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ms5525_airspeed posix port

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This commit is contained in:
Daniel Agar
2017-08-24 21:10:28 -04:00
committed by Lorenz Meier
parent 676946c324
commit 9cd25d604b
3 changed files with 24 additions and 28 deletions
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1
cmake/configs/posix_rpi_common.cmake
View File

@@ -19,6 +19,7 @@ set(config_module_list
drivers/device
drivers/airspeed
drivers/ms4525_airspeed
drivers/ms5525_airspeed
modules/sensors
platforms/posix/drivers/df_mpu9250_wrapper

1
cmake/configs/posix_sitl_default.cmake
View File

@@ -12,6 +12,7 @@ set(config_module_list
drivers/linux_gpio
drivers/airspeed
drivers/ms4525_airspeed
drivers/ms5525_airspeed
modules/sensors
platforms/posix/drivers/accelsim

50
src/drivers/ms5525_airspeed/MS5525_main.cpp
View File

@@ -56,7 +56,7 @@ start(uint8_t i2c_bus)
if (g_dev != nullptr) {
PX4_ERR("already started");
exit(1);
goto fail;
}
g_dev = new MS5525(i2c_bus, I2C_ADDRESS_1_MS5525DSO, PATH_MS5525);
@@ -88,17 +88,17 @@ start(uint8_t i2c_bus)
}
/* set the poll rate to default, starts automatic data collection */
fd = open(PATH_MS5525, O_RDONLY);
fd = px4_open(PATH_MS5525, O_RDONLY);
if (fd < 0) {
goto fail;
}
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
if (px4_ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
goto fail;
}
exit(0);
return;
fail:
@@ -108,7 +108,6 @@ fail:
}
PX4_WARN("no MS5525 airspeed sensor connected");
exit(1);
}
// stop the driver
@@ -120,10 +119,7 @@ void stop()
} else {
PX4_ERR("driver not running");
exit(1);
}
exit(0);
}
// perform some basic functional tests on the driver;
@@ -131,46 +127,46 @@ void stop()
// and automatic modes.
void test()
{
int fd = open(PATH_MS5525, O_RDONLY);
int fd = px4_open(PATH_MS5525, O_RDONLY);
if (fd < 0) {
PX4_WARN("%s open failed (try 'ms5525_airspeed start' if the driver is not running", PATH_MS5525);
exit(1);
return;
}
// do a simple demand read
differential_pressure_s report;
ssize_t sz = read(fd, &report, sizeof(report));
ssize_t sz = px4_read(fd, &report, sizeof(report));
if (sz != sizeof(report)) {
PX4_WARN("immediate read failed");
exit(1);
return;
}
PX4_WARN("single read");
PX4_WARN("diff pressure: %d pa", (int)report.differential_pressure_filtered_pa);
/* start the sensor polling at 2Hz */
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
if (OK != px4_ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
PX4_WARN("failed to set 2Hz poll rate");
exit(1);
return;
}
/* read the sensor 5x and report each value */
for (unsigned i = 0; i < 5; i++) {
struct pollfd fds;
px4_pollfd_struct_t fds;
/* wait for data to be ready */
fds.fd = fd;
fds.events = POLLIN;
int ret = poll(&fds, 1, 2000);
int ret = px4_poll(&fds, 1, 2000);
if (ret != 1) {
PX4_ERR("timed out");
}
/* now go get it */
sz = read(fd, &report, sizeof(report));
sz = px4_read(fd, &report, sizeof(report));
if (sz != sizeof(report)) {
PX4_ERR("periodic read failed");
@@ -182,33 +178,30 @@ void test()
}
/* reset the sensor polling to its default rate */
if (PX4_OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT)) {
if (PX4_OK != px4_ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT)) {
PX4_WARN("failed to set default rate");
exit(1);
}
}
// reset the driver
void reset()
{
int fd = open(PATH_MS5525, O_RDONLY);
int fd = px4_open(PATH_MS5525, O_RDONLY);
if (fd < 0) {
PX4_ERR("failed ");
exit(1);
return;
}
if (ioctl(fd, SENSORIOCRESET, 0) < 0) {
if (px4_ioctl(fd, SENSORIOCRESET, 0) < 0) {
PX4_ERR("driver reset failed");
exit(1);
return;
}
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
if (px4_ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
PX4_ERR("driver poll restart failed");
exit(1);
return;
}
exit(0);
}
} // namespace ms5525_airspeed
@@ -266,5 +259,6 @@ ms5525_airspeed_main(int argc, char *argv[])
}
ms5525_airspeed_usage();
exit(0);
return PX4_OK;
}