diff --git a/cmake/configs/posix_rpi2_release.cmake b/cmake/configs/posix_rpi2_release.cmake index 64d20d2fbb..4065b3240c 100644 --- a/cmake/configs/posix_rpi2_release.cmake +++ b/cmake/configs/posix_rpi2_release.cmake @@ -11,6 +11,7 @@ set(CMAKE_PROGRAM_PATH # or if it is for the RPi. add_definitions( -D__PX4_POSIX_RPI2 + -D__LINUX ) set(config_module_list @@ -20,10 +21,12 @@ set(config_module_list drivers/device modules/sensors platforms/posix/drivers/df_mpu9250_wrapper - platforms/posix/drivers/df_bmp280_wrapper - platforms/posix/drivers/df_hmc5883_wrapper - platforms/posix/drivers/df_trone_wrapper - platforms/posix/drivers/df_isl29501_wrapper + #platforms/posix/drivers/df_bmp280_wrapper + #platforms/posix/drivers/df_hmc5883_wrapper + #platforms/posix/drivers/df_trone_wrapper + #platforms/posix/drivers/df_isl29501_wrapper + platforms/posix/drivers/df_lsm9ds1_wrapper + platforms/posix/drivers/df_ms5611_wrapper # # System commands @@ -102,8 +105,10 @@ set(config_module_list set(config_df_driver_list mpu9250 - bmp280 - hmc5883 + #bmp280 + #hmc5883 trone - isl29501 + #isl29501 + lsm9ds1 + ms5611 ) diff --git a/src/platforms/posix/drivers/df_ms5611_wrapper/CMakeLists.txt b/src/platforms/posix/drivers/df_ms5611_wrapper/CMakeLists.txt new file mode 100644 index 0000000000..a84bd5114b --- /dev/null +++ b/src/platforms/posix/drivers/df_ms5611_wrapper/CMakeLists.txt @@ -0,0 +1,46 @@ +############################################################################ +# +# 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_ms5611_wrapper + MAIN df_ms5611_wrapper + SRCS + df_ms5611_wrapper.cpp + DEPENDS + platforms__common + df_driver_framework + df_ms5611 + ) +# vim: set noet ft=cmake fenc=utf-8 ff=unix : diff --git a/src/platforms/posix/drivers/df_ms5611_wrapper/df_ms5611_wrapper.cpp b/src/platforms/posix/drivers/df_ms5611_wrapper/df_ms5611_wrapper.cpp new file mode 100644 index 0000000000..2938f17495 --- /dev/null +++ b/src/platforms/posix/drivers/df_ms5611_wrapper/df_ms5611_wrapper.cpp @@ -0,0 +1,322 @@ +/**************************************************************************** + * + * 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_ms5611_wrapper.cpp + * Lightweight driver to access the MS5611 of the DriverFramework. + */ + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +#include + +#include + +#include +#include + + +extern "C" { __EXPORT int df_ms5611_wrapper_main(int argc, char *argv[]); } + +using namespace DriverFramework; + + +class DfMS5611Wrapper : public MS5611 +{ +public: + DfMS5611Wrapper(); + ~DfMS5611Wrapper(); + + + /** + * 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; + +}; + +DfMS5611Wrapper::DfMS5611Wrapper() : + MS5611(BARO_DEVICE_PATH), + _baro_topic(nullptr), + _baro_orb_class_instance(-1), + _baro_sample_perf(perf_alloc(PC_ELAPSED, "df_baro_read")) +{ +} + +DfMS5611Wrapper::~DfMS5611Wrapper() +{ + perf_free(_baro_sample_perf); +} + +int DfMS5611Wrapper::start() +{ + /* Init device and start sensor. */ + int ret = init(); + + if (ret != 0) { + PX4_ERR("MS5611 init fail: %d", ret); + return ret; + } + + ret = MS5611::start(); + + if (ret != 0) { + PX4_ERR("MS5611 start fail: %d", ret); + return ret; + } + + return 0; +} + +int DfMS5611Wrapper::stop() +{ + /* Stop sensor. */ + int ret = MS5611::stop(); + + if (ret != 0) { + PX4_ERR("MS5611 stop fail: %d", ret); + return ret; + } + + return 0; +} + +int DfMS5611Wrapper::_publish(struct baro_sensor_data &data) +{ + perf_begin(_baro_sample_perf); + + baro_report baro_report = {}; + baro_report.timestamp = hrt_absolute_time(); + + baro_report.pressure = data.pressure_pa; + baro_report.temperature = data.temperature_c; + + // TODO: verify this, it's just copied from the MS5611 driver. + + // Constant for now + const double MSL_PRESSURE_KPA = 101325.0 / 1000.0; + + /* tropospheric properties (0-11km) for standard atmosphere */ + const double T1 = 15.0 + 273.15; /* temperature at base height in Kelvin */ + const double a = -6.5 / 1000; /* temperature gradient in degrees per metre */ + const double g = 9.80665; /* gravity constant in m/s/s */ + const double R = 287.05; /* ideal gas constant in J/kg/K */ + + /* current pressure at MSL in kPa */ + double p1 = MSL_PRESSURE_KPA; + + /* measured pressure in kPa */ + double p = static_cast(data.pressure_pa) / 1000.0; + + /* + * Solve: + * + * / -(aR / g) \ + * | (p / p1) . T1 | - T1 + * \ / + * h = ------------------------------- + h1 + * a + */ + baro_report.altitude = (((pow((p / p1), (-(a * R) / g))) * T1) - T1) / a; + + // 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); + } + } + + /* Notify anyone waiting for data. */ + DevMgr::updateNotify(*this); + + perf_end(_baro_sample_perf); + + return 0; +}; + + +namespace df_ms5611_wrapper +{ + +DfMS5611Wrapper *g_dev = nullptr; + +int start(/* enum Rotation rotation */); +int stop(); +int info(); +void usage(); + +int start(/*enum Rotation rotation*/) +{ + g_dev = new DfMS5611Wrapper(/*rotation*/); + + if (g_dev == nullptr) { + PX4_ERR("failed instantiating DfMS5611Wrapper object"); + return -1; + } + + int ret = g_dev->start(); + + if (ret != 0) { + PX4_ERR("DfMS5611Wrapper 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_ms5611_wrapper 'start', 'info', 'stop'"); +} + +} // namespace df_ms5611_wrapper + + +int +df_ms5611_wrapper_main(int argc, char *argv[]) +{ + int ret = 0; + int myoptind = 1; + + if (argc <= 1) { + df_ms5611_wrapper::usage(); + return 1; + } + + const char *verb = argv[myoptind]; + + + if (!strcmp(verb, "start")) { + ret = df_ms5611_wrapper::start(); + } + + else if (!strcmp(verb, "stop")) { + ret = df_ms5611_wrapper::stop(); + } + + else if (!strcmp(verb, "info")) { + ret = df_ms5611_wrapper::info(); + } + + else { + df_ms5611_wrapper::usage(); + return 1; + } + + return ret; +}