BMP280: added the baro driver

cmake/configs/qurt_eagle_default.cmake

@@ -38,6 +38,7 @@ set(config_module_list
 #	$(EAGLE_DRIVERS_SRC)/rc_receiver
 #	$(EAGLE_DRIVERS_SRC)/csr_gps
 	platforms/posix/drivers/df_mpu9250_wrapper
+	platforms/posix/drivers/df_bmp280_wrapper
 
 	#
 	# System commands

posix-configs/eagle/flight/px4-flight.config

@@ -1,6 +1,6 @@
 uorb start
-sleep 1
 df_mpu9250_wrapper start
+df_bmp280_wrapper start
 sensors start
 commander start
 attitude_estimator_q start

src/platforms/posix/drivers/df_bmp280_wrapper/CMakeLists.txt

@@ -0,0 +1,46 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+
+include_directories(../../../../lib/DriverFramework/drivers)
+
+px4_add_module(
+	MODULE platforms__posix__drivers__df_bmp280_wrapper
+	MAIN df_bmp280_wrapper
+	SRCS
+		df_bmp280_wrapper.cpp
+	DEPENDS
+		platforms__common
+		df_driver_framework
+		df_bmp280
+	)
+# vim: set noet ft=cmake fenc=utf-8 ff=unix :

src/platforms/posix/drivers/df_bmp280_wrapper/df_bmp280_wrapper.cpp

@@ -0,0 +1,306 @@
+/****************************************************************************
+ *
+ * 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 DfBmp280Wrapper.cpp
+ * Lightweight driver to access the BMP280 of the DriverFramework.
+ *
+ * @author Julian Oes <julian@oes.ch>
+ */
+
+#include <px4_config.h>
+
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <stdint.h>
+#include <stddef.h>
+#include <stdlib.h>
+#include <string.h>
+#include <math.h>
+#include <unistd.h>
+#include <px4_getopt.h>
+#include <errno.h>
+
+#include <systemlib/perf_counter.h>
+#include <systemlib/err.h>
+
+#include <drivers/drv_baro.h>
+
+#include <board_config.h>
+//#include <mathlib/math/filter/LowPassFilter2p.hpp>
+
+#include <bmp280/BMP280.hpp>
+#include <DevMgr.hpp>
+
+
+extern "C" { __EXPORT int df_bmp280_wrapper_main(int argc, char *argv[]); }
+
+using namespace DriverFramework;
+
+
+class DfBmp280Wrapper : public BMP280
+{
+public:
+	DfBmp280Wrapper();
+	~DfBmp280Wrapper();
+
+
+	/**
+	 * Start automatic measurement.
+	 *
+	 * @return 0 on success
+	 */
+	int		start();
+
+	/**
+	 * Stop automatic measurement.
+	 *
+	 * @return 0 on success
+	 */
+	int		stop();
+
+private:
+	int _publish(struct baro_sensor_data &data);
+
+	orb_advert_t		_baro_topic;
+
+	int			_baro_orb_class_instance;
+
+	perf_counter_t		_baro_sample_perf;
+
+};
+
+DfBmp280Wrapper::DfBmp280Wrapper() :
+	BMP280(BARO_DEVICE_PATH),
+	_baro_topic(nullptr),
+	_baro_orb_class_instance(-1),
+	_baro_sample_perf(perf_alloc(PC_ELAPSED, "df_baro_read"))
+{
+}
+
+DfBmp280Wrapper::~DfBmp280Wrapper()
+{
+	perf_free(_baro_sample_perf);
+}
+
+int DfBmp280Wrapper::start()
+{
+	// TODO: don't publish garbage here
+	baro_report baro_report = {};
+	_baro_topic = orb_advertise_multi(ORB_ID(sensor_baro), &baro_report,
+					   &_baro_orb_class_instance, ORB_PRIO_DEFAULT);
+	if (_baro_topic == nullptr) {
+		PX4_ERR("sensor_baro advert fail");
+		return -1;
+	}
+
+	/* Init device and start sensor. */
+	int ret = init();
+
+	if (ret != 0) {
+		PX4_ERR("BMP280 init fail: %d", ret);
+		return ret;
+	}
+
+	ret = BMP280::start();
+
+	if (ret != 0) {
+		PX4_ERR("BMP280 start fail: %d", ret);
+		return ret;
+	}
+
+	return 0;
+}
+
+int DfBmp280Wrapper::stop()
+{
+	/* Stop sensor. */
+	int ret = BMP280::stop();
+
+	if (ret != 0) {
+		PX4_ERR("BMP280 stop fail: %d", ret);
+		return ret;
+	}
+
+	return 0;
+}
+
+int DfBmp280Wrapper::_publish(struct baro_sensor_data &data)
+{
+#if 1
+	perf_begin(_baro_sample_perf);
+
+	baro_report baro_report = {};
+	baro_report.timestamp = data.last_read_time_usec;
+
+	baro_report.pressure = data.pressure_pa;
+	baro_report.temperature = data.temperature_c;
+
+	// TODO: add this
+	baro_report.altitude = -1.0f;
+
+	// TODO: when is this ever blocked?
+	if (!(m_pub_blocked)) {
+
+		if (_baro_topic != nullptr) {
+			orb_publish(ORB_ID(sensor_baro), _baro_topic, &baro_report);
+		}
+	}
+
+	/* Notify anyone waiting for data. */
+	DevMgr::updateNotify(*this);
+
+	perf_end(_baro_sample_perf);
+#endif
+
+	return 0;
+};
+
+
+namespace df_bmp280_wrapper
+{
+
+DfBmp280Wrapper *g_dev = nullptr;
+
+int start(/* enum Rotation rotation */);
+int stop();
+int info();
+void usage();
+
+int start(/*enum Rotation rotation*/)
+{
+	g_dev = new DfBmp280Wrapper(/*rotation*/);
+
+	if (g_dev == nullptr) {
+		PX4_ERR("failed instantiating DfBmp280Wrapper object");
+		return -1;
+	}
+
+	int ret = g_dev->start();
+	if (ret != 0) {
+		PX4_ERR("DfBmp280Wrapper start failed");
+		return ret;
+	}
+
+	// Open the IMU sensor
+	DevHandle h;
+	DevMgr::getHandle(BARO_DEVICE_PATH, h);
+	if (!h.isValid())
+	{
+		DF_LOG_INFO("Error: unable to obtain a valid handle for the receiver at: %s (%d)",
+			    BARO_DEVICE_PATH, h.getError());
+		return -1;
+	}
+
+	DevMgr::releaseHandle(h);
+
+	return 0;
+}
+
+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_bmp280_wrapper 'start', 'info', 'stop'");
+}
+
+} // namespace df_bmp280_wrapper
+
+
+int
+df_bmp280_wrapper_main(int argc, char *argv[])
+{
+	int ret = 0;
+	int myoptind = 1;
+
+	if (argc <= 1) {
+		df_bmp280_wrapper::usage();
+		return 1;
+	}
+
+	const char *verb = argv[myoptind];
+
+
+	if (!strcmp(verb, "start")) {
+		ret = df_bmp280_wrapper::start();
+	}
+
+	else if (!strcmp(verb, "stop")) {
+		ret = df_bmp280_wrapper::stop();
+	}
+
+	else if (!strcmp(verb, "info")) {
+		ret = df_bmp280_wrapper::info();
+	}
+
+	else {
+		df_bmp280_wrapper::usage();
+		return 1;
+	}
+
+	return ret;
+}