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

4
drivers/sensors/Make.defs
View File

@ -73,8 +73,8 @@ ifeq ($(CONFIG_MB7040),y)
CSRCS += mb7040.c CSRCS += mb7040.c
endif endif
ifeq ($(CONFIG_MS5805),y) ifeq ($(CONFIG_MS58XX),y)
CSRCS += ms5805.c CSRCS += ms58xx.c
endif endif
endif # CONFIG_I2C 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. * Copyright (C) 2015 Omni Hoverboards Inc. All rights reserved.
* Author: Paul Alexander Patience <paul-a.patience@polymtl.ca> * Author: Paul Alexander Patience <paul-a.patience@polymtl.ca>
@ -33,8 +33,8 @@
* *
****************************************************************************/ ****************************************************************************/
#ifndef __INCLUDE_NUTTX_SENSORS_MS5805 #ifndef __INCLUDE_NUTTX_SENSORS_MS58XX
#define __INCLUDE_NUTTX_SENSORS_MS5805 #define __INCLUDE_NUTTX_SENSORS_MS58XX
/**************************************************************************** /****************************************************************************
* Included Files * Included Files
@ -43,7 +43,7 @@
#include <nuttx/config.h> #include <nuttx/config.h>
#include <nuttx/fs/ioctl.h> #include <nuttx/fs/ioctl.h>
#if defined(CONFIG_I2C) && defined(CONFIG_MS5805) #if defined(CONFIG_I2C) && defined(CONFIG_MS58XX)
/**************************************************************************** /****************************************************************************
* Pre-processor Definitions * Pre-processor Definitions
@ -53,8 +53,9 @@
* *
* CONFIG_I2C * CONFIG_I2C
* Enables support for I2C drivers * Enables support for I2C drivers
* CONFIG_MS5805 * CONFIG_MS58XX
* Enables support for the MS5805 driver * Enables support for the MS58XX driver
* CONFIG_MS58XX_VDD
*/ */
/* IOCTL Commands ***********************************************************/ /* IOCTL Commands ***********************************************************/
@ -65,10 +66,27 @@
#define SNIOC_RESET _SNIOC(0x0004) /* Arg: None */ #define SNIOC_RESET _SNIOC(0x0004) /* Arg: None */
#define SNIOC_OVERSAMPLING _SNIOC(0x0005) /* Arg: uint16_t value */ #define SNIOC_OVERSAMPLING _SNIOC(0x0005) /* Arg: uint16_t value */
/* I2C Address **************************************************************/
#define MS58XX_ADDR0 0x76
#define MS58XX_ADDR1 0x77
/**************************************************************************** /****************************************************************************
* Public Types * 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; struct i2c_dev_s;
/**************************************************************************** /****************************************************************************
@ -84,28 +102,30 @@ extern "C"
#endif #endif
/**************************************************************************** /****************************************************************************
* Name: ms5805_register * Name: ms58xx_register
* *
* Description: * Description:
* Register the MS5805 character device as 'devpath'. * Register the MS58XX character device as 'devpath'.
* *
* Input Parameters: * Input Parameters:
* devpath - The full path to the driver to register, e.g., "/dev/press0". * devpath - The full path to the driver to register, e.g., "/dev/press0".
* i2c - An I2C driver instance. * i2c - An I2C driver instance.
* addr - The I2C address of the MS58XX.
* osr - The oversampling ratio. * osr - The oversampling ratio.
* model - The MS58XX model.
* *
* Returned Value: * Returned Value:
* Zero (OK) on success; a negated errno value on failure. * Zero (OK) on success; a negated errno value on failure.
* *
****************************************************************************/ ****************************************************************************/
int ms5805_register(FAR const char *devpath, FAR struct i2c_dev_s *i2c, int ms58xx_register(FAR const char *devpath, FAR struct i2c_dev_s *i2c,
uint16_t osr); uint8_t addr, uint16_t osr, enum ms58xx_model_e model);
#undef EXTERN #undef EXTERN
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif
#endif /* CONFIG_I2C && CONFIG_MS5805 */ #endif /* CONFIG_I2C && CONFIG_MS58XX */
#endif /* __INCLUDE_NUTTX_SENSORS_MS5805 */ #endif /* __INCLUDE_NUTTX_SENSORS_MS58XX */