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Commit 585147d5 authored by Dennis Shtatnov's avatar Dennis Shtatnov Committed by Lorenz Meier
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Working LPS25H driver

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src/drivers/lps25h/lps25h.cpp
+ 115
− 346
View file @ 585147d5
/****************************************************************************
*
* Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
* Copyright (c) 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
......@@ -34,7 +34,7 @@
/**
* @file lps25h.cpp
*
* Driver for the LPS25H magnetometer connected via I2C or SPI.
* Driver for the LPS25H barometer connected via I2C or SPI.
*/
#include <px4_config.h>
......@@ -221,30 +221,21 @@ private:
unsigned _measure_ticks;
ringbuffer::RingBuffer *_reports;
float _range_scale;
float _range_pa;
bool _collect_phase;
int _class_instance;
int _orb_class_instance;
/* altitude conversion calibration */
unsigned _msl_pressure; /* in Pa */
orb_advert_t _baro_topic;
int _orb_class_instance;
int _class_instance;
perf_counter_t _sample_perf;
perf_counter_t _comms_errors;
perf_counter_t _buffer_overflows;
perf_counter_t _range_errors;
perf_counter_t _conf_errors;
/* status reporting */
bool _sensor_ok; /**< sensor was found and reports ok */
bool _calibrated; /**< the calibration is valid */
struct baro_report _last_report; /**< used for info() */
uint8_t _conf_reg;
uint8_t _temperature_counter;
uint8_t _temperature_error_count;
/**
* Initialise the automatic measurement state machine and start it.
*
......@@ -274,15 +265,6 @@ private:
*/
int calibrate(struct file *filp, unsigned enable);
/**
* check the sensor configuration.
*
* checks that the config of the sensor is correctly set, to
* cope with communication errors causing the configuration to
* change
*/
void check_conf(void);
/**
* Perform a poll cycle; collect from the previous measurement
* and start a new one.
......@@ -336,35 +318,6 @@ private:
*/
int collect();
/**
* Convert a big-endian signed 16-bit value to a float.
*
* @param in A signed 16-bit big-endian value.
* @return The floating-point representation of the value.
*/
float meas_to_float(uint8_t in[2]);
/**
* Check the current calibration and update device status
*
* @return 0 if calibration is ok, 1 else
*/
int check_calibration();
/**
* Check the current scale calibration
*
* @return 0 if scale calibration is ok, 1 else
*/
int check_scale();
/**
* Check the current offset calibration
*
* @return 0 if offset calibration is ok, 1 else
*/
int check_offset();
/* this class has pointer data members, do not allow copying it */
LPS25H(const LPS25H &);
LPS25H operator=(const LPS25H &);
......@@ -382,23 +335,15 @@ LPS25H::LPS25H(device::Device *interface, const char *path) :
_work{},
_measure_ticks(0),
_reports(nullptr),
_range_scale(0.00149536132f), /* default range scale from counts to gauss */
_range_pa(49.f),
_collect_phase(false),
_class_instance(-1),
_orb_class_instance(-1),
_msl_pressure(101325),
_baro_topic(nullptr),
_orb_class_instance(-1),
_class_instance(-1),
_sample_perf(perf_alloc(PC_ELAPSED, "lps25h_read")),
_comms_errors(perf_alloc(PC_COUNT, "lps25h_comms_errors")),
_buffer_overflows(perf_alloc(PC_COUNT, "lps25h_buffer_overflows")),
_range_errors(perf_alloc(PC_COUNT, "lps25h_range_errors")),
_conf_errors(perf_alloc(PC_COUNT, "lps25h_conf_errors")),
_sensor_ok(false),
_calibrated(false),
_last_report{0},
_conf_reg(0),
_temperature_counter(0),
_temperature_error_count(0)
_last_report{0}
{
// enable debug() calls
_debug_enabled = false;
......@@ -412,26 +357,26 @@ LPS25H::~LPS25H()
/* make sure we are truly inactive */
stop();
if (_reports != nullptr) {
delete _reports;
}
if (_class_instance != -1) {
unregister_class_devname(BARO_BASE_DEVICE_PATH, _class_instance);
}
if (_reports != nullptr) {
delete _reports;
}
// free perf counters
perf_free(_sample_perf);
perf_free(_comms_errors);
perf_free(_buffer_overflows);
perf_free(_range_errors);
perf_free(_conf_errors);
delete _interface;
}
int
LPS25H::init()
{
int ret = ERROR;
int ret;
ret = CDev::init();
......@@ -441,60 +386,32 @@ LPS25H::init()
}
/* allocate basic report buffers */
_reports = new ringbuffer::RingBuffer(2, sizeof(baro_report));
_reports = new ringbuffer::RingBuffer(2, sizeof(sensor_baro_s));
if (_reports == nullptr) {
DEVICE_DEBUG("can't get memory for reports");
ret = -ENOMEM;
goto out;
}
/* reset the device configuration */
reset();
if (reset() != OK) {
goto out;
}
/* register alternate interfaces if we have to */
_class_instance = register_class_devname(BARO_BASE_DEVICE_PATH);
ret = OK;
/* sensor is ok, but not calibrated */
_sensor_ok = true;
out:
return ret;
}
/**
check that the configuration register has the right value. This is
done periodically to cope with I2C bus noise causing the
configuration of the compass to change.
*/
void LPS25H::check_conf(void)
{
/* TODO */
/*
int ret;
uint8_t conf_reg_in = 0;
ret = read_reg(ADDR_CNTL1, conf_reg_in);
if (OK != ret) {
perf_count(_comms_errors);
return;
}
if (conf_reg_in | CNTL1_BIT) {
perf_count(_conf_errors);
ret = write_reg(ADDR_CNTL1, conf_reg_in | CNTL1_BIT);
if (OK != ret) {
perf_count(_comms_errors);
}
}
*/
}
ssize_t
LPS25H::read(struct file *filp, char *buffer, size_t buflen)
{
unsigned count = buflen / sizeof(struct baro_report);
struct baro_report *mag_buf = reinterpret_cast<struct baro_report *>(buffer);
struct baro_report *brp = reinterpret_cast<struct baro_report *>(buffer);
int ret = 0;
/* buffer must be large enough */
......@@ -504,15 +421,16 @@ LPS25H::read(struct file *filp, char *buffer, size_t buflen)
/* if automatic measurement is enabled */
if (_measure_ticks > 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(mag_buf)) {
ret += sizeof(struct baro_report);
mag_buf++;
if (_reports->get(brp)) {
ret += sizeof(*brp);
brp++;
}
}
......@@ -540,7 +458,7 @@ LPS25H::read(struct file *filp, char *buffer, size_t buflen)
break;
}
if (_reports->get(mag_buf)) {
if (_reports->get(brp)) {
ret = sizeof(struct baro_report);
}
} while (0);
......@@ -618,7 +536,7 @@ LPS25H::ioctl(struct file *filp, int cmd, unsigned long arg)
return SENSOR_POLLRATE_MANUAL;
}
return 1000000 / TICK2USEC(_measure_ticks);
return (1000 / _measure_ticks);
case SENSORIOCSQUEUEDEPTH: {
/* lower bound is mandatory, upper bound is a sanity check */
......@@ -626,15 +544,14 @@ LPS25H::ioctl(struct file *filp, int cmd, unsigned long arg)
return -EINVAL;
}
irqstate_t flags = irqsave();
irqstate_t flags = px4_enter_critical_section();
if (!_reports->resize(arg)) {
irqrestore(flags);
px4_leave_critical_section(flags);
return -ENOMEM;
}
irqrestore(flags);
px4_leave_critical_section(flags);
return OK;
}
......@@ -644,13 +561,18 @@ LPS25H::ioctl(struct file *filp, int cmd, unsigned long arg)
case SENSORIOCRESET:
return reset();
case BAROIOCGMSLPRESSURE:
// TODO
return 0;
case BAROIOCSMSLPRESSURE:
// TODO
return 0;
/* range-check for sanity */
if ((arg < 80000) || (arg > 120000)) {
return -EINVAL;
}
_msl_pressure = arg;
return OK;
case BAROIOCGMSLPRESSURE:
return _msl_pressure;
case DEVIOCGDEVICEID:
return _interface->ioctl(cmd, dummy);
......@@ -691,7 +613,7 @@ LPS25H::reset()
// Reset
ret = write_reg(ADDR_CTRL_REG2, CTRL_REG2_BOOT | CTRL_REG2_SWRESET);
usleep(1000);
usleep(5000);
// Power on
ret = write_reg(ADDR_CTRL_REG1, CTRL_REG1_PD);
......@@ -704,7 +626,7 @@ LPS25H::reset()
void
LPS25H::cycle_trampoline(void *arg)
{
LPS25H *dev = (LPS25H *)arg;
LPS25H *dev = reinterpret_cast<LPS25H *>(arg);
dev->cycle();
}
......@@ -768,7 +690,6 @@ LPS25H::measure()
*/
ret = write_reg(ADDR_CTRL_REG2, CTRL_REG2_ONE_SHOT);
if (OK != ret) {
perf_count(_comms_errors);
}
......@@ -788,7 +709,6 @@ LPS25H::collect()
#pragma pack(pop)
int ret;
uint8_t check_counter;
perf_begin(_sample_perf);
struct baro_report new_report;
......@@ -805,22 +725,29 @@ LPS25H::collect()
* we're better off just never being early.
*/
/* get measurements from the device */
ret = _interface->read(ADDR_STATUS_REG, (uint8_t *)&report, sizeof(report));
/* get measurements from the device : MSB enables register address auto-increment */
ret = _interface->read(ADDR_STATUS_REG | (1 << 7), (uint8_t *)&report, sizeof(report));
if (ret != OK) {
perf_count(_comms_errors);
DEVICE_DEBUG("data/status read error");
goto out;
perf_end(_sample_perf);
return ret;
}
/* get measurements from the device */
new_report.temperature = 42.5 + (report.t / 480);
/*
* RAW outputs
*/
new_report.pressure = report.p_xl + (report.p_l << 8) + (report.p_h << 16);
/* raw pressure */
uint32_t raw = report.p_xl + (report.p_l << 8) + (report.p_h << 16);
/* Pressure and MSL in mBar */
double p = raw / 4096.0;
double msl = _msl_pressure / 100.0;
double alt = (1.0 - pow(p / msl, 0.190263)) * 44330.8;
new_report.pressure = p;
new_report.altitude = alt;
if (!(_pub_blocked)) {
......@@ -848,63 +775,13 @@ LPS25H::collect()
/* notify anyone waiting for data */
poll_notify(POLLIN);
/*
periodically check the range register and configuration
registers. With a bad I2C cable it is possible for the
registers to become corrupt, leading to bad readings. It
doesn't happen often, but given the poor cables some
vehicles have it is worth checking for.
*/
check_counter = perf_event_count(_sample_perf) % 256;
if (check_counter == 128) {
check_conf();
}
ret = OK;
out:
perf_end(_sample_perf);
return ret;
}
int LPS25H::calibrate(struct file *filp, unsigned enable)
{
int ret = 1;
return ret;
}
int LPS25H::check_scale()
{
bool scale_valid = false;
/* return 0 if calibrated, 1 else */
return !scale_valid;
}
int LPS25H::check_offset()
{
bool offset_valid = false;
return !offset_valid;
}
int LPS25H::check_calibration()
{
bool offset_valid = (check_offset() == OK);
bool scale_valid = (check_scale() == OK);
if (_calibrated != (offset_valid && scale_valid)) {
warnx("mag cal status changed %s%s", (scale_valid) ? "" : "scale invalid ",
(offset_valid) ? "" : "offset invalid");
_calibrated = (offset_valid && scale_valid);
}
/* return 0 if calibrated, 1 else */
return (!_calibrated);
}
int
LPS25H::write_reg(uint8_t reg, uint8_t val)
{
......@@ -921,20 +798,6 @@ LPS25H::read_reg(uint8_t reg, uint8_t &val)
return ret;
}
float
LPS25H::meas_to_float(uint8_t in[2])
{
union {
uint8_t b[2];
int16_t w;
} u;
u.b[0] = in[1];
u.b[1] = in[0];
return (float) u.w;
}
void
LPS25H::print_info()
{
......@@ -943,7 +806,9 @@ LPS25H::print_info()
perf_print_counter(_buffer_overflows);
printf("poll interval: %u ticks\n", _measure_ticks);
printf("pressure %.2f\n", (double)_last_report.pressure);
printf("altitude: %.2f\n", (double)_last_report.altitude);
printf("temperature %.2f\n", (double)_last_report.temperature);
_reports->print_info("report queue");
}
......@@ -984,9 +849,8 @@ bool start_bus(struct lps25h_bus_option &bus);
struct lps25h_bus_option &find_bus(enum LPS25H_BUS busid);
void test(enum LPS25H_BUS busid);
void reset(enum LPS25H_BUS busid);
int info(enum LPS25H_BUS busid);
int calibrate(enum LPS25H_BUS busid);
int temp_enable(LPS25H_BUS busid, bool enable);
void info();
void calibrate(unsigned altitude, enum LPS25H_BUS busid);
void usage();
/**
......@@ -1017,13 +881,14 @@ start_bus(struct lps25h_bus_option &bus)
int fd = open(bus.devpath, O_RDONLY);
if (fd < 0) {
return false;
/* set the poll rate to default, starts automatic data collection */
if (fd == -1) {
errx(1, "can't open baro device");
}
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
close(fd);
errx(1, "Failed to setup poll rate");
errx(1, "failed setting default poll rate");
}
close(fd);
......@@ -1089,13 +954,14 @@ test(enum LPS25H_BUS busid)
struct lps25h_bus_option &bus = find_bus(busid);
struct baro_report report;
ssize_t sz;
int ret = 0;
const char *path = bus.devpath;
int ret;
int fd = open(path, O_RDONLY);
int fd;
fd = open(bus.devpath, O_RDONLY);
if (fd < 0) {
err(1, "%s open failed (try 'lps25h start')", path);
err(1, "open failed (try 'lps25h start' if the driver is not running)");
}
/* do a simple demand read */
......@@ -1106,17 +972,12 @@ test(enum LPS25H_BUS busid)
}
warnx("single read");
warnx("measurement: %.6f", (double)report.temperature);
warnx("pressure: %10.4f", (double)report.pressure);
warnx("altitude: %11.4f", (double)report.altitude);
warnx("temperature: %8.4f", (double)report.temperature);
warnx("time: %lld", report.timestamp);
/* check if mag is onboard or external */
//if ((ret = ioctl(fd, MAGIOCGEXTERNAL, 0)) < 0) {
// errx(1, "failed to get if mag is onboard or external");
//}
warnx("device active: %s", ret ? "external" : "onboard");
/* set the queue depth to 5 */
/* set the queue depth to 10 */
if (OK != ioctl(fd, SENSORIOCSQUEUEDEPTH, 10)) {
errx(1, "failed to set queue depth");
}
......@@ -1147,58 +1008,23 @@ test(enum LPS25H_BUS busid)
}
warnx("periodic read %u", i);
warnx("measurement: %.6f", (double)report.temperature);
warnx("pressure: %10.4f", (double)report.pressure);
warnx("altitude: %11.4f", (double)report.altitude);
warnx("temperature K: %8.4f", (double)report.temperature);
warnx("time: %lld", report.timestamp);
}
close(fd);
errx(0, "PASS");
}
/**
* Automatic scale calibration.
*
* Basic idea:
*
* output = (ext field +- 1.1 Ga self-test) * scale factor
*
* and consequently:
*
* 1.1 Ga = (excited - normal) * scale factor
* scale factor = (excited - normal) / 1.1 Ga
*
* sxy = (excited - normal) / 766 | for conf reg. B set to 0x60 / Gain = 3
* sz = (excited - normal) / 713 | for conf reg. B set to 0x60 / Gain = 3
*
* By subtracting the non-excited measurement the pure 1.1 Ga reading
* can be extracted and the sensitivity of all axes can be matched.
*
* SELF TEST OPERATION
* To check the LPS25HL for proper operation, a self test feature in incorporated
* in which the sensor offset straps are excited to create a nominal field strength
* (bias field) to be measured. To implement self test, the least significant bits
* (MS1 and MS0) of configuration register A are changed from 00 to 01 (positive bias)
* or 10 (negetive bias), e.g. 0x11 or 0x12.
* Then, by placing the mode register into single-measurement mode (0x01),
* two data acquisition cycles will be made on each magnetic vector.
* The first acquisition will be a set pulse followed shortly by measurement
* data of the external field. The second acquisition will have the offset strap
* excited (about 10 mA) in the positive bias mode for X, Y, and Z axes to create
* about a ±1.1 gauss self test field plus the external field. The first acquisition
* values will be subtracted from the second acquisition, and the net measurement
* will be placed into the data output registers.
* Since self test adds ~1.1 Gauss additional field to the existing field strength,
* using a reduced gain setting prevents sensor from being saturated and data registers
* overflowed. For example, if the configuration register B is set to 0x60 (Gain=3),
* values around +766 LSB (1.16 Ga * 660 LSB/Ga) will be placed in the X and Y data
* output registers and around +713 (1.08 Ga * 660 LSB/Ga) will be placed in Z data
* output register. To leave the self test mode, change MS1 and MS0 bit of the
* configuration register A back to 00 (Normal Measurement Mode), e.g. 0x10.
* Using the self test method described above, the user can scale sensor
* Calculate actual MSL pressure given current altitude
*/
int calibrate(enum LPS25H_BUS busid)
void
calibrate(unsigned altitude, enum LPS25H_BUS busid)
{
int ret = 0;
struct lps25h_bus_option &bus = find_bus(busid);
const char *path = bus.devpath;
......@@ -1208,13 +1034,9 @@ int calibrate(enum LPS25H_BUS busid)
err(1, "%s open failed (try 'lps25h start' if the driver is not running", path);
}
//if (OK != (ret = ioctl(fd, MAGIOCCALIBRATE, fd))) {
// warnx("failed to enable sensor calibration mode");
//}
// TODO: Implement calibration
close(fd);
return ret;
}
/**
......@@ -1243,54 +1065,33 @@ reset(enum LPS25H_BUS busid)
exit(0);
}
/**
* enable/disable temperature compensation
* Print a little info about the driver.
*/
int
temp_enable(enum LPS25H_BUS busid, bool enable)
void
info()
{
struct lps25h_bus_option &bus = find_bus(busid);
const char *path = bus.devpath;
for (uint8_t i = 0; i < NUM_BUS_OPTIONS; i++) {
struct lps25h_bus_option &bus = bus_options[i];
int fd = open(path, O_RDONLY);
if (fd < 0) {
err(1, "failed ");
if (bus.dev != nullptr) {
warnx("%s", bus.devpath);
bus.dev->print_info();
}
}
//if (ioctl(fd, MAGIOCSTEMPCOMP, (unsigned)enable) < 0) {
// err(1, "set temperature compensation failed");
//}
close(fd);
return 0;
}
/**
* Print a little info about the driver.
*/
int
info(enum LPS25H_BUS busid)
{
struct lps25h_bus_option &bus = find_bus(busid);
warnx("running on bus: %u (%s)\n", (unsigned)bus.busid, bus.devpath);
bus.dev->print_info();
exit(0);
}
void
usage()
{
warnx("missing command: try 'start', 'info', 'test', 'reset', 'info', 'calibrate'");
warnx("missing command: try 'start', 'info', 'test', 'reset', 'calibrate'");
warnx("options:");
warnx(" -R rotation");
warnx(" -C calibrate on start");
warnx(" -X only external bus");
#if (PX4_I2C_BUS_ONBOARD || PX4_SPIDEV_HMC)
warnx(" -I only internal bus");
#endif
warnx(" -X (external I2C bus)");
warnx(" -I (internal I2C bus)");
warnx(" -S (external SPI bus)");
warnx(" -s (internal SPI bus)");
}
} // namespace
......@@ -1298,12 +1099,10 @@ usage()
int
lps25h_main(int argc, char *argv[])
{
int ch;
enum LPS25H_BUS busid = LPS25H_BUS_ALL;
bool calibrate = false;
bool temp_compensation = false;
int ch;
while ((ch = getopt(argc, argv, "XIS:CT")) != EOF) {
while ((ch = getopt(argc, argv, "XIS:")) != EOF) {
switch (ch) {
#if (PX4_I2C_BUS_ONBOARD || PX4_SPIDEV_HMC)
......@@ -1320,14 +1119,6 @@ lps25h_main(int argc, char *argv[])
busid = LPS25H_BUS_SPI;
break;
case 'C':
calibrate = true;
break;
case 'T':
temp_compensation = true;
break;
default:
lps25h::usage();
exit(0);
......@@ -1341,18 +1132,6 @@ lps25h_main(int argc, char *argv[])
*/
if (!strcmp(verb, "start")) {
lps25h::start(busid);
if (calibrate && lps25h::calibrate(busid) != 0) {
errx(1, "calibration failed");
}
if (temp_compensation) {
// we consider failing to setup temperature
// compensation as non-fatal
lps25h::temp_enable(busid, true);
}
exit(0);
}
/*
......@@ -1369,35 +1148,25 @@ lps25h_main(int argc, char *argv[])
lps25h::reset(busid);
}
/*
* enable/disable temperature compensation
*/
if (!strcmp(verb, "tempoff")) {
lps25h::temp_enable(busid, false);
}
if (!strcmp(verb, "tempon")) {
lps25h::temp_enable(busid, true);
}
/*
* Print driver information.
*/
if (!strcmp(verb, "info") || !strcmp(verb, "status")) {
lps25h::info(busid);
if (!strcmp(verb, "info")) {
lps25h::info();
}
/*
* Autocalibrate the scaling
* Perform MSL pressure calibration given an altitude in metres
*/
if (!strcmp(verb, "calibrate")) {
if (lps25h::calibrate(busid) == 0) {
errx(0, "calibration successful");
} else {
errx(1, "calibration failed");
if (argc < 2) {
errx(1, "missing altitude");
}
long altitude = strtol(argv[optind + 1], nullptr, 10);
lps25h::calibrate(altitude, busid);
}
errx(1, "unrecognized command, try 'start', 'test', 'reset' 'calibrate', 'tempoff', 'tempon' or 'info'");
errx(1, "unrecognised command, try 'start', 'test', 'reset' or 'info'");
}
src/drivers/lps25h/lps25h.h
+ 1
− 1
View file @ 585147d5
/****************************************************************************
*
* Copyright (c) 2015 PX4 Development Team. All rights reserved.
* Copyright (c) 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
......
src/drivers/lps25h/lps25h_i2c.cpp
+ 1
− 1
View file @ 585147d5
/****************************************************************************
*
* Copyright (c) 2013-2015 PX4 Development Team. All rights reserved.
* Copyright (c) 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
......
src/drivers/lps25h/lps25h_spi.cpp
+ 1
− 1
View file @ 585147d5
/****************************************************************************
*
* Copyright (c) 2013-2015 PX4 Development Team. All rights reserved.
* Copyright (c) 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
......
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