forked from Archive/PX4-Autopilot
Bosch bmp280 barometer cleanup
This commit is contained in:
parent
cbea76f62a
commit
92559f7a85
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@ -12,11 +12,10 @@ then
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fi
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# Internal Baro
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bmp280 start
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bmp280 -I start
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# Possible external compasses
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ist8310 -C -b 1 start
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ist8310 -C -b 2 start
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hmc5883 -C -T -X start
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qmc5883 -X start
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@ -19,7 +19,7 @@ bmp280 -I start
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mpl3115a2 -I start
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# Internal SPI (accel + mag)
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fxos8701cq start -R 0
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fxos8701cq start
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# Internal SPI (gyro)
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fxas21002c start
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@ -0,0 +1,203 @@
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/****************************************************************************
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*
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* Copyright (c) 2016-2019 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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#include "BMP280.hpp"
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BMP280::BMP280(bmp280::IBMP280 *interface) :
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ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(interface->get_device_id())),
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_px4_baro(interface->get_device_id()),
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_interface(interface),
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_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": sample")),
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_measure_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": measure")),
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_comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": comms errors"))
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{
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}
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BMP280::~BMP280()
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{
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// make sure we are truly inactive
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Stop();
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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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delete _interface;
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}
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int
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BMP280::init()
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{
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// reset sensor
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_interface->set_reg(BMP280_VALUE_RESET, BMP280_ADDR_RESET);
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usleep(10000);
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// check id
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if (_interface->get_reg(BMP280_ADDR_ID) != BMP280_VALUE_ID) {
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PX4_WARN("id of your baro is not: 0x%02x", BMP280_VALUE_ID);
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return -EIO;
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}
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// set config, recommended settings
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_interface->set_reg(_curr_ctrl, BMP280_ADDR_CTRL);
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_interface->set_reg(BMP280_CONFIG_F16, BMP280_ADDR_CONFIG);
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// get calibration and pre process them
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_cal = _interface->get_calibration(BMP280_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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Start();
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return OK;
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}
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void
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BMP280::Start()
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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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// schedule a cycle to start things
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ScheduleNow();
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}
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void
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BMP280::Stop()
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{
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ScheduleClear();
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}
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void
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BMP280::Run()
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{
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if (_collect_phase) {
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collect();
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} else {
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measure();
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}
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ScheduleDelayed(_measure_interval);
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}
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int
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BMP280::measure()
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{
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perf_begin(_measure_perf);
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_collect_phase = true;
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// start measure
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int ret = _interface->set_reg(_curr_ctrl | BMP280_CTRL_MODE_FORCE, BMP280_ADDR_CTRL);
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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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BMP280::collect()
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{
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perf_begin(_sample_perf);
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_collect_phase = false;
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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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const hrt_abstime timestamp_sample = hrt_absolute_time();
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bmp280::data_s *data = _interface->get_data(BMP280_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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// 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;
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const float T = t_fine * (1.0f / 5120.0f);
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// Pressure
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float tf = t_fine - 128000.0f;
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float x1 = (tf * _fcal.p6 + _fcal.p5) * tf + _fcal.p4;
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float x2 = (tf * _fcal.p3 + _fcal.p2) * tf + _fcal.p1;
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float pf = ((float) p_raw + x1) / x2;
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const float P = (pf * _fcal.p9 + _fcal.p8) * pf + _fcal.p7;
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_px4_baro.set_error_count(perf_event_count(_comms_errors));
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_px4_baro.set_temperature(T);
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float pressure = P / 100.0f; // to mbar
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_px4_baro.update(timestamp_sample, pressure);
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perf_end(_sample_perf);
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return OK;
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}
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void
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BMP280::print_info()
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{
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perf_print_counter(_sample_perf);
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perf_print_counter(_measure_perf);
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perf_print_counter(_comms_errors);
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_px4_baro.print_status();
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}
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@ -1,6 +1,6 @@
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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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* Copyright (c) 2016-2019 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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@ -35,61 +35,43 @@
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#include "bmp280.h"
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/*
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* BMP280 internal constants and data structures.
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*/
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#include <drivers/drv_hrt.h>
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#include <px4_platform_common/px4_config.h>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <lib/drivers/barometer/PX4Barometer.hpp>
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#include <lib/perf/perf_counter.h>
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class BMP280 : public cdev::CDev, public px4::ScheduledWorkItem
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class BMP280 : public px4::ScheduledWorkItem
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{
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public:
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BMP280(bmp280::IBMP280 *interface, const char *path);
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BMP280(bmp280::IBMP280 *interface);
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virtual ~BMP280();
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virtual int init();
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virtual ssize_t read(cdev::file_t *filp, char *buffer, size_t buflen);
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virtual int ioctl(cdev::file_t *filp, int cmd, unsigned long arg);
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/**
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* Diagnostics - print some basic information about the driver.
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*/
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int init();
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void print_info();
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private:
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void Run() override;
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void Start();
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void Stop();
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int measure(); //start measure
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int collect(); //get results and publish
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PX4Barometer _px4_baro;
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bmp280::IBMP280 *_interface;
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bool _running;
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// set config, recommended settings
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static constexpr uint8_t _curr_ctrl{BMP280_CTRL_P16 | BMP280_CTRL_T2};
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static constexpr uint32_t _measure_interval{BMP280_MT_INIT + BMP280_MT *(16 - 1 + 2 - 1)};
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uint8_t _curr_ctrl;
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unsigned _report_interval; // 0 - no cycling, otherwise period of sending a report
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unsigned _max_measure_interval; // interval in microseconds needed to measure
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ringbuffer::RingBuffer *_reports;
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bool _collect_phase;
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orb_advert_t _baro_topic;
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int _orb_class_instance;
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int _class_instance;
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bool _collect_phase{false};
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perf_counter_t _sample_perf;
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perf_counter_t _measure_perf;
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perf_counter_t _comms_errors;
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struct bmp280::calibration_s *_cal; //stored calibration constants
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struct bmp280::fcalibration_s _fcal; //pre processed calibration constants
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float _P; /* in Pa */
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float _T; /* in K */
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/* periodic execution helpers */
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void start_cycle();
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void stop_cycle();
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void Run() override;
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int measure(); //start measure
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int collect(); //get results and publish
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bmp280::calibration_s *_cal{nullptr}; //stored calibration constants
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bmp280::fcalibration_s _fcal{}; //pre processed calibration constants
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};
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@ -1,6 +1,6 @@
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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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* Copyright (c) 2016-2019 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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@ -37,55 +37,46 @@
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* SPI interface for BMP280
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*/
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#include "bmp280.h"
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#include <px4_platform_common/px4_config.h>
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#include <drivers/device/i2c.h>
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#if defined(PX4_I2C_OBDEV_BMP280) || defined(PX4_I2C_EXT_OBDEV_BMP280)
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class BMP280_I2C: public device::I2C, public bmp280::IBMP280
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{
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public:
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BMP280_I2C(uint8_t bus, uint32_t device, bool external);
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virtual ~BMP280_I2C() = default;
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BMP280_I2C(uint8_t bus, uint32_t device);
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virtual ~BMP280_I2C() override = default;
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bool is_external();
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int init();
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int init() override { return I2C::init(); }
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uint8_t get_reg(uint8_t addr);
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int set_reg(uint8_t value, uint8_t addr);
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bmp280::data_s *get_data(uint8_t addr);
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bmp280::calibration_s *get_calibration(uint8_t addr);
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uint8_t get_reg(uint8_t addr) override;
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int set_reg(uint8_t value, uint8_t addr) override;
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bmp280::data_s *get_data(uint8_t addr) override;
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bmp280::calibration_s *get_calibration(uint8_t addr) override;
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uint32_t get_device_id() const override { return device::I2C::get_device_id(); }
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private:
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struct bmp280::calibration_s _cal;
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struct bmp280::data_s _data;
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bool _external;
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bmp280::calibration_s _cal{};
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bmp280::data_s _data{};
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};
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bmp280::IBMP280 *bmp280_i2c_interface(uint8_t busnum, uint32_t device, bool external)
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bmp280::IBMP280 *bmp280_i2c_interface(uint8_t busnum, uint32_t device)
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{
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return new BMP280_I2C(busnum, device, external);
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return new BMP280_I2C(busnum, device);
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}
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BMP280_I2C::BMP280_I2C(uint8_t bus, uint32_t device, bool external) :
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BMP280_I2C::BMP280_I2C(uint8_t bus, uint32_t device) :
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I2C("BMP280_I2C", nullptr, bus, device, 100 * 1000)
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{
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_external = external;
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}
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bool BMP280_I2C::is_external()
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{
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return _external;
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}
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int BMP280_I2C::init()
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{
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return I2C::init();
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}
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uint8_t BMP280_I2C::get_reg(uint8_t addr)
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uint8_t
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BMP280_I2C::get_reg(uint8_t addr)
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{
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uint8_t cmd[2] = { (uint8_t)(addr), 0};
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transfer(&cmd[0], 1, &cmd[1], 1);
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@ -93,17 +84,19 @@ uint8_t BMP280_I2C::get_reg(uint8_t addr)
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return cmd[1];
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}
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int BMP280_I2C::set_reg(uint8_t value, uint8_t addr)
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int
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BMP280_I2C::set_reg(uint8_t value, uint8_t addr)
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{
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uint8_t cmd[2] = { (uint8_t)(addr), value};
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return transfer(cmd, sizeof(cmd), nullptr, 0);
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}
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bmp280::data_s *BMP280_I2C::get_data(uint8_t addr)
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bmp280::data_s *
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BMP280_I2C::get_data(uint8_t addr)
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{
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const uint8_t cmd = (uint8_t)(addr);
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const uint8_t cmd = addr;
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if (transfer(&cmd, sizeof(cmd), (uint8_t *)&_data, sizeof(struct bmp280::data_s)) == OK) {
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if (transfer(&cmd, sizeof(cmd), (uint8_t *)&_data, sizeof(bmp280::data_s)) == OK) {
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return (&_data);
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} else {
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@ -111,11 +104,12 @@ bmp280::data_s *BMP280_I2C::get_data(uint8_t addr)
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}
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}
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bmp280::calibration_s *BMP280_I2C::get_calibration(uint8_t addr)
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bmp280::calibration_s *
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BMP280_I2C::get_calibration(uint8_t addr)
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{
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const uint8_t cmd = (uint8_t)(addr) ;
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const uint8_t cmd = addr;
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if (transfer(&cmd, sizeof(cmd), (uint8_t *)&_cal, sizeof(struct bmp280::calibration_s)) == OK) {
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if (transfer(&cmd, sizeof(cmd), (uint8_t *)&_cal, sizeof(bmp280::calibration_s)) == OK) {
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return &(_cal);
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} else {
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@ -1,6 +1,6 @@
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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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||||
* 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
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@ -39,13 +39,15 @@
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#include "bmp280.h"
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#include <px4_platform_common/px4_config.h>
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#include <drivers/device/spi.h>
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#if defined(PX4_SPIDEV_BARO) || defined(PX4_SPIDEV_EXT_BARO)
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/* SPI protocol address bits */
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#define DIR_READ (1<<7) //for set
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#define DIR_WRITE ~(1<<7) //for clear
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#if defined(PX4_SPIDEV_BARO) || defined(PX4_SPIDEV_EXT_BARO)
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#pragma pack(push,1)
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struct spi_data_s {
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uint8_t addr;
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||||
|
@ -61,47 +63,37 @@ 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()
|
||||
{
|
||||
return _external;
|
||||
};
|
||||
|
||||
int BMP280_SPI::init()
|
||||
{
|
||||
return SPI::init();
|
||||
};
|
||||
|
||||
uint8_t BMP280_SPI::get_reg(uint8_t addr)
|
||||
uint8_t
|
||||
BMP280_SPI::get_reg(uint8_t addr)
|
||||
{
|
||||
uint8_t cmd[2] = { (uint8_t)(addr | DIR_READ), 0}; // set MSB bit
|
||||
transfer(&cmd[0], &cmd[0], 2);
|
||||
|
@ -109,17 +101,19 @@ uint8_t BMP280_SPI::get_reg(uint8_t addr)
|
|||
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
|
||||
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
|
||||
|
||||
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 {
|
|
@ -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
|
||||
)
|
||||
|
|
|
@ -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);
|
||||
}
|
|
@ -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);
|
||||
|
|
|
@ -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;
|
||||
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 },
|
||||
#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 },
|
||||
#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_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 (start_bus(bus_option)) {
|
||||
return PX4_OK;
|
||||
}
|
||||
}
|
||||
|
||||
if (!started) {
|
||||
PX4_WARN("bus option number is %d", i);
|
||||
PX4_ERR("driver start failed");
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
// one or more drivers started OK
|
||||
static int stop(BMP280_BUS busid)
|
||||
{
|
||||
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;
|
||||
}
|
||||
|
||||
/**
|
||||
* Print a little info about the driver.
|
||||
*/
|
||||
static int
|
||||
info()
|
||||
static int status(BMP280_BUS busid)
|
||||
{
|
||||
for (uint8_t i = 0; i < NUM_BUS_OPTIONS; i++) {
|
||||
struct bmp280_bus_option *bus = &bus_options[i];
|
||||
bmp280_bus_option *bus = find_bus(busid);
|
||||
|
||||
if (bus != nullptr && bus->dev != nullptr) {
|
||||
PX4_WARN("%s", bus->devpath);
|
||||
bus->dev->print_info();
|
||||
}
|
||||
return PX4_OK;
|
||||
}
|
||||
|
||||
return 0;
|
||||
PX4_WARN("driver not running");
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
static int
|
||||
usage()
|
||||
static int usage()
|
||||
{
|
||||
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)");
|
||||
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();
|
||||
|
|
|
@ -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)
|
||||
{
|
||||
|
@ -322,7 +322,6 @@ BMM150 :: ~BMM150()
|
|||
perf_free(_measure_perf);
|
||||
perf_free(_comms_errors);
|
||||
perf_free(_duplicates);
|
||||
|
||||
}
|
||||
|
||||
int BMM150::init()
|
||||
|
|
Loading…
Reference in New Issue