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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Renamed files according to distance sensor hardware.
Signed-off-by: Claudio Micheli <claudio@auterion.com>
This commit is contained in:
Claudio Micheli
committed by
Beat Küng
Beat Küng
parent
aee6a83fe0
commit
46c5a79b57
@@ -0,0 +1,40 @@
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############################################################################
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#
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# Copyright (c) 2015 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
|
||||
# are met:
|
||||
#
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||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# 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
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# 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
|
||||
# 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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px4_add_module(
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MODULE drivers__cm8jl65
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MAIN cm8jl65
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SRCS
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cm8jl65.cpp
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cm8jl65_parser.cpp
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DEPENDS
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)
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@@ -0,0 +1,778 @@
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/****************************************************************************
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*
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* Copyright (c) 2018 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
|
||||
* are met:
|
||||
*
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||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* 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
|
||||
* 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
|
||||
* 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,
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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
|
||||
* 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 cm8jl65.cpp
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* @author Claudio Micheli <claudio@auterion.com>
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*
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* Driver for the Lanbao PSK-CM8JL65-CC5 distance sensor.
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* Make sure to disable MAVLINK messages (MAV_0_CONFIG PARAMETER)
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* on the serial port you connect the sensor,i.e TELEM1.
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*
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*/
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#include <px4_config.h>
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#include <px4_getopt.h>
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#include <px4_workqueue.h>
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#include <sys/types.h>
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#include <stdint.h>
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#include <stdlib.h>
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#include <stdbool.h>
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#include <string.h>
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#include <poll.h>
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#include <stdio.h>
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#include <unistd.h>
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#include <termios.h>
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#include <perf/perf_counter.h>
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#include <drivers/drv_hrt.h>
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#include <drivers/drv_range_finder.h>
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#include <drivers/device/device.h>
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#include <drivers/device/ringbuffer.h>
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#include <uORB/uORB.h>
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#include <uORB/topics/distance_sensor.h>
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#include "cm8jl65_parser.h"
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/* Configuration Constants */
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#ifndef CONFIG_SCHED_WORKQUEUE
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# error This requires CONFIG_SCHED_WORKQUEUE.
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#endif
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#define CM8JL65_TAKE_RANGE_REG 'd'
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// designated serial port on Pixhawk (TELEM1)
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#define CM8JL65_DEFAULT_PORT "/dev/ttyS1" // Its baudrate is 115200
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// normal conversion wait time
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#define CM8JL65_CONVERSION_INTERVAL 50*1000UL/* 50ms */
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class CM8JL65 : public cdev::CDev
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{
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public:
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// Constructor
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CM8JL65(const char *port = CM8JL65_DEFAULT_PORT, uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING);
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// Virtual destructor
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virtual ~CM8JL65();
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virtual int init();
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virtual int ioctl(device::file_t *filp, int cmd, unsigned long arg);
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/**
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* Diagnostics - print some basic information about the driver.
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*/
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void print_info();
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private:
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char _port[20];
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uint8_t _rotation;
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float _min_distance;
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float _max_distance;
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int _conversion_interval;
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work_s _work{};
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ringbuffer::RingBuffer *_reports;
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int _fd;
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uint8_t _linebuf[25];
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uint8_t _cycle_counter;
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enum CM8JL65_PARSE_STATE _parse_state;
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unsigned char _frame_data[4];
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uint16_t _crc16;
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int _distance_mm;
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int _class_instance;
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int _orb_class_instance;
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orb_advert_t _distance_sensor_topic;
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perf_counter_t _sample_perf;
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perf_counter_t _comms_errors;
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/**
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* Initialise the automatic measurement state machine and start it.
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*
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* @note This function is called at open and error time. It might make sense
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* to make it more aggressive about resetting the bus in case of errors.
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*/
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void start();
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/**
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* Stop the automatic measurement state machine.
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*/
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void stop();
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/**
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* Set the min and max distance thresholds.
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*/
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void set_minimum_distance(float min);
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void set_maximum_distance(float max);
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float get_minimum_distance();
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float get_maximum_distance();
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/**
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* Perform a reading cycle; collect from the previous measurement
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* and start a new one.
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*/
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void cycle();
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int collect();
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/**
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* Static trampoline from the workq context; because we don't have a
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* generic workq wrapper yet.
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*
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* @param arg Instance pointer for the driver that is polling.
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*/
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static void cycle_trampoline(void *arg);
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};
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/*
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* Driver 'main' command.
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*/
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extern "C" __EXPORT int cm8jl65_main(int argc, char *argv[]);
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/**
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* Method : Constructor
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*
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* @note This method initializes the class variables
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*/
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CM8JL65::CM8JL65(const char *port, uint8_t rotation) :
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CDev(RANGE_FINDER0_DEVICE_PATH),
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_rotation(rotation),
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_min_distance(0.10f),
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_max_distance(9.0f),
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_conversion_interval(CM8JL65_CONVERSION_INTERVAL),
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_reports(nullptr),
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_fd(-1),
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_cycle_counter(0),
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_parse_state(STATE0_WAITING_FRAME),
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_frame_data{START_FRAME_DIGIT1, START_FRAME_DIGIT2, 0, 0},
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_crc16(0),
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_distance_mm(-1),
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_class_instance(-1),
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_orb_class_instance(-1),
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_distance_sensor_topic(nullptr),
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_sample_perf(perf_alloc(PC_ELAPSED, "cm8jl65_read")),
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_comms_errors(perf_alloc(PC_COUNT, "cm8jl65_com_err"))
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{
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/* store port name */
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strncpy(_port, port, sizeof(_port));
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/* enforce null termination */
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_port[sizeof(_port) - 1] = '\0';
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}
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// Destructor
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CM8JL65::~CM8JL65()
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{
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/* make sure we are truly inactive */
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stop();
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/* free any existing reports */
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if (_reports != nullptr) {
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delete _reports;
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}
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if (_class_instance != -1) {
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unregister_class_devname(RANGE_FINDER_BASE_DEVICE_PATH, _class_instance);
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}
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perf_free(_sample_perf);
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perf_free(_comms_errors);
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}
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/**
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* Method : init()
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*
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* This method setup the general driver for a range finder sensor.
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*/
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int
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CM8JL65::init()
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{
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/* status */
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int ret = 0;
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do { /* create a scope to handle exit conditions using break */
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/* do regular cdev init */
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ret = CDev::init();
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if (ret != OK) { break; }
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/* allocate basic report buffers */
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_reports = new ringbuffer::RingBuffer(2, sizeof(distance_sensor_s));
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if (_reports == nullptr) {
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PX4_ERR("alloc failed");
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ret = -1;
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break;
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}
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_class_instance = register_class_devname(RANGE_FINDER_BASE_DEVICE_PATH);
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/* get a publish handle on the range finder topic */
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struct distance_sensor_s ds_report = {};
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_distance_sensor_topic = orb_advertise_multi(ORB_ID(distance_sensor), &ds_report,
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&_orb_class_instance, ORB_PRIO_HIGH);
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if (_distance_sensor_topic == nullptr) {
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PX4_ERR("failed to create distance_sensor object");
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}
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} while (0);
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return ret;
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}
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void
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CM8JL65::set_minimum_distance(float min)
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{
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_min_distance = min;
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}
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void
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CM8JL65::set_maximum_distance(float max)
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{
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_max_distance = max;
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}
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float
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CM8JL65::get_minimum_distance()
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{
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return _min_distance;
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}
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float
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CM8JL65::get_maximum_distance()
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{
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return _max_distance;
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}
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int
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CM8JL65::ioctl(device::file_t *filp, int cmd, unsigned long arg)
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{
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switch (cmd) {
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case SENSORIOCSPOLLRATE: {
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switch (arg) {
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/* zero would be bad */
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case 0:
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return -EINVAL;
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/* set default polling rate */
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case SENSOR_POLLRATE_DEFAULT: {
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start();
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return OK;
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}
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/* adjust to a legal polling interval in Hz */
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default: {
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/* convert hz to tick interval via microseconds */
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int ticks = USEC2TICK(1000000 / arg);
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/* check against maximum rate */
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if (ticks < USEC2TICK(_conversion_interval)) {
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return -EINVAL;
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}
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start();
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return OK;
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}
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}
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}
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default:
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/* give it to the superclass */
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return CDev::ioctl(filp, cmd, arg);
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}
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}
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int
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/*
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* Method: collect()
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*
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* This method reads data from serial UART and places it into a buffer
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*/
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CM8JL65::collect()
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{
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int bytes_read = 0;
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int bytes_processed = 0;
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int i = 0;
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bool crc_valid = false;
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perf_begin(_sample_perf);
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/* read from the sensor (uart buffer) */
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bytes_read = ::read(_fd, &_linebuf[0], sizeof(_linebuf));
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if (bytes_read < 0) {
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PX4_DEBUG("read err: %d \n", bytes_read);
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perf_count(_comms_errors);
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perf_end(_sample_perf);
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} else if (bytes_read > 0){
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// printf("Bytes read: %d \n",bytes_read);
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i = bytes_read - 6 ;
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while ((i >=0) && (!crc_valid))
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{
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if (_linebuf[i] == START_FRAME_DIGIT1) {
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bytes_processed = i;
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while ((bytes_processed < bytes_read) && (!crc_valid))
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{
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// printf("In the cycle, processing byte %d, 0x%02X \n",bytes_processed, _linebuf[bytes_processed]);
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if (OK == cm8jl65_parser(_linebuf[bytes_processed],_frame_data, &_parse_state,&_crc16, &_distance_mm)){
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crc_valid = true;
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}
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bytes_processed++;
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}
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_parse_state = STATE0_WAITING_FRAME;
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}
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// else {printf("Starting frame wrong. Index: %d value 0x%02X \n",i,_linebuf[i]);}
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i--;
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}
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}
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if (!crc_valid) {
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return -EAGAIN;
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}
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//printf("val (int): %d, raw: 0x%08X, valid: %s \n", _distance_mm, _frame_data, ((crc_valid) ? "OK" : "NO"));
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struct distance_sensor_s report;
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report.timestamp = hrt_absolute_time();
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report.type = distance_sensor_s::MAV_DISTANCE_SENSOR_LASER;
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report.orientation = _rotation;
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report.current_distance = _distance_mm/1000.0f;
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report.min_distance = get_minimum_distance();
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report.max_distance = get_maximum_distance();
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report.covariance = 0.0f;
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report.signal_quality = -1;
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/* TODO: set proper ID */
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report.id = 0;
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/* publish it */
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orb_publish(ORB_ID(distance_sensor), _distance_sensor_topic, &report);
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_reports->force(&report);
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/* notify anyone waiting for data */
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poll_notify(POLLIN);
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bytes_read = OK;
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||||
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perf_end(_sample_perf);
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|
||||
/* ENABLE THIS IF YOU WANT TO PRINT OLD VALUES WHILE CRC CHECK IS WRONG
|
||||
if (!crc_valid) {
|
||||
return -EAGAIN;
|
||||
}
|
||||
else return OK; */
|
||||
return OK;
|
||||
|
||||
}
|
||||
|
||||
void
|
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CM8JL65::start()
|
||||
{
|
||||
PX4_INFO("driver started");
|
||||
|
||||
_reports->flush();
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||||
|
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/* schedule a cycle to start things */
|
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work_queue(HPWORK, &_work, (worker_t)&CM8JL65::cycle_trampoline, this, 1);
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||||
|
||||
}
|
||||
|
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void
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CM8JL65::stop()
|
||||
{
|
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work_cancel(HPWORK, &_work);
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||||
}
|
||||
|
||||
void
|
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CM8JL65::cycle_trampoline(void *arg)
|
||||
{
|
||||
CM8JL65 *dev = static_cast<CM8JL65 *>(arg);
|
||||
|
||||
dev->cycle();
|
||||
}
|
||||
|
||||
void
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CM8JL65::cycle()
|
||||
{
|
||||
//PX4_DEBUG("CM8JL65::cycle() - in the cycle");
|
||||
/* fds initialized? */
|
||||
if (_fd < 0) {
|
||||
/* open fd */
|
||||
_fd = ::open(_port,O_RDWR);
|
||||
|
||||
if (_fd < 0) {
|
||||
PX4_ERR("open failed (%i)", errno);
|
||||
return;
|
||||
}
|
||||
|
||||
struct termios uart_config;
|
||||
|
||||
int termios_state;
|
||||
|
||||
/* fill the struct for the new configuration */
|
||||
tcgetattr(_fd, &uart_config);
|
||||
|
||||
/* clear ONLCR flag (which appends a CR for every LF) */
|
||||
uart_config.c_oflag &= ~ONLCR;
|
||||
|
||||
/* no parity, one stop bit */
|
||||
uart_config.c_cflag &= ~(CSTOPB | PARENB);
|
||||
|
||||
unsigned speed = B115200;
|
||||
|
||||
/* set baud rate */
|
||||
if ((termios_state = cfsetispeed(&uart_config, speed)) < 0) {
|
||||
PX4_ERR("CFG: %d ISPD", termios_state);
|
||||
}
|
||||
|
||||
if ((termios_state = cfsetospeed(&uart_config, speed)) < 0) {
|
||||
PX4_ERR("CFG: %d OSPD", termios_state);
|
||||
}
|
||||
|
||||
if ((termios_state = tcsetattr(_fd, TCSANOW, &uart_config)) < 0) {
|
||||
PX4_ERR("baud %d ATTR", termios_state);
|
||||
}
|
||||
}
|
||||
|
||||
/* perform collection */
|
||||
int collect_ret = collect();
|
||||
|
||||
if (collect_ret == -EAGAIN) {
|
||||
_cycle_counter++;
|
||||
/* We are missing bytes to complete the packet, re-cycle at 1ms */
|
||||
// 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)&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
|
||||
CM8JL65::print_info()
|
||||
{
|
||||
perf_print_counter(_sample_perf);
|
||||
perf_print_counter(_comms_errors);
|
||||
_reports->print_info("report queue");
|
||||
}
|
||||
|
||||
/**
|
||||
* Local functions in support of the shell command.
|
||||
*/
|
||||
namespace cm8jl65
|
||||
{
|
||||
|
||||
CM8JL65 *g_dev;
|
||||
|
||||
int start(const char *port, uint8_t rotation);
|
||||
int stop();
|
||||
int test();
|
||||
int reset();
|
||||
int info();
|
||||
|
||||
/**
|
||||
* Start the driver.
|
||||
*/
|
||||
int
|
||||
start(const char *port, uint8_t rotation)
|
||||
{
|
||||
int fd;
|
||||
|
||||
if (g_dev != nullptr) {
|
||||
PX4_WARN("already started");
|
||||
return -1;
|
||||
}
|
||||
|
||||
/* create the driver */
|
||||
g_dev = new CM8JL65(port, rotation);
|
||||
|
||||
if (g_dev == nullptr) {
|
||||
goto fail;
|
||||
}
|
||||
|
||||
if (OK != g_dev->init()) {
|
||||
goto fail;
|
||||
}
|
||||
|
||||
/* set the poll rate to default, starts automatic data collection */
|
||||
fd = open(RANGE_FINDER0_DEVICE_PATH, 0);
|
||||
|
||||
if (fd < 0) {
|
||||
PX4_ERR("device open fail (%i)", errno);
|
||||
goto fail;
|
||||
}
|
||||
|
||||
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
|
||||
PX4_ERR("failed to set baudrate %d", B115200);
|
||||
goto fail;
|
||||
}
|
||||
PX4_DEBUG("cm8jl65::start() succeeded");
|
||||
return 0;
|
||||
|
||||
fail:
|
||||
PX4_DEBUG("cm8jl65::start() failed");
|
||||
if (g_dev != nullptr) {
|
||||
delete g_dev;
|
||||
g_dev = nullptr;
|
||||
}
|
||||
|
||||
return -1;
|
||||
}
|
||||
|
||||
/**
|
||||
* Stop the driver
|
||||
*/
|
||||
int stop()
|
||||
{
|
||||
if (g_dev != nullptr) {
|
||||
delete g_dev;
|
||||
g_dev = nullptr;
|
||||
|
||||
} else {
|
||||
return -1;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
/**
|
||||
* Perform some basic functional tests on the driver;
|
||||
* make sure we can collect data from the sensor in polled
|
||||
* and automatic modes.
|
||||
*/
|
||||
int
|
||||
test()
|
||||
{
|
||||
struct distance_sensor_s report;
|
||||
ssize_t sz;
|
||||
|
||||
int fd = open(RANGE_FINDER0_DEVICE_PATH, O_RDONLY);
|
||||
|
||||
if (fd < 0) {
|
||||
PX4_ERR("%s open failed (try 'cm8jl65 start' if the driver is not running", RANGE_FINDER0_DEVICE_PATH);
|
||||
return -1;
|
||||
}
|
||||
|
||||
/* do a simple demand read */
|
||||
sz = read(fd, &report, sizeof(report));
|
||||
|
||||
if (sz != sizeof(report)) {
|
||||
PX4_ERR("immediate read failed");
|
||||
return -1;
|
||||
}
|
||||
|
||||
print_message(report);
|
||||
|
||||
/* start the sensor polling at 2 Hz rate */
|
||||
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
|
||||
PX4_ERR("failed to set 2Hz poll rate");
|
||||
return -1;
|
||||
}
|
||||
|
||||
/* read the sensor 5x and report each value */
|
||||
for (unsigned i = 0; i < 5; i++) {
|
||||
struct pollfd fds;
|
||||
|
||||
/* wait for data to be ready */
|
||||
fds.fd = fd;
|
||||
fds.events = POLLIN;
|
||||
int ret = poll(&fds, 1, 2000);
|
||||
|
||||
if (ret != 1) {
|
||||
PX4_ERR("timed out");
|
||||
break;
|
||||
}
|
||||
|
||||
/* now go get it */
|
||||
sz = read(fd, &report, sizeof(report));
|
||||
|
||||
if (sz != sizeof(report)) {
|
||||
PX4_ERR("read failed: got %zi vs exp. %zu", sz, sizeof(report));
|
||||
break;
|
||||
}
|
||||
|
||||
print_message(report);
|
||||
}
|
||||
|
||||
/* reset the sensor polling to the default rate */
|
||||
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT)) {
|
||||
PX4_ERR("ioctl SENSORIOCSPOLLRATE failed");
|
||||
return -1;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
/**
|
||||
* Reset the driver.
|
||||
*/
|
||||
int
|
||||
reset()
|
||||
{
|
||||
int fd = open(RANGE_FINDER0_DEVICE_PATH, O_RDONLY);
|
||||
|
||||
if (fd < 0) {
|
||||
PX4_ERR("open failed (%i)", errno);
|
||||
return -1;
|
||||
}
|
||||
|
||||
if (ioctl(fd, SENSORIOCRESET, 0) < 0) {
|
||||
PX4_ERR("driver reset failed");
|
||||
return -1;
|
||||
}
|
||||
|
||||
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
|
||||
PX4_ERR("driver poll restart failed");
|
||||
return -1;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
/**
|
||||
* Print a little info about the driver.
|
||||
*/
|
||||
int
|
||||
info()
|
||||
{
|
||||
if (g_dev == nullptr) {
|
||||
PX4_ERR("driver not running");
|
||||
return -1;
|
||||
}
|
||||
|
||||
printf("state @ %p\n", g_dev);
|
||||
g_dev->print_info();
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
} // namespace
|
||||
|
||||
int
|
||||
cm8jl65_main(int argc, char *argv[])
|
||||
{
|
||||
uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING;
|
||||
const char *device_path = CM8JL65_DEFAULT_PORT;
|
||||
int ch;
|
||||
int myoptind = 1;
|
||||
const char *myoptarg = nullptr;
|
||||
|
||||
while ((ch = px4_getopt(argc, argv, "R:d:", &myoptind, &myoptarg)) != EOF) {
|
||||
switch (ch) {
|
||||
case 'R':
|
||||
rotation = (uint8_t)atoi(myoptarg);
|
||||
break;
|
||||
|
||||
case 'd':
|
||||
device_path = myoptarg;
|
||||
break;
|
||||
|
||||
default:
|
||||
PX4_WARN("Unknown option!");
|
||||
return -1;
|
||||
}
|
||||
}
|
||||
|
||||
if (myoptind >= argc) {
|
||||
goto out_error;
|
||||
}
|
||||
|
||||
/*
|
||||
* Start/load the driver.
|
||||
*/
|
||||
if (!strcmp(argv[myoptind], "start")) {
|
||||
return cm8jl65::start(device_path, rotation);
|
||||
}
|
||||
|
||||
/*
|
||||
* Stop the driver
|
||||
*/
|
||||
if (!strcmp(argv[myoptind], "stop")) {
|
||||
return cm8jl65::stop();
|
||||
}
|
||||
|
||||
/*
|
||||
* Test the driver/device.
|
||||
*/
|
||||
if (!strcmp(argv[myoptind], "test")) {
|
||||
return cm8jl65::test();
|
||||
}
|
||||
|
||||
/*
|
||||
* Reset the driver.
|
||||
*/
|
||||
if (!strcmp(argv[myoptind], "reset")) {
|
||||
return cm8jl65::reset();
|
||||
}
|
||||
|
||||
/*
|
||||
* Print driver information.
|
||||
*/
|
||||
if (!strcmp(argv[myoptind], "info") || !strcmp(argv[myoptind], "status")) {
|
||||
return cm8jl65::info();
|
||||
}
|
||||
|
||||
out_error:
|
||||
PX4_ERR("unrecognized command, try 'start', 'test', 'reset' or 'info'");
|
||||
return -1;
|
||||
}
|
||||
@@ -0,0 +1,193 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 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 cm8jl65_parser.cpp
|
||||
* @author Claudio Micheli <claudio@auterion.com>
|
||||
*
|
||||
*/
|
||||
|
||||
#include "cm8jl65_parser.h"
|
||||
#include <string.h>
|
||||
#include <stdlib.h>
|
||||
#include <stdio.h>
|
||||
|
||||
#include "cm8jl65_parser.h"
|
||||
#include <string.h>
|
||||
#include <stdlib.h>
|
||||
|
||||
|
||||
|
||||
// Note : No clue what those static variables are
|
||||
static const unsigned char crc_msb_vector[] = {
|
||||
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
|
||||
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
|
||||
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
|
||||
0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
|
||||
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
|
||||
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
|
||||
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
|
||||
0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
|
||||
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
|
||||
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
|
||||
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
|
||||
0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
|
||||
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
|
||||
0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
|
||||
0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
|
||||
0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
|
||||
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
|
||||
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
|
||||
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
|
||||
0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
|
||||
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
|
||||
0x00, 0xC1, 0x81, 0x40
|
||||
};
|
||||
|
||||
static const unsigned char crc_lsb_vector[] = {
|
||||
0x00, 0xC0, 0xC1, 0x01, 0xC3, 0x03, 0x02, 0xC2, 0xC6, 0x06, 0x07, 0xC7,
|
||||
0x05, 0xC5, 0xC4, 0x04, 0xCC, 0x0C, 0x0D, 0xCD, 0x0F, 0xCF, 0xCE, 0x0E,
|
||||
0x0A, 0xCA, 0xCB, 0x0B, 0xC9, 0x09, 0x08, 0xC8, 0xD8, 0x18, 0x19, 0xD9,
|
||||
0x1B, 0xDB, 0xDA, 0x1A, 0x1E, 0xDE, 0xDF, 0x1F, 0xDD, 0x1D, 0x1C, 0xDC,
|
||||
0x14, 0xD4, 0xD5, 0x15, 0xD7, 0x17, 0x16, 0xD6, 0xD2, 0x12, 0x13, 0xD3,
|
||||
0x11, 0xD1, 0xD0, 0x10, 0xF0, 0x30, 0x31, 0xF1, 0x33, 0xF3, 0xF2, 0x32,
|
||||
0x36, 0xF6, 0xF7, 0x37, 0xF5, 0x35, 0x34, 0xF4, 0x3C, 0xFC, 0xFD, 0x3D,
|
||||
0xFF, 0x3F, 0x3E, 0xFE, 0xFA, 0x3A, 0x3B, 0xFB, 0x39, 0xF9, 0xF8, 0x38,
|
||||
0x28, 0xE8, 0xE9, 0x29, 0xEB, 0x2B, 0x2A, 0xEA, 0xEE, 0x2E, 0x2F, 0xEF,
|
||||
0x2D, 0xED, 0xEC, 0x2C, 0xE4, 0x24, 0x25, 0xE5, 0x27, 0xE7, 0xE6, 0x26,
|
||||
0x22, 0xE2, 0xE3, 0x23, 0xE1, 0x21, 0x20, 0xE0, 0xA0, 0x60, 0x61, 0xA1,
|
||||
0x63, 0xA3, 0xA2, 0x62, 0x66, 0xA6, 0xA7, 0x67, 0xA5, 0x65, 0x64, 0xA4,
|
||||
0x6C, 0xAC, 0xAD, 0x6D, 0xAF, 0x6F, 0x6E, 0xAE, 0xAA, 0x6A, 0x6B, 0xAB,
|
||||
0x69, 0xA9, 0xA8, 0x68, 0x78, 0xB8, 0xB9, 0x79, 0xBB, 0x7B, 0x7A, 0xBA,
|
||||
0xBE, 0x7E, 0x7F, 0xBF, 0x7D, 0xBD, 0xBC, 0x7C, 0xB4, 0x74, 0x75, 0xB5,
|
||||
0x77, 0xB7, 0xB6, 0x76, 0x72, 0xB2, 0xB3, 0x73, 0xB1, 0x71, 0x70, 0xB0,
|
||||
0x50, 0x90, 0x91, 0x51, 0x93, 0x53, 0x52, 0x92, 0x96, 0x56, 0x57, 0x97,
|
||||
0x55, 0x95, 0x94, 0x54, 0x9C, 0x5C, 0x5D, 0x9D, 0x5F, 0x9F, 0x9E, 0x5E,
|
||||
0x5A, 0x9A, 0x9B, 0x5B, 0x99, 0x59, 0x58, 0x98, 0x88, 0x48, 0x49, 0x89,
|
||||
0x4B, 0x8B, 0x8A, 0x4A, 0x4E, 0x8E, 0x8F, 0x4F, 0x8D, 0x4D, 0x4C, 0x8C,
|
||||
0x44, 0x84, 0x85, 0x45, 0x87, 0x47, 0x46, 0x86, 0x82, 0x42, 0x43, 0x83,
|
||||
0x41, 0x81, 0x80, 0x40
|
||||
};
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
unsigned short crc16_calc(unsigned char *dataFrame,uint8_t crc16_length) {
|
||||
unsigned char crc_high_byte = 0xFF;
|
||||
unsigned char crc_low_byte = 0xFF;
|
||||
int i;
|
||||
while (crc16_length--) {
|
||||
i = crc_low_byte ^ *(dataFrame++);
|
||||
crc_low_byte = (unsigned char)(crc_high_byte ^ crc_msb_vector[i]);
|
||||
crc_high_byte = crc_lsb_vector[i];
|
||||
}
|
||||
return (unsigned short)(crc_high_byte << 8 | crc_low_byte);
|
||||
}
|
||||
|
||||
int cm8jl65_parser(uint8_t c, uint8_t *parserbuf, CM8JL65_PARSE_STATE *state, uint16_t *crc16, int *dist)
|
||||
{
|
||||
int ret = -1;
|
||||
|
||||
// printf("parse byte 0x%02X \n", b);
|
||||
|
||||
switch (*state) {
|
||||
case STATE0_WAITING_FRAME:
|
||||
if (c == START_FRAME_DIGIT1) {
|
||||
*state = STATE1_GOT_DIGIT1;
|
||||
//printf("Got SFD1 \n");
|
||||
}
|
||||
break;
|
||||
|
||||
case STATE1_GOT_DIGIT1:
|
||||
if (c == START_FRAME_DIGIT2) {
|
||||
*state = STATE2_GOT_DIGIT2;
|
||||
//printf("Got SFD2 \n");
|
||||
}
|
||||
// @NOTE: (claudio@auterion.com): if second byte is wrong we skip all the frame and restart parsing !!
|
||||
else if (c == START_FRAME_DIGIT1) {
|
||||
*state = STATE1_GOT_DIGIT1;
|
||||
//printf("Discard previous SFD1, Got new SFD1 \n");
|
||||
} else {
|
||||
*state = STATE0_WAITING_FRAME;
|
||||
}
|
||||
break;
|
||||
|
||||
case STATE2_GOT_DIGIT2:
|
||||
*state = STATE3_GOT_MSB_DATA;
|
||||
parserbuf[DISTANCE_MSB_POS] = c; // MSB Data
|
||||
//printf("Got DATA1 0x%02X \n", c);
|
||||
break;
|
||||
|
||||
case STATE3_GOT_MSB_DATA:
|
||||
*state = STATE4_GOT_LSB_DATA;
|
||||
parserbuf[DISTANCE_LSB_POS] = c; // LSB Data
|
||||
//printf("Got DATA2 0x%02X \n", c);
|
||||
// do crc calculation
|
||||
*crc16 = crc16_calc(parserbuf, CHECKSUM_LENGTH);
|
||||
// convert endian
|
||||
*crc16 = (*crc16 >> 8) | (*crc16 << 8);
|
||||
break;
|
||||
|
||||
|
||||
case STATE4_GOT_LSB_DATA:
|
||||
if (c == (*crc16 >> 8)) {
|
||||
*state = STATE5_GOT_CHKSUM1;
|
||||
}
|
||||
else {
|
||||
// printf("Checksum invalid on high byte: 0x%02X, calculated: 0x%04X \n",c, *crc16);
|
||||
*state = STATE0_WAITING_FRAME;
|
||||
|
||||
}
|
||||
break;
|
||||
|
||||
case STATE5_GOT_CHKSUM1:
|
||||
// Here, reset state to `NOT-STARTED` no matter crc ok or not
|
||||
*state = STATE0_WAITING_FRAME;
|
||||
if (c == (*crc16 & 0xFF)) {
|
||||
// printf("Checksum verified \n");
|
||||
*dist = (parserbuf[DISTANCE_MSB_POS] << 8) | parserbuf[DISTANCE_LSB_POS];
|
||||
return OK;
|
||||
}
|
||||
/*else {
|
||||
//printf("Checksum invalidon low byte: 0x%02X, calculated: 0x%04X \n",c, *crc16);
|
||||
}*/
|
||||
break;
|
||||
|
||||
default:
|
||||
printf("This should never happen. \n");
|
||||
break;
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
@@ -0,0 +1,72 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 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 cm8jl65.cpp
|
||||
* @author Claudio Micheli <claudio@auterion.com>
|
||||
*
|
||||
* Parser declarations for Lanbao PSK-CM8JL65-CC5 distance sensor
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <stdint.h>
|
||||
// frame start delimiter
|
||||
#define START_FRAME_DIGIT1 0xA5
|
||||
#define START_FRAME_DIGIT2 0x5A
|
||||
|
||||
|
||||
// Frame format definition
|
||||
//
|
||||
// 1B 1B 1B 1B 2B
|
||||
// | 0xA5 | 0x5A | distance-MSB | distance-LSB | crc-16 |
|
||||
//
|
||||
// Frame data saved for CRC calculation
|
||||
#define DISTANCE_MSB_POS 2
|
||||
#define DISTANCE_LSB_POS 3
|
||||
#define CHECKSUM_LENGTH 4
|
||||
|
||||
|
||||
enum CM8JL65_PARSE_STATE {
|
||||
STATE0_WAITING_FRAME = 0,
|
||||
STATE1_GOT_DIGIT1,
|
||||
STATE2_GOT_DIGIT2,
|
||||
STATE3_GOT_MSB_DATA,
|
||||
STATE4_GOT_LSB_DATA,
|
||||
STATE5_GOT_CHKSUM1,
|
||||
STATE6_GOT_CHKSUM2,
|
||||
};
|
||||
|
||||
|
||||
|
||||
int cm8jl65_parser(uint8_t c, uint8_t *parserbuf,enum CM8JL65_PARSE_STATE *state,uint16_t *crc16, int *dist);
|
||||
Reference in New Issue
Block a user