fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

drivers/adc: move to ModuleBase and split out header

Browse Source
This commit is contained in:
Daniel Agar 2020-01-07 13:20:54 -05:00
parent d19f18d40b
commit b7a63bfdf3
3 changed files with 175 additions and 108 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

167
src/drivers/adc/adc.cpp → src/drivers/adc/ADC.cpp
View File

@ -31,71 +31,7 @@
*
****************************************************************************/
/**
* @file adc.cpp
*
* Driver for an ADC.
*
*/
#include <stdint.h>
#include <drivers/drv_adc.h>
#include <drivers/drv_hrt.h>
#include <lib/cdev/CDev.hpp>
#include <lib/perf/perf_counter.h>
#include <px4_arch/adc.h>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/log.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <uORB/Publication.hpp>
#include <uORB/topics/adc_report.h>
#include <uORB/topics/system_power.h>
using namespace time_literals;
#ifndef ADC_CHANNELS
#error "board needs to define ADC_CHANNELS to use this driver"
#endif
#define ADC_TOTAL_CHANNELS 32
class ADC : public cdev::CDev, public px4::ScheduledWorkItem
{
public:
ADC(uint32_t base_address, uint32_t channels);
~ADC() override;
int init() override;
ssize_t read(cdev::file_t *filp, char *buffer, size_t len) override;
private:
void Run() override;
/**
* Sample a single channel and return the measured value.
*
* @param channel The channel to sample.
* @return The sampled value, or UINT32_MAX if sampling failed.
*/
uint32_t sample(unsigned channel);
void update_adc_report(hrt_abstime now);
void update_system_power(hrt_abstime now);
static const hrt_abstime kINTERVAL{10_ms}; /**< 100Hz base rate */
perf_counter_t _sample_perf;
unsigned _channel_count{0};
const uint32_t _base_address;
px4_adc_msg_t *_samples{nullptr}; /**< sample buffer */
uORB::Publication<adc_report_s> _to_adc_report{ORB_ID(adc_report)};
uORB::Publication<system_power_s> _to_system_power{ORB_ID(system_power)};
};
#include "ADC.hpp"
ADC::ADC(uint32_t base_address, uint32_t channels) :
CDev(ADC0_DEVICE_PATH),
@ -145,8 +81,7 @@ ADC::~ADC()
px4_arch_adc_uninit(_base_address);
}
int
ADC::init()
int ADC::init()
{
int ret_init = px4_arch_adc_init(_base_address);
@ -169,8 +104,7 @@ ADC::init()
return PX4_OK;
}
ssize_t
ADC::read(cdev::file_t *filp, char *buffer, size_t len)
ssize_t ADC::read(cdev::file_t *filp, char *buffer, size_t len)
{
const size_t maxsize = sizeof(px4_adc_msg_t) * _channel_count;
@ -186,8 +120,7 @@ ADC::read(cdev::file_t *filp, char *buffer, size_t len)
return len;
}
void
ADC::Run()
void ADC::Run()
{
lock();
hrt_abstime now = hrt_absolute_time();
@ -202,8 +135,7 @@ ADC::Run()
unlock();
}
void
ADC::update_adc_report(hrt_abstime now)
void ADC::update_adc_report(hrt_abstime now)
{
adc_report_s adc = {};
adc.timestamp = now;
@ -222,8 +154,7 @@ ADC::update_adc_report(hrt_abstime now)
_to_adc_report.publish(adc);
}
void
ADC::update_system_power(hrt_abstime now)
void ADC::update_system_power(hrt_abstime now)
{
#if defined (BOARD_ADC_USB_CONNECTED)
system_power_s system_power {};
@ -306,8 +237,7 @@ ADC::update_system_power(hrt_abstime now)
#endif // BOARD_ADC_USB_CONNECTED
}
uint32_t
ADC::sample(unsigned channel)
uint32_t ADC::sample(unsigned channel)
{
perf_begin(_sample_perf);
uint32_t result = px4_arch_adc_sample(_base_address, channel);
@ -320,19 +250,8 @@ ADC::sample(unsigned channel)
return result;
}
/*
* Driver 'main' command.
*/
extern "C" __EXPORT int adc_main(int argc, char *argv[]);
namespace
int ADC::test()
{
ADC *g_adc{nullptr};
int
test(void)
{
int fd = px4_open(ADC0_DEVICE_PATH, O_RDONLY);
if (fd < 0) {
@ -356,38 +275,74 @@ test(void)
}
printf("\n");
px4_usleep(500000);
px4_usleep(100000);
}
px4_close(fd);
return 0;
}
int ADC::custom_command(int argc, char *argv[])
{
const char *verb = argv[0];
if (!strcmp(verb, "test")) {
if (is_running()) {
return _object.load()->test();
}
return PX4_ERROR;
}
return print_usage("unknown command");
}
int
adc_main(int argc, char *argv[])
int ADC::task_spawn(int argc, char *argv[])
{
if (g_adc == nullptr) {
g_adc = new ADC(SYSTEM_ADC_BASE, ADC_CHANNELS);
ADC *instance = new ADC(SYSTEM_ADC_BASE, ADC_CHANNELS);
if (g_adc == nullptr) {
PX4_ERR("couldn't allocate the ADC driver");
return 1;
if (instance) {
_object.store(instance);
_task_id = task_id_is_work_queue;
if (instance->init() == PX4_OK) {
return PX4_OK;
}
if (g_adc->init() != OK) {
delete g_adc;
PX4_ERR("ADC init failed");
return 1;
}
} else {
PX4_ERR("alloc failed");
}
if (argc > 1) {
if (!strcmp(argv[1], "test")) {
return test();
}
delete instance;
_object.store(nullptr);
_task_id = -1;
return PX4_ERROR;
}
int ADC::print_usage(const char *reason)
{
if (reason) {
PX4_WARN("%s\n", reason);
}
PRINT_MODULE_DESCRIPTION(
R"DESCR_STR(
### Description
ADC driver.
)DESCR_STR");
PRINT_MODULE_USAGE_NAME("adc", "driver");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_COMMAND("test");
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
return 0;
}
extern "C" __EXPORT int adc_main(int argc, char *argv[])
{
return ADC::main(argc, argv);
}

110
src/drivers/adc/ADC.hpp Normal file
View File

@ -0,0 +1,110 @@
/****************************************************************************
*
* Copyright (C) 2012-2020 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 adc.cpp
*
* Driver for an ADC.
*
*/
#include <stdint.h>
#include <drivers/drv_adc.h>
#include <drivers/drv_hrt.h>
#include <lib/cdev/CDev.hpp>
#include <lib/perf/perf_counter.h>
#include <px4_arch/adc.h>
#include <px4_platform_common/log.h>
#include <px4_platform_common/module.h>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <uORB/Publication.hpp>
#include <uORB/topics/adc_report.h>
#include <uORB/topics/system_power.h>
using namespace time_literals;
#ifndef ADC_CHANNELS
#error "board needs to define ADC_CHANNELS to use this driver"
#endif
#define ADC_TOTAL_CHANNELS 32
class ADC : public ModuleBase<ADC>, public cdev::CDev, public px4::ScheduledWorkItem
{
public:
ADC(uint32_t base_address = SYSTEM_ADC_BASE, uint32_t channels = ADC_CHANNELS);
~ADC() override;
/** @see ModuleBase */
static int task_spawn(int argc, char *argv[]);
/** @see ModuleBase */
static int custom_command(int argc, char *argv[]);
/** @see ModuleBase */
static int print_usage(const char *reason = nullptr);
int init() override;
int test();
private:
void Run() override;
ssize_t read(cdev::file_t *filp, char *buffer, size_t len) override;
/**
* Sample a single channel and return the measured value.
*
* @param channel The channel to sample.
* @return The sampled value, or UINT32_MAX if sampling failed.
*/
uint32_t sample(unsigned channel);
void update_adc_report(hrt_abstime now);
void update_system_power(hrt_abstime now);
static const hrt_abstime kINTERVAL{10_ms}; /**< 100Hz base rate */
perf_counter_t _sample_perf;
unsigned _channel_count{0};
const uint32_t _base_address;
px4_adc_msg_t *_samples{nullptr}; /**< sample buffer */
uORB::Publication<adc_report_s> _to_adc_report{ORB_ID(adc_report)};
uORB::Publication<system_power_s> _to_system_power{ORB_ID(system_power)};
};

6
src/drivers/adc/CMakeLists.txt
View File

@ -1,6 +1,6 @@
############################################################################
#
# Copyright (c) 2019 PX4 Development Team. All rights reserved.
# Copyright (c) 2019-2020 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
@ -35,7 +35,9 @@ px4_add_module(
MODULE drivers__adc
MAIN adc
SRCS
adc.cpp
ADC.cpp
ADC.hpp
DEPENDS
arch_adc
px4_work_queue
)