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linux boards (ocpoc, bbblue, navio2) replace custom adc drivers with simple px4_arch implementation

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This commit is contained in:
Daniel Agar
2020-01-07 11:08:37 -05:00
parent fc9df31653
commit d19f18d40b
38 changed files with 528 additions and 1065 deletions
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2
boards/aerotenna/ocpoc/CMakeLists.txt
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@@ -31,4 +31,4 @@
#
############################################################################
add_subdirectory(ocpoc_adc)
add_subdirectory(adc)

11
boards/aerotenna/ocpoc/ocpoc_adc/CMakeLists.txt → boards/aerotenna/ocpoc/adc/CMakeLists.txt
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@@ -1,6 +1,6 @@
############################################################################
#
# Copyright (c) 2015-2017 PX4 Development Team. All rights reserved.
# 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
@@ -31,9 +31,6 @@
#
############################################################################
px4_add_module(
MODULE drivers__ocpoc_adc
MAIN ocpoc_adc
SRCS
ocpoc_adc.cpp
)
px4_add_library(arch_adc
adc.cpp
)

98
boards/aerotenna/ocpoc/adc/adc.cpp Normal file
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@@ -0,0 +1,98 @@
/****************************************************************************
*
* 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 <board_config.h>
#include <drivers/drv_adc.h>
#include <px4_platform_common/log.h>
#include <fcntl.h>
#include <stdint.h>
#include <unistd.h>
#define ADC_SYSFS_PATH "/sys/bus/iio/devices/iio:device0"
#define ADC_MAX_CHAN 9
int _channels_fd[ADC_MAX_CHAN];
int px4_arch_adc_init(uint32_t base_address)
{
for (int i = 0; i < ADC_MAX_CHAN; i++) {
_channels_fd[i] = -1;
}
return 0;
}
void px4_arch_adc_uninit(uint32_t base_address)
{
for (int i = 0; i < ADC_MAX_CHAN; i++) {
::close(_channels_fd[i]);
_channels_fd[i] = -1;
}
}
uint32_t px4_arch_adc_sample(uint32_t base_address, unsigned channel)
{
if (channel > ADC_MAX_CHAN) {
PX4_ERR("channel %d out of range: %d", channel, ADC_MAX_CHAN);
return UINT32_MAX; // error
}
// open channel if necessary
if (_channels_fd[channel] == -1) {
// ADC_SYSFS_PATH
char channel_path[strlen(ADC_SYSFS_PATH) + 20] {};
if (sprintf(channel_path, "%s/in_voltage%d_raw", ADC_SYSFS_PATH, channel) == -1) {
PX4_ERR("adc channel: %d\n", channel);
return UINT32_MAX; // error
}
_channels_fd[channel] = ::open(channel_path, O_RDONLY);
}
char buffer[10] {};
if (::pread(_channels_fd[channel], buffer, sizeof(buffer), 0) < 0) {
PX4_ERR("read channel %d failed", channel);
return UINT32_MAX; // error
}
return atoi(buffer);
}
uint32_t px4_arch_adc_dn_fullcount()
{
return 1 << 12; // 12 bit ADC
}

38
boards/aerotenna/ocpoc/include/px4_arch/adc.h Normal file
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@@ -0,0 +1,38 @@
/****************************************************************************
*
* 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
#define SYSTEM_ADC_BASE 0 // not used
#define px4_arch_adc_temp_sensor_mask() (0)

253
boards/aerotenna/ocpoc/ocpoc_adc/ocpoc_adc.cpp
View File

@@ -1,253 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2012-2017 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 ocpoc_adc.cpp
*
* OcPoC ADC Driver
*
* @author Lianying Ji <ji@aerotenna.com>
* @author Dave Royer <dave@aerotenna.com>
*/
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/tasks.h>
#include <px4_platform_common/posix.h>
#include <drivers/drv_adc.h>
#include <VirtDevObj.hpp>
#include <unistd.h>
#include <stdio.h>
#include <poll.h>
#include <string.h>
#define ADC_BASE_DEV_PATH "/dev/adc"
#define ADC_VOLTAGE_PATH "/sys/bus/iio/devices/iio:device0/in_voltage8_raw"
__BEGIN_DECLS
__EXPORT int ocpoc_adc_main(int argc, char *argv[]);
__END_DECLS
class OcpocADC: public DriverFramework::VirtDevObj
{
public:
OcpocADC();
virtual ~OcpocADC();
virtual int init();
virtual ssize_t devRead(void *buf, size_t count) override;
virtual int devIOCTL(unsigned long request, unsigned long arg) override;
protected:
virtual void _measure() override;
private:
int read(px4_adc_msg_t(*buf)[PX4_MAX_ADC_CHANNELS], unsigned int len);
pthread_mutex_t _samples_lock;
px4_adc_msg_t _samples;
};
OcpocADC::OcpocADC()
: DriverFramework::VirtDevObj("ocpoc_adc", ADC0_DEVICE_PATH, ADC_BASE_DEV_PATH, 1e6 / 100)
{
pthread_mutex_init(&_samples_lock, NULL);
}
OcpocADC::~OcpocADC()
{
pthread_mutex_destroy(&_samples_lock);
}
void OcpocADC::_measure()
{
px4_adc_msg_t tmp_samples[PX4_MAX_ADC_CHANNELS];
int ret = read(&tmp_samples, sizeof(tmp_samples));
if (ret != 0) {
PX4_ERR("ocpoc_adc_read: %d", ret);
}
pthread_mutex_lock(&_samples_lock);
memcpy(&_samples, &tmp_samples, sizeof(tmp_samples));
pthread_mutex_unlock(&_samples_lock);
}
int OcpocADC::init()
{
int ret;
ret = DriverFramework::VirtDevObj::init();
if (ret != PX4_OK) {
PX4_ERR("init failed");
return ret;
}
return PX4_OK;
}
int OcpocADC::devIOCTL(unsigned long request, unsigned long arg)
{
return -ENOTTY;
}
ssize_t OcpocADC::devRead(void *buf, size_t count)
{
const size_t maxsize = sizeof(_samples);
int ret;
if (count > maxsize) {
count = maxsize;
}
ret = pthread_mutex_trylock(&_samples_lock);
if (ret != 0) {
return 0;
}
memcpy(buf, &_samples, count);
pthread_mutex_unlock(&_samples_lock);
return count;
}
int OcpocADC::read(px4_adc_msg_t(*buf)[PX4_MAX_ADC_CHANNELS], unsigned int len)
{
uint32_t buff[1];
int ret = 0;
FILE *xadc_fd = fopen(ADC_VOLTAGE_PATH, "r");
if (xadc_fd != NULL) {
int ret_tmp = fscanf(xadc_fd, "%d", buff);
if (ret_tmp < 0) {
ret = ret_tmp;
}
fclose(xadc_fd);
(*buf)[0].am_data = buff[0];
} else {
(*buf)[0].am_data = 0;
ret = -1;
}
(*buf)[0].am_channel = ADC_BATTERY_VOLTAGE_CHANNEL;
return ret;
}
static OcpocADC *instance = nullptr;
int ocpoc_adc_main(int argc, char *argv[])
{
int ret;
if (argc < 2) {
PX4_WARN("usage: {start|stop|test}");
return PX4_ERROR;
}
if (!strcmp(argv[1], "start")) {
if (instance) {
PX4_WARN("already started");
return PX4_OK;
}
instance = new OcpocADC;
if (!instance) {
PX4_WARN("not enough memory");
return PX4_ERROR;
}
if (instance->init() != PX4_OK) {
delete instance;
instance = nullptr;
PX4_WARN("init failed");
return PX4_ERROR;
}
return PX4_OK;
} else if (!strcmp(argv[1], "stop")) {
if (!instance) {
PX4_WARN("already stopped");
return PX4_OK;
}
delete instance;
instance = nullptr;
return PX4_OK;
} else if (!strcmp(argv[1], "test")) {
if (!instance) {
PX4_ERR("start first");
return PX4_ERROR;
}
px4_adc_msg_t adc_msgs[PX4_MAX_ADC_CHANNELS];
ret = instance->devRead((char *)&adc_msgs, sizeof(adc_msgs));
if (ret < 0) {
PX4_ERR("ret: %s (%d)\n", strerror(ret), ret);
return ret;
} else {
PX4_INFO("ADC Data: %d", adc_msgs[0].am_data);
}
return PX4_OK;
} else {
PX4_WARN("action (%s) not supported", argv[1]);
return PX4_ERROR;
}
return PX4_OK;
}
// This is a replacement for the hardcoded 4096
uint32_t px4_arch_adc_dn_fullcount(void)
{
return 1 << 12; // 12 bit ADC
}

18
boards/aerotenna/ocpoc/src/board_config.h
View File

@@ -49,15 +49,14 @@
#define BOARD_MAX_LEDS 1 // Number of external LED's this board has
/*
* I2C busses
*/
// I2C
#define PX4_I2C_BUS_EXPANSION 2 // i2c-2: Air Data Probe or I2C Splitter
#define PX4_I2C_BUS_EXPANSION1 4 // i2c-4: GPS/Compass #1
#define PX4_I2C_BUS_EXPANSION2 5 // i2c-5: GPS/Compass #2
#define PX4_I2C_BUS_EXPANSION3 3 // i2c-3: GPS/Compass #3
#define PX4_NUMBER_I2C_BUSES 4
#define PX4_NUMBER_I2C_BUSES 4
#define PX4_I2C_BUS_LED 1
@@ -69,10 +68,13 @@
#define PX4_SPI_BUS_BARO PX4_SPI_BUS_SENSORS
// Battery ADC channels
#define ADC_BATTERY_VOLTAGE_CHANNEL 10
#define ADC_BATTERY_CURRENT_CHANNEL ((uint8_t)(-1))
#define ADC_AIRSPEED_VOLTAGE_CHANNEL 11
// ADC channels:
#define ADC_CHANNELS (1 << 8)
#define ADC_BATTERY_VOLTAGE_CHANNEL 8
#define ADC_BATTERY_CURRENT_CHANNEL ((uint8_t)(-1))
#include <system_config.h>
#include <px4_platform_common/board_common.h>