<commit_before>/****************************************************************************
 *
 *   Copyright (C) 2012 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.
 *
 ****************************************************************************/

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

#include <nuttx/config.h>

#include <drivers/device/i2c.h>

#include <sys/types.h>
#include <stdint.h>
#include <stdbool.h>
#include <stdlib.h>
#include <semaphore.h>
#include <string.h>
#include <fcntl.h>
#include <poll.h>
#include <errno.h>
#include <stdio.h>
#include <math.h>
#include <unistd.h>

#include <nuttx/arch.h>
#include <nuttx/wqueue.h>
#include <nuttx/clock.h>

#include <arch/board/board.h>

#include <drivers/drv_hrt.h>

#include <systemlib/perf_counter.h>
#include <systemlib/err.h>

#include <drivers/drv_baro.h>

/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
# undef ERROR
#endif
static const int ERROR = -1;

#ifndef CONFIG_SCHED_WORKQUEUE
# error This requires CONFIG_SCHED_WORKQUEUE.
#endif

/**
 * Calibration PROM as reported by the device.
 */
#pragma pack(push,1)
struct ms5611_prom_s {
	uint16_t factory_setup;
	uint16_t c1_pressure_sens;
	uint16_t c2_pressure_offset;
	uint16_t c3_temp_coeff_pres_sens;
	uint16_t c4_temp_coeff_pres_offset;
	uint16_t c5_reference_temp;
	uint16_t c6_temp_coeff_temp;
	uint16_t serial_and_crc;
};

/**
 * Grody hack for crc4()
 */
union ms5611_prom_u {
	uint16_t c[8];
	struct ms5611_prom_s s;
};
#pragma pack(pop)

class MS5611 : public device::I2C
{
public:
	MS5611(int bus);
	~MS5611();

	virtual int		init();

	virtual ssize_t		read(struct file *filp, char *buffer, size_t buflen);
	virtual int		ioctl(struct file *filp, int cmd, unsigned long arg);

	/**
	 * Diagnostics - print some basic information about the driver.
	 */
	void			print_info();

protected:
	virtual int		probe();

private:
	union ms5611_prom_u	_prom;

	struct work_s		_work;
	unsigned		_measure_ticks;

	unsigned		_num_reports;
	volatile unsigned	_next_report;
	volatile unsigned	_oldest_report;
	struct baro_report	*_reports;

	bool			_collect_phase;
	unsigned		_measure_phase;

	/* intermediate temperature values per MS5611 datasheet */
	int32_t			_TEMP;
	int64_t			_OFF;
	int64_t			_SENS;

	/* altitude conversion calibration */
	unsigned		_msl_pressure;	/* in kPa */

	orb_advert_t		_baro_topic;

	perf_counter_t		_sample_perf;
	perf_counter_t		_comms_errors;
	perf_counter_t		_buffer_overflows;

	/**
	 * Test whether the device supported by the driver is present at a
	 * specific address.
	 *
	 * @param address	The I2C bus address to probe.
	 * @return		True if the device is present.
	 */
	int			probe_address(uint8_t address);

	/**
	 * 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_cycle();

	/**
	 * Stop the automatic measurement state machine.
	 */
	void			stop_cycle();

	/**
	 * Perform a poll cycle; collect from the previous measurement
	 * and start a new one.
	 *
	 * This is the heart of the measurement state machine.  This function
	 * alternately starts a measurement, or collects the data from the
	 * previous measurement.
	 *
	 * When the interval between measurements is greater than the minimum
	 * measurement interval, a gap is inserted between collection
	 * and measurement to provide the most recent measurement possible
	 * at the next interval.
	 */
	void			cycle();

	/**
	 * Static trampoline from the workq context; because we don't have a
	 * generic workq wrapper yet.
	 *
	 * @param arg		Instance pointer for the driver that is polling.
	 */
	static void		cycle_trampoline(void *arg);

	/**
	 * Issue a measurement command for the current state.
	 *
	 * @return		OK if the measurement command was successful.
	 */
	int			measure();

	/**
	 * Collect the result of the most recent measurement.
	 */
	int			collect();

	/**
	 * Send a reset command to the MS5611.
	 *
	 * This is required after any bus reset.
	 */
	int			cmd_reset();

	/**
	 * Read the MS5611 PROM
	 *
	 * @return		OK if the PROM reads successfully.
	 */
	int			read_prom();

	/**
	 * PROM CRC routine ported from MS5611 application note
	 *
	 * @param n_prom	Pointer to words read from PROM.
	 * @return		True if the CRC matches.
	 */
	bool			crc4(uint16_t *n_prom);

};

/* helper macro for handling report buffer indices */
#define INCREMENT(_x, _lim)	do { _x++; if (_x >= _lim) _x = 0; } while(0)

/* helper macro for arithmetic - returns the square of the argument */
#define POW2(_x)		((_x) * (_x))

/*
 * MS5611 internal constants and data structures.
 */

/* internal conversion time: 9.17 ms, so should not be read at rates higher than 100 Hz */
#define MS5611_CONVERSION_INTERVAL	10000	/* microseconds */
#define MS5611_MEASUREMENT_RATIO	3	/* pressure measurements per temperature measurement */

#define MS5611_BUS			PX4_I2C_BUS_ONBOARD
#define MS5611_ADDRESS_1		PX4_I2C_OBDEV_MS5611 /* address select pins pulled high (PX4FMU series v1.6+) */
#define MS5611_ADDRESS_2		0x77    /* address select pins pulled low (PX4FMU prototypes) */

#define ADDR_RESET_CMD			0x1E	/* write to this address to reset chip */
#define ADDR_CMD_CONVERT_D1		0x48	/* write to this address to start temperature conversion */
#define ADDR_CMD_CONVERT_D2		0x58	/* write to this address to start pressure conversion */
#define ADDR_DATA			0x00	/* address of 3 bytes / 32bit pressure data */
#define ADDR_PROM_SETUP			0xA0	/* address of 8x 2 bytes factory and calibration data */
#define ADDR_PROM_C1			0xA2	/* address of 6x 2 bytes calibration data */

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


MS5611::MS5611(int bus) :
	I2C("MS5611", BARO_DEVICE_PATH, bus, 0, 400000),
	_measure_ticks(0),
	_num_reports(0),
	_next_report(0),
	_oldest_report(0),
	_reports(nullptr),
	_collect_phase(false),
	_measure_phase(0),
	_TEMP(0),
	_OFF(0),
	_SENS(0),
	_msl_pressure(101325),
	_baro_topic(-1),
	_sample_perf(perf_alloc(PC_ELAPSED, "ms5611_read")),
	_comms_errors(perf_alloc(PC_COUNT, "ms5611_comms_errors")),
	_buffer_overflows(perf_alloc(PC_COUNT, "ms5611_buffer_overflows"))
{
	// enable debug() calls
	_debug_enabled = true;

	// work_cancel in the dtor will explode if we don't do this...
	memset(&_work, 0, sizeof(_work));
}

MS5611::~MS5611()
{
	/* make sure we are truly inactive */
	stop_cycle();

	/* free any existing reports */
	if (_reports != nullptr)
		delete[] _reports;
}

int
MS5611::init()
{
	int ret = ERROR;

	/* do I2C init (and probe) first */
	if (I2C::init() != OK)
		goto out;

	/* allocate basic report buffers */
	_num_reports = 2;
	_reports = new struct baro_report[_num_reports];

	if (_reports == nullptr)
		goto out;

	_oldest_report = _next_report = 0;

	/* get a publish handle on the baro topic */
	memset(&_reports[0], 0, sizeof(_reports[0]));
	_baro_topic = orb_advertise(ORB_ID(sensor_baro), &_reports[0]);

	if (_baro_topic < 0)
		debug("failed to create sensor_baro object");

	ret = OK;
out:
	return ret;
}

int
MS5611::probe()
{
	_retries = 10;

	if ((OK == probe_address(MS5611_ADDRESS_1)) ||
	    (OK == probe_address(MS5611_ADDRESS_2))) {
		/*
	    	 * Disable retries; we may enable them selectively in some cases,
		 * but the device gets confused if we retry some of the commands.
	    	 */
		_retries = 0;
		return OK;
	}

	return -EIO;
}

int
MS5611::probe_address(uint8_t address)
{
	/* select the address we are going to try */
	set_address(address);

	/* send reset command */
	if (OK != cmd_reset())
		return -EIO;

	/* read PROM */
	if (OK != read_prom())
		return -EIO;

	return OK;
}

ssize_t
MS5611::read(struct file *filp, char *buffer, size_t buflen)
{
	unsigned count = buflen / sizeof(struct baro_report);
	int ret = 0;

	/* buffer must be large enough */
	if (count < 1)
		return -ENOSPC;

	/* if automatic measurement is enabled */
	if (_measure_ticks > 0) {

		/*
		 * While there is space in the caller's buffer, and reports, copy them.
		 * Note that we may be pre-empted by the workq thread while we are doing this;
		 * we are careful to avoid racing with them.
		 */
		while (count--) {
			if (_oldest_report != _next_report) {
				memcpy(buffer, _reports + _oldest_report, sizeof(*_reports));
				ret += sizeof(_reports[0]);
				INCREMENT(_oldest_report, _num_reports);
			}
		}

		/* if there was no data, warn the caller */
		return ret ? ret : -EAGAIN;
	}

	/* manual measurement - run one conversion */
	/* XXX really it'd be nice to lock against other readers here */
	do {
		_measure_phase = 0;
		_oldest_report = _next_report = 0;

		/* do temperature first */
		if (OK != measure()) {
			ret = -EIO;
			break;
		}

		usleep(MS5611_CONVERSION_INTERVAL);

		if (OK != collect()) {
			ret = -EIO;
			break;
		}

		/* now do a pressure measurement */
		if (OK != measure()) {
			ret = -EIO;
			break;
		}

		usleep(MS5611_CONVERSION_INTERVAL);

		if (OK != collect()) {
			ret = -EIO;
			break;
		}

		/* state machine will have generated a report, copy it out */
		memcpy(buffer, _reports, sizeof(*_reports));
		ret = sizeof(*_reports);

	} while (0);

	return ret;
}

int
MS5611::ioctl(struct file *filp, int cmd, unsigned long arg)
{
	switch (cmd) {

	case SENSORIOCSPOLLRATE: {
			switch (arg) {

				/* switching to manual polling */
			case SENSOR_POLLRATE_MANUAL:
				stop_cycle();
				_measure_ticks = 0;
				return OK;

				/* external signalling not supported */
			case SENSOR_POLLRATE_EXTERNAL:

				/* zero would be bad */
			case 0:
				return -EINVAL;

				/* set default/max polling rate */
			case SENSOR_POLLRATE_MAX:
			case SENSOR_POLLRATE_DEFAULT: {
					/* do we need to start internal polling? */
					bool want_start = (_measure_ticks == 0);

					/* set interval for next measurement to minimum legal value */
					_measure_ticks = USEC2TICK(MS5611_CONVERSION_INTERVAL);

					/* if we need to start the poll state machine, do it */
					if (want_start)
						start_cycle();

					return OK;
				}

				/* adjust to a legal polling interval in Hz */
			default: {
					/* do we need to start internal polling? */
					bool want_start = (_measure_ticks == 0);

					/* convert hz to tick interval via microseconds */
					unsigned ticks = USEC2TICK(1000000 / arg);

					/* check against maximum rate */
					if (ticks < USEC2TICK(MS5611_CONVERSION_INTERVAL))
						return -EINVAL;

					/* update interval for next measurement */
					_measure_ticks = ticks;

					/* if we need to start the poll state machine, do it */
					if (want_start)
						start_cycle();

					return OK;
				}
			}
		}

	case SENSORIOCGPOLLRATE:
		if (_measure_ticks == 0)
			return SENSOR_POLLRATE_MANUAL;

		return (1000 / _measure_ticks);

	case SENSORIOCSQUEUEDEPTH: {
			/* add one to account for the sentinel in the ring */
			arg++;

			/* lower bound is mandatory, upper bound is a sanity check */
			if ((arg < 2) || (arg > 100))
				return -EINVAL;

			/* allocate new buffer */
			struct baro_report *buf = new struct baro_report[arg];

			if (nullptr == buf)
				return -ENOMEM;

			/* reset the measurement state machine with the new buffer, free the old */
			stop_cycle();
			delete[] _reports;
			_num_reports = arg;
			_reports = buf;
			start_cycle();

			return OK;
		}

	case SENSORIOCGQUEUEDEPTH:
		return _num_reports - 1;

	case SENSORIOCRESET:
		/* XXX implement this */
		return -EINVAL;

	case BAROIOCSMSLPRESSURE:

		/* range-check for sanity */
		if ((arg < 80000) || (arg > 120000))
			return -EINVAL;

		_msl_pressure = arg;
		return OK;

	case BAROIOCGMSLPRESSURE:
		return _msl_pressure;

	default:
		break;
	}

	/* give it to the superclass */
	return I2C::ioctl(filp, cmd, arg);
}

void
MS5611::start_cycle()
{

	/* reset the report ring and state machine */
	_collect_phase = false;
	_measure_phase = 0;
	_oldest_report = _next_report = 0;

	/* schedule a cycle to start things */
	work_queue(HPWORK, &_work, (worker_t)&MS5611::cycle_trampoline, this, 1);
}

void
MS5611::stop_cycle()
{
	work_cancel(HPWORK, &_work);
}

void
MS5611::cycle_trampoline(void *arg)
{
	MS5611 *dev = (MS5611 *)arg;

	dev->cycle();
}

void
MS5611::cycle()
{
	int ret;

	/* collection phase? */
	if (_collect_phase) {

		/* perform collection */
		ret = collect();
		if (ret != OK) {
			if (ret == -6) {
				/*
				 * The ms5611 seems to regularly fail to respond to
				 * its address; this happens often enough that we'd rather not
				 * spam the console with the message.
				 */
			} else {
				log("collection error %d", ret);
			}
			/* reset the collection state machine and try again */
			start_cycle();
			return;
		}

		/* next phase is measurement */
		_collect_phase = false;

		/*
		 * Is there a collect->measure gap?
		 * Don't inject one after temperature measurements, so we can keep
		 * doing pressure measurements at something close to the desired rate.
		 */
		if ((_measure_phase != 0) &&
		    (_measure_ticks > USEC2TICK(MS5611_CONVERSION_INTERVAL))) {

			/* schedule a fresh cycle call when we are ready to measure again */
			work_queue(HPWORK,
				   &_work,
				   (worker_t)&MS5611::cycle_trampoline,
				   this,
				   _measure_ticks - USEC2TICK(MS5611_CONVERSION_INTERVAL));

			return;
		}
	}

	/* measurement phase */
	ret = measure();
	if (ret != OK) {
		log("measure error %d", ret);
		/* reset the collection state machine and try again */
		start_cycle();
		return;
	}

	/* next phase is collection */
	_collect_phase = true;

	/* schedule a fresh cycle call when the measurement is done */
	work_queue(HPWORK,
		   &_work,
		   (worker_t)&MS5611::cycle_trampoline,
		   this,
		   USEC2TICK(MS5611_CONVERSION_INTERVAL));
}

int
MS5611::measure()
{
	int ret;

	/*
	 * In phase zero, request temperature; in other phases, request pressure.
	 */
	uint8_t	cmd_data = (_measure_phase == 0) ? ADDR_CMD_CONVERT_D2 : ADDR_CMD_CONVERT_D1;

	/*
	 * Send the command to begin measuring.
	 *
	 * Disable retries on this command; we can't know whether failure 
	 * means the device did or did not see the write.
	 */
	_retries = 0;
	ret = transfer(&cmd_data, 1, nullptr, 0);

	if (OK != ret)
		perf_count(_comms_errors);

	return ret;
}

int
MS5611::collect()
{
	int ret;
	uint8_t cmd;
	uint8_t data[3];
	union {
		uint8_t	b[4];
		uint32_t w;
	} cvt;

	/* read the most recent measurement */
	cmd = 0;

	perf_begin(_sample_perf);

	/* this should be fairly close to the end of the conversion, so the best approximation of the time */
	_reports[_next_report].timestamp = hrt_absolute_time();

	ret = transfer(&cmd, 1, &data[0], 3);
	if (ret != OK) {
		perf_count(_comms_errors);
		return ret;<commit_msg>ms5611: try to measure the performance cost of I2C timeouts<commit_after>/****************************************************************************
 *
 *   Copyright (C) 2012 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.
 *
 ****************************************************************************/

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

#include <nuttx/config.h>

#include <drivers/device/i2c.h>

#include <sys/types.h>
#include <stdint.h>
#include <stdbool.h>
#include <stdlib.h>
#include <semaphore.h>
#include <string.h>
#include <fcntl.h>
#include <poll.h>
#include <errno.h>
#include <stdio.h>
#include <math.h>
#include <unistd.h>

#include <nuttx/arch.h>
#include <nuttx/wqueue.h>
#include <nuttx/clock.h>

#include <arch/board/board.h>

#include <drivers/drv_hrt.h>

#include <systemlib/perf_counter.h>
#include <systemlib/err.h>

#include <drivers/drv_baro.h>

/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
# undef ERROR
#endif
static const int ERROR = -1;

#ifndef CONFIG_SCHED_WORKQUEUE
# error This requires CONFIG_SCHED_WORKQUEUE.
#endif

/**
 * Calibration PROM as reported by the device.
 */
#pragma pack(push,1)
struct ms5611_prom_s {
	uint16_t factory_setup;
	uint16_t c1_pressure_sens;
	uint16_t c2_pressure_offset;
	uint16_t c3_temp_coeff_pres_sens;
	uint16_t c4_temp_coeff_pres_offset;
	uint16_t c5_reference_temp;
	uint16_t c6_temp_coeff_temp;
	uint16_t serial_and_crc;
};

/**
 * Grody hack for crc4()
 */
union ms5611_prom_u {
	uint16_t c[8];
	struct ms5611_prom_s s;
};
#pragma pack(pop)

class MS5611 : public device::I2C
{
public:
	MS5611(int bus);
	~MS5611();

	virtual int		init();

	virtual ssize_t		read(struct file *filp, char *buffer, size_t buflen);
	virtual int		ioctl(struct file *filp, int cmd, unsigned long arg);

	/**
	 * Diagnostics - print some basic information about the driver.
	 */
	void			print_info();

protected:
	virtual int		probe();

private:
	union ms5611_prom_u	_prom;

	struct work_s		_work;
	unsigned		_measure_ticks;

	unsigned		_num_reports;
	volatile unsigned	_next_report;
	volatile unsigned	_oldest_report;
	struct baro_report	*_reports;

	bool			_collect_phase;
	unsigned		_measure_phase;

	/* intermediate temperature values per MS5611 datasheet */
	int32_t			_TEMP;
	int64_t			_OFF;
	int64_t			_SENS;

	/* altitude conversion calibration */
	unsigned		_msl_pressure;	/* in kPa */

	orb_advert_t		_baro_topic;

	perf_counter_t		_sample_perf;
	perf_counter_t		_measure_perf;
	perf_counter_t		_comms_errors;
	perf_counter_t		_buffer_overflows;

	/**
	 * Test whether the device supported by the driver is present at a
	 * specific address.
	 *
	 * @param address	The I2C bus address to probe.
	 * @return		True if the device is present.
	 */
	int			probe_address(uint8_t address);

	/**
	 * 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_cycle();

	/**
	 * Stop the automatic measurement state machine.
	 */
	void			stop_cycle();

	/**
	 * Perform a poll cycle; collect from the previous measurement
	 * and start a new one.
	 *
	 * This is the heart of the measurement state machine.  This function
	 * alternately starts a measurement, or collects the data from the
	 * previous measurement.
	 *
	 * When the interval between measurements is greater than the minimum
	 * measurement interval, a gap is inserted between collection
	 * and measurement to provide the most recent measurement possible
	 * at the next interval.
	 */
	void			cycle();

	/**
	 * Static trampoline from the workq context; because we don't have a
	 * generic workq wrapper yet.
	 *
	 * @param arg		Instance pointer for the driver that is polling.
	 */
	static void		cycle_trampoline(void *arg);

	/**
	 * Issue a measurement command for the current state.
	 *
	 * @return		OK if the measurement command was successful.
	 */
	int			measure();

	/**
	 * Collect the result of the most recent measurement.
	 */
	int			collect();

	/**
	 * Send a reset command to the MS5611.
	 *
	 * This is required after any bus reset.
	 */
	int			cmd_reset();

	/**
	 * Read the MS5611 PROM
	 *
	 * @return		OK if the PROM reads successfully.
	 */
	int			read_prom();

	/**
	 * PROM CRC routine ported from MS5611 application note
	 *
	 * @param n_prom	Pointer to words read from PROM.
	 * @return		True if the CRC matches.
	 */
	bool			crc4(uint16_t *n_prom);

};

/* helper macro for handling report buffer indices */
#define INCREMENT(_x, _lim)	do { _x++; if (_x >= _lim) _x = 0; } while(0)

/* helper macro for arithmetic - returns the square of the argument */
#define POW2(_x)		((_x) * (_x))

/*
 * MS5611 internal constants and data structures.
 */

/* internal conversion time: 9.17 ms, so should not be read at rates higher than 100 Hz */
#define MS5611_CONVERSION_INTERVAL	10000	/* microseconds */
#define MS5611_MEASUREMENT_RATIO	3	/* pressure measurements per temperature measurement */

#define MS5611_BUS			PX4_I2C_BUS_ONBOARD
#define MS5611_ADDRESS_1		PX4_I2C_OBDEV_MS5611 /* address select pins pulled high (PX4FMU series v1.6+) */
#define MS5611_ADDRESS_2		0x77    /* address select pins pulled low (PX4FMU prototypes) */

#define ADDR_RESET_CMD			0x1E	/* write to this address to reset chip */
#define ADDR_CMD_CONVERT_D1		0x48	/* write to this address to start temperature conversion */
#define ADDR_CMD_CONVERT_D2		0x58	/* write to this address to start pressure conversion */
#define ADDR_DATA			0x00	/* address of 3 bytes / 32bit pressure data */
#define ADDR_PROM_SETUP			0xA0	/* address of 8x 2 bytes factory and calibration data */
#define ADDR_PROM_C1			0xA2	/* address of 6x 2 bytes calibration data */

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


MS5611::MS5611(int bus) :
	I2C("MS5611", BARO_DEVICE_PATH, bus, 0, 400000),
	_measure_ticks(0),
	_num_reports(0),
	_next_report(0),
	_oldest_report(0),
	_reports(nullptr),
	_collect_phase(false),
	_measure_phase(0),
	_TEMP(0),
	_OFF(0),
	_SENS(0),
	_msl_pressure(101325),
	_baro_topic(-1),
	_sample_perf(perf_alloc(PC_ELAPSED, "ms5611_read")),
	_measure_perf(perf_alloc(PC_ELAPSED, "ms5611_measure")),
	_comms_errors(perf_alloc(PC_COUNT, "ms5611_comms_errors")),
	_buffer_overflows(perf_alloc(PC_COUNT, "ms5611_buffer_overflows"))
{
	// enable debug() calls
	_debug_enabled = true;

	// work_cancel in the dtor will explode if we don't do this...
	memset(&_work, 0, sizeof(_work));
}

MS5611::~MS5611()
{
	/* make sure we are truly inactive */
	stop_cycle();

	/* free any existing reports */
	if (_reports != nullptr)
		delete[] _reports;
}

int
MS5611::init()
{
	int ret = ERROR;

	/* do I2C init (and probe) first */
	if (I2C::init() != OK)
		goto out;

	/* allocate basic report buffers */
	_num_reports = 2;
	_reports = new struct baro_report[_num_reports];

	if (_reports == nullptr)
		goto out;

	_oldest_report = _next_report = 0;

	/* get a publish handle on the baro topic */
	memset(&_reports[0], 0, sizeof(_reports[0]));
	_baro_topic = orb_advertise(ORB_ID(sensor_baro), &_reports[0]);

	if (_baro_topic < 0)
		debug("failed to create sensor_baro object");

	ret = OK;
out:
	return ret;
}

int
MS5611::probe()
{
	_retries = 10;

	if ((OK == probe_address(MS5611_ADDRESS_1)) ||
	    (OK == probe_address(MS5611_ADDRESS_2))) {
		/*
	    	 * Disable retries; we may enable them selectively in some cases,
		 * but the device gets confused if we retry some of the commands.
	    	 */
		_retries = 0;
		return OK;
	}

	return -EIO;
}

int
MS5611::probe_address(uint8_t address)
{
	/* select the address we are going to try */
	set_address(address);

	/* send reset command */
	if (OK != cmd_reset())
		return -EIO;

	/* read PROM */
	if (OK != read_prom())
		return -EIO;

	return OK;
}

ssize_t
MS5611::read(struct file *filp, char *buffer, size_t buflen)
{
	unsigned count = buflen / sizeof(struct baro_report);
	int ret = 0;

	/* buffer must be large enough */
	if (count < 1)
		return -ENOSPC;

	/* if automatic measurement is enabled */
	if (_measure_ticks > 0) {

		/*
		 * While there is space in the caller's buffer, and reports, copy them.
		 * Note that we may be pre-empted by the workq thread while we are doing this;
		 * we are careful to avoid racing with them.
		 */
		while (count--) {
			if (_oldest_report != _next_report) {
				memcpy(buffer, _reports + _oldest_report, sizeof(*_reports));
				ret += sizeof(_reports[0]);
				INCREMENT(_oldest_report, _num_reports);
			}
		}

		/* if there was no data, warn the caller */
		return ret ? ret : -EAGAIN;
	}

	/* manual measurement - run one conversion */
	/* XXX really it'd be nice to lock against other readers here */
	do {
		_measure_phase = 0;
		_oldest_report = _next_report = 0;

		/* do temperature first */
		if (OK != measure()) {
			ret = -EIO;
			break;
		}

		usleep(MS5611_CONVERSION_INTERVAL);

		if (OK != collect()) {
			ret = -EIO;
			break;
		}

		/* now do a pressure measurement */
		if (OK != measure()) {
			ret = -EIO;
			break;
		}

		usleep(MS5611_CONVERSION_INTERVAL);

		if (OK != collect()) {
			ret = -EIO;
			break;
		}

		/* state machine will have generated a report, copy it out */
		memcpy(buffer, _reports, sizeof(*_reports));
		ret = sizeof(*_reports);

	} while (0);

	return ret;
}

int
MS5611::ioctl(struct file *filp, int cmd, unsigned long arg)
{
	switch (cmd) {

	case SENSORIOCSPOLLRATE: {
			switch (arg) {

				/* switching to manual polling */
			case SENSOR_POLLRATE_MANUAL:
				stop_cycle();
				_measure_ticks = 0;
				return OK;

				/* external signalling not supported */
			case SENSOR_POLLRATE_EXTERNAL:

				/* zero would be bad */
			case 0:
				return -EINVAL;

				/* set default/max polling rate */
			case SENSOR_POLLRATE_MAX:
			case SENSOR_POLLRATE_DEFAULT: {
					/* do we need to start internal polling? */
					bool want_start = (_measure_ticks == 0);

					/* set interval for next measurement to minimum legal value */
					_measure_ticks = USEC2TICK(MS5611_CONVERSION_INTERVAL);

					/* if we need to start the poll state machine, do it */
					if (want_start)
						start_cycle();

					return OK;
				}

				/* adjust to a legal polling interval in Hz */
			default: {
					/* do we need to start internal polling? */
					bool want_start = (_measure_ticks == 0);

					/* convert hz to tick interval via microseconds */
					unsigned ticks = USEC2TICK(1000000 / arg);

					/* check against maximum rate */
					if (ticks < USEC2TICK(MS5611_CONVERSION_INTERVAL))
						return -EINVAL;

					/* update interval for next measurement */
					_measure_ticks = ticks;

					/* if we need to start the poll state machine, do it */
					if (want_start)
						start_cycle();

					return OK;
				}
			}
		}

	case SENSORIOCGPOLLRATE:
		if (_measure_ticks == 0)
			return SENSOR_POLLRATE_MANUAL;

		return (1000 / _measure_ticks);

	case SENSORIOCSQUEUEDEPTH: {
			/* add one to account for the sentinel in the ring */
			arg++;

			/* lower bound is mandatory, upper bound is a sanity check */
			if ((arg < 2) || (arg > 100))
				return -EINVAL;

			/* allocate new buffer */
			struct baro_report *buf = new struct baro_report[arg];

			if (nullptr == buf)
				return -ENOMEM;

			/* reset the measurement state machine with the new buffer, free the old */
			stop_cycle();
			delete[] _reports;
			_num_reports = arg;
			_reports = buf;
			start_cycle();

			return OK;
		}

	case SENSORIOCGQUEUEDEPTH:
		return _num_reports - 1;

	case SENSORIOCRESET:
		/* XXX implement this */
		return -EINVAL;

	case BAROIOCSMSLPRESSURE:

		/* range-check for sanity */
		if ((arg < 80000) || (arg > 120000))
			return -EINVAL;

		_msl_pressure = arg;
		return OK;

	case BAROIOCGMSLPRESSURE:
		return _msl_pressure;

	default:
		break;
	}

	/* give it to the superclass */
	return I2C::ioctl(filp, cmd, arg);
}

void
MS5611::start_cycle()
{

	/* reset the report ring and state machine */
	_collect_phase = false;
	_measure_phase = 0;
	_oldest_report = _next_report = 0;

	/* schedule a cycle to start things */
	work_queue(HPWORK, &_work, (worker_t)&MS5611::cycle_trampoline, this, 1);
}

void
MS5611::stop_cycle()
{
	work_cancel(HPWORK, &_work);
}

void
MS5611::cycle_trampoline(void *arg)
{
	MS5611 *dev = (MS5611 *)arg;

	dev->cycle();
}

void
MS5611::cycle()
{
	int ret;

	/* collection phase? */
	if (_collect_phase) {

		/* perform collection */
		ret = collect();
		if (ret != OK) {
			if (ret == -6) {
				/*
				 * The ms5611 seems to regularly fail to respond to
				 * its address; this happens often enough that we'd rather not
				 * spam the console with the message.
				 */
			} else {
				log("collection error %d", ret);
			}
			/* reset the collection state machine and try again */
			start_cycle();
			return;
		}

		/* next phase is measurement */
		_collect_phase = false;

		/*
		 * Is there a collect->measure gap?
		 * Don't inject one after temperature measurements, so we can keep
		 * doing pressure measurements at something close to the desired rate.
		 */
		if ((_measure_phase != 0) &&
		    (_measure_ticks > USEC2TICK(MS5611_CONVERSION_INTERVAL))) {

			/* schedule a fresh cycle call when we are ready to measure again */
			work_queue(HPWORK,
				   &_work,
				   (worker_t)&MS5611::cycle_trampoline,
				   this,
				   _measure_ticks - USEC2TICK(MS5611_CONVERSION_INTERVAL));

			return;
		}
	}

	/* measurement phase */
	ret = measure();
	if (ret != OK) {
		log("measure error %d", ret);
		/* reset the collection state machine and try again */
		start_cycle();
		return;
	}

	/* next phase is collection */
	_collect_phase = true;

	/* schedule a fresh cycle call when the measurement is done */
	work_queue(HPWORK,
		   &_work,
		   (worker_t)&MS5611::cycle_trampoline,
		   this,
		   USEC2TICK(MS5611_CONVERSION_INTERVAL));
}

int
MS5611::measure()
{
	int ret;

	perf_begin(_measure_perf);

	/*
	 * In phase zero, request temperature; in other phases, request pressure.
	 */
	uint8_t	cmd_data = (_measure_phase == 0) ? ADDR_CMD_CONVERT_D2 : ADDR_CMD_CONVERT_D1;

	/*
	 * Send the command to begin measuring.
	 *
	 * Disable retries on this command; we can't know whether failure 
	 * means the device did or did not see the write.
	 */
	_retries = 0;
	ret = transfer(&cmd_data, 1, nullptr, 0);

	if (OK != ret)
		perf_count(_comms_errors);

	perf_end(_measure_perf);

	return ret;
}

int
MS5611::collect()
{
	int ret;
	uint8_t cmd;
	uint8_t data[3];
	union {
		uint8_t	b[4];
		uint32_t w;
	} cvt;

	/* read the most recent measurement */
	cmd = 0;

	perf_begin(_sample_perf);

	/* this should be fairly close to the end of the conversion, so the best approximation of the time */
	_reports[_next_report].timestamp = hrt_absolute_time();

	ret = transfer(&cmd, 1, &data[0], 3);
	if (ret != OK) {
		perf_count(_comms_errors);
		perf_end(_sample_perf);
		return ret;
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