dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

sdp3x_airspeed posix port

This commit is contained in:
Daniel Agar 2017-08-24 21:27:18 -04:00 committed by Lorenz Meier
parent 9cd25d604b
commit 641a90708c
4 changed files with 32 additions and 36 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
cmake/configs/posix_rpi_common.cmake
View File

@ -20,6 +20,7 @@ set(config_module_list
drivers/airspeed
drivers/ms4525_airspeed
drivers/ms5525_airspeed
drivers/sdp3x_airspeed
modules/sensors
platforms/posix/drivers/df_mpu9250_wrapper

1
cmake/configs/posix_sitl_default.cmake
View File

@ -13,6 +13,7 @@ set(config_module_list
drivers/airspeed
drivers/ms4525_airspeed
drivers/ms5525_airspeed
drivers/sdp3x_airspeed
modules/sensors
platforms/posix/drivers/accelsim

1
src/drivers/sdp3x_airspeed/SDP3X.hpp
View File

@ -107,7 +107,6 @@ private:
*/
int write_command(uint16_t command);
bool _inited{false};
uint16_t _scale{0};
};

65
src/drivers/sdp3x_airspeed/SDP3X_main.cpp
View File

@ -88,17 +88,17 @@ start(int i2c_bus)
}
/* set the poll rate to default, starts automatic data collection */
fd = open(PATH_SDP3X, O_RDONLY);
fd = px4_open(PATH_SDP3X, O_RDONLY);
if (fd < 0) {
goto fail;
}
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
if (px4_ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
goto fail;
}
exit(0);
return;
fail:
@ -108,7 +108,6 @@ fail:
}
PX4_WARN("no SDP3X airspeed sensor connected");
exit(1);
}
// stop the driver
@ -119,10 +118,8 @@ void stop()
g_dev = nullptr;
} else {
errx(1, "driver not running");
PX4_ERR("driver not running");
}
exit(0);
}
// perform some basic functional tests on the driver;
@ -130,49 +127,49 @@ void stop()
// and automatic modes.
void test()
{
int fd = open(PATH_SDP3X, O_RDONLY);
int fd = px4_open(PATH_SDP3X, O_RDONLY);
if (fd < 0) {
PX4_WARN("%s open failed (try 'sdp3x_airspeed start' if the driver is not running", PATH_SDP3X);
exit(1);
return;
}
// do a simple demand read
differential_pressure_s report;
ssize_t sz = read(fd, &report, sizeof(report));
ssize_t sz = px4_read(fd, &report, sizeof(report));
if (sz != sizeof(report)) {
PX4_WARN("immediate read failed");
exit(1);
return;
}
PX4_WARN("single read");
PX4_WARN("diff pressure: %d pa", (int)report.differential_pressure_filtered_pa);
/* start the sensor polling at 2Hz */
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
if (OK != px4_ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
PX4_WARN("failed to set 2Hz poll rate");
exit(1);
return;
}
/* read the sensor 5x and report each value */
for (unsigned i = 0; i < 5; i++) {
struct pollfd fds;
px4_pollfd_struct_t fds;
/* wait for data to be ready */
fds.fd = fd;
fds.events = POLLIN;
int ret = poll(&fds, 1, 2000);
int ret = px4_poll(&fds, 1, 2000);
if (ret != 1) {
errx(1, "timed out");
PX4_ERR("timed out");
}
/* now go get it */
sz = read(fd, &report, sizeof(report));
sz = px4_read(fd, &report, sizeof(report));
if (sz != sizeof(report)) {
err(1, "periodic read failed");
PX4_ERR("periodic read failed");
}
PX4_WARN("periodic read %u", i);
@ -181,32 +178,31 @@ void test()
}
/* reset the sensor polling to its default rate */
if (PX4_OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT)) {
if (PX4_OK != px4_ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT)) {
PX4_WARN("failed to set default rate");
exit(1);
return;
}
exit(0);
}
// reset the driver
void reset()
{
int fd = open(PATH_SDP3X, O_RDONLY);
int fd = px4_open(PATH_SDP3X, O_RDONLY);
if (fd < 0) {
err(1, "failed ");
PX4_ERR("failed ");
return;
}
if (ioctl(fd, SENSORIOCRESET, 0) < 0) {
err(1, "driver reset failed");
if (px4_ioctl(fd, SENSORIOCRESET, 0) < 0) {
PX4_ERR("driver reset failed");
return;
}
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
err(1, "driver poll restart failed");
if (px4_ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
PX4_ERR("driver poll restart failed");
return;
}
exit(0);
}
// print a little info about the driver
@ -214,13 +210,11 @@ void
info()
{
if (g_dev == nullptr) {
errx(1, "driver not running");
PX4_ERR("driver not running");
}
printf("state @ %p\n", g_dev);
PX4_INFO("state @ %p", g_dev);
g_dev->print_info();
exit(0);
}
} // namespace sdp3x_airspeed
@ -285,5 +279,6 @@ sdp3x_airspeed_main(int argc, char *argv[])
}
sdp3x_airspeed_usage();
exit(0);
return PX4_OK;
}