Lorenz Meier
9 years ago
5 changed files with 69 additions and 214 deletions
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/****************************************************************************
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* |
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* Copyright (c) 2013 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 baro_sim.cpp |
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* |
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* Simulation interface for barometer |
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*/ |
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/* XXX trim includes */ |
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#include <px4_config.h> |
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#include <px4_defines.h> |
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#include <sys/types.h> |
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#include <assert.h> |
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#include <unistd.h> |
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#include <drivers/device/sim.h> |
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#include <simulator/simulator.h> |
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#include "barosim.h" |
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#include "board_config.h" |
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BAROSIM_DEV::BAROSIM_DEV() : |
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VirtDevObj("BAROSIM_DEV", "/dev/BAROSIM_DEV", BARO_BASE_DEVICE_PATH, 0) |
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{ |
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} |
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BAROSIM_DEV::~BAROSIM_DEV() |
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{ |
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} |
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int |
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BAROSIM_DEV::init() |
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{ |
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return VirtDevObj::init(); |
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} |
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ssize_t |
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BAROSIM_DEV::devRead(void *data, size_t count) |
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{ |
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/* read the most recent measurement */ |
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uint8_t cmd = 0; |
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int ret = transfer(&cmd, 1, static_cast<uint8_t *>(data), count); |
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return ret; |
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} |
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int |
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BAROSIM_DEV::devIOCTL(unsigned long operation, unsigned long arg) |
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{ |
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int ret; |
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switch (operation) { |
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case IOCTL_RESET: |
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ret = _reset(); |
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break; |
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case IOCTL_MEASURE: |
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ret = _doMeasurement(arg); |
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break; |
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default: |
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ret = EINVAL; |
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} |
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return ret; |
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} |
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int |
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BAROSIM_DEV::_reset() |
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{ |
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uint8_t cmd = ADDR_RESET_CMD; |
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int result; |
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/* bump the retry count */ |
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result = transfer(&cmd, 1, nullptr, 0); |
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return result; |
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} |
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int |
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BAROSIM_DEV::_doMeasurement(unsigned addr) |
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{ |
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uint8_t cmd = addr; |
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return transfer(&cmd, 1, nullptr, 0); |
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} |
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int |
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BAROSIM_DEV::transfer(const uint8_t *send, unsigned send_len, uint8_t *recv, unsigned recv_len) |
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{ |
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if (send_len == 1 && send[0] == ADDR_RESET_CMD) { |
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/* reset command */ |
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return 0; |
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} else if (send_len == 1 && (send[0] == ADDR_CMD_CONVERT_D2 || send[0] == ADDR_CMD_CONVERT_D1)) { |
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/* measure command */ |
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if (send[0] == ADDR_CMD_CONVERT_D2) { |
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} else { |
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} |
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return 0; |
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} else if (send[0] == 0 && send_len == 1) { |
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/* read requested */ |
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Simulator *sim = Simulator::getInstance(); |
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if (sim == NULL) { |
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PX4_ERR("Error BAROSIM_DEV::transfer no simulator"); |
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return -ENODEV; |
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} |
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PX4_DEBUG("BAROSIM_DEV::transfer getting sample"); |
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sim->getBaroSample(recv, recv_len); |
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return recv_len; |
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} else { |
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PX4_WARN("BAROSIM_DEV::transfer invalid param %u %u %u", send_len, send[0], recv_len); |
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return 1; |
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} |
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return 0; |
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} |
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void BAROSIM_DEV::_measure() |
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{ |
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} |
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