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