fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-20 10:43:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Make NuttX drivers cross platform (VDev -> CDev)

Browse Source
This commit is contained in:
Daniel Agar
2017-08-31 09:27:36 +02:00
committed by Lorenz Meier
parent 6562dd496b
commit 07619cf723
29 changed files with 216 additions and 306 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/ms4525_airspeed/ms4525_airspeed.cpp
+35 -60
View File
@@ -54,23 +54,6 @@
#include <drivers/device/i2c.h>
#include <sys/types.h>
#include <stdint.h>
#include <stdlib.h>
#include <stdbool.h>
#include <semaphore.h>
#include <string.h>
#include <fcntl.h>
#include <poll.h>
#include <errno.h>
#include <stdio.h>
#include <math.h>
#include <unistd.h>
#include <nuttx/arch.h>
#include <nuttx/wqueue.h>
#include <nuttx/clock.h>
#include <board_config.h>
#include <systemlib/airspeed.h>
@@ -417,7 +400,7 @@ start(int i2c_bus)
int fd;
if (g_dev != nullptr) {
errx(1, "already started");
PX4_ERR("already started");
}
/* create the driver, try the MS4525DO first */
@@ -430,22 +413,22 @@ start(int i2c_bus)
/* both versions failed if the init for the MS5525DSO fails, give up */
if (OK != g_dev->Airspeed::init()) {
PX4_WARN("init fail");
PX4_ERR("init fail");
goto fail;
}
/* set the poll rate to default, starts automatic data collection */
fd = open(PATH_MS4525, O_RDONLY);
fd = px4_open(PATH_MS4525, O_RDONLY);
if (fd < 0) {
goto fail;
}
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
if (px4_ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
goto fail;
}
exit(0);
return;
fail:
@@ -455,7 +438,6 @@ fail:
}
PX4_WARN("no MS4525 airspeed sensor connected");
exit(1);
}
/**
@@ -469,10 +451,8 @@ stop()
g_dev = nullptr;
} else {
errx(1, "driver not running");
PX4_ERR("driver not running");
}
exit(0);
}
/**
@@ -487,25 +467,25 @@ test()
ssize_t sz;
int ret;
int fd = open(PATH_MS4525, O_RDONLY);
int fd = px4_open(PATH_MS4525, O_RDONLY);
if (fd < 0) {
err(1, "%s open failed (try 'meas_airspeed start' if the driver is not running", PATH_MS4525);
PX4_ERR("%s open failed (try 'meas_airspeed start' if the driver is not running", PATH_MS4525);
}
/* do a simple demand read */
sz = read(fd, &report, sizeof(report));
if (sz != sizeof(report)) {
err(1, "immediate read failed");
PX4_ERR("immediate read failed");
}
warnx("single read");
warnx("diff pressure: %d pa", (int)report.differential_pressure_filtered_pa);
PX4_INFO("single read");
PX4_INFO("diff pressure: %d pa", (int)report.differential_pressure_filtered_pa);
/* start the sensor polling at 2Hz */
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
errx(1, "failed to set 2Hz poll rate");
if (OK != px4_ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
PX4_ERR("failed to set 2Hz poll rate");
}
/* read the sensor 5x and report each value */
@@ -518,27 +498,25 @@ test()
ret = poll(&fds, 1, 2000);
if (ret != 1) {
errx(1, "timed out");
PX4_ERR("timed out");
}
/* now go get it */
sz = read(fd, &report, sizeof(report));
if (sz != sizeof(report)) {
err(1, "periodic read failed");
PX4_ERR("periodic read failed");
}
warnx("periodic read %u", i);
warnx("diff pressure: %d pa", (int)report.differential_pressure_filtered_pa);
warnx("temperature: %d C (0x%02x)", (int)report.temperature, (unsigned) report.temperature);
PX4_INFO("periodic read %u", i);
PX4_INFO("diff pressure: %d pa", (int)report.differential_pressure_filtered_pa);
PX4_INFO("temperature: %d C (0x%02x)", (int)report.temperature, (unsigned) report.temperature);
}
/* reset the sensor polling to its default rate */
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT)) {
errx(1, "failed to set default rate");
if (OK != px4_ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT)) {
PX4_ERR("failed to set default rate");
}
errx(0, "PASS");
}
/**
@@ -547,21 +525,19 @@ test()
void
reset()
{
int fd = open(PATH_MS4525, O_RDONLY);
int fd = px4_open(PATH_MS4525, O_RDONLY);
if (fd < 0) {
err(1, "failed ");
PX4_ERR("failed ");
}
if (ioctl(fd, SENSORIOCRESET, 0) < 0) {
err(1, "driver reset failed");
if (px4_ioctl(fd, SENSORIOCRESET, 0) < 0) {
PX4_ERR("driver reset failed");
}
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
err(1, "driver poll restart failed");
if (px4_ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
PX4_ERR("driver poll restart failed");
}
exit(0);
}
/**
@@ -571,13 +547,11 @@ void
info()
{
if (g_dev == nullptr) {
errx(1, "driver not running");
PX4_ERR("driver not running");
}
printf("state @ %p\n", g_dev);
PX4_INFO("state @ %p", g_dev);
g_dev->print_info();
exit(0);
}
} // namespace
@@ -586,11 +560,11 @@ info()
static void
meas_airspeed_usage()
{
warnx("usage: meas_airspeed command [options]");
warnx("options:");
warnx("\t-b --bus i2cbus (%d)", PX4_I2C_BUS_DEFAULT);
warnx("command:");
warnx("\tstart|stop|reset|test|info");
PX4_INFO("usage: meas_airspeed command [options]");
PX4_INFO("options:");
PX4_INFO("\t-b --bus i2cbus (%d)", PX4_I2C_BUS_DEFAULT);
PX4_INFO("command:");
PX4_INFO("\tstart|stop|reset|test|info");
}
int
@@ -644,5 +618,6 @@ ms4525_airspeed_main(int argc, char *argv[])
}
meas_airspeed_usage();
exit(0);
return 0;
}