diff --git a/cmake/configs/qurt_eagle_default.cmake b/cmake/configs/qurt_eagle_default.cmake index c359a1c1c9..e5bc74e0e7 100644 --- a/cmake/configs/qurt_eagle_default.cmake +++ b/cmake/configs/qurt_eagle_default.cmake @@ -38,6 +38,7 @@ set(config_module_list # $(EAGLE_DRIVERS_SRC)/rc_receiver # $(EAGLE_DRIVERS_SRC)/csr_gps platforms/posix/drivers/df_mpu9250_wrapper + platforms/posix/drivers/df_bmp280_wrapper # # System commands diff --git a/posix-configs/eagle/flight/px4-flight.config b/posix-configs/eagle/flight/px4-flight.config index 3dc87a869c..ed6916acab 100644 --- a/posix-configs/eagle/flight/px4-flight.config +++ b/posix-configs/eagle/flight/px4-flight.config @@ -1,6 +1,6 @@ uorb start -sleep 1 df_mpu9250_wrapper start +df_bmp280_wrapper start sensors start commander start attitude_estimator_q start diff --git a/src/platforms/posix/drivers/df_bmp280_wrapper/CMakeLists.txt b/src/platforms/posix/drivers/df_bmp280_wrapper/CMakeLists.txt new file mode 100644 index 0000000000..2889e74f27 --- /dev/null +++ b/src/platforms/posix/drivers/df_bmp280_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_bmp280_wrapper + MAIN df_bmp280_wrapper + SRCS + df_bmp280_wrapper.cpp + DEPENDS + platforms__common + df_driver_framework + df_bmp280 + ) +# vim: set noet ft=cmake fenc=utf-8 ff=unix : diff --git a/src/platforms/posix/drivers/df_bmp280_wrapper/df_bmp280_wrapper.cpp b/src/platforms/posix/drivers/df_bmp280_wrapper/df_bmp280_wrapper.cpp new file mode 100644 index 0000000000..ebb91a652d --- /dev/null +++ b/src/platforms/posix/drivers/df_bmp280_wrapper/df_bmp280_wrapper.cpp @@ -0,0 +1,306 @@ +/**************************************************************************** + * + * 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 DfBmp280Wrapper.cpp + * Lightweight driver to access the BMP280 of the DriverFramework. + * + * @author Julian Oes + */ + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +#include + +#include +//#include + +#include +#include + + +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() +{ + // TODO: don't publish garbage here + baro_report baro_report = {}; + _baro_topic = orb_advertise_multi(ORB_ID(sensor_baro), &baro_report, + &_baro_orb_class_instance, ORB_PRIO_DEFAULT); + if (_baro_topic == nullptr) { + PX4_ERR("sensor_baro advert fail"); + return -1; + } + + /* 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; + } + + 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) +{ +#if 1 + perf_begin(_baro_sample_perf); + + baro_report baro_report = {}; + baro_report.timestamp = data.last_read_time_usec; + + baro_report.pressure = data.pressure_pa; + baro_report.temperature = data.temperature_c; + + // TODO: add this + baro_report.altitude = -1.0f; + + // TODO: when is this ever blocked? + if (!(m_pub_blocked)) { + + if (_baro_topic != nullptr) { + orb_publish(ORB_ID(sensor_baro), _baro_topic, &baro_report); + } + } + + /* Notify anyone waiting for data. */ + DevMgr::updateNotify(*this); + + perf_end(_baro_sample_perf); +#endif + + 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; +}