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Enable ms5611 driver and fix build errors.

This commit is contained in:
Simon Wilks 2015-08-16 15:33:03 +00:00 committed by Lorenz Meier
parent c3a7ef1d50
commit 4eef65f313
6 changed files with 40 additions and 26 deletions
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2
Tools/sitl_run.sh
View File

@ -2,4 +2,4 @@
mkdir -p Build/posix_sitl.build/rootfs/fs/microsd
mkdir -p Build/posix_sitl.build/rootfs/eeprom
cd Build/posix_sitl.build && ./mainapp ../../$1
cd Build/posix_sitl.build && ./mainapp ../$1

2
makefiles/posix/config_posix_sitl.mk
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@ -11,7 +11,7 @@ MODULES += drivers/pwm_out_sim
MODULES += drivers/rgbled
MODULES += drivers/led
MODULES += modules/sensors
#MODULES += drivers/ms5611
MODULES += drivers/ms5611
#
# System commands

2
src/drivers/device/i2c_posix.cpp
View File

@ -49,7 +49,7 @@
#include <fcntl.h>
#include <sys/ioctl.h>
#define PX4_SIMULATE_I2C 1
#define PX4_SIMULATE_I2C 0
static int simulate = PX4_SIMULATE_I2C;
namespace device

52
src/drivers/ms5611/ms5611_posix.cpp
View File

@ -110,8 +110,8 @@ public:
virtual int init();
virtual ssize_t read(device::px4_dev_handle_t *handlep, char *buffer, size_t buflen);
virtual int ioctl(device::px4_dev_handle_t *handlep, int cmd, unsigned long arg);
virtual ssize_t read(device::file_t *handlep, char *buffer, size_t buflen);
virtual int ioctl(device::file_t *handlep, int cmd, unsigned long arg);
/**
* Diagnostics - print some basic information about the driver.
@ -126,7 +126,7 @@ protected:
struct work_s _work;
unsigned _measure_ticks;
RingBuffer *_reports;
ringbuffer::RingBuffer *_reports;
bool _collect_phase;
unsigned _measure_phase;
@ -269,7 +269,7 @@ MS5611::init()
}
/* allocate basic report buffers */
_reports = new RingBuffer(2, sizeof(baro_report));
_reports = new ringbuffer::RingBuffer(2, sizeof(baro_report));
if (_reports == nullptr) {
DEVICE_DEBUG("can't get memory for reports");
@ -337,7 +337,7 @@ out:
}
ssize_t
MS5611::read(device::px4_dev_handle_t *handlep, char *buffer, size_t buflen)
MS5611::read(device::file_t *handlep, char *buffer, size_t buflen)
{
unsigned count = buflen / sizeof(struct baro_report);
struct baro_report *brp = reinterpret_cast<struct baro_report *>(buffer);
@ -407,7 +407,7 @@ MS5611::read(device::px4_dev_handle_t *handlep, char *buffer, size_t buflen)
}
int
MS5611::ioctl(device::px4_dev_handle_t *handlep, int cmd, unsigned long arg)
MS5611::ioctl(device::file_t *handlep, int cmd, unsigned long arg)
{
switch (cmd) {
@ -452,7 +452,7 @@ MS5611::ioctl(device::px4_dev_handle_t *handlep, int cmd, unsigned long arg)
unsigned ticks = USEC2TICK(1000000 / arg);
/* check against maximum rate */
if ((long)ticks < USEC2TICK(MS5611_CONVERSION_INTERVAL))
if ((unsigned long)ticks < USEC2TICK(MS5611_CONVERSION_INTERVAL))
return -EINVAL;
/* update interval for next measurement */
@ -579,7 +579,7 @@ MS5611::cycle()
* doing pressure measurements at something close to the desired rate.
*/
if ((_measure_phase != 0) &&
((long)_measure_ticks > USEC2TICK(MS5611_CONVERSION_INTERVAL))) {
((unsigned long)_measure_ticks > USEC2TICK(MS5611_CONVERSION_INTERVAL))) {
/* schedule a fresh cycle call when we are ready to measure again */
work_queue(HPWORK,
@ -829,7 +829,7 @@ struct ms5611_bus_option {
#define NUM_BUS_OPTIONS (sizeof(bus_options)/sizeof(bus_options[0]))
bool start_bus(struct ms5611_bus_option &bus);
struct ms5611_bus_option &find_bus(enum MS5611_BUS busid);
bool find_bus(enum MS5611_BUS busid, ms5611_bus_option &bus);
int start(enum MS5611_BUS busid);
int test(enum MS5611_BUS busid);
int reset(enum MS5611_BUS busid);
@ -966,16 +966,18 @@ start(enum MS5611_BUS busid)
/**
* find a bus structure for a busid
*/
struct ms5611_bus_option &find_bus(enum MS5611_BUS busid)
bool find_bus(enum MS5611_BUS busid, ms5611_bus_option &bus)
{
for (uint8_t i=0; i<NUM_BUS_OPTIONS; i++) {
if ((busid == MS5611_BUS_ALL ||
busid == bus_options[i].busid) && bus_options[i].dev != NULL) {
return bus_options[i];
bus = bus_options[i];
return true;
}
}
// FIXME - This is fatal to all threads
errx(1, "bus %u not started", (unsigned)busid);
}
PX4_WARN("bus %u not started", (unsigned)busid);
return false;
}
/**
@ -986,7 +988,11 @@ struct ms5611_bus_option &find_bus(enum MS5611_BUS busid)
int
test(enum MS5611_BUS busid)
{
struct ms5611_bus_option &bus = find_bus(busid);
struct ms5611_bus_option bus;
if (!find_bus(busid, bus)) {
return 1;
}
struct baro_report report;
ssize_t sz;
int ret;
@ -1064,7 +1070,11 @@ test(enum MS5611_BUS busid)
int
reset(enum MS5611_BUS busid)
{
struct ms5611_bus_option &bus = find_bus(busid);
struct ms5611_bus_option bus;
if (!find_bus(busid, bus)) {
return 1;
}
int fd;
fd = open(bus.devpath, O_RDONLY);
@ -1107,7 +1117,11 @@ info()
int
calibrate(unsigned altitude, enum MS5611_BUS busid)
{
struct ms5611_bus_option &bus = find_bus(busid);
struct ms5611_bus_option bus;
if (!find_bus(busid, bus)) {
return 1;
}
struct baro_report report;
float pressure;
float p1;
@ -1258,8 +1272,8 @@ ms5611_main(int argc, char *argv[])
* Perform MSL pressure calibration given an altitude in metres
*/
else if (!strcmp(verb, "calibrate")) {
if (argc < 2)
errx(1, "missing altitude");
if (argc < 2)
PX4_WARN("missing altitude");
long altitude = strtol(argv[optind+1], nullptr, 10);

2
src/modules/mc_pos_control_multiplatform/mc_pos_control_start_nuttx.cpp
View File

@ -55,7 +55,7 @@ extern "C" __EXPORT int mc_pos_control_m_main(int argc, char *argv[]);
int mc_pos_control_m_main(int argc, char *argv[])
{
if (argc < 2) {
errx(1, "usage: mc_pos_control_m {start|stop|status}");
PX4_WARN("usage: mc_pos_control_m {start|stop|status}");
}
if (!strcmp(argv[1], "start")) {

6
src/modules/navigator/geofence.cpp
View File

@ -282,13 +282,13 @@ Geofence::addPoint(int argc, char *argv[])
}
if (argc < 3) {
errx(1, "Specify: -clear | sequence latitude longitude [-publish]");
PX4_WARN("Specify: -clear | sequence latitude longitude [-publish]");
}
ix = atoi(argv[0]);
if (ix >= DM_KEY_FENCE_POINTS_MAX) {
errx(1, "Sequence must be less than %d", DM_KEY_FENCE_POINTS_MAX);
PX4_WARN("Sequence must be less than %d", DM_KEY_FENCE_POINTS_MAX);
}
lat = strtod(argv[1], &end);
@ -311,7 +311,7 @@ Geofence::addPoint(int argc, char *argv[])
return;
}
errx(1, "can't store fence point");
PX4_WARN("can't store fence point");
}
void