1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
|
/****************************************************************************
*
* Copyright (c) 2014, 2015 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.
*
****************************************************************************/
/**
* @author Pavel Kirienko <pavel.kirienko@gmail.com>
*/
#include "baro.hpp"
#include <cmath>
const char *const UavcanBarometerBridge::NAME = "baro";
UavcanBarometerBridge::UavcanBarometerBridge(uavcan::INode& node) :
UavcanCDevSensorBridgeBase("uavcan_baro", "/dev/uavcan/baro", BARO_BASE_DEVICE_PATH, ORB_ID(sensor_baro)),
_sub_air_data(node)
{
}
int UavcanBarometerBridge::init()
{
int res = device::CDev::init();
if (res < 0) {
return res;
}
res = _sub_air_data.start(AirDataCbBinder(this, &UavcanBarometerBridge::air_data_sub_cb));
if (res < 0) {
log("failed to start uavcan sub: %d", res);
return res;
}
return 0;
}
ssize_t UavcanBarometerBridge::read(struct file *filp, char *buffer, size_t buflen)
{
static uint64_t last_read = 0;
struct baro_report *baro_buf = reinterpret_cast<struct baro_report *>(buffer);
/* buffer must be large enough */
unsigned count = buflen / sizeof(struct baro_report);
if (count < 1) {
return -ENOSPC;
}
if (last_read < _report.timestamp) {
/* copy report */
lock();
*baro_buf = _report;
last_read = _report.timestamp;
unlock();
return sizeof(struct baro_report);
} else {
/* no new data available, warn caller */
return -EAGAIN;
}
}
int UavcanBarometerBridge::ioctl(struct file *filp, int cmd, unsigned long arg)
{
switch (cmd) {
case BAROIOCSMSLPRESSURE: {
if ((arg < 80000) || (arg > 120000)) {
return -EINVAL;
} else {
log("new msl pressure %u", _msl_pressure);
_msl_pressure = arg;
return OK;
}
}
case BAROIOCGMSLPRESSURE: {
return _msl_pressure;
}
case SENSORIOCSPOLLRATE: {
// not supported yet, pretend that everything is ok
return OK;
}
case SENSORIOCSQUEUEDEPTH: {
// not supported yet, pretend that everything is ok
return OK;
}
default: {
return CDev::ioctl(filp, cmd, arg);
}
}
}
void UavcanBarometerBridge::air_data_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::air_data::StaticAirData> &msg)
{
_report.timestamp = msg.getMonotonicTimestamp().toUSec();
_report.temperature = msg.static_temperature;
_report.pressure = msg.static_pressure / 100.0F; // Convert to millibar
/*
* Altitude computation
* Refer to the MS5611 driver for details
*/
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
const double p1 = _msl_pressure / 1000.0; // current pressure at MSL in kPa
const double p = double(msg.static_pressure) / 1000.0; // measured pressure in kPa
_report.altitude = (((std::pow((p / p1), (-(a * R) / g))) * T1) - T1) / a;
publish(msg.getSrcNodeID().get(), &_report);
}
|
