMP280_SPI(uint8_t bus, uint32_t device, bool is_external_device) :
BMP280_SPI::BMP280_SPI(uint8_t bus, uint32_t device) :
SPI("BMP280_SPI", nullptr, bus, device, SPIDEV_MODE3, 10 * 1000 * 1000)
{
_external = is_external_device;
}
bool BMP280_SPI::is_external()
uint8_t
BMP280_SPI::get_reg(uint8_t addr)
{
return _external;
};
int BMP280_SPI::init()
{
return SPI::init();
};
uint8_t BMP280_SPI::get_reg(uint8_t addr)
{
uint8_t cmd[2] = { (uint8_t)(addr | DIR_READ), 0}; //set MSB bit
uint8_t cmd[2] = { (uint8_t)(addr | DIR_READ), 0}; // set MSB bit
transfer(&cmd[0], &cmd[0], 2);
return cmd[1];
}
int BMP280_SPI::set_reg(uint8_t value, uint8_t addr)
int
BMP280_SPI::set_reg(uint8_t value, uint8_t addr)
{
uint8_t cmd[2] = { (uint8_t)(addr & DIR_WRITE), value}; //clear MSB bit
uint8_t cmd[2] = { (uint8_t)(addr & DIR_WRITE), value}; // clear MSB bit
return transfer(&cmd[0], nullptr, 2);
}
bmp280::data_s *BMP280_SPI::get_data(uint8_t addr)
bmp280::data_s *
BMP280_SPI::get_data(uint8_t addr)
{
_data.addr = (uint8_t)(addr | DIR_READ); //set MSB bit
_data.addr = (uint8_t)(addr | DIR_READ); // set MSB bit
if (transfer((uint8_t *)&_data, (uint8_t *)&_data, sizeof(struct spi_data_s)) == OK) {
if (transfer((uint8_t *)&_data, (uint8_t *)&_data, sizeof(spi_data_s)) == OK) {
return &(_data.data);
} else {
@ -127,11 +121,12 @@ bmp280::data_s *BMP280_SPI::get_data(uint8_t addr)
}
}
bmp280::calibration_s *BMP280_SPI::get_calibration(uint8_t addr)
bmp280::calibration_s *
BMP280_SPI::get_calibration(uint8_t addr)
{
_cal.addr = addr | DIR_READ;
if (transfer((uint8_t *)&_cal, (uint8_t *)&_cal, sizeof(struct spi_calibration_s)) == OK) {
if (transfer((uint8_t *)&_cal, (uint8_t *)&_cal, sizeof(spi_calibration_s)) == OK) {
return &(_cal.cal);
} else {

14
src/drivers/barometer/bmp280/CMakeLists.txt
View File

@ -1,6 +1,6 @@
############################################################################
#
# Copyright (c) 2016 PX4 Development Team. All rights reserved.
# Copyright (c) 2016-2019 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
@ -32,16 +32,16 @@
############################################################################
px4_add_module(
MODULE drivers__bmp280
MODULE drivers__barometer__bmp280
MAIN bmp280
COMPILE_FLAGS
-Wno-cast-align # TODO: fix and enable
SRCS
BMP280.cpp
BMP280.hpp
bmp280_spi.cpp
bmp280_i2c.cpp
bmp280.cpp
BMP280_I2C.cpp
BMP280_SPI.cpp
bmp280_main.cpp
DEPENDS
drivers_barometer
px4_work_queue
)

403
src/drivers/barometer/bmp280/bmp280.cpp
View File

@ -1,403 +0,0 @@
/****************************************************************************
*
* 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.
*
****************************************************************************/
#include "BMP280.hpp"
BMP280::BMP280(bmp280::IBMP280 *interface, const char *path) :
CDev(path),
ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(interface->get_device_id())),
_interface(interface),
_running(false),
_report_interval(0),
_reports(nullptr),
_collect_phase(false),
_baro_topic(nullptr),
_orb_class_instance(-1),
_class_instance(-1),
_sample_perf(perf_alloc(PC_ELAPSED, "bmp280_read")),
_measure_perf(perf_alloc(PC_ELAPSED, "bmp280_measure")),
_comms_errors(perf_alloc(PC_COUNT, "bmp280_comms_errors"))
{
}
BMP280::~BMP280()
{
/* make sure we are truly inactive */
stop_cycle();
if (_class_instance != -1) {
unregister_class_devname(BARO_BASE_DEVICE_PATH, _class_instance);
}
/* free any existing reports */
if (_reports != nullptr) {
delete _reports;
}
if (_baro_topic != nullptr) {
orb_unadvertise(_baro_topic);
}
// free perf counters
perf_free(_sample_perf);
perf_free(_measure_perf);
perf_free(_comms_errors);
delete _interface;
}
int
BMP280::init()
{
int ret = CDev::init();
if (ret != OK) {
PX4_ERR("CDev init failed");
return ret;
}
/* allocate basic report buffers */
_reports = new ringbuffer::RingBuffer(2, sizeof(sensor_baro_s));
if (_reports == nullptr) {
PX4_ERR("can't get memory for reports");
ret = -ENOMEM;
return ret;
}
/* register alternate interfaces if we have to */
_class_instance = register_class_devname(BARO_BASE_DEVICE_PATH);
/* reset sensor */
_interface->set_reg(BMP280_VALUE_RESET, BMP280_ADDR_RESET);
usleep(10000);
/* check id*/
if (_interface->get_reg(BMP280_ADDR_ID) != BMP280_VALUE_ID) {
PX4_WARN("id of your baro is not: 0x%02x", BMP280_VALUE_ID);
return -EIO;
}
/* set config, recommended settings */
_curr_ctrl = BMP280_CTRL_P16 | BMP280_CTRL_T2;
_interface->set_reg(_curr_ctrl, BMP280_ADDR_CTRL);
_max_measure_interval = (BMP280_MT_INIT + BMP280_MT * (16 - 1 + 2 - 1));
_interface->set_reg(BMP280_CONFIG_F16, BMP280_ADDR_CONFIG);
/* get calibration and pre process them*/
_cal = _interface->get_calibration(BMP280_ADDR_CAL);
_fcal.t1 = _cal->t1 * powf(2, 4);
_fcal.t2 = _cal->t2 * powf(2, -14);
_fcal.t3 = _cal->t3 * powf(2, -34);
_fcal.p1 = _cal->p1 * (powf(2, 4) / -100000.0f);
_fcal.p2 = _cal->p1 * _cal->p2 * (powf(2, -31) / -100000.0f);
_fcal.p3 = _cal->p1 * _cal->p3 * (powf(2, -51) / -100000.0f);
_fcal.p4 = _cal->p4 * powf(2, 4) - powf(2, 20);
_fcal.p5 = _cal->p5 * powf(2, -14);
_fcal.p6 = _cal->p6 * powf(2, -31);
_fcal.p7 = _cal->p7 * powf(2, -4);
_fcal.p8 = _cal->p8 * powf(2, -19) + 1.0f;
_fcal.p9 = _cal->p9 * powf(2, -35);
/* do a first measurement cycle to populate reports with valid data */
sensor_baro_s brp;
_reports->flush();
if (measure()) {
return -EIO;
}
usleep(_max_measure_interval);
if (collect()) {
return -EIO;
}
_reports->get(&brp);
_baro_topic = orb_advertise_multi(ORB_ID(sensor_baro), &brp,
&_orb_class_instance, _interface->is_external() ? ORB_PRIO_HIGH : ORB_PRIO_DEFAULT);
if (_baro_topic == nullptr) {
PX4_WARN("failed to create sensor_baro publication");
return -ENOMEM;
}
return OK;
}
ssize_t
BMP280::read(cdev::file_t *filp, char *buffer, size_t buflen)
{
unsigned count = buflen / sizeof(sensor_baro_s);
sensor_baro_s *brp = reinterpret_cast<sensor_baro_s *>(buffer);
int ret = 0;
/* buffer must be large enough */
if (count < 1) {
return -ENOSPC;
}
/* if automatic measurement is enabled */
if (_report_interval > 0) {
/*
* While there is space in the caller's buffer, and reports, copy them.
* Note that we may be pre-empted by the workq thread while we are doing this;
* we are careful to avoid racing with them.
*/
while (count--) {
if (_reports->get(brp)) {
ret += sizeof(*brp);
brp++;
}
}
/* if there was no data, warn the caller */
return ret ? ret : -EAGAIN;
}
/* manual measurement - run one conversion */
_reports->flush();
if (measure()) {
return -EIO;
}
usleep(_max_measure_interval);
if (collect()) {
return -EIO;
}
if (_reports->get(brp)) { //get new generated report
ret = sizeof(*brp);
}
return ret;
}
int
BMP280::ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
{
switch (cmd) {
case SENSORIOCSPOLLRATE: {
unsigned interval = 0;
switch (arg) {
case 0:
return -EINVAL;
case SENSOR_POLLRATE_DEFAULT:
interval = _max_measure_interval;
/* FALLTHROUGH */
default: {
if (interval == 0) {
interval = (1000000 / arg);
}
/* do we need to start internal polling? */
bool want_start = (_report_interval == 0);
/* check against maximum rate */
if (interval < _max_measure_interval) {
return -EINVAL;
}
_report_interval = interval;
if (want_start) {
start_cycle();
}
return OK;
}
}
break;
}
case SENSORIOCRESET:
/*
* Since we are initialized, we do not need to do anything, since the
* PROM is correctly read and the part does not need to be configured.
*/
return OK;
default:
break;
}
return CDev::ioctl(filp, cmd, arg);
}
void
BMP280::start_cycle()
{
/* reset the report ring and state machine */
_collect_phase = false;
_running = true;
_reports->flush();
/* schedule a cycle to start things */
ScheduleNow();
}
void
BMP280::stop_cycle()
{
_running = false;
ScheduleClear();
}
void
BMP280::Run()
{
if (_collect_phase) {
collect();
unsigned wait_gap = _report_interval - _max_measure_interval;
if ((wait_gap != 0) && (_running)) {
//need to wait some time before new measurement
ScheduleDelayed(wait_gap);
return;
}
}
measure();
if (_running) {
ScheduleDelayed(_max_measure_interval);
}
}
int
BMP280::measure()
{
_collect_phase = true;
perf_begin(_measure_perf);
/* start measure */
int ret = _interface->set_reg(_curr_ctrl | BMP280_CTRL_MODE_FORCE, BMP280_ADDR_CTRL);
if (ret != OK) {
perf_count(_comms_errors);
perf_cancel(_measure_perf);
return -EIO;
}
perf_end(_measure_perf);
return OK;
}
int
BMP280::collect()
{
_collect_phase = false;
perf_begin(_sample_perf);
sensor_baro_s report;
/* this should be fairly close to the end of the conversion, so the best approximation of the time */
report.timestamp = hrt_absolute_time();
report.error_count = perf_event_count(_comms_errors);
report.device_id = _interface->get_device_id();
bmp280::data_s *data = _interface->get_data(BMP280_ADDR_DATA);
if (data == nullptr) {
perf_count(_comms_errors);
perf_cancel(_sample_perf);
return -EIO;
}
//convert data to number 20 bit
uint32_t p_raw = data->p_msb << 12 | data->p_lsb << 4 | data->p_xlsb >> 4;
uint32_t t_raw = data->t_msb << 12 | data->t_lsb << 4 | data->t_xlsb >> 4;
// Temperature
float ofs = (float) t_raw - _fcal.t1;
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
/* publish it */
orb_publish(ORB_ID(sensor_baro), _baro_topic, &report);
_reports->force(&report);
/* notify anyone waiting for data */
poll_notify(POLLIN);
perf_end(_sample_perf);
return OK;
}
void
BMP280::print_info()
{
perf_print_counter(_sample_perf);
perf_print_counter(_comms_errors);
printf("poll interval: %u us \n", _report_interval);
_reports->print_info("report queue");
sensor_baro_s brp = {};
_reports->get(&brp);
print_message(brp);
}

26
src/drivers/barometer/bmp280/bmp280.h
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012-2016 PX4 Development Team. All rights reserved.
* Copyright (C) 2016-2019 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
@ -38,23 +38,6 @@
*/
#pragma once
#include <math.h>
#include <string.h>
#include <drivers/drv_baro.h>
#include <drivers/drv_hrt.h>
#include <drivers/device/i2c.h>
#include <drivers/device/ringbuffer.h>
#include <drivers/device/spi.h>
#include <lib/cdev/CDev.hpp>
#include <perf/perf_counter.h>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include "board_config.h"
#define BMP280_ADDR_CAL 0x88 /* address of 12x 2 bytes calibration data */
#define BMP280_ADDR_DATA 0xF7 /* address of 2x 3 bytes p-t data */
@ -150,7 +133,6 @@ class IBMP280
public:
virtual ~IBMP280() = default;
virtual bool is_external() = 0;
virtual int init() = 0;
// read reg value
@ -173,6 +155,6 @@ public:
/* interface factories */
extern bmp280::IBMP280 *bmp280_spi_interface(uint8_t busnum, uint32_t device, bool external);
extern bmp280::IBMP280 *bmp280_i2c_interface(uint8_t busnum, uint32_t device, bool external);
typedef bmp280::IBMP280 *(*BMP280_constructor)(uint8_t, uint32_t, bool);
extern bmp280::IBMP280 *bmp280_spi_interface(uint8_t busnum, uint32_t device);
extern bmp280::IBMP280 *bmp280_i2c_interface(uint8_t busnum, uint32_t device);
typedef bmp280::IBMP280 *(*BMP280_constructor)(uint8_t, uint32_t);

236
src/drivers/barometer/bmp280/bmp280_main.cpp
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2012-2016 PX4 Development Team. All rights reserved.
* Copyright (c) 2016-2019 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
@ -31,204 +31,178 @@
*
****************************************************************************/
/**
* @file bmp280.cpp
* Driver for the BMP280 barometric pressure sensor connected via I2C TODO or SPI.
*/
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/getopt.h>
#include "BMP280.hpp"
enum BMP280_BUS {
BMP280_BUS_ALL = 0,
BMP280_BUS_I2C_INTERNAL,
BMP280_BUS_I2C_EXTERNAL,
BMP280_BUS_SPI_INTERNAL,
BMP280_BUS_SPI_EXTERNAL
enum class BMP280_BUS {
ALL = 0,
I2C_INTERNAL,
I2C_EXTERNAL,
SPI_INTERNAL,
SPI_EXTERNAL
};
/*
* Driver 'main' command.
*/
extern "C" __EXPORT int bmp280_main(int argc, char *argv[]);
/**
* Local functions in support of the shell command.
*/
namespace bmp280
{
/*
list of supported bus configurations
*/
// list of supported bus configurations
struct bmp280_bus_option {
enum BMP280_BUS busid;
const char *devpath;
BMP280_BUS busid;
BMP280_constructor interface_constructor;
uint8_t busnum;
uint32_t device;
bool external;
BMP280 *dev;
uint32_t address;
BMP280 *dev;
} bus_options[] = {
#if defined(PX4_SPIDEV_EXT_BARO) && defined(PX4_SPI_BUS_EXT)
{ BMP280_BUS_SPI_EXTERNAL, "/dev/bmp280_spi_ext", &bmp280_spi_interface, PX4_SPI_BUS_EXT, PX4_SPIDEV_EXT_BARO, true, NULL },
#if defined(PX4_SPI_BUS_EXT) && defined(PX4_SPIDEV_EXT_BARO)
{ BMP280_BUS::SPI_EXTERNAL, &bmp280_spi_interface, PX4_SPI_BUS_EXT, PX4_SPIDEV_EXT_BARO, nullptr },
#endif
#if defined(PX4_SPIDEV_BARO)
# if defined(PX4_SPIDEV_BARO_BUS)
{ BMP280_BUS_SPI_INTERNAL, "/dev/bmp280_spi_int", &bmp280_spi_interface, PX4_SPIDEV_BARO_BUS, PX4_SPIDEV_BARO, false, NULL },
# else
{ BMP280_BUS_SPI_INTERNAL, "/dev/bmp280_spi_int", &bmp280_spi_interface, PX4_SPI_BUS_SENSORS, PX4_SPIDEV_BARO, false, NULL },
# endif
#if defined(PX4_SPIDEV_BARO_BUS) && defined(PX4_SPIDEV_BARO)
{ BMP280_BUS::SPI_INTERNAL, &bmp280_spi_interface, PX4_SPIDEV_BARO_BUS, PX4_SPIDEV_BARO, nullptr },
#elif defined(PX4_SPI_BUS_SENSORS) && defined(PX4_SPIDEV_BARO)
{ BMP280_BUS::SPI_INTERNAL, &bmp280_spi_interface, PX4_SPI_BUS_SENSORS, PX4_SPIDEV_BARO, nullptr },
#endif
#if defined(PX4_I2C_BUS_ONBOARD) && defined(PX4_I2C_OBDEV_BMP280)
{ BMP280_BUS_I2C_INTERNAL, "/dev/bmp280_i2c_int", &bmp280_i2c_interface, PX4_I2C_BUS_ONBOARD, PX4_I2C_OBDEV_BMP280, false, NULL },
{ BMP280_BUS::I2C_INTERNAL, &bmp280_i2c_interface, PX4_I2C_BUS_ONBOARD, PX4_I2C_OBDEV_BMP280, nullptr },
#endif
#if defined(PX4_I2C_BUS_EXPANSION) && defined(PX4_I2C_OBDEV_BMP280)
{ BMP280_BUS_I2C_EXTERNAL, "/dev/bmp280_i2c_ext", &bmp280_i2c_interface, PX4_I2C_BUS_EXPANSION, PX4_I2C_OBDEV_BMP280, true, NULL },
{ BMP280_BUS::I2C_EXTERNAL, &bmp280_i2c_interface, PX4_I2C_BUS_EXPANSION, PX4_I2C_OBDEV_BMP280, nullptr },
#endif
};
#define NUM_BUS_OPTIONS (sizeof(bus_options)/sizeof(bus_options[0]))
/**
* Start the driver.
*/
static bool
start_bus(struct bmp280_bus_option &bus)
// find a bus structure for a busid
static struct bmp280_bus_option *find_bus(BMP280_BUS busid)
{
if (bus.dev != nullptr) {
PX4_ERR("bus option already started");
return false;
for (bmp280_bus_option &bus_option : bus_options) {
if ((busid == BMP280_BUS::ALL ||
busid == bus_option.busid) && bus_option.dev != nullptr) {
return &bus_option;
}
}
bmp280::IBMP280 *interface = bus.interface_constructor(bus.busnum, bus.device, bus.external);
return nullptr;
}
if (interface->init() != OK) {
delete interface;
static bool start_bus(bmp280_bus_option &bus)
{
bmp280::IBMP280 *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 BMP280(interface, bus.devpath);
BMP280 *dev = new BMP280(interface);
if (bus.dev == nullptr) {
if (dev == nullptr) {
PX4_ERR("driver allocate failed");
delete interface;
return false;
}
if (OK != bus.dev->init()) {
delete bus.dev;
bus.dev = nullptr;
if (dev->init() != PX4_OK) {
PX4_ERR("driver start failed");
delete dev; // BMP280 deletes the interface
return false;
}
int fd = px4_open(bus.devpath, O_RDONLY);
bus.dev = dev;
/* set the poll rate to default, starts automatic data collection */
if (fd == -1) {
PX4_ERR("can't open baro device");
return false;
}
if (px4_ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
px4_close(fd);
PX4_ERR("failed setting default poll rate");
return false;
}
px4_close(fd);
return true;
}
/**
* Start the driver.
*
* This function call only returns once the driver
* is either successfully up and running or failed to start.
*/
static int
start(enum BMP280_BUS busid)
static int start(BMP280_BUS busid)
{
uint8_t i;
bool started = false;
for (i = 0; i < NUM_BUS_OPTIONS; i++) {
if (busid == BMP280_BUS_ALL && bus_options[i].dev != NULL) {
for (bmp280_bus_option &bus_option : bus_options) {
if (bus_option.dev != nullptr) {
// this device is already started
PX4_WARN("already started");
continue;
}
if (busid != BMP280_BUS_ALL && bus_options[i].busid != busid) {
if (busid != BMP280_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");
return PX4_ERROR;
}
// one or more drivers started OK
return PX4_OK;
}
/**
* Print a little info about the driver.
*/
static int
info()
{
for (uint8_t i = 0; i < NUM_BUS_OPTIONS; i++) {
struct bmp280_bus_option *bus = &bus_options[i];
if (bus != nullptr && bus->dev != nullptr) {
PX4_WARN("%s", bus->devpath);
bus->dev->print_info();
if (start_bus(bus_option)) {
return PX4_OK;
}
}
return 0;
return PX4_ERROR;
}
static int
usage()
static int stop(BMP280_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)");
bmp280_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(BMP280_BUS busid)
{
bmp280_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(" -s (spi internal bus)");
PX4_INFO(" -S (spi external bus)");
return 0;
}
} // namespace
int
bmp280_main(int argc, char *argv[])
extern "C" int bmp280_main(int argc, char *argv[])
{
int myoptind = 1;
int ch;
const char *myoptarg = nullptr;
enum BMP280_BUS busid = BMP280_BUS_ALL;
while ((ch = px4_getopt(argc, argv, "XISs", &myoptind, &myoptarg)) != EOF) {
BMP280_BUS busid = BMP280_BUS::ALL;
while ((ch = px4_getopt(argc, argv, "XISs:", &myoptind, &myoptarg)) != EOF) {
switch (ch) {
case 'X':
busid = BMP280_BUS_I2C_EXTERNAL;
busid = BMP280_BUS::I2C_EXTERNAL;
break;
case 'I':
busid = BMP280_BUS_I2C_INTERNAL;
busid = BMP280_BUS::I2C_INTERNAL;
break;
case 'S':
busid = BMP280_BUS_SPI_EXTERNAL;
busid = BMP280_BUS::SPI_EXTERNAL;
break;
case 's':
busid = BMP280_BUS_SPI_INTERNAL;
busid = BMP280_BUS::SPI_INTERNAL;
break;
default:
@ -242,18 +216,14 @@ bmp280_main(int argc, char *argv[])
const char *verb = argv[myoptind];
/*
* Start/load the driver.
*/
if (!strcmp(verb, "start")) {
return bmp280::start(busid);
}
/*
* Print driver information.
*/
if (!strcmp(verb, "info")) {
return bmp280::info();
} else if (!strcmp(verb, "stop")) {
return bmp280::stop(busid);
} else if (!strcmp(verb, "status")) {
return bmp280::status(busid);
}
return bmp280::usage();

15
src/drivers/magnetometer/bmm150/bmm150.cpp
View File

@ -275,12 +275,12 @@ BMM150::BMM150(int bus, const char *path, enum Rotation rotation) :
dig_xy1(0),
dig_xy2(0),
dig_xyz1(0),
_sample_perf(perf_alloc(PC_ELAPSED, "bmm150_read")),
_bad_transfers(perf_alloc(PC_COUNT, "bmm150_bad_transfers")),
_good_transfers(perf_alloc(PC_COUNT, "bmm150_good_transfers")),
_measure_perf(perf_alloc(PC_ELAPSED, "bmp280_measure")),
_comms_errors(perf_alloc(PC_COUNT, "bmp280_comms_errors")),
_duplicates(perf_alloc(PC_COUNT, "bmm150_duplicates")),
_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
_bad_transfers(perf_alloc(PC_COUNT, MODULE_NAME": bad transfers")),
_good_transfers(perf_alloc(PC_COUNT, MODULE_NAME": good transfers")),
_measure_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": measure")),
_comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": comms errors")),
_duplicates(perf_alloc(PC_COUNT, MODULE_NAME": duplicates")),
_rotation(rotation),
_got_duplicate(false)
{
@ -295,7 +295,7 @@ BMM150::BMM150(int bus, const char *path, enum Rotation rotation) :
_scale.z_scale = 1.0f;
}
BMM150 :: ~BMM150()
BMM150::~BMM150()
{
/* make sure we are truly inactive */
stop();
@ -322,7 +322,6 @@ BMM150 :: ~BMM150()
perf_free(_measure_perf);
perf_free(_comms_errors);
perf_free(_duplicates);
}
int BMM150::init()