df_ms5611_wrapper.cpp

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/**
 * @file df_ms5611_wrapper.cpp
 * Lightweight driver to access the MS5611 of the DriverFramework.
 */

#include <px4_platform_common/px4_config.h>

#include <sys/types.h>
#include <sys/stat.h>
#include <stdint.h>
#include <stddef.h>
#include <stdlib.h>
#include <string.h>
#include <math.h>
#include <unistd.h>
#include <px4_platform_common/getopt.h>
#include <errno.h>

#include <perf/perf_counter.h>
#include <systemlib/err.h>

#include <drivers/drv_baro.h>
#include <drivers/drv_hrt.h>

#include <board_config.h>

#include <ms5611/MS5611.hpp>
#include <DevMgr.hpp>


extern "C" { __EXPORT int df_ms5611_wrapper_main(int argc, char *argv[]); }

using namespace DriverFramework;


class DfMS5611Wrapper : public MS5611
{
public:
    DfMS5611Wrapper();
    ~DfMS5611Wrapper();


    /**
     * Start automatic measurement.
     *
     * @return 0 on success
     */
    int     start();

    /**
     * Stop automatic measurement.
     *
     * @return 0 on success
     */
    int     stop();

private:
    int _publish(struct baro_sensor_data &data);

    orb_advert_t        _baro_topic;

    int         _baro_orb_class_instance;

    perf_counter_t      _baro_sample_perf;

};

DfMS5611Wrapper::DfMS5611Wrapper() :
    MS5611(BARO_DEVICE_PATH),
    _baro_topic(nullptr),
    _baro_orb_class_instance(-1),
    _baro_sample_perf(perf_alloc(PC_ELAPSED, "df_baro_read"))
{
}

DfMS5611Wrapper::~DfMS5611Wrapper()
{
    perf_free(_baro_sample_perf);
}

int DfMS5611Wrapper::start()
{
    /* Init device and start sensor. */
    int ret = init();

    if (ret != 0) {
        PX4_ERR("MS5611 init fail: %d", ret);
        return ret;
    }

    ret = MS5611::start();

    if (ret != 0) {
        PX4_ERR("MS5611 start fail: %d", ret);
        return ret;
    }

    return 0;
}

int DfMS5611Wrapper::stop()
{
    /* Stop sensor. */
    int ret = MS5611::stop();

    if (ret != 0) {
        PX4_ERR("MS5611 stop fail: %d", ret);
        return ret;
    }

    return 0;
}

int DfMS5611Wrapper::_publish(struct baro_sensor_data &data)
{
    perf_begin(_baro_sample_perf);

    sensor_baro_s baro_report{};
    baro_report.timestamp = hrt_absolute_time();

    baro_report.pressure = data.pressure_pa / 100.0f; // convert to mbar
    baro_report.temperature = data.temperature_c;
    baro_report.error_count = data.error_counter;
    baro_report.device_id = m_id.dev_id;

    // TODO: when is this ever blocked?
    if (!(m_pub_blocked)) {

        if (_baro_topic == nullptr) {
            _baro_topic = orb_advertise_multi(ORB_ID(sensor_baro), &baro_report,
                              &_baro_orb_class_instance, ORB_PRIO_DEFAULT);

        } else {
            orb_publish(ORB_ID(sensor_baro), _baro_topic, &baro_report);
        }
    }

    perf_end(_baro_sample_perf);

    return 0;
};


namespace df_ms5611_wrapper
{

DfMS5611Wrapper *g_dev = nullptr;

int start(/* enum Rotation rotation */);
int stop();
int info();
void usage();

int start(/*enum Rotation rotation*/)
{
    g_dev = new DfMS5611Wrapper(/*rotation*/);

    if (g_dev == nullptr) {
        PX4_ERR("failed instantiating DfMS5611Wrapper object");
        return -1;
    }

    int ret = g_dev->start();

    if (ret != 0) {
        PX4_ERR("DfMS5611Wrapper start failed");
        return ret;
    }

    // Open the IMU sensor
    DevHandle h;
    DevMgr::getHandle(BARO_DEVICE_PATH, h);

    if (!h.isValid()) {
        DF_LOG_INFO("Error: unable to obtain a valid handle for the receiver at: %s (%d)",
                BARO_DEVICE_PATH, h.getError());
        return -1;
    }

    DevMgr::releaseHandle(h);

    return 0;
}

int stop()
{
    if (g_dev == nullptr) {
        PX4_ERR("driver not running");
        return 1;
    }

    int ret = g_dev->stop();

    if (ret != 0) {
        PX4_ERR("driver could not be stopped");
        return ret;
    }

    delete g_dev;
    g_dev = nullptr;
    return 0;
}

/**
 * Print a little info about the driver.
 */
int
info()
{
    if (g_dev == nullptr) {
        PX4_ERR("driver not running");
        return 1;
    }

    PX4_DEBUG("state @ %p", g_dev);

    return 0;
}

void
usage()
{
    PX4_WARN("Usage: df_ms5611_wrapper 'start', 'info', 'stop'");
}

} // namespace df_ms5611_wrapper


int
df_ms5611_wrapper_main(int argc, char *argv[])
{
    int ret = 0;
    int myoptind = 1;

    if (argc <= 1) {
        df_ms5611_wrapper::usage();
        return 1;
    }

    const char *verb = argv[myoptind];


    if (!strcmp(verb, "start")) {
        ret = df_ms5611_wrapper::start();
    }

    else if (!strcmp(verb, "stop")) {
        ret = df_ms5611_wrapper::stop();
    }

    else if (!strcmp(verb, "info")) {
        ret = df_ms5611_wrapper::info();
    }

    else {
        df_ms5611_wrapper::usage();
        return 1;
    }

    return ret;
}