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aerofc: Implement ADC 

Measure the battery voltage of Aero RTF kit will be done by FPGA
and read by AeroFC using I2C bus.

The protocol is a little bit odd, it have different I2C slave
address for each "register", in future the FPGA RTL will
have a protocol more similar to other I2C sensors.

Also Aero RTF don't have a ADC line to measure current consumption.
This commit is contained in:
José Roberto de Souza 2016-10-27 15:21:58 -02:00 committed by Lorenz Meier
parent 71e48c937e
commit 53f2c1eb19
5 changed files with 286 additions and 3 deletions
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11
ROMFS/px4fmu_common/init.d/rc.sensors
View File

@ -52,8 +52,13 @@ else
fi
fi
if adc start
if ver hwcmp AEROFC_V1
then
# Aero FC uses separate driver
else
if adc start
then
fi
fi
if ver hwcmp AUAV_X21
@ -344,6 +349,10 @@ then
if hmc5883 -X start
then
fi
if aerofc_adc start
then
fi
fi
if meas_airspeed start

2
cmake/configs/nuttx_aerofc-v1_default.cmake
View File

@ -12,7 +12,6 @@ set(config_module_list
#
drivers/device
drivers/stm32
drivers/stm32/adc
drivers/led
drivers/px4fmu
drivers/boards/aerofc-v1
@ -22,6 +21,7 @@ set(config_module_list
drivers/hmc5883
drivers/gps
drivers/ist8310
drivers/aerofc_adc
modules/sensors
# dummy tone alarm
modules/dummy

43
src/drivers/aerofc_adc/CMakeLists.txt Normal file
View File

@ -0,0 +1,43 @@
############################################################################
#
# Copyright (C) 2016 Intel Corporation. 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.
#
############################################################################
px4_add_module(
MODULE drivers__aerofc_adc
MAIN aerofc_adc
COMPILE_FLAGS
-Os
SRCS
aerofc_adc.cpp
DEPENDS
platforms__common
)
# vim: set noet ft=cmake fenc=utf-8 ff=unix :

231
src/drivers/aerofc_adc/aerofc_adc.cpp Normal file
View File

@ -0,0 +1,231 @@
/****************************************************************************
*
* Copyright (C) 2016 Intel Corporation. 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 <px4_config.h>
#include <px4_defines.h>
#include <arch/board/board.h>
#include <nuttx/arch.h>
#include <nuttx/wqueue.h>
#include <board_config.h>
#include <drivers/device/i2c.h>
#include <drivers/drv_adc.h>
#include <systemlib/err.h>
#define SLAVE_ADDR 0x50
#define ENABLE_ADC_REG 0x00
#define ADC_CHANNEL_1_REG 0x01
#define ADC_CHANNEL_2_REG 0x02
#define ADC_CHANNEL_3_REG 0x03
#define ADC_CHANNEL_4_REG 0x04
#define ADC_CHANNEL_5_REG 0x05
#define MAX_CHANNEL 5
// 10Hz
#define CYCLE_TICKS_DELAY MSEC2TICK(100)
extern "C" { __EXPORT int aerofc_adc_main(int argc, char *argv[]); }
class AEROFC_ADC : public device::I2C
{
public:
AEROFC_ADC(uint8_t bus);
virtual ~AEROFC_ADC();
virtual int init();
virtual int ioctl(file *filp, int cmd, unsigned long arg);
virtual ssize_t read(file *filp, char *buffer, size_t len);
private:
virtual int probe();
void cycle();
static void cycle_trampoline(void *arg);
struct work_s _work;
adc_msg_s _samples[MAX_CHANNEL];
pthread_mutex_t _samples_mutex;
};
static AEROFC_ADC *instance = nullptr;
int aerofc_adc_main(int argc, char *argv[])
{
if (argc < 2) {
warn("Missing action <start>");
return PX4_OK;
}
if (!strcmp(argv[1], "start")) {
if (instance) {
warn("AEROFC_ADC was already started");
}
instance = new AEROFC_ADC(PX4_I2C_BUS_EXPANSION);
if (!instance) {
warn("No memory to instance AEROFC_ADC");
return PX4_OK;
}
if (instance->init() != PX4_OK) {
delete instance;
instance = nullptr;
}
} else {
warn("Action not supported");
}
return PX4_OK;
}
AEROFC_ADC::AEROFC_ADC(uint8_t bus) :
I2C("AEROFC_ADC", ADC0_DEVICE_PATH, bus, 0, 400000)
{
for (unsigned i = 0; i < MAX_CHANNEL; i++) {
_samples[i].am_channel = i + 1;
}
pthread_mutex_init(&_samples_mutex, NULL);
}
AEROFC_ADC::~AEROFC_ADC()
{
work_cancel(HPWORK, &_work);
}
int AEROFC_ADC::init()
{
int ret = I2C::init();
if (ret != PX4_OK) {
return ret;
}
work_queue(HPWORK, &_work, (worker_t)&AEROFC_ADC::cycle_trampoline, this,
CYCLE_TICKS_DELAY);
return PX4_OK;
}
int AEROFC_ADC::probe()
{
uint8_t buffer[1];
int ret;
_retries = 3;
set_address(SLAVE_ADDR | ENABLE_ADC_REG);
buffer[0] = 1;
ret = transfer(buffer, sizeof(buffer), NULL, 0);
if (ret != PX4_OK) {
goto error;
}
buffer[0] = 0;
ret = transfer(0, 0, buffer, sizeof(buffer));
if (ret != PX4_OK || buffer[0] != 1) {
goto error;
}
return PX4_OK;
error:
warn("AEROFC_ADC not found");
return -EIO;
}
int
AEROFC_ADC::ioctl(file *filp, int cmd, unsigned long arg)
{
return -ENOTTY;
}
ssize_t
AEROFC_ADC::read(file *filp, char *buffer, size_t len)
{
if (len > sizeof(_samples)) {
len = sizeof(_samples);
}
pthread_mutex_lock(&_samples_mutex);
memcpy(buffer, _samples, len);
pthread_mutex_unlock(&_samples_mutex);
return len;
}
void
AEROFC_ADC::cycle_trampoline(void *arg)
{
AEROFC_ADC *dev = reinterpret_cast<AEROFC_ADC * >(arg);
dev->cycle();
}
void
AEROFC_ADC::cycle()
{
int32_t value[MAX_CHANNEL];
for (uint8_t i = 0; i < MAX_CHANNEL; i++) {
int ret;
uint8_t buffer[2];
set_address(SLAVE_ADDR | (ADC_CHANNEL_1_REG + i));
ret = transfer(0, 0, buffer, sizeof(buffer));
if (ret != PX4_OK) {
warn("Error reading channel %u", i + 1);
}
value[i] = (int32_t)(buffer[0] | (buffer[1] << 8));
}
pthread_mutex_lock(&_samples_mutex);
for (uint8_t i = 0; i < MAX_CHANNEL; i++) {
_samples[i].am_data = value[i];
}
pthread_mutex_unlock(&_samples_mutex);
work_queue(HPWORK, &_work, (worker_t)&AEROFC_ADC::cycle_trampoline, this,
CYCLE_TICKS_DELAY);
}

2
src/drivers/boards/aerofc-v1/board_config.h
View File

@ -99,7 +99,7 @@
* ADC defines just to not break sensors.cpp build, battery voltage and current
* will be read in another way in future.
*/
#define ADC_BATTERY_VOLTAGE_CHANNEL 0
#define ADC_BATTERY_VOLTAGE_CHANNEL 5
#define ADC_BATTERY_CURRENT_CHANNEL ((uint8_t)(-1))
#define DIRECT_PWM_OUTPUT_CHANNELS 1