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

Merge pull request #3206 from mcharleb/driver_framework_latest

Browse Source 
Added changes to sensors.cpp for DriverFramework
This commit is contained in:
Lorenz Meier 2015-11-18 22:23:39 +01:00
commit bb87dafdff
14 changed files with 1188 additions and 172 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
cmake/configs/posix_sitl_simple.cmake
View File

@ -3,11 +3,9 @@ include(posix/px4_impl_posix)
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
set(config_module_list
drivers/led
drivers/device
drivers/boards/sitl
drivers/pwm_out_sim
drivers/rgbled
platforms/common
platforms/posix/px4_layer
platforms/posix/work_queue
@ -18,6 +16,8 @@ set(config_module_list
platforms/posix/drivers/airspeedsim
platforms/posix/drivers/barosim
platforms/posix/drivers/gyrosim
platforms/posix/drivers/rgbledsim
platforms/posix/drivers/ledsim
systemcmds/param
systemcmds/mixer
systemcmds/ver

2
posix-configs/SITL/init/rcS_jmavsim
View File

@ -27,7 +27,7 @@ param set MPC_XY_VEL_P 0.2
param set MPC_XY_VEL_D 0.005
param set SENS_BOARD_ROT 0
param set COM_RC_IN_MODE 2
rgbled start
rgbledsim start
tone_alarm start
gyrosim start
accelsim start

1
src/drivers/drv_led.h
View File

@ -43,6 +43,7 @@
#include <stdint.h>
#include <sys/ioctl.h>
#define LED_BASE_DEVICE_PATH "/dev/led"
#define LED0_DEVICE_PATH "/dev/led0"
#define _LED_BASE 0x2800

2
src/drivers/drv_rgbled.h
View File

@ -42,6 +42,8 @@
#include <stdint.h>
#include <sys/ioctl.h>
#define RGBLED_BASE_DEVICE_PATH "/dev/rgbled"
/* more devices will be 1, 2, etc */
#define RGBLED0_DEVICE_PATH "/dev/rgbled0"

2
src/lib/DriverFramework

@ -1 +1 @@
Subproject commit 94abaa2067438c8b3c300c1bec05688cda5ff2e8
Subproject commit 737d2cbf2c94210b964cf00d55903f1b9c52b2f6

52
src/modules/commander/PreflightCheck.cpp
View File

@ -69,21 +69,23 @@
#include "PreflightCheck.h"
#include "DevMgr.hpp"
using namespace DriverFramework;
namespace Commander
{
static int check_calibration(int fd, const char* param_template, int &devid);
int check_calibration(int fd, const char* param_template, int &devid)
static int check_calibration(DevHandle &h, const char* param_template, int &devid)
{
bool calibration_found;
/* new style: ask device for calibration state */
int ret = px4_ioctl(fd, SENSORIOCCALTEST, 0);
int ret = h.ioctl(SENSORIOCCALTEST, 0);
calibration_found = (ret == OK);
devid = px4_ioctl(fd, DEVIOCGDEVICEID, 0);
devid = h.ioctl(DEVIOCGDEVICEID, 0);
char s[20];
int instance = 0;
@ -120,9 +122,10 @@ static bool magnometerCheck(int mavlink_fd, unsigned instance, bool optional, in
char s[30];
sprintf(s, "%s%u", MAG_BASE_DEVICE_PATH, instance);
int fd = px4_open(s, 0);
DevHandle h;
DevMgr::getHandle(s, h);
if (fd < 0) {
if (!h.isValid()) {
if (!optional) {
mavlink_and_console_log_critical(mavlink_fd,
"PREFLIGHT FAIL: NO MAG SENSOR #%u", instance);
@ -131,7 +134,7 @@ static bool magnometerCheck(int mavlink_fd, unsigned instance, bool optional, in
return false;
}
int ret = check_calibration(fd, "CAL_MAG%u_ID", device_id);
int ret = check_calibration(h, "CAL_MAG%u_ID", device_id);
if (ret) {
mavlink_and_console_log_critical(mavlink_fd,
@ -140,7 +143,7 @@ static bool magnometerCheck(int mavlink_fd, unsigned instance, bool optional, in
goto out;
}
ret = px4_ioctl(fd, MAGIOCSELFTEST, 0);
ret = h.ioctl(MAGIOCSELFTEST, 0);
if (ret != OK) {
mavlink_and_console_log_critical(mavlink_fd,
@ -150,7 +153,7 @@ static bool magnometerCheck(int mavlink_fd, unsigned instance, bool optional, in
}
out:
px4_close(fd);
DevMgr::releaseHandle(h);
return success;
}
@ -160,9 +163,10 @@ static bool accelerometerCheck(int mavlink_fd, unsigned instance, bool optional,
char s[30];
sprintf(s, "%s%u", ACCEL_BASE_DEVICE_PATH, instance);
int fd = px4_open(s, O_RDONLY);
DevHandle h;
DevMgr::getHandle(s, h);
if (fd < 0) {
if (!h.isValid()) {
if (!optional) {
mavlink_and_console_log_critical(mavlink_fd,
"PREFLIGHT FAIL: NO ACCEL SENSOR #%u", instance);
@ -171,7 +175,7 @@ static bool accelerometerCheck(int mavlink_fd, unsigned instance, bool optional,
return false;
}
int ret = check_calibration(fd, "CAL_ACC%u_ID", device_id);
int ret = check_calibration(h, "CAL_ACC%u_ID", device_id);
if (ret) {
mavlink_and_console_log_critical(mavlink_fd,
@ -180,7 +184,7 @@ static bool accelerometerCheck(int mavlink_fd, unsigned instance, bool optional,
goto out;
}
ret = px4_ioctl(fd, ACCELIOCSELFTEST, 0);
ret = h.ioctl(ACCELIOCSELFTEST, 0);
if (ret != OK) {
mavlink_and_console_log_critical(mavlink_fd,
@ -215,7 +219,9 @@ static bool accelerometerCheck(int mavlink_fd, unsigned instance, bool optional,
#endif
out:
#ifdef __PX4_NUTTX
px4_close(fd);
#endif
return success;
}
@ -225,9 +231,10 @@ static bool gyroCheck(int mavlink_fd, unsigned instance, bool optional, int &dev
char s[30];
sprintf(s, "%s%u", GYRO_BASE_DEVICE_PATH, instance);
int fd = px4_open(s, 0);
DevHandle h;
DevMgr::getHandle(s, h);
if (fd < 0) {
if (!h.isValid()) {
if (!optional) {
mavlink_and_console_log_critical(mavlink_fd,
"PREFLIGHT FAIL: NO GYRO SENSOR #%u", instance);
@ -236,7 +243,7 @@ static bool gyroCheck(int mavlink_fd, unsigned instance, bool optional, int &dev
return false;
}
int ret = check_calibration(fd, "CAL_GYRO%u_ID", device_id);
int ret = check_calibration(h, "CAL_GYRO%u_ID", device_id);
if (ret) {
mavlink_and_console_log_critical(mavlink_fd,
@ -245,7 +252,7 @@ static bool gyroCheck(int mavlink_fd, unsigned instance, bool optional, int &dev
goto out;
}
ret = px4_ioctl(fd, GYROIOCSELFTEST, 0);
ret = h.ioctl(GYROIOCSELFTEST, 0);
if (ret != OK) {
mavlink_and_console_log_critical(mavlink_fd,
@ -255,7 +262,7 @@ static bool gyroCheck(int mavlink_fd, unsigned instance, bool optional, int &dev
}
out:
px4_close(fd);
DevMgr::releaseHandle(h);
return success;
}
@ -265,9 +272,10 @@ static bool baroCheck(int mavlink_fd, unsigned instance, bool optional, int &dev
char s[30];
sprintf(s, "%s%u", BARO_BASE_DEVICE_PATH, instance);
int fd = px4_open(s, 0);
DevHandle h;
DevMgr::getHandle(s, h);
if (fd < 0) {
if (!h.isValid()) {
if (!optional) {
mavlink_and_console_log_critical(mavlink_fd,
"PREFLIGHT FAIL: NO BARO SENSOR #%u", instance);
@ -290,7 +298,7 @@ static bool baroCheck(int mavlink_fd, unsigned instance, bool optional, int &dev
//out:
px4_close(fd);
DevMgr::releaseHandle(h);
return success;
}

80
src/modules/commander/commander_helper.cpp
View File

@ -63,6 +63,9 @@
#include <drivers/drv_rgbled.h>
#include "commander_helper.h"
#include "DevMgr.hpp"
using namespace DriverFramework;
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
@ -93,7 +96,7 @@ bool is_vtol(const struct vehicle_status_s * current_status) {
current_status->system_type == vehicle_status_s::VEHICLE_TYPE_VTOL_OCTOROTOR);
}
static int buzzer = -1;
static DevHandle h_buzzer;
static hrt_abstime blink_msg_end = 0; // end time for currently blinking LED message, 0 if no blink message
static hrt_abstime tune_end = 0; // end time of currently played tune, 0 for repeating tunes or silence
static int tune_current = TONE_STOP_TUNE; // currently playing tune, can be interrupted after tune_end
@ -133,10 +136,11 @@ int buzzer_init()
tune_durations[TONE_NOTIFY_NEUTRAL_TUNE] = 500000;
tune_durations[TONE_ARMING_WARNING_TUNE] = 3000000;
buzzer = px4_open(TONEALARM0_DEVICE_PATH, O_WRONLY);
DevHandle h_buzzer;
DevMgr::getHandle(TONEALARM0_DEVICE_PATH, h_buzzer);
if (buzzer < 0) {
warnx("Buzzer: px4_open fail\n");
if (!h_buzzer.isValid()) {
PX4_WARN("Buzzer: px4_open fail\n");
return ERROR;
}
@ -145,12 +149,12 @@ int buzzer_init()
void buzzer_deinit()
{
px4_close(buzzer);
DevMgr::releaseHandle(h_buzzer);
}
void set_tune_override(int tune)
{
px4_ioctl(buzzer, TONE_SET_ALARM, tune);
h_buzzer.ioctl(TONE_SET_ALARM, tune);
}
void set_tune(int tune)
@ -161,7 +165,7 @@ void set_tune(int tune)
if (tune_end == 0 || new_tune_duration != 0 || hrt_absolute_time() > tune_end) {
/* allow interrupting current non-repeating tune by the same tune */
if (tune != tune_current || new_tune_duration != 0) {
px4_ioctl(buzzer, TONE_SET_ALARM, tune);
h_buzzer.ioctl(TONE_SET_ALARM, tune);
}
tune_current = tune;
@ -264,30 +268,30 @@ int blink_msg_state()
}
}
static int leds = -1;
static int rgbleds = -1;
static DevHandle h_leds;
static DevHandle h_rgbleds;
int led_init()
{
blink_msg_end = 0;
/* first open normal LEDs */
leds = px4_open(LED0_DEVICE_PATH, 0);
DevMgr::getHandle(LED0_DEVICE_PATH, h_leds);
if (leds < 0) {
warnx("LED: px4_open fail\n");
if (!h_leds.isValid()) {
PX4_WARN("LED: getHandle fail\n");
return ERROR;
}
/* the blue LED is only available on FMUv1 & AeroCore but not FMUv2 */
(void)px4_ioctl(leds, LED_ON, LED_BLUE);
(void)h_leds.ioctl(LED_ON, LED_BLUE);
/* switch blue off */
led_off(LED_BLUE);
/* we consider the amber led mandatory */
if (px4_ioctl(leds, LED_ON, LED_AMBER)) {
warnx("Amber LED: px4_ioctl fail\n");
if (h_leds.ioctl(LED_ON, LED_AMBER)) {
PX4_WARN("Amber LED: ioctl fail\n");
return ERROR;
}
@ -295,10 +299,11 @@ int led_init()
led_off(LED_AMBER);
/* then try RGB LEDs, this can fail on FMUv1*/
rgbleds = px4_open(RGBLED0_DEVICE_PATH, 0);
DevHandle h;
DevMgr::getHandle(RGBLED0_DEVICE_PATH, h_rgbleds);
if (rgbleds < 0) {
warnx("No RGB LED found at " RGBLED0_DEVICE_PATH);
if (!h_rgbleds.isValid()) {
PX4_WARN("No RGB LED found at " RGBLED0_DEVICE_PATH);
}
return 0;
@ -306,64 +311,41 @@ int led_init()
void led_deinit()
{
if (leds >= 0) {
px4_close(leds);
}
if (rgbleds >= 0) {
px4_close(rgbleds);
}
DevMgr::releaseHandle(h_leds);
DevMgr::releaseHandle(h_rgbleds);
}
int led_toggle(int led)
{
if (leds < 0) {
return leds;
}
return px4_ioctl(leds, LED_TOGGLE, led);
return h_leds.ioctl(LED_TOGGLE, led);
}
int led_on(int led)
{
if (leds < 0) {
return leds;
}
return px4_ioctl(leds, LED_ON, led);
return h_leds.ioctl(LED_ON, led);
}
int led_off(int led)
{
if (leds < 0) {
return leds;
}
return px4_ioctl(leds, LED_OFF, led);
return h_leds.ioctl(LED_OFF, led);
}
void rgbled_set_color(rgbled_color_t color)
{
if (rgbleds < 0) {
return;
}
px4_ioctl(rgbleds, RGBLED_SET_COLOR, (unsigned long)color);
h_rgbleds.ioctl(RGBLED_SET_COLOR, (unsigned long)color);
}
void rgbled_set_mode(rgbled_mode_t mode)
{
if (rgbleds < 0) {
return;
}
px4_ioctl(rgbleds, RGBLED_SET_MODE, (unsigned long)mode);
h_rgbleds.ioctl(RGBLED_SET_MODE, (unsigned long)mode);
}
void rgbled_set_pattern(rgbled_pattern_t *pattern)
{
if (rgbleds < 0) {
return;
}
px4_ioctl(rgbleds, RGBLED_SET_PATTERN, (unsigned long)pattern);
h_rgbleds.ioctl(RGBLED_SET_PATTERN, (unsigned long)pattern);
}
unsigned battery_get_n_cells() {

126
src/modules/sensors/sensors.cpp
View File

@ -97,6 +97,10 @@
#include <uORB/topics/airspeed.h>
#include <uORB/topics/rc_parameter_map.h>
#include "DevMgr.hpp"
using namespace DriverFramework;
/**
* Analog layout:
* FMU:
@ -898,23 +902,20 @@ Sensors::parameters_update()
/* update barometer qnh setting */
param_get(_parameter_handles.baro_qnh, &(_parameters.baro_qnh));
int barofd;
barofd = px4_open(BARO0_DEVICE_PATH, 0);
DevHandle h_baro;
DevMgr::getHandle(BARO0_DEVICE_PATH, h_baro);
if (barofd < 0) {
warnx("ERROR: no barometer found on %s", BARO0_DEVICE_PATH);
if (!h_baro.isValid()) {
warnx("ERROR: no barometer found on %s (%d)", BARO0_DEVICE_PATH, h_baro.getError());
return ERROR;
} else {
int baroret = px4_ioctl(barofd, BAROIOCSMSLPRESSURE, (unsigned long)(_parameters.baro_qnh * 100));
int baroret = h_baro.ioctl(BAROIOCSMSLPRESSURE, (unsigned long)(_parameters.baro_qnh * 100));
if (baroret) {
warnx("qnh could not be set");
px4_close(barofd);
return ERROR;
}
px4_close(barofd);
}
return OK;
@ -923,23 +924,20 @@ Sensors::parameters_update()
int
Sensors::accel_init()
{
int fd;
DevHandle h_accel;
DevMgr::getHandle(ACCEL0_DEVICE_PATH, h_accel);
fd = px4_open(ACCEL0_DEVICE_PATH, 0);
if (fd < 0) {
warnx("FATAL: no accelerometer found: %s", ACCEL0_DEVICE_PATH);
if (!h_accel.isValid()) {
warnx("FATAL: no accelerometer found: %s (%d)", ACCEL0_DEVICE_PATH, h_accel.getError());
return ERROR;
} else {
/* set the accel internal sampling rate to default rate */
px4_ioctl(fd, ACCELIOCSSAMPLERATE, ACCEL_SAMPLERATE_DEFAULT);
h_accel.ioctl(ACCELIOCSSAMPLERATE, ACCEL_SAMPLERATE_DEFAULT);
/* set the driver to poll at default rate */
px4_ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT);
px4_close(fd);
h_accel.ioctl(SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT);
}
return OK;
@ -948,23 +946,20 @@ Sensors::accel_init()
int
Sensors::gyro_init()
{
int fd;
DevHandle h_gyro;
DevMgr::getHandle(GYRO0_DEVICE_PATH, h_gyro);
fd = px4_open(GYRO0_DEVICE_PATH, 0);
if (fd < 0) {
warnx("FATAL: no gyro found: %s", GYRO0_DEVICE_PATH);
if (!h_gyro.isValid()) {
warnx("FATAL: no gyro found: %s (%d)", GYRO0_DEVICE_PATH, h_gyro.getError());
return ERROR;
}
/* set the gyro internal sampling rate to default rate */
px4_ioctl(fd, GYROIOCSSAMPLERATE, GYRO_SAMPLERATE_DEFAULT);
h_gyro.ioctl(GYROIOCSSAMPLERATE, GYRO_SAMPLERATE_DEFAULT);
/* set the driver to poll at default rate */
px4_ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT);
px4_close(fd);
h_gyro.ioctl(SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT);
return OK;
}
@ -972,32 +967,32 @@ Sensors::gyro_init()
int
Sensors::mag_init()
{
int fd;
int ret;
fd = px4_open(MAG0_DEVICE_PATH, 0);
DevHandle h_mag;
DevMgr::getHandle(MAG0_DEVICE_PATH, h_mag);
if (fd < 0) {
warnx("FATAL: no magnetometer found: %s", MAG0_DEVICE_PATH);
if (!h_mag.isValid()) {
warnx("FATAL: no magnetometer found: %s (%d)", MAG0_DEVICE_PATH, h_mag.getError());
return ERROR;
}
/* try different mag sampling rates */
ret = px4_ioctl(fd, MAGIOCSSAMPLERATE, 150);
ret = h_mag.ioctl(MAGIOCSSAMPLERATE, 150);
if (ret == OK) {
/* set the pollrate accordingly */
px4_ioctl(fd, SENSORIOCSPOLLRATE, 150);
h_mag.ioctl(SENSORIOCSPOLLRATE, 150);
} else {
ret = px4_ioctl(fd, MAGIOCSSAMPLERATE, 100);
ret = h_mag.ioctl(MAGIOCSSAMPLERATE, 100);
/* if the slower sampling rate still fails, something is wrong */
if (ret == OK) {
/* set the driver to poll also at the slower rate */
px4_ioctl(fd, SENSORIOCSPOLLRATE, 100);
h_mag.ioctl(SENSORIOCSPOLLRATE, 100);
} else {
warnx("FATAL: mag sampling rate could not be set");
@ -1005,27 +1000,22 @@ Sensors::mag_init()
}
}
px4_close(fd);
return OK;
}
int
Sensors::baro_init()
{
int fd;
DevHandle h_baro;
DevMgr::getHandle(BARO0_DEVICE_PATH, h_baro);
fd = px4_open(BARO0_DEVICE_PATH, 0);
if (fd < 0) {
warnx("FATAL: No barometer found: %s", BARO0_DEVICE_PATH);
if (!h_baro.isValid()) {
warnx("FATAL: No barometer found: %s (%d)", BARO0_DEVICE_PATH, h_baro.getError());
return ERROR;
}
/* set the driver to poll at 150Hz */
px4_ioctl(fd, SENSORIOCSPOLLRATE, 150);
px4_close(fd);
h_baro.ioctl(SENSORIOCSPOLLRATE, 150);
return OK;
}
@ -1034,10 +1024,11 @@ int
Sensors::adc_init()
{
_fd_adc = px4_open(ADC0_DEVICE_PATH, O_RDONLY | O_NONBLOCK);
DevHandle h_adc;
DevMgr::getHandle(ADC0_DEVICE_PATH, h_adc);
if (_fd_adc < 0) {
warnx("FATAL: no ADC found: %s", ADC0_DEVICE_PATH);
if (!h_adc.isValid()) {
warnx("FATAL: no ADC found: %s (%d)", ADC0_DEVICE_PATH, h_adc.getError());
return ERROR;
}
@ -1277,9 +1268,10 @@ Sensors::parameter_update_poll(bool forced)
res = ERROR;
(void)sprintf(str, "%s%u", GYRO_BASE_DEVICE_PATH, s);
int fd = px4_open(str, 0);
DevHandle h;
DevMgr::getHandle(str, h);
if (fd < 0) {
if (!h.isValid()) {
continue;
}
@ -1295,12 +1287,12 @@ Sensors::parameter_update_poll(bool forced)
failed = failed || (OK != param_get(param_find(str), &device_id));
if (failed) {
px4_close(fd);
DevMgr::releaseHandle(h);
continue;
}
/* if the calibration is for this device, apply it */
if (device_id == px4_ioctl(fd, DEVIOCGDEVICEID, 0)) {
if (device_id == h.ioctl(DEVIOCGDEVICEID, 0)) {
struct gyro_scale gscale = {};
(void)sprintf(str, "CAL_GYRO%u_XOFF", i);
failed = failed || (OK != param_get(param_find(str), &gscale.x_offset));
@ -1320,7 +1312,7 @@ Sensors::parameter_update_poll(bool forced)
} else {
/* apply new scaling and offsets */
res = px4_ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gscale);
res = h.ioctl(GYROIOCSSCALE, (long unsigned int)&gscale);
if (res) {
warnx(CAL_ERROR_APPLY_CAL_MSG, "gyro", i);
@ -1337,8 +1329,6 @@ Sensors::parameter_update_poll(bool forced)
if (config_ok) {
gyro_count++;
}
px4_close(fd);
}
/* run through all accel sensors */
@ -1347,9 +1337,10 @@ Sensors::parameter_update_poll(bool forced)
res = ERROR;
(void)sprintf(str, "%s%u", ACCEL_BASE_DEVICE_PATH, s);
int fd = px4_open(str, 0);
DevHandle h;
DevMgr::getHandle(str, h);
if (fd < 0) {
if (!h.isValid()) {
continue;
}
@ -1365,12 +1356,12 @@ Sensors::parameter_update_poll(bool forced)
failed = failed || (OK != param_get(param_find(str), &device_id));
if (failed) {
px4_close(fd);
DevMgr::releaseHandle(h);
continue;
}
/* if the calibration is for this device, apply it */
if (device_id == px4_ioctl(fd, DEVIOCGDEVICEID, 0)) {
if (device_id == h.ioctl(DEVIOCGDEVICEID, 0)) {
struct accel_scale gscale = {};
(void)sprintf(str, "CAL_ACC%u_XOFF", i);
failed = failed || (OK != param_get(param_find(str), &gscale.x_offset));
@ -1390,7 +1381,7 @@ Sensors::parameter_update_poll(bool forced)
} else {
/* apply new scaling and offsets */
res = px4_ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&gscale);
res = h.ioctl(ACCELIOCSSCALE, (long unsigned int)&gscale);
if (res) {
warnx(CAL_ERROR_APPLY_CAL_MSG, "accel", i);
@ -1407,8 +1398,6 @@ Sensors::parameter_update_poll(bool forced)
if (config_ok) {
accel_count++;
}
px4_close(fd);
}
/* run through all mag sensors */
@ -1423,9 +1412,10 @@ Sensors::parameter_update_poll(bool forced)
res = ERROR;
(void)sprintf(str, "%s%u", MAG_BASE_DEVICE_PATH, s);
int fd = px4_open(str, 0);
DevHandle h;
DevMgr::getHandle(str, h);
if (fd < 0) {
if (!h.isValid()) {
/* the driver is not running, abort */
continue;
}
@ -1444,12 +1434,12 @@ Sensors::parameter_update_poll(bool forced)
(void)param_find(str);
if (failed) {
px4_close(fd);
DevMgr::releaseHandle(h);
continue;
}
/* if the calibration is for this device, apply it */
if (device_id == px4_ioctl(fd, DEVIOCGDEVICEID, 0)) {
if (device_id == h.ioctl(DEVIOCGDEVICEID, 0)) {
struct mag_scale gscale = {};
(void)sprintf(str, "CAL_MAG%u_XOFF", i);
failed = failed || (OK != param_get(param_find(str), &gscale.x_offset));
@ -1466,7 +1456,7 @@ Sensors::parameter_update_poll(bool forced)
(void)sprintf(str, "CAL_MAG%u_ROT", i);
if (px4_ioctl(fd, MAGIOCGEXTERNAL, 0) <= 0) {
if (h.ioctl(MAGIOCGEXTERNAL, 0) <= 0) {
/* mag is internal */
_mag_rotation[s] = _board_rotation;
/* reset param to -1 to indicate internal mag */
@ -1520,7 +1510,7 @@ Sensors::parameter_update_poll(bool forced)
} else {
/* apply new scaling and offsets */
res = px4_ioctl(fd, MAGIOCSSCALE, (long unsigned int)&gscale);
res = h.ioctl(MAGIOCSSCALE, (long unsigned int)&gscale);
if (res) {
warnx(CAL_ERROR_APPLY_CAL_MSG, "mag", i);
@ -1537,8 +1527,6 @@ Sensors::parameter_update_poll(bool forced)
if (config_ok) {
mag_count++;
}
px4_close(fd);
}
int fd = px4_open(AIRSPEED0_DEVICE_PATH, 0);

52
src/platforms/posix/drivers/gpssim/gpssim.cpp
View File

@ -62,6 +62,11 @@
#include <simulator/simulator.h>
#include "DevMgr.hpp"
#include "VirtDevObj.hpp"
using namespace DriverFramework;
#define GPS_DRIVER_MODE_UBX_SIM
#define GPSSIM_DEVICE_PATH "/dev/gpssim"
@ -82,7 +87,7 @@ public:
};
class GPSSIM : public device::VDev
class GPSSIM : public VirtDevObj
{
public:
GPSSIM(const char *uart_path, bool fake_gps, bool enable_sat_info);
@ -90,13 +95,16 @@ public:
virtual int init();
virtual int ioctl(device::file_t *filp, int cmd, unsigned long arg);
virtual int devIOCTL(unsigned long cmd, unsigned long arg);
/**
* Diagnostics - print some basic information about the driver.
*/
void print_info();
protected:
virtual void _measure() {}
private:
bool _task_should_exit; ///< flag to make the main worker task exit
@ -115,6 +123,7 @@ private:
orb_advert_t _report_sat_info_pub; ///< uORB pub for satellite info
float _rate; ///< position update rate
bool _fake_gps; ///< fake gps output
SyncObj _sync;
/**
* Try to configure the GPS, handle outgoing communication to the GPS
@ -160,7 +169,7 @@ GPSSIM *g_dev = nullptr;
GPSSIM::GPSSIM(const char *uart_path, bool fake_gps, bool enable_sat_info) :
VDev("gps", GPSSIM_DEVICE_PATH),
VirtDevObj("gps", GPSSIM_DEVICE_PATH, nullptr, 0),
_task_should_exit(false),
//_healthy(false),
//_mode_changed(false),
@ -188,8 +197,6 @@ GPSSIM::GPSSIM(const char *uart_path, bool fake_gps, bool enable_sat_info) :
_p_report_sat_info = &_Sat_Info->_data;
memset(_p_report_sat_info, 0, sizeof(*_p_report_sat_info));
}
_debug_enabled = true;
}
GPSSIM::~GPSSIM()
@ -217,7 +224,7 @@ GPSSIM::init()
int ret = ERROR;
/* do regular cdev init */
if (VDev::init() != OK) {
if (VirtDevObj::init() != OK) {
goto out;
}
@ -236,9 +243,9 @@ out:
}
int
GPSSIM::ioctl(device::file_t *filp, int cmd, unsigned long arg)
GPSSIM::devIOCTL(unsigned long cmd, unsigned long arg)
{
lock();
_sync.lock();
int ret = OK;
@ -249,11 +256,11 @@ GPSSIM::ioctl(device::file_t *filp, int cmd, unsigned long arg)
default:
/* give it to parent if no one wants it */
ret = VDev::ioctl(filp, cmd, arg);
ret = VirtDevObj::devIOCTL(cmd, arg);
break;
}
unlock();
_sync.unlock();
return ret;
}
@ -319,7 +326,7 @@ GPSSIM::task_main()
//no time and satellite information simulated
if (!(_pub_blocked)) {
if (!(m_pub_blocked)) {
if (_report_gps_pos_pub != nullptr) {
orb_publish(ORB_ID(vehicle_gps_position), _report_gps_pos_pub, &_report_gps_pos);
@ -339,7 +346,7 @@ GPSSIM::task_main()
_report_gps_pos.timestamp_velocity = hrt_absolute_time();
_report_gps_pos.timestamp_time = hrt_absolute_time();
if (!(_pub_blocked)) {
if (!(m_pub_blocked)) {
if (_report_gps_pos_pub != nullptr) {
orb_publish(ORB_ID(vehicle_gps_position), _report_gps_pos_pub, &_report_gps_pos);
@ -354,7 +361,7 @@ GPSSIM::task_main()
while ((receive(TIMEOUT_5HZ)) > 0 && !_task_should_exit) {
/* opportunistic publishing - else invalid data would end up on the bus */
if (!(_pub_blocked)) {
if (!(m_pub_blocked)) {
orb_publish(ORB_ID(vehicle_gps_position), _report_gps_pos_pub, &_report_gps_pos);
if (_p_report_sat_info) {
@ -368,7 +375,8 @@ GPSSIM::task_main()
}
}
lock();
// FIXME - if ioctl is called then it will deadlock
_sync.lock();
}
}
@ -440,7 +448,7 @@ void info();
void
start(const char *uart_path, bool fake_gps, bool enable_sat_info)
{
int fd;
DevHandle h;
/* create the driver */
g_dev = new GPSSIM(uart_path, fake_gps, enable_sat_info);
@ -454,10 +462,10 @@ start(const char *uart_path, bool fake_gps, bool enable_sat_info)
}
/* set the poll rate to default, starts automatic data collection */
fd = px4_open(GPSSIM_DEVICE_PATH, O_RDONLY);
DevMgr::getHandle(GPSSIM_DEVICE_PATH, h);
if (fd < 0) {
PX4_ERR("open: %s\n", GPS0_DEVICE_PATH);
if (!h.isValid()) {
PX4_ERR("getHandle failed: %s", GPS0_DEVICE_PATH);
goto fail;
}
@ -500,13 +508,13 @@ test()
void
reset()
{
int fd = px4_open(GPSSIM_DEVICE_PATH, O_RDONLY);
if (fd < 0) {
DevHandle h;
DevMgr::getHandle(GPSSIM_DEVICE_PATH, h);
if (!h.isValid()) {
PX4_ERR("failed ");
}
if (ioctl(fd, SENSORIOCRESET, 0) < 0) {
if (h.ioctl(SENSORIOCRESET, 0) < 0) {
PX4_ERR("reset failed");
}
}

42
src/platforms/posix/drivers/ledsim/CMakeLists.txt Normal file
View File

@ -0,0 +1,42 @@
############################################################################
#
# Copyright (c) 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.
#
############################################################################
px4_add_module(
MODULE platforms__posix__drivers__ledsim
COMPILE_FLAGS
-Os
SRCS
led.cpp
DEPENDS
platforms__common
)
# vim: set noet ft=cmake fenc=utf-8 ff=unix :

141
src/platforms/posix/drivers/ledsim/led.cpp Normal file
View File

@ -0,0 +1,141 @@
/****************************************************************************
*
* 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 led.cpp
*
* LED driver.
*/
#include <px4_config.h>
#include <drivers/drv_led.h>
#include <stdio.h>
#include "VirtDevObj.hpp"
using namespace DriverFramework;
#define DEVICE_DEBUG PX4_INFO
/*
* Ideally we'd be able to get these from up_internal.h,
* but since we want to be able to disable the NuttX use
* of leds for system indication at will and there is no
* separate switch, we need to build independent of the
* CONFIG_ARCH_LEDS configuration switch.
*/
__BEGIN_DECLS
extern void led_init();
extern void led_on(int led);
extern void led_off(int led);
extern void led_toggle(int led);
__END_DECLS
class LED : public VirtDevObj
{
public:
LED();
virtual ~LED();
virtual int init();
virtual int devIOCTL(unsigned long cmd, unsigned long arg);
protected:
virtual void _measure() {}
};
LED::LED() :
VirtDevObj("led", "/dev/ledsim", LED_BASE_DEVICE_PATH, 0)
{
// force immediate init/device registration
init();
}
LED::~LED()
{
}
int
LED::init()
{
DEVICE_DEBUG("LED::init");
int ret = VirtDevObj::init();
if (ret == 0) {
led_init();
}
return ret;
}
int
LED::devIOCTL(unsigned long cmd, unsigned long arg)
{
int result = OK;
switch (cmd) {
case LED_ON:
led_on(arg);
break;
case LED_OFF:
led_off(arg);
break;
case LED_TOGGLE:
led_toggle(arg);
break;
default:
result = VirtDevObj::devIOCTL(cmd, arg);
}
return result;
}
namespace
{
LED *gLED;
}
void
drv_led_start(void)
{
if (gLED == nullptr) {
gLED = new LED;
if (gLED != nullptr) {
gLED->init();
}
}
}

43
src/platforms/posix/drivers/rgbledsim/CMakeLists.txt Normal file
View File

@ -0,0 +1,43 @@
############################################################################
#
# Copyright (c) 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.
#
############################################################################
px4_add_module(
MODULE platforms__posix__drivers__rgbledsim
MAIN rgbledsim
COMPILE_FLAGS
-Os
SRCS
rgbled.cpp
DEPENDS
platforms__common
)
# vim: set noet ft=cmake fenc=utf-8 ff=unix :

801
src/platforms/posix/drivers/rgbledsim/rgbled.cpp Normal file
View File

@ -0,0 +1,801 @@
/****************************************************************************
*
* 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 rgbled.cpp
*
* Driver for the onboard RGB LED controller (TCA62724FMG) connected via I2C.
*
* @author Julian Oes <julian@px4.io>
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#include <px4_config.h>
#include <px4_getopt.h>
#include <sys/types.h>
#include <stdint.h>
#include <string.h>
#include <stdlib.h>
#include <stdbool.h>
#include <fcntl.h>
#include <unistd.h>
#include <stdio.h>
#include <ctype.h>
#include <px4_workqueue.h>
#include <systemlib/perf_counter.h>
#include <systemlib/err.h>
#include <systemlib/systemlib.h>
#include <board_config.h>
#include <drivers/drv_rgbled.h>
#include "VirtDevObj.hpp"
using namespace DriverFramework;
#define DEVICE_LOG PX4_INFO
#define RGBLED_ONTIME 120
#define RGBLED_OFFTIME 120
#define ADDR PX4_I2C_OBDEV_LED /**< I2C adress of TCA62724FMG */
#define SUB_ADDR_START 0x01 /**< write everything (with auto-increment) */
#define SUB_ADDR_PWM0 0x81 /**< blue (without auto-increment) */
#define SUB_ADDR_PWM1 0x82 /**< green (without auto-increment) */
#define SUB_ADDR_PWM2 0x83 /**< red (without auto-increment) */
#define SUB_ADDR_SETTINGS 0x84 /**< settings (without auto-increment)*/
#define SETTING_NOT_POWERSAVE 0x01 /**< power-save mode not off */
#define SETTING_ENABLE 0x02 /**< on */
class RGBLEDSIM : public VirtDevObj
{
public:
RGBLEDSIM(int bus, int rgbled);
virtual ~RGBLEDSIM();
virtual int init();
virtual int probe();
virtual int info();
virtual int devIOCTL(unsigned long cmd, unsigned long arg);
// Don't use the default periodic callback
virtual void _measure() {}
private:
work_s _work;
rgbled_mode_t _mode;
rgbled_pattern_t _pattern;
uint8_t _r;
uint8_t _g;
uint8_t _b;
float _brightness;
float _max_brightness;
bool _running;
int _led_interval;
bool _should_run;
int _counter;
int _param_sub;
void set_color(rgbled_color_t ledcolor);
void set_mode(rgbled_mode_t mode);
void set_pattern(rgbled_pattern_t *pattern);
static void led_trampoline(void *arg);
void led();
int send_led_enable(bool enable);
int send_led_rgb();
int get(bool &on, bool &powersave, uint8_t &r, uint8_t &g, uint8_t &b);
void update_params();
/**
* Perform an I2C transaction to the device.
*
* At least one of send_len and recv_len must be non-zero.
*
* @param send Pointer to bytes to send.
* @param send_len Number of bytes to send.
* @param recv Pointer to buffer for bytes received.
* @param recv_len Number of bytes to receive.
* @return OK if the transfer was successful, -errno
* otherwise.
*/
int transfer(const uint8_t *send, unsigned send_len,
uint8_t *recv, unsigned recv_len);
};
/* for now, we only support one RGBLEDSIM */
namespace
{
RGBLEDSIM *g_rgbled = nullptr;
}
void rgbled_usage();
extern "C" __EXPORT int rgbledsim_main(int argc, char *argv[]);
RGBLEDSIM::RGBLEDSIM(int bus, int rgbled) :
VirtDevObj("rgbled", "/dev/rgbledsim", RGBLED_BASE_DEVICE_PATH, 0),
_mode(RGBLED_MODE_OFF),
_r(0),
_g(0),
_b(0),
_brightness(1.0f),
_max_brightness(1.0f),
_running(false),
_led_interval(0),
_should_run(false),
_counter(0),
_param_sub(-1)
{
memset(&_work, 0, sizeof(_work));
memset(&_pattern, 0, sizeof(_pattern));
}
RGBLEDSIM::~RGBLEDSIM()
{
}
int
RGBLEDSIM::init()
{
int ret;
ret = VirtDevObj::init();
if (ret != OK) {
return ret;
}
/* switch off LED on start */
send_led_enable(false);
send_led_rgb();
return OK;
}
int
RGBLEDSIM::probe()
{
int ret;
bool on, powersave;
uint8_t r, g, b;
/**
this may look strange, but is needed. There is a serial
EEPROM (Microchip-24aa01) on the PX4FMU-v1 that responds to
a bunch of I2C addresses, including the 0x55 used by this
LED device. So we need to do enough operations to be sure
we are talking to the right device. These 3 operations seem
to be enough, as the 3rd one consistently fails if no
RGBLEDSIM is on the bus.
*/
if ((ret = get(on, powersave, r, g, b)) != OK ||
(ret = send_led_enable(false) != OK) ||
(ret = send_led_enable(false) != OK)) {
return ret;
}
return ret;
}
int
RGBLEDSIM::info()
{
int ret;
bool on, powersave;
uint8_t r, g, b;
ret = get(on, powersave, r, g, b);
if (ret == OK) {
/* we don't care about power-save mode */
DEVICE_LOG("state: %s", on ? "ON" : "OFF");
DEVICE_LOG("red: %u, green: %u, blue: %u", (unsigned)r, (unsigned)g, (unsigned)b);
} else {
PX4_WARN("failed to read led");
}
return ret;
}
int
RGBLEDSIM::devIOCTL(unsigned long cmd, unsigned long arg)
{
int ret = ENOTTY;
switch (cmd) {
case RGBLED_SET_RGB:
/* set the specified color */
_r = ((rgbled_rgbset_t *) arg)->red;
_g = ((rgbled_rgbset_t *) arg)->green;
_b = ((rgbled_rgbset_t *) arg)->blue;
send_led_rgb();
return OK;
case RGBLED_SET_COLOR:
/* set the specified color name */
set_color((rgbled_color_t)arg);
send_led_rgb();
return OK;
case RGBLED_SET_MODE:
/* set the specified mode */
set_mode((rgbled_mode_t)arg);
return OK;
case RGBLED_SET_PATTERN:
/* set a special pattern */
set_pattern((rgbled_pattern_t *)arg);
return OK;
default:
/* see if the parent class can make any use of it */
ret = VirtDevObj::devIOCTL(cmd, arg);
break;
}
return ret;
}
void
RGBLEDSIM::led_trampoline(void *arg)
{
RGBLEDSIM *rgbl = reinterpret_cast<RGBLEDSIM *>(arg);
rgbl->led();
}
/**
* Main loop function
*/
void
RGBLEDSIM::led()
{
if (!_should_run) {
_running = false;
return;
}
if (_param_sub < 0) {
_param_sub = orb_subscribe(ORB_ID(parameter_update));
}
if (_param_sub >= 0) {
bool updated = false;
orb_check(_param_sub, &updated);
if (updated) {
parameter_update_s pupdate;
orb_copy(ORB_ID(parameter_update), _param_sub, &pupdate);
update_params();
// Immediately update to change brightness
send_led_rgb();
}
}
switch (_mode) {
case RGBLED_MODE_BLINK_SLOW:
case RGBLED_MODE_BLINK_NORMAL:
case RGBLED_MODE_BLINK_FAST:
if (_counter >= 2) {
_counter = 0;
}
send_led_enable(_counter == 0);
break;
case RGBLED_MODE_BREATHE:
if (_counter >= 62) {
_counter = 0;
}
int n;
if (_counter < 32) {
n = _counter;
} else {
n = 62 - _counter;
}
_brightness = n * n / (31.0f * 31.0f);
send_led_rgb();
break;
case RGBLED_MODE_PATTERN:
/* don't run out of the pattern array and stop if the next frame is 0 */
if (_counter >= RGBLED_PATTERN_LENGTH || _pattern.duration[_counter] <= 0) {
_counter = 0;
}
set_color(_pattern.color[_counter]);
send_led_rgb();
_led_interval = _pattern.duration[_counter];
break;
default:
break;
}
_counter++;
}
/**
* Parse color constant and set _r _g _b values
*/
void
RGBLEDSIM::set_color(rgbled_color_t color)
{
switch (color) {
case RGBLED_COLOR_OFF:
_r = 0;
_g = 0;
_b = 0;
break;
case RGBLED_COLOR_RED:
_r = 255;
_g = 0;
_b = 0;
break;
case RGBLED_COLOR_YELLOW:
_r = 255;
_g = 200;
_b = 0;
break;
case RGBLED_COLOR_PURPLE:
_r = 255;
_g = 0;
_b = 255;
break;
case RGBLED_COLOR_GREEN:
_r = 0;
_g = 255;
_b = 0;
break;
case RGBLED_COLOR_BLUE:
_r = 0;
_g = 0;
_b = 255;
break;
case RGBLED_COLOR_WHITE:
_r = 255;
_g = 255;
_b = 255;
break;
case RGBLED_COLOR_AMBER:
_r = 255;
_g = 80;
_b = 0;
break;
case RGBLED_COLOR_DIM_RED:
_r = 90;
_g = 0;
_b = 0;
break;
case RGBLED_COLOR_DIM_YELLOW:
_r = 80;
_g = 30;
_b = 0;
break;
case RGBLED_COLOR_DIM_PURPLE:
_r = 45;
_g = 0;
_b = 45;
break;
case RGBLED_COLOR_DIM_GREEN:
_r = 0;
_g = 90;
_b = 0;
break;
case RGBLED_COLOR_DIM_BLUE:
_r = 0;
_g = 0;
_b = 90;
break;
case RGBLED_COLOR_DIM_WHITE:
_r = 30;
_g = 30;
_b = 30;
break;
case RGBLED_COLOR_DIM_AMBER:
_r = 80;
_g = 20;
_b = 0;
break;
default:
PX4_WARN("color unknown");
break;
}
}
/**
* Set mode, if mode not changed has no any effect (doesn't reset blinks phase)
*/
void
RGBLEDSIM::set_mode(rgbled_mode_t mode)
{
if (mode != _mode) {
_mode = mode;
switch (mode) {
case RGBLED_MODE_OFF:
_should_run = false;
send_led_enable(false);
break;
case RGBLED_MODE_ON:
_brightness = 1.0f;
send_led_rgb();
send_led_enable(true);
break;
case RGBLED_MODE_BLINK_SLOW:
_should_run = true;
_counter = 0;
_led_interval = 2000;
_brightness = 1.0f;
send_led_rgb();
break;
case RGBLED_MODE_BLINK_NORMAL:
_should_run = true;
_counter = 0;
_led_interval = 500;
_brightness = 1.0f;
send_led_rgb();
break;
case RGBLED_MODE_BLINK_FAST:
_should_run = true;
_counter = 0;
_led_interval = 100;
_brightness = 1.0f;
send_led_rgb();
break;
case RGBLED_MODE_BREATHE:
_should_run = true;
_counter = 0;
_led_interval = 25;
send_led_enable(true);
break;
case RGBLED_MODE_PATTERN:
_should_run = true;
_counter = 0;
_brightness = 1.0f;
send_led_enable(true);
break;
default:
PX4_WARN("mode unknown");
break;
}
/* if it should run now, start the workq */
if (_should_run && !_running) {
_running = true;
work_queue(LPWORK, &_work, (worker_t)&RGBLEDSIM::led_trampoline, this, 1);
}
}
}
/**
* Set pattern for PATTERN mode, but don't change current mode
*/
void
RGBLEDSIM::set_pattern(rgbled_pattern_t *pattern)
{
memcpy(&_pattern, pattern, sizeof(rgbled_pattern_t));
}
/**
* Sent ENABLE flag to LED driver
*/
int
RGBLEDSIM::send_led_enable(bool enable)
{
uint8_t settings_byte = 0;
if (enable) {
settings_byte |= SETTING_ENABLE;
}
settings_byte |= SETTING_NOT_POWERSAVE;
const uint8_t msg[2] = { SUB_ADDR_SETTINGS, settings_byte};
return transfer(msg, sizeof(msg), nullptr, 0);
}
/**
* Send RGB PWM settings to LED driver according to current color and brightness
*/
int
RGBLEDSIM::send_led_rgb()
{
/* To scale from 0..255 -> 0..15 shift right by 4 bits */
const uint8_t msg[6] = {
SUB_ADDR_PWM0, static_cast<uint8_t>((_b >> 4) * _brightness * _max_brightness + 0.5f),
SUB_ADDR_PWM1, static_cast<uint8_t>((_g >> 4) * _brightness * _max_brightness + 0.5f),
SUB_ADDR_PWM2, static_cast<uint8_t>((_r >> 4) * _brightness * _max_brightness + 0.5f)
};
return transfer(msg, sizeof(msg), nullptr, 0);
}
int
RGBLEDSIM::get(bool &on, bool &powersave, uint8_t &r, uint8_t &g, uint8_t &b)
{
uint8_t result[2];
int ret;
ret = transfer(nullptr, 0, &result[0], 2);
if (ret == OK) {
on = result[0] & SETTING_ENABLE;
powersave = !(result[0] & SETTING_NOT_POWERSAVE);
/* XXX check, looks wrong */
r = (result[0] & 0x0f) << 4;
g = (result[1] & 0xf0);
b = (result[1] & 0x0f) << 4;
}
return ret;
}
void
RGBLEDSIM::update_params()
{
int32_t maxbrt = 15;
param_get(param_find("LED_RGB_MAXBRT"), &maxbrt);
maxbrt = maxbrt > 15 ? 15 : maxbrt;
maxbrt = maxbrt < 0 ? 0 : maxbrt;
// A minimum of 2 "on" steps is required for breathe effect
if (maxbrt == 1) {
maxbrt = 2;
}
_max_brightness = maxbrt / 15.0f;
}
void
rgbled_usage()
{
PX4_WARN("missing command: try 'start', 'test', 'info', 'off', 'stop', 'rgb 30 40 50'");
PX4_WARN("options:");
PX4_WARN(" -b i2cbus (%d)", PX4_I2C_BUS_LED);
PX4_WARN(" -a addr (0x%x)", ADDR);
}
int
rgbledsim_main(int argc, char *argv[])
{
int i2cdevice = -1;
int rgbledadr = ADDR; /* 7bit */
int ch;
/* jump over start/off/etc and look at options first */
int myoptind = 1;
const char *myoptarg = NULL;
while ((ch = px4_getopt(argc, argv, "a:b:", &myoptind, &myoptarg)) != EOF) {
switch (ch) {
case 'a':
rgbledadr = strtol(myoptarg, NULL, 0);
break;
case 'b':
i2cdevice = strtol(myoptarg, NULL, 0);
break;
default:
rgbled_usage();
return 1;
}
}
if (myoptind >= argc) {
rgbled_usage();
return 1;
}
const char *verb = argv[myoptind];
int ret;
if (!strcmp(verb, "start")) {
if (g_rgbled != nullptr) {
PX4_WARN("already started");
return 1;
}
if (i2cdevice == -1) {
// try the external bus first
i2cdevice = PX4_I2C_BUS_EXPANSION;
g_rgbled = new RGBLEDSIM(PX4_I2C_BUS_EXPANSION, rgbledadr);
if (g_rgbled != nullptr && OK != g_rgbled->init()) {
delete g_rgbled;
g_rgbled = nullptr;
}
if (g_rgbled == nullptr) {
// fall back to default bus
if (PX4_I2C_BUS_LED == PX4_I2C_BUS_EXPANSION) {
PX4_WARN("no RGB led on bus #%d", i2cdevice);
return 1;
}
i2cdevice = PX4_I2C_BUS_LED;
}
}
if (g_rgbled == nullptr) {
g_rgbled = new RGBLEDSIM(i2cdevice, rgbledadr);
if (g_rgbled == nullptr) {
PX4_WARN("new failed");
return 1;
}
if (OK != g_rgbled->init()) {
delete g_rgbled;
g_rgbled = nullptr;
PX4_WARN("no RGB led on bus #%d", i2cdevice);
return 1;
}
}
return 0;
}
/* need the driver past this point */
if (g_rgbled == nullptr) {
PX4_WARN("not started");
rgbled_usage();
return 1;
}
if (!strcmp(verb, "test")) {
DevHandle h;
DevMgr::getHandle(RGBLED0_DEVICE_PATH, h);
if (!h.isValid()) {
PX4_WARN("Unable to open " RGBLED0_DEVICE_PATH);
return 1;
}
rgbled_pattern_t pattern = { {RGBLED_COLOR_RED, RGBLED_COLOR_GREEN, RGBLED_COLOR_BLUE, RGBLED_COLOR_WHITE, RGBLED_COLOR_OFF, RGBLED_COLOR_OFF},
{500, 500, 500, 500, 1000, 0 } // "0" indicates end of pattern
};
ret = h.ioctl(RGBLED_SET_PATTERN, (unsigned long)&pattern);
ret = h.ioctl(RGBLED_SET_MODE, (unsigned long)RGBLED_MODE_PATTERN);
DevMgr::releaseHandle(h);
return ret;
}
if (!strcmp(verb, "info")) {
g_rgbled->info();
return 0;
}
if (!strcmp(verb, "off") || !strcmp(verb, "stop")) {
DevHandle h;
DevMgr::getHandle(RGBLED0_DEVICE_PATH, h);
if (!h.isValid()) {
PX4_WARN("Unable to open " RGBLED0_DEVICE_PATH);
return 1;
}
ret = h.ioctl(RGBLED_SET_MODE, (unsigned long)RGBLED_MODE_OFF);
DevMgr::releaseHandle(h);
/* delete the rgbled object if stop was requested, in addition to turning off the LED. */
if (!strcmp(verb, "stop")) {
delete g_rgbled;
g_rgbled = nullptr;
return 0;
}
return ret;
}
if (!strcmp(verb, "rgb")) {
if (argc < 5) {
PX4_WARN("Usage: rgbled rgb <red> <green> <blue>");
return 1;
}
DevHandle h;
DevMgr::getHandle(RGBLED0_DEVICE_PATH, h);
if (!h.isValid()) {
PX4_WARN("Unable to open " RGBLED0_DEVICE_PATH);
return 1;
}
rgbled_rgbset_t v;
v.red = strtol(argv[2], NULL, 0);
v.green = strtol(argv[3], NULL, 0);
v.blue = strtol(argv[4], NULL, 0);
ret = h.ioctl(RGBLED_SET_RGB, (unsigned long)&v);
ret = h.ioctl(RGBLED_SET_MODE, (unsigned long)RGBLED_MODE_ON);
DevMgr::releaseHandle(h);
return ret;
}
rgbled_usage();
return 1;
}
int RGBLEDSIM::transfer(const uint8_t *send, unsigned send_len, uint8_t *recv, unsigned recv_len)
{
return 0;
}

12
src/platforms/posix/drivers/tonealrmsim/tone_alarm.cpp
View File

@ -741,17 +741,17 @@ ToneAlarm *g_dev;
int
play_tune(unsigned tune)
{
int fd, ret;
int ret;
fd = px4_open(TONEALARM0_DEVICE_PATH, 0);
DevHandle h;
DevMgr::getHandle(TONEALARM0_DEVICE_PATH, h);
if (fd < 0) {
PX4_WARN("Error: failed to open %s", TONEALARM0_DEVICE_PATH);
if (!h.isValid()) {
PX4_WARN("Error: failed to open %s (%d)", TONEALARM0_DEVICE_PATH, h.getError());
return 1;
}
ret = px4_ioctl(fd, TONE_SET_ALARM, tune);
px4_close(fd);
ret = h.ioctl(TONE_SET_ALARM, tune);
if (ret != 0) {
PX4_WARN("TONE_SET_ALARM");