mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-19 07:13:35 +08:00
cmake remove circular linking and reorganize
- px4_add_module now requires MAIN - px4_add_library doesn't automatically link
This commit is contained in:
Daniel Agar
@@ -0,0 +1,553 @@
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/****************************************************************************
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*
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* Copyright (c) 2013, 2014, 2017 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
|
||||
* 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.
|
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*
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||||
* 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.
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||||
*
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****************************************************************************/
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/**
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* @file meas_airspeed_sim.cpp
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* @author Lorenz Meier <lorenz@px4.io>
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* @author Sarthak Kaingade
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* @author Simon Wilks
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* @author Thomas Gubler
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* @author Roman Bapst
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*
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* Driver for a simulated airspeed sensor.
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*
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*/
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#include <px4_config.h>
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#include <sys/types.h>
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#include <stdint.h>
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#include <stdlib.h>
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#include <stdbool.h>
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#include <semaphore.h>
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#include <string.h>
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#include <fcntl.h>
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#include <poll.h>
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#include <errno.h>
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#include <stdio.h>
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#include <math.h>
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#include <unistd.h>
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#include <systemlib/airspeed.h>
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#include <systemlib/err.h>
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#include <parameters/param.h>
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#include <perf/perf_counter.h>
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#include <mathlib/math/filter/LowPassFilter2p.hpp>
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#include <drivers/drv_airspeed.h>
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#include <drivers/drv_hrt.h>
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#include <uORB/uORB.h>
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#include <uORB/topics/differential_pressure.h>
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#include <uORB/topics/subsystem_info.h>
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#include <uORB/topics/system_power.h>
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#include "airspeedsim.h"
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/* I2C bus address is 1010001x */
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#define I2C_ADDRESS_MS4525DO 0x28 /**< 7-bit address. Depends on the order code (this is for code "I") */
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#define PATH_MS4525 "/dev/ms4525"
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/* The MS5525DSO address is 111011Cx, where C is the complementary value of the pin CSB */
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#define I2C_ADDRESS_MS5525DSO 0x77 //0x77/* 7-bit address, addr. pin pulled low */
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#define PATH_MS5525 "/dev/ms5525"
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/* Register address */
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#define ADDR_READ_MR 0x00 /* write to this address to start conversion */
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/* Measurement rate is 100Hz */
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#define MEAS_RATE 100
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#define MEAS_DRIVER_FILTER_FREQ 1.2f
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#define CONVERSION_INTERVAL (1000000 / MEAS_RATE) /* microseconds */
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class MEASAirspeedSim : public AirspeedSim
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{
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public:
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MEASAirspeedSim(int bus, int address = I2C_ADDRESS_MS4525DO, const char *path = PATH_MS4525);
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protected:
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/**
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* Perform a poll cycle; collect from the previous measurement
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* and start a new one.
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*/
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virtual void cycle();
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virtual int measure();
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virtual int collect();
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math::LowPassFilter2p _filter;
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/**
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* Correct for 5V rail voltage variations
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*/
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void voltage_correction(float &diff_pres_pa, float &temperature);
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int _t_system_power;
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struct system_power_s system_power;
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};
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/*
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* Driver 'main' command.
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*/
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extern "C" __EXPORT int measairspeedsim_main(int argc, char *argv[]);
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MEASAirspeedSim::MEASAirspeedSim(int bus, int address, const char *path) : AirspeedSim(bus, address,
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CONVERSION_INTERVAL, path),
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_filter(MEAS_RATE, MEAS_DRIVER_FILTER_FREQ),
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_t_system_power(-1),
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system_power{}
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{}
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int
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MEASAirspeedSim::measure()
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{
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int ret;
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/*
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* Send the command to begin a measurement.
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*/
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uint8_t cmd = 0;
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ret = transfer(&cmd, 1, nullptr, 0);
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if (OK != ret) {
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perf_count(_comms_errors);
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}
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return ret;
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}
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int
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MEASAirspeedSim::collect()
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{
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int ret = -EIO;
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/* read from the sensor */
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#pragma pack(push, 1)
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struct {
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float temperature;
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float diff_pressure;
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} airspeed_report;
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#pragma pack(pop)
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perf_begin(_sample_perf);
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ret = transfer(nullptr, 0, (uint8_t *)&airspeed_report, sizeof(airspeed_report));
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if (ret < 0) {
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perf_count(_comms_errors);
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perf_end(_sample_perf);
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return ret;
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}
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uint8_t status = 0;
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switch (status) {
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case 0:
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break;
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case 1:
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/* fallthrough */
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case 2:
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/* fallthrough */
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case 3:
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perf_count(_comms_errors);
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perf_end(_sample_perf);
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return -EAGAIN;
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}
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float temperature = airspeed_report.temperature;
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float diff_press_pa_raw = airspeed_report.diff_pressure * 100.0f; // convert from millibar to bar
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struct differential_pressure_s report;
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report.timestamp = hrt_absolute_time();
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report.error_count = perf_event_count(_comms_errors);
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report.temperature = temperature;
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report.differential_pressure_filtered_pa = _filter.apply(diff_press_pa_raw);
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report.differential_pressure_raw_pa = diff_press_pa_raw;
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if (_airspeed_pub != nullptr && !(_pub_blocked)) {
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/* publish it */
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orb_publish(ORB_ID(differential_pressure), _airspeed_pub, &report);
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}
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new_report(report);
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/* notify anyone waiting for data */
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poll_notify(POLLIN);
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ret = OK;
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perf_end(_sample_perf);
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return ret;
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}
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void
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MEASAirspeedSim::cycle()
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{
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int ret;
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/* collection phase? */
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if (_collect_phase) {
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/* perform collection */
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ret = collect();
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if (OK != ret) {
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/* restart the measurement state machine */
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start();
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_sensor_ok = false;
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return;
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}
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/* next phase is measurement */
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_collect_phase = false;
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/*
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* Is there a collect->measure gap?
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*/
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if (_measure_ticks > USEC2TICK(CONVERSION_INTERVAL)) {
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/* schedule a fresh cycle call when we are ready to measure again */
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work_queue(HPWORK,
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&_work,
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(worker_t)&AirspeedSim::cycle_trampoline,
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this,
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_measure_ticks - USEC2TICK(CONVERSION_INTERVAL));
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return;
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}
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}
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/* measurement phase */
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ret = measure();
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if (OK != ret) {
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DEVICE_DEBUG("measure error");
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}
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_sensor_ok = (ret == OK);
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/* next phase is collection */
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_collect_phase = true;
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/* schedule a fresh cycle call when the measurement is done */
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work_queue(HPWORK,
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&_work,
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(worker_t)&AirspeedSim::cycle_trampoline,
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this,
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USEC2TICK(CONVERSION_INTERVAL));
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}
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/**
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* Local functions in support of the shell command.
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*/
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namespace meas_airspeed_sim
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{
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MEASAirspeedSim *g_dev = nullptr;
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int start(int i2c_bus);
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int stop();
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int test();
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int reset();
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int info();
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/**
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* Start the driver.
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*
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* This function call only returns once the driver is up and running
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* or failed to detect the sensor.
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*/
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int
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start(int i2c_bus)
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{
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int fd;
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if (g_dev != nullptr) {
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PX4_WARN("already started");
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}
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/* create the driver, try the MS4525DO first */
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g_dev = new MEASAirspeedSim(i2c_bus, I2C_ADDRESS_MS4525DO, PATH_MS4525);
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/* check if the MS4525DO was instantiated */
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if (g_dev == nullptr) {
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goto fail;
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}
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/* try the MS5525DSO next if init fails */
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if (OK != g_dev->AirspeedSim::init()) {
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delete g_dev;
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g_dev = new MEASAirspeedSim(i2c_bus, I2C_ADDRESS_MS5525DSO, PATH_MS5525);
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/* check if the MS5525DSO was instantiated */
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if (g_dev == nullptr) {
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goto fail;
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}
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/* both versions failed if the init for the MS5525DSO fails, give up */
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if (OK != g_dev->AirspeedSim::init()) {
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goto fail;
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}
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}
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/* set the poll rate to default, starts automatic data collection */
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fd = px4_open(PATH_MS4525, O_RDONLY);
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if (fd < 0) {
|
||||
goto fail;
|
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}
|
||||
|
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if (px4_ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
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goto fail;
|
||||
}
|
||||
|
||||
return 0;
|
||||
|
||||
fail:
|
||||
|
||||
if (g_dev != nullptr) {
|
||||
delete g_dev;
|
||||
g_dev = nullptr;
|
||||
}
|
||||
|
||||
PX4_ERR("no MS4525 airspeedSim sensor connected");
|
||||
return 1;
|
||||
}
|
||||
|
||||
/**
|
||||
* Stop the driver
|
||||
*/
|
||||
int
|
||||
stop()
|
||||
{
|
||||
if (g_dev != nullptr) {
|
||||
delete g_dev;
|
||||
g_dev = nullptr;
|
||||
|
||||
} else {
|
||||
PX4_ERR("driver not running");
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
/**
|
||||
* Perform some basic functional tests on the driver;
|
||||
* make sure we can collect data from the sensor in polled
|
||||
* and automatic modes.
|
||||
*/
|
||||
int
|
||||
test()
|
||||
{
|
||||
struct differential_pressure_s report;
|
||||
ssize_t sz;
|
||||
int ret;
|
||||
|
||||
int fd = px4_open(PATH_MS4525, O_RDONLY);
|
||||
|
||||
if (fd < 0) {
|
||||
PX4_ERR("%s open failed (try 'meas_airspeed_sim start' if the driver is not running", PATH_MS4525);
|
||||
return 1;
|
||||
}
|
||||
|
||||
/* do a simple demand read */
|
||||
sz = px4_read(fd, &report, sizeof(report));
|
||||
|
||||
if (sz != sizeof(report)) {
|
||||
PX4_ERR("immediate read failed");
|
||||
return 1;
|
||||
}
|
||||
|
||||
print_message(report);
|
||||
|
||||
/* start the sensor polling at 2Hz */
|
||||
if (OK != px4_ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
|
||||
PX4_WARN("failed to set 2Hz poll rate");
|
||||
}
|
||||
|
||||
/* read the sensor 5x and report each value */
|
||||
for (unsigned i = 0; i < 5; i++) {
|
||||
struct pollfd fds;
|
||||
|
||||
/* wait for data to be ready */
|
||||
fds.fd = fd;
|
||||
fds.events = POLLIN;
|
||||
ret = poll(&fds, 1, 2000);
|
||||
|
||||
if (ret != 1) {
|
||||
warnx("timed out");
|
||||
}
|
||||
|
||||
/* now go get it */
|
||||
sz = read(fd, &report, sizeof(report));
|
||||
|
||||
if (sz != sizeof(report)) {
|
||||
PX4_WARN("periodic read failed");
|
||||
}
|
||||
|
||||
print_message(report);
|
||||
}
|
||||
|
||||
/* reset the sensor polling to its default rate */
|
||||
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT)) {
|
||||
PX4_ERR("failed to set default rate");
|
||||
return 1;
|
||||
}
|
||||
|
||||
PX4_WARN("PASS");
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
/**
|
||||
* Reset the driver.
|
||||
*/
|
||||
int
|
||||
reset()
|
||||
{
|
||||
int fd = open(PATH_MS4525, O_RDONLY);
|
||||
|
||||
if (fd < 0) {
|
||||
PX4_ERR("failed ");
|
||||
return 1;
|
||||
}
|
||||
|
||||
if (ioctl(fd, SENSORIOCRESET, 0) < 0) {
|
||||
PX4_ERR("driver reset failed");
|
||||
close(fd);
|
||||
return 1;
|
||||
}
|
||||
|
||||
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
|
||||
PX4_ERR("driver poll restart failed");
|
||||
close(fd);
|
||||
return 1;
|
||||
}
|
||||
|
||||
close(fd);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
/**
|
||||
* Print a little info about the driver.
|
||||
*/
|
||||
int
|
||||
info()
|
||||
{
|
||||
if (g_dev == nullptr) {
|
||||
PX4_WARN("driver not running");
|
||||
return -1;
|
||||
}
|
||||
|
||||
printf("state @ %p\n", g_dev);
|
||||
g_dev->print_info();
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
} // namespace
|
||||
|
||||
|
||||
static void
|
||||
meas_airspeed_usage()
|
||||
{
|
||||
PX4_WARN("usage: measairspeedsim command [options]");
|
||||
PX4_WARN("options:");
|
||||
PX4_WARN("\t-b --bus i2cbus (%d)", 1);
|
||||
PX4_WARN("command:");
|
||||
PX4_WARN("\tstart|stop|reset|test|info");
|
||||
}
|
||||
|
||||
int
|
||||
measairspeedsim_main(int argc, char *argv[])
|
||||
{
|
||||
int i2c_bus = 1;//PX4_I2C_BUS_DEFAULT;
|
||||
|
||||
int i;
|
||||
|
||||
for (i = 1; i < argc; i++) {
|
||||
if (strcmp(argv[i], "-b") == 0 || strcmp(argv[i], "--bus") == 0) {
|
||||
if (argc > i + 1) {
|
||||
i2c_bus = atoi(argv[i + 1]);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
int ret = 1;
|
||||
|
||||
/*
|
||||
* Start/load the driver.
|
||||
*/
|
||||
if (!strcmp(argv[1], "start")) {
|
||||
return meas_airspeed_sim::start(i2c_bus);
|
||||
}
|
||||
|
||||
/*
|
||||
* Stop the driver
|
||||
*/
|
||||
if (!strcmp(argv[1], "stop")) {
|
||||
return meas_airspeed_sim::stop();
|
||||
}
|
||||
|
||||
/*
|
||||
* Test the driver/device.
|
||||
*/
|
||||
if (!strcmp(argv[1], "test")) {
|
||||
return meas_airspeed_sim::test();
|
||||
}
|
||||
|
||||
/*
|
||||
* Reset the driver.
|
||||
*/
|
||||
if (!strcmp(argv[1], "reset")) {
|
||||
return meas_airspeed_sim::reset();
|
||||
}
|
||||
|
||||
/*
|
||||
* Print driver information.
|
||||
*/
|
||||
if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) {
|
||||
return meas_airspeed_sim::info();
|
||||
}
|
||||
|
||||
meas_airspeed_usage();
|
||||
return ret;
|
||||
}
|
||||
Reference in New Issue
Block a user