From f0cd79953fa396096e1a325524893724084d4c26 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Sun, 19 May 2019 10:39:10 -0400 Subject: [PATCH] create PX4Barometer class --- src/lib/drivers/barometer/CMakeLists.txt | 34 +++++++++ src/lib/drivers/barometer/PX4Barometer.cpp | 89 ++++++++++++++++++++++ src/lib/drivers/barometer/PX4Barometer.hpp | 64 ++++++++++++++++ 3 files changed, 187 insertions(+) create mode 100644 src/lib/drivers/barometer/CMakeLists.txt create mode 100644 src/lib/drivers/barometer/PX4Barometer.cpp create mode 100644 src/lib/drivers/barometer/PX4Barometer.hpp diff --git a/src/lib/drivers/barometer/CMakeLists.txt b/src/lib/drivers/barometer/CMakeLists.txt new file mode 100644 index 0000000000..33c2bbf05a --- /dev/null +++ b/src/lib/drivers/barometer/CMakeLists.txt @@ -0,0 +1,34 @@ +############################################################################ +# +# Copyright (c) 2019 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. +# +############################################################################ + +px4_add_library(drivers_barometer PX4Barometer.cpp) diff --git a/src/lib/drivers/barometer/PX4Barometer.cpp b/src/lib/drivers/barometer/PX4Barometer.cpp new file mode 100644 index 0000000000..599d529382 --- /dev/null +++ b/src/lib/drivers/barometer/PX4Barometer.cpp @@ -0,0 +1,89 @@ +/**************************************************************************** + * + * Copyright (c) 2018 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 "PX4Barometer.hpp" + +#include + +PX4Barometer::PX4Barometer(uint32_t device_id, uint8_t priority) : + CDev(nullptr), + _sensor_baro_pub{ORB_ID(sensor_baro), priority} +{ + _class_device_instance = register_class_devname(BARO_BASE_DEVICE_PATH); + + _sensor_baro_pub.get().device_id = device_id; + + // force initial publish to allocate uORB buffer + // TODO: can be removed once all drivers are in threads + _sensor_baro_pub.update(); +} + +PX4Barometer::~PX4Barometer() +{ + if (_class_device_instance != -1) { + unregister_class_devname(BARO_BASE_DEVICE_PATH, _class_device_instance); + } +} + +void PX4Barometer::set_device_type(uint8_t devtype) +{ + // current DeviceStructure + union device::Device::DeviceId device_id; + device_id.devid = _sensor_baro_pub.get().device_id; + + // update to new device type + device_id.devid_s.devtype = devtype; + + // copy back to report + _sensor_baro_pub.get().device_id = device_id.devid; +} + +void PX4Barometer::update(hrt_abstime timestamp, float pressure) +{ + sensor_baro_s &report = _sensor_baro_pub.get(); + + report.timestamp = timestamp; + report.pressure = pressure; + + poll_notify(POLLIN); + + _sensor_baro_pub.update(); +} + +void PX4Barometer::print_status() +{ + PX4_INFO(BARO_BASE_DEVICE_PATH " device instance: %d", _class_device_instance); + + print_message(_sensor_baro_pub.get()); +} diff --git a/src/lib/drivers/barometer/PX4Barometer.hpp b/src/lib/drivers/barometer/PX4Barometer.hpp new file mode 100644 index 0000000000..87d9f10cb3 --- /dev/null +++ b/src/lib/drivers/barometer/PX4Barometer.hpp @@ -0,0 +1,64 @@ +/**************************************************************************** + * + * Copyright (c) 2018 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 +#include +#include +#include +#include +#include +#include + +class PX4Barometer : public cdev::CDev +{ + +public: + PX4Barometer(uint32_t device_id, uint8_t priority); + ~PX4Barometer() override; + + void set_device_type(uint8_t devtype); + void set_error_count(uint64_t error_count) { _sensor_baro_pub.get().error_count = error_count; } + + void set_temperature(float temperature) { _sensor_baro_pub.get().temperature = temperature; } + + void update(hrt_abstime timestamp, float pressure); + + void print_status(); + +private: + + uORB::Publication _sensor_baro_pub; + + int _class_device_instance{-1}; + +};