Beat Küng
5 years ago
committed by
Daniel Agar
12 changed files with 99 additions and 480 deletions
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/****************************************************************************
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* |
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* Copyright (c) 2015 PX4 Development Team. All rights reserved. |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* 1. Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* 2. Redistributions in binary form must reproduce the above copyright |
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* notice, this list of conditions and the following disclaimer in |
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* the documentation and/or other materials provided with the |
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* distribution. |
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* 3. Neither the name PX4 nor the names of its contributors may be |
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* used to endorse or promote products derived from this software |
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* without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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* |
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****************************************************************************/ |
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/**
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* @file rm3100_main.h |
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*/ |
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#pragma once |
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#include "rm3100.h" |
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namespace rm3100 |
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{ |
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/**
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* @struct List of supported bus configurations |
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*/ |
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struct rm3100_bus_option { |
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RM3100_BUS bus_id; |
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const char *devpath; |
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RM3100_constructor interface_constructor; |
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uint8_t busnum; |
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RM3100 *dev; |
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} bus_options[] = { |
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#ifdef PX4_I2C_BUS_EXPANSION |
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{ RM3100_BUS_I2C_EXTERNAL, "/dev/rm3100_ext", &RM3100_I2C_interface, PX4_I2C_BUS_EXPANSION, NULL }, |
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#endif /* PX4_I2C_BUS_EXPANSION */ |
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#ifdef PX4_I2C_BUS_EXPANSION1 |
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{ RM3100_BUS_I2C_EXTERNAL, "/dev/rm3100_ext1", &RM3100_I2C_interface, PX4_I2C_BUS_EXPANSION1, NULL }, |
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#endif /* PX4_I2C_BUS_EXPANSION1 */ |
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#ifdef PX4_I2C_BUS_EXPANSION2 |
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{ RM3100_BUS_I2C_EXTERNAL, "/dev/rm3100_ext2", &RM3100_I2C_interface, PX4_I2C_BUS_EXPANSION2, NULL }, |
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#endif /* PX4_I2C_BUS_EXPANSION2 */ |
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#ifdef PX4_I2C_BUS_ONBOARD |
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{ RM3100_BUS_I2C_INTERNAL, "/dev/rm3100_int", &RM3100_I2C_interface, PX4_I2C_BUS_ONBOARD, NULL }, |
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#endif /* PX4_I2C_BUS_ONBOARD */ |
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#ifdef PX4_SPIDEV_RM |
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{ RM3100_BUS_SPI_INTERNAL, "/dev/rm3100_spi_int", &RM3100_SPI_interface, PX4_SPI_BUS_SENSORS, NULL }, |
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#endif /* PX4_SPIDEV_RM */ |
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#ifdef PX4_SPIDEV_RM_EXT |
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{ RM3100_BUS_SPI_EXTERNAL, "/dev/rm3100_spi_ext", &RM3100_SPI_interface, PX4_SPI_BUS_EXT, NULL }, |
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#endif /* PX4_SPIDEV_RM_EXT */ |
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}; |
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/**
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* @brief Finds a bus structure for a bus_id |
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*/ |
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rm3100_bus_option &find_bus(RM3100_BUS bus_id); |
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/**
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* @brief Prints info about the driver. |
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*/ |
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int info(RM3100_BUS bus_id); |
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/**
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* @brief Initializes the driver -- sets defaults and starts a cycle |
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*/ |
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bool init(RM3100_BUS bus_id); |
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/**
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* @brief Resets the driver. |
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*/ |
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bool reset(RM3100_BUS bus_id); |
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/**
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* @brief Starts the driver for a specific bus option |
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*/ |
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bool start_bus(struct rm3100_bus_option &bus, Rotation rotation); |
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/**
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* @brief Starts the driver. This function call only returns once the driver |
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* is either successfully up and running or failed to start. |
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*/ |
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int start(RM3100_BUS bus_id, Rotation rotation); |
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/**
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* @brief Stop the driver. |
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*/ |
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int stop(); |
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/**
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* @brief Perform some basic functional tests on the driver; |
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* make sure we can collect data from the sensor in polled |
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* and automatic modes. |
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*/ |
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bool test(RM3100_BUS bus_id); |
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/**
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* @brief Prints info about the driver argument usage. |
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*/ |
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void usage(); |
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} // namespace RM3100
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