ms5611_main.cpp

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/**
 * @file ms5611.cpp
 * Driver for the MS5611 and MS5607 barometric pressure sensor connected via I2C or SPI.
 */

#include "MS5611.hpp"
#include "ms5611.h"

enum MS5611_BUS {
    MS5611_BUS_ALL = 0,
    MS5611_BUS_I2C_INTERNAL,
    MS5611_BUS_I2C_EXTERNAL,
    MS5611_BUS_SPI_INTERNAL,
    MS5611_BUS_SPI_EXTERNAL
};

/*
 * Driver 'main' command.
 */
extern "C" __EXPORT int ms5611_main(int argc, char *argv[]);

/**
 * Local functions in support of the shell command.
 */
namespace ms5611
{

/*
  list of supported bus configurations
 */
struct ms5611_bus_option {
    enum MS5611_BUS busid;
    const char *devpath;
    MS5611_constructor interface_constructor;
    uint8_t busnum;
    MS5611 *dev;
} bus_options[] = {
#if defined(PX4_SPIDEV_EXT_BARO) && defined(PX4_SPI_BUS_EXT)
    { MS5611_BUS_SPI_EXTERNAL, "/dev/ms5611_spi_ext", &MS5611_spi_interface, PX4_SPI_BUS_EXT, NULL },
#endif
#ifdef PX4_SPIDEV_BARO
    { MS5611_BUS_SPI_INTERNAL, "/dev/ms5611_spi_int", &MS5611_spi_interface, PX4_SPI_BUS_BARO, NULL },
#endif
#ifdef PX4_I2C_BUS_ONBOARD
    { MS5611_BUS_I2C_INTERNAL, "/dev/ms5611_int", &MS5611_i2c_interface, PX4_I2C_BUS_ONBOARD, NULL },
#endif
#ifdef PX4_I2C_BUS_EXPANSION
    { MS5611_BUS_I2C_EXTERNAL, "/dev/ms5611_ext", &MS5611_i2c_interface, PX4_I2C_BUS_EXPANSION, NULL },
#endif
#ifdef PX4_I2C_BUS_EXPANSION1
    { MS5611_BUS_I2C_EXTERNAL, "/dev/ms5611_ext1", &MS5611_i2c_interface, PX4_I2C_BUS_EXPANSION1, NULL },
#endif
#ifdef PX4_I2C_BUS_EXPANSION2
    { MS5611_BUS_I2C_EXTERNAL, "/dev/ms5611_ext2", &MS5611_i2c_interface, PX4_I2C_BUS_EXPANSION2, NULL },
#endif
};
#define NUM_BUS_OPTIONS (sizeof(bus_options)/sizeof(bus_options[0]))

/**
 * Start the driver.
 */
static bool
start_bus(struct ms5611_bus_option &bus, enum MS56XX_DEVICE_TYPES device_type)
{
    if (bus.dev != nullptr) {
        PX4_ERR("bus option already started");
        return false;
    }

    prom_u prom_buf;
    device::Device *interface = bus.interface_constructor(prom_buf, bus.busnum);

    if (interface->init() != OK) {
        delete interface;
        PX4_WARN("no device on bus %u", (unsigned)bus.busid);
        return false;
    }

    bus.dev = new MS5611(interface, prom_buf, bus.devpath, device_type);

    if (bus.dev != nullptr && OK != bus.dev->init()) {
        delete bus.dev;
        bus.dev = NULL;
        return false;
    }

    int fd = px4_open(bus.devpath, O_RDONLY);

    /* set the poll rate to default, starts automatic data collection */
    if (fd == -1) {
        PX4_ERR("can't open baro device");
        return false;
    }

    if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
        px4_close(fd);
        PX4_ERR("failed setting default poll rate");
        return false;
    }

    px4_close(fd);
    return true;
}

/**
 * Start the driver.
 *
 * This function call only returns once the driver
 * is either successfully up and running or failed to start.
 */
static int
start(enum MS5611_BUS busid, enum MS56XX_DEVICE_TYPES device_type)
{
    uint8_t i;
    bool started = false;

    for (i = 0; i < NUM_BUS_OPTIONS; i++) {
        if (busid == MS5611_BUS_ALL && bus_options[i].dev != NULL) {
            // this device is already started
            continue;
        }

        if (busid != MS5611_BUS_ALL && bus_options[i].busid != busid) {
            // not the one that is asked for
            continue;
        }

        started = started | start_bus(bus_options[i], device_type);
    }

    if (!started) {
        return PX4_ERROR;
    }

    // one or more drivers started OK
    return PX4_OK;
}

static int
info()
{
    for (uint8_t i = 0; i < NUM_BUS_OPTIONS; i++) {
        struct ms5611_bus_option &bus = bus_options[i];

        if (bus.dev != nullptr) {
            PX4_INFO("%s", bus.devpath);
            bus.dev->print_info();
        }
    }

    return 0;
}

static int
usage()
{
    PX4_INFO("missing command: try 'start', 'info',");
    PX4_INFO("options:");
    PX4_INFO("    -X    (external I2C bus)");
    PX4_INFO("    -I    (intternal I2C bus)");
    PX4_INFO("    -S    (external SPI bus)");
    PX4_INFO("    -s    (internal SPI bus)");
    PX4_INFO("    -T    5611|5607 (default 5611)");
    PX4_INFO("    -T    0 (autodetect version)");

    return 0;
}

} // namespace

int
ms5611_main(int argc, char *argv[])
{
    enum MS5611_BUS busid = MS5611_BUS_ALL;
    enum MS56XX_DEVICE_TYPES device_type = MS5611_DEVICE;
    int ch;
    int myoptind = 1;
    const char *myoptarg = NULL;

    /* jump over start/off/etc and look at options first */
    while ((ch = px4_getopt(argc, argv, "T:XISs", &myoptind, &myoptarg)) != EOF) {
        switch (ch) {
        case 'X':
            busid = MS5611_BUS_I2C_EXTERNAL;
            break;

        case 'I':
            busid = MS5611_BUS_I2C_INTERNAL;
            break;

        case 'S':
            busid = MS5611_BUS_SPI_EXTERNAL;
            break;

        case 's':
            busid = MS5611_BUS_SPI_INTERNAL;
            break;

        case 'T': {
                int val = atoi(myoptarg);

                if (val == 5611) {
                    device_type = MS5611_DEVICE;
                    break;

                } else if (val == 5607) {
                    device_type = MS5607_DEVICE;
                    break;

                } else if (val == 0) {
                    device_type = MS56XX_DEVICE;
                    break;
                }
            }

        /* FALLTHROUGH */

        default:
            return ms5611::usage();
        }
    }

    if (myoptind >= argc) {
        return ms5611::usage();
    }

    const char *verb = argv[myoptind];

    /*
     * Start/load the driver.
     */
    if (!strcmp(verb, "start")) {
        return ms5611::start(busid, device_type);
    }

    /*
     * Print driver information.
     */
    if (!strcmp(verb, "info")) {
        return ms5611::info();
    }

    return ms5611::usage();
}