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deprecate df_ms5611_wrapper and df_ms5607_wrapper (replaced with in tree ms5611 driver)

This commit is contained in:
Daniel Agar 2019-12-30 18:04:19 -05:00
parent e48b8b1abe
commit 213c6a1923
14 changed files with 7 additions and 689 deletions
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1
boards/aerotenna/ocpoc/default.cmake
View File

@ -28,7 +28,6 @@ px4_add_board(
DF_DRIVERS # NOTE: DriverFramework is migrating to intree PX4 drivers
hmc5883
mpu9250
ms5611
MODULES
airspeed_selector
attitude_estimator_q

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

@ -29,7 +29,6 @@ px4_add_board(
isl29501
lsm9ds1
mpu9250
ms5611
trone
MODULES
airspeed_selector

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

@ -27,7 +27,6 @@ px4_add_board(
isl29501
lsm9ds1
mpu9250
ms5611
trone
MODULES
airspeed_selector

2
boards/parrot/bebop/default.cmake
View File

@ -7,12 +7,12 @@ px4_add_board(
TOOLCHAIN arm-linux-gnueabihf
DRIVERS
barometer/ms5611
gps
linux_sbus
pwm_out_sim
DF_DRIVERS # NOTE: DriverFramework is migrating to intree PX4 drivers
ms5607
mpu6050
ak8963
bebop_bus

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

@ -36,7 +36,7 @@ param set MC_PITCHRATE_I 0.8
param set MC_PITCHRATE_D 0.0
param set MC_PR_INT_LIM 0.3
df_ms5607_wrapper start
ms5611 -T 5607 -I start
df_mpu6050_wrapper start -R 8
df_ak8963_wrapper start -R 32
# Rangefinder disabled for now. It was found to cause delays of more than 10ms

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

@ -17,7 +17,7 @@ param set MAV_SYS_ID 1
df_mpu9250_wrapper start_without_mag -R 10
df_hmc5883_wrapper start -D /dev/i2c-4
df_ms5611_wrapper start
ms5611 start
rgbled start -b 1
ocpoc_adc start
gps start -d /dev/ttyS3 -s

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

@ -20,7 +20,7 @@ dataman start
df_lsm9ds1_wrapper start -R 4
#df_mpu9250_wrapper start -R 10
#df_hmc5883_wrapper start
df_ms5611_wrapper start
ms5611 start
navio_rgbled start
navio_adc start
gps start -d /dev/spidev0.0 -i spi -p ubx

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

@ -19,7 +19,7 @@ param set BAT_A_PER_V 15.391030303
dataman start
df_lsm9ds1_wrapper start -R 4
df_ms5611_wrapper start
ms5611 start
navio_rgbled start
navio_adc start
gps start -d /dev/spidev0.0 -i spi -p ubx

2
posix-configs/rpi/px4_no_shield.config
View File

@ -15,7 +15,7 @@ param set MAV_BROADCAST 1
sleep 1
param set MAV_TYPE 2
df_mpu9250_wrapper start -R 10
df_ms5611_wrapper start
ms5611 start
gps start -d /dev/ttyACM0 -i uart -p ubx
rc_update start
sensors start

2
posix-configs/rpi/px4_test.config
View File

@ -20,7 +20,7 @@ dataman start
df_lsm9ds1_wrapper start -R 4
#df_mpu9250_wrapper start -R 10
#df_hmc5883_wrapper start
df_ms5611_wrapper start
ms5611 start
navio_rgbled start
navio_adc start
gps start -d /dev/spidev0.0 -i spi -p ubx

45
src/drivers/driver_framework_wrapper/df_ms5607_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_ms5607_wrapper
MAIN df_ms5607_wrapper
SRCS
df_ms5607_wrapper.cpp
DEPENDS
git_driverframework
df_driver_framework
df_ms5607
)

294
src/drivers/driver_framework_wrapper/df_ms5607_wrapper/df_ms5607_wrapper.cpp
View File

@ -1,294 +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_ms5607_wrapper.cpp
* Lightweight driver to access the MS5607 of the DriverFramework.
*/
#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_baro.h>
#include <drivers/drv_hrt.h>
#include <board_config.h>
#include <ms5607/MS5607.hpp>
#include <DevMgr.hpp>
extern "C" { __EXPORT int df_ms5607_wrapper_main(int argc, char *argv[]); }
using namespace DriverFramework;
class DfMS5607Wrapper : public MS5607
{
public:
DfMS5607Wrapper();
~DfMS5607Wrapper();
/**
* 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;
};
DfMS5607Wrapper::DfMS5607Wrapper() :
MS5607(BARO_DEVICE_PATH),
_baro_topic(nullptr),
_baro_orb_class_instance(-1),
_baro_sample_perf(perf_alloc(PC_ELAPSED, "df_baro_read"))
{
}
DfMS5607Wrapper::~DfMS5607Wrapper()
{
perf_free(_baro_sample_perf);
}
int DfMS5607Wrapper::start()
{
/* Init device and start sensor. */
int ret = init();
if (ret != 0) {
PX4_ERR("MS5607 init fail: %d", ret);
return ret;
}
ret = MS5607::start();
if (ret != 0) {
PX4_ERR("MS5607 start fail: %d", ret);
return ret;
}
return 0;
}
int DfMS5607Wrapper::stop()
{
/* Stop sensor. */
int ret = MS5607::stop();
if (ret != 0) {
PX4_ERR("MS5607 stop fail: %d", ret);
return ret;
}
return 0;
}
int DfMS5607Wrapper::_publish(struct baro_sensor_data &data)
{
perf_begin(_baro_sample_perf);
sensor_baro_s baro_report{};
baro_report.timestamp = hrt_absolute_time();
baro_report.pressure = data.pressure_pa / 100.0f; // convert to mbar
baro_report.temperature = data.temperature_c;
baro_report.error_count = data.error_counter;
baro_report.device_id = m_id.dev_id;
// 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_ms5607_wrapper
{
DfMS5607Wrapper *g_dev = nullptr;
int start(/* enum Rotation rotation */);
int stop();
int info();
void usage();
int start(/*enum Rotation rotation*/)
{
g_dev = new DfMS5607Wrapper(/*rotation*/);
if (g_dev == nullptr) {
PX4_ERR("failed instantiating DfMS5607Wrapper object");
return -1;
}
int ret = g_dev->start();
if (ret != 0) {
PX4_ERR("DfMS5607Wrapper 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_ms5607_wrapper 'start', 'info', 'stop'");
}
} // namespace df_ms5607_wrapper
int
df_ms5607_wrapper_main(int argc, char *argv[])
{
int ret = 0;
int myoptind = 1;
if (argc <= 1) {
df_ms5607_wrapper::usage();
return 1;
}
const char *verb = argv[myoptind];
if (!strcmp(verb, "start")) {
ret = df_ms5607_wrapper::start();
}
else if (!strcmp(verb, "stop")) {
ret = df_ms5607_wrapper::stop();
}
else if (!strcmp(verb, "info")) {
ret = df_ms5607_wrapper::info();
}
else {
df_ms5607_wrapper::usage();
return 1;
}
return ret;
}

46
src/drivers/driver_framework_wrapper/df_ms5611_wrapper/CMakeLists.txt
View File

@ -1,46 +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_ms5611_wrapper
MAIN df_ms5611_wrapper
SRCS
df_ms5611_wrapper.cpp
DEPENDS
git_driverframework
df_driver_framework
df_ms5611
)

294
src/drivers/driver_framework_wrapper/df_ms5611_wrapper/df_ms5611_wrapper.cpp
View File

@ -1,294 +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_ms5611_wrapper.cpp
* Lightweight driver to access the MS5611 of the DriverFramework.
*/
#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_baro.h>
#include <drivers/drv_hrt.h>
#include <board_config.h>
#include <ms5611/MS5611.hpp>
#include <DevMgr.hpp>
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);
sensor_baro_s baro_report{};
baro_report.timestamp = hrt_absolute_time();
baro_report.pressure = data.pressure_pa / 100.0f; // convert to mbar
baro_report.temperature = data.temperature_c;
baro_report.error_count = data.error_counter;
baro_report.device_id = m_id.dev_id;
// 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_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;
}