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linux boards (ocpoc, bbblue, navio2) replace custom adc drivers with simple px4_arch implementation

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This commit is contained in:
Daniel Agar 2020-01-07 11:08:37 -05:00
parent fc9df31653
commit d19f18d40b
38 changed files with 528 additions and 1065 deletions
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4
.gitignore vendored
View File

@ -109,3 +109,7 @@ src/lib/parameters/px4_parameters_public.h
src/lib/version/build_git_version.h
src/modules/simulator/simulator_config.h
src/systemcmds/topic_listener/listener_generated.cpp
# SITL
dataman
eeprom/

2
boards/aerotenna/ocpoc/CMakeLists.txt
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@ -31,4 +31,4 @@
#
############################################################################
add_subdirectory(ocpoc_adc)
add_subdirectory(adc)

11
boards/aerotenna/ocpoc/ocpoc_adc/CMakeLists.txt → boards/aerotenna/ocpoc/adc/CMakeLists.txt
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@ -1,6 +1,6 @@
############################################################################
#
# Copyright (c) 2015-2017 PX4 Development Team. All rights reserved.
# Copyright (c) 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
@ -31,9 +31,6 @@
#
############################################################################
px4_add_module(
MODULE drivers__ocpoc_adc
MAIN ocpoc_adc
SRCS
ocpoc_adc.cpp
)
px4_add_library(arch_adc
adc.cpp
)

98
boards/aerotenna/ocpoc/adc/adc.cpp Normal file
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@ -0,0 +1,98 @@
/****************************************************************************
*
* Copyright (C) 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.
*
****************************************************************************/
#include <board_config.h>
#include <drivers/drv_adc.h>
#include <px4_platform_common/log.h>
#include <fcntl.h>
#include <stdint.h>
#include <unistd.h>
#define ADC_SYSFS_PATH "/sys/bus/iio/devices/iio:device0"
#define ADC_MAX_CHAN 9
int _channels_fd[ADC_MAX_CHAN];
int px4_arch_adc_init(uint32_t base_address)
{
for (int i = 0; i < ADC_MAX_CHAN; i++) {
_channels_fd[i] = -1;
}
return 0;
}
void px4_arch_adc_uninit(uint32_t base_address)
{
for (int i = 0; i < ADC_MAX_CHAN; i++) {
::close(_channels_fd[i]);
_channels_fd[i] = -1;
}
}
uint32_t px4_arch_adc_sample(uint32_t base_address, unsigned channel)
{
if (channel > ADC_MAX_CHAN) {
PX4_ERR("channel %d out of range: %d", channel, ADC_MAX_CHAN);
return UINT32_MAX; // error
}
// open channel if necessary
if (_channels_fd[channel] == -1) {
// ADC_SYSFS_PATH
char channel_path[strlen(ADC_SYSFS_PATH) + 20] {};
if (sprintf(channel_path, "%s/in_voltage%d_raw", ADC_SYSFS_PATH, channel) == -1) {
PX4_ERR("adc channel: %d\n", channel);
return UINT32_MAX; // error
}
_channels_fd[channel] = ::open(channel_path, O_RDONLY);
}
char buffer[10] {};
if (::pread(_channels_fd[channel], buffer, sizeof(buffer), 0) < 0) {
PX4_ERR("read channel %d failed", channel);
return UINT32_MAX; // error
}
return atoi(buffer);
}
uint32_t px4_arch_adc_dn_fullcount()
{
return 1 << 12; // 12 bit ADC
}

11
platforms/posix/src/px4/common/adc.cpp → boards/aerotenna/ocpoc/include/px4_arch/adc.h
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2019 PX4 Development Team. All rights reserved.
* Copyright (c) 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
@ -31,9 +31,8 @@
*
****************************************************************************/
#include <drivers/drv_adc.h>
#pragma once
uint32_t px4_arch_adc_dn_fullcount(void)
{
return 1 << 12; // 12 bit ADC
}
#define SYSTEM_ADC_BASE 0 // not used
#define px4_arch_adc_temp_sensor_mask() (0)

253
boards/aerotenna/ocpoc/ocpoc_adc/ocpoc_adc.cpp
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@ -1,253 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2012-2017 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 ocpoc_adc.cpp
*
* OcPoC ADC Driver
*
* @author Lianying Ji <ji@aerotenna.com>
* @author Dave Royer <dave@aerotenna.com>
*/
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/tasks.h>
#include <px4_platform_common/posix.h>
#include <drivers/drv_adc.h>
#include <VirtDevObj.hpp>
#include <unistd.h>
#include <stdio.h>
#include <poll.h>
#include <string.h>
#define ADC_BASE_DEV_PATH "/dev/adc"
#define ADC_VOLTAGE_PATH "/sys/bus/iio/devices/iio:device0/in_voltage8_raw"
__BEGIN_DECLS
__EXPORT int ocpoc_adc_main(int argc, char *argv[]);
__END_DECLS
class OcpocADC: public DriverFramework::VirtDevObj
{
public:
OcpocADC();
virtual ~OcpocADC();
virtual int init();
virtual ssize_t devRead(void *buf, size_t count) override;
virtual int devIOCTL(unsigned long request, unsigned long arg) override;
protected:
virtual void _measure() override;
private:
int read(px4_adc_msg_t(*buf)[PX4_MAX_ADC_CHANNELS], unsigned int len);
pthread_mutex_t _samples_lock;
px4_adc_msg_t _samples;
};
OcpocADC::OcpocADC()
: DriverFramework::VirtDevObj("ocpoc_adc", ADC0_DEVICE_PATH, ADC_BASE_DEV_PATH, 1e6 / 100)
{
pthread_mutex_init(&_samples_lock, NULL);
}
OcpocADC::~OcpocADC()
{
pthread_mutex_destroy(&_samples_lock);
}
void OcpocADC::_measure()
{
px4_adc_msg_t tmp_samples[PX4_MAX_ADC_CHANNELS];
int ret = read(&tmp_samples, sizeof(tmp_samples));
if (ret != 0) {
PX4_ERR("ocpoc_adc_read: %d", ret);
}
pthread_mutex_lock(&_samples_lock);
memcpy(&_samples, &tmp_samples, sizeof(tmp_samples));
pthread_mutex_unlock(&_samples_lock);
}
int OcpocADC::init()
{
int ret;
ret = DriverFramework::VirtDevObj::init();
if (ret != PX4_OK) {
PX4_ERR("init failed");
return ret;
}
return PX4_OK;
}
int OcpocADC::devIOCTL(unsigned long request, unsigned long arg)
{
return -ENOTTY;
}
ssize_t OcpocADC::devRead(void *buf, size_t count)
{
const size_t maxsize = sizeof(_samples);
int ret;
if (count > maxsize) {
count = maxsize;
}
ret = pthread_mutex_trylock(&_samples_lock);
if (ret != 0) {
return 0;
}
memcpy(buf, &_samples, count);
pthread_mutex_unlock(&_samples_lock);
return count;
}
int OcpocADC::read(px4_adc_msg_t(*buf)[PX4_MAX_ADC_CHANNELS], unsigned int len)
{
uint32_t buff[1];
int ret = 0;
FILE *xadc_fd = fopen(ADC_VOLTAGE_PATH, "r");
if (xadc_fd != NULL) {
int ret_tmp = fscanf(xadc_fd, "%d", buff);
if (ret_tmp < 0) {
ret = ret_tmp;
}
fclose(xadc_fd);
(*buf)[0].am_data = buff[0];
} else {
(*buf)[0].am_data = 0;
ret = -1;
}
(*buf)[0].am_channel = ADC_BATTERY_VOLTAGE_CHANNEL;
return ret;
}
static OcpocADC *instance = nullptr;
int ocpoc_adc_main(int argc, char *argv[])
{
int ret;
if (argc < 2) {
PX4_WARN("usage: {start|stop|test}");
return PX4_ERROR;
}
if (!strcmp(argv[1], "start")) {
if (instance) {
PX4_WARN("already started");
return PX4_OK;
}
instance = new OcpocADC;
if (!instance) {
PX4_WARN("not enough memory");
return PX4_ERROR;
}
if (instance->init() != PX4_OK) {
delete instance;
instance = nullptr;
PX4_WARN("init failed");
return PX4_ERROR;
}
return PX4_OK;
} else if (!strcmp(argv[1], "stop")) {
if (!instance) {
PX4_WARN("already stopped");
return PX4_OK;
}
delete instance;
instance = nullptr;
return PX4_OK;
} else if (!strcmp(argv[1], "test")) {
if (!instance) {
PX4_ERR("start first");
return PX4_ERROR;
}
px4_adc_msg_t adc_msgs[PX4_MAX_ADC_CHANNELS];
ret = instance->devRead((char *)&adc_msgs, sizeof(adc_msgs));
if (ret < 0) {
PX4_ERR("ret: %s (%d)\n", strerror(ret), ret);
return ret;
} else {
PX4_INFO("ADC Data: %d", adc_msgs[0].am_data);
}
return PX4_OK;
} else {
PX4_WARN("action (%s) not supported", argv[1]);
return PX4_ERROR;
}
return PX4_OK;
}
// This is a replacement for the hardcoded 4096
uint32_t px4_arch_adc_dn_fullcount(void)
{
return 1 << 12; // 12 bit ADC
}

18
boards/aerotenna/ocpoc/src/board_config.h
View File

@ -49,15 +49,14 @@
#define BOARD_MAX_LEDS 1 // Number of external LED's this board has
/*
* I2C busses
*/
// I2C
#define PX4_I2C_BUS_EXPANSION 2 // i2c-2: Air Data Probe or I2C Splitter
#define PX4_I2C_BUS_EXPANSION1 4 // i2c-4: GPS/Compass #1
#define PX4_I2C_BUS_EXPANSION2 5 // i2c-5: GPS/Compass #2
#define PX4_I2C_BUS_EXPANSION3 3 // i2c-3: GPS/Compass #3
#define PX4_NUMBER_I2C_BUSES 4
#define PX4_NUMBER_I2C_BUSES 4
#define PX4_I2C_BUS_LED 1
@ -69,10 +68,13 @@
#define PX4_SPI_BUS_BARO PX4_SPI_BUS_SENSORS
// Battery ADC channels
#define ADC_BATTERY_VOLTAGE_CHANNEL 10
#define ADC_BATTERY_CURRENT_CHANNEL ((uint8_t)(-1))
#define ADC_AIRSPEED_VOLTAGE_CHANNEL 11
// ADC channels:
#define ADC_CHANNELS (1 << 8)
#define ADC_BATTERY_VOLTAGE_CHANNEL 8
#define ADC_BATTERY_CURRENT_CHANNEL ((uint8_t)(-1))
#include <system_config.h>
#include <px4_platform_common/board_common.h>

2
boards/beaglebone/blue/CMakeLists.txt
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@ -31,4 +31,4 @@
#
############################################################################
add_subdirectory(bbblue_adc)
add_subdirectory(adc)

10
boards/beaglebone/blue/bbblue_adc/CMakeLists.txt → boards/beaglebone/blue/adc/CMakeLists.txt
View File

@ -1,6 +1,6 @@
############################################################################
#
# Copyright (c) 2018-2019 PX4 Development Team. All rights reserved.
# Copyright (c) 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
@ -31,10 +31,6 @@
#
############################################################################
px4_add_module(
MODULE drivers__bbblue_adc
MAIN bbblue_adc
COMPILE_FLAGS
SRCS
bbblue_adc.cpp
px4_add_library(arch_adc
adc.cpp
)

98
boards/beaglebone/blue/adc/adc.cpp Normal file
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@ -0,0 +1,98 @@
/****************************************************************************
*
* Copyright (C) 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.
*
****************************************************************************/
#include <board_config.h>
#include <drivers/drv_adc.h>
#include <px4_platform_common/log.h>
#include <fcntl.h>
#include <stdint.h>
#include <unistd.h>
#define ADC_SYSFS_PATH "/sys/bus/iio/devices/iio:device0"
#define ADC_MAX_CHAN 8
int _channels_fd[ADC_MAX_CHAN];
int px4_arch_adc_init(uint32_t base_address)
{
for (int i = 0; i < ADC_MAX_CHAN; i++) {
_channels_fd[i] = -1;
}
return 0;
}
void px4_arch_adc_uninit(uint32_t base_address)
{
for (int i = 0; i < ADC_MAX_CHAN; i++) {
::close(_channels_fd[i]);
_channels_fd[i] = -1;
}
}
uint32_t px4_arch_adc_sample(uint32_t base_address, unsigned channel)
{
if (channel > ADC_MAX_CHAN) {
PX4_ERR("channel %d out of range: %d", channel, ADC_MAX_CHAN);
return UINT32_MAX; // error
}
// open channel if necessary
if (_channels_fd[channel] == -1) {
// ADC_SYSFS_PATH
char channel_path[strlen(ADC_SYSFS_PATH) + 20] {};
if (sprintf(channel_path, "%s/in_voltage%d_raw", ADC_SYSFS_PATH, channel) == -1) {
PX4_ERR("adc channel: %d\n", channel);
return UINT32_MAX; // error
}
_channels_fd[channel] = ::open(channel_path, O_RDONLY);
}
char buffer[10] {};
if (::pread(_channels_fd[channel], buffer, sizeof(buffer), 0) < 0) {
PX4_ERR("read channel %d failed", channel);
return UINT32_MAX; // error
}
return atoi(buffer);
}
uint32_t px4_arch_adc_dn_fullcount()
{
return 1 << 12; // 12 bit ADC
}

251
boards/beaglebone/blue/bbblue_adc/bbblue_adc.cpp
View File

@ -1,251 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2012-2018 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 bbblue_adc.cpp
*
* BBBlue ADC Driver
*
*/
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/tasks.h>
#include <px4_platform_common/posix.h>
#include <drivers/drv_adc.h>
#include <VirtDevObj.hpp>
#include <unistd.h>
#include <stdio.h>
#include <poll.h>
#include <string.h>
#ifdef __DF_BBBLUE
#include <robotcontrol.h>
#include <board_config.h>
#endif
#define ADC_BASE_DEV_PATH "/dev/null"
#define BBBLUE_MAX_ADC_CHANNELS (6)
#define BBBLUE_MAX_ADC_USER_CHANNELS (4)
#define BBBLUE_ADC_DC_JACK_VOLTAGE_CHANNEL (5)
#define BBBLUE_ADC_LIPO_BATTERY_VOLTAGE_CHANNEL (6)
__BEGIN_DECLS
__EXPORT int bbblue_adc_main(int argc, char *argv[]);
__END_DECLS
class BBBlueADC: public DriverFramework::VirtDevObj
{
public:
BBBlueADC();
virtual ~BBBlueADC();
virtual int init();
virtual ssize_t devRead(void *buf, size_t count) override;
virtual int devIOCTL(unsigned long request, unsigned long arg) override;
protected:
virtual void _measure() override;
private:
pthread_mutex_t _samples_lock;
px4_adc_msg_t _samples[BBBLUE_MAX_ADC_CHANNELS];
};
BBBlueADC::BBBlueADC()
: DriverFramework::VirtDevObj("bbblue_adc", ADC0_DEVICE_PATH, ADC_BASE_DEV_PATH, 1e6 / 100)
{
pthread_mutex_init(&_samples_lock, NULL);
}
BBBlueADC::~BBBlueADC()
{
pthread_mutex_destroy(&_samples_lock);
rc_cleaning();
}
void BBBlueADC::_measure()
{
#ifdef __DF_BBBLUE
px4_adc_msg_t tmp_samples[BBBLUE_MAX_ADC_CHANNELS];
for (int i = 0; i < BBBLUE_MAX_ADC_USER_CHANNELS; ++i) {
tmp_samples[i].am_channel = i;
tmp_samples[i].am_data = rc_adc_read_raw(i);
}
tmp_samples[BBBLUE_MAX_ADC_USER_CHANNELS].am_channel = BBBLUE_ADC_LIPO_BATTERY_VOLTAGE_CHANNEL;
tmp_samples[BBBLUE_MAX_ADC_USER_CHANNELS].am_data = rc_adc_read_raw(BBBLUE_ADC_LIPO_BATTERY_VOLTAGE_CHANNEL);
tmp_samples[BBBLUE_ADC_DC_JACK_VOLTAGE_CHANNEL].am_channel = BBBLUE_ADC_DC_JACK_VOLTAGE_CHANNEL;
tmp_samples[BBBLUE_ADC_DC_JACK_VOLTAGE_CHANNEL].am_data = rc_adc_read_raw(BBBLUE_ADC_DC_JACK_VOLTAGE_CHANNEL);
pthread_mutex_lock(&_samples_lock);
memcpy(&_samples, &tmp_samples, sizeof(tmp_samples));
pthread_mutex_unlock(&_samples_lock);
#endif
}
int BBBlueADC::init()
{
rc_init();
int ret = DriverFramework::VirtDevObj::init();
if (ret != PX4_OK) {
PX4_ERR("init failed");
return ret;
}
_measure(); // start the initial conversion so that the test command right
// after the start command can return values
return PX4_OK;
}
int BBBlueADC::devIOCTL(unsigned long request, unsigned long arg)
{
return -ENOTTY;
}
ssize_t BBBlueADC::devRead(void *buf, size_t count)
{
const size_t maxsize = sizeof(_samples);
int ret;
if (count > maxsize) {
count = maxsize;
}
ret = pthread_mutex_trylock(&_samples_lock);
if (ret != 0) {
return 0;
}
memcpy(buf, &_samples, count);
pthread_mutex_unlock(&_samples_lock);
return count;
}
static BBBlueADC *instance = nullptr;
int bbblue_adc_main(int argc, char *argv[])
{
int ret;
if (argc < 2) {
PX4_WARN("usage: {start|stop|test}");
return PX4_ERROR;
}
if (!strcmp(argv[1], "start")) {
if (instance) {
PX4_WARN("already started");
return PX4_OK;
}
instance = new BBBlueADC;
if (!instance) {
PX4_WARN("not enough memory");
return PX4_ERROR;
}
if (instance->init() != PX4_OK) {
delete instance;
instance = nullptr;
PX4_WARN("init failed");
return PX4_ERROR;
}
PX4_INFO("BBBlueADC started");
return PX4_OK;
} else if (!strcmp(argv[1], "stop")) {
if (!instance) {
PX4_WARN("already stopped");
return PX4_OK;
}
delete instance;
instance = nullptr;
return PX4_OK;
} else if (!strcmp(argv[1], "test")) {
if (!instance) {
PX4_ERR("start first");
return PX4_ERROR;
}
px4_adc_msg_t adc_msgs[BBBLUE_MAX_ADC_CHANNELS];
ret = instance->devRead((char *)&adc_msgs, sizeof(adc_msgs));
if (ret < 0) {
PX4_ERR("ret: %s (%d)\n", strerror(ret), ret);
return ret;
} else if (ret != sizeof(adc_msgs)) {
PX4_ERR("incomplete read: %d expected %d", ret, sizeof(adc_msgs));
return ret;
}
for (int i = 0; i < BBBLUE_MAX_ADC_USER_CHANNELS; ++i) {
PX4_INFO("ADC channel: %d; value: %d", (int)adc_msgs[i].am_channel,
adc_msgs[i].am_data);
}
for (int i = BBBLUE_MAX_ADC_USER_CHANNELS; i < BBBLUE_MAX_ADC_CHANNELS; ++i) {
PX4_INFO("ADC channel: %d; value: %d, voltage: %6.2f V", (int)adc_msgs[i].am_channel,
adc_msgs[i].am_data, adc_msgs[i].am_data * 1.8 / 4095.0 * 11.0);
}
return PX4_OK;
} else {
PX4_WARN("action (%s) not supported", argv[1]);
return PX4_ERROR;
}
return PX4_OK;
}

1
boards/beaglebone/blue/default.cmake
View File

@ -8,6 +8,7 @@ px4_add_board(
TOOLCHAIN arm-linux-gnueabihf
TESTING
DRIVERS
adc
#barometer # all available barometer drivers
barometer/bmp280
batt_smbus

38
boards/beaglebone/blue/include/px4_arch/adc.h Normal file
View File

@ -0,0 +1,38 @@
/****************************************************************************
*
* Copyright (c) 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.
*
****************************************************************************/
#pragma once
#define SYSTEM_ADC_BASE 0 // not used
#define px4_arch_adc_temp_sensor_mask() (0)

25
boards/beaglebone/blue/src/board_config.h
View File

@ -39,27 +39,17 @@
#pragma once
#ifndef BOARD_CONFIG_H
#define BOARD_CONFIG_H
#define BOARD_OVERRIDE_UUID "BBBLUEID00000000" // must be of length 16
#define PX4_SOC_ARCH_ID PX4_SOC_ARCH_ID_BBBLUE
#define BOARD_BATTERY1_V_DIV (11.0f)
//#define BOARD_BATTERY1_A_PER_V (15.391030303f)
// Battery ADC channels
#define ADC_BATTERY_VOLTAGE_CHANNEL 5
#define ADC_BATTERY_CURRENT_CHANNEL ((uint8_t)(-1))
#define ADC_AIRSPEED_VOLTAGE_CHANNEL ((uint8_t)(-1))
#define BOARD_HAS_NO_BOOTLOADER
#define BOARD_MAX_LEDS 4 // Number external of LED's this board has
/*
* I2C busses
*/
// I2C
#define PX4_I2C_BUS_EXPANSION 1 // i2c-1: pins P9 17,18
#define PX4_I2C_BUS_ONBOARD 2 // i2c-2: pins P9 19,20 - bmp280, mpu9250
@ -68,6 +58,14 @@
#define PX4_I2C_OBDEV_MPU9250 0x68
#define PX4_I2C_OBDEV_BMP280 0x76
// ADC channels:
#define ADC_CHANNELS (1 << 5)
#define ADC_BATTERY_VOLTAGE_CHANNEL 5
#define ADC_BATTERY_CURRENT_CHANNEL ((uint8_t)(-1))
#include <system_config.h>
#include <px4_platform_common/board_common.h>
@ -87,8 +85,6 @@ void rc_cleaning(void);
#define rc_i2c_unlock_bus rc_i2c_release_bus
#define rc_i2c_get_lock rc_i2c_get_in_use_state
#define rc_adc_read_raw rc_adc_raw
#define rc_servo_send_pulse_us rc_send_servo_pulse_us
#define rc_filter_empty rc_empty_filter
@ -99,4 +95,3 @@ void rc_cleaning(void);
#endif
#endif // BOARD_CONFIG_H

2
boards/emlid/navio2/CMakeLists.txt
View File

@ -31,6 +31,6 @@
#
############################################################################
add_subdirectory(navio_adc)
add_subdirectory(adc)
add_subdirectory(navio_rgbled)
add_subdirectory(navio_sysfs_rc_in)

13
boards/emlid/navio2/navio_adc/CMakeLists.txt → boards/emlid/navio2/adc/CMakeLists.txt
View File

@ -1,6 +1,6 @@
############################################################################
#
# Copyright (c) 2015-2017 PX4 Development Team. All rights reserved.
# Copyright (c) 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
@ -30,12 +30,7 @@
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
px4_add_module(
MODULE drivers__navio_adc
MAIN navio_adc
COMPILE_FLAGS
SRCS
navio_adc.cpp
DEPENDS
)
px4_add_library(arch_adc
adc.cpp
)

98
boards/emlid/navio2/adc/adc.cpp Normal file
View File

@ -0,0 +1,98 @@
/****************************************************************************
*
* Copyright (C) 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.
*
****************************************************************************/
#include <board_config.h>
#include <drivers/drv_adc.h>
#include <px4_platform_common/log.h>
#include <fcntl.h>
#include <stdint.h>
#include <unistd.h>
#define ADC_SYSFS_PATH "/sys/kernel/rcio/adc"
#define ADC_MAX_CHAN 6
int _channels_fd[ADC_MAX_CHAN];
int px4_arch_adc_init(uint32_t base_address)
{
for (int i = 0; i < ADC_MAX_CHAN; i++) {
_channels_fd[i] = -1;
}
return 0;
}
void px4_arch_adc_uninit(uint32_t base_address)
{
for (int i = 0; i < ADC_MAX_CHAN; i++) {
::close(_channels_fd[i]);
_channels_fd[i] = -1;
}
}
uint32_t px4_arch_adc_sample(uint32_t base_address, unsigned channel)
{
if (channel > ADC_MAX_CHAN) {
PX4_ERR("channel %d out of range: %d", channel, ADC_MAX_CHAN);
return UINT32_MAX; // error
}
// open channel if necessary
if (_channels_fd[channel] == -1) {
// ADC_SYSFS_PATH
char channel_path[strlen(ADC_SYSFS_PATH) + 5] {};
if (sprintf(channel_path, "%s/ch%d", ADC_SYSFS_PATH, channel) == -1) {
PX4_ERR("adc channel: %d\n", channel);
return UINT32_MAX; // error
}
_channels_fd[channel] = ::open(channel_path, O_RDONLY);
}
char buffer[10] {};
if (::pread(_channels_fd[channel], buffer, sizeof(buffer), 0) < 0) {
PX4_ERR("read channel %d failed", channel);
return UINT32_MAX; // error
}
return atoi(buffer);
}
uint32_t px4_arch_adc_dn_fullcount()
{
return 1 << 12; // 12 bit ADC
}

1
boards/emlid/navio2/default.cmake
View File

@ -8,6 +8,7 @@ px4_add_board(
TOOLCHAIN arm-linux-gnueabihf
TESTING
DRIVERS
adc
#barometer # all available barometer drivers
barometer/ms5611
batt_smbus

38
boards/emlid/navio2/include/px4_arch/adc.h Normal file
View File

@ -0,0 +1,38 @@
/****************************************************************************
*
* Copyright (c) 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.
*
****************************************************************************/
#pragma once
#define SYSTEM_ADC_BASE 0 // not used
#define px4_arch_adc_temp_sensor_mask() (0)

335
boards/emlid/navio2/navio_adc/navio_adc.cpp
View File

@ -1,335 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2012-2017 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 navio_adc.cpp
*
* Navio2 ADC Driver
*
* This driver exports the sysfs-based ADC driver on Navio2.
*
* @author Nicolae Rosia <nicolae.rosia@gmail.com>
*/
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/tasks.h>
#include <px4_platform_common/posix.h>
#include <drivers/drv_adc.h>
#include <VirtDevObj.hpp>
#include <unistd.h>
#include <stdio.h>
#include <poll.h>
#include <string.h>
#include <stdlib.h>
#define ADC_BASE_DEV_PATH "/dev/adc"
#define ADC_SYSFS_PATH "/sys/kernel/rcio/adc/ch0"
#define ADC_MAX_CHAN 6
/*
* ADC Channels:
* A0 - Board voltage (5V)
* A1 - servo rail voltage
* A2 - power module voltage (ADC0, POWER port)
* A3 - power module current (ADC1, POWER port)
* A4 - ADC2 (ADC port)
* A5 - ADC3 (ADC port)
*/
#define NAVIO_ADC_BATTERY_VOLTAGE_CHANNEL (2)
#define NAVIO_ADC_BATTERY_CURRENT_CHANNEL (3)
__BEGIN_DECLS
__EXPORT int navio_adc_main(int argc, char *argv[]);
__END_DECLS
class NavioADC: public DriverFramework::VirtDevObj
{
public:
NavioADC();
virtual ~NavioADC();
virtual int init() override;
virtual ssize_t devRead(void *buf, size_t count) override;
virtual int devIOCTL(unsigned long request, unsigned long arg) override;
protected:
virtual void _measure() override;
private:
int read_channel(px4_adc_msg_t *adc_msg, int channel);
pthread_mutex_t _samples_lock;
int _fd[ADC_MAX_CHAN];
px4_adc_msg_t _samples[ADC_MAX_CHAN];
};
NavioADC::NavioADC()
: DriverFramework::VirtDevObj("navio_adc", ADC0_DEVICE_PATH, ADC_BASE_DEV_PATH, 1e6 / 100)
{
pthread_mutex_init(&_samples_lock, NULL);
for (int i = 0; i < ADC_MAX_CHAN; i++) {
_fd[i] = -1;
}
}
NavioADC::~NavioADC()
{
pthread_mutex_destroy(&_samples_lock);
for (int i = 0; i < ADC_MAX_CHAN; i++) {
if (_fd[i] != -1) {
close(_fd[i]);
}
}
}
void NavioADC::_measure()
{
px4_adc_msg_t tmp_samples[ADC_MAX_CHAN];
for (int i = 0; i < ADC_MAX_CHAN; ++i) {
int ret;
/* Currently we only use these channels */
if (i != NAVIO_ADC_BATTERY_VOLTAGE_CHANNEL &&
i != NAVIO_ADC_BATTERY_CURRENT_CHANNEL) {
tmp_samples[i].am_channel = i;
tmp_samples[i].am_data = 0;
continue;
}
ret = read_channel(&tmp_samples[i], i);
if (ret < 0) {
PX4_ERR("read_channel(%d): %d", i, ret);
tmp_samples[i].am_channel = i;
tmp_samples[i].am_data = 0;
}
}
tmp_samples[NAVIO_ADC_BATTERY_VOLTAGE_CHANNEL].am_channel = ADC_BATTERY_VOLTAGE_CHANNEL;
tmp_samples[NAVIO_ADC_BATTERY_CURRENT_CHANNEL].am_channel = ADC_BATTERY_CURRENT_CHANNEL;
pthread_mutex_lock(&_samples_lock);
memcpy(&_samples, &tmp_samples, sizeof(tmp_samples));
pthread_mutex_unlock(&_samples_lock);
}
int NavioADC::init()
{
int ret;
ret = DriverFramework::VirtDevObj::init();
if (ret != PX4_OK) {
PX4_ERR("init failed");
return ret;
}
for (int i = 0; i < ADC_MAX_CHAN; i++) {
char channel_path[sizeof(ADC_SYSFS_PATH)];
strncpy(channel_path, ADC_SYSFS_PATH, sizeof(channel_path));
channel_path[sizeof(ADC_SYSFS_PATH) - 2] += i;
_fd[i] = ::open(channel_path, O_RDONLY);
if (_fd[i] == -1) {
int err = errno;
ret = -1;
PX4_ERR("init: open: %s (%d)", strerror(err), err);
goto cleanup;
}
}
return PX4_OK;
cleanup:
for (int i = 0; i < ADC_MAX_CHAN; i++) {
if (_fd[i] != -1) {
close(_fd[i]);
}
}
return ret;
}
int NavioADC::devIOCTL(unsigned long request, unsigned long arg)
{
return -ENOTTY;
}
ssize_t NavioADC::devRead(void *buf, size_t count)
{
const size_t maxsize = sizeof(_samples);
int ret;
if (count > maxsize) {
count = maxsize;
}
ret = pthread_mutex_trylock(&_samples_lock);
if (ret != 0) {
return 0;
}
memcpy(buf, &_samples, count);
pthread_mutex_unlock(&_samples_lock);
return count;
}
int NavioADC::read_channel(px4_adc_msg_t *adc_msg, int channel)
{
char buffer[11]; /* 32bit max INT has maximum 10 chars */
int ret;
if (channel < 0 || channel >= ADC_MAX_CHAN) {
return -EINVAL;
}
ret = lseek(_fd[channel], 0, SEEK_SET);
if (ret == -1) {
ret = errno;
PX4_ERR("read_channel %d: lseek: %s (%d)", channel, strerror(ret), ret);
return ret;
}
ret = ::read(_fd[channel], buffer, sizeof(buffer) - 1);
if (ret == -1) {
ret = errno;
PX4_ERR("read_channel %d: read: %s (%d)", channel, strerror(ret), ret);
return ret;
} else if (ret == 0) {
PX4_ERR("read_channel %d: read empty", channel);
ret = -EINVAL;
return ret;
}
buffer[ret] = 0;
adc_msg->am_channel = channel;
adc_msg->am_data = strtol(buffer, NULL, 10);
ret = 0;
return ret;
}
static NavioADC *instance = nullptr;
int navio_adc_main(int argc, char *argv[])
{
int ret;
if (argc < 2) {
PX4_WARN("usage: <start/stop>");
return PX4_ERROR;
}
if (!strcmp(argv[1], "start")) {
if (instance) {
PX4_WARN("already started");
return PX4_OK;
}
instance = new NavioADC;
if (!instance) {
PX4_WARN("not enough memory");
return PX4_ERROR;
}
if (instance->init() != PX4_OK) {
delete instance;
instance = nullptr;
PX4_WARN("init failed");
return PX4_ERROR;
}
return PX4_OK;
} else if (!strcmp(argv[1], "stop")) {
if (!instance) {
PX4_WARN("already stopped");
return PX4_OK;
}
delete instance;
instance = nullptr;
return PX4_OK;
} else if (!strcmp(argv[1], "test")) {
if (!instance) {
PX4_ERR("start first");
return PX4_ERROR;
}
px4_adc_msg_t adc_msgs[ADC_MAX_CHAN];
ret = instance->devRead((char *)&adc_msgs, sizeof(adc_msgs));
if (ret < 0) {
PX4_ERR("ret: %s (%d)\n", strerror(ret), ret);
return ret;
} else if (ret != sizeof(adc_msgs)) {
PX4_ERR("incomplete read: %d expected %d", ret, sizeof(adc_msgs));
return ret;
}
for (int i = 0; i < ADC_MAX_CHAN; ++i) {
PX4_INFO("chan: %d; value: %d", (int)adc_msgs[i].am_channel,
adc_msgs[i].am_data);
}
return PX4_OK;
} else {
PX4_WARN("action (%s) not supported", argv[1]);
return PX4_ERROR;
}
return PX4_OK;
}

23
boards/emlid/navio2/src/board_config.h
View File

@ -50,13 +50,13 @@
#define BOARD_MAX_LEDS 1 // Number of external LED's this board has
/*
* I2C busses
*/
// I2C
#define PX4_I2C_BUS_EXPANSION 1
#define PX4_NUMBER_I2C_BUSES 1
// SPI
#define PX4_SPI_BUS_SENSORS 0
#define PX4_SPIDEV_UBLOX PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 0) // spidev0.0 - ublox m8n
@ -64,9 +64,20 @@
#define PX4_SPIDEV_LSM9DS1_M PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 2) // spidev0.2 - lsm9ds1 mag
#define PX4_SPIDEV_LSM9DS1_AG PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 3) // spidev0.3 - lsm9ds1 accel/gyro
// Battery ADC channels
#define ADC_BATTERY_VOLTAGE_CHANNEL 2
#define ADC_BATTERY_CURRENT_CHANNEL 3
// ADC channels:
// A0 - board voltage (shows 5V)
// A1 - servo rail voltage
// A2 - power module voltage (ADC0, POWER port)
// A3 - power module current (ADC1, POWER port)
// A4 - ADC2 (ADC port)
// A5 - ADC3 (ADC port)
#define ADC_CHANNELS (1 << 0) | (1 << 1) | (1 << 2) | (1 << 3) | (1 << 4) | (1 << 5)
#define ADC_BATTERY_VOLTAGE_CHANNEL 2
#define ADC_BATTERY_CURRENT_CHANNEL 3
#define ADC_5V_RAIL_SENSE 0
#include <system_config.h>
#include <px4_platform_common/board_common.h>

3
boards/intel/aerofc-v1/aerofc_adc/aerofc_adc.cpp
View File

@ -57,12 +57,11 @@
#define CYCLE_TICKS_DELAY MSEC2TICK(100)
uint32_t px4_arch_adc_dn_fullcount(void)
uint32_t px4_arch_adc_dn_fullcount()
{
return 1 << 12; // 12 bit ADC
}
enum AEROFC_ADC_BUS {
AEROFC_ADC_BUS_ALL = 0,
AEROFC_ADC_BUS_I2C_INTERNAL,

5
cmake/px4_add_common_flags.cmake
View File

@ -180,7 +180,10 @@ function(px4_add_common_flags)
${PX4_SOURCE_DIR}/src/lib/DriverFramework/framework/include
${PX4_SOURCE_DIR}/src/lib/matrix
${PX4_SOURCE_DIR}/src/modules
)
)
if(EXISTS ${PX4_BOARD_DIR}/include)
include_directories(${PX4_BOARD_DIR}/include)
endif()
add_definitions(
-DCONFIG_ARCH_BOARD_${PX4_BOARD_NAME}

2
platforms/nuttx/src/px4/nxp/kinetis/adc/adc.cpp
View File

@ -181,7 +181,7 @@ uint32_t px4_arch_adc_temp_sensor_mask()
return 1 << (ADC_SC1_ADCH_TEMP >> ADC_SC1_ADCH_SHIFT);
}
uint32_t px4_arch_adc_dn_fullcount(void)
uint32_t px4_arch_adc_dn_fullcount()
{
return 1 << 12; // 12 bit ADC
}

2
platforms/nuttx/src/px4/stm/stm32_common/adc/adc.cpp
View File

@ -229,7 +229,7 @@ uint32_t px4_arch_adc_temp_sensor_mask()
return 1 << 16;
}
uint32_t px4_arch_adc_dn_fullcount(void)
uint32_t px4_arch_adc_dn_fullcount()
{
return 1 << 12; // 12 bit ADC
}

2
platforms/nuttx/src/px4/stm/stm32h7/adc/adc.cpp
View File

@ -309,7 +309,7 @@ uint32_t px4_arch_adc_temp_sensor_mask()
return 1 << 16;
}
uint32_t px4_arch_adc_dn_fullcount(void)
uint32_t px4_arch_adc_dn_fullcount()
{
return 1 << 16; // 16 bit ADC
}

1
platforms/posix/src/px4/common/CMakeLists.txt
View File

@ -49,7 +49,6 @@ if("${CONFIG_SHMEM}" STREQUAL "1")
endif()
add_library(px4_layer
adc.cpp
px4_posix_impl.cpp
px4_posix_tasks.cpp
px4_sem.cpp

15
posix-configs/bbblue/px4.config
View File

@ -46,9 +46,6 @@ param set BAT_CNT_V_VOLT 0.0004394531
# Battery voltage scale factor, from BBBlue schematics: (4.7K + 47K) / 4.7K = 11
param set BAT_V_DIV 11.0
#param set BAT_CNT_V_CURR 0.001
#param set BAT_A_PER_V 15.391030303
dataman start
bmp280 -I start
@ -59,8 +56,9 @@ df_mpu9250_wrapper start
gps start -d /dev/ttyS2 -s -p ubx
#rgbled start -b 1
bbblue_adc start
bbblue_adc test
adc start
battery_status start
rc_update start
sensors start
@ -72,8 +70,6 @@ land_detector start multicopter
mc_pos_control start
mc_att_control start
mc_rate_control start
#fw_att_control start
#fw_pos_control_l1 start
mavlink start -n SoftAp -x -u 14556 -r 1000000
# -n name of wifi interface: SoftAp, wlan or your custom interface,
@ -81,10 +77,6 @@ mavlink start -n SoftAp -x -u 14556 -r 1000000
sleep 1
mavlink stream -u 14556 -s HIGHRES_IMU -r 20
mavlink stream -u 14556 -s ATTITUDE -r 20
mavlink stream -u 14556 -s MANUAL_CONTROL -r 10
linux_sbus start -d /dev/ttyS4 -c 16
# DSM2 port is mapped to /dev/ttyS4 (default for linux_sbus)
@ -93,4 +85,5 @@ linux_pwm_out start -p bbblue_rc -m ROMFS/px4fmu_common/mixers/quad_x.main.mix
#linux_pwm_out start -p bbblue_rc -m ROMFS/px4fmu_common/mixers/AETRFG.main.mix
logger start -t -b 200
mavlink boot_complete

18
posix-configs/bbblue/px4_fw.config
View File

@ -46,9 +46,6 @@ param set BAT_CNT_V_VOLT 0.0004394531
# Battery voltage scale factor, from BBBlue schematics: (4.7K + 47K) / 4.7K = 11
param set BAT_V_DIV 11.0
#param set BAT_CNT_V_CURR 0.001
#param set BAT_A_PER_V 15.391030303
dataman start
bmp280 -I start
@ -59,19 +56,17 @@ df_mpu9250_wrapper start
gps start -d /dev/ttyS2 -s -p ubx
#rgbled start -b 1
bbblue_adc start
bbblue_adc test
adc start
battery_status start
rc_update start
sensors start
commander start
navigator start
ekf2 start
#land_detector start multicopter
land_detector start fixedwing
#mc_pos_control start
#mc_att_control start
#mc_rate_control start
fw_att_control start
fw_pos_control_l1 start
@ -81,10 +76,6 @@ mavlink start -n SoftAp -x -u 14556 -r 1000000
sleep 1
mavlink stream -u 14556 -s HIGHRES_IMU -r 20
mavlink stream -u 14556 -s ATTITUDE -r 20
mavlink stream -u 14556 -s MANUAL_CONTROL -r 10
linux_sbus start -d /dev/ttyS4 -c 16
# DSM2 port is mapped to /dev/ttyS4 (default for linux_sbus)
@ -93,4 +84,5 @@ linux_sbus start -d /dev/ttyS4 -c 16
linux_pwm_out start -p bbblue_rc -m ROMFS/px4fmu_common/mixers/AETRFG.main.mix
logger start -t -b 200
mavlink boot_complete

5
posix-configs/ocpoc/px4.config
View File

@ -19,7 +19,10 @@ df_mpu9250_wrapper start_without_mag -R 10
hmc5883 start
ms5611 start
rgbled start -b 1
ocpoc_adc start
adc start
battery_status start
gps start -d /dev/ttyS3 -s
rc_update start
sensors start

18
posix-configs/rpi/px4.config
View File

@ -4,7 +4,9 @@
. px4-alias.sh
# navio config for a quad
uorb start
if [ -f eeprom/parameters ]
then
param load
@ -13,15 +15,18 @@ param set SYS_AUTOSTART 4001
param set MAV_BROADCAST 1
param set MAV_TYPE 2
param set BAT_CNT_V_VOLT 0.001
param set BAT_V_DIV 10.9176300578
param set BAT_CNT_V_CURR 0.001
param set BAT_A_PER_V 15.391030303
dataman start
df_lsm9ds1_wrapper start -R 4
#df_mpu9250_wrapper start -R 10
ms5611 start
navio_rgbled start
navio_adc start
adc start
battery_status start
gps start -d /dev/spidev0.0 -i spi -p ubx
rc_update start
sensors start
@ -32,18 +37,17 @@ land_detector start multicopter
mc_pos_control start
mc_att_control start
mc_rate_control start
mavlink start -x -u 14556 -r 1000000
mavlink stream -u 14556 -s HIGHRES_IMU -r 50
mavlink stream -u 14556 -s ATTITUDE -r 50
if [ -f /dev/ttyUSB0 ]
then
mavlink start -x -d /dev/ttyUSB0
mavlink stream -d /dev/ttyUSB0 -s HIGHRES_IMU -r 50
mavlink stream -d /dev/ttyUSB0 -s ATTITUDE -r 50
fi
navio_sysfs_rc_in start
linux_pwm_out start
logger start -t -b 200
mavlink boot_complete

26
posix-configs/rpi/px4_fw.config
View File

@ -6,22 +6,27 @@
# navio config for FW
uorb start
param load
if [ -f eeprom/parameters ]
then
param load
fi
param set MAV_BROADCAST 1
param set SYS_AUTOSTART 2100
param set MAV_TYPE 1
param set BAT_CNT_V_VOLT 0.001
param set BAT_V_DIV 10.9176300578
param set BAT_CNT_V_CURR 0.001
param set BAT_A_PER_V 15.391030303
dataman start
df_lsm9ds1_wrapper start -R 4
#df_mpu9250_wrapper start -R 10
ms5611 start
navio_rgbled start
navio_adc start
adc start
battery_status start
gps start -d /dev/spidev0.0 -i spi -p ubx
ms4525_airspeed start
rc_update start
@ -29,17 +34,20 @@ sensors start
commander start
navigator start
ekf2 start
land_detector start fixedwing
fw_att_control start
fw_pos_control_l1 start
mavlink start -x -u 14556 -r 1000000
sleep 1
mavlink stream -u 14556 -s HIGHRES_IMU -r 20
mavlink stream -u 14556 -s ATTITUDE -r 20
mavlink stream -u 14556 -s MANUAL_CONTROL -r 10
if [ -f /dev/ttyUSB0 ]
then
mavlink start -x -d /dev/ttyUSB0
fi
navio_sysfs_rc_in start
linux_pwm_out start -m ROMFS/px4fmu_common/mixers/AETRFG.main.mix
logger start -t -b 200
mavlink boot_complete

11
posix-configs/rpi/px4_hil.config
View File

@ -8,11 +8,17 @@
# ./Tools/jmavsim_run.sh -q -i <IP> -p 14577 -r 250
uorb start
param load
if [ -f eeprom/parameters ]
then
param load
fi
param set SYS_AUTOSTART 1001
param set MAV_BROADCAST 1
param set MAV_TYPE 2
dataman start
rc_update start
sensors start -hil
commander start -hil
@ -22,10 +28,13 @@ land_detector start multicopter
mc_pos_control start
mc_att_control start
mc_rate_control start
mavlink start -x -u 14577 -r 1000000
navio_sysfs_rc_in start
pwm_out_sim start
mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_x.main.mix
logger start -t -b 200
mavlink boot_complete

38
posix-configs/rpi/px4_no_shield.config
View File

@ -1,38 +0,0 @@
#!/bin/sh
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
. px4-alias.sh
# config for a quad without any shield:
# - u-blox GPS connected via UART
# - PWM output using PCA9685 via I2C
# - RC input via shared memory from ppmdecode (https://github.com/crossa/raspberry-pi-ppm-rc-in),
# GPIO input
uorb start
param load
param set SYS_AUTOSTART 4001
param set MAV_BROADCAST 1
sleep 1
param set MAV_TYPE 2
df_mpu9250_wrapper start -R 10
ms5611 start
gps start -d /dev/ttyACM0 -i uart -p ubx
rc_update start
sensors start
commander start
ekf2 start
land_detector start multicopter
mc_pos_control start
mc_att_control start
mc_rate_control start
mavlink start -x -u 14556 -r 1000000
sleep 1
mavlink stream -u 14556 -s HIGHRES_IMU -r 50
mavlink stream -u 14556 -s ATTITUDE -r 50
#mavlink start -x -d /dev/ttyUSB0
#mavlink stream -d /dev/ttyUSB0 -s HIGHRES_IMU -r 50
#mavlink stream -d /dev/ttyUSB0 -s ATTITUDE -r 50
rpi_rc_in start
linux_pwm_out start -p pca9685
logger start -t
mavlink boot_complete

20
posix-configs/rpi/px4_test.config
View File

@ -3,8 +3,10 @@
# (px4-alias.sh is expected to be in the PATH)
. px4-alias.sh
# navio config for a quad
# navio config for simple testing
uorb start
if [ -f eeprom/parameters ]
then
param load
@ -13,15 +15,18 @@ param set SYS_AUTOSTART 4001
param set MAV_BROADCAST 1
param set MAV_TYPE 2
param set BAT_CNT_V_VOLT 0.001
param set BAT_V_DIV 10.9176300578
param set BAT_CNT_V_CURR 0.001
param set BAT_A_PER_V 15.391030303
dataman start
df_lsm9ds1_wrapper start -R 4
#df_mpu9250_wrapper start -R 10
ms5611 start
navio_rgbled start
navio_adc start
adc start
battery_status start
gps start -d /dev/spidev0.0 -i spi -p ubx
rc_update start
sensors start
@ -31,20 +36,19 @@ ekf2 start
land_detector start multicopter
mc_pos_control start
mc_att_control start
mavlink start -x -u 14556 -r 1000000
mavlink stream -u 14556 -s HIGHRES_IMU -r 50
mavlink stream -u 14556 -s ATTITUDE -r 50
if [ -f /dev/ttyUSB0 ]
then
mavlink start -x -d /dev/ttyUSB0
mavlink stream -d /dev/ttyUSB0 -s HIGHRES_IMU -r 50
mavlink stream -d /dev/ttyUSB0 -s ATTITUDE -r 50
fi
navio_sysfs_rc_in start
linux_pwm_out start
logger start -t -b 200
mavlink boot_complete
sleep 5

19
src/drivers/adc/adc.cpp
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012-2019 PX4 Development Team. All rights reserved.
* 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
@ -68,7 +68,7 @@ public:
int init() override;
ssize_t read(file *filp, char *buffer, size_t len) override;
ssize_t read(cdev::file_t *filp, char *buffer, size_t len) override;
private:
void Run() override;
@ -170,7 +170,7 @@ ADC::init()
}
ssize_t
ADC::read(file *filp, char *buffer, size_t len)
ADC::read(cdev::file_t *filp, char *buffer, size_t len)
{
const size_t maxsize = sizeof(px4_adc_msg_t) * _channel_count;
@ -179,9 +179,9 @@ ADC::read(file *filp, char *buffer, size_t len)
}
/* block interrupts while copying samples to avoid racing with an update */
irqstate_t flags = px4_enter_critical_section();
lock();
memcpy(buffer, _samples, len);
px4_leave_critical_section(flags);
unlock();
return len;
}
@ -189,6 +189,7 @@ ADC::read(file *filp, char *buffer, size_t len)
void
ADC::Run()
{
lock();
hrt_abstime now = hrt_absolute_time();
/* scan the channel set and sample each */
@ -198,6 +199,7 @@ ADC::Run()
update_adc_report(now);
update_system_power(now);
unlock();
}
void
@ -215,7 +217,6 @@ ADC::update_adc_report(hrt_abstime now)
for (unsigned i = 0; i < max_num; i++) {
adc.channel_id[i] = _samples[i].am_channel;
adc.channel_value[i] = _samples[i].am_data * 3.3f / px4_arch_adc_dn_fullcount();
;
}
_to_adc_report.publish(adc);
@ -332,7 +333,7 @@ int
test(void)
{
int fd = open(ADC0_DEVICE_PATH, O_RDONLY);
int fd = px4_open(ADC0_DEVICE_PATH, O_RDONLY);
if (fd < 0) {
PX4_ERR("can't open ADC device %d", errno);
@ -341,7 +342,7 @@ test(void)
for (unsigned i = 0; i < 20; i++) {
px4_adc_msg_t data[ADC_TOTAL_CHANNELS];
ssize_t count = read(fd, data, sizeof(data));
ssize_t count = px4_read(fd, data, sizeof(data));
if (count < 0) {
PX4_ERR("read error");
@ -358,6 +359,8 @@ test(void)
px4_usleep(500000);
}
px4_close(fd);
return 0;
}
}

5
src/modules/battery_status/CMakeLists.txt
View File

@ -1,6 +1,6 @@
############################################################################
#
# Copyright (c) 2015-2019 PX4 Development Team. All rights reserved.
# Copyright (c) 2015-2020 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
@ -37,11 +37,10 @@ px4_add_module(
SRCS
battery_status.cpp
analog_battery.cpp
MODULE_CONFIG
module.yaml
DEPENDS
arch_adc
battery
conversion
drivers__device

71
src/modules/battery_status/battery_status.cpp
View File

@ -63,40 +63,14 @@
#include <uORB/topics/battery_status.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <DevMgr.hpp>
#include "analog_battery.h"
using namespace DriverFramework;
using namespace time_literals;
/**
* Analog layout:
* FMU:
* IN2 - battery voltage
* IN3 - battery current
* IN4 - 5V sense
* IN10 - spare (we could actually trim these from the set)
* IN11 - spare on FMUv2 & v3, RC RSSI on FMUv4
* IN12 - spare (we could actually trim these from the set)
* IN13 - aux1 on FMUv2, unavaible on v3 & v4
* IN14 - aux2 on FMUv2, unavaible on v3 & v4
* IN15 - pressure sensor on FMUv2, unavaible on v3 & v4
*
* IO:
* IN4 - servo supply rail
* IN5 - analog RSSI on FMUv2 & v3
*
* The channel definitions (e.g., ADC_BATTERY_VOLTAGE_CHANNEL, ADC_BATTERY_CURRENT_CHANNEL, and ADC_AIRSPEED_VOLTAGE_CHANNEL) are defined in board_config.h
*/
/**
* Battery status app start / stop handling function
*
* @ingroup apps
*/
extern "C" __EXPORT int battery_status_main(int argc, char *argv[]);
#ifndef BOARD_NUMBER_BRICKS
#error "battery_status module requires power bricks"
#endif
@ -123,11 +97,8 @@ public:
void Run() override;
bool init();
/** @see ModuleBase::print_status() */
int print_status() override;
private:
DevHandle _h_adc; /**< ADC driver handle */
int _adc_fd{-1}; /**< ADC file handle */
uORB::Subscription _actuator_ctrl_0_sub{ORB_ID(actuator_controls_0)}; /**< attitude controls sub */
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)}; /**< notification of parameter updates */
@ -151,11 +122,6 @@ private:
perf_counter_t _loop_perf; /**< loop performance counter */
/**
* Do adc-related initialisation.
*/
int adc_init();
/**
* Check for changes in parameters.
*/
@ -187,19 +153,6 @@ BatteryStatus::~BatteryStatus()
ScheduleClear();
}
int
BatteryStatus::adc_init()
{
DevMgr::getHandle(ADC0_DEVICE_PATH, _h_adc);
if (!_h_adc.isValid()) {
PX4_ERR("no ADC found: %s (%d)", ADC0_DEVICE_PATH, _h_adc.getError());
return PX4_ERROR;
}
return OK;
}
void
BatteryStatus::parameter_update_poll(bool forced)
{
@ -221,7 +174,7 @@ BatteryStatus::adc_poll()
px4_adc_msg_t buf_adc[PX4_MAX_ADC_CHANNELS];
/* read all channels available */
int ret = _h_adc.read(&buf_adc, sizeof(buf_adc));
int ret = px4_read(_adc_fd, &buf_adc, sizeof(buf_adc));
/* For legacy support we publish the battery_status for the Battery that is
* associated with the Brick that is the selected source for VDD_5V_IN
@ -307,12 +260,17 @@ BatteryStatus::Run()
return;
}
if (!_h_adc.isValid()) {
adc_init();
}
perf_begin(_loop_perf);
if (_adc_fd < 0) {
_adc_fd = px4_open(ADC0_DEVICE_PATH, O_RDONLY);
if (_adc_fd < 0) {
PX4_ERR("unable to open ADC: %s", ADC0_DEVICE_PATH);
return;
}
}
/* check parameters for updates */
parameter_update_poll();
@ -354,11 +312,6 @@ BatteryStatus::init()
return true;
}
int BatteryStatus::print_status()
{
return 0;
}
int BatteryStatus::custom_command(int argc, char *argv[])
{
return print_usage("unknown command");
@ -390,7 +343,7 @@ It runs in its own thread and polls on the currently selected gyro topic.
return 0;
}
int battery_status_main(int argc, char *argv[])
extern "C" __EXPORT int battery_status_main(int argc, char *argv[])
{
return BatteryStatus::main(argc, argv);
}