mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-26 01:17:51 +08:00
Port si7210 drivers to new driver framework
This commit ports the si7210 hall sensor to the new driver framework
This commit is contained in:
Jaeyoung-Lim
@@ -342,6 +342,8 @@ rtps:
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id: 158
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- msg: estimator_event_flags
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id: 159
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- msg: sensor_hall
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id: 160
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########## multi topics: begin ##########
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- msg: actuator_controls_0
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id: 170
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@@ -40,7 +40,6 @@
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#ifndef _DRV_HALL_H
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#define _DRV_HALL_H
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#include <px4_defines.h>
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#include <stdint.h>
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#include <sys/ioctl.h>
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@@ -53,7 +52,5 @@
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#define HALL2_DEVICE_PATH "/dev/hall2"
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#define HALL3_DEVICE_PATH "/dev/hall3"
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#include <uORB/topics/sensor_hall.h>
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#define si7210_report sensor_hall_s
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#endif /* _DRV_HALL_H */
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@@ -34,9 +34,12 @@ px4_add_module(
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MODULE drivers__si7210
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MAIN si7210
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COMPILE_FLAGS
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-O0
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# -DDEBUG_BUILD
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SRCS
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si7210_main.cpp
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si7210.cpp
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DEPENDS
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px4_work_queue
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drivers__vane
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mathlib
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)
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# vim: set noet ft=cmake fenc=utf-8 ff=unix :
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+184
-795
File diff suppressed because it is too large
Load Diff
+47
-138
@@ -41,55 +41,18 @@
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#ifndef SI7210_HPP_
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#define SI7210_HPP_
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#include <px4_config.h>
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#include <parameters/param.h>
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#include <sys/types.h>
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#include <stdint.h>
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#include <stdbool.h>
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#include <stddef.h>
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#include <stdlib.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 <getopt.h>
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#include <px4_log.h>
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#include <perf/perf_counter.h>
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#include <systemlib/err.h>
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#include <nuttx/wqueue.h>
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#include <systemlib/conversions.h>
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#include <nuttx/arch.h>
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#include <nuttx/clock.h>
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#include <uORB/uORB.h>
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#include <uORB/topics/parameter_update.h>
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#include <board_config.h>
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#include <drivers/drv_hrt.h>
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#include <drivers/device/ringbuffer.h>
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#include <drivers/device/integrator.h>
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#include <drivers/device/i2c.h>
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#include <drivers/drv_hall.h>
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#include <mathlib/math/filter/LowPassFilter2p.hpp>
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#include <drivers/vane/vane.h>
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#include <math.h>
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#include <px4_platform_common/getopt.h>
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#include <px4_platform_common/module.h>
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#include <px4_platform_common/i2c_spi_buses.h>
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#include <uORB/topics/sensor_hall.h>
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#include "parameters.h"
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using namespace si7210;
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#define SI7210_BUS PX4_I2C_BUS_EXPANSION
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#define SI7210_SLAVE_ADDRESS_0 0x30 /* SI7210 I2C address */
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#define SI7210_SLAVE_ADDRESS_1 0x31 /* SI7210 I2C address */
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#define SI7210_SLAVE_ADDRESS_2 0x32 /* SI7210 I2C address */
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#define SI7210_SLAVE_ADDRESS_3 0x33 /* SI7210 I2C address */
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#define I2C_ADDRESS_0_SI7210 0x30 /* SI7210 I2C address */
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#define I2C_ADDRESS_1_SI7210 0x31 /* SI7210 I2C address */
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#define I2C_ADDRESS_2_SI7210 0x32 /* SI7210 I2C address */
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#define I2C_ADDRESS_3_SI7210 0x33 /* SI7210 I2C address */
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#define SI7210_MAX_DATA_RATE 50
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@@ -149,104 +112,40 @@ using namespace si7210;
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#define MAG_BIAS 0xC000
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#define MAG_CONV 0.00125F
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class SI7210 : public device::I2C
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class SI7210 : public Vane, public I2CSPIDriver<SI7210>
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{
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public:
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enum Instance : int8_t {
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INVALID = -1,
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ID_0 = 0,
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ID_1 = 1,
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ID_2 = 2,
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ID_3 = 3,
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};
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SI7210(I2CSPIBusOption bus_option, const int bus, int bus_frequency, int address = I2C_ADDRESS_0_SI7210,
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bool keep_retrying = false) :
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Vane(bus, bus_frequency, address, SI7210_CONVERSION_INTERVAL),
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I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus, address),
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_keep_retrying{keep_retrying}
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{
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}
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SI7210(int bus, SI7210::Instance instance, const char *path);
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virtual ~SI7210();
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virtual ~SI7210() = default;
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virtual int init();
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virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
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virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
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static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
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int runtime_instance);
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static void print_usage();
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/**
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* Stop automatic measurement.
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*/
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void stop();
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void RunImpl();
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/**
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* Diagnostics - print some basic information about the driver.
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*/
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void print_info();
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protected:
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virtual int probe();
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void start();
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private:
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work_s _work{};
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enum class State {
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RequireConfig,
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Configuring,
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Running
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};
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bool _running;
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int measure() override { return 0; }
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int collect() override;
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int probe() override;
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int configure();
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/* altitude conversion calibration */
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unsigned _call_interval;
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si7210_report _report {};
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ringbuffer::RingBuffer *_reports;
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bool _collect_phase;
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orb_advert_t _hall_topic;
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int _orb_class_instance;
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perf_counter_t _sample_perf;
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perf_counter_t _bad_transfers;
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perf_counter_t _good_transfers;
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perf_counter_t _measure_perf;
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perf_counter_t _comms_errors;
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perf_counter_t _duplicates;
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bool _got_duplicate;
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Instance _instance; /**< index of the i2c address and publisher instance */
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int _params_sub{-1}; /**< notification of parameter updates */
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si7210_report _last_report {}; /**< used for info() */
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Parameters _parameters{}; /**< local copies of interesting parameters */
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ParameterHandles _parameter_handles{}; /**< handles for interesting parameters */
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/**
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* Start automatic measurement.
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*/
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void start();
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int measure(); //start measure
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int collect(); //get results and publish
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int parameters_update(); // update parameters
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static void cycle_trampoline(void *arg);
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void cycle(); //main execution
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/**
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* Read the specified number of bytes from SI7210.
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*
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* @param reg The register to read.
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* @param data Pointer to buffer for bytes read.
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* @param len Number of bytes to read
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* @return OK if the transfer was successful, -errno otherwise.
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*/
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int get_data(uint8_t reg, uint8_t *data, unsigned len);
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/**
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* Resets the chip.
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*/
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int reset();
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/**
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* Measurement self test
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*
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* @return 0 on success, 1 on failure
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*/
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int self_test();
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bool init_si7210();
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/**
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* Get registers values
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@@ -276,9 +175,19 @@ private:
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*/
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int get_sensor_data(uint8_t otpAddr, int8_t *data);
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/* do not allow to copy this class due to pointer data members */
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SI7210(const SI7210 &);
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SI7210 operator=(const SI7210 &);
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/**
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* Calculate the CRC8 for the sensor payload data
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*/
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bool crc(const uint8_t data[], unsigned size, uint8_t checksum);
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/**
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* Write a command in Sensirion specific logic
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*/
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int write_command(uint16_t command);
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uint16_t _scale{0};
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const bool _keep_retrying;
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State _state{State::RequireConfig};
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};
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#endif /* SI7210_HPP_ */
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@@ -0,0 +1,110 @@
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/****************************************************************************
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*
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* Copyright (c) 2012-2021 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:
|
||||
*
|
||||
* 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
|
||||
* 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 si7210_main.cpp
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* Driver for the SI7210 connected via I2C.
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*
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* Author: Amir Melzer <amir.melzer@mavt.ethz.ch>
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*/
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#include "si7210.h"
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extern "C" __EXPORT int si7210_main(int argc, char *argv[]);
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I2CSPIDriverBase *SI7210::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
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int runtime_instance)
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{
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SI7210 *instance = new SI7210(iterator.configuredBusOption(), iterator.bus(), cli.bus_frequency, cli.i2c_address,
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cli.keep_running);
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if (instance == nullptr) {
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PX4_ERR("alloc failed");
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return nullptr;
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}
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if (instance->init() != PX4_OK) {
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delete instance;
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return nullptr;
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}
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instance->start();
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return instance;
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}
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void
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SI7210::print_usage()
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{
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PRINT_MODULE_USAGE_NAME("si7210", "driver");
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PRINT_MODULE_USAGE_SUBCATEGORY("airspeed_sensor");
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PRINT_MODULE_USAGE_COMMAND("start");
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PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
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PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x30);
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PRINT_MODULE_USAGE_PARAMS_I2C_KEEP_RUNNING_FLAG();
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PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
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}
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|
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int
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si7210_main(int argc, char *argv[])
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{
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using ThisDriver = SI7210;
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BusCLIArguments cli{true, false};
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cli.default_i2c_frequency = 100000;
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cli.i2c_address = I2C_ADDRESS_2_SI7210;
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cli.support_keep_running = true;
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const char *verb = cli.parseDefaultArguments(argc, argv);
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|
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if (!verb) {
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ThisDriver::print_usage();
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return -1;
|
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}
|
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|
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BusInstanceIterator iterator(MODULE_NAME, cli, DRV_HALL_DEVTYPE_SI7210);
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|
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if (!strcmp(verb, "start")) {
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return ThisDriver::module_start(cli, iterator);
|
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}
|
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|
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if (!strcmp(verb, "stop")) {
|
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return ThisDriver::module_stop(iterator);
|
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}
|
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|
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if (!strcmp(verb, "status")) {
|
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return ThisDriver::module_status(iterator);
|
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}
|
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|
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ThisDriver::print_usage();
|
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return -1;
|
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}
|
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@@ -40,3 +40,4 @@ add_subdirectory(led)
|
||||
add_subdirectory(magnetometer)
|
||||
add_subdirectory(rangefinder)
|
||||
add_subdirectory(smbus)
|
||||
add_subdirectory(vane)
|
||||
|
||||
@@ -0,0 +1,35 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2021 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
px4_add_library(drivers__vane vane.cpp)
|
||||
target_link_libraries(drivers__vane PRIVATE drivers__device)
|
||||
@@ -0,0 +1,122 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2013-2015 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.cpp
|
||||
* @author Simon Wilks <simon@px4.io>
|
||||
* @author Lorenz Meier <lorenz@px4.io>
|
||||
*
|
||||
*/
|
||||
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
#include <drivers/device/device.h>
|
||||
|
||||
#include <drivers/device/i2c.h>
|
||||
|
||||
#include <systemlib/err.h>
|
||||
#include <parameters/param.h>
|
||||
#include <perf/perf_counter.h>
|
||||
|
||||
#include <drivers/drv_airspeed.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
|
||||
#include <uORB/uORB.h>
|
||||
#include <uORB/topics/sensor_hall.h>
|
||||
|
||||
#include <drivers/vane/vane.h>
|
||||
|
||||
Vane::Vane(int bus, int bus_frequency, int address, unsigned conversion_interval) :
|
||||
I2C(0, "Vane", bus, address, bus_frequency),
|
||||
_sensor_ok(false),
|
||||
_measure_interval(conversion_interval),
|
||||
_collect_phase(false),
|
||||
_vane_orb_class_instance(-1),
|
||||
_class_instance(-1),
|
||||
_conversion_interval(conversion_interval),
|
||||
_sample_perf(perf_alloc(PC_ELAPSED, "vane_read")),
|
||||
_comms_errors(perf_alloc(PC_COUNT, "vane_com_err"))
|
||||
{
|
||||
}
|
||||
|
||||
Vane::~Vane()
|
||||
{
|
||||
if (_class_instance != -1) {
|
||||
unregister_class_devname(HALL_BASE_DEVICE_PATH, _class_instance);
|
||||
}
|
||||
|
||||
// free perf counters
|
||||
perf_free(_sample_perf);
|
||||
perf_free(_comms_errors);
|
||||
}
|
||||
|
||||
int
|
||||
Vane::init()
|
||||
{
|
||||
/* do I2C init (and probe) first */
|
||||
if (I2C::init() != PX4_OK) {
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
/* register alternate interfaces if we have to */
|
||||
_class_instance = register_class_devname(HALL_BASE_DEVICE_PATH);
|
||||
|
||||
/* advertise sensor topic, measure manually to initialize valid report */
|
||||
measure();
|
||||
|
||||
return PX4_OK;
|
||||
}
|
||||
|
||||
int
|
||||
Vane::probe()
|
||||
{
|
||||
/* on initial power up the device may need more than one retry
|
||||
for detection. Once it is running the number of retries can
|
||||
be reduced
|
||||
*/
|
||||
_retries = 4;
|
||||
int ret = measure();
|
||||
|
||||
// drop back to 2 retries once initialised
|
||||
_retries = 2;
|
||||
return ret;
|
||||
}
|
||||
|
||||
int
|
||||
Vane::ioctl(device::file_t *filp, int cmd, unsigned long arg)
|
||||
{
|
||||
switch (cmd) {
|
||||
default:
|
||||
/* give it to the superclass */
|
||||
return I2C::ioctl(filp, cmd, arg);
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,84 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <string.h>
|
||||
#include <drivers/device/i2c.h>
|
||||
#include <drivers/drv_hall.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
#include <px4_platform_common/defines.h>
|
||||
#include <perf/perf_counter.h>
|
||||
#include <uORB/topics/sensor_hall.h>
|
||||
#include <uORB/PublicationMulti.hpp>
|
||||
|
||||
class __EXPORT Vane : public device::I2C
|
||||
{
|
||||
public:
|
||||
Vane(int bus, int bus_frequency, int address, unsigned conversion_interval);
|
||||
virtual ~Vane();
|
||||
|
||||
int init() override;
|
||||
|
||||
int ioctl(device::file_t *filp, int cmd, unsigned long arg) override;
|
||||
|
||||
private:
|
||||
Vane(const Vane &) = delete;
|
||||
Vane &operator=(const Vane &) = delete;
|
||||
|
||||
protected:
|
||||
int probe() override;
|
||||
|
||||
/**
|
||||
* Perform a poll cycle; collect from the previous measurement
|
||||
* and start a new one.
|
||||
*/
|
||||
virtual int measure() = 0;
|
||||
virtual int collect() = 0;
|
||||
|
||||
bool _sensor_ok;
|
||||
int _measure_interval;
|
||||
bool _collect_phase;
|
||||
|
||||
uORB::PublicationMulti<sensor_hall_s> _vane_pub{ORB_ID(sensor_hall)};
|
||||
|
||||
int _vane_orb_class_instance;
|
||||
|
||||
int _class_instance;
|
||||
|
||||
unsigned _conversion_interval;
|
||||
|
||||
perf_counter_t _sample_perf;
|
||||
perf_counter_t _comms_errors;
|
||||
};
|
||||
Reference in New Issue
Block a user