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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-18 18:33:36 +08:00
deprecate df_bmp280_wrapper and replace with in tree bmp280
- deprecate DriverFramework bmp280 driver (df_bmp280_wrapper) - update beaglebone blue and snapdragon flight eagle boards to use in tree bmp280 - update posix (really just linux) and qurt I2C wrappers - tested on beaglebone blue
This commit is contained in:
Daniel Agar
@@ -1,45 +0,0 @@
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############################################################################
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#
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# Copyright (c) 2016 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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include_directories(../../../lib/DriverFramework/drivers)
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px4_add_module(
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MODULE platforms__posix__drivers__df_bmp280_wrapper
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MAIN df_bmp280_wrapper
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SRCS
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df_bmp280_wrapper.cpp
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DEPENDS
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git_driverframework
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df_driver_framework
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df_bmp280
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)
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@@ -1,300 +0,0 @@
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/****************************************************************************
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*
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* Copyright (c) 2016 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 df_bmp280_wrapper.cpp
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* Lightweight driver to access the BMP280 of the DriverFramework.
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*
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* @author Julian Oes <julian@oes.ch>
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*/
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#include <px4_platform_common/px4_config.h>
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#include <sys/types.h>
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#include <sys/stat.h>
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#include <stdint.h>
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#include <stddef.h>
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#include <stdlib.h>
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#include <string.h>
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#include <math.h>
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#include <unistd.h>
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#include <px4_platform_common/getopt.h>
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#include <errno.h>
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#include <perf/perf_counter.h>
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#include <systemlib/err.h>
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#include <drivers/drv_hrt.h>
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#include <drivers/drv_baro.h>
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#include <board_config.h>
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//#include <mathlib/math/filter/LowPassFilter2p.hpp>
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#include <bmp280/BMP280.hpp>
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#include <DevMgr.hpp>
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extern "C" { __EXPORT int df_bmp280_wrapper_main(int argc, char *argv[]); }
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using namespace DriverFramework;
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class DfBmp280Wrapper : public BMP280
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{
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public:
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DfBmp280Wrapper();
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~DfBmp280Wrapper();
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/**
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* Start automatic measurement.
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*
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* @return 0 on success
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*/
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int start();
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/**
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* Stop automatic measurement.
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*
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* @return 0 on success
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*/
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int stop();
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private:
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int _publish(struct baro_sensor_data &data);
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orb_advert_t _baro_topic;
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int _baro_orb_class_instance;
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perf_counter_t _baro_sample_perf;
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};
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DfBmp280Wrapper::DfBmp280Wrapper() :
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BMP280(BARO_DEVICE_PATH),
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_baro_topic(nullptr),
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_baro_orb_class_instance(-1),
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_baro_sample_perf(perf_alloc(PC_ELAPSED, "df_baro_read"))
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{
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}
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DfBmp280Wrapper::~DfBmp280Wrapper()
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{
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perf_free(_baro_sample_perf);
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}
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int DfBmp280Wrapper::start()
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{
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/* Init device and start sensor. */
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int ret = init();
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if (ret != 0) {
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PX4_ERR("BMP280 init fail: %d", ret);
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return ret;
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}
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ret = BMP280::start();
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if (ret != 0) {
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PX4_ERR("BMP280 start fail: %d", ret);
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return ret;
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}
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#if defined(__DF_BBBLUE)
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PX4_INFO("BMP280 started");
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#endif
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return 0;
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}
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int DfBmp280Wrapper::stop()
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{
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/* Stop sensor. */
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int ret = BMP280::stop();
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if (ret != 0) {
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PX4_ERR("BMP280 stop fail: %d", ret);
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return ret;
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}
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return 0;
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}
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int DfBmp280Wrapper::_publish(struct baro_sensor_data &data)
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{
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perf_begin(_baro_sample_perf);
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sensor_baro_s baro_report = {};
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baro_report.timestamp = hrt_absolute_time();
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baro_report.error_count = data.error_counter;
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baro_report.pressure = data.pressure_pa / 100.0f; // to mbar
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baro_report.temperature = data.temperature_c;
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// TODO: when is this ever blocked?
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if (!(m_pub_blocked)) {
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if (_baro_topic == nullptr) {
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_baro_topic = orb_advertise_multi(ORB_ID(sensor_baro), &baro_report,
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&_baro_orb_class_instance, ORB_PRIO_DEFAULT);
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} else {
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orb_publish(ORB_ID(sensor_baro), _baro_topic, &baro_report);
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}
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}
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perf_end(_baro_sample_perf);
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return 0;
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};
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namespace df_bmp280_wrapper
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{
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DfBmp280Wrapper *g_dev = nullptr;
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int start(/* enum Rotation rotation */);
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int stop();
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int info();
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void usage();
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int start(/*enum Rotation rotation*/)
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{
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g_dev = new DfBmp280Wrapper(/*rotation*/);
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if (g_dev == nullptr) {
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PX4_ERR("failed instantiating DfBmp280Wrapper object");
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return -1;
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}
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int ret = g_dev->start();
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if (ret != 0) {
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PX4_ERR("DfBmp280Wrapper start failed");
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return ret;
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}
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// Open the IMU sensor
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DevHandle h;
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DevMgr::getHandle(BARO_DEVICE_PATH, h);
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if (!h.isValid()) {
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DF_LOG_INFO("Error: unable to obtain a valid handle for the receiver at: %s (%d)",
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BARO_DEVICE_PATH, h.getError());
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return -1;
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}
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DevMgr::releaseHandle(h);
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return 0;
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}
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int stop()
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{
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if (g_dev == nullptr) {
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PX4_ERR("driver not running");
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return 1;
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}
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int ret = g_dev->stop();
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if (ret != 0) {
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PX4_ERR("driver could not be stopped");
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return ret;
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}
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delete g_dev;
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g_dev = nullptr;
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return 0;
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}
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/**
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* Print a little info about the driver.
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*/
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int
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info()
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{
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if (g_dev == nullptr) {
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PX4_ERR("driver not running");
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return 1;
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}
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PX4_DEBUG("state @ %p", g_dev);
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return 0;
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}
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void
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usage()
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{
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PX4_WARN("Usage: df_bmp280_wrapper 'start', 'info', 'stop'");
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}
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} // namespace df_bmp280_wrapper
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int
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df_bmp280_wrapper_main(int argc, char *argv[])
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{
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int ret = 0;
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int myoptind = 1;
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if (argc <= 1) {
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df_bmp280_wrapper::usage();
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return 1;
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}
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const char *verb = argv[myoptind];
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if (!strcmp(verb, "start")) {
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ret = df_bmp280_wrapper::start();
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}
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else if (!strcmp(verb, "stop")) {
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ret = df_bmp280_wrapper::stop();
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}
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else if (!strcmp(verb, "info")) {
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ret = df_bmp280_wrapper::info();
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}
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else {
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df_bmp280_wrapper::usage();
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return 1;
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}
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return ret;
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}
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@@ -1,6 +1,6 @@
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/****************************************************************************
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*
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* Copyright (c) 2012-2017 PX4 Development Team. All rights reserved.
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* Copyright (c) 2012-2020 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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@@ -62,17 +62,20 @@
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#define DRV_MAG_DEVTYPE_QMC5883 0x08
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#define DRV_MAG_DEVTYPE_AK09916 0x09
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#define DRV_DEVTYPE_ICM20948 0x0A
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#define DRV_ACC_DEVTYPE_LSM303D 0x11
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#define DRV_ACC_DEVTYPE_BMA180 0x12
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#define DRV_ACC_DEVTYPE_MPU6000 0x13
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#define DRV_ACC_DEVTYPE_ACCELSIM 0x14
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#define DRV_ACC_DEVTYPE_MPU9250 0x16
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#define DRV_ACC_DEVTYPE_BMI160 0x17
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#define DRV_GYR_DEVTYPE_MPU6000 0x21
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#define DRV_GYR_DEVTYPE_L3GD20 0x22
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#define DRV_GYR_DEVTYPE_GYROSIM 0x23
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#define DRV_GYR_DEVTYPE_MPU9250 0x24
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#define DRV_GYR_DEVTYPE_BMI160 0x25
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#define DRV_RNG_DEVTYPE_MB12XX 0x31
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#define DRV_RNG_DEVTYPE_LL40LS 0x32
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#define DRV_ACC_DEVTYPE_MPU6050 0x33
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@@ -92,12 +95,13 @@
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#define DRV_ACC_DEVTYPE_BMI055 0x41
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#define DRV_GYR_DEVTYPE_BMI055 0x42
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#define DRV_MAG_DEVTYPE_BMM150 0x43
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#define DRV_BARO_DEVTYPE_BMP285 0x44
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#define DRV_DIFF_PRESS_DEVTYPE_ETS3 0x45
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#define DRV_DIFF_PRESS_DEVTYPE_MS4525 0x46
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#define DRV_DIFF_PRESS_DEVTYPE_MS5525 0x47
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#define DRV_DIFF_PRESS_DEVTYPE_SDP31 0x48
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#define DRV_DIFF_PRESS_DEVTYPE_SDP32 0x49
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#define DRV_DIFF_PRESS_DEVTYPE_SDP33 0x50
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#define DRV_BARO_DEVTYPE_MPL3115A2 0x51
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#define DRV_ACC_DEVTYPE_FXOS8701C 0x52
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@@ -108,6 +112,7 @@
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#define DRV_GYR_DEVTYPE_ADIS16448 0x57
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#define DRV_BARO_DEVTYPE_LPS22HB 0x58
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#define DRV_ACC_DEVTYPE_ADIS16477 0x59
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#define DRV_GYR_DEVTYPE_ADIS16477 0x60
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#define DRV_ACC_DEVTYPE_LSM303AGR 0x61
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#define DRV_MAG_DEVTYPE_LSM303AGR 0x62
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@@ -487,9 +487,6 @@ start(int argc, char *argv[])
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while (1) {
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const int busses_to_try[] = {
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PX4_I2C_BUS_EXPANSION,
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#ifdef PX4_I2C_BUS_ESC
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PX4_I2C_BUS_ESC,
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#endif
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#ifdef PX4_I2C_BUS_ONBOARD
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PX4_I2C_BUS_ONBOARD,
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#endif
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