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delete drv_baro.h, drv_mag.h, drv_range_finder.h, drv_device.h and purge UAVCAN CDev usage

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This commit is contained in:
Daniel Agar
2021-01-12 22:04:52 -05:00
parent 7f5fae91b0
commit a57b9f9381
55 changed files with 117 additions and 553 deletions
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src/drivers/barometer/bmp388/bmp388.h
-1
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@@ -39,7 +39,6 @@
#pragma once
#include <math.h>
#include <drivers/drv_baro.h>
#include <drivers/drv_hrt.h>
#include <lib/cdev/CDev.hpp>
#include <perf/perf_counter.h>
src/drivers/distance_sensor/mappydot/MappyDot.cpp
+2 -1
View File
@@ -43,7 +43,6 @@
#include <containers/Array.hpp>
#include <drivers/device/i2c.h>
#include <drivers/drv_range_finder.h>
#include <perf/perf_counter.h>
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/module_params.h>
@@ -192,6 +191,8 @@ private:
*/
int get_sensor_rotation(const size_t index);
static constexpr int RANGE_FINDER_MAX_SENSORS = 12;
px4::Array<uint8_t, RANGE_FINDER_MAX_SENSORS> _sensor_addresses {};
px4::Array<uint8_t, RANGE_FINDER_MAX_SENSORS> _sensor_rotations {};
src/drivers/distance_sensor/mb12xx/mb12xx.cpp
+1 -1
View File
@@ -57,7 +57,6 @@
#include <drivers/device/device.h>
#include <drivers/device/i2c.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_range_finder.h>
#include <perf/perf_counter.h>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/getopt.h>
@@ -144,6 +143,7 @@ private:
*/
int measure();
static constexpr uint8_t RANGE_FINDER_MAX_SENSORS = 4;
px4::Array<uint8_t, RANGE_FINDER_MAX_SENSORS> _sensor_addresses {};
px4::Array<uint8_t, RANGE_FINDER_MAX_SENSORS> _sensor_rotations {};
src/drivers/drv_baro.h
-55
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@@ -1,55 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2012-2015 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 drv_baro.h
*
* Barometric pressure sensor driver interface.
*/
#ifndef _DRV_BARO_H
#define _DRV_BARO_H
#include <px4_platform_common/defines.h>
#include <stdint.h>
#include <sys/ioctl.h>
#include "drv_sensor.h"
#include "drv_orb_dev.h"
#define BARO_BASE_DEVICE_PATH "/dev/baro"
#define BARO0_DEVICE_PATH "/dev/baro0"
#include <uORB/topics/sensor_baro.h>
#endif /* _DRV_BARO_H */
src/drivers/drv_device.h
-58
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@@ -1,58 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2014 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 drv_device.h
*
* Generic device / sensor interface.
*/
#ifndef _DRV_DEVICE_H
#define _DRV_DEVICE_H
#include <stdint.h>
#include <sys/ioctl.h>
#include "drv_sensor.h"
#include "drv_orb_dev.h"
#define _DEVICEIOCBASE (0x100)
#define _DEVICEIOC(_n) (_PX4_IOC(_DEVICEIOCBASE, _n))
/**
* Return device ID, to enable matching of configuration parameters
* (such as compass offsets) to specific sensors
*/
#define DEVIOCGDEVICEID _DEVICEIOC(2)
#endif /* _DRV_DEVICE_H */
src/drivers/drv_mag.h
-54
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@@ -1,54 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2012-2016 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 Magnetometer driver interface.
*/
#ifndef _DRV_MAG_H
#define _DRV_MAG_H
#include <stdint.h>
#include <sys/ioctl.h>
#include "drv_sensor.h"
#include "drv_orb_dev.h"
#define MAG_BASE_DEVICE_PATH "/dev/mag"
#define MAG0_DEVICE_PATH "/dev/mag0"
#define MAG1_DEVICE_PATH "/dev/mag1"
#define MAG2_DEVICE_PATH "/dev/mag2"
#include <uORB/topics/sensor_mag.h>
#endif /* _DRV_MAG_H */
src/drivers/drv_range_finder.h
-51
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@@ -1,51 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2013 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 Rangefinder driver interface.
*/
#ifndef _DRV_RANGEFINDER_H
#define _DRV_RANGEFINDER_H
#include <stdint.h>
#include <sys/ioctl.h>
#include "drv_sensor.h"
#include "drv_orb_dev.h"
#define RANGE_FINDER_BASE_DEVICE_PATH "/dev/range_finder"
#define RANGE_FINDER0_DEVICE_PATH "/dev/range_finder0"
#define RANGE_FINDER_MAX_SENSORS 12 // Maximum number of sensors on bus
#endif /* _DRV_RANGEFINDER_H */
src/drivers/drv_sensor.h
-2
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@@ -44,8 +44,6 @@
#include <stdint.h>
#include <sys/ioctl.h>
#include "drv_device.h"
/**
* Sensor type definitions.
*
src/drivers/imu/mpu9250/AK8963_I2C.cpp
-1
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@@ -39,7 +39,6 @@
#include <px4_platform_common/px4_config.h>
#include <drivers/device/i2c.h>
#include <drivers/drv_device.h>
#include "mpu9250.h"
#include "MPU9250_mag.h"
src/drivers/magnetometer/hmc5883/HMC5883.hpp
-1
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@@ -40,7 +40,6 @@
#include <px4_platform_common/i2c_spi_buses.h>
#include <lib/perf/perf_counter.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_device.h>
#include <lib/drivers/magnetometer/PX4Magnetometer.hpp>
#include "hmc5883.h"
src/drivers/magnetometer/hmc5883/hmc5883_i2c.cpp
-1
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@@ -39,7 +39,6 @@
#include <px4_platform_common/px4_config.h>
#include <drivers/device/i2c.h>
#include <drivers/drv_device.h>
#include "hmc5883.h"
src/drivers/magnetometer/hmc5883/hmc5883_spi.cpp
-1
View File
@@ -39,7 +39,6 @@
#include <px4_platform_common/px4_config.h>
#include <drivers/device/spi.h>
#include <drivers/drv_device.h>
#include "hmc5883.h"
src/drivers/magnetometer/lis2mdl/lis2mdl_i2c.cpp
-1
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@@ -49,7 +49,6 @@
#include <unistd.h>
#include <drivers/device/i2c.h>
#include <drivers/drv_device.h>
#include "board_config.h"
#include "lis2mdl.h"
src/drivers/magnetometer/lis2mdl/lis2mdl_spi.cpp
-1
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@@ -49,7 +49,6 @@
#include <unistd.h>
#include <drivers/device/spi.h>
#include <drivers/drv_device.h>
#include "board_config.h"
#include "lis2mdl.h"
src/drivers/magnetometer/lis3mdl/lis3mdl_i2c.cpp
-1
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@@ -49,7 +49,6 @@
#include <unistd.h>
#include <drivers/device/i2c.h>
#include <drivers/drv_device.h>
#include "board_config.h"
#include "lis3mdl.h"
src/drivers/magnetometer/lis3mdl/lis3mdl_spi.cpp
-1
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@@ -49,7 +49,6 @@
#include <unistd.h>
#include <drivers/device/spi.h>
#include <drivers/drv_device.h>
#include "board_config.h"
#include "lis3mdl.h"
src/drivers/magnetometer/rm3100/rm3100_i2c.cpp
-1
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@@ -49,7 +49,6 @@
#include <unistd.h>
#include <drivers/device/i2c.h>
#include <drivers/drv_device.h>
#include "board_config.h"
#include "rm3100.h"
src/drivers/magnetometer/rm3100/rm3100_spi.cpp
-1
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@@ -49,7 +49,6 @@
#include <unistd.h>
#include <drivers/device/spi.h>
#include <drivers/drv_device.h>
#include "board_config.h"
#include "rm3100.h"
src/drivers/optical_flow/px4flow/px4flow.cpp
+1 -6
View File
@@ -41,7 +41,6 @@
#include <drivers/device/i2c.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_range_finder.h>
#include <lib/conversion/rotation.h>
#include <lib/parameters/param.h>
#include <lib/perf/perf_counter.h>
@@ -101,8 +100,6 @@ private:
uint8_t _sonar_rotation;
bool _sensor_ok{false};
bool _collect_phase{false};
int _class_instance{-1};
int _orb_class_instance{-1};
uORB::PublicationMulti<optical_flow_s> _px4flow_topic{ORB_ID(optical_flow)};
uORB::PublicationMulti<distance_sensor_s> _distance_sensor_topic{ORB_ID(distance_sensor)};
@@ -169,8 +166,6 @@ PX4FLOW::init()
return ret;
}
_class_instance = register_class_devname(RANGE_FINDER_BASE_DEVICE_PATH);
ret = OK;
/* sensor is ok, but we don't really know if it is within range */
_sensor_ok = true;
@@ -316,7 +311,7 @@ PX4FLOW::collect()
_px4flow_topic.publish(report);
/* publish to the distance_sensor topic as well */
if (_class_instance == CLASS_DEVICE_PRIMARY) {
if (_distance_sensor_topic.get_instance() == 0) {
distance_sensor_s distance_report{};
distance_report.timestamp = report.timestamp;
distance_report.min_distance = PX4FLOW_MIN_DISTANCE;
src/drivers/uavcan/sensors/airspeed.cpp
+10 -16
View File
@@ -43,7 +43,7 @@
const char *const UavcanAirspeedBridge::NAME = "airspeed";
UavcanAirspeedBridge::UavcanAirspeedBridge(uavcan::INode &node) :
UavcanCDevSensorBridgeBase("uavcan_airspeed", "/dev/uavcan/airspeed", AIRSPEED_BASE_DEVICE_PATH, ORB_ID(airspeed)),
UavcanSensorBridgeBase("uavcan_airspeed", ORB_ID(airspeed)),
_sub_ias_data(node),
_sub_tas_data(node),
_sub_oat_data(node)
@@ -51,31 +51,25 @@ UavcanAirspeedBridge::UavcanAirspeedBridge(uavcan::INode &node) :
int UavcanAirspeedBridge::init()
{
int res = device::CDev::init();
if (res < 0) {
return res;
}
res = _sub_ias_data.start(IASCbBinder(this, &UavcanAirspeedBridge::ias_sub_cb));
int res = _sub_ias_data.start(IASCbBinder(this, &UavcanAirspeedBridge::ias_sub_cb));
if (res < 0) {
DEVICE_LOG("failed to start uavcan sub: %d", res);
return res;
}
res = _sub_tas_data.start(TASCbBinder(this, &UavcanAirspeedBridge::tas_sub_cb));
int res2 = _sub_tas_data.start(TASCbBinder(this, &UavcanAirspeedBridge::tas_sub_cb));
if (res < 0) {
DEVICE_LOG("failed to start uavcan sub: %d", res);
return res;
if (res2 < 0) {
DEVICE_LOG("failed to start uavcan sub: %d", res2);
return res2;
}
res = _sub_oat_data.start(OATCbBinder(this, &UavcanAirspeedBridge::oat_sub_cb));
int res3 = _sub_oat_data.start(OATCbBinder(this, &UavcanAirspeedBridge::oat_sub_cb));
if (res < 0) {
DEVICE_LOG("failed to start uavcan sub: %d", res);
return res;
if (res3 < 0) {
DEVICE_LOG("failed to start uavcan sub: %d", res3);
return res3;
}
return 0;
src/drivers/uavcan/sensors/airspeed.hpp
+1 -1
View File
@@ -45,7 +45,7 @@
#include <uavcan/equipment/air_data/TrueAirspeed.hpp>
#include <uavcan/equipment/air_data/StaticTemperature.hpp>
class UavcanAirspeedBridge : public UavcanCDevSensorBridgeBase
class UavcanAirspeedBridge : public UavcanSensorBridgeBase
{
public:
static const char *const NAME;
src/drivers/uavcan/sensors/baro.cpp
+7 -20
View File
@@ -44,24 +44,15 @@
const char *const UavcanBarometerBridge::NAME = "baro";
#define UAVCAN_BARO_BASE_DEVICE_PATH "/dev/uavcan/baro"
UavcanBarometerBridge::UavcanBarometerBridge(uavcan::INode &node) :
UavcanCDevSensorBridgeBase("uavcan_baro", UAVCAN_BARO_BASE_DEVICE_PATH, UAVCAN_BARO_BASE_DEVICE_PATH,
ORB_ID(sensor_baro)),
UavcanSensorBridgeBase("uavcan_baro", ORB_ID(sensor_baro)),
_sub_air_pressure_data(node),
_sub_air_temperature_data(node)
{ }
int UavcanBarometerBridge::init()
{
int res = device::CDev::init();
if (res < 0) {
return res;
}
res = _sub_air_pressure_data.start(AirPressureCbBinder(this, &UavcanBarometerBridge::air_pressure_sub_cb));
int res = _sub_air_pressure_data.start(AirPressureCbBinder(this, &UavcanBarometerBridge::air_pressure_sub_cb));
if (res < 0) {
DEVICE_LOG("failed to start uavcan sub: %d", res);
@@ -78,20 +69,16 @@ int UavcanBarometerBridge::init()
return 0;
}
void
UavcanBarometerBridge::air_temperature_sub_cb(const
void UavcanBarometerBridge::air_temperature_sub_cb(const
uavcan::ReceivedDataStructure<uavcan::equipment::air_data::StaticTemperature> &msg)
{
last_temperature_kelvin = msg.static_temperature;
}
void
UavcanBarometerBridge::air_pressure_sub_cb(const
void UavcanBarometerBridge::air_pressure_sub_cb(const
uavcan::ReceivedDataStructure<uavcan::equipment::air_data::StaticPressure> &msg)
{
lock();
uavcan_bridge::Channel *channel = get_channel_for_node(msg.getSrcNodeID().get());
unlock();
if (channel == nullptr) {
// Something went wrong - no channel to publish on; return
@@ -125,10 +112,10 @@ int UavcanBarometerBridge::init_driver(uavcan_bridge::Channel *channel)
PX4Barometer *baro = (PX4Barometer *)channel->h_driver;
channel->class_instance = baro->get_class_instance();
channel->instance = baro->get_instance();
if (channel->class_instance < 0) {
PX4_ERR("UavcanBaro: Unable to get a class instance");
if (channel->instance < 0) {
PX4_ERR("UavcanBaro: Unable to get an instance");
delete baro;
channel->h_driver = nullptr;
return PX4_ERROR;
src/drivers/uavcan/sensors/baro.hpp
+1 -2
View File
@@ -38,12 +38,11 @@
#pragma once
#include "sensor_bridge.hpp"
#include <drivers/drv_baro.h>
#include <uavcan/equipment/air_data/StaticPressure.hpp>
#include <uavcan/equipment/air_data/StaticTemperature.hpp>
class UavcanBarometerBridge : public UavcanCDevSensorBridgeBase
class UavcanBarometerBridge : public UavcanSensorBridgeBase
{
public:
static const char *const NAME;
src/drivers/uavcan/sensors/battery.cpp
+3 -10
View File
@@ -39,7 +39,7 @@
const char *const UavcanBatteryBridge::NAME = "battery";
UavcanBatteryBridge::UavcanBatteryBridge(uavcan::INode &node) :
UavcanCDevSensorBridgeBase("uavcan_battery", "/dev/uavcan/battery", "/dev/battery", ORB_ID(battery_status)),
UavcanSensorBridgeBase("uavcan_battery", ORB_ID(battery_status)),
ModuleParams(nullptr),
_sub_battery(node),
_warning(battery_status_s::BATTERY_WARNING_NONE),
@@ -47,16 +47,9 @@ UavcanBatteryBridge::UavcanBatteryBridge(uavcan::INode &node) :
{
}
int
UavcanBatteryBridge::init()
int UavcanBatteryBridge::init()
{
int res = device::CDev::init();
if (res < 0) {
return res;
}
res = _sub_battery.start(BatteryInfoCbBinder(this, &UavcanBatteryBridge::battery_sub_cb));
int res = _sub_battery.start(BatteryInfoCbBinder(this, &UavcanBatteryBridge::battery_sub_cb));
if (res < 0) {
PX4_ERR("failed to start uavcan sub: %d", res);
src/drivers/uavcan/sensors/battery.hpp
+1 -1
View File
@@ -43,7 +43,7 @@
#include <drivers/drv_hrt.h>
#include <px4_platform_common/module_params.h>
class UavcanBatteryBridge : public UavcanCDevSensorBridgeBase, public ModuleParams
class UavcanBatteryBridge : public UavcanSensorBridgeBase, public ModuleParams
{
public:
static const char *const NAME;
src/drivers/uavcan/sensors/differential_pressure.cpp
+3 -28
View File
@@ -46,25 +46,17 @@
const char *const UavcanDifferentialPressureBridge::NAME = "differential_pressure";
UavcanDifferentialPressureBridge::UavcanDifferentialPressureBridge(uavcan::INode &node) :
UavcanCDevSensorBridgeBase("uavcan_differential_pressure", "/dev/uavcan/differential_pressure",
AIRSPEED_BASE_DEVICE_PATH,
ORB_ID(differential_pressure)),
UavcanSensorBridgeBase("uavcan_differential_pressure", ORB_ID(differential_pressure)),
_sub_air(node)
{
}
int UavcanDifferentialPressureBridge::init()
{
int res = device::CDev::init();
if (res < 0) {
return res;
}
// Initialize the calibration offset
param_get(param_find("SENS_DPRES_OFF"), &_diff_pres_offset);
res = _sub_air.start(AirCbBinder(this, &UavcanDifferentialPressureBridge::air_sub_cb));
int res = _sub_air.start(AirCbBinder(this, &UavcanDifferentialPressureBridge::air_sub_cb));
if (res < 0) {
DEVICE_LOG("failed to start uavcan sub: %d", res);
@@ -74,25 +66,8 @@ int UavcanDifferentialPressureBridge::init()
return 0;
}
int UavcanDifferentialPressureBridge::ioctl(struct file *filp, int cmd, unsigned long arg)
{
switch (cmd) {
case AIRSPEEDIOCSSCALE: {
struct airspeed_scale *s = (struct airspeed_scale *)arg;
_diff_pres_offset = s->offset_pa;
return PX4_OK;
}
default: {
return CDev::ioctl(filp, cmd, arg);
}
}
}
void UavcanDifferentialPressureBridge::air_sub_cb(const
uavcan::ReceivedDataStructure<uavcan::equipment::air_data::RawAirData>
&msg)
uavcan::ReceivedDataStructure<uavcan::equipment::air_data::RawAirData> &msg)
{
_device_id.devid_s.devtype = DRV_DIFF_PRESS_DEVTYPE_UAVCAN;
_device_id.devid_s.address = msg.getSrcNodeID().get() & 0xFF;
src/drivers/uavcan/sensors/differential_pressure.hpp
+2 -4
View File
@@ -45,7 +45,7 @@
#include <uavcan/equipment/air_data/RawAirData.hpp>
class UavcanDifferentialPressureBridge : public UavcanCDevSensorBridgeBase
class UavcanDifferentialPressureBridge : public UavcanSensorBridgeBase
{
public:
static const char *const NAME;
@@ -57,12 +57,10 @@ public:
int init() override;
private:
float _diff_pres_offset {0.0f};
float _diff_pres_offset{0.f};
math::LowPassFilter2p _filter{10.f, 1.1f}; /// Adapted from MS5525 driver
int ioctl(struct file *filp, int cmd, unsigned long arg) override;
void air_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::air_data::RawAirData> &msg);
typedef uavcan::MethodBinder < UavcanDifferentialPressureBridge *,
src/drivers/uavcan/sensors/flow.cpp
+3 -10
View File
@@ -38,7 +38,7 @@
const char *const UavcanFlowBridge::NAME = "flow";
UavcanFlowBridge::UavcanFlowBridge(uavcan::INode &node) :
UavcanCDevSensorBridgeBase("uavcan_flow", "/dev/uavcan/flow", "/dev/flow", ORB_ID(optical_flow)),
UavcanSensorBridgeBase("uavcan_flow", ORB_ID(optical_flow)),
_sub_flow(node)
{
}
@@ -46,13 +46,7 @@ UavcanFlowBridge::UavcanFlowBridge(uavcan::INode &node) :
int
UavcanFlowBridge::init()
{
int res = device::CDev::init();
if (res < 0) {
return res;
}
res = _sub_flow.start(FlowCbBinder(this, &UavcanFlowBridge::flow_sub_cb));
int res = _sub_flow.start(FlowCbBinder(this, &UavcanFlowBridge::flow_sub_cb));
if (res < 0) {
DEVICE_LOG("failed to start uavcan sub: %d", res);
@@ -62,8 +56,7 @@ UavcanFlowBridge::init()
return 0;
}
void
UavcanFlowBridge::flow_sub_cb(const uavcan::ReceivedDataStructure<com::hex::equipment::flow::Measurement> &msg)
void UavcanFlowBridge::flow_sub_cb(const uavcan::ReceivedDataStructure<com::hex::equipment::flow::Measurement> &msg)
{
optical_flow_s flow{};
src/drivers/uavcan/sensors/flow.hpp
+1 -2
View File
@@ -36,13 +36,12 @@
#include "sensor_bridge.hpp"
#include <stdint.h>
#include <sys/ioctl.h>
#include <uORB/topics/optical_flow.h>
#include <com/hex/equipment/flow/Measurement.hpp>
class UavcanFlowBridge : public UavcanCDevSensorBridgeBase
class UavcanFlowBridge : public UavcanSensorBridgeBase
{
public:
static const char *const NAME;
src/drivers/uavcan/sensors/gnss.cpp
+3 -9
View File
@@ -52,7 +52,7 @@ using namespace time_literals;
const char *const UavcanGnssBridge::NAME = "gnss";
UavcanGnssBridge::UavcanGnssBridge(uavcan::INode &node) :
UavcanCDevSensorBridgeBase("uavcan_gnss", "/dev/uavcan/gnss", "/dev/gnss", ORB_ID(sensor_gps)),
UavcanSensorBridgeBase("uavcan_gnss", ORB_ID(sensor_gps)),
_node(node),
_sub_auxiliary(node),
_sub_fix(node),
@@ -76,13 +76,7 @@ UavcanGnssBridge::~UavcanGnssBridge()
int
UavcanGnssBridge::init()
{
int res = device::CDev::init();
if (res < 0) {
return res;
}
res = _sub_auxiliary.start(AuxiliaryCbBinder(this, &UavcanGnssBridge::gnss_auxiliary_sub_cb));
int res = _sub_auxiliary.start(AuxiliaryCbBinder(this, &UavcanGnssBridge::gnss_auxiliary_sub_cb));
if (res < 0) {
PX4_WARN("GNSS auxiliary sub failed %i", res);
@@ -502,6 +496,6 @@ bool UavcanGnssBridge::injectData(const uint8_t *const data, const size_t data_l
void UavcanGnssBridge::print_status() const
{
UavcanCDevSensorBridgeBase::print_status();
UavcanSensorBridgeBase::print_status();
perf_print_counter(_rtcm_perf);
}
src/drivers/uavcan/sensors/gnss.hpp
+1 -1
View File
@@ -59,7 +59,7 @@
#include "sensor_bridge.hpp"
class UavcanGnssBridge : public UavcanCDevSensorBridgeBase
class UavcanGnssBridge : public UavcanSensorBridgeBase
{
static constexpr unsigned ORB_TO_UAVCAN_FREQUENCY_HZ = 10;
src/drivers/uavcan/sensors/mag.cpp
+13 -34
View File
@@ -44,55 +44,34 @@
const char *const UavcanMagnetometerBridge::NAME = "mag";
#define UAVCAN_MAG_BASE_DEVICE_PATH "/dev/uavcan/mag"
UavcanMagnetometerBridge::UavcanMagnetometerBridge(uavcan::INode &node) :
UavcanCDevSensorBridgeBase("uavcan_mag", UAVCAN_MAG_BASE_DEVICE_PATH, UAVCAN_MAG_BASE_DEVICE_PATH, ORB_ID(sensor_mag)),
UavcanSensorBridgeBase("uavcan_mag", ORB_ID(sensor_mag)),
_sub_mag(node),
_sub_mag2(node)
{
}
int
UavcanMagnetometerBridge::init()
int UavcanMagnetometerBridge::init()
{
int res = device::CDev::init();
if (res < 0) {
return res;
}
res = _sub_mag.start(MagCbBinder(this, &UavcanMagnetometerBridge::mag_sub_cb));
int res = _sub_mag.start(MagCbBinder(this, &UavcanMagnetometerBridge::mag_sub_cb));
if (res < 0) {
PX4_ERR("failed to start uavcan sub: %d", res);
return res;
}
res = _sub_mag2.start(Mag2CbBinder(this, &UavcanMagnetometerBridge::mag2_sub_cb));
int res2 = _sub_mag2.start(Mag2CbBinder(this, &UavcanMagnetometerBridge::mag2_sub_cb));
if (res < 0) {
PX4_ERR("failed to start uavcan sub2: %d", res);
return res;
if (res2 < 0) {
PX4_ERR("failed to start uavcan sub2: %d", res2);
return res2;
}
return 0;
}
int
UavcanMagnetometerBridge::ioctl(struct file *filp, int cmd, unsigned long arg)
{
switch (cmd) {
default: {
return CDev::ioctl(filp, cmd, arg);
}
}
}
void
UavcanMagnetometerBridge::mag_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::ahrs::MagneticFieldStrength>
&msg)
void UavcanMagnetometerBridge::mag_sub_cb(const
uavcan::ReceivedDataStructure<uavcan::equipment::ahrs::MagneticFieldStrength> &msg)
{
uavcan_bridge::Channel *channel = get_channel_for_node(msg.getSrcNodeID().get());
@@ -121,7 +100,7 @@ UavcanMagnetometerBridge::mag2_sub_cb(const
{
uavcan_bridge::Channel *channel = get_channel_for_node(msg.getSrcNodeID().get());
if (channel == nullptr || channel->class_instance < 0) {
if (channel == nullptr || channel->instance < 0) {
// Something went wrong - no channel to publish on; return
return;
}
@@ -156,10 +135,10 @@ int UavcanMagnetometerBridge::init_driver(uavcan_bridge::Channel *channel)
PX4Magnetometer *mag = (PX4Magnetometer *)channel->h_driver;
channel->class_instance = mag->get_class_instance();
channel->instance = mag->get_instance();
if (channel->class_instance < 0) {
PX4_ERR("UavcanMag: Unable to get a class instance");
if (channel->instance < 0) {
PX4_ERR("UavcanMag: Unable to get an instance");
delete mag;
channel->h_driver = nullptr;
return PX4_ERROR;
src/drivers/uavcan/sensors/mag.hpp
+1 -5
View File
@@ -39,12 +39,10 @@
#include "sensor_bridge.hpp"
#include <drivers/drv_mag.h>
#include <uavcan/equipment/ahrs/MagneticFieldStrength.hpp>
#include <uavcan/equipment/ahrs/MagneticFieldStrength2.hpp>
class UavcanMagnetometerBridge : public UavcanCDevSensorBridgeBase
class UavcanMagnetometerBridge : public UavcanSensorBridgeBase
{
public:
static const char *const NAME;
@@ -57,8 +55,6 @@ public:
private:
int ioctl(struct file *filp, int cmd, unsigned long arg) override;
int init_driver(uavcan_bridge::Channel *channel) override;
void mag_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::ahrs::MagneticFieldStrength> &msg);
src/drivers/uavcan/sensors/rangefinder.cpp
+8 -16
View File
@@ -43,24 +43,17 @@
const char *const UavcanRangefinderBridge::NAME = "rangefinder";
UavcanRangefinderBridge::UavcanRangefinderBridge(uavcan::INode &node) :
UavcanCDevSensorBridgeBase("uavcan_rangefinder", "/dev/uavcan/rangefinder", RANGE_FINDER_BASE_DEVICE_PATH,
ORB_ID(distance_sensor)),
UavcanSensorBridgeBase("uavcan_rangefinder", ORB_ID(distance_sensor)),
_sub_range_data(node)
{ }
int UavcanRangefinderBridge::init()
{
int res = device::CDev::init();
if (res < 0) {
return res;
}
// Initialize min/max range from params
param_get(param_find("UAVCAN_RNG_MIN"), &_range_min_m);
param_get(param_find("UAVCAN_RNG_MAX"), &_range_max_m);
res = _sub_range_data.start(RangeCbBinder(this, &UavcanRangefinderBridge::range_sub_cb));
int res = _sub_range_data.start(RangeCbBinder(this, &UavcanRangefinderBridge::range_sub_cb));
if (res < 0) {
DEVICE_LOG("failed to start uavcan sub: %d", res);
@@ -70,13 +63,12 @@ int UavcanRangefinderBridge::init()
return 0;
}
void
UavcanRangefinderBridge::range_sub_cb(const
uavcan::ReceivedDataStructure<uavcan::equipment::range_sensor::Measurement> &msg)
void UavcanRangefinderBridge::range_sub_cb(const
uavcan::ReceivedDataStructure<uavcan::equipment::range_sensor::Measurement> &msg)
{
uavcan_bridge::Channel *channel = get_channel_for_node(msg.getSrcNodeID().get());
if (channel == nullptr || channel->class_instance < 0) {
if (channel == nullptr || channel->instance < 0) {
// Something went wrong - no channel to publish on; return
return;
}
@@ -142,10 +134,10 @@ int UavcanRangefinderBridge::init_driver(uavcan_bridge::Channel *channel)
PX4Rangefinder *rangefinder = (PX4Rangefinder *)channel->h_driver;
channel->class_instance = rangefinder->get_class_instance();
channel->instance = rangefinder->get_instance();
if (channel->class_instance < 0) {
PX4_ERR("UavcanRangefinder: Unable to get a class instance");
if (channel->instance < 0) {
PX4_ERR("UavcanRangefinder: Unable to get an instance");
delete rangefinder;
channel->h_driver = nullptr;
return PX4_ERROR;
src/drivers/uavcan/sensors/rangefinder.hpp
+1 -2
View File
@@ -38,13 +38,12 @@
#pragma once
#include "sensor_bridge.hpp"
#include <drivers/drv_range_finder.h>
#include <uORB/topics/distance_sensor.h>
#include <drivers/rangefinder/PX4Rangefinder.hpp>
#include <uavcan/equipment/range_sensor/Measurement.hpp>
class UavcanRangefinderBridge : public UavcanCDevSensorBridgeBase
class UavcanRangefinderBridge : public UavcanSensorBridgeBase
{
public:
static const char *const NAME;
src/drivers/uavcan/sensors/sensor_bridge.cpp
+15 -33
View File
@@ -63,21 +63,15 @@ void IUavcanSensorBridge::make_all(uavcan::INode &node, List<IUavcanSensorBridge
}
/*
* UavcanCDevSensorBridgeBase
* UavcanSensorBridgeBase
*/
UavcanCDevSensorBridgeBase::~UavcanCDevSensorBridgeBase()
UavcanSensorBridgeBase::~UavcanSensorBridgeBase()
{
for (unsigned i = 0; i < _max_channels; i++) {
if (_channels[i].node_id >= 0) {
(void)unregister_class_devname(_class_devname, _channels[i].class_instance);
}
}
delete [] _channels;
}
void
UavcanCDevSensorBridgeBase::publish(const int node_id, const void *report)
UavcanSensorBridgeBase::publish(const int node_id, const void *report)
{
assert(report != nullptr);
@@ -117,32 +111,20 @@ UavcanCDevSensorBridgeBase::publish(const int node_id, const void *report)
// update device id as we now know our device node_id
_device_id.devid_s.address = static_cast<uint8_t>(node_id);
// Ask the CDev helper which class instance we can take
const int class_instance = register_class_devname(_class_devname);
if (class_instance < 0 || class_instance >= int(_max_channels)) {
_out_of_channels = true;
DEVICE_LOG("out of class instances");
(void)unregister_class_devname(_class_devname, class_instance);
return;
}
// Publish to the appropriate topic, abort on failure
channel->node_id = node_id;
channel->class_instance = class_instance;
DEVICE_LOG("channel %d class instance %d ok", channel->node_id, channel->class_instance);
channel->orb_advert = orb_advertise_multi(_orb_topic, report, &channel->instance);
channel->orb_advert = orb_advertise_multi(_orb_topic, report, &channel->orb_instance);
channel->node_id = node_id;
DEVICE_LOG("channel %d instance %d ok", channel->node_id, channel->instance);
if (channel->orb_advert == nullptr) {
DEVICE_LOG("uORB advertise failed. Out of instances?");
(void)unregister_class_devname(_class_devname, class_instance);
*channel = uavcan_bridge::Channel();
_out_of_channels = true;
return;
}
DEVICE_LOG("channel %d class instance %d ok", channel->node_id, channel->orb_instance);
DEVICE_LOG("channel %d instance %d ok", channel->node_id, channel->instance);
}
assert(channel != nullptr);
@@ -150,7 +132,7 @@ UavcanCDevSensorBridgeBase::publish(const int node_id, const void *report)
(void)orb_publish(_orb_topic, channel->orb_advert, report);
}
uavcan_bridge::Channel *UavcanCDevSensorBridgeBase::get_channel_for_node(int node_id)
uavcan_bridge::Channel *UavcanSensorBridgeBase::get_channel_for_node(int node_id)
{
uavcan_bridge::Channel *channel = nullptr;
@@ -200,13 +182,13 @@ uavcan_bridge::Channel *UavcanCDevSensorBridgeBase::get_channel_for_node(int nod
return nullptr;
}
DEVICE_LOG("channel %d class instance %d ok", channel->node_id, channel->class_instance);
DEVICE_LOG("channel %d instance %d ok", channel->node_id, channel->instance);
}
return channel;
}
unsigned UavcanCDevSensorBridgeBase::get_num_redundant_channels() const
unsigned UavcanSensorBridgeBase::get_num_redundant_channels() const
{
unsigned out = 0;
@@ -219,7 +201,7 @@ unsigned UavcanCDevSensorBridgeBase::get_num_redundant_channels() const
return out;
}
int8_t UavcanCDevSensorBridgeBase::get_channel_index_for_node(int node_id)
int8_t UavcanSensorBridgeBase::get_channel_index_for_node(int node_id)
{
int8_t ch = -1;
@@ -233,14 +215,14 @@ int8_t UavcanCDevSensorBridgeBase::get_channel_index_for_node(int node_id)
return ch;
}
void UavcanCDevSensorBridgeBase::print_status() const
void UavcanSensorBridgeBase::print_status() const
{
printf("devname: %s\n", _class_devname);
printf("name: %s\n", _name);
for (unsigned i = 0; i < _max_channels; i++) {
if (_channels[i].node_id >= 0) {
printf("channel %d: node id %d --> class instance %d\n",
i, _channels[i].node_id, _channels[i].class_instance);
printf("channel %d: node id %d --> instance %d\n",
i, _channels[i].node_id, _channels[i].instance);
} else {
printf("channel %d: empty\n", i);
src/drivers/uavcan/sensors/sensor_bridge.hpp
+13 -18
View File
@@ -39,9 +39,8 @@
#include <containers/List.hpp>
#include <uavcan/uavcan.hpp>
#include <drivers/device/device.h>
#include <drivers/drv_orb_dev.h>
#include <lib/cdev/CDev.hpp>
#include <lib/drivers/device/Device.hpp>
#include <uORB/uORB.h>
/**
@@ -87,21 +86,19 @@ public:
namespace uavcan_bridge
{
struct Channel {
int node_id = -1;
orb_advert_t orb_advert = nullptr;
int class_instance = -1;
int orb_instance = -1;
cdev::CDev *h_driver = nullptr;
int node_id{-1};
orb_advert_t orb_advert{nullptr};
int instance{-1};
void *h_driver{nullptr};
};
}
} // namespace uavcan_bridge
/**
* This is the base class for redundant sensors with an independent ORB topic per each redundancy channel.
* For example, sensor_mag0, sensor_mag1, etc.
*/
class UavcanCDevSensorBridgeBase : public IUavcanSensorBridge, public device::CDev
class UavcanSensorBridgeBase : public IUavcanSensorBridge, public device::Device
{
const char *const _class_devname;
const orb_id_t _orb_topic;
uavcan_bridge::Channel *const _channels;
bool _out_of_channels = false;
@@ -110,17 +107,15 @@ protected:
static constexpr unsigned DEFAULT_MAX_CHANNELS = 4;
const unsigned _max_channels;
UavcanCDevSensorBridgeBase(const char *name, const char *devname, const char *class_devname,
const orb_id_t orb_topic_sensor,
const unsigned max_channels = DEFAULT_MAX_CHANNELS) :
device::CDev(name, devname),
_class_devname(class_devname),
UavcanSensorBridgeBase(const char *name, const orb_id_t orb_topic_sensor,
const unsigned max_channels = DEFAULT_MAX_CHANNELS) :
Device(name),
_orb_topic(orb_topic_sensor),
_channels(new uavcan_bridge::Channel[max_channels]),
_max_channels(max_channels)
{
_device_id.devid_s.bus_type = DeviceBusType_UAVCAN;
_device_id.devid_s.bus = 0;
set_device_bus_type(DeviceBusType_UAVCAN);
set_device_bus(0);
}
/**
@@ -141,7 +136,7 @@ protected:
uavcan_bridge::Channel *get_channel_for_node(int node_id);
public:
virtual ~UavcanCDevSensorBridgeBase();
virtual ~UavcanSensorBridgeBase();
unsigned get_num_redundant_channels() const override;