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https://gitee.com/xiaohuolufeihua/bizhang_-obav.git
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Remove POOSIX porting noise from ms5611 driver (#4896)
This commit is contained in:
Lorenz Meier
GitHub
@@ -33,19 +33,8 @@
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set(srcs
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ms5611_spi.cpp
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ms5611_i2c.cpp
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)
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if(${OS} STREQUAL "nuttx")
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list(APPEND srcs
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ms5611_nuttx.cpp
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)
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else()
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list(APPEND srcs
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ms5611_posix.cpp
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ms5611_sim.cpp
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)
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endif()
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ms5611.cpp
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)
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px4_add_module(
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MODULE drivers__ms5611
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File diff suppressed because it is too large
Load Diff
@@ -1,206 +0,0 @@
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/****************************************************************************
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*
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* Copyright (c) 2013 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
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file ms5611_i2c.cpp
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*
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* SIM interface for MS5611
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*/
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/* XXX trim includes */
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#include <px4_config.h>
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#include <px4_defines.h>
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#include <sys/types.h>
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#include <stdint.h>
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#include <stdbool.h>
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#include <assert.h>
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//#include <debug.h>
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#include <errno.h>
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#include <unistd.h>
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#include <drivers/device/sim.h>
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#include "ms5611.h"
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#include "board_config.h"
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device::Device *MS5611_sim_interface(ms5611::prom_u &prom_buf);
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class MS5611_SIM : public device::SIM
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{
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public:
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MS5611_SIM(uint8_t bus, ms5611::prom_u &prom_buf);
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virtual ~MS5611_SIM();
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virtual int init();
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virtual int dev_read(unsigned offset, void *data, unsigned count);
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virtual int dev_ioctl(unsigned operation, unsigned &arg);
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virtual int transfer(const uint8_t *send, unsigned send_len,
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uint8_t *recv, unsigned recv_len);
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private:
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ms5611::prom_u &_prom;
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/**
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* Send a reset command to the MS5611.
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*
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* This is required after any bus reset.
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*/
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int _reset();
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/**
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* Send a measure command to the MS5611.
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*
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* @param addr Which address to use for the measure operation.
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*/
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int _measure(unsigned addr);
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/**
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* Read the MS5611 PROM
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*
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* @return PX4_OK if the PROM reads successfully.
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*/
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int _read_prom();
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};
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device::Device *
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MS5611_sim_interface(ms5611::prom_u &prom_buf, uint8_t busnum)
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{
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return new MS5611_SIM(busnum, prom_buf);
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}
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MS5611_SIM::MS5611_SIM(uint8_t bus, ms5611::prom_u &prom) :
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SIM("MS5611_SIM", "/dev/MS5611_SIM", bus, 0),
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_prom(prom)
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{
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}
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MS5611_SIM::~MS5611_SIM()
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{
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}
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int
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MS5611_SIM::init()
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{
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return SIM::init();
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}
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int
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MS5611_SIM::dev_read(unsigned offset, void *data, unsigned count)
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{
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union _cvt {
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uint8_t b[4];
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uint32_t w;
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} *cvt = (_cvt *)data;
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uint8_t buf[3];
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/* read the most recent measurement */
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uint8_t cmd = 0;
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int ret = transfer(&cmd, 1, &buf[0], 3);
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if (ret == PX4_OK) {
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/* fetch the raw value */
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cvt->b[0] = buf[2];
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cvt->b[1] = buf[1];
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cvt->b[2] = buf[0];
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cvt->b[3] = 0;
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}
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return ret;
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}
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int
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MS5611_SIM::dev_ioctl(unsigned operation, unsigned &arg)
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{
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int ret;
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switch (operation) {
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case IOCTL_RESET:
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ret = _reset();
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break;
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case IOCTL_MEASURE:
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ret = _measure(arg);
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break;
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default:
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ret = EINVAL;
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}
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return ret;
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}
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int
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MS5611_SIM::_reset()
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{
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unsigned old_retrycount = _retries;
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uint8_t cmd = ADDR_RESET_CMD;
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int result;
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/* bump the retry count */
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_retries = 10;
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result = transfer(&cmd, 1, nullptr, 0);
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_retries = old_retrycount;
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return result;
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}
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int
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MS5611_SIM::_measure(unsigned addr)
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{
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/*
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* Disable retries on this command; we can't know whether failure
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* means the device did or did not see the command.
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*/
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_retries = 0;
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uint8_t cmd = addr;
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return transfer(&cmd, 1, nullptr, 0);
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}
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int
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MS5611_SIM::_read_prom()
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{
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int ret = 1;
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// TODO input simlation data
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return ret;
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}
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int
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MS5611_SIM::transfer(const uint8_t *send, unsigned send_len,
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uint8_t *recv, unsigned recv_len)
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{
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// TODO add Simulation data connection so calls retrieve
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// data from the simulator
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return 0;
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}
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