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Renamed files according to distance sensor hardware.

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Signed-off-by: Claudio Micheli <claudio@auterion.com>
This commit is contained in:
Claudio Micheli 2019-01-03 12:24:11 +01:00 committed by Beat Küng
parent aee6a83fe0
commit 46c5a79b57
5 changed files with 59 additions and 59 deletions
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2
src/drivers/distance_sensor/CMakeLists.txt
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@ -43,4 +43,4 @@ add_subdirectory(ulanding)
add_subdirectory(leddar_one)
add_subdirectory(vl53lxx)
add_subdirectory(pga460)
add_subdirectory(isl2950)
add_subdirectory(cm8jl65)

8
src/drivers/distance_sensor/isl2950/CMakeLists.txt → src/drivers/distance_sensor/cm8jl65/CMakeLists.txt
View File

@ -31,10 +31,10 @@
#
############################################################################
px4_add_module(
MODULE drivers__isl2950
MAIN isl2950
MODULE drivers__cm8jl65
MAIN cm8jl65
SRCS
isl2950.cpp
isl2950_parser.cpp
cm8jl65.cpp
cm8jl65_parser.cpp
DEPENDS
)

94
src/drivers/distance_sensor/isl2950/isl2950.cpp → src/drivers/distance_sensor/cm8jl65/cm8jl65.cpp
View File

@ -32,7 +32,7 @@
****************************************************************************/
/**
* @file isl2950.cpp
* @file cm8jl65.cpp
* @author Claudio Micheli <claudio@auterion.com>
*
* Driver for the Lanbao PSK-CM8JL65-CC5 distance sensor.
@ -65,7 +65,7 @@
#include <uORB/uORB.h>
#include <uORB/topics/distance_sensor.h>
#include "isl2950_parser.h"
#include "cm8jl65_parser.h"
/* Configuration Constants */
@ -73,24 +73,24 @@
# error This requires CONFIG_SCHED_WORKQUEUE.
#endif
#define ISL2950_TAKE_RANGE_REG 'd'
#define CM8JL65_TAKE_RANGE_REG 'd'
// designated serial port on Pixhawk (TELEM1)
#define ISL2950_DEFAULT_PORT "/dev/ttyS1" // Its baudrate is 115200
#define CM8JL65_DEFAULT_PORT "/dev/ttyS1" // Its baudrate is 115200
// normal conversion wait time
#define ISL2950_CONVERSION_INTERVAL 50*1000UL/* 50ms */
#define CM8JL65_CONVERSION_INTERVAL 50*1000UL/* 50ms */
class ISL2950 : public cdev::CDev
class CM8JL65 : public cdev::CDev
{
public:
// Constructor
ISL2950(const char *port = ISL2950_DEFAULT_PORT, uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING);
CM8JL65(const char *port = CM8JL65_DEFAULT_PORT, uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING);
// Virtual destructor
virtual ~ISL2950();
virtual ~CM8JL65();
virtual int init();
virtual int ioctl(device::file_t *filp, int cmd, unsigned long arg);
@ -113,7 +113,7 @@
uint8_t _linebuf[25];
uint8_t _cycle_counter;
enum ISL2950_PARSE_STATE _parse_state;
enum CM8JL65_PARSE_STATE _parse_state;
unsigned char _frame_data[4];
uint16_t _crc16;
int _distance_mm;
@ -166,7 +166,7 @@
/*
* Driver 'main' command.
*/
extern "C" __EXPORT int isl2950_main(int argc, char *argv[]);
extern "C" __EXPORT int cm8jl65_main(int argc, char *argv[]);
/**
* Method : Constructor
@ -174,12 +174,12 @@
* @note This method initializes the class variables
*/
ISL2950::ISL2950(const char *port, uint8_t rotation) :
CM8JL65::CM8JL65(const char *port, uint8_t rotation) :
CDev(RANGE_FINDER0_DEVICE_PATH),
_rotation(rotation),
_min_distance(0.10f),
_max_distance(9.0f),
_conversion_interval(ISL2950_CONVERSION_INTERVAL),
_conversion_interval(CM8JL65_CONVERSION_INTERVAL),
_reports(nullptr),
_fd(-1),
_cycle_counter(0),
@ -190,8 +190,8 @@
_class_instance(-1),
_orb_class_instance(-1),
_distance_sensor_topic(nullptr),
_sample_perf(perf_alloc(PC_ELAPSED, "isl2950_read")),
_comms_errors(perf_alloc(PC_COUNT, "isl2950_com_err"))
_sample_perf(perf_alloc(PC_ELAPSED, "cm8jl65_read")),
_comms_errors(perf_alloc(PC_COUNT, "cm8jl65_com_err"))
{
/* store port name */
strncpy(_port, port, sizeof(_port));
@ -201,7 +201,7 @@
}
// Destructor
ISL2950::~ISL2950()
CM8JL65::~CM8JL65()
{
/* make sure we are truly inactive */
stop();
@ -226,7 +226,7 @@ ISL2950::~ISL2950()
*/
int
ISL2950::init()
CM8JL65::init()
{
/* status */
int ret = 0;
@ -264,31 +264,31 @@ do { /* create a scope to handle exit conditions using break */
}
void
ISL2950::set_minimum_distance(float min)
CM8JL65::set_minimum_distance(float min)
{
_min_distance = min;
}
void
ISL2950::set_maximum_distance(float max)
CM8JL65::set_maximum_distance(float max)
{
_max_distance = max;
}
float
ISL2950::get_minimum_distance()
CM8JL65::get_minimum_distance()
{
return _min_distance;
}
float
ISL2950::get_maximum_distance()
CM8JL65::get_maximum_distance()
{
return _max_distance;
}
int
ISL2950::ioctl(device::file_t *filp, int cmd, unsigned long arg)
CM8JL65::ioctl(device::file_t *filp, int cmd, unsigned long arg)
{
switch (cmd) {
@ -337,7 +337,7 @@ int
*
* This method reads data from serial UART and places it into a buffer
*/
ISL2950::collect()
CM8JL65::collect()
{
int bytes_read = 0;
int bytes_processed = 0;
@ -367,7 +367,7 @@ ISL2950::collect()
while ((bytes_processed < bytes_read) && (!crc_valid))
{
// printf("In the cycle, processing byte %d, 0x%02X \n",bytes_processed, _linebuf[bytes_processed]);
if (OK == isl2950_parser(_linebuf[bytes_processed],_frame_data, &_parse_state,&_crc16, &_distance_mm)){
if (OK == cm8jl65_parser(_linebuf[bytes_processed],_frame_data, &_parse_state,&_crc16, &_distance_mm)){
crc_valid = true;
}
bytes_processed++;
@ -423,35 +423,35 @@ ISL2950::collect()
}
void
ISL2950::start()
CM8JL65::start()
{
PX4_INFO("driver started");
_reports->flush();
/* schedule a cycle to start things */
work_queue(HPWORK, &_work, (worker_t)&ISL2950::cycle_trampoline, this, 1);
work_queue(HPWORK, &_work, (worker_t)&CM8JL65::cycle_trampoline, this, 1);
}
void
ISL2950::stop()
CM8JL65::stop()
{
work_cancel(HPWORK, &_work);
}
void
ISL2950::cycle_trampoline(void *arg)
CM8JL65::cycle_trampoline(void *arg)
{
ISL2950 *dev = static_cast<ISL2950 *>(arg);
CM8JL65 *dev = static_cast<CM8JL65 *>(arg);
dev->cycle();
}
void
ISL2950::cycle()
CM8JL65::cycle()
{
//PX4_DEBUG("ISL2950::cycle() - in the cycle");
//PX4_DEBUG("CM8JL65::cycle() - in the cycle");
/* fds initialized? */
if (_fd < 0) {
/* open fd */
@ -497,19 +497,19 @@ ISL2950::cycle()
if (collect_ret == -EAGAIN) {
_cycle_counter++;
/* We are missing bytes to complete the packet, re-cycle at 1ms */
// work_queue(HPWORK,&_work,(worker_t)&ISL2950::cycle_trampoline,this,USEC2TICK(1000LL));
// work_queue(HPWORK,&_work,(worker_t)&CM8JL65::cycle_trampoline,this,USEC2TICK(1000LL));
// return;
}
/* schedule a fresh cycle call when a complete packet has been received */
//work_queue(HPWORK,&_work,(worker_t)&ISL2950::cycle_trampoline,this,USEC2TICK(_conversion_interval - _cycle_counter * 1000LL));
work_queue(HPWORK,&_work,(worker_t)&ISL2950::cycle_trampoline,this,USEC2TICK(_conversion_interval));
//work_queue(HPWORK,&_work,(worker_t)&CM8JL65::cycle_trampoline,this,USEC2TICK(_conversion_interval - _cycle_counter * 1000LL));
work_queue(HPWORK,&_work,(worker_t)&CM8JL65::cycle_trampoline,this,USEC2TICK(_conversion_interval));
_cycle_counter = 0;
}
void
ISL2950::print_info()
CM8JL65::print_info()
{
perf_print_counter(_sample_perf);
perf_print_counter(_comms_errors);
@ -519,10 +519,10 @@ ISL2950::print_info()
/**
* Local functions in support of the shell command.
*/
namespace isl2950
namespace cm8jl65
{
ISL2950 *g_dev;
CM8JL65 *g_dev;
int start(const char *port, uint8_t rotation);
int stop();
@ -544,7 +544,7 @@ start(const char *port, uint8_t rotation)
}
/* create the driver */
g_dev = new ISL2950(port, rotation);
g_dev = new CM8JL65(port, rotation);
if (g_dev == nullptr) {
goto fail;
@ -566,11 +566,11 @@ start(const char *port, uint8_t rotation)
PX4_ERR("failed to set baudrate %d", B115200);
goto fail;
}
PX4_DEBUG("isl2950::start() succeeded");
PX4_DEBUG("cm8jl65::start() succeeded");
return 0;
fail:
PX4_DEBUG("isl2950::start() failed");
PX4_DEBUG("cm8jl65::start() failed");
if (g_dev != nullptr) {
delete g_dev;
g_dev = nullptr;
@ -609,7 +609,7 @@ test()
int fd = open(RANGE_FINDER0_DEVICE_PATH, O_RDONLY);
if (fd < 0) {
PX4_ERR("%s open failed (try 'isl2950 start' if the driver is not running", RANGE_FINDER0_DEVICE_PATH);
PX4_ERR("%s open failed (try 'cm8jl65 start' if the driver is not running", RANGE_FINDER0_DEVICE_PATH);
return -1;
}
@ -709,10 +709,10 @@ info()
} // namespace
int
isl2950_main(int argc, char *argv[])
cm8jl65_main(int argc, char *argv[])
{
uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING;
const char *device_path = ISL2950_DEFAULT_PORT;
const char *device_path = CM8JL65_DEFAULT_PORT;
int ch;
int myoptind = 1;
const char *myoptarg = nullptr;
@ -741,35 +741,35 @@ isl2950_main(int argc, char *argv[])
* Start/load the driver.
*/
if (!strcmp(argv[myoptind], "start")) {
return isl2950::start(device_path, rotation);
return cm8jl65::start(device_path, rotation);
}
/*
* Stop the driver
*/
if (!strcmp(argv[myoptind], "stop")) {
return isl2950::stop();
return cm8jl65::stop();
}
/*
* Test the driver/device.
*/
if (!strcmp(argv[myoptind], "test")) {
return isl2950::test();
return cm8jl65::test();
}
/*
* Reset the driver.
*/
if (!strcmp(argv[myoptind], "reset")) {
return isl2950::reset();
return cm8jl65::reset();
}
/*
* Print driver information.
*/
if (!strcmp(argv[myoptind], "info") || !strcmp(argv[myoptind], "status")) {
return isl2950::info();
return cm8jl65::info();
}
out_error:

8
src/drivers/distance_sensor/isl2950/isl2950_parser.cpp → src/drivers/distance_sensor/cm8jl65/cm8jl65_parser.cpp
View File

@ -32,17 +32,17 @@
****************************************************************************/
/**
* @file isl2950_parser.cpp
* @file cm8jl65_parser.cpp
* @author Claudio Micheli <claudio@auterion.com>
*
*/
#include "isl2950_parser.h"
#include "cm8jl65_parser.h"
#include <string.h>
#include <stdlib.h>
#include <stdio.h>
#include "isl2950_parser.h"
#include "cm8jl65_parser.h"
#include <string.h>
#include <stdlib.h>
@ -115,7 +115,7 @@ unsigned short crc16_calc(unsigned char *dataFrame,uint8_t crc16_length) {
return (unsigned short)(crc_high_byte << 8 | crc_low_byte);
}
int isl2950_parser(uint8_t c, uint8_t *parserbuf, ISL2950_PARSE_STATE *state, uint16_t *crc16, int *dist)
int cm8jl65_parser(uint8_t c, uint8_t *parserbuf, CM8JL65_PARSE_STATE *state, uint16_t *crc16, int *dist)
{
int ret = -1;

6
src/drivers/distance_sensor/isl2950/isl2950_parser.h → src/drivers/distance_sensor/cm8jl65/cm8jl65_parser.h
View File

@ -32,7 +32,7 @@
****************************************************************************/
/**
* @file isl2950.cpp
* @file cm8jl65.cpp
* @author Claudio Micheli <claudio@auterion.com>
*
* Parser declarations for Lanbao PSK-CM8JL65-CC5 distance sensor
@ -57,7 +57,7 @@
#define CHECKSUM_LENGTH 4
enum ISL2950_PARSE_STATE {
enum CM8JL65_PARSE_STATE {
STATE0_WAITING_FRAME = 0,
STATE1_GOT_DIGIT1,
STATE2_GOT_DIGIT2,
@ -69,4 +69,4 @@ enum ISL2950_PARSE_STATE {
int isl2950_parser(uint8_t c, uint8_t *parserbuf,enum ISL2950_PARSE_STATE *state,uint16_t *crc16, int *dist);
int cm8jl65_parser(uint8_t c, uint8_t *parserbuf,enum CM8JL65_PARSE_STATE *state,uint16_t *crc16, int *dist);