mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-06-13 04:34:19 +08:00
adis16477 driver
This commit is contained in:
Daniel Agar
committed by
Lorenz Meier
Lorenz Meier
parent
5de5d6ea49
commit
ffbd75d1b9
@@ -104,6 +104,8 @@
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#define DRV_MAG_DEVTYPE_ADIS16448 0x56
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#define DRV_GYR_DEVTYPE_ADIS16448 0x57
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#define DRV_BARO_DEVTYPE_LPS22HB 0x58
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#define DRV_ACC_DEVTYPE_ADIS16477 0x59
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#define DRV_GYR_DEVTYPE_ADIS16477 0x60
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/*
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* ioctl() definitions
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@@ -32,6 +32,7 @@
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############################################################################
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add_subdirectory(adis16448)
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add_subdirectory(adis16477)
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add_subdirectory(bma180)
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add_subdirectory(bmi055)
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add_subdirectory(bmi160)
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File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,230 @@
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/****************************************************************************
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*
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* Copyright (c) 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
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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
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||||
* notice, this list of conditions and the following disclaimer in
|
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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||||
* used to endorse or promote products derived from this software
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||||
* without specific prior written permission.
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||||
*
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||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/*
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* ADIS16477.hpp
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*
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*/
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#ifndef DRIVERS_IMU_ADIS16477_ADIS16477_HPP_
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#define DRIVERS_IMU_ADIS16477_ADIS16477_HPP_
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#include <drivers/device/ringbuffer.h>
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#include <drivers/device/spi.h>
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#include <drivers/drv_hrt.h>
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#include <drivers/drv_accel.h>
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#include <drivers/drv_gyro.h>
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#include <mathlib/math/filter/LowPassFilter2p.hpp>
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#include <drivers/device/integrator.h>
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#include <lib/conversion/rotation.h>
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#include <perf/perf_counter.h>
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#include <ecl/geo/geo.h>
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#define ADIS16477_GYRO_DEFAULT_RATE 250
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#define ADIS16477_GYRO_DEFAULT_DRIVER_FILTER_FREQ 30
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#define ADIS16477_ACCEL_DEFAULT_RATE 250
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#define ADIS16477_ACCEL_DEFAULT_DRIVER_FILTER_FREQ 30
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#define ADIS16477_ACCEL_MAX_OUTPUT_RATE 1221
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#define ADIS16477_GYRO_MAX_OUTPUT_RATE 1221
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class ADIS16477_gyro;
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class ADIS16477 : public device::SPI
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{
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public:
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ADIS16477(int bus, const char *path_accel, const char *path_gyro, uint32_t device, enum Rotation rotation);
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virtual ~ADIS16477();
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virtual int init();
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virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
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void print_info();
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protected:
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virtual int probe();
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friend class ADIS16477_gyro;
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virtual int gyro_ioctl(struct file *filp, int cmd, unsigned long arg);
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private:
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ADIS16477_gyro *_gyro{nullptr};
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uint16_t _product{0}; /** product code */
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struct hrt_call _call {};
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unsigned _call_interval{0};
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struct gyro_calibration_s _gyro_scale {};
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// gyro 0.025 °/sec/LSB
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float _gyro_range_scale{0.025f};
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float _gyro_range_rad_s{math::radians(500.0f)};
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struct accel_calibration_s _accel_scale {};
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// accel 1.25 mg/LSB
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float _accel_range_scale{1.25f * CONSTANTS_ONE_G / 1000.0f};
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float _accel_range_m_s2{40.0f * CONSTANTS_ONE_G};
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orb_advert_t _accel_topic{nullptr};
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int _accel_orb_class_instance{-1};
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int _accel_class_instance{-1};
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unsigned _sample_rate{100};
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perf_counter_t _sample_perf;
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perf_counter_t _bad_transfers;
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math::LowPassFilter2p _gyro_filter_x{ADIS16477_GYRO_DEFAULT_RATE, ADIS16477_GYRO_DEFAULT_DRIVER_FILTER_FREQ};
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math::LowPassFilter2p _gyro_filter_y{ADIS16477_GYRO_DEFAULT_RATE, ADIS16477_GYRO_DEFAULT_DRIVER_FILTER_FREQ};
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math::LowPassFilter2p _gyro_filter_z{ADIS16477_GYRO_DEFAULT_RATE, ADIS16477_GYRO_DEFAULT_DRIVER_FILTER_FREQ};
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math::LowPassFilter2p _accel_filter_x{ADIS16477_ACCEL_DEFAULT_RATE, ADIS16477_ACCEL_DEFAULT_DRIVER_FILTER_FREQ};
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math::LowPassFilter2p _accel_filter_y{ADIS16477_ACCEL_DEFAULT_RATE, ADIS16477_ACCEL_DEFAULT_DRIVER_FILTER_FREQ};
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math::LowPassFilter2p _accel_filter_z{ADIS16477_ACCEL_DEFAULT_RATE, ADIS16477_ACCEL_DEFAULT_DRIVER_FILTER_FREQ};
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Integrator _accel_int{1000000 / ADIS16477_ACCEL_MAX_OUTPUT_RATE, false};
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Integrator _gyro_int{1000000 / ADIS16477_GYRO_MAX_OUTPUT_RATE, true};
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enum Rotation _rotation;
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perf_counter_t _controller_latency_perf;
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#pragma pack(push, 1)
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/**
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* Report conversation with in the ADIS16477, including command byte and interrupt status.
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*/
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struct ADISReport {
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uint16_t cmd;
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uint16_t diag_stat;
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int16_t gyro_x;
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int16_t gyro_y;
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int16_t gyro_z;
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int16_t accel_x;
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int16_t accel_y;
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int16_t accel_z;
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uint16_t temp;
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uint16_t DATA_CNTR;
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uint16_t checksum;
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ADISReport():
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cmd(0),
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diag_stat(0),
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gyro_x(0),
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gyro_y(0),
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gyro_z(0),
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accel_x(0),
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accel_y(0),
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accel_z(0),
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temp(0),
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DATA_CNTR(0)
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{}
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};
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#pragma pack(pop)
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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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/**
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* Stop automatic measurement.
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*/
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void stop();
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/**
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* Reset chip.
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*
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* Resets the chip and measurements ranges, but not scale and offset.
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*/
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int reset();
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/**
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* Static trampoline from the hrt_call context; because we don't have a
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* generic hrt wrapper yet.
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*
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* Called by the HRT in interrupt context at the specified rate if
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* automatic polling is enabled.
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*
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* @param arg Instance pointer for the driver that is polling.
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*/
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static void measure_trampoline(void *arg);
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/**
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* Fetch measurements from the sensor and update the report buffers.
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*/
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int measure();
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bool publish_accel(const ADISReport &report);
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bool publish_gyro(const ADISReport &report);
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uint16_t read_reg(uint8_t reg);
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void write_reg(uint8_t reg, uint8_t val);
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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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/*
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set low pass filter frequency
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*/
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void _set_dlpf_filter(uint16_t frequency_hz);
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/*
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set IMU to factory default
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*/
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void _set_factory_default();
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/*
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set sample rate (approximate) - 1kHz to 5Hz
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*/
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void _set_sample_rate(uint16_t desired_sample_rate_hz);
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/*
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set the gyroscope dynamic range
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*/
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void _set_gyro_dyn_range(uint16_t desired_gyro_dyn_range);
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ADIS16477(const ADIS16477 &);
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ADIS16477 operator=(const ADIS16477 &);
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};
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#endif /* DRIVERS_IMU_ADIS16477_ADIS16477_HPP_ */
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@@ -0,0 +1,79 @@
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/****************************************************************************
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*
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* Copyright (c) 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:
|
||||
*
|
||||
* 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
|
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* the documentation and/or other materials provided with the
|
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
|
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* used to endorse or promote products derived from this software
|
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* without specific prior written permission.
|
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* 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 "ADIS16477_gyro.hpp"
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ADIS16477_gyro::ADIS16477_gyro(ADIS16477 *parent, const char *path) :
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CDev("ADIS16477_gyro", path),
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_parent(parent),
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_gyro_topic(nullptr),
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_gyro_orb_class_instance(-1),
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_gyro_class_instance(-1)
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{
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}
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ADIS16477_gyro::~ADIS16477_gyro()
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{
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if (_gyro_class_instance != -1) {
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unregister_class_devname(GYRO_BASE_DEVICE_PATH, _gyro_class_instance);
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}
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}
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int
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ADIS16477_gyro::init()
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{
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int ret = CDev::init();
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/* if probe/setup failed, bail now */
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if (ret != OK) {
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DEVICE_DEBUG("gyro init failed");
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return ret;
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}
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_gyro_class_instance = register_class_devname(GYRO_BASE_DEVICE_PATH);
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return ret;
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}
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int
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ADIS16477_gyro::ioctl(struct file *filp, int cmd, unsigned long arg)
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{
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switch (cmd) {
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case DEVIOCGDEVICEID:
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return (int)CDev::ioctl(filp, cmd, arg);
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break;
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default:
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return _parent->gyro_ioctl(filp, cmd, arg);
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}
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}
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@@ -0,0 +1,71 @@
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/****************************************************************************
|
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*
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* Copyright (c) 2018 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.
|
||||
*
|
||||
****************************************************************************/
|
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#ifndef DRIVERS_IMU_ADIS16477_ADIS16477_GYRO_HPP_
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#define DRIVERS_IMU_ADIS16477_ADIS16477_GYRO_HPP_
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#include "ADIS16477.hpp"
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#include <drivers/device/CDev.hpp>
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#include <drivers/drv_gyro.h>
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/**
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* Helper class implementing the gyro driver node.
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*/
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class ADIS16477_gyro : public device::CDev
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{
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public:
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ADIS16477_gyro(ADIS16477 *parent, const char *path);
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virtual ~ADIS16477_gyro();
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virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
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virtual int init();
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|
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protected:
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friend class ADIS16477;
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private:
|
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ADIS16477 *_parent{nullptr};
|
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orb_advert_t _gyro_topic{nullptr};
|
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|
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int _gyro_orb_class_instance{-1};
|
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int _gyro_class_instance{-1};
|
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|
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/* do not allow to copy this class due to pointer data members */
|
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ADIS16477_gyro(const ADIS16477_gyro &);
|
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ADIS16477_gyro operator=(const ADIS16477_gyro &);
|
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|
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};
|
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|
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#endif /* DRIVERS_IMU_ADIS16477_ADIS16477_GYRO_HPP_ */
|
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@@ -0,0 +1,266 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2018 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include "ADIS16477.hpp"
|
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|
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#define ADIS16477_DEVICE_PATH_ACCEL "/dev/adis16477_accel"
|
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#define ADIS16477_DEVICE_PATH_GYRO "/dev/adis16477_gyro"
|
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|
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extern "C" { __EXPORT int adis16477_main(int argc, char *argv[]); }
|
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|
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/**
|
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* Local functions in support of the shell command.
|
||||
*/
|
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namespace adis16477
|
||||
{
|
||||
|
||||
ADIS16477 *g_dev;
|
||||
|
||||
void start(enum Rotation rotation);
|
||||
void test();
|
||||
void reset();
|
||||
void info();
|
||||
void usage();
|
||||
/**
|
||||
* Start the driver.
|
||||
*/
|
||||
void
|
||||
start(enum Rotation rotation)
|
||||
{
|
||||
int fd = -1;
|
||||
|
||||
if (g_dev != nullptr)
|
||||
/* if already started, the still command succeeded */
|
||||
{
|
||||
errx(0, "already started");
|
||||
}
|
||||
|
||||
/* create the driver */
|
||||
#if defined(PX4_SPIDEV_ADIS16477)
|
||||
g_dev = new ADIS16477(PX4_SPI_BUS_SENSOR1, ADIS16477_DEVICE_PATH_ACCEL, ADIS16477_DEVICE_PATH_GYRO,
|
||||
PX4_SPIDEV_ADIS16477, rotation);
|
||||
#else
|
||||
PX4_ERR("External SPI not available");
|
||||
exit(0);
|
||||
#endif
|
||||
|
||||
if (g_dev == nullptr) {
|
||||
goto fail;
|
||||
}
|
||||
|
||||
if (OK != (g_dev)->init()) {
|
||||
goto fail;
|
||||
}
|
||||
|
||||
/* set the poll rate to default, starts automatic data collection */
|
||||
fd = px4_open(ADIS16477_DEVICE_PATH_ACCEL, O_RDONLY);
|
||||
|
||||
if (fd < 0) {
|
||||
goto fail;
|
||||
}
|
||||
|
||||
if (px4_ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
|
||||
goto fail;
|
||||
}
|
||||
|
||||
px4_close(fd);
|
||||
exit(0);
|
||||
fail:
|
||||
|
||||
if (g_dev != nullptr) {
|
||||
delete g_dev;
|
||||
g_dev = nullptr;
|
||||
}
|
||||
|
||||
errx(1, "driver start failed");
|
||||
}
|
||||
|
||||
/**
|
||||
* Perform some basic functional tests on the driver;
|
||||
* make sure we can collect data from the sensor in polled
|
||||
* and automatic modes.
|
||||
*/
|
||||
void
|
||||
test()
|
||||
{
|
||||
accel_report a_report;
|
||||
gyro_report g_report;
|
||||
|
||||
ssize_t sz;
|
||||
|
||||
/* get the driver */
|
||||
int fd = px4_open(ADIS16477_DEVICE_PATH_ACCEL, O_RDONLY);
|
||||
|
||||
if (fd < 0) {
|
||||
err(1, "%s open failed", ADIS16477_DEVICE_PATH_ACCEL);
|
||||
}
|
||||
|
||||
/* get the gyro driver */
|
||||
int fd_gyro = px4_open(ADIS16477_DEVICE_PATH_GYRO, O_RDONLY);
|
||||
|
||||
if (fd_gyro < 0) {
|
||||
err(1, "%s open failed", ADIS16477_DEVICE_PATH_GYRO);
|
||||
}
|
||||
|
||||
/* do a simple demand read */
|
||||
sz = read(fd, &a_report, sizeof(a_report));
|
||||
|
||||
if (sz != sizeof(a_report)) {
|
||||
PX4_ERR("ret: %d, expected: %d", sz, sizeof(a_report));
|
||||
err(1, "immediate acc read failed");
|
||||
}
|
||||
|
||||
print_message(a_report);
|
||||
|
||||
/* do a simple demand read */
|
||||
sz = px4_read(fd_gyro, &g_report, sizeof(g_report));
|
||||
|
||||
if (sz != sizeof(g_report)) {
|
||||
warnx("ret: %d, expected: %d", sz, sizeof(g_report));
|
||||
err(1, "immediate gyro read failed");
|
||||
}
|
||||
|
||||
print_message(g_report);
|
||||
|
||||
px4_close(fd_gyro);
|
||||
px4_close(fd);
|
||||
|
||||
reset();
|
||||
errx(0, "PASS");
|
||||
}
|
||||
|
||||
/**
|
||||
* Reset the driver.
|
||||
*/
|
||||
void
|
||||
reset()
|
||||
{
|
||||
int fd = px4_open(ADIS16477_DEVICE_PATH_ACCEL, O_RDONLY);
|
||||
|
||||
if (fd < 0) {
|
||||
err(1, "open failed");
|
||||
}
|
||||
|
||||
if (px4_ioctl(fd, SENSORIOCRESET, 0) < 0) {
|
||||
err(1, "driver reset failed");
|
||||
}
|
||||
|
||||
if (px4_ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
|
||||
err(1, "driver poll restart failed");
|
||||
}
|
||||
|
||||
px4_close(fd);
|
||||
|
||||
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);
|
||||
}
|
||||
|
||||
void
|
||||
usage()
|
||||
{
|
||||
PX4_INFO("missing command: try 'start', 'test', 'info', 'reset'");
|
||||
PX4_INFO("options:");
|
||||
PX4_INFO(" -R rotation");
|
||||
}
|
||||
|
||||
}
|
||||
// namespace
|
||||
|
||||
int
|
||||
adis16477_main(int argc, char *argv[])
|
||||
{
|
||||
enum Rotation rotation = ROTATION_NONE;
|
||||
int ch;
|
||||
|
||||
/* start options */
|
||||
while ((ch = getopt(argc, argv, "R:")) != EOF) {
|
||||
switch (ch) {
|
||||
case 'R':
|
||||
rotation = (enum Rotation)atoi(optarg);
|
||||
break;
|
||||
|
||||
default:
|
||||
adis16477::usage();
|
||||
exit(0);
|
||||
}
|
||||
}
|
||||
|
||||
const char *verb = argv[optind];
|
||||
|
||||
/*
|
||||
* Start/load the driver.
|
||||
|
||||
*/
|
||||
if (!strcmp(verb, "start")) {
|
||||
adis16477::start(rotation);
|
||||
}
|
||||
|
||||
/*
|
||||
* Test the driver/device.
|
||||
*/
|
||||
if (!strcmp(verb, "test")) {
|
||||
adis16477::test();
|
||||
}
|
||||
|
||||
/*
|
||||
* Reset the driver.
|
||||
*/
|
||||
if (!strcmp(verb, "reset")) {
|
||||
adis16477::reset();
|
||||
}
|
||||
|
||||
/*
|
||||
* Print driver information.
|
||||
*/
|
||||
if (!strcmp(verb, "info")) {
|
||||
adis16477::info();
|
||||
}
|
||||
|
||||
adis16477::usage();
|
||||
exit(1);
|
||||
}
|
||||
@@ -0,0 +1,40 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2018 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_module(
|
||||
MODULE drivers__imu__adis16477
|
||||
MAIN adis16477
|
||||
SRCS
|
||||
ADIS16477.cpp
|
||||
ADIS16477_gyro.cpp
|
||||
ADIS16477_main.cpp
|
||||
)
|
||||
Reference in New Issue
Block a user