yemai/bizhang_-obav
1
0
Fork 0
mirror of https://gitee.com/xiaohuolufeihua/bizhang_-obav.git synced 2026-05-21 01:12:11 +00:00
Code Issues Packages Projects Releases Wiki Activity

deprecate df_bmp280_wrapper and replace with in tree bmp280

Browse Source 
- deprecate DriverFramework bmp280 driver (df_bmp280_wrapper)
 - update beaglebone blue and snapdragon flight eagle boards to use in tree bmp280
 - update posix (really just linux) and qurt I2C wrappers
 - tested on beaglebone blue
This commit is contained in:
Daniel Agar
2020-01-05 13:33:12 -05:00
committed by GitHub
parent 1da7209fe1
commit aaf5670e7d
37 changed files with 227 additions and 777 deletions
Download Patch File Download Diff File Expand all files Collapse all files

22
boards/atlflight/eagle/default.cmake
View File

@@ -44,7 +44,6 @@ px4_add_board(
LABEL default
#TESTING
TOOLCHAIN arm-linux-gnueabihf
DRIVERS
#barometer # all available barometer drivers
batt_smbus
@@ -53,17 +52,14 @@ px4_add_board(
distance_sensor # all available distance sensor drivers
gps
#imu # all available imu drivers
lights/rgbled
#lights/rgbled
linux_sbus
#magnetometer # all available magnetometer drivers
pwm_out_sim
qshell/posix
#telemetry # all available telemetry drivers
MODULES
muorb/krait
muorb/test
airspeed_selector
attitude_estimator_q
camera_feedback
commander
@@ -72,7 +68,6 @@ px4_add_board(
events
fw_att_control
fw_pos_control_l1
rover_pos_control
land_detector
landing_target_estimator
load_mon
@@ -80,17 +75,19 @@ px4_add_board(
logger
mavlink
mc_att_control
mc_rate_control
mc_pos_control
mc_rate_control
#micrortps_bridge
muorb/krait
muorb/test
navigator
rc_update
rover_pos_control
sensors
#sih
simulator
vmount
vtol_att_control
airspeed_selector
SYSTEMCMDS
#bl_update
#config
@@ -100,6 +97,7 @@ px4_add_board(
led_control
mixer
motor_ramp
motor_test
#mtd
#nshterm
param
@@ -114,12 +112,14 @@ px4_add_board(
tune_control
ver
work_queue
EXAMPLES
#bottle_drop # OBC challenge
#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
#hello
#hwtest # Hardware test
#matlab_csv_serial
#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
#rover_steering_control # Rover example app
#uuv_example_app
)

30
boards/atlflight/eagle/qurt-default.cmake
View File

@@ -43,46 +43,48 @@ px4_add_board(
VENDOR atlflight
MODEL eagle
LABEL qurt-default
DRIVERS
barometer/bmp280
gps
imu/mpu9250
magnetometer/hmc5883
spektrum_rc
qshell/qurt
snapdragon_pwm_out
spektrum_rc
DF_DRIVERS
mpu9250
bmp280
hmc5883
trone
isl29501
ltc2946
mpu9250
trone
MODULES
muorb/adsp
airspeed_selector
attitude_estimator_q
commander
ekf2
fw_att_control
fw_pos_control_l1
rover_pos_control
land_detector
landing_target_estimator
local_position_estimator
mc_att_control
mc_rate_control
mc_pos_control
mc_rate_control
muorb/adsp
rc_update
rover_pos_control
sensors
#sih
vmount
vtol_att_control
airspeed_selector
SYSTEMCMDS
led_control
mixer
#motor_ramp
motor_test
param
perf
#pwm
#topic_listener
ver
work_queue
)

3
boards/atlflight/eagle/src/CMakeLists.txt
View File

@@ -32,5 +32,6 @@
############################################################################
add_library(drivers_board
sitl_led.c
board_config.h
init.c
)

14
boards/atlflight/eagle/src/board_config.h
View File

@@ -34,7 +34,7 @@
/**
* @file board_config.h
*
* SITL internal definitions
* EAGLE internal definitions
*/
#pragma once
@@ -45,17 +45,17 @@
#define BOARD_HAS_NO_RESET
#define BOARD_HAS_NO_BOOTLOADER
#define BOARD_NUMBER_BRICKS 0
/*
* I2C busses
*/
#define PX4_I2C_BUS_ESC 1
#define PX4_SIM_BUS_TEST 2
#define PX4_I2C_BUS_EXPANSION 3
#define PX4_I2C_BUS_LED 3
#define PX4_I2C_BUS_EXPANSION1 2 // I2C2: J9 / GPS
#define PX4_I2C_BUS_EXPANSION 3 // I2C3: J14 / Power
#define PX4_I2C_BUS_EXPANSION2 9 // I2C9: J15 / Radio Receiver / Sensors
#define PX4_NUMBER_I2C_BUSES 3
#define PX4_I2C_OBDEV_BMP280 0x76
// SPI
#define PX4_SPI_BUS_SENSORS 1
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 1)

0
boards/atlflight/eagle/src/init.c Normal file
View File

82
boards/atlflight/eagle/src/sitl_led.c
View File

@@ -1,82 +0,0 @@
/****************************************************************************
*
* 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 sitl_led.c
*
* sitl LED backend.
*/
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/log.h>
#include <stdbool.h>
#include <systemlib/px4_macros.h>
__BEGIN_DECLS
extern void led_init(void);
extern void led_on(int led);
extern void led_off(int led);
extern void led_toggle(int led);
__END_DECLS
static bool _led_state[] = { false, false, false, false };
__EXPORT void led_init()
{
PX4_DEBUG("LED_INIT");
}
__EXPORT void led_on(int led)
{
if ((unsigned int)led < arraySize(_led_state)) {
PX4_DEBUG("LED%d_ON", led);
_led_state[led] = true;
}
}
__EXPORT void led_off(int led)
{
if ((unsigned int)led < arraySize(_led_state)) {
PX4_DEBUG("LED%d_OFF", led);
_led_state[led] = false;
}
}
__EXPORT void led_toggle(int led)
{
if ((unsigned int)led < arraySize(_led_state)) {
_led_state[led] = !_led_state[led];
PX4_DEBUG("LED%d_TOGGLE: %s", led, _led_state[led] ? "ON" : "OFF");
}
}

39
boards/atlflight/excelsior/default.cmake
View File

@@ -42,9 +42,8 @@ px4_add_board(
VENDOR atlflight
MODEL excelsior
LABEL default
TESTING
#TESTING
TOOLCHAIN arm-oemllib32-linux-gnueabi
DRIVERS
#barometer # all available barometer drivers
batt_smbus
@@ -53,17 +52,14 @@ px4_add_board(
distance_sensor # all available distance sensor drivers
gps
#imu # all available imu drivers
lights/rgbled
#lights/rgbled
linux_sbus
#magnetometer # all available magnetometer drivers
pwm_out_sim
qshell/posix
#telemetry # all available telemetry drivers
MODULES
muorb/krait
muorb/test
airspeed_selector
attitude_estimator_q
camera_feedback
commander
@@ -72,7 +68,6 @@ px4_add_board(
events
fw_att_control
fw_pos_control_l1
rover_pos_control
land_detector
landing_target_estimator
load_mon
@@ -80,17 +75,19 @@ px4_add_board(
logger
mavlink
mc_att_control
mc_rate_control
mc_pos_control
mc_rate_control
#micrortps_bridge
muorb/krait
muorb/test
navigator
rc_update
rover_pos_control
sensors
sih
#sih
simulator
vmount
vtol_att_control
airspeed_selector
SYSTEMCMDS
#bl_update
#config
@@ -100,6 +97,7 @@ px4_add_board(
led_control
mixer
motor_ramp
motor_test
#mtd
#nshterm
param
@@ -108,19 +106,20 @@ px4_add_board(
reboot
sd_bench
shutdown
tests # tests and test runner
#tests # tests and test runner
top
topic_listener
tune_control
ver
work_queue
EXAMPLES
bottle_drop # OBC challenge
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
hello
#bottle_drop # OBC challenge
#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
#hello
#hwtest # Hardware test
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
rover_steering_control # Rover example app
#matlab_csv_serial
#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
#rover_steering_control # Rover example app
#uuv_example_app
)

31
boards/atlflight/excelsior/qurt-default.cmake
View File

@@ -43,45 +43,48 @@ px4_add_board(
VENDOR atlflight
MODEL excelsior
LABEL qurt-default
DRIVERS
barometer/bmp280
gps
imu/mpu9250
spektrum_rc
magnetometer/hmc5883
qshell/qurt
snapdragon_pwm_out
spektrum_rc
DF_DRIVERS
mpu9250
bmp280
hmc5883
trone
isl29501
ltc2946
mpu9250
trone
MODULES
muorb/adsp
airspeed_selector
attitude_estimator_q
commander
ekf2
fw_att_control
fw_pos_control_l1
rover_pos_control
land_detector
landing_target_estimator
local_position_estimator
mc_att_control
mc_rate_control
mc_pos_control
mc_rate_control
muorb/adsp
rc_update
rover_pos_control
sensors
sih
vmount
vtol_att_control
airspeed_selector
SYSTEMCMDS
led_control
mixer
#motor_ramp
motor_test
param
perf
#pwm
#topic_listener
ver
work_queue
)

6
src/modules/simulator/ledsim/CMakeLists.txt → boards/atlflight/excelsior/src/CMakeLists.txt
View File

@@ -31,5 +31,7 @@
#
############################################################################
px4_add_library(drivers__ledsim led.cpp)
target_link_libraries(drivers__ledsim PRIVATE drivers__led)
add_library(drivers_board
board_config.h
init.c
)

23
boards/atlflight/excelsior/src/board_config.h
View File

@@ -39,9 +39,26 @@
#pragma once
#define BOARD_BATTERY1_V_DIV (10.177939394f)
#define BOARD_BATTERY1_A_PER_V (15.391030303f)
#define BOARD_OVERRIDE_UUID "EAGLEID000000000" // must be of length 16
#define PX4_SOC_ARCH_ID PX4_SOC_ARCH_ID_EAGLE
#define BOARD_HAS_NO_RESET
#define BOARD_HAS_NO_BOOTLOADER
/*
* I2C busses
*/
#define PX4_I2C_BUS_EXPANSION1 2 // I2C2: J9 / GPS
#define PX4_I2C_BUS_EXPANSION 3 // I2C3: J14 / Power
#define PX4_I2C_BUS_EXPANSION2 9 // I2C9: J15 / Radio Receiver / Sensors
#define PX4_NUMBER_I2C_BUSES 3
#define PX4_I2C_OBDEV_BMP280 0x76
// SPI
#define PX4_SPI_BUS_SENSORS 1
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 1)
#include <system_config.h>
#include <px4_platform_common/board_common.h>

0
boards/atlflight/excelsior/src/init.c Normal file
View File

1
boards/beaglebone/blue/cross.cmake
View File

@@ -25,7 +25,6 @@ px4_add_board(
pwm_out_sim
#telemetry # all available telemetry drivers
DF_DRIVERS # NOTE: DriverFramework is migrating to intree PX4 drivers
bmp280
mpu9250
MODULES
airspeed_selector

1
boards/beaglebone/blue/native.cmake
View File

@@ -23,7 +23,6 @@ px4_add_board(
pwm_out_sim
#telemetry # all available telemetry drivers
DF_DRIVERS # NOTE: DriverFramework is migrating to intree PX4 drivers
bmp280
mpu9250
MODULES
airspeed_selector

30
boards/beaglebone/blue/src/board_config.h
View File

@@ -60,8 +60,13 @@
/*
* I2C busses
*/
#define PX4_I2C_BUS_EXPANSION 1
#define PX4_NUMBER_I2C_BUSES 1
#define PX4_I2C_BUS_EXPANSION 1 // i2c-1: pins P9 17,18
#define PX4_I2C_BUS_ONBOARD 2 // i2c-2: pins P9 19,20 - bmp280, mpu9250
#define PX4_NUMBER_I2C_BUSES 2
#define PX4_I2C_OBDEV_MPU9250 0x68
#define PX4_I2C_OBDEV_BMP280 0x76
#include <system_config.h>
#include <px4_platform_common/board_common.h>
@@ -82,8 +87,6 @@ void rc_cleaning(void);
#define rc_i2c_unlock_bus rc_i2c_release_bus
#define rc_i2c_get_lock rc_i2c_get_in_use_state
#define rc_bmp_init rc_initialize_barometer
#define rc_adc_read_raw rc_adc_raw
#define rc_servo_send_pulse_us rc_send_servo_pulse_us
@@ -94,25 +97,6 @@ void rc_cleaning(void);
#define rc_filter_prefill_outputs rc_prefill_filter_outputs
#define rc_filter_butterworth_lowpass rc_butterworth_lowpass
/**
* struct to hold the data retreived during one read of the barometer.
*/
typedef struct rc_bmp_data_t {
float temp_c; ///< temperature in degrees celcius
float alt_m; ///< altitude in meters
float pressure_pa; ///< current pressure in pascals
} rc_bmp_data_t;
#ifdef __cplusplus
extern "C" {
#endif
int rc_bmp_read(rc_bmp_data_t *data);
#ifdef __cplusplus
}
#endif
#endif
#endif // BOARD_CONFIG_H

14
boards/beaglebone/blue/src/init.cpp
View File

@@ -138,17 +138,3 @@ void rc_cleaning(void)
#endif
#endif
}
#ifdef __RC_V0_3
int rc_bmp_read(rc_bmp_data_t *data)
{
int rtn = rc_read_barometer();
data->temp_c = rc_bmp_get_temperature();
data->alt_m = rc_bmp_get_altitude_m();
data->pressure_pa = rc_bmp_get_pressure_pa();
return rtn;
}
#endif

1
platforms/posix/CMakeLists.txt
View File

@@ -110,7 +110,6 @@ endif()
if ("${PX4_BOARD}" MATCHES "beaglebone_blue")
target_link_libraries(px4 PRIVATE robotics_cape)
add_dependencies(df_driver_framework librobotcontrol)
add_dependencies(df_bmp280 librobotcontrol)
add_dependencies(df_mpu9250 librobotcontrol)
elseif ("${PX4_BOARD}" MATCHES "sitl")

1
platforms/posix/cmake/px4_impl_os.cmake
View File

@@ -304,7 +304,6 @@ function(px4_os_add_flags)
# For DriverFramework
-D__DF_LINUX
-D__DF_BBBLUE
-D__DF_BBBLUE_USE_RC_BMP280_IMP # optional
-DRC_AUTOPILOT_EXT # Enable extensions in Robotics Cape Library, TODO: remove
)

16
platforms/qurt/include/board_config.h
View File

@@ -1,16 +0,0 @@
#pragma once
/*
* I2C busses
*/
#define PX4_I2C_BUS_ESC 1
#define PX4_I2C_BUS_EXPANSION 3
#define PX4_I2C_BUS_LED 3
#define BOARD_OVERRIDE_UUID "SYSTEMID0000 " // must be of length 16
#define PX4_SOC_ARCH_ID PX4_SOC_ARCH_ID_QURT
#define BOARD_HAS_NO_RESET
#define BOARD_HAS_NO_BOOTLOADER
#include <px4_platform_common/board_common.h>

2
posix-configs/bbblue/px4.config
View File

@@ -51,7 +51,7 @@ param set BAT_V_DIV 11.0
dataman start
df_bmp280_wrapper start -D /dev/i2c-2
bmp280 -I start
df_mpu9250_wrapper start
# options: -R rotation

2
posix-configs/bbblue/px4_fw.config
View File

@@ -51,7 +51,7 @@ param set BAT_V_DIV 11.0
dataman start
df_bmp280_wrapper start -D /dev/i2c-2
bmp280 -I start
df_mpu9250_wrapper start
# options: -R rotation

2
posix-configs/eagle/200qx/px4.config
View File

@@ -25,7 +25,7 @@ param set UART_ESC_MOTOR3 1
param set UART_ESC_MOTOR4 3
sleep 1
df_mpu9250_wrapper start
df_bmp280_wrapper start
bmp280 start
gps start -d /dev/tty-4
rc_update start
sensors start

2
posix-configs/eagle/210qc/px4.config
View File

@@ -25,7 +25,7 @@ param set UART_ESC_MOTOR3 1
param set UART_ESC_MOTOR4 3
sleep 1
df_mpu9250_wrapper start
df_bmp280_wrapper start
bmp280 start
gps start -d /dev/tty-4
rc_update start
sensors start

2
posix-configs/eagle/flight/px4.config
View File

@@ -7,7 +7,7 @@ param set MAV_TYPE 2
sleep 1
df_hmc5883_wrapper start
df_mpu9250_wrapper start_without_mag
df_bmp280_wrapper start
bmp280 start
df_trone_wrapper start
#df_ltc2946_wrapper start # (currently not working on all boards...)
#df_isl29501_wrapper start

2
posix-configs/eagle/init/rcS
View File

@@ -172,7 +172,7 @@ fi
qshell df_mpu9250_wrapper start
qshell df_bmp280_wrapper start
qshell bmp280 start
qshell rc_update start
qshell sensors start

2
posix-configs/excelsior/px4.config
View File

@@ -73,7 +73,7 @@ param set UART_ESC_MOTOR3 1
param set UART_ESC_MOTOR4 3
sleep 1
df_mpu9250_wrapper start
df_bmp280_wrapper start
bmp280 start
rc_update start
sensors start
commander start

45
src/drivers/driver_framework_wrapper/df_bmp280_wrapper/CMakeLists.txt
View File

@@ -1,45 +0,0 @@
############################################################################
#
# 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
git_driverframework
df_driver_framework
df_bmp280
)

300
src/drivers/driver_framework_wrapper/df_bmp280_wrapper/df_bmp280_wrapper.cpp
View File

@@ -1,300 +0,0 @@
/****************************************************************************
*
* 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 df_bmp280_wrapper.cpp
* Lightweight driver to access the BMP280 of the DriverFramework.
*
* @author Julian Oes <julian@oes.ch>
*/
#include <px4_platform_common/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_platform_common/getopt.h>
#include <errno.h>
#include <perf/perf_counter.h>
#include <systemlib/err.h>
#include <drivers/drv_hrt.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()
{
/* 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;
}
#if defined(__DF_BBBLUE)
PX4_INFO("BMP280 started");
#endif
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)
{
perf_begin(_baro_sample_perf);
sensor_baro_s baro_report = {};
baro_report.timestamp = hrt_absolute_time();
baro_report.error_count = data.error_counter;
baro_report.pressure = data.pressure_pa / 100.0f; // to mbar
baro_report.temperature = data.temperature_c;
// TODO: when is this ever blocked?
if (!(m_pub_blocked)) {
if (_baro_topic == nullptr) {
_baro_topic = orb_advertise_multi(ORB_ID(sensor_baro), &baro_report,
&_baro_orb_class_instance, ORB_PRIO_DEFAULT);
} else {
orb_publish(ORB_ID(sensor_baro), _baro_topic, &baro_report);
}
}
perf_end(_baro_sample_perf);
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;
}

9
src/drivers/drv_sensor.h
View File

@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2012-2017 PX4 Development Team. All rights reserved.
* Copyright (c) 2012-2020 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
@@ -62,17 +62,20 @@
#define DRV_MAG_DEVTYPE_QMC5883 0x08
#define DRV_MAG_DEVTYPE_AK09916 0x09
#define DRV_DEVTYPE_ICM20948 0x0A
#define DRV_ACC_DEVTYPE_LSM303D 0x11
#define DRV_ACC_DEVTYPE_BMA180 0x12
#define DRV_ACC_DEVTYPE_MPU6000 0x13
#define DRV_ACC_DEVTYPE_ACCELSIM 0x14
#define DRV_ACC_DEVTYPE_MPU9250 0x16
#define DRV_ACC_DEVTYPE_BMI160 0x17
#define DRV_GYR_DEVTYPE_MPU6000 0x21
#define DRV_GYR_DEVTYPE_L3GD20 0x22
#define DRV_GYR_DEVTYPE_GYROSIM 0x23
#define DRV_GYR_DEVTYPE_MPU9250 0x24
#define DRV_GYR_DEVTYPE_BMI160 0x25
#define DRV_RNG_DEVTYPE_MB12XX 0x31
#define DRV_RNG_DEVTYPE_LL40LS 0x32
#define DRV_ACC_DEVTYPE_MPU6050 0x33
@@ -92,12 +95,13 @@
#define DRV_ACC_DEVTYPE_BMI055 0x41
#define DRV_GYR_DEVTYPE_BMI055 0x42
#define DRV_MAG_DEVTYPE_BMM150 0x43
#define DRV_BARO_DEVTYPE_BMP285 0x44
#define DRV_DIFF_PRESS_DEVTYPE_ETS3 0x45
#define DRV_DIFF_PRESS_DEVTYPE_MS4525 0x46
#define DRV_DIFF_PRESS_DEVTYPE_MS5525 0x47
#define DRV_DIFF_PRESS_DEVTYPE_SDP31 0x48
#define DRV_DIFF_PRESS_DEVTYPE_SDP32 0x49
#define DRV_DIFF_PRESS_DEVTYPE_SDP33 0x50
#define DRV_BARO_DEVTYPE_MPL3115A2 0x51
#define DRV_ACC_DEVTYPE_FXOS8701C 0x52
@@ -108,6 +112,7 @@
#define DRV_GYR_DEVTYPE_ADIS16448 0x57
#define DRV_BARO_DEVTYPE_LPS22HB 0x58
#define DRV_ACC_DEVTYPE_ADIS16477 0x59
#define DRV_GYR_DEVTYPE_ADIS16477 0x60
#define DRV_ACC_DEVTYPE_LSM303AGR 0x61
#define DRV_MAG_DEVTYPE_LSM303AGR 0x62

3
src/drivers/optical_flow/px4flow/px4flow.cpp
View File

@@ -487,9 +487,6 @@ start(int argc, char *argv[])
while (1) {
const int busses_to_try[] = {
PX4_I2C_BUS_EXPANSION,
#ifdef PX4_I2C_BUS_ESC
PX4_I2C_BUS_ESC,
#endif
#ifdef PX4_I2C_BUS_ONBOARD
PX4_I2C_BUS_ONBOARD,
#endif

25
src/lib/drivers/device/nuttx/I2C.cpp
View File

@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
* Copyright (c) 2012-2020 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
@@ -32,7 +32,7 @@
****************************************************************************/
/**
* @file i2c.cpp
* @file I2C.cpp
*
* Base class for devices attached via the I2C bus.
*
@@ -42,6 +42,8 @@
#include "I2C.hpp"
#include <nuttx/i2c/i2c_master.h>
namespace device
{
/*
@@ -169,19 +171,19 @@ out:
int
I2C::transfer(const uint8_t *send, const unsigned send_len, uint8_t *recv, const unsigned recv_len)
{
px4_i2c_msg_t msgv[2];
unsigned msgs;
int ret = PX4_ERROR;
unsigned retry_count = 0;
if (_dev == nullptr) {
PX4_ERR("I2C device not opened");
return 1;
return PX4_ERROR;
}
do {
DEVICE_DEBUG("transfer out %p/%u in %p/%u", send, send_len, recv, recv_len);
msgs = 0;
px4_i2c_msg_t msgv[2] {};
unsigned msgs = 0;
if (send_len > 0) {
msgv[msgs].frequency = _bus_clocks[get_device_bus() - 1];
@@ -205,10 +207,15 @@ I2C::transfer(const uint8_t *send, const unsigned send_len, uint8_t *recv, const
return -EINVAL;
}
ret = I2C_TRANSFER(_dev, &msgv[0], msgs);
int ret_transfer = I2C_TRANSFER(_dev, &msgv[0], msgs);
/* success */
if (ret == PX4_OK) {
if (ret_transfer != 0) {
DEVICE_DEBUG("I2C transfer failed, result %d", ret_transfer);
ret = PX4_ERROR;
} else {
// success
ret = PX4_OK;
break;
}

26
src/lib/drivers/device/posix/I2C.cpp
View File

@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2012-2019 PX4 Development Team. All rights reserved.
* Copyright (c) 2016-2020 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
@@ -32,7 +32,7 @@
****************************************************************************/
/**
* @file i2c.cpp
* @file I2C.cpp
*
* Base class for devices attached via the I2C bus.
*
@@ -109,6 +109,7 @@ out:
if ((ret != OK) && !(_fd < 0)) {
::close(_fd);
_fd = -1;
}
return ret;
@@ -117,19 +118,19 @@ out:
int
I2C::transfer(const uint8_t *send, const unsigned send_len, uint8_t *recv, const unsigned recv_len)
{
struct i2c_msg msgv[2];
unsigned msgs;
int ret = PX4_ERROR;
unsigned retry_count = 0;
if (_fd < 0) {
PX4_ERR("I2C device not opened");
return 1;
return PX4_ERROR;
}
do {
DEVICE_DEBUG("transfer out %p/%u in %p/%u", send, send_len, recv, recv_len);
msgs = 0;
unsigned msgs = 0;
struct i2c_msg msgv[2] {};
if (send_len > 0) {
msgv[msgs].addr = get_device_address();
@@ -151,24 +152,19 @@ I2C::transfer(const uint8_t *send, const unsigned send_len, uint8_t *recv, const
return -EINVAL;
}
struct i2c_rdwr_ioctl_data packets;
i2c_rdwr_ioctl_data packets{};
packets.msgs = msgv;
packets.nmsgs = msgs;
ret = ::ioctl(_fd, I2C_RDWR, (unsigned long)&packets);
int ret_ioctl = ::ioctl(_fd, I2C_RDWR, (unsigned long)&packets);
if (ret == -1) {
if (ret_ioctl == -1) {
DEVICE_DEBUG("I2C transfer failed");
ret = PX4_ERROR;
} else {
// success
ret = PX4_OK;
}
/* success */
if (ret == PX4_OK) {
break;
}

9
src/lib/drivers/device/posix/I2C.hpp
View File

@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Copyright (C) 2016-2020 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
@@ -32,7 +32,7 @@
****************************************************************************/
/**
* @file i2c.h
* @file I2C.hpp
*
* Base class for devices connected via I2C.
*/
@@ -44,11 +44,6 @@
#include <px4_platform_common/i2c.h>
#ifdef __PX4_LINUX
#include <linux/i2c.h>
#include <linux/i2c-dev.h>
#endif
namespace device __EXPORT
{

91
src/lib/drivers/device/qurt/I2C.cpp
View File

@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
* Copyright (c) 2016-2020 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
@@ -32,7 +32,7 @@
****************************************************************************/
/**
* @file i2c.cpp
* @file I2C.cpp
*
* Base class for devices attached via the I2C bus.
*
@@ -42,13 +42,14 @@
#include "I2C.hpp"
#include "dev_fs_lib_i2c.h"
#include <dev_fs_lib_i2c.h>
namespace device
{
I2C::I2C(const char *name, const char *devname, const int bus, const uint16_t address, const uint32_t frequency) :
CDev(name, devname)
CDev(name, devname),
_frequency(frequency)
{
DEVICE_DEBUG("I2C::I2C name = %s devname = %s", name, devname);
// fill in _device_id fields for a I2C device
@@ -70,26 +71,43 @@ I2C::~I2C()
int
I2C::init()
{
// Assume the driver set the desired bus frequency. There is no standard
// way to set it from user space.
// do base class init, which will create device node, etc
int ret = CDev::init();
if (ret != PX4_OK) {
DEVICE_DEBUG("CDev::init failed");
return ret;
}
int ret = PX4_ERROR;
// Open the actual I2C device
char dev_path[16];
char dev_path[16] {};
snprintf(dev_path, sizeof(dev_path), "/dev/iic-%i", get_device_bus());
_fd = ::open(dev_path, O_RDWR);
if (_fd < 0) {
PX4_ERR("could not open %s", dev_path);
px4_errno = errno;
return PX4_ERROR;
DEVICE_DEBUG("failed to init I2C");
ret = -ENOENT;
goto out;
}
// call the probe function to check whether the device is present
ret = probe();
if (ret != OK) {
DEVICE_DEBUG("probe failed");
goto out;
}
// do base class init, which will create device node, etc
ret = CDev::init();
if (ret != OK) {
DEVICE_DEBUG("cdev init failed");
goto out;
}
// tell the world where we are
DEVICE_LOG("on I2C bus %d at 0x%02x", get_device_bus(), get_device_address());
out:
if ((ret != OK) && !(_fd < 0)) {
::close(_fd);
_fd = -1;
}
return ret;
@@ -98,6 +116,28 @@ I2C::init()
int
I2C::transfer(const uint8_t *send, const unsigned send_len, uint8_t *recv, const unsigned recv_len)
{
int ret = PX4_ERROR;
unsigned retry_count = 0;
if (_fd < 0) {
PX4_ERR("I2C device not opened");
return PX4_ERROR;
}
do {
DEVICE_DEBUG("transfer out %p/%u in %p/%u", send, send_len, recv, recv_len);
dspal_i2c_ioctl_slave_config slave_config{};
slave_config.slave_address = get_device_address();
slave_config.bus_frequency_in_khz = _frequency / 1000;
slave_config.byte_transer_timeout_in_usecs = 10000; // 10 ms
int ret_config = ::ioctl(_fd, I2C_IOCTL_SLAVE, &slave_config);
if (ret_config < 0) {
DEVICE_DEBUG("Could not set slave config, result: %d", ret_config);
}
dspal_i2c_ioctl_combined_write_read ioctl_write_read{};
ioctl_write_read.write_buf = (uint8_t *)send;
@@ -107,12 +147,19 @@ I2C::transfer(const uint8_t *send, const unsigned send_len, uint8_t *recv, const
int bytes_read = ::ioctl(_fd, I2C_IOCTL_RDWR, &ioctl_write_read);
if (bytes_read != (ssize_t)recv_len) {
PX4_ERR("read register reports a read of %d bytes, but attempted to read %d bytes", bytes_read, recv_len);
return -1;
if (bytes_read != (int)recv_len) {
DEVICE_DEBUG("I2C transfer failed, bytes read %d", bytes_read);
ret = PX4_ERROR;
} else {
// success
ret = PX4_OK;
break;
}
return 0;
} while (retry_count++ < _retries);
return ret;
}
} // namespace device

10
src/lib/drivers/device/qurt/I2C.hpp
View File

@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Copyright (C) 2016-2020 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
@@ -32,7 +32,7 @@
****************************************************************************/
/**
* @file i2c.h
* @file I2C.hpp
*
* Base class for devices connected via I2C.
*/
@@ -44,11 +44,6 @@
#include <px4_platform_common/i2c.h>
#ifdef __PX4_LINUX
#include <linux/i2c.h>
#include <linux/i2c-dev.h>
#endif
namespace device __EXPORT
{
@@ -109,6 +104,7 @@ protected:
virtual bool external() const override { return px4_i2c_bus_external(_device_id.devid_s.bus); }
private:
uint32_t _frequency{0};
int _fd{-1};
};

3
src/modules/simulator/CMakeLists.txt
View File

@@ -53,8 +53,6 @@ if (NOT ${PX4_PLATFORM} STREQUAL "qurt")
simulator_mavlink.cpp)
endif()
add_subdirectory(ledsim)
px4_add_module(
MODULE modules__simulator
MAIN simulator
@@ -70,7 +68,6 @@ px4_add_module(
git_mavlink_v2
battery
conversion
drivers__ledsim
git_ecl
ecl_geo
drivers_accelerometer

135
src/modules/simulator/ledsim/led.cpp
View File

@@ -1,135 +0,0 @@
/****************************************************************************
*
* 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 led.cpp
*
* LED driver.
*/
#include <px4_platform_common/px4_config.h>
#include <drivers/drv_board_led.h>
#include <stdio.h>
#include "VirtDevObj.hpp"
using namespace DriverFramework;
/*
* Ideally we'd be able to get these from up_internal.h,
* but since we want to be able to disable the NuttX use
* of leds for system indication at will and there is no
* separate switch, we need to build independent of the
* CONFIG_ARCH_LEDS configuration switch.
*/
__BEGIN_DECLS
extern void led_init();
extern void led_on(int led);
extern void led_off(int led);
extern void led_toggle(int led);
__END_DECLS
class LED : public VirtDevObj
{
public:
LED();
~LED() override = default;
int init() override;
int devIOCTL(unsigned long cmd, unsigned long arg) override;
protected:
void _measure() override {}
};
LED::LED() :
VirtDevObj("led", "/dev/ledsim", LED_BASE_DEVICE_PATH, 0)
{
// force immediate init/device registration
init();
}
int
LED::init()
{
int ret = VirtDevObj::init();
if (ret == 0) {
led_init();
}
return ret;
}
int
LED::devIOCTL(unsigned long cmd, unsigned long arg)
{
int result = OK;
switch (cmd) {
case LED_ON:
led_on(arg);
break;
case LED_OFF:
led_off(arg);
break;
case LED_TOGGLE:
led_toggle(arg);
break;
default:
result = VirtDevObj::devIOCTL(cmd, arg);
}
return result;
}
namespace
{
LED *gLED;
}
void
drv_led_start(void)
{
if (gLED == nullptr) {
gLED = new LED;
if (gLED != nullptr) {
gLED->init();
}
}
}

2
src/modules/simulator/simulator.cpp
View File

@@ -86,8 +86,6 @@ int Simulator::start(int argc, char *argv[])
_instance = new Simulator();
if (_instance) {
drv_led_start();
if (argc == 4 && strcmp(argv[2], "-u") == 0) {
_instance->set_ip(InternetProtocol::UDP);
_instance->set_port(atoi(argv[3]));