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Reworked airspeed driver to keep most of it abstract
This commit is contained in:
Lorenz Meier
@@ -0,0 +1,482 @@
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/****************************************************************************
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*
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* Copyright (C) 2013 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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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
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* 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
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* 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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* @file meas_airspeed.cpp
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* @author Lorenz Meier
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* @author Simon Wilks
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*
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* Driver for the MEAS Spec series connected via I2C.
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*/
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#include <nuttx/config.h>
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#include <drivers/device/i2c.h>
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#include <sys/types.h>
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#include <stdint.h>
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#include <stdlib.h>
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#include <stdbool.h>
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#include <semaphore.h>
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#include <string.h>
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#include <fcntl.h>
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#include <poll.h>
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#include <errno.h>
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#include <stdio.h>
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#include <math.h>
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#include <unistd.h>
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#include <nuttx/arch.h>
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#include <nuttx/wqueue.h>
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#include <nuttx/clock.h>
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#include <arch/board/board.h>
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#include <systemlib/airspeed.h>
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#include <systemlib/err.h>
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#include <systemlib/param/param.h>
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#include <systemlib/perf_counter.h>
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#include <drivers/drv_airspeed.h>
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#include <drivers/drv_hrt.h>
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#include <uORB/uORB.h>
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#include <uORB/topics/differential_pressure.h>
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#include <uORB/topics/subsystem_info.h>
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#include <drivers/airspeed/airspeed.h>
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/* Default I2C bus */
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#define PX4_I2C_BUS_DEFAULT PX4_I2C_BUS_EXPANSION
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/* I2C bus address */
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#define I2C_ADDRESS 0x75 /* 7-bit address. 8-bit address is 0xEA */
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/* Register address */
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#define READ_CMD 0x07 /* Read the data */
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/**
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* The Eagle Tree Airspeed V3 cannot provide accurate reading below speeds of 15km/h.
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* You can set this value to 12 if you want a zero reading below 15km/h.
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*/
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#define MIN_ACCURATE_DIFF_PRES_PA 0
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/* Measurement rate is 100Hz */
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#define CONVERSION_INTERVAL (1000000 / 100) /* microseconds */
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class MEASAirspeed : public Airspeed
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{
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public:
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MEASAirspeed(int bus, int address = I2C_ADDRESS);
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virtual ~MEASAirspeed();
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protected:
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/**
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* Perform a poll cycle; collect from the previous measurement
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* and start a new one.
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*/
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virtual void cycle();
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virtual int measure();
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virtual int collect();
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};
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/*
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* Driver 'main' command.
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*/
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extern "C" __EXPORT int meas_airspeed_main(int argc, char *argv[]);
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MEASAirspeed::MEASAirspeed(int bus, int address) : Airspeed(bus, address,
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CONVERSION_INTERVAL)
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{
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}
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int
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MEASAirspeed::measure()
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{
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int ret;
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/*
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* Send the command to begin a measurement.
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*/
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uint8_t cmd = READ_CMD;
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ret = transfer(&cmd, 1, nullptr, 0);
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if (OK != ret) {
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perf_count(_comms_errors);
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log("i2c::transfer returned %d", ret);
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return ret;
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}
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ret = OK;
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return ret;
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}
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int
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MEASAirspeed::collect()
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{
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int ret = -EIO;
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/* read from the sensor */
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uint8_t val[2] = {0, 0};
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perf_begin(_sample_perf);
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ret = transfer(nullptr, 0, &val[0], 2);
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if (ret < 0) {
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log("error reading from sensor: %d", ret);
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return ret;
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}
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uint16_t diff_pres_pa = val[1] << 8 | val[0];
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if (diff_pres_pa < _diff_pres_offset + MIN_ACCURATE_DIFF_PRES_PA) {
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diff_pres_pa = 0;
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} else {
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diff_pres_pa -= _diff_pres_offset;
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}
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// XXX we may want to smooth out the readings to remove noise.
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_reports[_next_report].timestamp = hrt_absolute_time();
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_reports[_next_report].differential_pressure_pa = diff_pres_pa;
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// Track maximum differential pressure measured (so we can work out top speed).
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if (diff_pres_pa > _reports[_next_report].max_differential_pressure_pa) {
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_reports[_next_report].max_differential_pressure_pa = diff_pres_pa;
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}
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/* announce the airspeed if needed, just publish else */
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orb_publish(ORB_ID(differential_pressure), _airspeed_pub, &_reports[_next_report]);
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/* post a report to the ring - note, not locked */
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INCREMENT(_next_report, _num_reports);
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/* if we are running up against the oldest report, toss it */
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if (_next_report == _oldest_report) {
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perf_count(_buffer_overflows);
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INCREMENT(_oldest_report, _num_reports);
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}
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/* notify anyone waiting for data */
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poll_notify(POLLIN);
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ret = OK;
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perf_end(_sample_perf);
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return ret;
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}
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void
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MEASAirspeed::cycle()
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{
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/* collection phase? */
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if (_collect_phase) {
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/* perform collection */
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if (OK != collect()) {
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log("collection error");
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/* restart the measurement state machine */
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start();
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return;
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}
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/* next phase is measurement */
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_collect_phase = false;
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/*
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* Is there a collect->measure gap?
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*/
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if (_measure_ticks > USEC2TICK(CONVERSION_INTERVAL)) {
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/* schedule a fresh cycle call when we are ready to measure again */
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work_queue(HPWORK,
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&_work,
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(worker_t)&Airspeed::cycle_trampoline,
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this,
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_measure_ticks - USEC2TICK(CONVERSION_INTERVAL));
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return;
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}
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}
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/* measurement phase */
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if (OK != measure())
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log("measure error");
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/* next phase is collection */
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_collect_phase = true;
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/* schedule a fresh cycle call when the measurement is done */
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work_queue(HPWORK,
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&_work,
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(worker_t)&Airspeed::cycle_trampoline,
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this,
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USEC2TICK(CONVERSION_INTERVAL));
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}
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/**
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* Local functions in support of the shell command.
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*/
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namespace meas_airspeed
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{
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/* oddly, ERROR is not defined for c++ */
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#ifdef ERROR
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# undef ERROR
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#endif
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const int ERROR = -1;
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MEASAirspeed *g_dev;
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void start(int i2c_bus);
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void stop();
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void test();
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void reset();
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void info();
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/**
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* Start the driver.
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*/
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void
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start(int i2c_bus)
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{
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int fd;
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if (g_dev != nullptr)
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errx(1, "already started");
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/* create the driver */
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g_dev = new MEASAirspeed(i2c_bus);
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if (g_dev == nullptr)
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goto fail;
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if (OK != g_dev->init())
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goto fail;
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/* set the poll rate to default, starts automatic data collection */
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fd = open(AIRSPEED_DEVICE_PATH, O_RDONLY);
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if (fd < 0)
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goto fail;
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if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
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goto fail;
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exit(0);
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fail:
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if (g_dev != nullptr) {
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delete g_dev;
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g_dev = nullptr;
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}
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errx(1, "driver start failed");
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}
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/**
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* Stop the driver
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*/
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void
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stop()
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{
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if (g_dev != nullptr) {
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delete g_dev;
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g_dev = nullptr;
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} else {
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errx(1, "driver not running");
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}
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exit(0);
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}
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/**
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* Perform some basic functional tests on the driver;
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* make sure we can collect data from the sensor in polled
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* and automatic modes.
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*/
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void
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test()
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{
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struct differential_pressure_s report;
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ssize_t sz;
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int ret;
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int fd = open(AIRSPEED_DEVICE_PATH, O_RDONLY);
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if (fd < 0)
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err(1, "%s open failed (try 'meas_airspeed start' if the driver is not running", AIRSPEED_DEVICE_PATH);
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/* do a simple demand read */
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sz = read(fd, &report, sizeof(report));
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if (sz != sizeof(report))
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err(1, "immediate read failed");
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warnx("single read");
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warnx("diff pressure: %d pa", report.differential_pressure_pa);
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/* start the sensor polling at 2Hz */
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if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2))
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errx(1, "failed to set 2Hz poll rate");
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/* read the sensor 5x and report each value */
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for (unsigned i = 0; i < 5; i++) {
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struct pollfd fds;
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/* wait for data to be ready */
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fds.fd = fd;
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fds.events = POLLIN;
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ret = poll(&fds, 1, 2000);
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if (ret != 1)
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errx(1, "timed out waiting for sensor data");
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/* now go get it */
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sz = read(fd, &report, sizeof(report));
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if (sz != sizeof(report))
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err(1, "periodic read failed");
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warnx("periodic read %u", i);
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warnx("diff pressure: %d pa", report.differential_pressure_pa);
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}
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errx(0, "PASS");
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}
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/**
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* Reset the driver.
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*/
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void
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reset()
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{
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int fd = open(AIRSPEED_DEVICE_PATH, O_RDONLY);
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if (fd < 0)
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err(1, "failed ");
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if (ioctl(fd, SENSORIOCRESET, 0) < 0)
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err(1, "driver reset failed");
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if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
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err(1, "driver poll restart failed");
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exit(0);
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}
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/**
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* Print a little info about the driver.
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*/
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void
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info()
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{
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if (g_dev == nullptr)
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errx(1, "driver not running");
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printf("state @ %p\n", g_dev);
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g_dev->print_info();
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exit(0);
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}
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} // namespace
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static void
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meas_airspeed_usage()
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{
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warnx("usage: meas_airspeed command [options]");
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warnx("options:");
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warnx("\t-b --bus i2cbus (%d)", PX4_I2C_BUS_DEFAULT);
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warnx("command:");
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warnx("\tstart|stop|reset|test|info");
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}
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int
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meas_airspeed_main(int argc, char *argv[])
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{
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int i2c_bus = PX4_I2C_BUS_DEFAULT;
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int i;
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for (i = 1; i < argc; i++) {
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if (strcmp(argv[i], "-b") == 0 || strcmp(argv[i], "--bus") == 0) {
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if (argc > i + 1) {
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i2c_bus = atoi(argv[i + 1]);
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}
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}
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}
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/*
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* Start/load the driver.
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*/
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if (!strcmp(argv[1], "start"))
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meas_airspeed::start(i2c_bus);
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/*
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* Stop the driver
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*/
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if (!strcmp(argv[1], "stop"))
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meas_airspeed::stop();
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/*
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* Test the driver/device.
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*/
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if (!strcmp(argv[1], "test"))
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meas_airspeed::test();
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/*
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* Reset the driver.
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*/
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if (!strcmp(argv[1], "reset"))
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meas_airspeed::reset();
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/*
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* Print driver information.
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*/
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if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status"))
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meas_airspeed::info();
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meas_airspeed_usage();
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exit(0);
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}
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