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This commit is contained in:
Simon Wilks
2013-04-22 15:00:15 +02:00
parent 87c27ac243
commit ad212ee628
1 changed files with 45 additions and 20 deletions
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apps/drivers/ets_airspeed/ets_airspeed.cpp
+45 -20
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@@ -73,22 +73,23 @@
#include <uORB/topics/differential_pressure.h>
#include <uORB/topics/subsystem_info.h>
/* Configuration Constants */
#define I2C_BUS PX4_I2C_BUS_ESC // XXX Replace with PX4_I2C_BUS_EXPANSION before submitting.
#define I2C_ADDRESS 0x75
/* Default I2C bus */
#define PX4_I2C_BUS_DEFAULT PX4_I2C_BUS_EXPANSION
/* ETS_AIRSPEED Registers addresses */
#define READ_CMD 0x07 /* Read the data */
/* I2C bus address */
#define I2C_ADDRESS 0x75 /* 7-bit address. 8-bit address is 0xEA */
/* Register address */
#define READ_CMD 0x07 /* Read the data */
/* Measurement rate is 100Hz */
#define CONVERSION_INTERVAL (1000000 / 100) /* microseconds */
/**
* The Eagle Tree Airspeed V3 can only provide accurate readings
* for speeds from 15km/h upwards.
* The Eagle Tree Airspeed V3 cannot provide accurate reading below speeds of 15km/h.
*/
#define MIN_ACCURATE_DIFF_PRES_PA 12
/* Measurement rate is 100Hz */
#define CONVERSION_INTERVAL (1000000 / 100) /* microseconds */
/* Oddly, ERROR is not defined for C++ */
#ifdef ERROR
# undef ERROR
@@ -102,7 +103,7 @@ static const int ERROR = -1;
class ETS_AIRSPEED : public device::I2C
{
public:
ETS_AIRSPEED(int bus = I2C_BUS, int address = I2C_ADDRESS);
ETS_AIRSPEED(int bus, int address = I2C_ADDRESS);
virtual ~ETS_AIRSPEED();
virtual int init();
@@ -194,11 +195,11 @@ ETS_AIRSPEED::ETS_AIRSPEED(int bus, int address) :
_sensor_ok(false),
_measure_ticks(0),
_collect_phase(false),
_diff_pres_offset(0),
_airspeed_pub(-1),
_sample_perf(perf_alloc(PC_ELAPSED, "ETS_AIRSPEED_read")),
_comms_errors(perf_alloc(PC_COUNT, "ETS_AIRSPEED_comms_errors")),
_buffer_overflows(perf_alloc(PC_COUNT, "ETS_AIRSPEED_buffer_overflows")),
_diff_pres_offset(0)
_buffer_overflows(perf_alloc(PC_COUNT, "ETS_AIRSPEED_buffer_overflows"))
{
// enable debug() calls
_debug_enabled = true;
@@ -229,7 +230,7 @@ ETS_AIRSPEED::init()
/* allocate basic report buffers */
_num_reports = 2;
_reports = new struct differential_pressure_s[_num_reports];
for (int i = 0; i < _num_reports; i++)
for (unsigned i = 0; i < _num_reports; i++)
_reports[i].max_differential_pressure_pa = 0;
if (_reports == nullptr)
@@ -613,7 +614,7 @@ const int ERROR = -1;
ETS_AIRSPEED *g_dev;
void start();
void start(int i2c_bus);
void stop();
void test();
void reset();
@@ -623,7 +624,7 @@ void info();
* Start the driver.
*/
void
start()
start(int i2c_bus)
{
int fd;
@@ -631,7 +632,7 @@ start()
errx(1, "already started");
/* create the driver */
g_dev = new ETS_AIRSPEED(I2C_BUS);
g_dev = new ETS_AIRSPEED(i2c_bus);
if (g_dev == nullptr)
goto fail;
@@ -664,7 +665,8 @@ fail:
/**
* Stop the driver
*/
void stop()
void
stop()
{
if (g_dev != nullptr)
{
@@ -770,14 +772,36 @@ info()
} // namespace
static void
ets_airspeed_usage()
{
fprintf(stderr, "usage: ets_airspeed [options] command\n");
fprintf(stderr, "options:\n");
fprintf(stderr, "\t-b --bus i2cbus (%d)\n", PX4_I2C_BUS_DEFAULT);
fprintf(stderr, "command:\n");
fprintf(stderr, "\tstart|stop|reset|test|info\n");
}
int
ets_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"))
ets_airspeed::start();
ets_airspeed::start(i2c_bus);
/*
* Stop the driver
@@ -803,5 +827,6 @@ ets_airspeed_main(int argc, char *argv[])
if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status"))
ets_airspeed::info();
errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'");
ets_airspeed_usage();
exit(0);
}