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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-27 15:03:34 +08:00
move all differential pressure drivers to the same folder
This commit is contained in:
Daniel Agar
@@ -0,0 +1,472 @@
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/****************************************************************************
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*
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* Copyright (c) 2013, 2014 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 ets_airspeed.cpp
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* @author Simon Wilks
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*
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* Driver for the Eagle Tree Airspeed V3 connected via I2C.
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*/
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#include <px4_config.h>
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#include <drivers/device/i2c.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 <drivers/device/ringbuffer.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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/* I2C bus address */
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#define I2C_ADDRESS 0x75 /* 7-bit address. 8-bit address is 0xEA */
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#define ETS_PATH "/dev/ets_airspeed"
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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 ETSAirspeed : public Airspeed
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{
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public:
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ETSAirspeed(int bus, int address = I2C_ADDRESS, const char *path = ETS_PATH);
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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 ets_airspeed_main(int argc, char *argv[]);
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ETSAirspeed::ETSAirspeed(int bus, int address, const char *path) : Airspeed(bus, address,
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CONVERSION_INTERVAL, path)
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{
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_device_id.devid_s.devtype = DRV_DIFF_PRESS_DEVTYPE_MS4525;
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}
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int
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ETSAirspeed::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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}
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return ret;
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}
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int
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ETSAirspeed::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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perf_count(_comms_errors);
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return ret;
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}
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float diff_pres_pa_raw = (float)(val[1] << 8 | val[0]);
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differential_pressure_s report;
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report.timestamp = hrt_absolute_time();
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if (diff_pres_pa_raw < FLT_EPSILON) {
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// a zero value indicates no measurement
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// since the noise floor has been arbitrarily killed
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// it defeats our stuck sensor detection - the best we
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// can do is to output some numerical noise to show
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// that we are still correctly sampling.
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diff_pres_pa_raw = 0.001f * (report.timestamp & 0x01);
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}
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// The raw value still should be compensated for the known offset
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diff_pres_pa_raw -= _diff_pres_offset;
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report.error_count = perf_event_count(_comms_errors);
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// XXX we may want to smooth out the readings to remove noise.
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report.differential_pressure_filtered_pa = diff_pres_pa_raw;
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report.differential_pressure_raw_pa = diff_pres_pa_raw;
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report.temperature = -1000.0f;
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report.device_id = _device_id.devid;
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if (_airspeed_pub != nullptr && !(_pub_blocked)) {
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/* publish it */
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orb_publish(ORB_ID(differential_pressure), _airspeed_pub, &report);
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}
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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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ETSAirspeed::cycle()
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{
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int ret;
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/* collection phase? */
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if (_collect_phase) {
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/* perform collection */
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ret = collect();
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if (OK != ret) {
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perf_count(_comms_errors);
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/* restart the measurement state machine */
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start();
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_sensor_ok = false;
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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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ret = measure();
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if (OK != ret) {
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DEVICE_DEBUG("measure error");
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}
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_sensor_ok = (ret == OK);
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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 ets_airspeed
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{
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ETSAirspeed *g_dev;
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int start(int i2c_bus);
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int stop();
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int test();
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int reset();
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int info();
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/**
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* Start the driver.
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*
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* This function only returns if the sensor is up and running
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* or could not be detected successfully.
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*/
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int
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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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PX4_ERR("already started");
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return PX4_ERROR;
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}
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/* create the driver */
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g_dev = new ETSAirspeed(i2c_bus);
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if (g_dev == nullptr) {
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goto fail;
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}
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if (OK != g_dev->init()) {
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goto fail;
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}
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/* set the poll rate to default, starts automatic data collection */
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fd = px4_open(AIRSPEED0_DEVICE_PATH, O_RDONLY);
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if (fd < 0) {
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goto fail;
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}
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if (px4_ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
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goto fail;
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}
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return PX4_OK;
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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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PX4_WARN("not started on bus %d", i2c_bus);
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return PX4_ERROR;
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}
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/**
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* Stop the driver
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*/
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int
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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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PX4_ERR("driver not running");
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return PX4_ERROR;
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}
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return PX4_OK;
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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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int
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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 = px4_open(ETS_PATH, O_RDONLY);
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if (fd < 0) {
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PX4_ERR("%s open failed (try 'ets_airspeed start' if the driver is not running", ETS_PATH);
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return PX4_ERROR;
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}
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/* do a simple demand read */
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sz = px4_read(fd, &report, sizeof(report));
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if (sz != sizeof(report)) {
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PX4_ERR("immediate read failed");
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return PX4_ERROR;
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}
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PX4_INFO("single read");
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PX4_INFO("diff pressure: %d pa", (int)report.differential_pressure_filtered_pa);
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/* start the sensor polling at 2Hz */
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if (OK != px4_ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
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PX4_ERR("failed to set 2Hz poll rate");
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return PX4_ERROR;
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}
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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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px4_pollfd_struct_t 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 = px4_poll(&fds, 1, 2000);
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if (ret != 1) {
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PX4_ERR("timed out waiting for sensor data");
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return PX4_ERROR;
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}
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/* now go get it */
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sz = px4_read(fd, &report, sizeof(report));
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if (sz != sizeof(report)) {
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PX4_ERR("periodic read failed");
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}
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PX4_INFO("periodic read %u", i);
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PX4_INFO("diff pressure: %f pa", (double)report.differential_pressure_filtered_pa);
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}
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/* reset the sensor polling to its default rate */
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if (OK != px4_ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT)) {
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PX4_ERR("failed to set default rate");
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return PX4_ERROR;
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}
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return PX4_OK;
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}
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/**
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* Reset the driver.
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*/
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int
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reset()
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{
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int fd = px4_open(ETS_PATH, O_RDONLY);
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if (fd < 0) {
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PX4_ERR("failed");
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return PX4_ERROR;
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}
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if (px4_ioctl(fd, SENSORIOCRESET, 0) < 0) {
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PX4_ERR("driver reset failed");
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return PX4_ERROR;
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}
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if (px4_ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
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PX4_ERR("driver poll restart failed");
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return PX4_ERROR;
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}
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return PX4_OK;
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}
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} // namespace
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static void
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ets_airspeed_usage()
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{
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PX4_INFO("usage: ets_airspeed command [options]");
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PX4_INFO("options:");
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PX4_INFO("\t-b --bus i2cbus (%d)", PX4_I2C_BUS_DEFAULT);
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PX4_INFO("command:");
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PX4_INFO("\tstart|stop|reset|test|info");
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}
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int
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ets_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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return ets_airspeed::start(i2c_bus);
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}
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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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return ets_airspeed::stop();
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}
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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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return ets_airspeed::test();
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}
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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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return ets_airspeed::reset();
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}
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ets_airspeed_usage();
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return PX4_OK;
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}
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