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nuttx/drivers/sensors/ms5611.c
Xiang Xiao 43f57240e0 Replece clock_gettime(CLOCK_MONOTONIC) with clock_systime_timespec 
it's better to call the kernrel api insteaad user space api in kernel

Signed-off-by: Xiang Xiao <xiaoxiang@xiaomi.com>
2022-02-24 01:06:36 +08:00

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/****************************************************************************
* drivers/sensors/ms5611.c
*
* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership. The
* ASF licenses this file to you under the Apache License, Version 2.0 (the
* "License"); you may not use this file except in compliance with the
* License. You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
* License for the specific language governing permissions and limitations
* under the License.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <nuttx/nuttx.h>
#include <stdio.h>
#include <stdlib.h>
#include <fixedmath.h>
#include <errno.h>
#include <debug.h>
#include <nuttx/fs/fs.h>
#include <nuttx/signal.h>
#include <nuttx/kmalloc.h>
#include <nuttx/kthread.h>
#include <nuttx/semaphore.h>
#include <nuttx/i2c/i2c_master.h>
#include <nuttx/sensors/sensor.h>
#include <nuttx/sensors/ms5611.h>
#include <nuttx/sensors/msxxxx_crc4.h>
#if defined(CONFIG_SENSORS_MS5611) && \
(defined(CONFIG_I2C) || defined(CONFIG_SPI))
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
#define MS5611_CMD_RESET 0x1e
#define MS5611_CMD_START_ADC_READ 0x00
#define MS5611_CMD_CONV_D1_OSR_256 0x40 /* D1 = uncompensated pressure */
#define MS5611_CMD_CONV_D1_OSR_512 0x42
#define MS5611_CMD_CONV_D1_OSR_1024 0x44
#define MS5611_CMD_CONV_D1_OSR_2048 0x46
#define MS5611_CMD_CONV_D1_OSR_4096 0x48
#define MS5611_CMD_CONV_D2_OSR_256 0x50 /* D2 = uncompensated pressure */
#define MS5611_CMD_CONV_D2_OSR_512 0x52
#define MS5611_CMD_CONV_D2_OSR_1024 0x54
#define MS5611_CMD_CONV_D2_OSR_2048 0x56
#define MS5611_CMD_CONV_D2_OSR_4096 0x58
#define MS5611_CMD_ADC_READ 0x00
#define MS5611_CMD_ADC_PROM_READ(i) (0xa0 + (i)*2) /* 0xA0 - 0xAE */
/****************************************************************************
* Private Type Definitions
****************************************************************************/
struct ms5611_calib_s
{
uint16_t reversed;
uint16_t c1;
uint16_t c2;
uint16_t c3;
uint16_t c4;
uint16_t c5;
uint16_t c6;
uint16_t crc;
};
struct ms5611_dev_s
{
FAR struct sensor_lowerhalf_s sensor_lower;
#ifdef CONFIG_MS5611_I2C
FAR struct i2c_master_s *i2c; /* I2C interface */
uint8_t addr; /* I2C address */
#endif
#ifdef CONFIG_MS5611_SPI
FAR struct spi_dev_s *spi; /* SPI interface */
#endif
uint32_t freq; /* Bus Frequency I2C/SPI */
struct ms5611_calib_s calib; /* Calib. params from ROM */
unsigned int interval; /* Polling interval */
bool enabled; /* Enable/Disable MS5611 */
sem_t run; /* Locks measure cycle */
sem_t exclsem; /* Manages exclusive to device */
};
/****************************************************************************
* Private Function Prototypes
****************************************************************************/
static int ms5611_sendcmd(FAR struct ms5611_dev_s *priv,
uint8_t cmd);
static int ms5611_read16(FAR struct ms5611_dev_s *priv,
FAR uint8_t *regval);
static int ms5611_read24(FAR struct ms5611_dev_s *priv,
FAR uint8_t *regval);
static int32_t ms5611_compensate_temp(FAR struct ms5611_dev_s *priv,
uint32_t temp, int32_t *deltat);
static uint32_t ms5611_compensate_press(FAR struct ms5611_dev_s *priv,
uint32_t press, uint32_t dt);
static unsigned long ms5611_curtime(void);
/* Sensor methods */
static int ms5611_set_interval(FAR struct sensor_lowerhalf_s *lower,
FAR unsigned int *period_us);
static int ms5611_activate(FAR struct sensor_lowerhalf_s *lower,
bool enable);
#if 0 /* Please read below */
static int ms5611_fetch(FAR struct sensor_lowerhalf_s *lower,
FAR char *buffer, size_t buflen);
#endif
/****************************************************************************
* Private Data
****************************************************************************/
static const struct sensor_ops_s g_sensor_ops =
{
.activate = ms5611_activate,
.fetch = NULL, /* ms5611_fetch */
.set_interval = ms5611_set_interval,
};
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Name: ms5611_curtime
*
* Description: Helper to get current timestamp.
*
* Return:
* Timestamp in microseconds
****************************************************************************/
static unsigned long ms5611_curtime(void)
{
struct timespec ts;
clock_systime_timespec(&ts);
return 1000000ull * ts.tv_sec + ts.tv_nsec / 1000;
}
/****************************************************************************
* Name: ms5611_sendcmd
*
* Description:
* Send a command (8-bit) to MS5611
*
****************************************************************************/
static int ms5611_sendcmd(FAR struct ms5611_dev_s *priv, uint8_t cmd)
{
struct i2c_msg_s msg;
int ret;
msg.frequency = priv->freq;
msg.addr = priv->addr;
msg.flags = 0;
msg.buffer = &cmd;
msg.length = 1;
ret = I2C_TRANSFER(priv->i2c, &msg, 1);
if (ret < 0)
{
snerr("I2C_TRANSFER failed: %d\n", ret);
return ret;
}
return OK;
}
/****************************************************************************
* Name: ms5611_read16
*
* Description:
* Read 16-bit from a MS5611 register
*
****************************************************************************/
static int ms5611_read16(FAR struct ms5611_dev_s *priv, FAR uint8_t *regval)
{
struct i2c_msg_s msg;
int ret;
msg.frequency = priv->freq;
msg.addr = priv->addr;
msg.flags = I2C_M_READ;
msg.buffer = regval;
msg.length = 2;
ret = I2C_TRANSFER(priv->i2c, &msg, 1);
if (ret < 0)
{
snerr("I2C_TRANSFER failed: %d\n", ret);
return ret;
}
return OK;
}
/****************************************************************************
* Name: ms5611_read24
*
* Description:
* Read 24-bit from a MS5611 register
*
****************************************************************************/
static int ms5611_read24(FAR struct ms5611_dev_s *priv, uint8_t *regval)
{
struct i2c_msg_s msg;
int ret;
msg.frequency = priv->freq;
msg.addr = priv->addr;
msg.flags = I2C_M_READ;
msg.buffer = regval;
msg.length = 3;
ret = I2C_TRANSFER(priv->i2c, &msg, 1);
if (ret < 0)
{
snerr("I2C_TRANSFER failed: %d\n", ret);
return ret;
}
return OK;
}
static inline void baro_measure_read(FAR struct ms5611_dev_s *priv,
FAR struct sensor_event_baro *baro)
{
uint32_t press;
uint32_t temp;
int32_t deltat;
int ret;
uint8_t buffer[3];
/* Enforce exclusive access */
ret = nxsem_wait(&priv->exclsem);
if (ret < 0)
{
return;
}
/* Send command to start a D1 (pressure) conversion */
ret = ms5611_sendcmd(priv, MS5611_CMD_CONV_D1_OSR_4096);
if (ret < 0)
{
snerr("Fail to send cmd MS5611_CMD_CONV_D1_OSR_4096!\n");
return;
}
/* Wait data acquisition */
up_udelay(10000);
/* Send command to start a read sequence */
ret = ms5611_sendcmd(priv, MS5611_CMD_START_ADC_READ);
if (ret < 0)
{
snerr("Fail to send cmd MS5611_CMD_START_ADC_READ!\n");
return;
}
/* Wait data get ready */
up_udelay(4000);
ret = ms5611_read24(priv, buffer);
if (ret < 0)
{
snerr("Fail to read pressure!\n");
return;
}
press = (uint32_t) buffer[0] << 16 |
(uint32_t) buffer[1] << 8 |
(uint32_t) buffer[2];
/* Send command to start a D2 (temperature) conversion */
ret = ms5611_sendcmd(priv, MS5611_CMD_CONV_D2_OSR_4096);
if (ret < 0)
{
snerr("Fail to send cmd MS5611_CMD_CONV_D2_OSR_4096!\n");
return;
}
/* Wait data acquisition */
up_udelay(10000);
/* Send command to start a read sequence */
ret = ms5611_sendcmd(priv, MS5611_CMD_START_ADC_READ);
if (ret < 0)
{
snerr("Fail to send cmd MS5611_CMD_START_ADC_READ!\n");
return;
}
/* Wait data get ready */
up_udelay(4000);
ret = ms5611_read24(priv, buffer);
if (ret < 0)
{
snerr("Fail to read temperature!\n");
return;
}
temp = (uint32_t) buffer[0] << 16 |
(uint32_t) buffer[1] << 8 |
(uint32_t) buffer[2];
/* Release the semaphore */
nxsem_post(&priv->exclsem);
/* Compensate the temp/press with calibration data */
temp = ms5611_compensate_temp(priv, temp, &deltat);
press = ms5611_compensate_press(priv, press, deltat);
baro->timestamp = ms5611_curtime();
baro->pressure = press / 100.0f;
baro->temperature = temp / 100.0f;
}
/****************************************************************************
* Name: ms5611_thread
*
* Description: Thread for performing interval measurement cycle and data
* read.
*
* Parameter:
* argc - Number opf arguments
* argv - Pointer to argument list
****************************************************************************/
static int ms5611_thread(int argc, char **argv)
{
FAR struct ms5611_dev_s *priv = (FAR struct ms5611_dev_s *)
((uintptr_t)strtoul(argv[1], NULL, 0));
struct sensor_event_baro baro_data;
while (true)
{
int ret;
if (!priv->enabled)
{
/* Waiting to be woken up */
ret = nxsem_wait(&priv->run);
if (ret < 0)
{
continue;
}
}
baro_measure_read(priv, &baro_data);
priv->sensor_lower.push_event(priv->sensor_lower.priv, &baro_data,
sizeof(struct sensor_event_baro));
/* Sleeping thread before fetching the next sensor data */
nxsig_usleep(priv->interval);
}
return OK;
}
/****************************************************************************
* Name: ms5611_initialize
*
* Description:
* Initialize MS5611 device
*
****************************************************************************/
static int ms5611_initialize(FAR struct ms5611_dev_s *priv)
{
uint16_t prom[8];
uint8_t data[2];
uint8_t crc;
int i;
int ret;
/* Get calibration data. */
ret = ms5611_sendcmd(priv, MS5611_CMD_RESET);
if (ret < 0)
{
snerr("ms5611 reset failed\n");
return ret;
}
/* We have to wait before the prom is ready is be read */
up_udelay(10000);
for (i = 0; i < 8; i++)
{
ret = ms5611_sendcmd(priv, MS5611_CMD_ADC_PROM_READ(i));
if (ret < 0)
{
snerr("ms5611_sendcmd failed\n");
return ret;
}
ret = ms5611_read16(priv, data);
if (ret < 0)
{
snerr("ms5611_read16 failed\n");
return ret;
}
prom[i] = (uint16_t) data[0] << 8 | (uint16_t) data[1];
}
/* Get the 4-bit CRC from PROM */
crc = (uint8_t)(prom[7] & 0xf);
/* Verify if the calculated CRC is equal to PROM's CRC */
if (crc != msxxxx_crc4(prom, 7, 0xff))
{
snerr("ERROR: Calculated CRC different from PROM's CRC!\n");
return -ENODEV;
}
/* Fill read calibration coefficients */
priv->calib.c1 = prom[1];
priv->calib.c2 = prom[2];
priv->calib.c3 = prom[3];
priv->calib.c4 = prom[4];
priv->calib.c5 = prom[5];
priv->calib.c6 = prom[6];
return ret;
}
/****************************************************************************
* Name: ms5611_compensate_temp
*
* Description:
* calculate compensate temperature
*
* Input Parameters:
* temp - uncompensate value of temperature.
*
* Returned Value:
* calculate result of compensate temperature.
*
****************************************************************************/
static int32_t ms5611_compensate_temp(FAR struct ms5611_dev_s *priv,
uint32_t temp, int32_t *deltat)
{
struct ms5611_calib_s *c = &priv->calib;
int32_t dt;
/* dt = d1 - c5 * 256 */
dt = temp - ((int32_t) c->c5 << 8);
/* temp = 2000 + (dt * c6) / 8388608 */
temp = 2000 + (((int64_t) (dt * c->c6)) >> 23);
/* Save dt that will be used for pressure calibration */
*deltat = dt;
return temp;
}
/****************************************************************************
* Name: ms5611_compensate_press
*
* Description:
* calculate compensate pressure
*
* Input Parameters:
* press - uncompensate value of pressure.
*
* Returned Value:
* calculate result of compensate pressure.
*
****************************************************************************/
static uint32_t ms5611_compensate_press(FAR struct ms5611_dev_s *priv,
uint32_t press, uint32_t dt)
{
struct ms5611_calib_s *c = &priv->calib;
int64_t off;
int64_t sens;
off = ((int64_t) c->c2 * 65536) + ((int64_t) (c->c4 * dt) / 128);
sens = ((int64_t) c->c1 * 32768) + ((int64_t) (c->c3 * dt) / 256);
press = (((press * sens) / 2097152) - off) / 32768;
return press;
}
/****************************************************************************
* Name: ms5611_set_interval
****************************************************************************/
static int ms5611_set_interval(FAR struct sensor_lowerhalf_s *lower,
FAR unsigned int *period_us)
{
FAR struct ms5611_dev_s *priv = container_of(lower,
FAR struct ms5611_dev_s,
sensor_lower);
priv->interval = *period_us;
return OK;
}
/****************************************************************************
* Name: ms5611_activate
****************************************************************************/
static int ms5611_activate(FAR struct sensor_lowerhalf_s *lower,
bool enable)
{
bool start_thread = false;
struct ms5611_dev_s *priv = (FAR struct ms5611_dev_s *)lower;
if (enable)
{
if (!priv->enabled)
{
start_thread = true;
}
}
priv->enabled = enable;
if (start_thread)
{
/* Wake up the thread */
nxsem_post(&priv->run);
}
return OK;
}
/****************************************************************************
* Name: ms5611_fetch
****************************************************************************/
/* N.B. When fetch is enabled the sensortest doesn't respect the
* interval (-i) parameter, so let keep it comment until further
* discussion about the "issue".
*/
#if 0
static int ms5611_fetch(FAR struct sensor_lowerhalf_s *lower,
FAR char *buffer, size_t buflen)
{
FAR struct ms5611_dev_s *priv = container_of(lower,
FAR struct ms5611_dev_s,
sensor_lower);
struct sensor_event_baro baro_data;
if (buflen != sizeof(baro_data))
{
return -EINVAL;
}
baro_measure_read(priv, &baro_data);
memcpy(buffer, &baro_data, sizeof(baro_data));
return buflen;
}
#endif
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: ms5611_register
*
* Description:
* Register the MS5611 character device
*
* Input Parameters:
* i2c - An instance of the I2C interface to use to communicate with
* MS5611
* devno - Instance number for driver
* addr - The I2C address of the MS5611.
*
* Returned Value:
* Zero (OK) on success; a negated errno value on failure.
*
****************************************************************************/
int ms5611_register(FAR struct i2c_master_s *i2c, int devno, uint8_t addr)
{
FAR struct ms5611_dev_s *priv;
FAR char *argv[2];
char arg1[32];
int ret;
/* Initialize the MS5611 device structure */
priv = (FAR struct ms5611_dev_s *)kmm_zalloc(sizeof(struct ms5611_dev_s));
if (priv == NULL)
{
snerr("Failed to allocate instance\n");
return -ENOMEM;
}
priv->i2c = i2c;
priv->addr = addr;
priv->freq = CONFIG_MS5611_I2C_FREQUENCY;
priv->interval = 1000000; /* Default interval 1s */
nxsem_init(&priv->run, 0, 0);
nxsem_init(&priv->exclsem, 0, 1);
priv->sensor_lower.ops = &g_sensor_ops;
priv->sensor_lower.type = SENSOR_TYPE_BAROMETER;
ret = ms5611_initialize(priv);
if (ret < 0)
{
snerr("Failed to initialize physical device ms5611:%d\n", ret);
kmm_free(priv);
return ret;
}
/* Register the character driver */
ret = sensor_register(&priv->sensor_lower, devno);
if (ret < 0)
{
snerr("Failed to register driver: %d\n", ret);
kmm_free(priv);
return ret;
}
/* Create thread for polling sensor data */
snprintf(arg1, 16, "0x%" PRIxPTR, (uintptr_t)priv);
argv[0] = arg1;
argv[1] = NULL;
ret = kthread_create("ms5611_thread", SCHED_PRIORITY_DEFAULT,
CONFIG_MS5611_THREAD_STACKSIZE,
ms5611_thread, argv);
if (ret < 0)
{
snerr("Failed to create the notification kthread!\n");
sensor_unregister(&priv->sensor_lower, devno);
kmm_free(priv);
return ret;
}
sninfo("MS5611 driver loaded successfully!\n");
return OK;
}
#endif
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