mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-23 05:33:35 +08:00
Linux to posix conversion
Changed "linux" target to "posix". Most of the changes are shared with QuRT and with OSX. The Linux specific parts are in for i2c which uses <linux/i2c.h> and <linux/i2c-dev.h>. There is also a check for __PX4_LINUX in mavlink for a tty ioctl that is not supported. Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,7 @@
|
||||
#
|
||||
# Simulated accel/mag driver
|
||||
#
|
||||
|
||||
MODULE_COMMAND = accelsim
|
||||
SRCS = accelsim.cpp
|
||||
|
||||
@@ -0,0 +1,303 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 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 adcsim.cpp
|
||||
*
|
||||
* Driver for the ADCSIM.
|
||||
*
|
||||
* This is a designed for simulating sampling things like voltages
|
||||
* and so forth.
|
||||
*/
|
||||
|
||||
#include <px4_config.h>
|
||||
#include <px4_adc.h>
|
||||
#include <board_config.h>
|
||||
#include <drivers/device/device.h>
|
||||
|
||||
#include <sys/types.h>
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
#include <fcntl.h>
|
||||
#include <errno.h>
|
||||
#include <stdio.h>
|
||||
#include <unistd.h>
|
||||
|
||||
#include <arch/board/board.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <drivers/drv_adc.h>
|
||||
|
||||
#include <systemlib/err.h>
|
||||
#include <systemlib/perf_counter.h>
|
||||
|
||||
#include <uORB/topics/system_power.h>
|
||||
|
||||
|
||||
class ADCSIM : public device::VDev
|
||||
{
|
||||
public:
|
||||
ADCSIM(uint32_t channels);
|
||||
~ADCSIM();
|
||||
|
||||
virtual int init();
|
||||
|
||||
virtual int ioctl(device::px4_dev_handle_t *handlep, int cmd, unsigned long arg);
|
||||
virtual ssize_t read(device::px4_dev_handle_t *handlep, char *buffer, size_t len);
|
||||
|
||||
protected:
|
||||
virtual int open_first(device::px4_dev_handle_t *handlep);
|
||||
virtual int close_last(device::px4_dev_handle_t *handlep);
|
||||
|
||||
private:
|
||||
static const hrt_abstime _tickrate = 10000; /**< 100Hz base rate */
|
||||
|
||||
hrt_call _call;
|
||||
perf_counter_t _sample_perf;
|
||||
|
||||
unsigned _channel_count;
|
||||
adc_msg_s *_samples; /**< sample buffer */
|
||||
|
||||
orb_advert_t _to_system_power;
|
||||
|
||||
/** work trampoline */
|
||||
static void _tick_trampoline(void *arg);
|
||||
|
||||
/** worker function */
|
||||
void _tick();
|
||||
|
||||
/**
|
||||
* Sample a single channel and return the measured value.
|
||||
*
|
||||
* @param channel The channel to sample.
|
||||
* @return The sampled value, or 0xffff if
|
||||
* sampling failed.
|
||||
*/
|
||||
uint16_t _sample(unsigned channel);
|
||||
|
||||
// update system_power ORB topic, only on FMUv2
|
||||
void update_system_power(void);
|
||||
};
|
||||
|
||||
ADCSIM::ADCSIM(uint32_t channels) :
|
||||
VDev("adcsim", ADCSIM0_DEVICE_PATH),
|
||||
_sample_perf(perf_alloc(PC_ELAPSED, "adc_samples")),
|
||||
_channel_count(0),
|
||||
_samples(nullptr),
|
||||
_to_system_power(0)
|
||||
{
|
||||
//_debug_enabled = true;
|
||||
|
||||
/* always enable the temperature sensor */
|
||||
channels |= 1 << 16;
|
||||
|
||||
/* allocate the sample array */
|
||||
for (unsigned i = 0; i < 32; i++) {
|
||||
if (channels & (1 << i)) {
|
||||
_channel_count++;
|
||||
}
|
||||
}
|
||||
_samples = new adc_msg_s[_channel_count];
|
||||
|
||||
/* prefill the channel numbers in the sample array */
|
||||
if (_samples != nullptr) {
|
||||
unsigned index = 0;
|
||||
for (unsigned i = 0; i < 32; i++) {
|
||||
if (channels & (1 << i)) {
|
||||
_samples[index].am_channel = i;
|
||||
_samples[index].am_data = 0;
|
||||
index++;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
ADCSIM::~ADCSIM()
|
||||
{
|
||||
if (_samples != nullptr)
|
||||
delete _samples;
|
||||
}
|
||||
|
||||
int
|
||||
ADCSIM::init()
|
||||
{
|
||||
debug("init done");
|
||||
|
||||
/* create the device node */
|
||||
return VDev::init();
|
||||
}
|
||||
|
||||
int
|
||||
ADCSIM::ioctl(device::px4_dev_handle_t *handlep, int cmd, unsigned long arg)
|
||||
{
|
||||
return -ENOTTY;
|
||||
}
|
||||
|
||||
ssize_t
|
||||
ADCSIM::read(device::px4_dev_handle_t *handlep, char *buffer, size_t len)
|
||||
{
|
||||
const size_t maxsize = sizeof(adc_msg_s) * _channel_count;
|
||||
|
||||
if (len > maxsize)
|
||||
len = maxsize;
|
||||
|
||||
/* block interrupts while copying samples to avoid racing with an update */
|
||||
memcpy(buffer, _samples, len);
|
||||
|
||||
return len;
|
||||
}
|
||||
|
||||
int
|
||||
ADCSIM::open_first(device::px4_dev_handle_t *handlep)
|
||||
{
|
||||
/* get fresh data */
|
||||
_tick();
|
||||
|
||||
/* and schedule regular updates */
|
||||
hrt_call_every(&_call, _tickrate, _tickrate, _tick_trampoline, this);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
int
|
||||
ADCSIM::close_last(device::px4_dev_handle_t *handlep)
|
||||
{
|
||||
hrt_cancel(&_call);
|
||||
return 0;
|
||||
}
|
||||
|
||||
void
|
||||
ADCSIM::_tick_trampoline(void *arg)
|
||||
{
|
||||
(reinterpret_cast<ADCSIM *>(arg))->_tick();
|
||||
}
|
||||
|
||||
void
|
||||
ADCSIM::_tick()
|
||||
{
|
||||
/* scan the channel set and sample each */
|
||||
for (unsigned i = 0; i < _channel_count; i++)
|
||||
_samples[i].am_data = _sample(_samples[i].am_channel);
|
||||
update_system_power();
|
||||
}
|
||||
|
||||
void
|
||||
ADCSIM::update_system_power(void)
|
||||
{
|
||||
}
|
||||
|
||||
uint16_t
|
||||
ADCSIM::_sample(unsigned channel)
|
||||
{
|
||||
perf_begin(_sample_perf);
|
||||
|
||||
uint16_t result = 1;
|
||||
|
||||
perf_end(_sample_perf);
|
||||
return result;
|
||||
}
|
||||
|
||||
/*
|
||||
* Driver 'main' command.
|
||||
*/
|
||||
extern "C" __EXPORT int adcsim_main(int argc, char *argv[]);
|
||||
|
||||
namespace
|
||||
{
|
||||
ADCSIM *g_adc;
|
||||
|
||||
int
|
||||
test(void)
|
||||
{
|
||||
|
||||
int fd = px4_open(ADCSIM0_DEVICE_PATH, O_RDONLY);
|
||||
if (fd < 0) {
|
||||
warnx("can't open ADCSIM device");
|
||||
return 1;
|
||||
}
|
||||
|
||||
for (unsigned i = 0; i < 50; i++) {
|
||||
adc_msg_s data[12];
|
||||
ssize_t count = px4_read(fd, data, sizeof(data));
|
||||
|
||||
if (count < 0) {
|
||||
warnx("read error");
|
||||
return 1;
|
||||
}
|
||||
|
||||
unsigned channels = count / sizeof(data[0]);
|
||||
|
||||
for (unsigned j = 0; j < channels; j++) {
|
||||
printf ("%d: %u ", data[j].am_channel, data[j].am_data);
|
||||
}
|
||||
|
||||
printf("\n");
|
||||
usleep(500000);
|
||||
}
|
||||
|
||||
px4_close(fd);
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
|
||||
int
|
||||
adcsim_main(int argc, char *argv[])
|
||||
{
|
||||
int ret = 0;
|
||||
|
||||
if (g_adc == nullptr) {
|
||||
#ifdef CONFIG_ARCH_BOARD_LINUXTEST
|
||||
/* XXX this hardcodes the default channel set for LINUXTEST - should be configurable */
|
||||
g_adc = new ADCSIM((1 << 10) | (1 << 11) | (1 << 12) | (1 << 13));
|
||||
#endif
|
||||
|
||||
if (g_adc == nullptr) {
|
||||
warnx("couldn't allocate the ADCSIM driver");
|
||||
return 1;
|
||||
}
|
||||
|
||||
if (g_adc->init() != OK) {
|
||||
delete g_adc;
|
||||
warnx("ADCSIM init failed");
|
||||
return 1;
|
||||
}
|
||||
}
|
||||
|
||||
if (argc > 1) {
|
||||
if (!strcmp(argv[1], "test"))
|
||||
ret = test();
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
@@ -0,0 +1,42 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2012, 2013 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
#
|
||||
# STM32 ADC driver
|
||||
#
|
||||
|
||||
MODULE_COMMAND = adcsim
|
||||
|
||||
SRCS = adcsim.cpp
|
||||
|
||||
MAXOPTIMIZATION = -Os
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,217 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2013 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 baro_sim.cpp
|
||||
*
|
||||
* Simulation interface for barometer
|
||||
*/
|
||||
|
||||
/* XXX trim includes */
|
||||
#include <px4_config.h>
|
||||
#include <px4_defines.h>
|
||||
|
||||
#include <sys/types.h>
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include <assert.h>
|
||||
//#include <debug.h>
|
||||
#include <errno.h>
|
||||
#include <unistd.h>
|
||||
|
||||
#include <drivers/device/sim.h>
|
||||
#include <simulator/simulator.h>
|
||||
#include "barosim.h"
|
||||
#include "board_config.h"
|
||||
|
||||
device::Device *BAROSIM_sim_interface(barosim::prom_u &prom_buf);
|
||||
|
||||
class BARO_SIM : public device::SIM
|
||||
{
|
||||
public:
|
||||
BARO_SIM(uint8_t bus, barosim::prom_u &prom_buf);
|
||||
virtual ~BARO_SIM();
|
||||
|
||||
virtual int init();
|
||||
virtual int dev_read(unsigned offset, void *data, unsigned count);
|
||||
virtual int dev_ioctl(unsigned operation, unsigned &arg);
|
||||
|
||||
virtual int transfer(const uint8_t *send, unsigned send_len,
|
||||
uint8_t *recv, unsigned recv_len);
|
||||
private:
|
||||
barosim::prom_u &_prom;
|
||||
|
||||
/**
|
||||
* Send a reset command to the barometer simulator.
|
||||
*
|
||||
* This is required after any bus reset.
|
||||
*/
|
||||
int _reset();
|
||||
|
||||
/**
|
||||
* Send a measure command to the barometer simulator.
|
||||
*
|
||||
* @param addr Which address to use for the measure operation.
|
||||
*/
|
||||
int _measure(unsigned addr);
|
||||
|
||||
/**
|
||||
* Read the MS5611 PROM
|
||||
*
|
||||
* @return PX4_OK if the PROM reads successfully.
|
||||
*/
|
||||
int _read_prom();
|
||||
|
||||
};
|
||||
|
||||
device::Device *
|
||||
BAROSIM_sim_interface(barosim::prom_u &prom_buf, uint8_t busnum)
|
||||
{
|
||||
return new BARO_SIM(busnum, prom_buf);
|
||||
}
|
||||
|
||||
BARO_SIM::BARO_SIM(uint8_t bus, barosim::prom_u &prom) :
|
||||
SIM("BARO_SIM", "/dev/BARO_SIM", bus, 0),
|
||||
_prom(prom)
|
||||
{
|
||||
}
|
||||
|
||||
BARO_SIM::~BARO_SIM()
|
||||
{
|
||||
}
|
||||
|
||||
int
|
||||
BARO_SIM::init()
|
||||
{
|
||||
return SIM::init();
|
||||
}
|
||||
|
||||
int
|
||||
BARO_SIM::dev_read(unsigned offset, void *data, unsigned count)
|
||||
{
|
||||
union _cvt {
|
||||
uint8_t b[4];
|
||||
uint32_t w;
|
||||
} *cvt = (_cvt *)data;
|
||||
uint8_t buf[3];
|
||||
|
||||
/* read the most recent measurement */
|
||||
uint8_t cmd = 0;
|
||||
int ret = transfer(&cmd, 1, &buf[0], 3);
|
||||
if (ret == PX4_OK) {
|
||||
/* fetch the raw value */
|
||||
cvt->b[0] = buf[2];
|
||||
cvt->b[1] = buf[1];
|
||||
cvt->b[2] = buf[0];
|
||||
cvt->b[3] = 0;
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
int
|
||||
BARO_SIM::dev_ioctl(unsigned operation, unsigned &arg)
|
||||
{
|
||||
int ret;
|
||||
|
||||
switch (operation) {
|
||||
case IOCTL_RESET:
|
||||
ret = _reset();
|
||||
break;
|
||||
|
||||
case IOCTL_MEASURE:
|
||||
ret = _measure(arg);
|
||||
break;
|
||||
|
||||
default:
|
||||
ret = EINVAL;
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
int
|
||||
BARO_SIM::_reset()
|
||||
{
|
||||
unsigned old_retrycount = _retries;
|
||||
uint8_t cmd = ADDR_RESET_CMD;
|
||||
int result;
|
||||
|
||||
/* bump the retry count */
|
||||
_retries = 10;
|
||||
result = transfer(&cmd, 1, nullptr, 0);
|
||||
_retries = old_retrycount;
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
int
|
||||
BARO_SIM::_measure(unsigned addr)
|
||||
{
|
||||
/*
|
||||
* Disable retries on this command; we can't know whether failure
|
||||
* means the device did or did not see the command.
|
||||
*/
|
||||
_retries = 0;
|
||||
|
||||
uint8_t cmd = addr;
|
||||
return transfer(&cmd, 1, nullptr, 0);
|
||||
}
|
||||
|
||||
int
|
||||
BARO_SIM::_read_prom()
|
||||
{
|
||||
int ret = 1;
|
||||
// TODO input simlation data
|
||||
return ret;
|
||||
}
|
||||
|
||||
int
|
||||
BARO_SIM::transfer(const uint8_t *send, unsigned send_len,
|
||||
uint8_t *recv, unsigned recv_len)
|
||||
{
|
||||
// TODO add Simulation data connection so calls retrieve
|
||||
// data from the simulator
|
||||
|
||||
if (send_len != 1 || send[0] != 0 || recv_len != 3) {
|
||||
return 1;
|
||||
}
|
||||
else {
|
||||
Simulator *sim = Simulator::getInstance();
|
||||
if (sim == NULL) {
|
||||
return -ENODEV;
|
||||
}
|
||||
sim->getBaroSample(recv, recv_len);
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
@@ -0,0 +1,84 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012-2013 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 barosim.h
|
||||
*
|
||||
* Shared defines for the ms5611 driver.
|
||||
*/
|
||||
|
||||
#define ADDR_RESET_CMD 0x1E /* write to this address to reset chip */
|
||||
#define ADDR_CMD_CONVERT_D1 0x48 /* write to this address to start pressure conversion */
|
||||
#define ADDR_CMD_CONVERT_D2 0x58 /* write to this address to start temperature conversion */
|
||||
#define ADDR_DATA 0x00 /* address of 3 bytes / 32bit pressure data */
|
||||
#define ADDR_PROM_SETUP 0xA0 /* address of 8x 2 bytes factory and calibration data */
|
||||
#define ADDR_PROM_C1 0xA2 /* address of 6x 2 bytes calibration data */
|
||||
|
||||
/* interface ioctls */
|
||||
#define IOCTL_RESET 2
|
||||
#define IOCTL_MEASURE 3
|
||||
|
||||
namespace barosim
|
||||
{
|
||||
|
||||
/**
|
||||
* Calibration PROM as reported by the device.
|
||||
*/
|
||||
#pragma pack(push,1)
|
||||
struct prom_s {
|
||||
uint16_t factory_setup;
|
||||
uint16_t c1_pressure_sens;
|
||||
uint16_t c2_pressure_offset;
|
||||
uint16_t c3_temp_coeff_pres_sens;
|
||||
uint16_t c4_temp_coeff_pres_offset;
|
||||
uint16_t c5_reference_temp;
|
||||
uint16_t c6_temp_coeff_temp;
|
||||
uint16_t serial_and_crc;
|
||||
};
|
||||
|
||||
/**
|
||||
* Grody hack for crc4()
|
||||
*/
|
||||
union prom_u {
|
||||
uint16_t c[8];
|
||||
prom_s s;
|
||||
};
|
||||
#pragma pack(pop)
|
||||
|
||||
extern bool crc4(uint16_t *n_prom);
|
||||
|
||||
} /* namespace */
|
||||
|
||||
/* interface factories */
|
||||
extern device::Device *BAROSIM_sim_interface(barosim::prom_u &prom_buf, uint8_t busnum) __attribute__((weak));
|
||||
typedef device::Device *(*BAROSIM_constructor)(barosim::prom_u &prom_buf, uint8_t busnum);
|
||||
@@ -0,0 +1,42 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2012, 2013 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
#
|
||||
# MS5611 driver
|
||||
#
|
||||
|
||||
MODULE_COMMAND = barosim
|
||||
|
||||
SRCS = baro.cpp baro_sim.cpp
|
||||
|
||||
MAXOPTIMIZATION = -Os
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,46 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2012, 2013 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
#
|
||||
# Makefile to build the MPU6000 driver.
|
||||
#
|
||||
|
||||
MODULE_COMMAND = gyrosim
|
||||
|
||||
SRCS = gyrosim.cpp
|
||||
|
||||
MODULE_STACKSIZE = 1200
|
||||
|
||||
EXTRACXXFLAGS = -Weffc++
|
||||
|
||||
MAXOPTIMIZATION = -Os
|
||||
Reference in New Issue
Block a user