diff options
author | Mark Charlebois <charlebm@gmail.com> | 2015-04-09 10:24:41 -0700 |
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committer | Mark Charlebois <charlebm@gmail.com> | 2015-04-20 11:35:48 -0700 |
commit | ddf75dd55ae17d70a65bfb58a3b1fe70fff09783 (patch) | |
tree | 0ac59e69e0737691164a32e5624e3100f10f7526 | |
parent | 2eaa2f06e7717f3b19e808f917c5306a19fa16c7 (diff) | |
download | px4-firmware-ddf75dd55ae17d70a65bfb58a3b1fe70fff09783.tar.gz px4-firmware-ddf75dd55ae17d70a65bfb58a3b1fe70fff09783.tar.bz2 px4-firmware-ddf75dd55ae17d70a65bfb58a3b1fe70fff09783.zip |
Linux: added ADC simulator
The sensor module is now able to run after the simulation modules are
started.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
-rw-r--r-- | makefiles/linux/config_linux_default.mk | 1 | ||||
-rw-r--r-- | src/platforms/linux/drivers/adcsim/adcsim.cpp | 303 | ||||
-rw-r--r-- | src/platforms/linux/drivers/adcsim/module.mk | 42 | ||||
-rw-r--r-- | src/platforms/px4_adc.h | 6 |
4 files changed, 350 insertions, 2 deletions
diff --git a/makefiles/linux/config_linux_default.mk b/makefiles/linux/config_linux_default.mk index b7bfd9392..4cd7ac4e2 100644 --- a/makefiles/linux/config_linux_default.mk +++ b/makefiles/linux/config_linux_default.mk @@ -60,6 +60,7 @@ MODULES += lib/conversion MODULES += platforms/linux/px4_layer MODULES += platforms/linux/drivers/accelsim MODULES += platforms/linux/drivers/gyrosim +MODULES += platforms/linux/drivers/adcsim # # Unit tests diff --git a/src/platforms/linux/drivers/adcsim/adcsim.cpp b/src/platforms/linux/drivers/adcsim/adcsim.cpp new file mode 100644 index 000000000..f676d03d9 --- /dev/null +++ b/src/platforms/linux/drivers/adcsim/adcsim.cpp @@ -0,0 +1,303 @@ +/**************************************************************************** + * + * Copyright (C) 2012 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 adc.cpp + * + * Driver for the STM32 ADCSIM. + * + * This is a low-rate driver, designed for sampling things like voltages + * and so forth. It avoids the gross complexity of the NuttX ADCSIM driver. + */ + +#include <px4_config.h> +#include <px4_adc.h> +#include <board_config.h> +#include <drivers/device/device.h> + +#include <sys/types.h> +#include <stdint.h> +#include <stdbool.h> +#include <stdlib.h> +#include <string.h> +#include <fcntl.h> +#include <errno.h> +#include <stdio.h> +#include <unistd.h> + +#include <arch/board/board.h> +#include <drivers/drv_hrt.h> +#include <drivers/drv_adc.h> + +#include <systemlib/err.h> +#include <systemlib/perf_counter.h> + +#include <uORB/topics/system_power.h> + + +class ADCSIM : public device::VDev +{ +public: + ADCSIM(uint32_t channels); + ~ADCSIM(); + + virtual int init(); + + virtual int ioctl(device::px4_dev_handle_t *handlep, int cmd, unsigned long arg); + virtual ssize_t read(device::px4_dev_handle_t *handlep, char *buffer, size_t len); + +protected: + virtual int open_first(device::px4_dev_handle_t *handlep); + virtual int close_last(device::px4_dev_handle_t *handlep); + +private: + static const hrt_abstime _tickrate = 10000; /**< 100Hz base rate */ + + hrt_call _call; + perf_counter_t _sample_perf; + + unsigned _channel_count; + adc_msg_s *_samples; /**< sample buffer */ + + orb_advert_t _to_system_power; + + /** work trampoline */ + static void _tick_trampoline(void *arg); + + /** worker function */ + void _tick(); + + /** + * Sample a single channel and return the measured value. + * + * @param channel The channel to sample. + * @return The sampled value, or 0xffff if + * sampling failed. + */ + uint16_t _sample(unsigned channel); + + // update system_power ORB topic, only on FMUv2 + void update_system_power(void); +}; + +ADCSIM::ADCSIM(uint32_t channels) : + VDev("adc", ADCSIM0_DEVICE_PATH), + _sample_perf(perf_alloc(PC_ELAPSED, "adc_samples")), + _channel_count(0), + _samples(nullptr), + _to_system_power(0) +{ + _debug_enabled = true; + + /* always enable the temperature sensor */ + channels |= 1 << 16; + + /* allocate the sample array */ + for (unsigned i = 0; i < 32; i++) { + if (channels & (1 << i)) { + _channel_count++; + } + } + _samples = new adc_msg_s[_channel_count]; + + /* prefill the channel numbers in the sample array */ + if (_samples != nullptr) { + unsigned index = 0; + for (unsigned i = 0; i < 32; i++) { + if (channels & (1 << i)) { + _samples[index].am_channel = i; + _samples[index].am_data = 0; + index++; + } + } + } +} + +ADCSIM::~ADCSIM() +{ + if (_samples != nullptr) + delete _samples; +} + +int +ADCSIM::init() +{ + debug("init done"); + + /* create the device node */ + return VDev::init(); +} + +int +ADCSIM::ioctl(device::px4_dev_handle_t *handlep, int cmd, unsigned long arg) +{ + return -ENOTTY; +} + +ssize_t +ADCSIM::read(device::px4_dev_handle_t *handlep, char *buffer, size_t len) +{ + const size_t maxsize = sizeof(adc_msg_s) * _channel_count; + + if (len > maxsize) + len = maxsize; + + /* block interrupts while copying samples to avoid racing with an update */ + memcpy(buffer, _samples, len); + + return len; +} + +int +ADCSIM::open_first(device::px4_dev_handle_t *handlep) +{ + /* get fresh data */ + _tick(); + + /* and schedule regular updates */ + hrt_call_every(&_call, _tickrate, _tickrate, _tick_trampoline, this); + + return 0; +} + +int +ADCSIM::close_last(device::px4_dev_handle_t *handlep) +{ + hrt_cancel(&_call); + return 0; +} + +void +ADCSIM::_tick_trampoline(void *arg) +{ + (reinterpret_cast<ADCSIM *>(arg))->_tick(); +} + +void +ADCSIM::_tick() +{ + /* scan the channel set and sample each */ + for (unsigned i = 0; i < _channel_count; i++) + _samples[i].am_data = _sample(_samples[i].am_channel); + update_system_power(); +} + +void +ADCSIM::update_system_power(void) +{ +} + +uint16_t +ADCSIM::_sample(unsigned channel) +{ + perf_begin(_sample_perf); + + uint16_t result = 1; + + perf_end(_sample_perf); + return result; +} + +/* + * Driver 'main' command. + */ +extern "C" __EXPORT int adc_main(int argc, char *argv[]); + +namespace +{ +ADCSIM *g_adc; + +int +test(void) +{ + + int fd = px4_open(ADCSIM0_DEVICE_PATH, O_RDONLY); + if (fd < 0) { + warnx("can't open ADCSIM device"); + return 1; + } + + for (unsigned i = 0; i < 50; i++) { + adc_msg_s data[12]; + ssize_t count = read(fd, data, sizeof(data)); + + if (count < 0) { + warnx("read error"); + return 1; + } + + unsigned channels = count / sizeof(data[0]); + + for (unsigned j = 0; j < channels; j++) { + printf ("%d: %u ", data[j].am_channel, data[j].am_data); + } + + printf("\n"); + usleep(500000); + } + + px4_close(fd); + return 0; +} +} + +int +adc_main(int argc, char *argv[]) +{ + int ret = 0; + + if (g_adc == nullptr) { +#ifdef CONFIG_ARCH_BOARD_LINUXTEST + /* XXX this hardcodes the default channel set for LINUXTEST - should be configurable */ + g_adc = new ADCSIM((1 << 10) | (1 << 11) | (1 << 12) | (1 << 13)); +#endif + + if (g_adc == nullptr) { + warnx("couldn't allocate the ADCSIM driver"); + return 1; + } + + if (g_adc->init() != OK) { + delete g_adc; + warnx("ADCSIM init failed"); + return 1; + } + } + + if (argc > 1) { + if (!strcmp(argv[1], "test")) + ret = test(); + } + + return ret; +} diff --git a/src/platforms/linux/drivers/adcsim/module.mk b/src/platforms/linux/drivers/adcsim/module.mk new file mode 100644 index 000000000..9b8461fd7 --- /dev/null +++ b/src/platforms/linux/drivers/adcsim/module.mk @@ -0,0 +1,42 @@ +############################################################################ +# +# Copyright (c) 2012, 2013 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. +# +############################################################################ + +# +# STM32 ADC driver +# + +MODULE_COMMAND = adc + +SRCS = adcsim.cpp + +MAXOPTIMIZATION = -Os diff --git a/src/platforms/px4_adc.h b/src/platforms/px4_adc.h index 0b123ed0c..bda39d036 100644 --- a/src/platforms/px4_adc.h +++ b/src/platforms/px4_adc.h @@ -39,6 +39,8 @@ #pragma once +#include <stdint.h> + #if defined(__PX4_ROS) #error "ADC not supported in ROS" #elif defined(__PX4_NUTTX) @@ -54,13 +56,13 @@ struct adc_msg_s { uint8_t am_channel; /* The 8-bit ADC Channel */ int32_t am_data; /* ADC convert result (4 bytes) */ -} packed_struct; +} __attribute__ ((packed)); // Example settings #define ADC_BATTERY_VOLTAGE_CHANNEL 10 #define ADC_BATTERY_CURRENT_CHANNEL -1 #define ADC_AIRSPEED_VOLTAGE_CHANNEL 11 - +#define ADCSIM0_DEVICE_PATH "/dev/adc0" #else #error "No target platform defined" #endif |