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Commit 04a90504 authored by Andrew Tridgell's avatar Andrew Tridgell Committed by Lorenz Meier
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ms5611: allow for all 4 bus combinations in ms5611 driver 

this uses the same table driven approach as the hmc5883 driver, and
allows for a ms5611 baro on any of the 4 bus combinations. A simple
"ms5611 start" will start all baros that are found.
parent a2a24458
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src/drivers/ms5611/ms5611.cpp
+ 140
− 118
View file @ 04a90504
......@@ -69,6 +69,14 @@
#include "ms5611.h"
enum MS5611_BUS {
MS5611_BUS_ALL = 0,
MS5611_BUS_I2C_INTERNAL,
MS5611_BUS_I2C_EXTERNAL,
MS5611_BUS_SPI_INTERNAL,
MS5611_BUS_SPI_EXTERNAL
};
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
# undef ERROR
......@@ -784,15 +792,38 @@ MS5611::print_info()
namespace ms5611
{
/* initialize explicitely for clarity */
MS5611 *g_dev_ext = nullptr;
MS5611 *g_dev_int = nullptr;
/*
list of supported bus configurations
*/
struct ms5611_bus_option {
enum MS5611_BUS busid;
const char *devpath;
MS5611_constructor interface_constructor;
uint8_t busnum;
MS5611 *dev;
} bus_options[] = {
#if defined(PX4_SPIDEV_EXT_BARO) && defined(PX4_SPI_BUS_EXT)
{ MS5611_BUS_SPI_EXTERNAL, "/dev/ms5611_spi_ext", &MS5611_spi_interface, PX4_SPI_BUS_EXT, NULL },
#endif
#ifdef PX4_SPIDEV_BARO
{ MS5611_BUS_SPI_INTERNAL, "/dev/ms5611_spi_int", &MS5611_spi_interface, PX4_SPI_BUS_SENSORS, NULL },
#endif
#ifdef PX4_I2C_BUS_ONBOARD
{ MS5611_BUS_I2C_INTERNAL, "/dev/ms5611_int", &MS5611_i2c_interface, PX4_I2C_BUS_ONBOARD, NULL },
#endif
#ifdef PX4_I2C_BUS_EXPANSION
{ MS5611_BUS_I2C_EXTERNAL, "/dev/ms5611_ext", &MS5611_i2c_interface, PX4_I2C_BUS_EXPANSION, NULL },
#endif
};
#define NUM_BUS_OPTIONS (sizeof(bus_options)/sizeof(bus_options[0]))
void start(bool external_bus);
void test(bool external_bus);
void reset(bool external_bus);
bool start_bus(struct ms5611_bus_option &bus);
struct ms5611_bus_option &find_bus(enum MS5611_BUS busid);
void start(enum MS5611_BUS busid);
void test(enum MS5611_BUS busid);
void reset(enum MS5611_BUS busid);
void info();
void calibrate(unsigned altitude, bool external_bus);
void calibrate(unsigned altitude, enum MS5611_BUS busid);
void usage();
/**
......@@ -845,89 +876,89 @@ crc4(uint16_t *n_prom)
/**
* Start the driver.
*/
void
start(bool external_bus)
bool
start_bus(struct ms5611_bus_option &bus)
{
int fd;
prom_u prom_buf;
if (external_bus && (g_dev_ext != nullptr)) {
/* if already started, the still command succeeded */
errx(0, "ext already started");
} else if (!external_bus && (g_dev_int != nullptr)) {
/* if already started, the still command succeeded */
errx(0, "int already started");
}
device::Device *interface = nullptr;
/* create the driver, try SPI first, fall back to I2C if unsuccessful */
if (MS5611_spi_interface != nullptr)
interface = MS5611_spi_interface(prom_buf, external_bus);
if (interface == nullptr && (MS5611_i2c_interface != nullptr))
interface = MS5611_i2c_interface(prom_buf);
if (interface == nullptr)
errx(1, "failed to allocate an interface");
::printf("starting bus %s\n", bus.devpath);
usleep(5000);
if (bus.dev != nullptr)
errx(1,"bus option already started");
prom_u prom_buf;
device::Device *interface = bus.interface_constructor(prom_buf, bus.busnum);
if (interface->init() != OK) {
delete interface;
errx(1, "interface init failed");
warnx("no device on bus %u", (unsigned)bus.busid);
return false;
}
if (external_bus) {
g_dev_ext = new MS5611(interface, prom_buf, MS5611_BARO_DEVICE_PATH_EXT);
if (g_dev_ext == nullptr) {
delete interface;
errx(1, "failed to allocate driver");
}
if (g_dev_ext->init() != OK)
goto fail;
fd = open(MS5611_BARO_DEVICE_PATH_EXT, O_RDONLY);
} else {
g_dev_int = new MS5611(interface, prom_buf, MS5611_BARO_DEVICE_PATH_INT);
if (g_dev_int == nullptr) {
delete interface;
errx(1, "failed to allocate driver");
}
if (g_dev_int->init() != OK)
goto fail;
fd = open(MS5611_BARO_DEVICE_PATH_INT, O_RDONLY);
bus.dev = new MS5611(interface, prom_buf, bus.devpath);
if (bus.dev != nullptr && OK != bus.dev->init()) {
delete bus.dev;
bus.dev = NULL;
return false;
}
int fd = open(bus.devpath, O_RDONLY);
/* set the poll rate to default, starts automatic data collection */
if (fd < 0) {
warnx("can't open baro device");
goto fail;
if (fd == -1) {
errx(1, "can't open baro device");
}
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
warnx("failed setting default poll rate");
goto fail;
close(fd);
errx(1, "failed setting default poll rate");
}
exit(0);
close(fd);
return true;
}
fail:
if (g_dev_int != nullptr) {
delete g_dev_int;
g_dev_int = nullptr;
}
/**
* Start the driver.
*
* This function call only returns once the driver
* is either successfully up and running or failed to start.
*/
void
start(enum MS5611_BUS busid)
{
uint8_t i;
bool started = false;
if (g_dev_ext != nullptr) {
delete g_dev_ext;
g_dev_ext = nullptr;
for (i=0; i<NUM_BUS_OPTIONS; i++) {
if (busid == MS5611_BUS_ALL && bus_options[i].dev != NULL) {
// this device is already started
continue;
}
if (busid != MS5611_BUS_ALL && bus_options[i].busid != busid) {
// not the one that is asked for
continue;
}
started |= start_bus(bus_options[i]);
}
errx(1, "driver start failed");
if (!started)
errx(1, "driver start failed");
// one or more drivers started OK
exit(0);
}
/**
* find a bus structure for a busid
*/
struct ms5611_bus_option &find_bus(enum MS5611_BUS busid)
{
for (uint8_t i=0; i<NUM_BUS_OPTIONS; i++) {
if ((busid == MS5611_BUS_ALL ||
busid == bus_options[i].busid) && bus_options[i].dev != NULL) {
return bus_options[i];
}
}
errx(1,"bus %u not started", (unsigned)busid);
}
/**
......@@ -936,20 +967,16 @@ fail:
* and automatic modes.
*/
void
test(bool external_bus)
test(enum MS5611_BUS busid)
{
struct ms5611_bus_option &bus = find_bus(busid);
struct baro_report report;
ssize_t sz;
int ret;
int fd;
if (external_bus) {
fd = open(MS5611_BARO_DEVICE_PATH_EXT, O_RDONLY);
} else {
fd = open(MS5611_BARO_DEVICE_PATH_INT, O_RDONLY);
}
fd = open(bus.devpath, O_RDONLY);
if (fd < 0)
err(1, "open failed (try 'ms5611 start' if the driver is not running)");
......@@ -998,6 +1025,7 @@ test(bool external_bus)
warnx("time: %lld", report.timestamp);
}
close(fd);
errx(0, "PASS");
}
......@@ -1005,16 +1033,12 @@ test(bool external_bus)
* Reset the driver.
*/
void
reset(bool external_bus)
reset(enum MS5611_BUS busid)
{
struct ms5611_bus_option &bus = find_bus(busid);
int fd;
if (external_bus) {
fd = open(MS5611_BARO_DEVICE_PATH_EXT, O_RDONLY);
} else {
fd = open(MS5611_BARO_DEVICE_PATH_INT, O_RDONLY);
}
fd = open(bus.devpath, O_RDONLY);
if (fd < 0)
err(1, "failed ");
......@@ -1033,19 +1057,13 @@ reset(bool external_bus)
void
info()
{
if (g_dev_ext == nullptr && g_dev_int == nullptr)
errx(1, "driver not running");
if (g_dev_ext) {
warnx("ext:");
g_dev_ext->print_info();
}
if (g_dev_int) {
warnx("int:");
g_dev_int->print_info();
for (uint8_t i=0; i<NUM_BUS_OPTIONS; i++) {
struct ms5611_bus_option &bus = bus_options[i];
if (bus.dev != nullptr) {
warnx("%s", bus.devpath);
bus.dev->print_info();
}
}
exit(0);
}
......@@ -1053,19 +1071,16 @@ info()
* Calculate actual MSL pressure given current altitude
*/
void
calibrate(unsigned altitude, bool external_bus)
calibrate(unsigned altitude, enum MS5611_BUS busid)
{
struct ms5611_bus_option &bus = find_bus(busid);
struct baro_report report;
float pressure;
float p1;
int fd;
if (external_bus) {
fd = open(MS5611_BARO_DEVICE_PATH_EXT, O_RDONLY);
} else {
fd = open(MS5611_BARO_DEVICE_PATH_INT, O_RDONLY);
}
fd = open(bus.devpath, O_RDONLY);
if (fd < 0)
err(1, "open failed (try 'ms5611 start' if the driver is not running)");
......@@ -1120,6 +1135,7 @@ calibrate(unsigned altitude, bool external_bus)
if (ioctl(fd, BAROIOCSMSLPRESSURE, (unsigned long)p1) != OK)
err(1, "BAROIOCSMSLPRESSURE");
close(fd);
exit(0);
}
......@@ -1128,7 +1144,10 @@ usage()
{
warnx("missing command: try 'start', 'info', 'test', 'test2', 'reset', 'calibrate'");
warnx("options:");
warnx(" -X (external bus)");
warnx(" -X (external I2C bus)");
warnx(" -I (intternal I2C bus)");
warnx(" -S (external SPI bus)");
warnx(" -s (internal SPI bus)");
}
} // namespace
......@@ -1136,14 +1155,23 @@ usage()
int
ms5611_main(int argc, char *argv[])
{
bool external_bus = false;
enum MS5611_BUS busid = MS5611_BUS_ALL;
int ch;
/* jump over start/off/etc and look at options first */
while ((ch = getopt(argc, argv, "X")) != EOF) {
while ((ch = getopt(argc, argv, "XISs")) != EOF) {
switch (ch) {
case 'X':
external_bus = true;
busid = MS5611_BUS_I2C_EXTERNAL;
break;
case 'I':
busid = MS5611_BUS_I2C_INTERNAL;
break;
case 'S':
busid = MS5611_BUS_SPI_EXTERNAL;
break;
case 's':
busid = MS5611_BUS_SPI_INTERNAL;
break;
default:
ms5611::usage();
......@@ -1153,29 +1181,23 @@ ms5611_main(int argc, char *argv[])
const char *verb = argv[optind];
if (argc > optind+1) {
if (!strcmp(argv[optind+1], "-X")) {
external_bus = true;
}
}
/*
* Start/load the driver.
*/
if (!strcmp(verb, "start"))
ms5611::start(external_bus);
ms5611::start(busid);
/*
* Test the driver/device.
*/
if (!strcmp(verb, "test"))
ms5611::test(external_bus);
ms5611::test(busid);
/*
* Reset the driver.
*/
if (!strcmp(verb, "reset"))
ms5611::reset(external_bus);
ms5611::reset(busid);
/*
* Print driver information.
......@@ -1192,7 +1214,7 @@ ms5611_main(int argc, char *argv[])
long altitude = strtol(argv[optind+1], nullptr, 10);
ms5611::calibrate(altitude, external_bus);
ms5611::calibrate(altitude, busid);
}
errx(1, "unrecognised command, try 'start', 'test', 'reset' or 'info'");
......
src/drivers/ms5611/ms5611.h
+ 3
− 3
View file @ 04a90504
......@@ -80,6 +80,6 @@ extern bool crc4(uint16_t *n_prom);
} /* namespace */
/* interface factories */
extern device::Device *MS5611_spi_interface(ms5611::prom_u &prom_buf, bool external_bus) weak_function;
extern device::Device *MS5611_i2c_interface(ms5611::prom_u &prom_buf) weak_function;
extern device::Device *MS5611_spi_interface(ms5611::prom_u &prom_buf, uint8_t busnum) weak_function;
extern device::Device *MS5611_i2c_interface(ms5611::prom_u &prom_buf, uint8_t busnum) weak_function;
typedef device::Device* (*MS5611_constructor)(ms5611::prom_u &prom_buf, uint8_t busnum);
src/drivers/ms5611/ms5611_i2c.cpp
+ 4
− 14
View file @ 04a90504
......@@ -56,14 +56,6 @@
#include "board_config.h"
#ifdef PX4_I2C_OBDEV_MS5611
#ifndef PX4_I2C_BUS_ONBOARD
#define MS5611_BUS 1
#else
#define MS5611_BUS PX4_I2C_BUS_ONBOARD
#endif
#define MS5611_ADDRESS_1 0x76 /* address select pins pulled high (PX4FMU series v1.6+) */
#define MS5611_ADDRESS_2 0x77 /* address select pins pulled low (PX4FMU prototypes) */
......@@ -74,7 +66,7 @@ device::Device *MS5611_i2c_interface(ms5611::prom_u &prom_buf);
class MS5611_I2C : public device::I2C
{
public:
MS5611_I2C(int bus, ms5611::prom_u &prom_buf);
MS5611_I2C(uint8_t bus, ms5611::prom_u &prom_buf);
virtual ~MS5611_I2C();
virtual int init();
......@@ -113,12 +105,12 @@ private:
};
device::Device *
MS5611_i2c_interface(ms5611::prom_u &prom_buf)
MS5611_i2c_interface(ms5611::prom_u &prom_buf, uint8_t busnum)
{
return new MS5611_I2C(MS5611_BUS, prom_buf);
return new MS5611_I2C(busnum, prom_buf);
}
MS5611_I2C::MS5611_I2C(int bus, ms5611::prom_u &prom) :
MS5611_I2C::MS5611_I2C(uint8_t bus, ms5611::prom_u &prom) :
I2C("MS5611_I2C", nullptr, bus, 0, 400000),
_prom(prom)
{
......@@ -274,5 +266,3 @@ MS5611_I2C::_read_prom()
/* calculate CRC and return success/failure accordingly */
return ms5611::crc4(&_prom.c[0]) ? OK : -EIO;
}
#endif /* PX4_I2C_OBDEV_MS5611 */
src/drivers/ms5611/ms5611_spi.cpp
+ 13
− 12
View file @ 04a90504
......@@ -60,14 +60,14 @@
#define DIR_WRITE (0<<7)
#define ADDR_INCREMENT (1<<6)
#ifdef PX4_SPIDEV_BARO
#if defined(PX4_SPIDEV_BARO) || defined(PX4_SPIDEV_EXT_BARO)
device::Device *MS5611_spi_interface(ms5611::prom_u &prom_buf, bool external_bus);
class MS5611_SPI : public device::SPI
{
public:
MS5611_SPI(int bus, spi_dev_e device, ms5611::prom_u &prom_buf);
MS5611_SPI(uint8_t bus, spi_dev_e device, ms5611::prom_u &prom_buf);
virtual ~MS5611_SPI();
virtual int init();
......@@ -115,20 +115,21 @@ private:
};
device::Device *
MS5611_spi_interface(ms5611::prom_u &prom_buf, bool external_bus)
MS5611_spi_interface(ms5611::prom_u &prom_buf, uint8_t busnum)
{
if (external_bus) {
#ifdef PX4_SPI_BUS_EXT
return new MS5611_SPI(PX4_SPI_BUS_EXT, (spi_dev_e)PX4_SPIDEV_EXT_BARO, prom_buf);
#else
#ifdef PX4_SPI_BUS_EXT
if (busnum == PX4_SPI_BUS_EXT) {
#ifdef PX4_SPIDEV_EXT_BARO
return new MS5611_SPI(busnum, (spi_dev_e)PX4_SPIDEV_EXT_BARO, prom_buf);
#else
return nullptr;
#endif
} else {
return new MS5611_SPI(PX4_SPI_BUS_SENSORS, (spi_dev_e)PX4_SPIDEV_BARO, prom_buf);
#endif
}
#endif
return new MS5611_SPI(busnum, (spi_dev_e)PX4_SPIDEV_BARO, prom_buf);
}
MS5611_SPI::MS5611_SPI(int bus, spi_dev_e device, ms5611::prom_u &prom_buf) :
MS5611_SPI::MS5611_SPI(uint8_t bus, spi_dev_e device, ms5611::prom_u &prom_buf) :
SPI("MS5611_SPI", nullptr, bus, device, SPIDEV_MODE3, 11*1000*1000 /* will be rounded to 10.4 MHz */),
_prom(prom_buf)
{
......@@ -281,4 +282,4 @@ MS5611_SPI::_transfer(uint8_t *send, uint8_t *recv, unsigned len)
return transfer(send, recv, len);
}
#endif /* PX4_SPIDEV_BARO */
#endif /* PX4_SPIDEV_BARO || PX4_SPIDEV_EXT_BARO */
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