Merge pull request #17 from ethz-asl/feature/add_hall_effect_sensor

[WIP!!!] Feature/add hall effect sensor

Author: Jaeyoung-Lim

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -114,6 +114,57 @@ then
 	adis16448 -S start
 fi
 
+# Hall effect sensors si7210
+# Potentially remove the -k option if possible and improve the startup if possible
+if param greater CAL_AV_AOA_ID -1
+then
+	set AOA_I2C_ID 0
+	if param compare CAL_AV_AOA_ID 48
+	then
+		set AOA_I2C_ID 48
+	fi
+	if param compare CAL_AV_AOA_ID 49
+	then
+		set AOA_I2C_ID 49
+	fi
+	if param compare CAL_AV_AOA_ID 50
+	then
+		set AOA_I2C_ID 50
+	fi
+	if param compare CAL_AV_AOA_ID 51
+	then
+		set AOA_I2C_ID 51
+	fi
+
+	si7210 start -X -k -a ${AOA_I2C_ID}
+	unset AOA_I2C_ID
+fi
+
+if param greater CAL_AV_SLIP_ID -1
+then
+	set SLIP_I2C_ID 0
+	if param compare CAL_AV_SLIP_ID 48
+	then
+		set SLIP_I2C_ID 48
+	fi
+	if param compare CAL_AV_SLIP_ID 49
+	then
+		set SLIP_I2C_ID 49
+	fi
+	if param compare CAL_AV_SLIP_ID 50
+	then
+		set SLIP_I2C_ID 50
+	fi
+	if param compare CAL_AV_SLIP_ID 51
+	then
+		set SLIP_I2C_ID 51
+	fi
+
+	si7210 start -X -k -a ${SLIP_I2C_ID}
+	unset SLIP_I2C_ID
+fi
+
+
 # probe for optional external I2C devices
 if param compare SENS_EXT_I2C_PRB 1
 then

boards/px4/fmu-v3/default.cmake

@@ -41,6 +41,7 @@ px4_add_board(
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
 		osd
+		si7210
 		pca9685
 		pca9685_pwm_out
 		#power_monitor/ina226

boards/px4/fmu-v5/default.cmake

@@ -50,6 +50,7 @@ px4_add_board(
 		roboclaw
 		rpm
 		safety_button
+        si7210
 		telemetry # all available telemetry drivers
 		test_ppm
 		tone_alarm

msg/CMakeLists.txt

@@ -39,6 +39,8 @@ set(msg_files
 	actuator_controls.msg
 	actuator_outputs.msg
 	adc_report.msg
+	airflow_aoa.msg
+	airflow_slip.msg
 	airspeed.msg
 	airspeed_validated.msg
 	airspeed_wind.msg
@@ -128,6 +130,7 @@ set(msg_files
 	sensor_baro.msg
 	sensor_combined.msg
 	sensor_correction.msg
+	sensor_hall.msg
 	sensor_gps.msg
 	sensor_gyro.msg
 	sensor_gyro_fft.msg

msg/airflow_aoa.msg

@@ -0,0 +1,3 @@
+uint64 timestamp		# time since system start (microseconds)
+float32 aoa_rad # angle of attack in radians
+bool valid # true if measurement is within sensor/calibration range, false otherwise

msg/airflow_slip.msg

@@ -0,0 +1,3 @@
+uint64 timestamp		# time since system start (microseconds)
+float32 slip_rad # sideslip angle in radians
+bool valid # true if measurement is within sensor/calibration range, false otherwise

msg/sensor_hall.msg

@@ -0,0 +1,7 @@
+uint64 timestamp			# time since system start (microseconds)
+
+int8 instance	            # sensor instance
+
+float32 mag_t	            # magnetic field measurement in Tesla
+
+float32 temp_c	            # temperature measurement in deg C

msg/tools/uorb_rtps_message_ids.yaml

@@ -342,6 +342,8 @@ rtps:
     id: 158
   - msg: estimator_event_flags
     id: 159
+  - msg: sensor_hall
+    id: 160
   ########## multi topics: begin ##########
   - msg: actuator_controls_0
     id: 170

src/drivers/drv_hall.h

@@ -0,0 +1,56 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2018 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 drv_hall.h
+ *
+ * Hall Effect Magnetic Sensor driver interface.
+ */
+
+#ifndef _DRV_HALL_H
+#define _DRV_HALL_H
+
+#include <stdint.h>
+#include <sys/ioctl.h>
+
+#include "drv_sensor.h"
+#include "drv_orb_dev.h"
+
+#define HALL_BASE_DEVICE_PATH	"/dev/hall"
+#define HALL0_DEVICE_PATH		"/dev/hall0"
+#define HALL1_DEVICE_PATH		"/dev/hall1"
+#define HALL2_DEVICE_PATH		"/dev/hall2"
+#define HALL3_DEVICE_PATH		"/dev/hall3"
+
+
+#endif /* _DRV_HALL_H */

src/drivers/drv_sensor.h

@@ -177,6 +177,8 @@
 #define DRV_DIST_DEVTYPE_SIM 0x9a
 #define DRV_DIST_DEVTYPE_SRF05 0x9b
 
+#define DRV_HALL_DEVTYPE_SI7210       0x9c
+
 #define DRV_DEVTYPE_UNUSED		0xff
 
 #endif /* _DRV_SENSOR_H */