[NEW] - bmi088 i2c drivers and crazyflie 2.1 conf

2026-11-02 12:01:35 +08:00 · 2021-01-20 19:51:45 +01:00
parent d7812f83f1
commit 40f971c082
41 changed files with 6686 additions and 0 deletions
@@ -0,0 +1,162 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2016 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 syslink_bridge.cpp
+ *
+ * Character device for talking to the radio as a plain serial port
+ */
+
+#include "syslink_main.h"
+#include <cstring>
+
+
+
+SyslinkBridge::SyslinkBridge(Syslink *link) :
+	CDev("/dev/bridge0"),
+	_link(link),
+	_readbuffer(16, sizeof(crtp_message_t))
+{
+	_msg_to_send.header = 0;
+	_msg_to_send.size = sizeof(_msg_to_send.header);
+	_msg_to_send.port = CRTP_PORT_MAVLINK;
+	_msg_to_send_size_remaining = CRTP_MAX_DATA_SIZE - 1; // to send 30 bytes of data
+	//ideally _msg_to_send.data size should be CRTP_MAX_DATA_SIZE but cfbridge does not receive 31 bytes of data due to a bug somewhere
+}
+
+int
+SyslinkBridge::init()
+{
+	int ret = CDev::init();
+
+	/* if init failed, bail now */
+	if (ret != OK) {
+		PX4_DEBUG("CDev init failed");
+		return ret;
+	}
+
+
+	return ret;
+}
+
+pollevent_t
+SyslinkBridge::poll_state(struct file *filp)
+{
+	pollevent_t state = 0;
+
+	if (!_readbuffer.empty()) {
+		state |= POLLIN;
+	}
+
+	if (_link->_writebuffer.space() > 0) {
+		state |= POLLOUT;
+	}
+
+	return state;
+}
+
+ssize_t
+SyslinkBridge::read(struct file *filp, char *buffer, size_t buflen)
+{
+	int nread = 0;
+	crtp_message_t msg;
+
+	while (!_readbuffer.empty() && buflen >= sizeof(CRTP_MAX_DATA_SIZE)) {
+		_readbuffer.get(&msg, sizeof(msg));
+		int size = msg.size - sizeof(msg.header);
+		memcpy(buffer, &msg.data, size);
+
+		nread += size;
+		buffer += size;
+		buflen -= size;
+	}
+
+	return nread;
+}
+
+ssize_t
+SyslinkBridge::write(struct file *filp, const char *buffer, size_t buflen)
+{
+	int buflen_rem = buflen;
+
+	while (buflen_rem > 0) {
+
+		int datasize = MIN(_msg_to_send_size_remaining, buflen_rem);
+		_msg_to_send.size += datasize;
+		memcpy(&_msg_to_send.data[CRTP_MAX_DATA_SIZE - 1 - _msg_to_send_size_remaining], buffer, datasize);
+
+		buffer += datasize;
+		_msg_to_send_size_remaining -= datasize;
+		buflen_rem -= datasize;
+
+
+		if (_msg_to_send_size_remaining == 0) {
+
+			if (_link->_writebuffer.force(&_msg_to_send, sizeof(crtp_message_t))) {
+				PX4_WARN("write buffer overflow");
+			}
+
+			_msg_to_send.size = sizeof(_msg_to_send.header);
+			_msg_to_send_size_remaining = CRTP_MAX_DATA_SIZE - 1;
+		}
+	}
+
+	return buflen;
+}
+
+int
+SyslinkBridge::ioctl(struct file *filp, int cmd, unsigned long arg)
+{
+	// All termios commands should be silently ignored as they are handled
+
+	switch (cmd) {
+
+	case FIONSPACE:
+		*((int *) arg) = _link->_writebuffer.space() * CRTP_MAX_DATA_SIZE;
+		return 0;
+
+	default:
+		/* give it to the superclass */
+		CDev::ioctl(filp, cmd, arg);
+		return 0;
+	}
+}
+
+
+void
+SyslinkBridge::pipe_message(crtp_message_t *msg)
+{
+	_readbuffer.force(msg, sizeof(msg->size) + msg->size);
+	poll_notify(POLLIN);
+}