forked from Archive/PX4-Autopilot
Merge pull request #307 from sjwilks/ets-airspeed-fix
Fix the usage help and lots of formatting fixes.
This commit is contained in:
Lorenz Meier
commit
f1419d4f5f
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@ -37,7 +37,7 @@
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*
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* Driver for the Eagle Tree Airspeed V3 connected via I2C.
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*/
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#include <nuttx/config.h>
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#include <drivers/device/i2c.h>
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@ -77,13 +77,13 @@
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#define PX4_I2C_BUS_DEFAULT PX4_I2C_BUS_EXPANSION
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/* I2C bus address */
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#define I2C_ADDRESS 0x75 /* 7-bit address. 8-bit address is 0xEA */
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#define I2C_ADDRESS 0x75 /* 7-bit address. 8-bit address is 0xEA */
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/* Register address */
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#define READ_CMD 0x07 /* Read the data */
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#define READ_CMD 0x07 /* Read the data */
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/**
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* The Eagle Tree Airspeed V3 cannot provide accurate reading below speeds of 15km/h.
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* The Eagle Tree Airspeed V3 cannot provide accurate reading below speeds of 15km/h.
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*/
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#define MIN_ACCURATE_DIFF_PRES_PA 12
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@ -105,38 +105,38 @@ class ETSAirspeed : public device::I2C
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public:
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ETSAirspeed(int bus, int address = I2C_ADDRESS);
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virtual ~ETSAirspeed();
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virtual int init();
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virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
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virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
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virtual int init();
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virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
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virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
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/**
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* Diagnostics - print some basic information about the driver.
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*/
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void print_info();
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void print_info();
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protected:
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virtual int probe();
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virtual int probe();
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private:
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work_s _work;
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unsigned _num_reports;
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volatile unsigned _next_report;
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volatile unsigned _oldest_report;
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differential_pressure_s *_reports;
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bool _sensor_ok;
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int _measure_ticks;
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bool _collect_phase;
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int _diff_pres_offset;
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orb_advert_t _airspeed_pub;
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work_s _work;
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unsigned _num_reports;
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volatile unsigned _next_report;
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volatile unsigned _oldest_report;
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differential_pressure_s *_reports;
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bool _sensor_ok;
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int _measure_ticks;
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bool _collect_phase;
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int _diff_pres_offset;
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orb_advert_t _airspeed_pub;
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perf_counter_t _sample_perf;
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perf_counter_t _comms_errors;
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perf_counter_t _buffer_overflows;
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perf_counter_t _sample_perf;
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perf_counter_t _comms_errors;
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perf_counter_t _buffer_overflows;
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/**
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* Test whether the device supported by the driver is present at a
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* specific address.
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@ -144,28 +144,28 @@ private:
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* @param address The I2C bus address to probe.
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* @return True if the device is present.
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*/
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int probe_address(uint8_t address);
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int probe_address(uint8_t address);
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/**
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* Initialise the automatic measurement state machine and start it.
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*
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* @note This function is called at open and error time. It might make sense
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* to make it more aggressive about resetting the bus in case of errors.
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*/
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void start();
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void start();
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/**
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* Stop the automatic measurement state machine.
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*/
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void stop();
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void stop();
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/**
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* Perform a poll cycle; collect from the previous measurement
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* and start a new one.
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*/
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void cycle();
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int measure();
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int collect();
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void cycle();
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int measure();
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int collect();
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/**
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* Static trampoline from the workq context; because we don't have a
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@ -173,9 +173,9 @@ private:
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*
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* @param arg Instance pointer for the driver that is polling.
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*/
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static void cycle_trampoline(void *arg);
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static void cycle_trampoline(void *arg);
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};
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/* helper macro for handling report buffer indices */
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@ -203,7 +203,7 @@ ETSAirspeed::ETSAirspeed(int bus, int address) :
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{
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// enable debug() calls
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_debug_enabled = true;
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// work_cancel in the dtor will explode if we don't do this...
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memset(&_work, 0, sizeof(_work));
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}
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@ -230,6 +230,7 @@ ETSAirspeed::init()
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/* allocate basic report buffers */
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_num_reports = 2;
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_reports = new struct differential_pressure_s[_num_reports];
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for (unsigned i = 0; i < _num_reports; i++)
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_reports[i].max_differential_pressure_pa = 0;
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@ -351,11 +352,11 @@ ETSAirspeed::ioctl(struct file *filp, int cmd, unsigned long arg)
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case SENSORIOCGQUEUEDEPTH:
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return _num_reports - 1;
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case SENSORIOCRESET:
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/* XXX implement this */
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return -EINVAL;
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default:
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/* give it to the superclass */
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return I2C::ioctl(filp, cmd, arg);
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@ -432,14 +433,14 @@ ETSAirspeed::measure()
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uint8_t cmd = READ_CMD;
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ret = transfer(&cmd, 1, nullptr, 0);
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if (OK != ret)
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{
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if (OK != ret) {
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perf_count(_comms_errors);
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log("i2c::transfer returned %d", ret);
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return ret;
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}
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ret = OK;
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return ret;
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}
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@ -447,30 +448,31 @@ int
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ETSAirspeed::collect()
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{
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int ret = -EIO;
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/* read from the sensor */
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uint8_t val[2] = {0, 0};
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perf_begin(_sample_perf);
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ret = transfer(nullptr, 0, &val[0], 2);
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if (ret < 0) {
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log("error reading from sensor: %d", ret);
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return ret;
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}
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uint16_t diff_pres_pa = val[1] << 8 | val[0];
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param_get(param_find("SENS_DPRES_OFF"), &_diff_pres_offset);
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if (diff_pres_pa < _diff_pres_offset + MIN_ACCURATE_DIFF_PRES_PA) {
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if (diff_pres_pa < _diff_pres_offset + MIN_ACCURATE_DIFF_PRES_PA) {
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diff_pres_pa = 0;
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} else {
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diff_pres_pa -= _diff_pres_offset;
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diff_pres_pa -= _diff_pres_offset;
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}
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// XXX we may want to smooth out the readings to remove noise.
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// XXX we may want to smooth out the readings to remove noise.
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_reports[_next_report].timestamp = hrt_absolute_time();
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_reports[_next_report].differential_pressure_pa = diff_pres_pa;
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@ -498,7 +500,7 @@ ETSAirspeed::collect()
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ret = OK;
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perf_end(_sample_perf);
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return ret;
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}
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@ -511,17 +513,19 @@ ETSAirspeed::start()
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/* schedule a cycle to start things */
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work_queue(HPWORK, &_work, (worker_t)&ETSAirspeed::cycle_trampoline, this, 1);
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/* notify about state change */
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struct subsystem_info_s info = {
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true,
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true,
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true,
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SUBSYSTEM_TYPE_DIFFPRESSURE};
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SUBSYSTEM_TYPE_DIFFPRESSURE
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};
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static orb_advert_t pub = -1;
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if (pub > 0) {
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orb_publish(ORB_ID(subsystem_info), pub, &info);
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} else {
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pub = orb_advertise(ORB_ID(subsystem_info), &info);
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}
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@ -653,8 +657,7 @@ start(int i2c_bus)
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fail:
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if (g_dev != nullptr)
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{
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if (g_dev != nullptr) {
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delete g_dev;
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g_dev = nullptr;
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}
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@ -668,15 +671,14 @@ fail:
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void
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stop()
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{
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if (g_dev != nullptr)
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{
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if (g_dev != nullptr) {
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delete g_dev;
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g_dev = nullptr;
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}
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else
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{
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} else {
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errx(1, "driver not running");
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}
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exit(0);
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}
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@ -773,10 +775,10 @@ info()
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} // namespace
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static void
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ets_airspeed_usage()
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static void
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ets_airspeed_usage()
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{
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fprintf(stderr, "usage: ets_airspeed [options] command\n");
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fprintf(stderr, "usage: ets_airspeed command [options]\n");
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fprintf(stderr, "options:\n");
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fprintf(stderr, "\t-b --bus i2cbus (%d)\n", PX4_I2C_BUS_DEFAULT);
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fprintf(stderr, "command:\n");
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@ -789,6 +791,7 @@ ets_airspeed_main(int argc, char *argv[])
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int i2c_bus = PX4_I2C_BUS_DEFAULT;
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int i;
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for (i = 1; i < argc; i++) {
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if (strcmp(argv[i], "-b") == 0 || strcmp(argv[i], "--bus") == 0) {
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if (argc > i + 1) {
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@ -802,12 +805,12 @@ ets_airspeed_main(int argc, char *argv[])
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*/
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if (!strcmp(argv[1], "start"))
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ets_airspeed::start(i2c_bus);
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/*
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* Stop the driver
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*/
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if (!strcmp(argv[1], "stop"))
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ets_airspeed::stop();
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/*
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* Stop the driver
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*/
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if (!strcmp(argv[1], "stop"))
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ets_airspeed::stop();
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/*
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* Test the driver/device.
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