LPS22HB.hpp
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/****************************************************************************
*
* Copyright (c) 2018 PX4 Development Team. All rights reserved.
*
* 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 PX4 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.
*
****************************************************************************/
#pragma once
#include <cstring>
#include <drivers/device/Device.hpp>
#include <lib/perf/perf_counter.h>
#include <px4_platform_common/i2c_spi_buses.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <lib/drivers/barometer/PX4Barometer.hpp>
static constexpr uint8_t WHO_AM_I = 0x0F;
static constexpr uint8_t LPS22HB_ID_WHO_AM_I = 0xB1;
static constexpr uint8_t CTRL_REG1 = 0x10;
static constexpr uint8_t CTRL_REG2 = 0x11;
static constexpr uint8_t CTRL_REG3 = 0x12;
#define BOOT (1 << 7)
#define FIFO_EN (1 << 6)
#define STOP_ON_FTH (1 << 5)
#define IF_ADD_INC (1 << 4)
#define I2C_DIS (1 << 3)
#define SWRESET (1 << 2)
#define ONE_SHOT (1 << 0)
static constexpr uint8_t STATUS = 0x27;
#define T_OR (1 << 5) // Temperature data overrun.
#define P_OR (1 << 4) // Pressure data overrun.
#define T_DA (1 << 1) // Temperature data available.
#define P_DA (1 << 0) // Pressure data available.
static constexpr uint8_t PRESS_OUT_XL = 0x28;
static constexpr uint8_t PRESS_OUT_L = 0x29;
static constexpr uint8_t PRESS_OUT_H = 0x2A;
static constexpr uint8_t TEMP_OUT_L = 0x2B;
static constexpr uint8_t TEMP_OUT_H = 0x2C;
/* interface factories */
extern device::Device *LPS22HB_SPI_interface(int bus, uint32_t devid, int bus_frequency, spi_mode_e spi_mode);
extern device::Device *LPS22HB_I2C_interface(int bus, int bus_frequency);
class LPS22HB : public I2CSPIDriver<LPS22HB>
{
public:
LPS22HB(I2CSPIBusOption bus_option, int bus, device::Device *interface);
virtual ~LPS22HB();
static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance);
static void print_usage();
int init();
void print_status();
void RunImpl();
private:
PX4Barometer _px4_baro;
device::Device *_interface;
bool _collect_phase{false};
perf_counter_t _sample_perf;
perf_counter_t _comms_errors;
/**
* Initialise the automatic measurement state machine and start it.
*
* @note This function is called at open and error time. It might make sense
* to make it more aggressive about resetting the bus in case of errors.
*/
void start();
/**
* Reset the device
*/
int reset();
/**
* Write a register.
*
* @param reg The register to write.
* @param val The value to write.
* @return OK on write success.
*/
int write_reg(uint8_t reg, uint8_t val);
/**
* Read a register.
*
* @param reg The register to read.
* @param val The value read.
* @return OK on read success.
*/
int read_reg(uint8_t reg, uint8_t &val);
/**
* Issue a measurement command.
*
* @return OK if the measurement command was successful.
*/
int measure();
/**
* Collect the result of the most recent measurement.
*/
int collect();
};