fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-01 13:20:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

Re-enabling code to handle DF framework

Browse Source 
Updated to latest DriverFramework and changed ioctl args to
unsigned int from void *.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
2015-11-16 13:51:39 -08:00
parent 40b488d693
commit dbe3b0e52b
7 changed files with 75 additions and 44 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/device/vdev.cpp
+10 -6
View File
@@ -552,12 +552,16 @@ void VDev::showDevices()
PX4_INFO("DF Devices:");
// TODO NOT IMPLEMENTED
// std::string devname;
// for (unsigned int index=0; i == 0; ++i) {
// if (DevMgr::getNextDeviceName(index, devname) == 0) {
// PX4_INFO(" %s", devname.c_str());
// }
// }
std::string devname;
unsigned int index = 0;
i = 0;
do {
// Each look increments index and returns -1 if end reached
i = DevMgr::getNextDeviceName(index, devname);
if (i == 0) {
PX4_INFO(" %s", devname.c_str());
}
} while (i==0);
}
void VDev::showTopics()
src/lib/DriverFramework
+1 -1
Submodule src/lib/DriverFramework updated: 44403c8eb5...a09333b9e4
src/modules/commander/state_machine_helper.cpp
+43 -21
View File
@@ -467,33 +467,55 @@ transition_result_t hil_state_transition(hil_state_t new_state, orb_advert_t sta
#else
// TODO NOT IMPLEMENTED
// Handle VDev devices
const char *devname;
unsigned int handle = 0;
for(;;) {
devname = px4_get_device_names(&handle);
if (devname == NULL)
break;
// std::string devname;
// unsigned int index = 0;
// for(;;) {
// if (DevMgr::getNextDeviceName(index, devname) < 0) {
// break;
// }
/* skip mavlink */
if (!strcmp("/dev/mavlink", devname)) {
continue;
}
// /* skip mavlink */
// if (!strcmp("/dev/mavlink", devname.c_str())) {
// continue;
// }
// DevHandle h;
// DevMgr::getHandle(devname.c_str(), h);
int sensfd = px4_open(devname, 0);
// if (!h.isValid()) {
// warn("failed opening device %s", devname.c_str());
// continue;
// }
if (sensfd < 0) {
warn("failed opening device %s", devname);
continue;
}
// int block_ret = h.ioctl(DEVIOCSPUBBLOCK, (void *)1);
// DevMgr::releaseHandle(h);
int block_ret = px4_ioctl(sensfd, DEVIOCSPUBBLOCK, 1);
px4_close(sensfd);
// printf("Disabling %s: %s\n", devname.c_str(), (block_ret == OK) ? "OK" : "ERROR");
// }
printf("Disabling %s: %s\n", devname, (block_ret == OK) ? "OK" : "ERROR");
}
// Handle DF devices
std::string dfdevname;
unsigned int index = 0;
for(;;) {
if (DevMgr::getNextDeviceName(index, dfdevname) < 0) {
break;
}
DevHandle h;
DevMgr::getHandle(dfdevname.c_str(), h);
if (!h.isValid()) {
warn("failed opening device %s", dfdevname.c_str());
continue;
}
int block_ret = h.ioctl(DEVIOCSPUBBLOCK, 1);
DevMgr::releaseHandle(h);
printf("Disabling %s: %s\n", dfdevname.c_str(), (block_ret == OK) ? "OK" : "ERROR");
}
ret = TRANSITION_CHANGED;
mavlink_log_critical(mavlink_fd, "Switched to ON hil state");
src/modules/simulator/simulator.cpp
+9 -4
View File
@@ -135,10 +135,12 @@ int Simulator::start(int argc, char *argv[])
// Update sensor data
_instance->pollForMAVLinkMessages(false);
#endif
} else {
} else if (argv[2][1] == 'p') {
// Update sensor data
_instance->pollForMAVLinkMessages(true);
} else {
_instance->initializeSensorData();
_instance->_initialized = true;
}
} else {
@@ -151,9 +153,10 @@ int Simulator::start(int argc, char *argv[])
static void usage()
{
PX4_WARN("Usage: simulator {start -[sc] |stop}");
PX4_WARN("Usage: simulator {start -[spt] |stop}");
PX4_WARN("Simulate raw sensors: simulator start -s");
PX4_WARN("Publish sensors combined: simulator start -p");
PX4_WARN("Dummy unit test data: simulator start -t");
}
__BEGIN_DECLS
@@ -167,7 +170,9 @@ extern "C" {
int ret = 0;
if (argc == 3 && strcmp(argv[1], "start") == 0) {
if (strcmp(argv[2], "-s") == 0 || strcmp(argv[2], "-p") == 0) {
if (strcmp(argv[2], "-s") == 0 ||
strcmp(argv[2], "-p") == 0 ||
strcmp(argv[2], "-t") == 0) {
if (g_sim_task >= 0) {
warnx("Simulator already started");
return 0;
src/platforms/posix/drivers/accelsim/accelsim.cpp
+2 -2
View File
@@ -1101,7 +1101,7 @@ start(enum Rotation rotation)
goto fail;
}
if (h.ioctl(SENSORIOCSPOLLRATE, (void *)SENSOR_POLLRATE_DEFAULT) < 0) {
if (h.ioctl(SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
PX4_ERR("ioctl SENSORIOCSPOLLRATE %s failed", ACCELSIM_DEVICE_PATH_ACCEL);
DevMgr::releaseHandle(h);
goto fail;
@@ -1111,7 +1111,7 @@ start(enum Rotation rotation)
/* don't fail if mag dev cannot be opened */
if (h_mag.isValid()) {
if (h_mag.ioctl(SENSORIOCSPOLLRATE, (void *)SENSOR_POLLRATE_DEFAULT) < 0) {
if (h_mag.ioctl(SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
PX4_ERR("ioctl SENSORIOCSPOLLRATE %s failed", ACCELSIM_DEVICE_PATH_MAG);
}
src/platforms/posix/drivers/barosim/baro.cpp
+6 -6
View File
@@ -834,7 +834,7 @@ start_bus(struct barosim_bus_option &bus)
return false;
}
if (h.ioctl(SENSORIOCSPOLLRATE, (void *)SENSOR_POLLRATE_DEFAULT) < 0) {
if (h.ioctl(SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
DevMgr::releaseHandle(h);
PX4_ERR("failed setting default poll rate");
return false;
@@ -904,14 +904,14 @@ test()
PX4_INFO("time: %lld", (long long)report.timestamp);
/* set the queue depth to 10 */
if (OK != h.ioctl(SENSORIOCSQUEUEDEPTH, (void *)10UL)) {
if (OK != h.ioctl(SENSORIOCSQUEUEDEPTH, 10UL)) {
PX4_ERR("failed to set queue depth");
DevMgr::releaseHandle(h);
return 1;
}
/* start the sensor polling at 2Hz */
if (OK != h.ioctl(SENSORIOCSPOLLRATE, (void *)2UL)) {
if (OK != h.ioctl(SENSORIOCSPOLLRATE, 2UL)) {
PX4_ERR("failed to set 2Hz poll rate");
DevMgr::releaseHandle(h);
return 1;
@@ -971,7 +971,7 @@ reset()
return 1;
}
if (h.ioctl(SENSORIOCSPOLLRATE, (void *)SENSOR_POLLRATE_DEFAULT) < 0) {
if (h.ioctl(SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
PX4_ERR("driver poll restart failed");
return 1;
}
@@ -1017,7 +1017,7 @@ calibrate(unsigned altitude)
}
/* start the sensor polling at max */
if (OK != h.ioctl(SENSORIOCSPOLLRATE, (void *)SENSOR_POLLRATE_MAX)) {
if (OK != h.ioctl(SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MAX)) {
PX4_ERR("failed to set poll rate");
return 1;
}
@@ -1068,7 +1068,7 @@ calibrate(unsigned altitude)
/* save as integer Pa */
p1 *= 1000.0f;
if (h.ioctl(BAROIOCSMSLPRESSURE, (void *)((unsigned long)(p1))) != OK) {
if (h.ioctl(BAROIOCSMSLPRESSURE, (unsigned long)(p1)) != OK) {
PX4_WARN("BAROIOCSMSLPRESSURE");
return 1;
}
src/platforms/posix/drivers/gyrosim/gyrosim.cpp
+4 -4
View File
@@ -1253,7 +1253,7 @@ start(enum Rotation rotation)
goto fail;
}
if (h.ioctl(SENSORIOCSPOLLRATE, (void *)SENSOR_POLLRATE_DEFAULT) < 0) {
if (h.ioctl(SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
DevMgr::releaseHandle(h);
goto fail;
}
@@ -1321,7 +1321,7 @@ test()
}
/* reset to manual polling */
if (h_accel.ioctl(SENSORIOCSPOLLRATE, (void *)SENSOR_POLLRATE_MANUAL) < 0) {
if (h_accel.ioctl(SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MANUAL) < 0) {
PX4_ERR("reset to manual polling");
return 1;
}
@@ -1394,12 +1394,12 @@ reset()
}
if (h.ioctl(SENSORIOCRESET, (void *)0) < 0) {
if (h.ioctl(SENSORIOCRESET, 0) < 0) {
PX4_ERR("driver reset failed");
goto reset_fail;
}
if (h.ioctl(SENSORIOCSPOLLRATE, (void *)SENSOR_POLLRATE_DEFAULT) < 0) {
if (h.ioctl(SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
PX4_ERR("driver poll restart failed");
goto reset_fail;
}