mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-06-07 17:35:22 +08:00
Reworked airspeed driver to keep most of it abstract
This commit is contained in:
Lorenz Meier
@@ -31,7 +31,9 @@ MODULES += drivers/hott_telemetry
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MODULES += drivers/blinkm
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MODULES += drivers/mkblctrl
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MODULES += drivers/md25
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MODULES += drivers/airspeed
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MODULES += drivers/ets_airspeed
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MODULES += drivers/meas_airspeed
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MODULES += modules/sensors
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#
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@@ -0,0 +1,378 @@
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/****************************************************************************
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*
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* Copyright (C) 2013 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
|
||||
* 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.
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*
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****************************************************************************/
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/**
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* @file ets_airspeed.cpp
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* @author Simon Wilks
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*
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* Driver for the Eagle Tree Airspeed V3 connected via I2C.
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*/
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#include <nuttx/config.h>
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#include <drivers/device/i2c.h>
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#include <sys/types.h>
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#include <stdint.h>
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#include <stdlib.h>
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#include <stdbool.h>
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#include <semaphore.h>
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#include <string.h>
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#include <fcntl.h>
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#include <poll.h>
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#include <errno.h>
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#include <stdio.h>
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#include <math.h>
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#include <unistd.h>
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#include <nuttx/arch.h>
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#include <nuttx/wqueue.h>
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#include <nuttx/clock.h>
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#include <arch/board/board.h>
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#include <systemlib/airspeed.h>
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#include <systemlib/err.h>
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#include <systemlib/param/param.h>
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#include <systemlib/perf_counter.h>
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#include <drivers/drv_airspeed.h>
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#include <drivers/drv_hrt.h>
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#include <uORB/uORB.h>
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#include <uORB/topics/differential_pressure.h>
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#include <uORB/topics/subsystem_info.h>
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#include <drivers/airspeed/airspeed.h>
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Airspeed::Airspeed(int bus, int address, unsigned conversion_interval) :
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I2C("Airspeed", AIRSPEED_DEVICE_PATH, bus, address, 100000),
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_num_reports(0),
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_next_report(0),
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_oldest_report(0),
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_reports(nullptr),
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_sensor_ok(false),
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_measure_ticks(0),
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_collect_phase(false),
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_diff_pres_offset(0.0f),
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_airspeed_pub(-1),
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_conversion_interval(conversion_interval),
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_sample_perf(perf_alloc(PC_ELAPSED, "airspeed_read")),
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_comms_errors(perf_alloc(PC_COUNT, "airspeed_comms_errors")),
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_buffer_overflows(perf_alloc(PC_COUNT, "airspeed_buffer_overflows"))
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{
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// enable debug() calls
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_debug_enabled = true;
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// work_cancel in the dtor will explode if we don't do this...
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memset(&_work, 0, sizeof(_work));
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}
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Airspeed::~Airspeed()
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{
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/* make sure we are truly inactive */
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stop();
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/* free any existing reports */
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if (_reports != nullptr)
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delete[] _reports;
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}
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int
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Airspeed::init()
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{
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int ret = ERROR;
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/* do I2C init (and probe) first */
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if (I2C::init() != OK)
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goto out;
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/* allocate basic report buffers */
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_num_reports = 2;
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_reports = new struct differential_pressure_s[_num_reports];
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for (unsigned i = 0; i < _num_reports; i++)
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_reports[i].max_differential_pressure_pa = 0;
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if (_reports == nullptr)
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goto out;
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_oldest_report = _next_report = 0;
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/* get a publish handle on the airspeed topic */
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memset(&_reports[0], 0, sizeof(_reports[0]));
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_airspeed_pub = orb_advertise(ORB_ID(differential_pressure), &_reports[0]);
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if (_airspeed_pub < 0)
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debug("failed to create airspeed sensor object. Did you start uOrb?");
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ret = OK;
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/* sensor is ok, but we don't really know if it is within range */
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_sensor_ok = true;
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out:
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return ret;
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}
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int
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Airspeed::probe()
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{
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return measure();
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}
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int
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Airspeed::ioctl(struct file *filp, int cmd, unsigned long arg)
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{
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switch (cmd) {
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case SENSORIOCSPOLLRATE: {
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switch (arg) {
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/* switching to manual polling */
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case SENSOR_POLLRATE_MANUAL:
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stop();
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_measure_ticks = 0;
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return OK;
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/* external signalling (DRDY) not supported */
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case SENSOR_POLLRATE_EXTERNAL:
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/* zero would be bad */
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case 0:
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return -EINVAL;
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/* set default/max polling rate */
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case SENSOR_POLLRATE_MAX:
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case SENSOR_POLLRATE_DEFAULT: {
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/* do we need to start internal polling? */
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bool want_start = (_measure_ticks == 0);
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/* set interval for next measurement to minimum legal value */
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_measure_ticks = USEC2TICK(_conversion_interval);
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/* if we need to start the poll state machine, do it */
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if (want_start)
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start();
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return OK;
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}
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/* adjust to a legal polling interval in Hz */
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default: {
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/* do we need to start internal polling? */
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bool want_start = (_measure_ticks == 0);
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/* convert hz to tick interval via microseconds */
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unsigned ticks = USEC2TICK(1000000 / arg);
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/* check against maximum rate */
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if (ticks < USEC2TICK(_conversion_interval))
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return -EINVAL;
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/* update interval for next measurement */
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_measure_ticks = ticks;
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/* if we need to start the poll state machine, do it */
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if (want_start)
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start();
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return OK;
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}
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}
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}
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case SENSORIOCGPOLLRATE:
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if (_measure_ticks == 0)
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return SENSOR_POLLRATE_MANUAL;
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return (1000 / _measure_ticks);
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case SENSORIOCSQUEUEDEPTH: {
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/* add one to account for the sentinel in the ring */
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arg++;
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/* lower bound is mandatory, upper bound is a sanity check */
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if ((arg < 2) || (arg > 100))
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return -EINVAL;
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/* allocate new buffer */
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struct differential_pressure_s *buf = new struct differential_pressure_s[arg];
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if (nullptr == buf)
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return -ENOMEM;
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/* reset the measurement state machine with the new buffer, free the old */
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stop();
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delete[] _reports;
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_num_reports = arg;
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_reports = buf;
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start();
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return OK;
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}
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case SENSORIOCGQUEUEDEPTH:
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return _num_reports - 1;
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case SENSORIOCRESET:
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/* XXX implement this */
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return -EINVAL;
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case AIRSPEEDIOCSSCALE: {
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struct airspeed_scale *s = (struct airspeed_scale*)arg;
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_diff_pres_offset = s->offset_pa;
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return OK;
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}
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case AIRSPEEDIOCGSCALE: {
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struct airspeed_scale *s = (struct airspeed_scale*)arg;
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s->offset_pa = _diff_pres_offset;
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s->scale = 1.0f;
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return OK;
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}
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default:
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/* give it to the superclass */
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return I2C::ioctl(filp, cmd, arg);
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}
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}
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ssize_t
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Airspeed::read(struct file *filp, char *buffer, size_t buflen)
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{
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unsigned count = buflen / sizeof(struct differential_pressure_s);
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int ret = 0;
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/* buffer must be large enough */
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if (count < 1)
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return -ENOSPC;
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/* if automatic measurement is enabled */
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if (_measure_ticks > 0) {
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/*
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* While there is space in the caller's buffer, and reports, copy them.
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* Note that we may be pre-empted by the workq thread while we are doing this;
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* we are careful to avoid racing with them.
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*/
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while (count--) {
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if (_oldest_report != _next_report) {
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memcpy(buffer, _reports + _oldest_report, sizeof(*_reports));
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ret += sizeof(_reports[0]);
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INCREMENT(_oldest_report, _num_reports);
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}
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}
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/* if there was no data, warn the caller */
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return ret ? ret : -EAGAIN;
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}
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/* manual measurement - run one conversion */
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/* XXX really it'd be nice to lock against other readers here */
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do {
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_oldest_report = _next_report = 0;
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/* trigger a measurement */
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if (OK != measure()) {
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ret = -EIO;
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break;
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}
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/* wait for it to complete */
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usleep(_conversion_interval);
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/* run the collection phase */
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if (OK != collect()) {
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ret = -EIO;
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break;
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}
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/* state machine will have generated a report, copy it out */
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memcpy(buffer, _reports, sizeof(*_reports));
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ret = sizeof(*_reports);
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} while (0);
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return ret;
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}
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void
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Airspeed::start()
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{
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/* reset the report ring and state machine */
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_collect_phase = false;
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_oldest_report = _next_report = 0;
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/* schedule a cycle to start things */
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work_queue(HPWORK, &_work, (worker_t)&Airspeed::cycle_trampoline, this, 1);
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/* notify about state change */
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struct subsystem_info_s info = {
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true,
|
||||
true,
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true,
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SUBSYSTEM_TYPE_DIFFPRESSURE
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};
|
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static orb_advert_t pub = -1;
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|
||||
if (pub > 0) {
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orb_publish(ORB_ID(subsystem_info), pub, &info);
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|
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} else {
|
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pub = orb_advertise(ORB_ID(subsystem_info), &info);
|
||||
}
|
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}
|
||||
|
||||
void
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Airspeed::stop()
|
||||
{
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||||
work_cancel(HPWORK, &_work);
|
||||
}
|
||||
|
||||
void
|
||||
Airspeed::cycle_trampoline(void *arg)
|
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{
|
||||
Airspeed *dev = (Airspeed *)arg;
|
||||
|
||||
dev->cycle();
|
||||
}
|
||||
|
||||
void
|
||||
Airspeed::print_info()
|
||||
{
|
||||
perf_print_counter(_sample_perf);
|
||||
perf_print_counter(_comms_errors);
|
||||
perf_print_counter(_buffer_overflows);
|
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warnx("poll interval: %u ticks", _measure_ticks);
|
||||
warnx("report queue: %u (%u/%u @ %p)",
|
||||
_num_reports, _oldest_report, _next_report, _reports);
|
||||
}
|
||||
@@ -0,0 +1,169 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2013 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 airspeed.h
|
||||
* @author Simon Wilks
|
||||
*
|
||||
* Generic driver for airspeed sensors connected via I2C.
|
||||
*/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
#include <drivers/device/i2c.h>
|
||||
|
||||
#include <sys/types.h>
|
||||
#include <stdint.h>
|
||||
#include <stdlib.h>
|
||||
#include <stdbool.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 <systemlib/airspeed.h>
|
||||
#include <systemlib/err.h>
|
||||
#include <systemlib/param/param.h>
|
||||
#include <systemlib/perf_counter.h>
|
||||
|
||||
#include <drivers/drv_airspeed.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
|
||||
#include <uORB/uORB.h>
|
||||
#include <uORB/topics/differential_pressure.h>
|
||||
#include <uORB/topics/subsystem_info.h>
|
||||
|
||||
/* Default I2C bus */
|
||||
#define PX4_I2C_BUS_DEFAULT PX4_I2C_BUS_EXPANSION
|
||||
|
||||
/* 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
|
||||
|
||||
class Airspeed : public device::I2C
|
||||
{
|
||||
public:
|
||||
Airspeed(int bus, int address, unsigned conversion_interval);
|
||||
virtual ~Airspeed();
|
||||
|
||||
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();
|
||||
|
||||
/**
|
||||
* Perform a poll cycle; collect from the previous measurement
|
||||
* and start a new one.
|
||||
*/
|
||||
virtual void cycle() = 0;
|
||||
virtual int measure() = 0;
|
||||
virtual int collect() = 0;
|
||||
|
||||
work_s _work;
|
||||
unsigned _num_reports;
|
||||
volatile unsigned _next_report;
|
||||
volatile unsigned _oldest_report;
|
||||
differential_pressure_s *_reports;
|
||||
bool _sensor_ok;
|
||||
int _measure_ticks;
|
||||
bool _collect_phase;
|
||||
float _diff_pres_offset;
|
||||
|
||||
orb_advert_t _airspeed_pub;
|
||||
|
||||
unsigned _conversion_interval;
|
||||
|
||||
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();
|
||||
|
||||
/**
|
||||
* Stop the automatic measurement state machine.
|
||||
*/
|
||||
void stop();
|
||||
|
||||
/**
|
||||
* 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);
|
||||
|
||||
};
|
||||
|
||||
/* helper macro for handling report buffer indices */
|
||||
#define INCREMENT(_x, _lim) do { _x++; if (_x >= _lim) _x = 0; } while(0)
|
||||
|
||||
@@ -0,0 +1,38 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2013 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
#
|
||||
# Makefile to build the generic airspeed driver.
|
||||
#
|
||||
|
||||
SRCS = airspeed.cpp
|
||||
@@ -72,9 +72,7 @@
|
||||
#include <uORB/uORB.h>
|
||||
#include <uORB/topics/differential_pressure.h>
|
||||
#include <uORB/topics/subsystem_info.h>
|
||||
|
||||
/* Default I2C bus */
|
||||
#define PX4_I2C_BUS_DEFAULT PX4_I2C_BUS_EXPANSION
|
||||
#include <drivers/airspeed/airspeed.h>
|
||||
|
||||
/* I2C bus address */
|
||||
#define I2C_ADDRESS 0x75 /* 7-bit address. 8-bit address is 0xEA */
|
||||
@@ -91,349 +89,33 @@
|
||||
/* Measurement rate is 100Hz */
|
||||
#define CONVERSION_INTERVAL (1000000 / 100) /* microseconds */
|
||||
|
||||
/* 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
|
||||
|
||||
class ETSAirspeed : public device::I2C
|
||||
class ETSAirspeed : public Airspeed
|
||||
{
|
||||
public:
|
||||
ETSAirspeed(int bus, int address = I2C_ADDRESS);
|
||||
virtual ~ETSAirspeed();
|
||||
|
||||
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:
|
||||
work_s _work;
|
||||
unsigned _num_reports;
|
||||
volatile unsigned _next_report;
|
||||
volatile unsigned _oldest_report;
|
||||
differential_pressure_s *_reports;
|
||||
bool _sensor_ok;
|
||||
int _measure_ticks;
|
||||
bool _collect_phase;
|
||||
float _diff_pres_offset;
|
||||
|
||||
orb_advert_t _airspeed_pub;
|
||||
|
||||
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();
|
||||
|
||||
/**
|
||||
* Stop the automatic measurement state machine.
|
||||
*/
|
||||
void stop();
|
||||
|
||||
/**
|
||||
* Perform a poll cycle; collect from the previous measurement
|
||||
* and start a new one.
|
||||
*/
|
||||
void cycle();
|
||||
int measure();
|
||||
int collect();
|
||||
|
||||
/**
|
||||
* 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);
|
||||
|
||||
virtual void cycle();
|
||||
virtual int measure();
|
||||
virtual int collect();
|
||||
|
||||
};
|
||||
|
||||
/* helper macro for handling report buffer indices */
|
||||
#define INCREMENT(_x, _lim) do { _x++; if (_x >= _lim) _x = 0; } while(0)
|
||||
|
||||
/*
|
||||
* Driver 'main' command.
|
||||
*/
|
||||
extern "C" __EXPORT int ets_airspeed_main(int argc, char *argv[]);
|
||||
|
||||
ETSAirspeed::ETSAirspeed(int bus, int address) :
|
||||
I2C("ETSAirspeed", AIRSPEED_DEVICE_PATH, bus, address, 100000),
|
||||
_num_reports(0),
|
||||
_next_report(0),
|
||||
_oldest_report(0),
|
||||
_reports(nullptr),
|
||||
_sensor_ok(false),
|
||||
_measure_ticks(0),
|
||||
_collect_phase(false),
|
||||
_diff_pres_offset(0.0f),
|
||||
_airspeed_pub(-1),
|
||||
_sample_perf(perf_alloc(PC_ELAPSED, "ets_airspeed_read")),
|
||||
_comms_errors(perf_alloc(PC_COUNT, "ets_airspeed_comms_errors")),
|
||||
_buffer_overflows(perf_alloc(PC_COUNT, "ets_airspeed_buffer_overflows"))
|
||||
ETSAirspeed::ETSAirspeed(int bus, int address) : Airspeed(bus, address,
|
||||
CONVERSION_INTERVAL)
|
||||
{
|
||||
// enable debug() calls
|
||||
_debug_enabled = true;
|
||||
|
||||
// work_cancel in the dtor will explode if we don't do this...
|
||||
memset(&_work, 0, sizeof(_work));
|
||||
}
|
||||
|
||||
ETSAirspeed::~ETSAirspeed()
|
||||
{
|
||||
/* make sure we are truly inactive */
|
||||
stop();
|
||||
|
||||
/* free any existing reports */
|
||||
if (_reports != nullptr)
|
||||
delete[] _reports;
|
||||
}
|
||||
|
||||
int
|
||||
ETSAirspeed::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 differential_pressure_s[_num_reports];
|
||||
|
||||
for (unsigned i = 0; i < _num_reports; i++)
|
||||
_reports[i].max_differential_pressure_pa = 0;
|
||||
|
||||
if (_reports == nullptr)
|
||||
goto out;
|
||||
|
||||
_oldest_report = _next_report = 0;
|
||||
|
||||
/* get a publish handle on the airspeed topic */
|
||||
memset(&_reports[0], 0, sizeof(_reports[0]));
|
||||
_airspeed_pub = orb_advertise(ORB_ID(differential_pressure), &_reports[0]);
|
||||
|
||||
if (_airspeed_pub < 0)
|
||||
debug("failed to create airspeed sensor object. Did you start uOrb?");
|
||||
|
||||
ret = OK;
|
||||
/* sensor is ok, but we don't really know if it is within range */
|
||||
_sensor_ok = true;
|
||||
out:
|
||||
return ret;
|
||||
}
|
||||
|
||||
int
|
||||
ETSAirspeed::probe()
|
||||
{
|
||||
return measure();
|
||||
}
|
||||
|
||||
int
|
||||
ETSAirspeed::ioctl(struct file *filp, int cmd, unsigned long arg)
|
||||
{
|
||||
switch (cmd) {
|
||||
|
||||
case SENSORIOCSPOLLRATE: {
|
||||
switch (arg) {
|
||||
|
||||
/* switching to manual polling */
|
||||
case SENSOR_POLLRATE_MANUAL:
|
||||
stop();
|
||||
_measure_ticks = 0;
|
||||
return OK;
|
||||
|
||||
/* external signalling (DRDY) 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(CONVERSION_INTERVAL);
|
||||
|
||||
/* if we need to start the poll state machine, do it */
|
||||
if (want_start)
|
||||
start();
|
||||
|
||||
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(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();
|
||||
|
||||
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 differential_pressure_s *buf = new struct differential_pressure_s[arg];
|
||||
|
||||
if (nullptr == buf)
|
||||
return -ENOMEM;
|
||||
|
||||
/* reset the measurement state machine with the new buffer, free the old */
|
||||
stop();
|
||||
delete[] _reports;
|
||||
_num_reports = arg;
|
||||
_reports = buf;
|
||||
start();
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
case SENSORIOCGQUEUEDEPTH:
|
||||
return _num_reports - 1;
|
||||
|
||||
case SENSORIOCRESET:
|
||||
/* XXX implement this */
|
||||
return -EINVAL;
|
||||
|
||||
case AIRSPEEDIOCSSCALE: {
|
||||
struct airspeed_scale *s = (struct airspeed_scale*)arg;
|
||||
_diff_pres_offset = s->offset_pa;
|
||||
return OK;
|
||||
}
|
||||
|
||||
case AIRSPEEDIOCGSCALE: {
|
||||
struct airspeed_scale *s = (struct airspeed_scale*)arg;
|
||||
s->offset_pa = _diff_pres_offset;
|
||||
s->scale = 1.0f;
|
||||
return OK;
|
||||
}
|
||||
|
||||
default:
|
||||
/* give it to the superclass */
|
||||
return I2C::ioctl(filp, cmd, arg);
|
||||
}
|
||||
}
|
||||
|
||||
ssize_t
|
||||
ETSAirspeed::read(struct file *filp, char *buffer, size_t buflen)
|
||||
{
|
||||
unsigned count = buflen / sizeof(struct differential_pressure_s);
|
||||
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 {
|
||||
_oldest_report = _next_report = 0;
|
||||
|
||||
/* trigger a measurement */
|
||||
if (OK != measure()) {
|
||||
ret = -EIO;
|
||||
break;
|
||||
}
|
||||
|
||||
/* wait for it to complete */
|
||||
usleep(CONVERSION_INTERVAL);
|
||||
|
||||
/* run the collection phase */
|
||||
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
|
||||
@@ -516,47 +198,6 @@ ETSAirspeed::collect()
|
||||
return ret;
|
||||
}
|
||||
|
||||
void
|
||||
ETSAirspeed::start()
|
||||
{
|
||||
/* reset the report ring and state machine */
|
||||
_collect_phase = false;
|
||||
_oldest_report = _next_report = 0;
|
||||
|
||||
/* schedule a cycle to start things */
|
||||
work_queue(HPWORK, &_work, (worker_t)&ETSAirspeed::cycle_trampoline, this, 1);
|
||||
|
||||
/* notify about state change */
|
||||
struct subsystem_info_s info = {
|
||||
true,
|
||||
true,
|
||||
true,
|
||||
SUBSYSTEM_TYPE_DIFFPRESSURE
|
||||
};
|
||||
static orb_advert_t pub = -1;
|
||||
|
||||
if (pub > 0) {
|
||||
orb_publish(ORB_ID(subsystem_info), pub, &info);
|
||||
|
||||
} else {
|
||||
pub = orb_advertise(ORB_ID(subsystem_info), &info);
|
||||
}
|
||||
}
|
||||
|
||||
void
|
||||
ETSAirspeed::stop()
|
||||
{
|
||||
work_cancel(HPWORK, &_work);
|
||||
}
|
||||
|
||||
void
|
||||
ETSAirspeed::cycle_trampoline(void *arg)
|
||||
{
|
||||
ETSAirspeed *dev = (ETSAirspeed *)arg;
|
||||
|
||||
dev->cycle();
|
||||
}
|
||||
|
||||
void
|
||||
ETSAirspeed::cycle()
|
||||
{
|
||||
@@ -582,7 +223,7 @@ ETSAirspeed::cycle()
|
||||
/* schedule a fresh cycle call when we are ready to measure again */
|
||||
work_queue(HPWORK,
|
||||
&_work,
|
||||
(worker_t)&ETSAirspeed::cycle_trampoline,
|
||||
(worker_t)&Airspeed::cycle_trampoline,
|
||||
this,
|
||||
_measure_ticks - USEC2TICK(CONVERSION_INTERVAL));
|
||||
|
||||
@@ -600,22 +241,11 @@ ETSAirspeed::cycle()
|
||||
/* schedule a fresh cycle call when the measurement is done */
|
||||
work_queue(HPWORK,
|
||||
&_work,
|
||||
(worker_t)&ETSAirspeed::cycle_trampoline,
|
||||
(worker_t)&Airspeed::cycle_trampoline,
|
||||
this,
|
||||
USEC2TICK(CONVERSION_INTERVAL));
|
||||
}
|
||||
|
||||
void
|
||||
ETSAirspeed::print_info()
|
||||
{
|
||||
perf_print_counter(_sample_perf);
|
||||
perf_print_counter(_comms_errors);
|
||||
perf_print_counter(_buffer_overflows);
|
||||
printf("poll interval: %u ticks\n", _measure_ticks);
|
||||
printf("report queue: %u (%u/%u @ %p)\n",
|
||||
_num_reports, _oldest_report, _next_report, _reports);
|
||||
}
|
||||
|
||||
/**
|
||||
* Local functions in support of the shell command.
|
||||
*/
|
||||
@@ -790,11 +420,11 @@ info()
|
||||
static void
|
||||
ets_airspeed_usage()
|
||||
{
|
||||
fprintf(stderr, "usage: ets_airspeed command [options]\n");
|
||||
fprintf(stderr, "options:\n");
|
||||
fprintf(stderr, "\t-b --bus i2cbus (%d)\n", PX4_I2C_BUS_DEFAULT);
|
||||
fprintf(stderr, "command:\n");
|
||||
fprintf(stderr, "\tstart|stop|reset|test|info\n");
|
||||
warnx("usage: ets_airspeed command [options]");
|
||||
warnx("options:");
|
||||
warnx("\t-b --bus i2cbus (%d)", PX4_I2C_BUS_DEFAULT);
|
||||
warnx("command:");
|
||||
warnx("\tstart|stop|reset|test|info");
|
||||
}
|
||||
|
||||
int
|
||||
|
||||
@@ -0,0 +1,482 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2013 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 meas_airspeed.cpp
|
||||
* @author Lorenz Meier
|
||||
* @author Simon Wilks
|
||||
*
|
||||
* Driver for the MEAS Spec series connected via I2C.
|
||||
*/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
#include <drivers/device/i2c.h>
|
||||
|
||||
#include <sys/types.h>
|
||||
#include <stdint.h>
|
||||
#include <stdlib.h>
|
||||
#include <stdbool.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 <systemlib/airspeed.h>
|
||||
#include <systemlib/err.h>
|
||||
#include <systemlib/param/param.h>
|
||||
#include <systemlib/perf_counter.h>
|
||||
|
||||
#include <drivers/drv_airspeed.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
|
||||
#include <uORB/uORB.h>
|
||||
#include <uORB/topics/differential_pressure.h>
|
||||
#include <uORB/topics/subsystem_info.h>
|
||||
|
||||
#include <drivers/airspeed/airspeed.h>
|
||||
|
||||
/* Default I2C bus */
|
||||
#define PX4_I2C_BUS_DEFAULT PX4_I2C_BUS_EXPANSION
|
||||
|
||||
/* I2C bus address */
|
||||
#define I2C_ADDRESS 0x75 /* 7-bit address. 8-bit address is 0xEA */
|
||||
|
||||
/* Register address */
|
||||
#define READ_CMD 0x07 /* Read the data */
|
||||
|
||||
/**
|
||||
* The Eagle Tree Airspeed V3 cannot provide accurate reading below speeds of 15km/h.
|
||||
* You can set this value to 12 if you want a zero reading below 15km/h.
|
||||
*/
|
||||
#define MIN_ACCURATE_DIFF_PRES_PA 0
|
||||
|
||||
/* Measurement rate is 100Hz */
|
||||
#define CONVERSION_INTERVAL (1000000 / 100) /* microseconds */
|
||||
|
||||
class MEASAirspeed : public Airspeed
|
||||
{
|
||||
public:
|
||||
MEASAirspeed(int bus, int address = I2C_ADDRESS);
|
||||
virtual ~MEASAirspeed();
|
||||
|
||||
protected:
|
||||
|
||||
/**
|
||||
* Perform a poll cycle; collect from the previous measurement
|
||||
* and start a new one.
|
||||
*/
|
||||
virtual void cycle();
|
||||
virtual int measure();
|
||||
virtual int collect();
|
||||
|
||||
};
|
||||
|
||||
/*
|
||||
* Driver 'main' command.
|
||||
*/
|
||||
extern "C" __EXPORT int meas_airspeed_main(int argc, char *argv[]);
|
||||
|
||||
MEASAirspeed::MEASAirspeed(int bus, int address) : Airspeed(bus, address,
|
||||
CONVERSION_INTERVAL)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
int
|
||||
MEASAirspeed::measure()
|
||||
{
|
||||
int ret;
|
||||
|
||||
/*
|
||||
* Send the command to begin a measurement.
|
||||
*/
|
||||
uint8_t cmd = READ_CMD;
|
||||
ret = transfer(&cmd, 1, nullptr, 0);
|
||||
|
||||
if (OK != ret) {
|
||||
perf_count(_comms_errors);
|
||||
log("i2c::transfer returned %d", ret);
|
||||
return ret;
|
||||
}
|
||||
|
||||
ret = OK;
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
int
|
||||
MEASAirspeed::collect()
|
||||
{
|
||||
int ret = -EIO;
|
||||
|
||||
/* read from the sensor */
|
||||
uint8_t val[2] = {0, 0};
|
||||
|
||||
perf_begin(_sample_perf);
|
||||
|
||||
ret = transfer(nullptr, 0, &val[0], 2);
|
||||
|
||||
if (ret < 0) {
|
||||
log("error reading from sensor: %d", ret);
|
||||
return ret;
|
||||
}
|
||||
|
||||
uint16_t diff_pres_pa = val[1] << 8 | val[0];
|
||||
|
||||
if (diff_pres_pa < _diff_pres_offset + MIN_ACCURATE_DIFF_PRES_PA) {
|
||||
diff_pres_pa = 0;
|
||||
|
||||
} else {
|
||||
diff_pres_pa -= _diff_pres_offset;
|
||||
}
|
||||
|
||||
// XXX we may want to smooth out the readings to remove noise.
|
||||
|
||||
_reports[_next_report].timestamp = hrt_absolute_time();
|
||||
_reports[_next_report].differential_pressure_pa = diff_pres_pa;
|
||||
|
||||
// Track maximum differential pressure measured (so we can work out top speed).
|
||||
if (diff_pres_pa > _reports[_next_report].max_differential_pressure_pa) {
|
||||
_reports[_next_report].max_differential_pressure_pa = diff_pres_pa;
|
||||
}
|
||||
|
||||
/* announce the airspeed if needed, just publish else */
|
||||
orb_publish(ORB_ID(differential_pressure), _airspeed_pub, &_reports[_next_report]);
|
||||
|
||||
/* post a report to the ring - note, not locked */
|
||||
INCREMENT(_next_report, _num_reports);
|
||||
|
||||
/* if we are running up against the oldest report, toss it */
|
||||
if (_next_report == _oldest_report) {
|
||||
perf_count(_buffer_overflows);
|
||||
INCREMENT(_oldest_report, _num_reports);
|
||||
}
|
||||
|
||||
/* notify anyone waiting for data */
|
||||
poll_notify(POLLIN);
|
||||
|
||||
ret = OK;
|
||||
|
||||
perf_end(_sample_perf);
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
void
|
||||
MEASAirspeed::cycle()
|
||||
{
|
||||
/* collection phase? */
|
||||
if (_collect_phase) {
|
||||
|
||||
/* perform collection */
|
||||
if (OK != collect()) {
|
||||
log("collection error");
|
||||
/* restart the measurement state machine */
|
||||
start();
|
||||
return;
|
||||
}
|
||||
|
||||
/* next phase is measurement */
|
||||
_collect_phase = false;
|
||||
|
||||
/*
|
||||
* Is there a collect->measure gap?
|
||||
*/
|
||||
if (_measure_ticks > USEC2TICK(CONVERSION_INTERVAL)) {
|
||||
|
||||
/* schedule a fresh cycle call when we are ready to measure again */
|
||||
work_queue(HPWORK,
|
||||
&_work,
|
||||
(worker_t)&Airspeed::cycle_trampoline,
|
||||
this,
|
||||
_measure_ticks - USEC2TICK(CONVERSION_INTERVAL));
|
||||
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
/* measurement phase */
|
||||
if (OK != measure())
|
||||
log("measure error");
|
||||
|
||||
/* next phase is collection */
|
||||
_collect_phase = true;
|
||||
|
||||
/* schedule a fresh cycle call when the measurement is done */
|
||||
work_queue(HPWORK,
|
||||
&_work,
|
||||
(worker_t)&Airspeed::cycle_trampoline,
|
||||
this,
|
||||
USEC2TICK(CONVERSION_INTERVAL));
|
||||
}
|
||||
|
||||
/**
|
||||
* Local functions in support of the shell command.
|
||||
*/
|
||||
namespace meas_airspeed
|
||||
{
|
||||
|
||||
/* oddly, ERROR is not defined for c++ */
|
||||
#ifdef ERROR
|
||||
# undef ERROR
|
||||
#endif
|
||||
const int ERROR = -1;
|
||||
|
||||
MEASAirspeed *g_dev;
|
||||
|
||||
void start(int i2c_bus);
|
||||
void stop();
|
||||
void test();
|
||||
void reset();
|
||||
void info();
|
||||
|
||||
/**
|
||||
* Start the driver.
|
||||
*/
|
||||
void
|
||||
start(int i2c_bus)
|
||||
{
|
||||
int fd;
|
||||
|
||||
if (g_dev != nullptr)
|
||||
errx(1, "already started");
|
||||
|
||||
/* create the driver */
|
||||
g_dev = new MEASAirspeed(i2c_bus);
|
||||
|
||||
if (g_dev == nullptr)
|
||||
goto fail;
|
||||
|
||||
if (OK != g_dev->init())
|
||||
goto fail;
|
||||
|
||||
/* set the poll rate to default, starts automatic data collection */
|
||||
fd = open(AIRSPEED_DEVICE_PATH, O_RDONLY);
|
||||
|
||||
if (fd < 0)
|
||||
goto fail;
|
||||
|
||||
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
|
||||
goto fail;
|
||||
|
||||
exit(0);
|
||||
|
||||
fail:
|
||||
|
||||
if (g_dev != nullptr) {
|
||||
delete g_dev;
|
||||
g_dev = nullptr;
|
||||
}
|
||||
|
||||
errx(1, "driver start failed");
|
||||
}
|
||||
|
||||
/**
|
||||
* Stop the driver
|
||||
*/
|
||||
void
|
||||
stop()
|
||||
{
|
||||
if (g_dev != nullptr) {
|
||||
delete g_dev;
|
||||
g_dev = nullptr;
|
||||
|
||||
} else {
|
||||
errx(1, "driver not running");
|
||||
}
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
/**
|
||||
* Perform some basic functional tests on the driver;
|
||||
* make sure we can collect data from the sensor in polled
|
||||
* and automatic modes.
|
||||
*/
|
||||
void
|
||||
test()
|
||||
{
|
||||
struct differential_pressure_s report;
|
||||
ssize_t sz;
|
||||
int ret;
|
||||
|
||||
int fd = open(AIRSPEED_DEVICE_PATH, O_RDONLY);
|
||||
|
||||
if (fd < 0)
|
||||
err(1, "%s open failed (try 'meas_airspeed start' if the driver is not running", AIRSPEED_DEVICE_PATH);
|
||||
|
||||
/* do a simple demand read */
|
||||
sz = read(fd, &report, sizeof(report));
|
||||
|
||||
if (sz != sizeof(report))
|
||||
err(1, "immediate read failed");
|
||||
|
||||
warnx("single read");
|
||||
warnx("diff pressure: %d pa", report.differential_pressure_pa);
|
||||
|
||||
/* start the sensor polling at 2Hz */
|
||||
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2))
|
||||
errx(1, "failed to set 2Hz poll rate");
|
||||
|
||||
/* read the sensor 5x and report each value */
|
||||
for (unsigned i = 0; i < 5; i++) {
|
||||
struct pollfd fds;
|
||||
|
||||
/* wait for data to be ready */
|
||||
fds.fd = fd;
|
||||
fds.events = POLLIN;
|
||||
ret = poll(&fds, 1, 2000);
|
||||
|
||||
if (ret != 1)
|
||||
errx(1, "timed out waiting for sensor data");
|
||||
|
||||
/* now go get it */
|
||||
sz = read(fd, &report, sizeof(report));
|
||||
|
||||
if (sz != sizeof(report))
|
||||
err(1, "periodic read failed");
|
||||
|
||||
warnx("periodic read %u", i);
|
||||
warnx("diff pressure: %d pa", report.differential_pressure_pa);
|
||||
}
|
||||
|
||||
errx(0, "PASS");
|
||||
}
|
||||
|
||||
/**
|
||||
* Reset the driver.
|
||||
*/
|
||||
void
|
||||
reset()
|
||||
{
|
||||
int fd = open(AIRSPEED_DEVICE_PATH, O_RDONLY);
|
||||
|
||||
if (fd < 0)
|
||||
err(1, "failed ");
|
||||
|
||||
if (ioctl(fd, SENSORIOCRESET, 0) < 0)
|
||||
err(1, "driver reset failed");
|
||||
|
||||
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
|
||||
err(1, "driver poll restart failed");
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
/**
|
||||
* Print a little info about the driver.
|
||||
*/
|
||||
void
|
||||
info()
|
||||
{
|
||||
if (g_dev == nullptr)
|
||||
errx(1, "driver not running");
|
||||
|
||||
printf("state @ %p\n", g_dev);
|
||||
g_dev->print_info();
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
} // namespace
|
||||
|
||||
|
||||
static void
|
||||
meas_airspeed_usage()
|
||||
{
|
||||
warnx("usage: meas_airspeed command [options]");
|
||||
warnx("options:");
|
||||
warnx("\t-b --bus i2cbus (%d)", PX4_I2C_BUS_DEFAULT);
|
||||
warnx("command:");
|
||||
warnx("\tstart|stop|reset|test|info");
|
||||
}
|
||||
|
||||
int
|
||||
meas_airspeed_main(int argc, char *argv[])
|
||||
{
|
||||
int i2c_bus = PX4_I2C_BUS_DEFAULT;
|
||||
|
||||
int i;
|
||||
|
||||
for (i = 1; i < argc; i++) {
|
||||
if (strcmp(argv[i], "-b") == 0 || strcmp(argv[i], "--bus") == 0) {
|
||||
if (argc > i + 1) {
|
||||
i2c_bus = atoi(argv[i + 1]);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
* Start/load the driver.
|
||||
*/
|
||||
if (!strcmp(argv[1], "start"))
|
||||
meas_airspeed::start(i2c_bus);
|
||||
|
||||
/*
|
||||
* Stop the driver
|
||||
*/
|
||||
if (!strcmp(argv[1], "stop"))
|
||||
meas_airspeed::stop();
|
||||
|
||||
/*
|
||||
* Test the driver/device.
|
||||
*/
|
||||
if (!strcmp(argv[1], "test"))
|
||||
meas_airspeed::test();
|
||||
|
||||
/*
|
||||
* Reset the driver.
|
||||
*/
|
||||
if (!strcmp(argv[1], "reset"))
|
||||
meas_airspeed::reset();
|
||||
|
||||
/*
|
||||
* Print driver information.
|
||||
*/
|
||||
if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status"))
|
||||
meas_airspeed::info();
|
||||
|
||||
meas_airspeed_usage();
|
||||
exit(0);
|
||||
}
|
||||
@@ -0,0 +1,41 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2013 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
#
|
||||
# Makefile to build the MEAS Spec airspeed sensor driver.
|
||||
#
|
||||
|
||||
MODULE_COMMAND = meas_airspeed
|
||||
MODULE_STACKSIZE = 1024
|
||||
|
||||
SRCS = meas_airspeed.cpp
|
||||
Reference in New Issue
Block a user