diff --git a/src/platforms/posix/drivers/df_imu/CMakeLists.txt b/src/platforms/posix/drivers/df_imu/CMakeLists.txt new file mode 100644 index 0000000000..332947b2ee --- /dev/null +++ b/src/platforms/posix/drivers/df_imu/CMakeLists.txt @@ -0,0 +1,42 @@ +############################################################################ +# +# Copyright (c) 2016 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ +px4_add_module( + MODULE platforms__posix__drivers__df_imu + MAIN df_imu + SRCS + df_imu.cpp + DEPENDS + platforms__common + df_driver_framework + ) +# vim: set noet ft=cmake fenc=utf-8 ff=unix : diff --git a/src/platforms/posix/drivers/df_imu/df_imu.cpp b/src/platforms/posix/drivers/df_imu/df_imu.cpp new file mode 100644 index 0000000000..918a27b068 --- /dev/null +++ b/src/platforms/posix/drivers/df_imu/df_imu.cpp @@ -0,0 +1,252 @@ +/**************************************************************************** + * + * Copyright (c) 2016 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 df_imu.cpp + * Lightweight driver to access IMU driver of DriverFramework. + * + * @author Julian Oes + */ + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +#include + +#include +//#include +//#include +// +//#include "DriverFramework.hpp" +#include "lib/DriverFramework/drivers/imu/mpu9250/MPU9250.hpp" +#include "DevMgr.hpp" + + +extern "C" { __EXPORT int df_imu_main(int argc, char *argv[]); } + +using namespace DriverFramework; + + +class DfImu : MPU9250 +{ +public: + DfImu(/*enum Rotation rotation*/); + ~DfImu(); + + //enum Rotation _rotation; + + /** + * Start automatic measurement. + * + * @return 0 on success + */ + int start(); + + /** + * Stop automatic measurement. + * + * @return 0 on success + */ + int stop(); + +private: + virtual int _publish_callback(struct imu_sensor_data &data); + +}; + +DfImu::DfImu(/*enum Rotation rotation*/) : + MPU9250(IMU_DEVICE_PATH) + /*_rotation(rotation)*/ +{ +} + +DfImu::~DfImu() +{ +} + +int DfImu::start() +{ + /* start sensor */ + PX4_WARN("DF IMU STARTED=================================================="); + int ret = MPU9250::init(); + + if (ret != 0) { + PX4_ERR("MPU9250 init fail: %d", ret); + return -1; + } + + ret = MPU9250::start(); + + if (ret != 0) { + PX4_ERR("MPU9250 start fail: %d", ret); + return -1; + } + + + return 0; +} + +int DfImu::stop() +{ + /* stop sensor */ + PX4_WARN("DF IMU STOPPED=================================================="); + return 0; +} + +int DfImu::_publish_callback(struct imu_sensor_data &data) { + PX4_WARN("publish"); + return 0; +}; + + +namespace df_imu { + +DfImu *g_dev = nullptr; + +int start(/* enum Rotation rotation */); +int stop(); +int info(); +void usage(); + +int start(/*enum Rotation rotation*/) +{ + g_dev = new DfImu(/*rotation*/); + return g_dev->start(); +} + +int stop() +{ + if (g_dev == nullptr) { + PX4_ERR("driver not running"); + return 1; + } + + int ret = g_dev->stop(); + if (ret != 0) { + PX4_ERR("driver could not be stopped"); + return ret; + } + + delete g_dev; + g_dev = nullptr; + return 0; +} + +/** + * Print a little info about the driver. + */ +int +info() +{ + if (g_dev == nullptr) { + PX4_ERR("driver not running"); + return 1; + } + + PX4_DEBUG("state @ %p", g_dev); + + return 0; +} + +void +usage() +{ + PX4_WARN("Usage: df_imu 'start', 'info', 'stop'"); + PX4_WARN("options:"); + //PX4_WARN(" -R rotation"); +} + +} // namespace + +int +df_imu_main(int argc, char *argv[]) +{ + int ch; + // enum Rotation rotation = ROTATION_NONE; + int ret = 0; + int myoptind = 1; + const char *myoptarg = NULL; + + /* jump over start/off/etc and look at options first */ + while ((ch = px4_getopt(argc, argv, "R:", &myoptind, &myoptarg)) != EOF) { + switch (ch) { + //case 'R': + // rotation = (enum Rotation)atoi(myoptarg); + // break; + + default: + df_imu::usage(); + return 0; + } + } + + if (argc <= 1) { + df_imu::usage(); + return 1; + } + + const char *verb = argv[myoptind]; + + + if (!strcmp(verb, "start")) { + ret = df_imu::start(/*rotation*/); + } + + else if (!strcmp(verb, "stop")) { + ret = df_imu::stop(); + } + + else if (!strcmp(verb, "info")) { + ret = df_imu::info(); + } + + else { + df_imu::usage(); + return 1; + } + + return ret; +}