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Merged in paulpatience/nuttx (pull request #18)

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Added support for other MS58XX altimeters.
This commit is contained in:
Gregory Nutt 2015-08-14 18:09:14 -06:00
commit 1c41236fa1
5 changed files with 1083 additions and 732 deletions
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10
drivers/sensors/Kconfig
View File

@ -31,12 +31,16 @@ config MB7040
---help---
Enable driver support for the MaxBotix MB7040 sonar.
config MS5805
bool "MEAS MS5805 Altimeter support"
config MS58XX
bool "MEAS MS58XX Altimeter support"
default n
select I2C
---help---
Enable driver support for the MEAS MS5805 altimeter.
Enable driver support for MEAS MS58XX altimeters.
config MS58XX_VDD
int "MEAS MS58XX VDD"
default 30
config MPL115A
bool "Freescale MPL115A Barometer Sensor support"

4
drivers/sensors/Make.defs
View File

@ -73,8 +73,8 @@ ifeq ($(CONFIG_MB7040),y)
CSRCS += mb7040.c
endif
ifeq ($(CONFIG_MS5805),y)
CSRCS += ms5805.c
ifeq ($(CONFIG_MS58XX),y)
CSRCS += ms58xx.c
endif
endif # CONFIG_I2C

715
drivers/sensors/ms5805.c
View File

@ -1,715 +0,0 @@
/****************************************************************************
* drivers/sensors/ms5805.c
* Character driver for the MEAS MS5805 Altimeter
*
* Copyright (C) 2015 Omni Hoverboards Inc. All rights reserved.
* Author: Paul Alexander Patience <paul-a.patience@polymtl.ca>
*
* 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 NuttX 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.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <errno.h>
#include <debug.h>
#include <stdlib.h>
#include <nuttx/kmalloc.h>
#include <nuttx/fs/fs.h>
#include <nuttx/arch.h>
#include <nuttx/i2c.h>
#include <nuttx/sensors/ms5805.h>
#if defined(CONFIG_I2C) && defined(CONFIG_MS5805)
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/* I2C Address **************************************************************/
#define MS5805_ADDR 0x76
/* Register Definitions *****************************************************/
/* Register Addresses */
#define MS5805_RESET_REG 0x1e /* Reset Register */
#define MS5805_PRESS_REG 0x40 /* Pressure Register */
#define MS5805_TEMP_REG 0x50 /* Temperature Register */
#define MS5805_ADC_REG 0x00 /* ADC Register */
#define MS5805_PROM_REG 0xa0 /* PROM Register */
/* PROM Definitions *********************************************************/
#define MS5805_PROM_LEN 8
/****************************************************************************
* Private Types
****************************************************************************/
struct ms5805_dev_s
{
FAR struct i2c_dev_s *i2c; /* I2C interface */
int32_t temp; /* Uncompensated temperature (degrees Centigrade) */
int32_t press; /* Uncompensated pressure (millibar) */
uint8_t osr; /* Oversampling ratio bits */
useconds_t delay; /* Oversampling ratio delay */
/* Calibration coefficients */
uint16_t c1;
uint16_t c2;
uint16_t c3;
uint16_t c4;
uint16_t c5;
uint16_t c6;
};
/****************************************************************************
* Private Function Prototypes
****************************************************************************/
/* CRC Calculation */
static uint8_t ms5805_crc(FAR const uint8_t *src, size_t len);
/* I2C Helpers */
static int ms5805_readu16(FAR struct ms5805_dev_s *priv, uint8_t regaddr,
FAR uint16_t *regval);
static int ms5805_readadc(FAR struct ms5805_dev_s *priv, FAR uint32_t *adc);
static int ms5805_setosr(FAR struct ms5805_dev_s *priv, uint16_t osr);
static int ms5805_reset(FAR struct ms5805_dev_s *priv);
static int ms5805_readprom(FAR struct ms5805_dev_s *priv);
static int ms5805_convert(FAR struct ms5805_dev_s *priv, uint8_t regaddr,
FAR uint32_t *regval);
static int ms5805_measure(FAR struct ms5805_dev_s *priv);
/* Character Driver Methods */
static int ms5805_open(FAR struct file *filep);
static int ms5805_close(FAR struct file *filep);
static ssize_t ms5805_read(FAR struct file *filep, FAR char *buffer,
size_t buflen);
static ssize_t ms5805_write(FAR struct file *filep, FAR const char *buffer,
size_t buflen);
static int ms5805_ioctl(FAR struct file *filep, int cmd,
unsigned long arg);
/****************************************************************************
* Private Data
****************************************************************************/
static const struct file_operations g_fops =
{
ms5805_open,
ms5805_close,
ms5805_read,
ms5805_write,
NULL,
ms5805_ioctl
#ifndef CONFIG_DISABLE_POLL
, NULL
#endif
#ifndef CONFIG_DISABLE_PSEUDOFS_OPERATIONS
, NULL
#endif
};
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Name: ms5805_crc
*
* Description:
* Calculate the CRC.
*
****************************************************************************/
static uint8_t ms5805_crc(FAR const uint8_t *src, size_t len)
{
uint16_t crc = 0;
size_t i;
int j;
for (i = 0; i < len; i++)
{
crc ^= src[i];
for (j = 0; j < 8; j++)
{
bool xor = (crc & 0x8000) != 0;
crc <<= 1;
if (xor)
{
crc ^= 0x3000;
}
}
}
return (uint8_t)(crc >> 12);
}
/****************************************************************************
* Name: ms5805_readu16
*
* Description:
* Read from a 16-bit register.
*
****************************************************************************/
static int ms5805_readu16(FAR struct ms5805_dev_s *priv, uint8_t regaddr,
FAR uint16_t *regval)
{
uint8_t buffer[2];
int ret;
sndbg("addr: %02x\n", regaddr);
/* Write the register address */
I2C_SETADDRESS(priv->i2c, MS5805_ADDR, 7);
ret = I2C_WRITE(priv->i2c, &regaddr, sizeof(regaddr));
if (ret < 0)
{
sndbg("I2C_WRITE failed: %d\n", ret);
return ret;
}
/* Restart and read 16 bits from the register */
ret = I2C_READ(priv->i2c, buffer, sizeof(buffer));
if (ret < 0)
{
sndbg("I2C_READ failed: %d\n", ret);
return ret;
}
*regval = (uint16_t)buffer[0] << 8 | (uint16_t)buffer[1];
sndbg("value: %04x ret: %d\n", *regval, ret);
return ret;
}
/****************************************************************************
* Name: ms5805_readadc
*
* Description:
* Read from the ADC register.
*
****************************************************************************/
static int ms5805_readadc(FAR struct ms5805_dev_s *priv, FAR uint32_t *adc)
{
uint8_t regaddr;
uint8_t buffer[3];
int ret;
regaddr = MS5805_ADC_REG;
sndbg("addr: %02x\n", regaddr);
/* Write the register address */
I2C_SETADDRESS(priv->i2c, MS5805_ADDR, 7);
ret = I2C_WRITE(priv->i2c, &regaddr, sizeof(regaddr));
if (ret < 0)
{
sndbg("I2C_WRITE failed: %d\n", ret);
return ret;
}
/* Restart and read 24 bits from the register */
ret = I2C_READ(priv->i2c, buffer, sizeof(buffer));
if (ret < 0)
{
sndbg("I2C_READ failed: %d\n", ret);
return ret;
}
*adc = (uint32_t)buffer[0] << 16 |
(uint32_t)buffer[1] << 8 |
(uint32_t)buffer[2];
sndbg("adc: %06x ret: %d\n", *adc, ret);
return ret;
}
/****************************************************************************
* Name: ms5805_setosr
*
* Description:
* Set the oversampling ratio.
*
****************************************************************************/
static int ms5805_setosr(FAR struct ms5805_dev_s *priv, uint16_t osr)
{
int ret = OK;
sndbg("osr: %04x\n", osr);
switch (osr)
{
case 256:
priv->delay = 540;
break;
case 512:
priv->delay = 1060;
break;
case 1024:
priv->delay = 2080;
break;
case 2048:
priv->delay = 4130;
break;
case 4096:
priv->delay = 8220;
break;
case 8192:
priv->delay = 16440;
break;
default:
ret = -EINVAL;
break;
}
if (ret == OK)
{
priv->osr = (osr / 256 - 1) * 2;
}
return ret;
}
/****************************************************************************
* Name: ms5805_readprom
*
* Description:
* Read from the PROM.
*
****************************************************************************/
static int ms5805_readprom(FAR struct ms5805_dev_s *priv)
{
uint16_t prom[MS5805_PROM_LEN];
uint8_t regaddr;
uint8_t crc;
int ret;
int i;
regaddr = MS5805_PROM_REG;
for (i = 0; i < MS5805_PROM_LEN-1; i++)
{
ret = ms5805_readu16(priv, regaddr, prom+i);
if (ret < 0)
{
sndbg("ms5805_readu16 failed: %d\n", ret);
return ret;
}
regaddr += 2;
}
crc = (uint8_t)(prom[0] >> 12);
prom[0] = 0;
prom[MS5805_PROM_LEN-1] = 0;
if (crc != ms5805_crc((uint8_t *)prom, sizeof(prom)))
{
sndbg("crc mismatch\n");
return -ENODEV;
}
priv->c1 = prom[1];
priv->c2 = prom[2];
priv->c3 = prom[3];
priv->c4 = prom[4];
priv->c5 = prom[5];
priv->c6 = prom[6];
return ret;
}
/****************************************************************************
* Name: ms5805_reset
*
* Description:
* Reset the device.
*
****************************************************************************/
static int ms5805_reset(FAR struct ms5805_dev_s *priv)
{
uint8_t regaddr;
int ret;
regaddr = MS5805_RESET_REG;
sndbg("addr: %02x\n", regaddr);
/* Write the register address */
I2C_SETADDRESS(priv->i2c, MS5805_ADDR, 7);
ret = I2C_WRITE(priv->i2c, &regaddr, sizeof(regaddr));
if (ret < 0)
{
sndbg("I2C_WRITE failed: %d\n", ret);
return ret;
}
/* Check the CRC and read the calibration coefficients */
ret = ms5805_readprom(priv);
if (ret < 0)
{
sndbg("ms5805_readprom failed: %d\n", ret);
}
return ret;
}
/****************************************************************************
* Name: ms5805_convert
*
* Description:
* Measure the uncompensated temperature or the uncompensated pressure.
*
****************************************************************************/
static int ms5805_convert(FAR struct ms5805_dev_s *priv, uint8_t regaddr,
FAR uint32_t *regval)
{
int ret;
regaddr |= priv->osr;
sndbg("addr: %02x\n", regaddr);
/* Write the register address */
I2C_SETADDRESS(priv->i2c, MS5805_ADDR, 7);
ret = I2C_WRITE(priv->i2c, &regaddr, sizeof(regaddr));
if (ret < 0)
{
sndbg("I2C_WRITE failed: %d\n", ret);
}
/* Wait for the conversion to end */
up_udelay(priv->delay);
/* Read the value from the ADC */
ret = ms5805_readadc(priv, regval);
if (ret < 0)
{
sndbg("ms5805_readadc failed: %d\n", ret);
return ret;
}
return ret;
}
/****************************************************************************
* Name: ms5805_measure
*
* Description:
* Measure the compensated temperature and the compensated pressure.
*
****************************************************************************/
static int ms5805_measure(FAR struct ms5805_dev_s *priv)
{
uint32_t rawpress;
uint32_t rawtemp;
int32_t diff;
int32_t temp;
int64_t off;
int64_t sens;
int32_t press;
int ret;
ret = ms5805_convert(priv, MS5805_PRESS_REG, &rawpress);
if (ret < 0)
{
sndbg("ms5805_convert failed: %d\n", ret);
return ret;
}
ret = ms5805_convert(priv, MS5805_TEMP_REG, &rawtemp);
if (ret < 0)
{
sndbg("ms5805_convert failed: %d\n", ret);
return ret;
}
diff = (int32_t)rawtemp - (int32_t)priv->c5 / ((int32_t)1 << 8);
temp = (int32_t)((int64_t)20 +
(int64_t)diff * (int64_t)priv->c6 / ((int64_t)1 << 23));
off = (int64_t)priv->c2 * ((int64_t)1 << 17) +
(int64_t)priv->c4 * (int64_t)diff / ((int64_t)1 << 8);
sens = (int64_t)priv->c1 * ((int64_t)1 << 16) +
(int64_t)priv->c3 * (int64_t)diff / ((int64_t)1 << 7);
if (temp < 2000)
{
int32_t ti;
int64_t offi;
int64_t sensi;
ti = (int32_t)((int64_t)11 * (int64_t)diff *
(int64_t)diff / ((int64_t)1 << 35));
offi = (int64_t)31 * ((int64_t)temp - (int64_t)2000) *
((int64_t)temp - (int64_t)2000) / ((int64_t)1 << 3);
sensi = (int64_t)63 * ((int64_t)temp - (int64_t)2000) *
((int64_t)temp - (int64_t)2000) / ((int64_t)1 << 5);
temp -= ti;
off -= offi;
sens -= sensi;
}
press = (int32_t)(((int64_t)rawpress * sens / ((int64_t)1 << 21) - off) /
((int64_t)1 << 15));
priv->temp = temp / (int32_t)100;
priv->press = press / (int32_t)100;
return ret;
}
/****************************************************************************
* Name: ms5805_open
*
* Description:
* This method is called when the device is opened.
*
****************************************************************************/
static int ms5805_open(FAR struct file *filep)
{
return OK;
}
/****************************************************************************
* Name: ms5805_close
*
* Description:
* This method is called when the device is closed.
*
****************************************************************************/
static int ms5805_close(FAR struct file *filep)
{
return OK;
}
/****************************************************************************
* Name: ms5805_read
*
* Description:
* A dummy read method.
*
****************************************************************************/
static ssize_t ms5805_read(FAR struct file *filep, FAR char *buffer,
size_t buflen)
{
return 0;
}
/****************************************************************************
* Name: ms5805_write
*
* Description:
* A dummy write method.
*
****************************************************************************/
static ssize_t ms5805_write(FAR struct file *filep, FAR const char *buffer,
size_t buflen)
{
return -ENOSYS;
}
/****************************************************************************
* Name: ms5805_ioctl
*
* Description:
* The standard ioctl method.
*
****************************************************************************/
static int ms5805_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
{
FAR struct inode *inode = filep->f_inode;
FAR struct ms5805_dev_s *priv = inode->i_private;
int ret = OK;
/* Handle ioctl commands */
switch (cmd)
{
/* Measure the temperature and the pressure. Arg: None. */
case SNIOC_MEASURE:
DEBUGASSERT(arg == 0);
ret = ms5805_measure(priv);
break;
/* Return the temperature last measured. Arg: int32_t* pointer. */
case SNIOC_TEMPERATURE:
{
FAR int32_t *ptr = (FAR int32_t *)((uintptr_t)arg);
DEBUGASSERT(ptr != NULL);
*ptr = priv->temp;
sndbg("temp: %08x\n", *ptr);
}
break;
/* Return the pressure last measured. Arg: int32_t* pointer. */
case SNIOC_PRESSURE:
{
FAR int32_t *ptr = (FAR int32_t *)((uintptr_t)arg);
DEBUGASSERT(ptr != NULL);
*ptr = priv->press;
sndbg("press: %08x\n", *ptr);
}
break;
/* Reset the device. Arg: None. */
case SNIOC_RESET:
DEBUGASSERT(arg == 0);
ret = ms5805_reset(priv);
break;
/* Change the oversampling ratio. Arg: uint16_t value. */
case SNIOC_OVERSAMPLING:
ret = ms5805_setosr(priv, (uint16_t)arg);
sndbg("osr: %04x ret: %d\n", *(uint16_t *)arg, ret);
break;
/* Unrecognized commands */
default:
sndbg("Unrecognized cmd: %d arg: %ld\n", cmd, arg);
ret = -ENOTTY;
break;
}
return ret;
}
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: ms5805_register
*
* Description:
* Register the MS5805 character device as 'devpath'.
*
* Input Parameters:
* devpath - The full path to the driver to register, e.g., "/dev/press0".
* i2c - An I2C driver instance.
* osr - The oversampling ratio.
*
* Returned Value:
* Zero (OK) on success; a negated errno value on failure.
*
****************************************************************************/
int ms5805_register(FAR const char *devpath, FAR struct i2c_dev_s *i2c,
uint16_t osr)
{
FAR struct ms5805_dev_s *priv;
int ret;
/* Sanity check */
DEBUGASSERT(i2c != NULL);
/* Initialize the device's structure */
priv = (FAR struct ms5805_dev_s *)kmm_malloc(sizeof(*priv));
if (priv == NULL)
{
sndbg("Failed to allocate instance\n");
return -ENOMEM;
}
priv->i2c = i2c;
priv->temp = 0;
priv->press = 0;
ret = ms5805_setosr(priv, osr);
if (ret < 0)
{
sndbg("ms5805_setosr failed: %d\n", ret);
goto err;
}
ret = ms5805_reset(priv);
if (ret < 0)
{
sndbg("ms5805_reset failed: %d\n", ret);
goto err;
}
/* Register the character driver */
ret = register_driver(devpath, &g_fops, 0666, priv);
if (ret < 0)
{
sndbg("Failed to register driver: %d\n", ret);
goto err;
}
return ret;
err:
kmm_free(priv);
return ret;
}
#endif /* CONFIG_I2C && CONFIG_MS5805 */

1042
drivers/sensors/ms58xx.c Normal file
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File diff suppressed because it is too large Load Diff

44
include/nuttx/sensors/ms5805.h → include/nuttx/sensors/ms58xx.h
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@ -1,5 +1,5 @@
/****************************************************************************
* include/nuttx/sensors/ms5805.h
* include/nuttx/sensors/ms58xx.h
*
* Copyright (C) 2015 Omni Hoverboards Inc. All rights reserved.
* Author: Paul Alexander Patience <paul-a.patience@polymtl.ca>
@ -33,8 +33,8 @@
*
****************************************************************************/
#ifndef __INCLUDE_NUTTX_SENSORS_MS5805
#define __INCLUDE_NUTTX_SENSORS_MS5805
#ifndef __INCLUDE_NUTTX_SENSORS_MS58XX
#define __INCLUDE_NUTTX_SENSORS_MS58XX
/****************************************************************************
* Included Files
@ -43,7 +43,7 @@
#include <nuttx/config.h>
#include <nuttx/fs/ioctl.h>
#if defined(CONFIG_I2C) && defined(CONFIG_MS5805)
#if defined(CONFIG_I2C) && defined(CONFIG_MS58XX)
/****************************************************************************
* Pre-processor Definitions
@ -53,8 +53,9 @@
*
* CONFIG_I2C
* Enables support for I2C drivers
* CONFIG_MS5805
* Enables support for the MS5805 driver
* CONFIG_MS58XX
* Enables support for the MS58XX driver
* CONFIG_MS58XX_VDD
*/
/* IOCTL Commands ***********************************************************/
@ -65,10 +66,27 @@
#define SNIOC_RESET _SNIOC(0x0004) /* Arg: None */
#define SNIOC_OVERSAMPLING _SNIOC(0x0005) /* Arg: uint16_t value */
/* I2C Address **************************************************************/
#define MS58XX_ADDR0 0x76
#define MS58XX_ADDR1 0x77
/****************************************************************************
* Public Types
****************************************************************************/
enum ms58xx_model_e
{
MS58XX_MODEL_MS5803_02 = 0,
MS58XX_MODEL_MS5803_05 = 1,
MS58XX_MODEL_MS5803_07 = 2,
MS58XX_MODEL_MS5803_14 = 3,
MS58XX_MODEL_MS5803_30 = 4,
MS58XX_MODEL_MS5805_02 = 5,
MS58XX_MODEL_MS5806_02 = 6,
MS58XX_MODEL_MS5837_30 = 7
};
struct i2c_dev_s;
/****************************************************************************
@ -84,28 +102,30 @@ extern "C"
#endif
/****************************************************************************
* Name: ms5805_register
* Name: ms58xx_register
*
* Description:
* Register the MS5805 character device as 'devpath'.
* Register the MS58XX character device as 'devpath'.
*
* Input Parameters:
* devpath - The full path to the driver to register, e.g., "/dev/press0".
* i2c - An I2C driver instance.
* addr - The I2C address of the MS58XX.
* osr - The oversampling ratio.
* model - The MS58XX model.
*
* Returned Value:
* Zero (OK) on success; a negated errno value on failure.
*
****************************************************************************/
int ms5805_register(FAR const char *devpath, FAR struct i2c_dev_s *i2c,
uint16_t osr);
int ms58xx_register(FAR const char *devpath, FAR struct i2c_dev_s *i2c,
uint8_t addr, uint16_t osr, enum ms58xx_model_e model);
#undef EXTERN
#ifdef __cplusplus
}
#endif
#endif /* CONFIG_I2C && CONFIG_MS5805 */
#endif /* __INCLUDE_NUTTX_SENSORS_MS5805 */
#endif /* CONFIG_I2C && CONFIG_MS58XX */
#endif /* __INCLUDE_NUTTX_SENSORS_MS58XX */