forked from Archive/PX4-Autopilot
UAVCAN baro driver
This commit is contained in:
Pavel Kirienko
parent
2a6ab537b2
commit
6870cd4d3d
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@ -50,7 +50,8 @@ SRCS += actuators/esc.cpp
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# Sensors
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SRCS += sensors/sensor_bridge.cpp \
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sensors/gnss.cpp \
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sensors/mag.cpp
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sensors/mag.cpp \
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sensors/baro.cpp
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#
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# libuavcan
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@ -0,0 +1,147 @@
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/****************************************************************************
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*
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* Copyright (C) 2014 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @author Pavel Kirienko <pavel.kirienko@gmail.com>
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*/
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#include "baro.hpp"
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#include <cmath>
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const char *const UavcanBarometerBridge::NAME = "baro";
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UavcanBarometerBridge::UavcanBarometerBridge(uavcan::INode& node) :
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device::CDev("uavcan_baro", "/dev/uavcan/baro"),
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_sub_air_data(node)
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{
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}
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UavcanBarometerBridge::~UavcanBarometerBridge()
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{
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if (_class_instance > 0) {
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(void)unregister_class_devname(BARO_DEVICE_PATH, _class_instance);
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}
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}
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int UavcanBarometerBridge::init()
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{
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// Init the libuavcan subscription
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int res = _sub_air_data.start(AirDataCbBinder(this, &UavcanBarometerBridge::air_data_sub_cb));
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if (res < 0) {
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log("failed to start uavcan sub: %d", res);
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return res;
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}
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// Detect our device class
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_class_instance = register_class_devname(BARO_DEVICE_PATH);
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switch (_class_instance) {
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case CLASS_DEVICE_PRIMARY: {
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_orb_id = ORB_ID(sensor_baro0);
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break;
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}
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case CLASS_DEVICE_SECONDARY: {
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_orb_id = ORB_ID(sensor_baro1);
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break;
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}
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default: {
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log("invalid class instance: %d", _class_instance);
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(void)unregister_class_devname(BARO_DEVICE_PATH, _class_instance);
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return -1;
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}
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}
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log("inited with class instance %d", _class_instance);
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return 0;
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}
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int UavcanBarometerBridge::ioctl(struct file *filp, int cmd, unsigned long arg)
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{
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switch (cmd) {
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case BAROIOCSMSLPRESSURE: {
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if ((arg < 80000) || (arg > 120000)) {
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return -EINVAL;
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} else {
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log("new msl pressure %u", _msl_pressure);
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_msl_pressure = arg;
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return OK;
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}
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}
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case BAROIOCGMSLPRESSURE: {
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return _msl_pressure;
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}
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default: {
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return CDev::ioctl(filp, cmd, arg);
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}
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}
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}
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void UavcanBarometerBridge::air_data_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::air_data::StaticAirData> &msg)
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{
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auto report = ::baro_report();
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report.timestamp = msg.getUtcTimestamp().toUSec();
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if (report.timestamp == 0) {
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report.timestamp = msg.getMonotonicTimestamp().toUSec();
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}
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report.temperature = msg.static_temperature;
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report.pressure = msg.static_pressure / 100.0F; // Convert to millibar
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/*
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* Altitude computation
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* Refer to the MS5611 driver for details
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*/
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const double T1 = 15.0 + 273.15; // temperature at base height in Kelvin
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const double a = -6.5 / 1000; // temperature gradient in degrees per metre
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const double g = 9.80665; // gravity constant in m/s/s
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const double R = 287.05; // ideal gas constant in J/kg/K
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const double p1 = _msl_pressure / 1000.0; // current pressure at MSL in kPa
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const double p = double(msg.static_pressure) / 1000.0; // measured pressure in kPa
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report.altitude = (((std::pow((p / p1), (-(a * R) / g))) * T1) - T1) / a;
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/*
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* Publish
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*/
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if (_orb_advert >= 0) {
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orb_publish(_orb_id, _orb_advert, &report);
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} else {
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_orb_advert = orb_advertise(_orb_id, &report);
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if (_orb_advert < 0) {
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log("ADVERT FAIL");
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} else {
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log("advertised");
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}
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}
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}
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@ -0,0 +1,73 @@
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/****************************************************************************
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*
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* Copyright (C) 2014 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @author Pavel Kirienko <pavel.kirienko@gmail.com>
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*/
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#pragma once
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#include "sensor_bridge.hpp"
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#include <drivers/drv_baro.h>
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#include <drivers/device/device.h>
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#include <uavcan/equipment/air_data/StaticAirData.hpp>
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class UavcanBarometerBridge : public IUavcanSensorBridge, public device::CDev
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{
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public:
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static const char *const NAME;
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UavcanBarometerBridge(uavcan::INode& node);
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~UavcanBarometerBridge() override;
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const char *get_name() const override { return NAME; }
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int init() override;
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private:
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int ioctl(struct file *filp, int cmd, unsigned long arg) override;
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void air_data_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::air_data::StaticAirData> &msg);
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typedef uavcan::MethodBinder<UavcanBarometerBridge*,
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void (UavcanBarometerBridge::*)
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(const uavcan::ReceivedDataStructure<uavcan::equipment::air_data::StaticAirData>&)>
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AirDataCbBinder;
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uavcan::Subscriber<uavcan::equipment::air_data::StaticAirData, AirDataCbBinder> _sub_air_data;
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unsigned _msl_pressure = 101325;
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orb_id_t _orb_id = nullptr;
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orb_advert_t _orb_advert = -1;
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int _class_instance = -1;
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};
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@ -38,6 +38,7 @@
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#include "sensor_bridge.hpp"
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#include "gnss.hpp"
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#include "mag.hpp"
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#include "baro.hpp"
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IUavcanSensorBridge* IUavcanSensorBridge::make(uavcan::INode &node, const char *bridge_name)
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{
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@ -45,6 +46,8 @@ IUavcanSensorBridge* IUavcanSensorBridge::make(uavcan::INode &node, const char *
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return new UavcanGnssBridge(node);
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} else if (!std::strncmp(UavcanMagnetometerBridge::NAME, bridge_name, MAX_NAME_LEN)) {
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return new UavcanMagnetometerBridge(node);
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} else if (!std::strncmp(UavcanBarometerBridge::NAME, bridge_name, MAX_NAME_LEN)) {
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return new UavcanBarometerBridge(node);
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} else {
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return nullptr;
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}
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