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Back Port from Master - Changes to build on latest uavcan master with FW upload and Node ID

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This commit is contained in:
David Sidrane
2015-06-05 06:43:10 -10:00
parent bd3fbd5fa2
commit 68276ff345
7 changed files with 270 additions and 63 deletions
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src/modules/uavcan/sensors/baro.cpp
+65 -35
View File
@@ -41,30 +41,44 @@
const char *const UavcanBarometerBridge::NAME = "baro";
UavcanBarometerBridge::UavcanBarometerBridge(uavcan::INode& node) :
UavcanCDevSensorBridgeBase("uavcan_baro", "/dev/uavcan/baro", BARO_BASE_DEVICE_PATH, ORB_ID(sensor_baro)),
_sub_air_data(node),
_reports(nullptr)
UavcanBarometerBridge::UavcanBarometerBridge(uavcan::INode &node) :
UavcanCDevSensorBridgeBase("uavcan_baro", "/dev/uavcan/baro", BARO_BASE_DEVICE_PATH, ORB_ID(sensor_baro)),
_sub_air_pressure_data(node),
_sub_air_temperature_data(node),
_reports(nullptr)
{
last_temperature = 0.0f;
}
int UavcanBarometerBridge::init()
{
int res = device::CDev::init();
if (res < 0) {
return res;
}
/* allocate basic report buffers */
_reports = new RingBuffer(2, sizeof(baro_report));
if (_reports == nullptr)
return -1;
res = _sub_air_data.start(AirDataCbBinder(this, &UavcanBarometerBridge::air_data_sub_cb));
if (_reports == nullptr) {
return -1;
}
res = _sub_air_pressure_data.start(AirPressureCbBinder(this, &UavcanBarometerBridge::air_pressure_sub_cb));
if (res < 0) {
log("failed to start uavcan sub: %d", res);
return res;
}
res = _sub_air_temperature_data.start(AirTemperatureCbBinder(this, &UavcanBarometerBridge::air_temperature_sub_cb));
if (res < 0) {
log("failed to start uavcan sub: %d", res);
return res;
}
return 0;
}
@@ -75,8 +89,9 @@ ssize_t UavcanBarometerBridge::read(struct file *filp, char *buffer, size_t bufl
int ret = 0;
/* buffer must be large enough */
if (count < 1)
if (count < 1) {
return -ENOSPC;
}
while (count--) {
if (_reports->get(baro_buf)) {
@@ -93,47 +108,62 @@ int UavcanBarometerBridge::ioctl(struct file *filp, int cmd, unsigned long arg)
{
switch (cmd) {
case BAROIOCSMSLPRESSURE: {
if ((arg < 80000) || (arg > 120000)) {
return -EINVAL;
} else {
log("new msl pressure %u", _msl_pressure);
_msl_pressure = arg;
if ((arg < 80000) || (arg > 120000)) {
return -EINVAL;
} else {
log("new msl pressure %u", _msl_pressure);
_msl_pressure = arg;
return OK;
}
}
case BAROIOCGMSLPRESSURE: {
return _msl_pressure;
}
case SENSORIOCSPOLLRATE: {
// not supported yet, pretend that everything is ok
return OK;
}
}
case BAROIOCGMSLPRESSURE: {
return _msl_pressure;
}
case SENSORIOCSPOLLRATE: {
// not supported yet, pretend that everything is ok
return OK;
}
case SENSORIOCSQUEUEDEPTH: {
/* lower bound is mandatory, upper bound is a sanity check */
if ((arg < 1) || (arg > 100))
return -EINVAL;
/* lower bound is mandatory, upper bound is a sanity check */
if ((arg < 1) || (arg > 100)) {
return -EINVAL;
}
irqstate_t flags = irqsave();
if (!_reports->resize(arg)) {
irqrestore(flags);
return -ENOMEM;
}
irqstate_t flags = irqsave();
if (!_reports->resize(arg)) {
irqrestore(flags);
return -ENOMEM;
}
irqrestore(flags);
return OK;
}
return OK;
}
default: {
return CDev::ioctl(filp, cmd, arg);
}
return CDev::ioctl(filp, cmd, arg);
}
}
}
void UavcanBarometerBridge::air_data_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::air_data::StaticAirData> &msg)
void UavcanBarometerBridge::air_temperature_sub_cb(const
uavcan::ReceivedDataStructure<uavcan::equipment::air_data::StaticTemperature> &msg)
{
last_temperature = msg.static_temperature;
}
void UavcanBarometerBridge::air_pressure_sub_cb(const
uavcan::ReceivedDataStructure<uavcan::equipment::air_data::StaticPressure> &msg)
{
baro_report report;
report.timestamp = msg.getMonotonicTimestamp().toUSec();
report.temperature = msg.static_temperature;
report.temperature = last_temperature;
report.pressure = msg.static_pressure / 100.0F; // Convert to millibar
report.error_count = 0;