Merge pull request #18 from ethz-asl/pr-port-vanes

Port si7210 driver with new driver framework

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

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

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/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

@@ -40,7 +40,6 @@
 #ifndef _DRV_HALL_H
 #define _DRV_HALL_H
 
-#include <px4_defines.h>
 #include <stdint.h>
 #include <sys/ioctl.h>
 
@@ -53,7 +52,5 @@
 #define HALL2_DEVICE_PATH		"/dev/hall2"
 #define HALL3_DEVICE_PATH		"/dev/hall3"
 
-#include <uORB/topics/sensor_hall.h>
-#define si7210_report sensor_hall_s
 
 #endif /* _DRV_HALL_H */

src/drivers/si7210/CMakeLists.txt

@@ -34,9 +34,11 @@ px4_add_module(
 	MODULE drivers__si7210
 	MAIN si7210
 	COMPILE_FLAGS
-			-O0
 	SRCS
+		si7210_main.cpp
 		si7210.cpp
 	DEPENDS
-		px4_work_queue
+		drivers__vane
+		mathlib
 	)
+# vim: set noet ft=cmake fenc=utf-8 ff=unix :