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meas_airspeed rename to ms4525_airspeed
This commit is contained in:
Daniel Agar
@@ -0,0 +1,43 @@
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############################################################################
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#
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# Copyright (c) 2015 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
|
||||
# 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.
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#
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############################################################################
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px4_add_module(
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MODULE drivers__ms4525_airspeed
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MAIN ms4525_airspeed
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STACK_MAIN 1200
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COMPILE_FLAGS
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SRCS
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ms4525_airspeed.cpp
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DEPENDS
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platforms__common
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)
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# vim: set noet ft=cmake fenc=utf-8 ff=unix :
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@@ -0,0 +1,656 @@
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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
|
||||
* 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.
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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 Sarthak Kaingade
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* @author Simon Wilks
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* @author Thomas Gubler
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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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* Supported sensors:
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*
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* - MS4525DO (http://www.meas-spec.com/downloads/MS4525DO.pdf)
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*
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* Interface application notes:
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*
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* - Interfacing to MEAS Digital Pressure Modules (http://www.meas-spec.com/downloads/Interfacing_to_MEAS_Digital_Pressure_Modules.pdf)
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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 <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 <board_config.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 <mathlib/math/filter/LowPassFilter2p.hpp>
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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 <uORB/topics/system_power.h>
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#include <drivers/airspeed/airspeed.h>
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/* I2C bus address is 1010001x */
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#define I2C_ADDRESS_MS4525DO 0x28 /**< 7-bit address. Depends on the order code (this is for code "I") */
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#define PATH_MS4525 "/dev/ms4525"
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/* Register address */
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#define ADDR_READ_MR 0x00 /* write to this address to start conversion */
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/* Measurement rate is 100Hz */
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#define MEAS_RATE 100
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#define MEAS_DRIVER_FILTER_FREQ 1.2f
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#define CONVERSION_INTERVAL (1000000 / MEAS_RATE) /* 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_MS4525DO, const char *path = PATH_MS4525);
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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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math::LowPassFilter2p _filter;
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/**
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* Correct for 5V rail voltage variations
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*/
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void voltage_correction(float &diff_pres_pa, float &temperature);
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int _t_system_power;
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struct system_power_s system_power;
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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 ms4525_airspeed_main(int argc, char *argv[]);
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MEASAirspeed::MEASAirspeed(int bus, int address, const char *path) : Airspeed(bus, address,
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CONVERSION_INTERVAL, path),
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_filter(MEAS_RATE, MEAS_DRIVER_FILTER_FREQ),
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_t_system_power(-1),
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system_power{}
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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 = 0;
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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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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[4] = {0, 0, 0, 0};
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perf_begin(_sample_perf);
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ret = transfer(nullptr, 0, &val[0], 4);
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if (ret < 0) {
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perf_count(_comms_errors);
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perf_end(_sample_perf);
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return ret;
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}
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uint8_t status = (val[0] & 0xC0) >> 6;
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switch (status) {
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case 0:
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// Normal Operation. Good Data Packet
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break;
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case 1:
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// Reserved
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return -EAGAIN;
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case 2:
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// Stale Data. Data has been fetched since last measurement cycle.
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return -EAGAIN;
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case 3:
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// Fault Detected
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perf_count(_comms_errors);
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perf_end(_sample_perf);
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return -EAGAIN;
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}
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int16_t dp_raw = 0, dT_raw = 0;
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dp_raw = (val[0] << 8) + val[1];
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/* mask the used bits */
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dp_raw = 0x3FFF & dp_raw;
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dT_raw = (val[2] << 8) + val[3];
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dT_raw = (0xFFE0 & dT_raw) >> 5;
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// dT max is almost certainly an invalid reading
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if (dT_raw == 2047) {
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perf_count(_comms_errors);
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return -EAGAIN;
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}
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float temperature = ((200.0f * dT_raw) / 2047) - 50;
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// Calculate differential pressure. As its centered around 8000
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// and can go positive or negative
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const float P_min = -1.0f;
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const float P_max = 1.0f;
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const float PSI_to_Pa = 6894.757f;
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/*
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this equation is an inversion of the equation in the
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pressure transfer function figure on page 4 of the datasheet
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We negate the result so that positive differential pressures
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are generated when the bottom port is used as the static
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port on the pitot and top port is used as the dynamic port
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*/
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float diff_press_PSI = -((dp_raw - 0.1f * 16383) * (P_max - P_min) / (0.8f * 16383) + P_min);
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float diff_press_pa_raw = diff_press_PSI * PSI_to_Pa;
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// correct for 5V rail voltage if possible
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voltage_correction(diff_press_pa_raw, temperature);
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// the raw value still should be compensated for the known offset
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diff_press_pa_raw -= _diff_pres_offset;
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/*
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With the above calculation the MS4525 sensor will produce a
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positive number when the top port is used as a dynamic port
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and bottom port is used as the static port
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*/
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struct differential_pressure_s report;
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/* track maximum differential pressure measured (so we can work out top speed). */
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if (diff_press_pa_raw > _max_differential_pressure_pa) {
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_max_differential_pressure_pa = diff_press_pa_raw;
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}
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report.timestamp = hrt_absolute_time();
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report.error_count = perf_event_count(_comms_errors);
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report.temperature = temperature;
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report.differential_pressure_filtered_pa = _filter.apply(diff_press_pa_raw);
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report.differential_pressure_raw_pa = diff_press_pa_raw;
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report.max_differential_pressure_pa = _max_differential_pressure_pa;
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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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new_report(report);
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|
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/* notify anyone waiting for data */
|
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poll_notify(POLLIN);
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|
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ret = OK;
|
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|
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perf_end(_sample_perf);
|
||||
|
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return ret;
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}
|
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|
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void
|
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MEASAirspeed::cycle()
|
||||
{
|
||||
int ret;
|
||||
|
||||
/* collection phase? */
|
||||
if (_collect_phase) {
|
||||
|
||||
/* perform collection */
|
||||
ret = collect();
|
||||
|
||||
if (OK != ret) {
|
||||
/* restart the measurement state machine */
|
||||
start();
|
||||
_sensor_ok = false;
|
||||
return;
|
||||
}
|
||||
|
||||
/* next phase is measurement */
|
||||
_collect_phase = false;
|
||||
|
||||
/*
|
||||
* Is there a collect->measure gap?
|
||||
*/
|
||||
if (_measure_ticks > USEC2TICK(CONVERSION_INTERVAL)) {
|
||||
|
||||
/* schedule a fresh cycle call when we are ready to measure again */
|
||||
work_queue(HPWORK,
|
||||
&_work,
|
||||
(worker_t)&Airspeed::cycle_trampoline,
|
||||
this,
|
||||
_measure_ticks - USEC2TICK(CONVERSION_INTERVAL));
|
||||
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
/* measurement phase */
|
||||
ret = measure();
|
||||
|
||||
if (OK != ret) {
|
||||
DEVICE_DEBUG("measure error");
|
||||
}
|
||||
|
||||
_sensor_ok = (ret == OK);
|
||||
|
||||
/* next phase is collection */
|
||||
_collect_phase = true;
|
||||
|
||||
/* schedule a fresh cycle call when the measurement is done */
|
||||
work_queue(HPWORK,
|
||||
&_work,
|
||||
(worker_t)&Airspeed::cycle_trampoline,
|
||||
this,
|
||||
USEC2TICK(CONVERSION_INTERVAL));
|
||||
}
|
||||
|
||||
/**
|
||||
correct for 5V rail voltage if the system_power ORB topic is
|
||||
available
|
||||
|
||||
See http://uav.tridgell.net/MS4525/MS4525-offset.png for a graph of
|
||||
offset versus voltage for 3 sensors
|
||||
*/
|
||||
void
|
||||
MEASAirspeed::voltage_correction(float &diff_press_pa, float &temperature)
|
||||
{
|
||||
#if defined(ADC_SCALED_V5_SENSE)
|
||||
|
||||
if (_t_system_power == -1) {
|
||||
_t_system_power = orb_subscribe(ORB_ID(system_power));
|
||||
}
|
||||
|
||||
if (_t_system_power == -1) {
|
||||
// not available
|
||||
return;
|
||||
}
|
||||
|
||||
bool updated = false;
|
||||
orb_check(_t_system_power, &updated);
|
||||
|
||||
if (updated) {
|
||||
orb_copy(ORB_ID(system_power), _t_system_power, &system_power);
|
||||
}
|
||||
|
||||
if (system_power.voltage5V_v < 3.0f || system_power.voltage5V_v > 6.0f) {
|
||||
// not valid, skip correction
|
||||
return;
|
||||
}
|
||||
|
||||
const float slope = 65.0f;
|
||||
/*
|
||||
apply a piecewise linear correction, flattening at 0.5V from 5V
|
||||
*/
|
||||
float voltage_diff = system_power.voltage5V_v - 5.0f;
|
||||
|
||||
if (voltage_diff > 0.5f) {
|
||||
voltage_diff = 0.5f;
|
||||
}
|
||||
|
||||
if (voltage_diff < -0.5f) {
|
||||
voltage_diff = -0.5f;
|
||||
}
|
||||
|
||||
diff_press_pa -= voltage_diff * slope;
|
||||
|
||||
/*
|
||||
the temperature masurement varies as well
|
||||
*/
|
||||
const float temp_slope = 0.887f;
|
||||
voltage_diff = system_power.voltage5V_v - 5.0f;
|
||||
|
||||
if (voltage_diff > 0.5f) {
|
||||
voltage_diff = 0.5f;
|
||||
}
|
||||
|
||||
if (voltage_diff < -1.0f) {
|
||||
voltage_diff = -1.0f;
|
||||
}
|
||||
|
||||
temperature -= voltage_diff * temp_slope;
|
||||
#endif // defined(ADC_SCALED_V5_SENSE)
|
||||
}
|
||||
|
||||
/**
|
||||
* Local functions in support of the shell command.
|
||||
*/
|
||||
namespace meas_airspeed
|
||||
{
|
||||
|
||||
MEASAirspeed *g_dev = nullptr;
|
||||
|
||||
void start(int i2c_bus);
|
||||
void stop();
|
||||
void test();
|
||||
void reset();
|
||||
void info();
|
||||
|
||||
/**
|
||||
* Start the driver.
|
||||
*
|
||||
* This function call only returns once the driver is up and running
|
||||
* or failed to detect the sensor.
|
||||
*/
|
||||
void
|
||||
start(int i2c_bus)
|
||||
{
|
||||
int fd;
|
||||
|
||||
if (g_dev != nullptr) {
|
||||
errx(1, "already started");
|
||||
}
|
||||
|
||||
/* create the driver, try the MS4525DO first */
|
||||
g_dev = new MEASAirspeed(i2c_bus, I2C_ADDRESS_MS4525DO, PATH_MS4525);
|
||||
|
||||
/* check if the MS4525DO was instantiated */
|
||||
if (g_dev == nullptr) {
|
||||
goto fail;
|
||||
}
|
||||
|
||||
/* both versions failed if the init for the MS5525DSO fails, give up */
|
||||
if (OK != g_dev->Airspeed::init()) {
|
||||
PX4_WARN("init fail");
|
||||
goto fail;
|
||||
}
|
||||
|
||||
/* set the poll rate to default, starts automatic data collection */
|
||||
fd = open(PATH_MS4525, O_RDONLY);
|
||||
|
||||
if (fd < 0) {
|
||||
goto fail;
|
||||
}
|
||||
|
||||
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
|
||||
goto fail;
|
||||
}
|
||||
|
||||
exit(0);
|
||||
|
||||
fail:
|
||||
|
||||
if (g_dev != nullptr) {
|
||||
delete g_dev;
|
||||
g_dev = nullptr;
|
||||
}
|
||||
|
||||
PX4_WARN("no MS4525 airspeed sensor connected");
|
||||
exit(1);
|
||||
}
|
||||
|
||||
/**
|
||||
* Stop the driver
|
||||
*/
|
||||
void
|
||||
stop()
|
||||
{
|
||||
if (g_dev != nullptr) {
|
||||
delete g_dev;
|
||||
g_dev = nullptr;
|
||||
|
||||
} else {
|
||||
errx(1, "driver not running");
|
||||
}
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
/**
|
||||
* Perform some basic functional tests on the driver;
|
||||
* make sure we can collect data from the sensor in polled
|
||||
* and automatic modes.
|
||||
*/
|
||||
void
|
||||
test()
|
||||
{
|
||||
struct differential_pressure_s report;
|
||||
ssize_t sz;
|
||||
int ret;
|
||||
|
||||
int fd = 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);
|
||||
}
|
||||
|
||||
/* do a simple demand read */
|
||||
sz = read(fd, &report, sizeof(report));
|
||||
|
||||
if (sz != sizeof(report)) {
|
||||
err(1, "immediate read failed");
|
||||
}
|
||||
|
||||
warnx("single read");
|
||||
warnx("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");
|
||||
}
|
||||
|
||||
/* read the sensor 5x and report each value */
|
||||
for (unsigned i = 0; i < 5; i++) {
|
||||
struct pollfd fds;
|
||||
|
||||
/* wait for data to be ready */
|
||||
fds.fd = fd;
|
||||
fds.events = POLLIN;
|
||||
ret = poll(&fds, 1, 2000);
|
||||
|
||||
if (ret != 1) {
|
||||
errx(1, "timed out");
|
||||
}
|
||||
|
||||
/* now go get it */
|
||||
sz = read(fd, &report, sizeof(report));
|
||||
|
||||
if (sz != sizeof(report)) {
|
||||
err(1, "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);
|
||||
}
|
||||
|
||||
/* reset the sensor polling to its default rate */
|
||||
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT)) {
|
||||
errx(1, "failed to set default rate");
|
||||
}
|
||||
|
||||
errx(0, "PASS");
|
||||
}
|
||||
|
||||
/**
|
||||
* Reset the driver.
|
||||
*/
|
||||
void
|
||||
reset()
|
||||
{
|
||||
int fd = open(PATH_MS4525, O_RDONLY);
|
||||
|
||||
if (fd < 0) {
|
||||
err(1, "failed ");
|
||||
}
|
||||
|
||||
if (ioctl(fd, SENSORIOCRESET, 0) < 0) {
|
||||
err(1, "driver reset failed");
|
||||
}
|
||||
|
||||
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
|
||||
err(1, "driver poll restart failed");
|
||||
}
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
/**
|
||||
* Print a little info about the driver.
|
||||
*/
|
||||
void
|
||||
info()
|
||||
{
|
||||
if (g_dev == nullptr) {
|
||||
errx(1, "driver not running");
|
||||
}
|
||||
|
||||
printf("state @ %p\n", g_dev);
|
||||
g_dev->print_info();
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
} // namespace
|
||||
|
||||
|
||||
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");
|
||||
}
|
||||
|
||||
int
|
||||
ms4525_airspeed_main(int argc, char *argv[])
|
||||
{
|
||||
int i2c_bus = PX4_I2C_BUS_DEFAULT;
|
||||
|
||||
int i;
|
||||
|
||||
for (i = 1; i < argc; i++) {
|
||||
if (strcmp(argv[i], "-b") == 0 || strcmp(argv[i], "--bus") == 0) {
|
||||
if (argc > i + 1) {
|
||||
i2c_bus = atoi(argv[i + 1]);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
* Start/load the driver.
|
||||
*/
|
||||
if (!strcmp(argv[1], "start")) {
|
||||
meas_airspeed::start(i2c_bus);
|
||||
}
|
||||
|
||||
/*
|
||||
* Stop the driver
|
||||
*/
|
||||
if (!strcmp(argv[1], "stop")) {
|
||||
meas_airspeed::stop();
|
||||
}
|
||||
|
||||
/*
|
||||
* Test the driver/device.
|
||||
*/
|
||||
if (!strcmp(argv[1], "test")) {
|
||||
meas_airspeed::test();
|
||||
}
|
||||
|
||||
/*
|
||||
* Reset the driver.
|
||||
*/
|
||||
if (!strcmp(argv[1], "reset")) {
|
||||
meas_airspeed::reset();
|
||||
}
|
||||
|
||||
/*
|
||||
* Print driver information.
|
||||
*/
|
||||
if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) {
|
||||
meas_airspeed::info();
|
||||
}
|
||||
|
||||
meas_airspeed_usage();
|
||||
exit(0);
|
||||
}
|
||||
Reference in New Issue
Block a user