mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-26 09:26:25 +08:00
Intersil wrapper continued
* Qflight: add intersil sensor driver * df_isl_wrapper: change driver lib name to isl * posix-config: add df_isl_wrapper start command to eagle startup * isl_wrapper: cleanup isl wrapper * isl: remove unused option -R * isl: change the driver name to isl29501 * DriverFramework: updated submodule again This is to get the latest `make fix-style` changes. * df_isl29501_wrapper: rename wrapper all the way
This commit is contained in:
Julian Oes
Lorenz Meier
@@ -22,6 +22,7 @@ set(config_module_list
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platforms/posix/drivers/df_bmp280_wrapper
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platforms/posix/drivers/df_hmc5883_wrapper
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platforms/posix/drivers/df_trone_wrapper
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platforms/posix/drivers/df_isl29501_wrapper
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#
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# System commands
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@@ -92,4 +93,5 @@ set(config_df_driver_list
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bmp280
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hmc5883
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trone
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isl29501
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)
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@@ -8,6 +8,7 @@ df_mpu9250_wrapper start
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df_bmp280_wrapper start
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df_hmc5883_wrapper start
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df_trone_wrapper start
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#df_isl29501_wrapper start
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sensors start
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commander start
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ekf2 start
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+1
-1
Submodule src/lib/DriverFramework updated: 2eccd3dfb3...3601972656
@@ -0,0 +1,46 @@
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############################################################################
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#
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# Copyright (c) 2016 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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include_directories(../../../../lib/DriverFramework/drivers)
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px4_add_module(
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MODULE platforms__posix__drivers__df_isl29501_wrapper
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MAIN df_isl29501_wrapper
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SRCS
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df_isl29501_wrapper.cpp
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DEPENDS
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platforms__common
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df_driver_framework
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df_isl29501
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)
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# vim: set noet ft=cmake fenc=utf-8 ff=unix :
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@@ -0,0 +1,382 @@
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/****************************************************************************
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*
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* Copyright (c) 2016 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file df_isl29501_wrapper.cpp
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* Driver to access the ISL29501 of the DriverFramework.
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*
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* @author Zach Lovett <zach.lovett@3drobotics.com>
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* @author Siddharth B Purohit <sid@3drobotics.com>
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*/
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#include <px4_config.h>
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#include <sys/types.h>
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#include <sys/stat.h>
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#include <stdint.h>
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#include <stddef.h>
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#include <stdlib.h>
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#include <string.h>
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#include <math.h>
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#include <unistd.h>
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#include <px4_getopt.h>
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#include <errno.h>
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#include <string>
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#include <systemlib/perf_counter.h>
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#include <systemlib/err.h>
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#include <drivers/drv_range_finder.h>
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#include <uORB/uORB.h>
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#include <uORB/topics/subsystem_info.h>
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#include <uORB/topics/distance_sensor.h>
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#include <board_config.h>
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#include <isl29501/isl29501.hpp>
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#include <DevMgr.hpp>
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extern "C" { __EXPORT int df_isl29501_wrapper_main(int argc, char *argv[]); }
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using namespace DriverFramework;
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class DfISL29501Wrapper : public ISL29501
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{
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public:
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DfISL29501Wrapper();
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~DfISL29501Wrapper();
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/**
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* Start automatic measurement.
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*
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* @return 0 on success
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*/
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int start();
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/**
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* Stop automatic measurement.
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*
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* @return 0 on success
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*/
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int stop();
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private:
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int _publish(struct range_sensor_data &data);
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orb_advert_t _range_topic;
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int _orb_class_instance;
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// perf_counter_t _range_sample_perf;
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};
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DfISL29501Wrapper::DfISL29501Wrapper(/*enum Rotation rotation*/) :
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ISL29501(ISL_DEVICE_PATH),
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_range_topic(nullptr),
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_orb_class_instance(-1)
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{
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}
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DfISL29501Wrapper::~DfISL29501Wrapper()
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{
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}
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int DfISL29501Wrapper::start()
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{
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struct distance_sensor_s d;
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_range_topic = orb_advertise_multi(ORB_ID(distance_sensor), &d,
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&_orb_class_instance, ORB_PRIO_DEFAULT);
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int ret;
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ret = ISL29501::init();
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if (ret != 0) {
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PX4_ERR("ISL init fail: %d", ret);
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return ret;
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}
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ret = ISL29501::start();
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if (ret != 0) {
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PX4_ERR("ISL start fail: %d", ret);
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return ret;
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}
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return 0;
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}
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int DfISL29501Wrapper::stop()
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{
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/* Stop sensor. */
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int ret = ISL29501::stop();
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if (ret != 0) {
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PX4_ERR("ISL stop fail: %d", ret);
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return ret;
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}
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return 0;
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}
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int DfISL29501Wrapper::_publish(struct range_sensor_data &data)
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{
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if (!_range_topic) {
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return 1;
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}
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struct distance_sensor_s d;
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memset(&d, 0, sizeof(d));
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d.timestamp = hrt_absolute_time();
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d.min_distance = float(ISL_MIN_DISTANCE); /* m */
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d.max_distance = float(ISL_MAX_DISTANCE); /* m */
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d.current_distance = float(data.dist);
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d.type = distance_sensor_s::MAV_DISTANCE_SENSOR_LASER;
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d.id = 0; // TODO set proper ID
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d.covariance = 0.0f;
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orb_publish(ORB_ID(distance_sensor), _range_topic, &d);
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/* Notify anyone waiting for data. */
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DevMgr::updateNotify(*this);
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return 0;
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};
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namespace df_isl29501_wrapper
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{
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DfISL29501Wrapper *g_dev = nullptr;
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int start();
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int stop();
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int info();
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int probe();
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int calibration();
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void usage();
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int start()
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{
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PX4_ERR("start");
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g_dev = new DfISL29501Wrapper();
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if (g_dev == nullptr) {
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PX4_ERR("failed instantiating DfISL29501Wrapper object");
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return -1;
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}
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int ret = g_dev->start();
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if (ret != 0) {
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PX4_ERR("DfISL29501Wrapper start failed");
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return ret;
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}
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// Open the range sensor
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DevHandle h;
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DevMgr::getHandle(ISL_DEVICE_PATH, h);
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if (!h.isValid()) {
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DF_LOG_INFO("Error: unable to obtain a valid handle for the receiver at: %s (%d)",
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ISL_DEVICE_PATH, h.getError());
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return -1;
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}
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DevMgr::releaseHandle(h);
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return 0;
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}
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int stop()
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{
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if (g_dev == nullptr) {
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PX4_ERR("driver not running");
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return 1;
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}
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int ret = g_dev->stop();
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if (ret != 0) {
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PX4_ERR("driver could not be stopped");
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return ret;
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}
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delete g_dev;
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g_dev = nullptr;
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return 0;
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}
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/**
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* Print a little info about the driver.
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*/
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int
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info()
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{
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if (g_dev == nullptr) {
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PX4_ERR("driver not running");
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return 1;
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}
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PX4_DEBUG("state @ %p", g_dev);
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return 0;
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}
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/**
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* Who am i
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*/
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int
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probe()
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{
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int ret;
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if (g_dev == nullptr) {
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ret = start();
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if (ret) {
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PX4_ERR("Failed to start");
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return ret;
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}
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}
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ret = g_dev->probe();
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if (ret) {
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PX4_ERR("Failed to probe");
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return ret;
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}
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PX4_DEBUG("state @ %p", g_dev);
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return 0;
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}
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/**
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* Calibration
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* runs calibration routine for ISL29501
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* TODO: implement calibration user interface and parameter system to store calib
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* Note: Currently only serves debugging purpose, user is required to manually
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* set offset inside code.
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*/
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int
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calibration()
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{
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int ret;
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if (g_dev == nullptr) {
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ret = start();
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if (ret) {
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PX4_ERR("Failed to start");
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return ret;
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}
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}
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ret = g_dev->calibration();
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if (ret) {
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PX4_ERR("Failed to calibrate");
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return ret;
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}
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PX4_DEBUG("state @ %p", g_dev);
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return 0;
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}
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void
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usage()
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{
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PX4_WARN("Usage: df_isl_wrapper 'start', 'info', 'stop', 'calib', 'probe'");
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}
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} // namespace df_isl_wrapper
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int
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df_isl29501_wrapper_main(int argc, char *argv[])
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{
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int ret = 0;
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int myoptind = 1;
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if (argc <= 1) {
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df_isl29501_wrapper::usage();
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return 1;
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}
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const char *verb = argv[myoptind];
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if (!strcmp(verb, "start")) {
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ret = df_isl29501_wrapper::start(/*rotation*/);
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}
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else if (!strcmp(verb, "stop")) {
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ret = df_isl29501_wrapper::stop();
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}
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else if (!strcmp(verb, "info")) {
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ret = df_isl29501_wrapper::info();
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}
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else if (!strcmp(verb, "probe")) {
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ret = df_isl29501_wrapper::probe();
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}
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else if (!strcmp(verb, "calib")) {
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df_isl29501_wrapper::calibration();
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return 1;
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}
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else {
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df_isl29501_wrapper::usage();
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return 1;
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}
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return ret;
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}
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Block a user