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deprecate df_hmc5883_wrapper and replace with in tree hmc5883
- deprecate DriverFramework hmc5883 driver (df_hmc5883_wrapper) - update aerotenna ocpoc and snapdragon flight eagle boards to use in tree hmc5883
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_hmc5883_wrapper
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MAIN df_hmc5883_wrapper
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SRCS
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df_hmc5883_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_hmc5883
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)
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@@ -1,462 +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_hmc5883_wrapper.cpp
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* Lightweight driver to access the HMC5883 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 <lib/parameters/param.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_mag.h>
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#include <drivers/drv_hrt.h>
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#include <uORB/topics/parameter_update.h>
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#include <board_config.h>
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#include <lib/conversion/rotation.h>
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#include <hmc5883/HMC5883.hpp>
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#include <DevMgr.hpp>
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extern "C" { __EXPORT int df_hmc5883_wrapper_main(int argc, char *argv[]); }
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using namespace DriverFramework;
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class DfHmc5883Wrapper : public HMC5883
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{
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public:
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DfHmc5883Wrapper(enum Rotation rotation, const char *path);
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~DfHmc5883Wrapper();
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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 mag_sensor_data &data);
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void _update_mag_calibration();
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orb_advert_t _mag_topic;
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int _param_update_sub;
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struct mag_calibration_s {
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float x_offset;
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float x_scale;
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float y_offset;
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float y_scale;
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float z_offset;
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float z_scale;
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} _mag_calibration;
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matrix::Dcmf _rotation_matrix;
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int _mag_orb_class_instance;
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perf_counter_t _mag_sample_perf;
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};
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DfHmc5883Wrapper::DfHmc5883Wrapper(enum Rotation rotation, const char *path) :
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HMC5883(path),
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_mag_topic(nullptr),
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_param_update_sub(-1),
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_mag_calibration{},
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_mag_orb_class_instance(-1),
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_mag_sample_perf(perf_alloc(PC_ELAPSED, "df_mag_read"))
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{
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// Set sane default calibration values
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_mag_calibration.x_scale = 1.0f;
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_mag_calibration.y_scale = 1.0f;
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_mag_calibration.z_scale = 1.0f;
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_mag_calibration.x_offset = 0.0f;
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_mag_calibration.y_offset = 0.0f;
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_mag_calibration.z_offset = 0.0f;
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// Get sensor rotation matrix
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_rotation_matrix = get_rot_matrix(rotation);
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}
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DfHmc5883Wrapper::~DfHmc5883Wrapper()
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{
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perf_free(_mag_sample_perf);
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}
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int DfHmc5883Wrapper::start()
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{
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/* Subscribe to param update topic. */
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if (_param_update_sub < 0) {
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_param_update_sub = orb_subscribe(ORB_ID(parameter_update));
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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("HMC5883 init fail: %d", ret);
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return ret;
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}
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ret = HMC5883::start();
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if (ret != 0) {
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PX4_ERR("HMC5883 start fail: %d", ret);
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return ret;
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}
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/* Force getting the calibration values. */
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_update_mag_calibration();
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return 0;
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}
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int DfHmc5883Wrapper::stop()
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{
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/* Stop sensor. */
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int ret = HMC5883::stop();
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if (ret != 0) {
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PX4_ERR("HMC5883 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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void DfHmc5883Wrapper::_update_mag_calibration()
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{
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// TODO: replace magic number
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for (unsigned i = 0; i < 3; ++i) {
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// TODO: remove printfs and add error counter
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char str[30];
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(void)sprintf(str, "CAL_MAG%u_ID", i);
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int32_t device_id;
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int res = param_get(param_find(str), &device_id);
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if (res != OK) {
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PX4_ERR("Could not access param %s", str);
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continue;
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}
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if ((uint32_t)device_id != m_id.dev_id) {
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continue;
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}
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(void)sprintf(str, "CAL_MAG%u_XSCALE", i);
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res = param_get(param_find(str), &_mag_calibration.x_scale);
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if (res != OK) {
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PX4_ERR("Could not access param %s", str);
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}
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(void)sprintf(str, "CAL_MAG%u_YSCALE", i);
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res = param_get(param_find(str), &_mag_calibration.y_scale);
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if (res != OK) {
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PX4_ERR("Could not access param %s", str);
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}
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(void)sprintf(str, "CAL_MAG%u_ZSCALE", i);
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res = param_get(param_find(str), &_mag_calibration.z_scale);
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if (res != OK) {
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PX4_ERR("Could not access param %s", str);
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}
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(void)sprintf(str, "CAL_MAG%u_XOFF", i);
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res = param_get(param_find(str), &_mag_calibration.x_offset);
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if (res != OK) {
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PX4_ERR("Could not access param %s", str);
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}
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(void)sprintf(str, "CAL_MAG%u_YOFF", i);
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res = param_get(param_find(str), &_mag_calibration.y_offset);
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if (res != OK) {
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PX4_ERR("Could not access param %s", str);
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}
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(void)sprintf(str, "CAL_MAG%u_ZOFF", i);
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res = param_get(param_find(str), &_mag_calibration.z_offset);
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if (res != OK) {
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PX4_ERR("Could not access param %s", str);
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}
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}
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}
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int DfHmc5883Wrapper::_publish(struct mag_sensor_data &data)
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{
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/* Check if calibration values are still up-to-date. */
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bool updated;
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orb_check(_param_update_sub, &updated);
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if (updated) {
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parameter_update_s parameter_update;
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orb_copy(ORB_ID(parameter_update), _param_update_sub, ¶meter_update);
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_update_mag_calibration();
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}
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/* Publish mag first. */
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perf_begin(_mag_sample_perf);
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mag_report mag_report = {};
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mag_report.timestamp = hrt_absolute_time();
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mag_report.is_external = true;
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/* The standard external mag by 3DR has x pointing to the
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* right, y pointing backwards, and z down, therefore switch x
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* and y and invert y. */
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const float tmp = data.field_x_ga;
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data.field_x_ga = -data.field_y_ga;
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data.field_y_ga = tmp;
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// TODO: remove these (or get the values)
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mag_report.x_raw = 0;
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mag_report.y_raw = 0;
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mag_report.z_raw = 0;
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matrix::Vector3f mag_val(data.field_x_ga,
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data.field_y_ga,
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data.field_z_ga);
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// apply sensor rotation on the accel measurement
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mag_val = _rotation_matrix * mag_val;
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// Apply calibration after rotation.
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mag_report.x = (mag_val(0) - _mag_calibration.x_offset) * _mag_calibration.x_scale;
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mag_report.y = (mag_val(1) - _mag_calibration.y_offset) * _mag_calibration.y_scale;
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mag_report.z = (mag_val(2) - _mag_calibration.z_offset) * _mag_calibration.z_scale;
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// TODO: get these right
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//mag_report.scaling = -1.0f;
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mag_report.device_id = m_id.dev_id;
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// TODO: when is this ever blocked?
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if (!(m_pub_blocked)) {
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if (_mag_topic == nullptr) {
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_mag_topic = orb_advertise_multi(ORB_ID(sensor_mag), &mag_report,
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&_mag_orb_class_instance, ORB_PRIO_HIGH);
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} else {
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orb_publish(ORB_ID(sensor_mag), _mag_topic, &mag_report);
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}
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}
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perf_end(_mag_sample_perf);
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return 0;
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};
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namespace df_hmc5883_wrapper
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{
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DfHmc5883Wrapper *g_dev = nullptr;
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int start(enum Rotation rotation, const char *path);
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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, const char *path)
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{
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g_dev = new DfHmc5883Wrapper(rotation, path);
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if (g_dev == nullptr) {
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PX4_ERR("failed instantiating DfHmc5883Wrapper 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("DfHmc5883Wrapper start failed");
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return ret;
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}
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// Open the MAG sensor
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DevHandle h;
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DevMgr::getHandle(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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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_INFO("Usage: df_hmc5883_wrapper 'start', 'info', 'stop'");
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PX4_INFO("options:");
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PX4_INFO(" -R rotation");
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}
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} // namespace df_hmc5883_wrapper
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int
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df_hmc5883_wrapper_main(int argc, char *argv[])
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{
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int ch;
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enum Rotation rotation = ROTATION_NONE;
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int ret = 0;
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int myoptind = 1;
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const char *myoptarg = NULL;
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const char *device_path = MAG_DEVICE_PATH;
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/* jump over start/off/etc and look at options first */
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while ((ch = px4_getopt(argc, argv, "R:D:", &myoptind, &myoptarg)) != EOF) {
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switch (ch) {
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case 'R':
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rotation = (enum Rotation)atoi(myoptarg);
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break;
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case 'D':
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device_path = myoptarg;
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break;
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default:
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df_hmc5883_wrapper::usage();
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return 0;
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}
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}
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if (argc <= 1) {
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df_hmc5883_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_hmc5883_wrapper::start(rotation, device_path);
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}
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else if (!strcmp(verb, "stop")) {
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ret = df_hmc5883_wrapper::stop();
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}
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else if (!strcmp(verb, "info")) {
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ret = df_hmc5883_wrapper::info();
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}
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else {
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df_hmc5883_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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