mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-28 10:46:33 +08:00
linux boards (ocpoc, bbblue, navio2) replace custom adc drivers with simple px4_arch implementation
This commit is contained in:
Daniel Agar
@@ -31,4 +31,4 @@
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#
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############################################################################
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add_subdirectory(bbblue_adc)
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add_subdirectory(adc)
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+3
-7
@@ -1,6 +1,6 @@
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############################################################################
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#
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# Copyright (c) 2018-2019 PX4 Development Team. All rights reserved.
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# Copyright (c) 2020 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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@@ -31,10 +31,6 @@
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#
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############################################################################
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px4_add_module(
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MODULE drivers__bbblue_adc
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MAIN bbblue_adc
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COMPILE_FLAGS
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SRCS
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bbblue_adc.cpp
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px4_add_library(arch_adc
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adc.cpp
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)
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@@ -0,0 +1,98 @@
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/****************************************************************************
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*
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* Copyright (C) 2020 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
|
||||
* notice, this list of conditions and the following disclaimer.
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||||
* 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.
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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
|
||||
* without specific prior written permission.
|
||||
*
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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
|
||||
* 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
|
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include <board_config.h>
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#include <drivers/drv_adc.h>
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#include <px4_platform_common/log.h>
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#include <fcntl.h>
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#include <stdint.h>
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#include <unistd.h>
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#define ADC_SYSFS_PATH "/sys/bus/iio/devices/iio:device0"
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#define ADC_MAX_CHAN 8
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int _channels_fd[ADC_MAX_CHAN];
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int px4_arch_adc_init(uint32_t base_address)
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{
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for (int i = 0; i < ADC_MAX_CHAN; i++) {
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_channels_fd[i] = -1;
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}
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return 0;
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}
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void px4_arch_adc_uninit(uint32_t base_address)
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{
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for (int i = 0; i < ADC_MAX_CHAN; i++) {
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::close(_channels_fd[i]);
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_channels_fd[i] = -1;
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}
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}
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uint32_t px4_arch_adc_sample(uint32_t base_address, unsigned channel)
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{
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if (channel > ADC_MAX_CHAN) {
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PX4_ERR("channel %d out of range: %d", channel, ADC_MAX_CHAN);
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return UINT32_MAX; // error
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}
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// open channel if necessary
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if (_channels_fd[channel] == -1) {
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// ADC_SYSFS_PATH
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char channel_path[strlen(ADC_SYSFS_PATH) + 20] {};
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if (sprintf(channel_path, "%s/in_voltage%d_raw", ADC_SYSFS_PATH, channel) == -1) {
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PX4_ERR("adc channel: %d\n", channel);
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return UINT32_MAX; // error
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}
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_channels_fd[channel] = ::open(channel_path, O_RDONLY);
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}
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char buffer[10] {};
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if (::pread(_channels_fd[channel], buffer, sizeof(buffer), 0) < 0) {
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PX4_ERR("read channel %d failed", channel);
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return UINT32_MAX; // error
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}
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return atoi(buffer);
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}
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uint32_t px4_arch_adc_dn_fullcount()
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{
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return 1 << 12; // 12 bit ADC
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}
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@@ -1,251 +0,0 @@
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/****************************************************************************
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*
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* Copyright (c) 2012-2018 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
|
||||
* are met:
|
||||
*
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||||
* 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.
|
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* 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
|
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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 bbblue_adc.cpp
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*
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* BBBlue ADC Driver
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*
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*/
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#include <px4_platform_common/px4_config.h>
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#include <px4_platform_common/tasks.h>
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#include <px4_platform_common/posix.h>
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#include <drivers/drv_adc.h>
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#include <VirtDevObj.hpp>
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#include <unistd.h>
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#include <stdio.h>
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#include <poll.h>
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#include <string.h>
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#ifdef __DF_BBBLUE
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#include <robotcontrol.h>
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#include <board_config.h>
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#endif
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#define ADC_BASE_DEV_PATH "/dev/null"
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#define BBBLUE_MAX_ADC_CHANNELS (6)
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#define BBBLUE_MAX_ADC_USER_CHANNELS (4)
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#define BBBLUE_ADC_DC_JACK_VOLTAGE_CHANNEL (5)
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#define BBBLUE_ADC_LIPO_BATTERY_VOLTAGE_CHANNEL (6)
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__BEGIN_DECLS
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__EXPORT int bbblue_adc_main(int argc, char *argv[]);
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__END_DECLS
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class BBBlueADC: public DriverFramework::VirtDevObj
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{
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public:
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BBBlueADC();
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virtual ~BBBlueADC();
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virtual int init();
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virtual ssize_t devRead(void *buf, size_t count) override;
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virtual int devIOCTL(unsigned long request, unsigned long arg) override;
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protected:
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virtual void _measure() override;
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private:
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pthread_mutex_t _samples_lock;
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px4_adc_msg_t _samples[BBBLUE_MAX_ADC_CHANNELS];
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};
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BBBlueADC::BBBlueADC()
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: DriverFramework::VirtDevObj("bbblue_adc", ADC0_DEVICE_PATH, ADC_BASE_DEV_PATH, 1e6 / 100)
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{
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pthread_mutex_init(&_samples_lock, NULL);
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}
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BBBlueADC::~BBBlueADC()
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{
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pthread_mutex_destroy(&_samples_lock);
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rc_cleaning();
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}
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void BBBlueADC::_measure()
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{
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#ifdef __DF_BBBLUE
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px4_adc_msg_t tmp_samples[BBBLUE_MAX_ADC_CHANNELS];
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for (int i = 0; i < BBBLUE_MAX_ADC_USER_CHANNELS; ++i) {
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tmp_samples[i].am_channel = i;
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tmp_samples[i].am_data = rc_adc_read_raw(i);
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}
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tmp_samples[BBBLUE_MAX_ADC_USER_CHANNELS].am_channel = BBBLUE_ADC_LIPO_BATTERY_VOLTAGE_CHANNEL;
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tmp_samples[BBBLUE_MAX_ADC_USER_CHANNELS].am_data = rc_adc_read_raw(BBBLUE_ADC_LIPO_BATTERY_VOLTAGE_CHANNEL);
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tmp_samples[BBBLUE_ADC_DC_JACK_VOLTAGE_CHANNEL].am_channel = BBBLUE_ADC_DC_JACK_VOLTAGE_CHANNEL;
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tmp_samples[BBBLUE_ADC_DC_JACK_VOLTAGE_CHANNEL].am_data = rc_adc_read_raw(BBBLUE_ADC_DC_JACK_VOLTAGE_CHANNEL);
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pthread_mutex_lock(&_samples_lock);
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memcpy(&_samples, &tmp_samples, sizeof(tmp_samples));
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pthread_mutex_unlock(&_samples_lock);
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#endif
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}
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int BBBlueADC::init()
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{
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rc_init();
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int ret = DriverFramework::VirtDevObj::init();
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if (ret != PX4_OK) {
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PX4_ERR("init failed");
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return ret;
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}
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_measure(); // start the initial conversion so that the test command right
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// after the start command can return values
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return PX4_OK;
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}
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int BBBlueADC::devIOCTL(unsigned long request, unsigned long arg)
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{
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return -ENOTTY;
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}
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ssize_t BBBlueADC::devRead(void *buf, size_t count)
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{
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const size_t maxsize = sizeof(_samples);
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int ret;
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if (count > maxsize) {
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count = maxsize;
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}
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ret = pthread_mutex_trylock(&_samples_lock);
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if (ret != 0) {
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return 0;
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}
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memcpy(buf, &_samples, count);
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pthread_mutex_unlock(&_samples_lock);
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return count;
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}
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static BBBlueADC *instance = nullptr;
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int bbblue_adc_main(int argc, char *argv[])
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{
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int ret;
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if (argc < 2) {
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PX4_WARN("usage: {start|stop|test}");
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return PX4_ERROR;
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}
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if (!strcmp(argv[1], "start")) {
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if (instance) {
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PX4_WARN("already started");
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return PX4_OK;
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}
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instance = new BBBlueADC;
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if (!instance) {
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PX4_WARN("not enough memory");
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return PX4_ERROR;
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}
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if (instance->init() != PX4_OK) {
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delete instance;
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instance = nullptr;
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PX4_WARN("init failed");
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return PX4_ERROR;
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}
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PX4_INFO("BBBlueADC started");
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return PX4_OK;
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} else if (!strcmp(argv[1], "stop")) {
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if (!instance) {
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PX4_WARN("already stopped");
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return PX4_OK;
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}
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delete instance;
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instance = nullptr;
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return PX4_OK;
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} else if (!strcmp(argv[1], "test")) {
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if (!instance) {
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PX4_ERR("start first");
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return PX4_ERROR;
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}
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px4_adc_msg_t adc_msgs[BBBLUE_MAX_ADC_CHANNELS];
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ret = instance->devRead((char *)&adc_msgs, sizeof(adc_msgs));
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if (ret < 0) {
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PX4_ERR("ret: %s (%d)\n", strerror(ret), ret);
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return ret;
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} else if (ret != sizeof(adc_msgs)) {
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PX4_ERR("incomplete read: %d expected %d", ret, sizeof(adc_msgs));
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return ret;
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}
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for (int i = 0; i < BBBLUE_MAX_ADC_USER_CHANNELS; ++i) {
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PX4_INFO("ADC channel: %d; value: %d", (int)adc_msgs[i].am_channel,
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adc_msgs[i].am_data);
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}
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for (int i = BBBLUE_MAX_ADC_USER_CHANNELS; i < BBBLUE_MAX_ADC_CHANNELS; ++i) {
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PX4_INFO("ADC channel: %d; value: %d, voltage: %6.2f V", (int)adc_msgs[i].am_channel,
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adc_msgs[i].am_data, adc_msgs[i].am_data * 1.8 / 4095.0 * 11.0);
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}
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return PX4_OK;
|
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} else {
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PX4_WARN("action (%s) not supported", argv[1]);
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return PX4_ERROR;
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}
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return PX4_OK;
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}
|
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@@ -8,6 +8,7 @@ px4_add_board(
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TOOLCHAIN arm-linux-gnueabihf
|
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TESTING
|
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DRIVERS
|
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adc
|
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#barometer # all available barometer drivers
|
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barometer/bmp280
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batt_smbus
|
||||
|
||||
@@ -0,0 +1,38 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2020 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#pragma once
|
||||
|
||||
#define SYSTEM_ADC_BASE 0 // not used
|
||||
|
||||
#define px4_arch_adc_temp_sensor_mask() (0)
|
||||
@@ -39,27 +39,17 @@
|
||||
|
||||
#pragma once
|
||||
|
||||
#ifndef BOARD_CONFIG_H
|
||||
#define BOARD_CONFIG_H
|
||||
|
||||
#define BOARD_OVERRIDE_UUID "BBBLUEID00000000" // must be of length 16
|
||||
#define PX4_SOC_ARCH_ID PX4_SOC_ARCH_ID_BBBLUE
|
||||
|
||||
#define BOARD_BATTERY1_V_DIV (11.0f)
|
||||
//#define BOARD_BATTERY1_A_PER_V (15.391030303f)
|
||||
|
||||
// Battery ADC channels
|
||||
#define ADC_BATTERY_VOLTAGE_CHANNEL 5
|
||||
#define ADC_BATTERY_CURRENT_CHANNEL ((uint8_t)(-1))
|
||||
#define ADC_AIRSPEED_VOLTAGE_CHANNEL ((uint8_t)(-1))
|
||||
|
||||
#define BOARD_HAS_NO_BOOTLOADER
|
||||
|
||||
#define BOARD_MAX_LEDS 4 // Number external of LED's this board has
|
||||
|
||||
/*
|
||||
* I2C busses
|
||||
*/
|
||||
|
||||
// I2C
|
||||
#define PX4_I2C_BUS_EXPANSION 1 // i2c-1: pins P9 17,18
|
||||
#define PX4_I2C_BUS_ONBOARD 2 // i2c-2: pins P9 19,20 - bmp280, mpu9250
|
||||
|
||||
@@ -68,6 +58,14 @@
|
||||
#define PX4_I2C_OBDEV_MPU9250 0x68
|
||||
#define PX4_I2C_OBDEV_BMP280 0x76
|
||||
|
||||
|
||||
// ADC channels:
|
||||
#define ADC_CHANNELS (1 << 5)
|
||||
|
||||
#define ADC_BATTERY_VOLTAGE_CHANNEL 5
|
||||
#define ADC_BATTERY_CURRENT_CHANNEL ((uint8_t)(-1))
|
||||
|
||||
|
||||
#include <system_config.h>
|
||||
#include <px4_platform_common/board_common.h>
|
||||
|
||||
@@ -87,8 +85,6 @@ void rc_cleaning(void);
|
||||
#define rc_i2c_unlock_bus rc_i2c_release_bus
|
||||
#define rc_i2c_get_lock rc_i2c_get_in_use_state
|
||||
|
||||
#define rc_adc_read_raw rc_adc_raw
|
||||
|
||||
#define rc_servo_send_pulse_us rc_send_servo_pulse_us
|
||||
|
||||
#define rc_filter_empty rc_empty_filter
|
||||
@@ -99,4 +95,3 @@ void rc_cleaning(void);
|
||||
|
||||
#endif
|
||||
|
||||
#endif // BOARD_CONFIG_H
|
||||
|
||||
Reference in New Issue
Block a user