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Introduce new generic ADC driver for ADS1115 chip (#14437)

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This commit is contained in:
SalimTerryLi
2020-09-14 23:03:40 +08:00
committed by GitHub
parent c15efea429
commit 28a6e82698
11 changed files with 619 additions and 0 deletions
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1
boards/px4/fmu-v3/default.cmake
View File

@@ -19,6 +19,7 @@ px4_add_board(
TEL4:/dev/ttyS6 TEL4:/dev/ttyS6
DRIVERS DRIVERS
adc/board_adc adc/board_adc
adc/ads1115
barometer # all available barometer drivers barometer # all available barometer drivers
batt_smbus batt_smbus
camera_capture camera_capture

1
boards/px4/fmu-v4/default.cmake
View File

@@ -15,6 +15,7 @@ px4_add_board(
TEL2:/dev/ttyS2 TEL2:/dev/ttyS2
DRIVERS DRIVERS
adc/board_adc adc/board_adc
adc/ads1115
barometer # all available barometer drivers barometer # all available barometer drivers
batt_smbus batt_smbus
camera_capture camera_capture

1
boards/px4/fmu-v4pro/default.cmake
View File

@@ -18,6 +18,7 @@ px4_add_board(
TEL4:/dev/ttyS6 TEL4:/dev/ttyS6
DRIVERS DRIVERS
adc/board_adc adc/board_adc
adc/ads1115
barometer # all available barometer drivers barometer # all available barometer drivers
batt_smbus batt_smbus
camera_capture camera_capture

1
boards/px4/fmu-v5/default.cmake
View File

@@ -17,6 +17,7 @@ px4_add_board(
TEL4:/dev/ttyS3 TEL4:/dev/ttyS3
DRIVERS DRIVERS
adc/board_adc adc/board_adc
adc/ads1115
barometer # all available barometer drivers barometer # all available barometer drivers
batt_smbus batt_smbus
camera_capture camera_capture

1
boards/px4/fmu-v5x/default.cmake
View File

@@ -18,6 +18,7 @@ px4_add_board(
GPS2:/dev/ttyS7 GPS2:/dev/ttyS7
DRIVERS DRIVERS
adc/board_adc adc/board_adc
adc/ads1115
barometer # all available barometer drivers barometer # all available barometer drivers
batt_smbus batt_smbus
camera_capture camera_capture

1
boards/px4/raspberrypi/default.cmake
View File

@@ -11,6 +11,7 @@ px4_add_board(
TOOLCHAIN arm-linux-gnueabihf TOOLCHAIN arm-linux-gnueabihf
TESTING TESTING
DRIVERS DRIVERS
adc/ads1115
#barometer # all available barometer drivers #barometer # all available barometer drivers
barometer/ms5611 barometer/ms5611
batt_smbus batt_smbus

197
src/drivers/adc/ads1115/ADS1115.cpp Normal file
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@@ -0,0 +1,197 @@
/****************************************************************************
*
* Copyright (C) 2020 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 "ADS1115.h"
#include <cassert>
int ADS1115::init()
{
int ret = I2C::init();
if (ret != PX4_OK) {
PX4_ERR("I2C init failed");
return ret;
}
uint8_t config[2] = {};
config[0] = CONFIG_HIGH_OS_NOACT | CONFIG_HIGH_MUX_P0NG | CONFIG_HIGH_PGA_6144 | CONFIG_HIGH_MODE_SS;
config[1] = CONFIG_LOW_DR_250SPS | CONFIG_LOW_COMP_MODE_TRADITIONAL | CONFIG_LOW_COMP_POL_RESET |
CONFIG_LOW_COMP_LAT_NONE | CONFIG_LOW_COMP_QU_DISABLE;
return writeReg(ADDRESSPOINTER_REG_CONFIG, config, 2);
}
int ADS1115::setChannel(ADS1115::ChannelSelection ch)
{
uint8_t buf[2] = {};
uint8_t next_mux_reg = CONFIG_HIGH_MUX_P0NG;
switch (ch) {
case A0:
next_mux_reg = CONFIG_HIGH_MUX_P0NG;
break;
case A1:
next_mux_reg = CONFIG_HIGH_MUX_P1NG;
break;
case A2:
next_mux_reg = CONFIG_HIGH_MUX_P2NG;
break;
case A3:
next_mux_reg = CONFIG_HIGH_MUX_P3NG;
break;
default:
assert(false);
break;
}
buf[0] = CONFIG_HIGH_OS_START_SINGLE | next_mux_reg | CONFIG_HIGH_PGA_6144 | CONFIG_HIGH_MODE_SS;
buf[1] = CONFIG_LOW_DR_250SPS | CONFIG_LOW_COMP_MODE_TRADITIONAL | CONFIG_LOW_COMP_POL_RESET |
CONFIG_LOW_COMP_LAT_NONE | CONFIG_LOW_COMP_QU_DISABLE;
return writeReg(ADDRESSPOINTER_REG_CONFIG, buf, 2); // must write whole register to take effect
}
bool ADS1115::isSampleReady()
{
uint8_t buf[1] = {0x00};
if (readReg(ADDRESSPOINTER_REG_CONFIG, buf, 1) != 0) { return false; } // Pull config register
return (buf[0] & (uint8_t) 0x80);
}
ADS1115::ChannelSelection ADS1115::getMeasurement(int16_t *value)
{
uint8_t buf[2] = {0x00};
readReg(ADDRESSPOINTER_REG_CONFIG, buf, 1); // Pull config register
ChannelSelection channel;
switch ((buf[0] & (uint8_t) 0x70) >> 4) {
case 0x04:
channel = A0;
break;
case 0x05:
channel = A1;
break;
case 0x06:
channel = A2;
break;
case 0x07:
channel = A3;
break;
default:
return Invalid;
}
readReg(ADDRESSPOINTER_REG_CONVERSATION, buf, 2);
uint16_t raw_adc_val = buf[0] * 256 + buf[1];
if (raw_adc_val & (uint16_t) 0x8000) { // Negetive value
raw_adc_val = ~raw_adc_val + 1; // 2's complement
*value = -raw_adc_val;
} else {
*value = raw_adc_val;
}
return channel;
}
ADS1115::ChannelSelection ADS1115::cycleMeasure(int16_t *value)
{
uint8_t buf[2] = {0x00};
readReg(ADDRESSPOINTER_REG_CONFIG, buf, 1); // Pull config register
ChannelSelection channel;
uint8_t next_mux_reg = CONFIG_HIGH_MUX_P0NG;
switch ((buf[0] & (uint8_t) 0x70) >> 4) {
case 0x04:
channel = A0;
next_mux_reg = CONFIG_HIGH_MUX_P1NG;
break;
case 0x05:
channel = A1;
next_mux_reg = CONFIG_HIGH_MUX_P2NG;
break;
case 0x06:
channel = A2;
next_mux_reg = CONFIG_HIGH_MUX_P3NG;
break;
case 0x07:
channel = A3;
next_mux_reg = CONFIG_HIGH_MUX_P0NG;
break;
default:
return Invalid;
}
readReg(ADDRESSPOINTER_REG_CONVERSATION, buf, 2);
uint16_t raw_adc_val = buf[0] * 256 + buf[1];
if (raw_adc_val & (uint16_t) 0x8000) { // Negetive value
raw_adc_val = ~raw_adc_val + 1; // 2's complement
*value = -raw_adc_val;
} else {
*value = raw_adc_val;
}
buf[0] = CONFIG_HIGH_OS_START_SINGLE | next_mux_reg | CONFIG_HIGH_PGA_6144 | CONFIG_HIGH_MODE_SS;
buf[1] = CONFIG_LOW_DR_250SPS | CONFIG_LOW_COMP_MODE_TRADITIONAL | CONFIG_LOW_COMP_POL_RESET |
CONFIG_LOW_COMP_LAT_NONE | CONFIG_LOW_COMP_QU_DISABLE;
writeReg(ADDRESSPOINTER_REG_CONFIG, buf, 2); // must write whole register to take effect
return channel;
}
int ADS1115::readReg(uint8_t addr, uint8_t *buf, size_t len)
{
return transfer(&addr, 1, buf, len);
}
int ADS1115::writeReg(uint8_t addr, uint8_t *buf, size_t len)
{
uint8_t buffer[len + 1];
buffer[0] = addr;
memcpy(buffer + 1, buf, sizeof(uint8_t)*len);
return transfer(buffer, len + 1, nullptr, 0);
}

162
src/drivers/adc/ads1115/ADS1115.h Normal file
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@@ -0,0 +1,162 @@
/****************************************************************************
*
* Copyright (C) 2020 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.
*
****************************************************************************/
#pragma once
#include <stdint.h>
#include <drivers/device/i2c.h>
#include <px4_platform_common/i2c_spi_buses.h>
#include <uORB/topics/adc_report.h>
#include <uORB/Publication.hpp>
#include <lib/perf/perf_counter.h>
#include <drivers/drv_hrt.h>
#define ADDRESSPOINTER_REG_CONVERSATION 0x00
#define ADDRESSPOINTER_REG_CONFIG 0x01
#define ADDRESSPOINTER_REG_LO_THRESH 0x02
#define ADDRESSPOINTER_REG_HI_THRESH 0x03
#define CONVERSION_REG_RESET 0x00
#define CONFIG_HIGH_OS_RESET 0x80
#define CONFIG_HIGH_OS_NOACT 0x00
#define CONFIG_HIGH_OS_START_SINGLE 0x80
#define CONFIG_HIGH_MUX_RESET 0x00
#define CONFIG_HIGH_MUX_P0N1 0x00
#define CONFIG_HIGH_MUX_P0N3 0x10
#define CONFIG_HIGH_MUX_P1N3 0x20
#define CONFIG_HIGH_MUX_P2N3 0x30
#define CONFIG_HIGH_MUX_P0NG 0x40
#define CONFIG_HIGH_MUX_P1NG 0x50
#define CONFIG_HIGH_MUX_P2NG 0x60
#define CONFIG_HIGH_MUX_P3NG 0x70
#define CONFIG_HIGH_PGA_RESET 0x02
#define CONFIG_HIGH_PGA_6144 0x00
#define CONFIG_HIGH_PGA_4096 0x02
#define CONFIG_HIGH_PGA_2048 0x04
#define CONFIG_HIGH_PGA_1024 0x06
#define CONFIG_HIGH_PGA_0512 0x08
#define CONFIG_HIGH_PGA_0256 0x0a
#define CONFIG_HIGH_MODE_RESET 0x01
#define CONFIG_HIGH_MODE_SS 0x01
#define CONFIG_HIGH_MODE_CC 0x00
#define CONFIG_LOW_DR_RESET 0x80
#define CONFIG_LOW_DR_8SPS 0x00
#define CONFIG_LOW_DR_16SPS 0x20
#define CONFIG_LOW_DR_32SPS 0x40
#define CONFIG_LOW_DR_64SPS 0x60
#define CONFIG_LOW_DR_128SPS 0x80
#define CONFIG_LOW_DR_250SPS 0xa0
#define CONFIG_LOW_DR_475SPS 0xc0
#define CONFIG_LOW_DR_860SPS 0xe0
#define CONFIG_LOW_COMP_MODE_RESET 0x00
#define CONFIG_LOW_COMP_MODE_TRADITIONAL 0x00
#define CONFIG_LOW_COMP_MODE_WINDOW 0x10
#define CONFIG_LOW_COMP_POL_RESET 0x00
#define CONFIG_LOW_COMP_POL_ACTIVE_LOW 0x00
#define CONFIG_LOW_COMP_POL_ACTIVE_HIGH 0x08
#define CONFIG_LOW_COMP_LAT_DEFAULT 0x00
#define CONFIG_LOW_COMP_LAT_NONE 0x00
#define CONFIG_LOW_COMP_LAT_LATCH 0x04
#define CONFIG_LOW_COMP_QU_DEFAULT 0x03
#define CONFIG_LOW_COMP_QU_AFTER1 0x00
#define CONFIG_LOW_COMP_QU_AFTER2 0x01
#define CONFIG_LOW_COMP_QU_AFTER4 0x02
#define CONFIG_LOW_COMP_QU_DISABLE 0x03
using namespace time_literals;
/*
* This driver configure ADS1115 into 4 channels with gnd as baseline.
* Start each sample cycle by setting sample channel.
* PGA set to 6.144V
* SPS set to 256
* Valid output ranges from 0 to 32767 on each channel.
*/
class ADS1115 : public device::I2C, public I2CSPIDriver<ADS1115>
{
public:
ADS1115(I2CSPIBusOption bus_option, int bus, int addr, int bus_frequency);
~ADS1115() override;
int Begin();
int init() override;
static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance);
static void print_usage();
void RunImpl();
protected:
adc_report_s _adc_report = {};
void print_status() override;
void exit_and_cleanup() override;
private:
uORB::Publication<adc_report_s> _to_adc_report{ORB_ID(adc_report)};
static const hrt_abstime SAMPLE_INTERVAL{50_ms};
perf_counter_t _cycle_perf;
int _channel_cycle_count = 0;
// ADS1115 logic part
enum ChannelSelection {
Invalid = -1, A0 = 0, A1, A2, A3
};
/* set multiplexer to specific channel */
int setChannel(ChannelSelection ch);
/* return true if sample result is valid */
bool isSampleReady();
/*
* get adc sample. return the channel being measured.
* Invalid indicates sample failure.
*/
ChannelSelection getMeasurement(int16_t *value);
/*
* get adc sample and automatically switch to next channel and start another measurement
*/
ChannelSelection cycleMeasure(int16_t *value);
int readReg(uint8_t addr, uint8_t *buf, size_t len);
int writeReg(uint8_t addr, uint8_t *buf, size_t len);
};

41
src/drivers/adc/ads1115/CMakeLists.txt Normal file
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@@ -0,0 +1,41 @@
############################################################################
#
# Copyright (c) 2020 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 drivers__ads1115
MAIN ads1115
COMPILE_FLAGS
SRCS
ads1115_main.cpp
ADS1115.cpp
DEPENDS
)

212
src/drivers/adc/ads1115/ads1115_main.cpp Normal file
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@@ -0,0 +1,212 @@
/****************************************************************************
*
* Copyright (C) 2020 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 ads1115_main.cpp
* @author SalimTerryLi
*
* Driver for the ADS1115 connected via I2C.
*/
#include "ADS1115.h"
#include <px4_platform_common/module.h>
#include <drivers/drv_adc.h>
ADS1115::ADS1115(I2CSPIBusOption bus_option, int bus, int addr, int bus_frequency) :
I2C(DRV_ADC_DEVTYPE_ADS1115, nullptr, bus, addr, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus, addr),
_cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": single-sample"))
{
_adc_report.device_id = this->get_device_id();
_adc_report.resolution = 32768;
_adc_report.v_ref = 6.144f;
for (unsigned i = 0; i < PX4_MAX_ADC_CHANNELS; ++i) {
_adc_report.channel_id[i] = -1;
}
}
ADS1115::~ADS1115()
{
ScheduleClear();
perf_free(_cycle_perf);
}
int ADS1115::Begin()
{
int ret = init();
if (ret != PX4_OK) {
PX4_ERR("ADS1115 init failed");
return ret;
}
setChannel(ADS1115::A0); // prepare for the first measure.
ScheduleOnInterval(SAMPLE_INTERVAL / 4, SAMPLE_INTERVAL / 4);
return PX4_OK;
}
void ADS1115::exit_and_cleanup()
{
I2CSPIDriverBase::exit_and_cleanup(); // nothing to do
}
void ADS1115::RunImpl()
{
if (should_exit()) {
PX4_INFO("stopping");
return; // stop and return immediately to avoid unexpected schedule from stopping procedure
}
perf_begin(_cycle_perf);
_adc_report.timestamp = hrt_absolute_time();
if (isSampleReady()) { // whether ADS1115 is ready to be read or not
int16_t buf;
ADS1115::ChannelSelection ch = cycleMeasure(&buf);
++_channel_cycle_count;
switch (ch) {
case ADS1115::A0:
_adc_report.channel_id[0] = 0;
_adc_report.raw_data[0] = buf;
break;
case ADS1115::A1:
_adc_report.channel_id[1] = 1;
_adc_report.raw_data[1] = buf;
break;
case ADS1115::A2:
_adc_report.channel_id[2] = 2;
_adc_report.raw_data[2] = buf;
break;
case ADS1115::A3:
_adc_report.channel_id[3] = 3;
_adc_report.raw_data[3] = buf;
break;
default:
PX4_DEBUG("ADS1115: undefined behaviour");
setChannel(ADS1115::A0);
--_channel_cycle_count;
break;
}
if (_channel_cycle_count == 4) { // ADS1115 has 4 channels
_channel_cycle_count = 0;
_to_adc_report.publish(_adc_report);
}
} else {
PX4_WARN("ADS1115 not ready!");
}
perf_end(_cycle_perf);
}
I2CSPIDriverBase *ADS1115::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance)
{
ADS1115 *instance = new ADS1115(iterator.configuredBusOption(), iterator.bus(), cli.i2c_address,
cli.bus_frequency);
if (!instance) {
PX4_ERR("alloc failed");
return nullptr;
}
if (OK != instance->Begin()) {
delete instance;
return nullptr;
}
return instance;
}
void ADS1115::print_usage()
{
PRINT_MODULE_USAGE_NAME("ads1115", "driver");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x48);
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
}
void ADS1115::print_status()
{
I2CSPIDriverBase::print_status();
perf_print_counter(_cycle_perf);
}
extern "C" int ads1115_main(int argc, char *argv[])
{
int ch;
using ThisDriver = ADS1115;
BusCLIArguments cli{true, false};
cli.default_i2c_frequency = 400000;
cli.i2c_address = 0x48;
while ((ch = cli.getopt(argc, argv, "")) != EOF) {
}
const char *verb = cli.optarg();
if (!verb) {
ThisDriver::print_usage();
return -1;
}
BusInstanceIterator iterator(MODULE_NAME, cli, DRV_ADC_DEVTYPE_ADS1115);
if (!strcmp(verb, "start")) {
return ThisDriver::module_start(cli, iterator);
}
if (!strcmp(verb, "stop")) {
return ThisDriver::module_stop(iterator);
}
if (!strcmp(verb, "status")) {
return ThisDriver::module_status(iterator);
}
ThisDriver::print_usage();
return -1;
}

1
src/drivers/drv_sensor.h
View File

@@ -163,6 +163,7 @@
#define DRV_MAG_DEVTYPE_UAVCAN 0x88 #define DRV_MAG_DEVTYPE_UAVCAN 0x88
#define DRV_DIST_DEVTYPE_UAVCAN 0x89 #define DRV_DIST_DEVTYPE_UAVCAN 0x89
#define DRV_ADC_DEVTYPE_ADS1115 0x90
#define DRV_DEVTYPE_UNUSED 0xff #define DRV_DEVTYPE_UNUSED 0xff