fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-29 12:43:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

More cleanups

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