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Added accelerometer simulator 

The simulator satisfies the dependencies for an accelerometer
being present.

The accel code compiles but is not fully functional.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
sbg
Mark Charlebois 10 years ago
parent
76a6f19476
commit
440fc306a9
8 changed files with 1772 additions and 345 deletions
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  1. 2
      makefiles/linux/config_linux_default.mk
  2. 6
      src/drivers/device/module.mk
  3. 385
      src/drivers/device/ringbuffer.cpp
  4. 347
      src/drivers/device/ringbuffer.h
  5. 2
      src/drivers/drv_sensor.h
  6. 1
      src/lib/mathlib/math/filter/LowPassFilter2p.cpp
  7. 1367
      src/platforms/linux/drivers/accel/accel.cpp
  8. 7
      src/platforms/linux/drivers/accel/module.mk

2
makefiles/linux/config_linux_default.mk
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@ -49,6 +49,7 @@ MODULES += modules/sdlog2 @@ -49,6 +49,7 @@ MODULES += modules/sdlog2
# Libraries
#
MODULES += lib/mathlib
MODULES += lib/mathlib/math/filter
MODULES += lib/geo
MODULES += lib/geo_lookup
MODULES += lib/conversion
@ -57,6 +58,7 @@ MODULES += lib/conversion @@ -57,6 +58,7 @@ MODULES += lib/conversion
# Linux port
#
MODULES += platforms/linux/px4_layer
MODULES += platforms/linux/drivers/accel
#
# Unit tests

6
src/drivers/device/module.mk
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@ -41,12 +41,14 @@ SRCS = \ @@ -41,12 +41,14 @@ SRCS = \
cdev_nuttx.cpp \
i2c_nuttx.cpp \
pio.cpp \
spi.cpp
spi.cpp \
ringbuffer.cpp
endif
ifeq ($(PX4_TARGET_OS),linux)
SRCS = vdev.cpp \
device.cpp \
vdev_posix.cpp \
i2c_linux.cpp \
sim.cpp
sim.cpp \
ringbuffer.cpp
endif

385
src/drivers/device/ringbuffer.cpp
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@ -0,0 +1,385 @@ @@ -0,0 +1,385 @@
/****************************************************************************
*
* Copyright (C) 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.
*
****************************************************************************/
/**
* @file ringbuffer.cpp
*
* A flexible ringbuffer class.
*/
#include "ringbuffer.h"
#include <string.h>
RingBuffer::RingBuffer(unsigned num_items, size_t item_size) :
_num_items(num_items),
_item_size(item_size),
_buf(new char[(_num_items+1) * item_size]),
_head(_num_items),
_tail(_num_items)
{}
RingBuffer::~RingBuffer()
{
if (_buf != nullptr)
delete[] _buf;
}
unsigned
RingBuffer::_next(unsigned index)
{
return (0 == index) ? _num_items : (index - 1);
}
bool
RingBuffer::empty()
{
return _tail == _head;
}
bool
RingBuffer::full()
{
return _next(_head) == _tail;
}
unsigned
RingBuffer::size()
{
return (_buf != nullptr) ? _num_items : 0;
}
void
RingBuffer::flush()
{
while (!empty())
get(NULL);
}
bool
RingBuffer::put(const void *val, size_t val_size)
{
unsigned next = _next(_head);
if (next != _tail) {
if ((val_size == 0) || (val_size > _item_size))
val_size = _item_size;
memcpy(&_buf[_head * _item_size], val, val_size);
_head = next;
return true;
} else {
return false;
}
}
bool
RingBuffer::put(int8_t val)
{
return put(&val, sizeof(val));
}
bool
RingBuffer::put(uint8_t val)
{
return put(&val, sizeof(val));
}
bool
RingBuffer::put(int16_t val)
{
return put(&val, sizeof(val));
}
bool
RingBuffer::put(uint16_t val)
{
return put(&val, sizeof(val));
}
bool
RingBuffer::put(int32_t val)
{
return put(&val, sizeof(val));
}
bool
RingBuffer::put(uint32_t val)
{
return put(&val, sizeof(val));
}
bool
RingBuffer::put(int64_t val)
{
return put(&val, sizeof(val));
}
bool
RingBuffer::put(uint64_t val)
{
return put(&val, sizeof(val));
}
bool
RingBuffer::put(float val)
{
return put(&val, sizeof(val));
}
bool
RingBuffer::put(double val)
{
return put(&val, sizeof(val));
}
bool
RingBuffer::force(const void *val, size_t val_size)
{
bool overwrote = false;
for (;;) {
if (put(val, val_size))
break;
get(NULL);
overwrote = true;
}
return overwrote;
}
bool
RingBuffer::force(int8_t val)
{
return force(&val, sizeof(val));
}
bool
RingBuffer::force(uint8_t val)
{
return force(&val, sizeof(val));
}
bool
RingBuffer::force(int16_t val)
{
return force(&val, sizeof(val));
}
bool
RingBuffer::force(uint16_t val)
{
return force(&val, sizeof(val));
}
bool
RingBuffer::force(int32_t val)
{
return force(&val, sizeof(val));
}
bool
RingBuffer::force(uint32_t val)
{
return force(&val, sizeof(val));
}
bool
RingBuffer::force(int64_t val)
{
return force(&val, sizeof(val));
}
bool
RingBuffer::force(uint64_t val)
{
return force(&val, sizeof(val));
}
bool
RingBuffer::force(float val)
{
return force(&val, sizeof(val));
}
bool
RingBuffer::force(double val)
{
return force(&val, sizeof(val));
}
bool
RingBuffer::get(void *val, size_t val_size)
{
if (_tail != _head) {
unsigned candidate;
unsigned next;
if ((val_size == 0) || (val_size > _item_size))
val_size = _item_size;
do {
/* decide which element we think we're going to read */
candidate = _tail;
/* and what the corresponding next index will be */
next = _next(candidate);
/* go ahead and read from this index */
if (val != NULL)
memcpy(val, &_buf[candidate * _item_size], val_size);
/* if the tail pointer didn't change, we got our item */
} while (!__sync_bool_compare_and_swap(&_tail, candidate, next));
return true;
} else {
return false;
}
}
bool
RingBuffer::get(int8_t &val)
{
return get(&val, sizeof(val));
}
bool
RingBuffer::get(uint8_t &val)
{
return get(&val, sizeof(val));
}
bool
RingBuffer::get(int16_t &val)
{
return get(&val, sizeof(val));
}
bool
RingBuffer::get(uint16_t &val)
{
return get(&val, sizeof(val));
}
bool
RingBuffer::get(int32_t &val)
{
return get(&val, sizeof(val));
}
bool
RingBuffer::get(uint32_t &val)
{
return get(&val, sizeof(val));
}
bool
RingBuffer::get(int64_t &val)
{
return get(&val, sizeof(val));
}
bool
RingBuffer::get(uint64_t &val)
{
return get(&val, sizeof(val));
}
bool
RingBuffer::get(float &val)
{
return get(&val, sizeof(val));
}
bool
RingBuffer::get(double &val)
{
return get(&val, sizeof(val));
}
unsigned
RingBuffer::space(void)
{
unsigned tail, head;
/*
* Make a copy of the head/tail pointers in a fashion that
* may err on the side of under-estimating the free space
* in the buffer in the case that the buffer is being updated
* asynchronously with our check.
* If the head pointer changes (reducing space) while copying,
* re-try the copy.
*/
do {
head = _head;
tail = _tail;
} while (head != _head);
return (tail >= head) ? (_num_items - (tail - head)) : (head - tail - 1);
}
unsigned
RingBuffer::count(void)
{
/*
* Note that due to the conservative nature of space(), this may
* over-estimate the number of items in the buffer.
*/
return _num_items - space();
}
bool
RingBuffer::resize(unsigned new_size)
{
char *old_buffer;
char *new_buffer = new char [(new_size+1) * _item_size];
if (new_buffer == nullptr) {
return false;
}
old_buffer = _buf;
_buf = new_buffer;
_num_items = new_size;
_head = new_size;
_tail = new_size;
delete[] old_buffer;
return true;
}
void
RingBuffer::print_info(const char *name)
{
printf("%s %u/%lu (%u/%u @ %p)\n",
name,
_num_items,
(unsigned long)_num_items * _item_size,
_head,
_tail,
_buf);
}

347
src/drivers/device/ringbuffer.h
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@ -39,6 +39,10 @@ @@ -39,6 +39,10 @@
#pragma once
#include <stddef.h>
#include <stdint.h>
#include <stdio.h>
class RingBuffer {
public:
RingBuffer(unsigned ring_size, size_t entry_size);
@ -168,346 +172,3 @@ private: @@ -168,346 +172,3 @@ private:
RingBuffer operator=(const RingBuffer&);
};
RingBuffer::RingBuffer(unsigned num_items, size_t item_size) :
_num_items(num_items),
_item_size(item_size),
_buf(new char[(_num_items+1) * item_size]),
_head(_num_items),
_tail(_num_items)
{}
RingBuffer::~RingBuffer()
{
if (_buf != nullptr)
delete[] _buf;
}
unsigned
RingBuffer::_next(unsigned index)
{
return (0 == index) ? _num_items : (index - 1);
}
bool
RingBuffer::empty()
{
return _tail == _head;
}
bool
RingBuffer::full()
{
return _next(_head) == _tail;
}
unsigned
RingBuffer::size()
{
return (_buf != nullptr) ? _num_items : 0;
}
void
RingBuffer::flush()
{
while (!empty())
get(NULL);
}
bool
RingBuffer::put(const void *val, size_t val_size)
{
unsigned next = _next(_head);
if (next != _tail) {
if ((val_size == 0) || (val_size > _item_size))
val_size = _item_size;
memcpy(&_buf[_head * _item_size], val, val_size);
_head = next;
return true;
} else {
return false;
}
}
bool
RingBuffer::put(int8_t val)
{
return put(&val, sizeof(val));
}
bool
RingBuffer::put(uint8_t val)
{
return put(&val, sizeof(val));
}
bool
RingBuffer::put(int16_t val)
{
return put(&val, sizeof(val));
}
bool
RingBuffer::put(uint16_t val)
{
return put(&val, sizeof(val));
}
bool
RingBuffer::put(int32_t val)
{
return put(&val, sizeof(val));
}
bool
RingBuffer::put(uint32_t val)
{
return put(&val, sizeof(val));
}
bool
RingBuffer::put(int64_t val)
{
return put(&val, sizeof(val));
}
bool
RingBuffer::put(uint64_t val)
{
return put(&val, sizeof(val));
}
bool
RingBuffer::put(float val)
{
return put(&val, sizeof(val));
}
bool
RingBuffer::put(double val)
{
return put(&val, sizeof(val));
}
bool
RingBuffer::force(const void *val, size_t val_size)
{
bool overwrote = false;
for (;;) {
if (put(val, val_size))
break;
get(NULL);
overwrote = true;
}
return overwrote;
}
bool
RingBuffer::force(int8_t val)
{
return force(&val, sizeof(val));
}
bool
RingBuffer::force(uint8_t val)
{
return force(&val, sizeof(val));
}
bool
RingBuffer::force(int16_t val)
{
return force(&val, sizeof(val));
}
bool
RingBuffer::force(uint16_t val)
{
return force(&val, sizeof(val));
}
bool
RingBuffer::force(int32_t val)
{
return force(&val, sizeof(val));
}
bool
RingBuffer::force(uint32_t val)
{
return force(&val, sizeof(val));
}
bool
RingBuffer::force(int64_t val)
{
return force(&val, sizeof(val));
}
bool
RingBuffer::force(uint64_t val)
{
return force(&val, sizeof(val));
}
bool
RingBuffer::force(float val)
{
return force(&val, sizeof(val));
}
bool
RingBuffer::force(double val)
{
return force(&val, sizeof(val));
}
bool
RingBuffer::get(void *val, size_t val_size)
{
if (_tail != _head) {
unsigned candidate;
unsigned next;
if ((val_size == 0) || (val_size > _item_size))
val_size = _item_size;
do {
/* decide which element we think we're going to read */
candidate = _tail;
/* and what the corresponding next index will be */
next = _next(candidate);
/* go ahead and read from this index */
if (val != NULL)
memcpy(val, &_buf[candidate * _item_size], val_size);
/* if the tail pointer didn't change, we got our item */
} while (!__sync_bool_compare_and_swap(&_tail, candidate, next));
return true;
} else {
return false;
}
}
bool
RingBuffer::get(int8_t &val)
{
return get(&val, sizeof(val));
}
bool
RingBuffer::get(uint8_t &val)
{
return get(&val, sizeof(val));
}
bool
RingBuffer::get(int16_t &val)
{
return get(&val, sizeof(val));
}
bool
RingBuffer::get(uint16_t &val)
{
return get(&val, sizeof(val));
}
bool
RingBuffer::get(int32_t &val)
{
return get(&val, sizeof(val));
}
bool
RingBuffer::get(uint32_t &val)
{
return get(&val, sizeof(val));
}
bool
RingBuffer::get(int64_t &val)
{
return get(&val, sizeof(val));
}
bool
RingBuffer::get(uint64_t &val)
{
return get(&val, sizeof(val));
}
bool
RingBuffer::get(float &val)
{
return get(&val, sizeof(val));
}
bool
RingBuffer::get(double &val)
{
return get(&val, sizeof(val));
}
unsigned
RingBuffer::space(void)
{
unsigned tail, head;
/*
* Make a copy of the head/tail pointers in a fashion that
* may err on the side of under-estimating the free space
* in the buffer in the case that the buffer is being updated
* asynchronously with our check.
* If the head pointer changes (reducing space) while copying,
* re-try the copy.
*/
do {
head = _head;
tail = _tail;
} while (head != _head);
return (tail >= head) ? (_num_items - (tail - head)) : (head - tail - 1);
}
unsigned
RingBuffer::count(void)
{
/*
* Note that due to the conservative nature of space(), this may
* over-estimate the number of items in the buffer.
*/
return _num_items - space();
}
bool
RingBuffer::resize(unsigned new_size)
{
char *old_buffer;
char *new_buffer = new char [(new_size+1) * _item_size];
if (new_buffer == nullptr) {
return false;
}
old_buffer = _buf;
_buf = new_buffer;
_num_items = new_size;
_head = new_size;
_tail = new_size;
delete[] old_buffer;
return true;
}
void
RingBuffer::print_info(const char *name)
{
printf("%s %u/%lu (%u/%u @ %p)\n",
name,
_num_items,
(unsigned long)_num_items * _item_size,
_head,
_tail,
_buf);
}

2
src/drivers/drv_sensor.h
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@ -54,9 +54,11 @@ @@ -54,9 +54,11 @@
#define DRV_MAG_DEVTYPE_HMC5883 0x01
#define DRV_MAG_DEVTYPE_LSM303D 0x02
#define DRV_MAG_DEVTYPE_ACCELSIM 0x03
#define DRV_ACC_DEVTYPE_LSM303D 0x11
#define DRV_ACC_DEVTYPE_BMA180 0x12
#define DRV_ACC_DEVTYPE_MPU6000 0x13
#define DRV_ACC_DEVTYPE_ACCELSIM 0x14
#define DRV_GYR_DEVTYPE_MPU6000 0x21
#define DRV_GYR_DEVTYPE_L3GD20 0x22
#define DRV_RNG_DEVTYPE_MB12XX 0x31

1
src/lib/mathlib/math/filter/LowPassFilter2p.cpp
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@ -37,6 +37,7 @@ @@ -37,6 +37,7 @@
/// @brief A class to implement a second order low pass filter
/// Author: Leonard Hall <LeonardTHall@gmail.com>
#include <px4_defines.h>
#include "LowPassFilter2p.hpp"
#include "math.h"

1367
src/platforms/linux/drivers/accel/accel.cpp
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File diff suppressed because it is too large Load Diff

7
src/platforms/linux/drivers/accel/module.mk
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@ -0,0 +1,7 @@ @@ -0,0 +1,7 @@
#
# Simulated accel/mag driver
#
MODULE_COMMAND = accel
SRCS = accel.cpp
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