forked from Archive/PX4-Autopilot
MS5611 driver wrapper for RPi
This commit is contained in:
Hidenori
Lorenz Meier
parent
f0dbae2e19
commit
ef729ab2d8
|
|
@ -11,6 +11,7 @@ set(CMAKE_PROGRAM_PATH
|
|||
# or if it is for the RPi.
|
||||
add_definitions(
|
||||
-D__PX4_POSIX_RPI2
|
||||
-D__LINUX
|
||||
)
|
||||
|
||||
set(config_module_list
|
||||
|
|
@ -20,10 +21,12 @@ set(config_module_list
|
|||
drivers/device
|
||||
modules/sensors
|
||||
platforms/posix/drivers/df_mpu9250_wrapper
|
||||
platforms/posix/drivers/df_bmp280_wrapper
|
||||
platforms/posix/drivers/df_hmc5883_wrapper
|
||||
platforms/posix/drivers/df_trone_wrapper
|
||||
platforms/posix/drivers/df_isl29501_wrapper
|
||||
#platforms/posix/drivers/df_bmp280_wrapper
|
||||
#platforms/posix/drivers/df_hmc5883_wrapper
|
||||
#platforms/posix/drivers/df_trone_wrapper
|
||||
#platforms/posix/drivers/df_isl29501_wrapper
|
||||
platforms/posix/drivers/df_lsm9ds1_wrapper
|
||||
platforms/posix/drivers/df_ms5611_wrapper
|
||||
|
||||
#
|
||||
# System commands
|
||||
|
|
@ -102,8 +105,10 @@ set(config_module_list
|
|||
|
||||
set(config_df_driver_list
|
||||
mpu9250
|
||||
bmp280
|
||||
hmc5883
|
||||
#bmp280
|
||||
#hmc5883
|
||||
trone
|
||||
isl29501
|
||||
#isl29501
|
||||
lsm9ds1
|
||||
ms5611
|
||||
)
|
||||
|
|
|
|||
|
|
@ -0,0 +1,46 @@
|
|||
############################################################################
|
||||
#
|
||||
# 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
|
||||
platforms__common
|
||||
df_driver_framework
|
||||
df_ms5611
|
||||
)
|
||||
# vim: set noet ft=cmake fenc=utf-8 ff=unix :
|
||||
|
|
@ -0,0 +1,322 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* 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_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_getopt.h>
|
||||
#include <errno.h>
|
||||
|
||||
#include <systemlib/perf_counter.h>
|
||||
#include <systemlib/err.h>
|
||||
|
||||
#include <drivers/drv_baro.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);
|
||||
|
||||
baro_report baro_report = {};
|
||||
baro_report.timestamp = hrt_absolute_time();
|
||||
|
||||
baro_report.pressure = data.pressure_pa;
|
||||
baro_report.temperature = data.temperature_c;
|
||||
|
||||
// TODO: verify this, it's just copied from the MS5611 driver.
|
||||
|
||||
// Constant for now
|
||||
const double MSL_PRESSURE_KPA = 101325.0 / 1000.0;
|
||||
|
||||
/* tropospheric properties (0-11km) for standard atmosphere */
|
||||
const double T1 = 15.0 + 273.15; /* temperature at base height in Kelvin */
|
||||
const double a = -6.5 / 1000; /* temperature gradient in degrees per metre */
|
||||
const double g = 9.80665; /* gravity constant in m/s/s */
|
||||
const double R = 287.05; /* ideal gas constant in J/kg/K */
|
||||
|
||||
/* current pressure at MSL in kPa */
|
||||
double p1 = MSL_PRESSURE_KPA;
|
||||
|
||||
/* measured pressure in kPa */
|
||||
double p = static_cast<double>(data.pressure_pa) / 1000.0;
|
||||
|
||||
/*
|
||||
* Solve:
|
||||
*
|
||||
* / -(aR / g) \
|
||||
* | (p / p1) . T1 | - T1
|
||||
* \ /
|
||||
* h = ------------------------------- + h1
|
||||
* a
|
||||
*/
|
||||
baro_report.altitude = (((pow((p / p1), (-(a * R) / g))) * T1) - T1) / a;
|
||||
|
||||
// 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);
|
||||
}
|
||||
}
|
||||
|
||||
/* Notify anyone waiting for data. */
|
||||
DevMgr::updateNotify(*this);
|
||||
|
||||
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;
|
||||
}
|
||||
Loading…
Reference in New Issue