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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/emlid/navio2/CMakeLists.txt
View File

@@ -31,6 +31,6 @@
#
############################################################################
add_subdirectory(navio_adc)
add_subdirectory(adc)
add_subdirectory(navio_rgbled)
add_subdirectory(navio_sysfs_rc_in)

13
boards/emlid/navio2/navio_adc/CMakeLists.txt → boards/emlid/navio2/adc/CMakeLists.txt
View File

@@ -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
@@ -30,12 +30,7 @@
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
px4_add_module(
MODULE drivers__navio_adc
MAIN navio_adc
COMPILE_FLAGS
SRCS
navio_adc.cpp
DEPENDS
)
px4_add_library(arch_adc
adc.cpp
)

98
boards/emlid/navio2/adc/adc.cpp Normal file
View File

@@ -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/kernel/rcio/adc"
#define ADC_MAX_CHAN 6
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) + 5] {};
if (sprintf(channel_path, "%s/ch%d", 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
}

1
boards/emlid/navio2/default.cmake
View File

@@ -8,6 +8,7 @@ px4_add_board(
TOOLCHAIN arm-linux-gnueabihf
TESTING
DRIVERS
adc
#barometer # all available barometer drivers
barometer/ms5611
batt_smbus

38
boards/emlid/navio2/include/px4_arch/adc.h Normal file
View File

@@ -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)

335
boards/emlid/navio2/navio_adc/navio_adc.cpp
View File

@@ -1,335 +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 navio_adc.cpp
*
* Navio2 ADC Driver
*
* This driver exports the sysfs-based ADC driver on Navio2.
*
* @author Nicolae Rosia <nicolae.rosia@gmail.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>
#include <stdlib.h>
#define ADC_BASE_DEV_PATH "/dev/adc"
#define ADC_SYSFS_PATH "/sys/kernel/rcio/adc/ch0"
#define ADC_MAX_CHAN 6
/*
* ADC Channels:
* A0 - Board voltage (5V)
* A1 - servo rail voltage
* A2 - power module voltage (ADC0, POWER port)
* A3 - power module current (ADC1, POWER port)
* A4 - ADC2 (ADC port)
* A5 - ADC3 (ADC port)
*/
#define NAVIO_ADC_BATTERY_VOLTAGE_CHANNEL (2)
#define NAVIO_ADC_BATTERY_CURRENT_CHANNEL (3)
__BEGIN_DECLS
__EXPORT int navio_adc_main(int argc, char *argv[]);
__END_DECLS
class NavioADC: public DriverFramework::VirtDevObj
{
public:
NavioADC();
virtual ~NavioADC();
virtual int init() override;
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_channel(px4_adc_msg_t *adc_msg, int channel);
pthread_mutex_t _samples_lock;
int _fd[ADC_MAX_CHAN];
px4_adc_msg_t _samples[ADC_MAX_CHAN];
};
NavioADC::NavioADC()
: DriverFramework::VirtDevObj("navio_adc", ADC0_DEVICE_PATH, ADC_BASE_DEV_PATH, 1e6 / 100)
{
pthread_mutex_init(&_samples_lock, NULL);
for (int i = 0; i < ADC_MAX_CHAN; i++) {
_fd[i] = -1;
}
}
NavioADC::~NavioADC()
{
pthread_mutex_destroy(&_samples_lock);
for (int i = 0; i < ADC_MAX_CHAN; i++) {
if (_fd[i] != -1) {
close(_fd[i]);
}
}
}
void NavioADC::_measure()
{
px4_adc_msg_t tmp_samples[ADC_MAX_CHAN];
for (int i = 0; i < ADC_MAX_CHAN; ++i) {
int ret;
/* Currently we only use these channels */
if (i != NAVIO_ADC_BATTERY_VOLTAGE_CHANNEL &&
i != NAVIO_ADC_BATTERY_CURRENT_CHANNEL) {
tmp_samples[i].am_channel = i;
tmp_samples[i].am_data = 0;
continue;
}
ret = read_channel(&tmp_samples[i], i);
if (ret < 0) {
PX4_ERR("read_channel(%d): %d", i, ret);
tmp_samples[i].am_channel = i;
tmp_samples[i].am_data = 0;
}
}
tmp_samples[NAVIO_ADC_BATTERY_VOLTAGE_CHANNEL].am_channel = ADC_BATTERY_VOLTAGE_CHANNEL;
tmp_samples[NAVIO_ADC_BATTERY_CURRENT_CHANNEL].am_channel = ADC_BATTERY_CURRENT_CHANNEL;
pthread_mutex_lock(&_samples_lock);
memcpy(&_samples, &tmp_samples, sizeof(tmp_samples));
pthread_mutex_unlock(&_samples_lock);
}
int NavioADC::init()
{
int ret;
ret = DriverFramework::VirtDevObj::init();
if (ret != PX4_OK) {
PX4_ERR("init failed");
return ret;
}
for (int i = 0; i < ADC_MAX_CHAN; i++) {
char channel_path[sizeof(ADC_SYSFS_PATH)];
strncpy(channel_path, ADC_SYSFS_PATH, sizeof(channel_path));
channel_path[sizeof(ADC_SYSFS_PATH) - 2] += i;
_fd[i] = ::open(channel_path, O_RDONLY);
if (_fd[i] == -1) {
int err = errno;
ret = -1;
PX4_ERR("init: open: %s (%d)", strerror(err), err);
goto cleanup;
}
}
return PX4_OK;
cleanup:
for (int i = 0; i < ADC_MAX_CHAN; i++) {
if (_fd[i] != -1) {
close(_fd[i]);
}
}
return ret;
}
int NavioADC::devIOCTL(unsigned long request, unsigned long arg)
{
return -ENOTTY;
}
ssize_t NavioADC::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 NavioADC::read_channel(px4_adc_msg_t *adc_msg, int channel)
{
char buffer[11]; /* 32bit max INT has maximum 10 chars */
int ret;
if (channel < 0 || channel >= ADC_MAX_CHAN) {
return -EINVAL;
}
ret = lseek(_fd[channel], 0, SEEK_SET);
if (ret == -1) {
ret = errno;
PX4_ERR("read_channel %d: lseek: %s (%d)", channel, strerror(ret), ret);
return ret;
}
ret = ::read(_fd[channel], buffer, sizeof(buffer) - 1);
if (ret == -1) {
ret = errno;
PX4_ERR("read_channel %d: read: %s (%d)", channel, strerror(ret), ret);
return ret;
} else if (ret == 0) {
PX4_ERR("read_channel %d: read empty", channel);
ret = -EINVAL;
return ret;
}
buffer[ret] = 0;
adc_msg->am_channel = channel;
adc_msg->am_data = strtol(buffer, NULL, 10);
ret = 0;
return ret;
}
static NavioADC *instance = nullptr;
int navio_adc_main(int argc, char *argv[])
{
int ret;
if (argc < 2) {
PX4_WARN("usage: <start/stop>");
return PX4_ERROR;
}
if (!strcmp(argv[1], "start")) {
if (instance) {
PX4_WARN("already started");
return PX4_OK;
}
instance = new NavioADC;
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[ADC_MAX_CHAN];
ret = instance->devRead((char *)&adc_msgs, sizeof(adc_msgs));
if (ret < 0) {
PX4_ERR("ret: %s (%d)\n", strerror(ret), ret);
return ret;
} else if (ret != sizeof(adc_msgs)) {
PX4_ERR("incomplete read: %d expected %d", ret, sizeof(adc_msgs));
return ret;
}
for (int i = 0; i < ADC_MAX_CHAN; ++i) {
PX4_INFO("chan: %d; value: %d", (int)adc_msgs[i].am_channel,
adc_msgs[i].am_data);
}
return PX4_OK;
} else {
PX4_WARN("action (%s) not supported", argv[1]);
return PX4_ERROR;
}
return PX4_OK;
}

23
boards/emlid/navio2/src/board_config.h
View File

@@ -50,13 +50,13 @@
#define BOARD_MAX_LEDS 1 // Number of external LED's this board has
/*
* I2C busses
*/
// I2C
#define PX4_I2C_BUS_EXPANSION 1
#define PX4_NUMBER_I2C_BUSES 1
// SPI
#define PX4_SPI_BUS_SENSORS 0
#define PX4_SPIDEV_UBLOX PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 0) // spidev0.0 - ublox m8n
@@ -64,9 +64,20 @@
#define PX4_SPIDEV_LSM9DS1_M PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 2) // spidev0.2 - lsm9ds1 mag
#define PX4_SPIDEV_LSM9DS1_AG PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 3) // spidev0.3 - lsm9ds1 accel/gyro
// Battery ADC channels
#define ADC_BATTERY_VOLTAGE_CHANNEL 2
#define ADC_BATTERY_CURRENT_CHANNEL 3
// ADC channels:
// A0 - board voltage (shows 5V)
// A1 - servo rail voltage
// A2 - power module voltage (ADC0, POWER port)
// A3 - power module current (ADC1, POWER port)
// A4 - ADC2 (ADC port)
// A5 - ADC3 (ADC port)
#define ADC_CHANNELS (1 << 0) | (1 << 1) | (1 << 2) | (1 << 3) | (1 << 4) | (1 << 5)
#define ADC_BATTERY_VOLTAGE_CHANNEL 2
#define ADC_BATTERY_CURRENT_CHANNEL 3
#define ADC_5V_RAIL_SENSE 0
#include <system_config.h>
#include <px4_platform_common/board_common.h>