Linux: changed adc to adcsim and add barosim

The name of the app was adc but should have been adcsim.
Added a barometer simulator.

This will allow ms56711_linux to depend on real devices and not
simulation.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>

Tools/linux_run.sh

@@ -23,4 +23,4 @@ if [ ! -d /eeprom ] && [ ! -w /eeprom ]
 	exit 1
 fi
 
-Build/linux_default.build/mainapp linux-config/linuxtest/init/rc.S
+Build/linux_default.build/mainapp linux-configs/linuxtest/init/rc.S

linux-configs/linuxtest/init/rc.S

@@ -1,4 +1,8 @@
 uorb start
+barosim start
+adcsim start
+accelsim start
+gyrosim start
 mavlink start
-blink start
-blink systemstate
+sensors start
+list_devices

makefiles/linux/config_linux_default.mk

@@ -13,7 +13,7 @@
 MODULES		+= drivers/device
 MODULES		+= drivers/blinkm
 MODULES		+= modules/sensors
-MODULES		+= drivers/ms5611
+#MODULES		+= drivers/ms5611
 
 #
 # System commands
@@ -61,6 +61,7 @@ MODULES		+= platforms/linux/px4_layer
 MODULES		+= platforms/linux/drivers/accelsim
 MODULES		+= platforms/linux/drivers/gyrosim
 MODULES		+= platforms/linux/drivers/adcsim
+MODULES		+= platforms/linux/drivers/barosim
 
 #
 # Unit tests

src/platforms/linux/drivers/accelsim/accelsim.cpp

@@ -390,7 +390,7 @@ ACCELSIM::ACCELSIM(const char* path, enum Rotation rotation) :
 
 
 	// enable debug() calls
-	_debug_enabled = true;
+	_debug_enabled = false;
 
 	_device_id.devid_s.devtype = DRV_ACC_DEVTYPE_ACCELSIM;
 	

src/platforms/linux/drivers/adcsim/adcsim.cpp

@@ -111,13 +111,13 @@ private:
 };
 
 ADCSIM::ADCSIM(uint32_t channels) :
-	VDev("adc", ADCSIM0_DEVICE_PATH),
+	VDev("adcsim", ADCSIM0_DEVICE_PATH),
 	_sample_perf(perf_alloc(PC_ELAPSED, "adc_samples")),
 	_channel_count(0),
 	_samples(nullptr),
 	_to_system_power(0)
 {
-	_debug_enabled = true;
+	//_debug_enabled = true;
 
 	/* always enable the temperature sensor */
 	channels |= 1 << 16;
@@ -231,7 +231,7 @@ ADCSIM::_sample(unsigned channel)
 /*
  * Driver 'main' command.
  */
-extern "C" __EXPORT int adc_main(int argc, char *argv[]);
+extern "C" __EXPORT int adcsim_main(int argc, char *argv[]);
 
 namespace
 {
@@ -272,7 +272,7 @@ test(void)
 }
 
 int
-adc_main(int argc, char *argv[])
+adcsim_main(int argc, char *argv[])
 {
 	int ret = 0;
 

src/platforms/linux/drivers/adcsim/module.mk

@@ -35,7 +35,7 @@
 # STM32 ADC driver
 #
 
-MODULE_COMMAND	= adc
+MODULE_COMMAND	= adcsim
 
 SRCS		= adcsim.cpp
 

src/platforms/linux/drivers/barosim/baro_sim.cpp

@@ -0,0 +1,205 @@
+/****************************************************************************
+ *
+ *   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 baro_sim.cpp
+  *
+  * Simulation interface for barometer
+  */
+
+/* XXX trim includes */
+#include <px4_config.h>
+#include <px4_defines.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <assert.h>
+//#include <debug.h>
+#include <errno.h>
+#include <unistd.h>
+
+#include <drivers/device/sim.h>
+#include "barosim.h"
+#include "board_config.h"
+
+device::Device *BAROSIM_sim_interface(barosim::prom_u &prom_buf);
+
+class BARO_SIM : public device::SIM
+{
+public:
+	BARO_SIM(uint8_t bus, barosim::prom_u &prom_buf);
+	virtual ~BARO_SIM();
+
+	virtual int	init();
+	virtual int	dev_read(unsigned offset, void *data, unsigned count);
+	virtual int	dev_ioctl(unsigned operation, unsigned &arg);
+
+	virtual int	transfer(const uint8_t *send, unsigned send_len,
+				 uint8_t *recv, unsigned recv_len);
+private:
+	barosim::prom_u	&_prom;
+
+	/**
+	 * Send a reset command to the barometer simulator.
+	 *
+	 * This is required after any bus reset.
+	 */
+	int		_reset();
+
+	/**
+	 * Send a measure command to the barometer simulator.
+	 *
+	 * @param addr		Which address to use for the measure operation.
+	 */
+	int		_measure(unsigned addr);
+
+	/**
+	 * Read the MS5611 PROM
+	 *
+	 * @return		PX4_OK if the PROM reads successfully.
+	 */
+	int		_read_prom();
+
+};
+
+device::Device *
+BAROSIM_sim_interface(barosim::prom_u &prom_buf, uint8_t busnum)
+{
+	return new BARO_SIM(busnum, prom_buf);
+}
+
+BARO_SIM::BARO_SIM(uint8_t bus, barosim::prom_u &prom) :
+	SIM("BARO_SIM", "/vdev/BARO_SIM", bus, 0),
+	_prom(prom)
+{
+}
+
+BARO_SIM::~BARO_SIM()
+{
+}
+
+int
+BARO_SIM::init()
+{
+	return SIM::init();
+}
+
+int
+BARO_SIM::dev_read(unsigned offset, void *data, unsigned count)
+{
+	union _cvt {
+		uint8_t	b[4];
+		uint32_t w;
+	} *cvt = (_cvt *)data;
+	uint8_t buf[3];
+
+	/* read the most recent measurement */
+	uint8_t cmd = 0;
+	int ret = transfer(&cmd, 1, &buf[0], 3);
+	if (ret == PX4_OK) {
+		/* fetch the raw value */
+		cvt->b[0] = buf[2];
+		cvt->b[1] = buf[1];
+		cvt->b[2] = buf[0];
+		cvt->b[3] = 0;
+	}
+
+	return ret;
+}
+
+int
+BARO_SIM::dev_ioctl(unsigned operation, unsigned &arg)
+{
+	int ret;
+
+	switch (operation) {
+	case IOCTL_RESET:
+		ret = _reset();
+		break;
+
+	case IOCTL_MEASURE:
+		ret = _measure(arg);
+		break;
+
+	default:
+		ret = EINVAL;
+	}
+
+	return ret;
+}
+
+int
+BARO_SIM::_reset()
+{
+	unsigned	old_retrycount = _retries;
+	uint8_t		cmd = ADDR_RESET_CMD;
+	int		result;
+
+	/* bump the retry count */
+	_retries = 10;
+	result = transfer(&cmd, 1, nullptr, 0);
+	_retries = old_retrycount;
+
+	return result;
+}
+
+int
+BARO_SIM::_measure(unsigned addr)
+{
+	/*
+	 * Disable retries on this command; we can't know whether failure 
+	 * means the device did or did not see the command.
+	 */
+	_retries = 0;
+
+	uint8_t cmd = addr;
+	return transfer(&cmd, 1, nullptr, 0);
+}
+
+int
+BARO_SIM::_read_prom()
+{
+	int ret = 1;
+	// TODO input simlation data
+	return ret;
+}
+
+int
+BARO_SIM::transfer(const uint8_t *send, unsigned send_len,
+				 uint8_t *recv, unsigned recv_len)
+{
+	// TODO add Simulation data connection so calls retrieve
+	// data from the simulator
+	return 0;
+}

src/platforms/linux/drivers/barosim/barosim.h

@@ -0,0 +1,84 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file barosim.h
+ *
+ * Shared defines for the ms5611 driver.
+ */
+
+#define ADDR_RESET_CMD				0x1E	/* write to this address to reset chip */
+#define ADDR_CMD_CONVERT_D1		0x48	/* write to this address to start pressure conversion */
+#define ADDR_CMD_CONVERT_D2		0x58	/* write to this address to start temperature conversion */
+#define ADDR_DATA							0x00	/* address of 3 bytes / 32bit pressure data */
+#define ADDR_PROM_SETUP				0xA0	/* address of 8x 2 bytes factory and calibration data */
+#define ADDR_PROM_C1					0xA2	/* address of 6x 2 bytes calibration data */
+
+/* interface ioctls */
+#define IOCTL_RESET			2
+#define IOCTL_MEASURE			3
+
+namespace barosim
+{
+
+/**
+ * Calibration PROM as reported by the device.
+ */
+#pragma pack(push,1)
+struct prom_s {
+	uint16_t factory_setup;
+	uint16_t c1_pressure_sens;
+	uint16_t c2_pressure_offset;
+	uint16_t c3_temp_coeff_pres_sens;
+	uint16_t c4_temp_coeff_pres_offset;
+	uint16_t c5_reference_temp;
+	uint16_t c6_temp_coeff_temp;
+	uint16_t serial_and_crc;
+};
+
+/**
+ * Grody hack for crc4()
+ */
+union prom_u {
+	uint16_t c[8];
+	prom_s s;
+};
+#pragma pack(pop)
+
+extern bool crc4(uint16_t *n_prom);
+
+} /* namespace */
+
+/* interface factories */
+extern device::Device *BAROSIM_sim_interface(barosim::prom_u &prom_buf, uint8_t busnum) __attribute__((weak));
+typedef device::Device *(*BAROSIM_constructor)(barosim::prom_u &prom_buf, uint8_t busnum);

src/platforms/linux/drivers/barosim/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.
+#
+############################################################################
+
+#
+# MS5611 driver
+#
+
+MODULE_COMMAND	= barosim
+
+SRCS		= baro.cpp baro_sim.cpp
+
+MAXOPTIMIZATION	 = -Os