ulanding radar from Aerotenna: added driver for NuttX

Signed-off-by: Roman <bapstroman@gmail.com>

src/drivers/ulanding/CMakeLists.txt

@@ -0,0 +1,43 @@
+############################################################################
+#
+#   Copyright (c) 2016 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.
+#
+############################################################################
+px4_add_module(
+	MODULE drivers__ulanding
+	MAIN ulanding_radar
+	COMPILE_FLAGS
+		-Os
+	SRCS
+		ulanding.cpp
+	DEPENDS
+		platforms__common
+	)
+# vim: set noet ft=cmake fenc=utf-8 ff=unix :

src/drivers/ulanding/ulanding.cpp

@@ -0,0 +1,392 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2016 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 ulanding.cpp
+ * @author Roman Bapst <roman@uaventure.com>
+ *
+ * Driver for the uLanding radar from Aerotenna
+ */
+
+#include <termios.h>
+
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_range_finder.h>
+#include <drivers/device/device.h>
+
+#include <uORB/topics/distance_sensor.h>
+
+#define ULANDING_MIN_DISTANCE		0.315f
+#define ULANDING_MAX_DISTANCE		50.0f
+#define RADAR_RANGE_DATA 		0x48
+
+#define RADAR_DEFAULT_PORT		"/dev/ttyS2"	// telem2 on Pixhawk
+
+
+extern "C" __EXPORT int ulanding_radar_main(int argc, char *argv[]);
+
+class Radar : public device::CDev
+{
+public:
+	Radar(const char *port = RADAR_DEFAULT_PORT);
+	virtual ~Radar();
+
+	virtual int 			init();
+
+	int				start();
+
+private:
+	bool				_task_should_exit;
+	int 				_task_handle;
+	char 				_port[20];
+	int				_class_instance;
+	int				_orb_class_instance;
+	orb_advert_t			_distance_sensor_topic;
+
+	static void task_main_trampoline(int argc, char *argv[]);
+	void task_main();
+};
+
+namespace radar
+{
+Radar	*g_dev;
+}
+
+Radar::Radar(const char *port) :
+	CDev("Radar", RANGE_FINDER0_DEVICE_PATH),
+	_task_should_exit(false),
+	_task_handle(-1),
+	_class_instance(-1),
+	_orb_class_instance(-1),
+	_distance_sensor_topic(nullptr)
+{
+	/* store port name */
+	strncpy(_port, port, sizeof(_port));
+	/* enforce null termination */
+	_port[sizeof(_port) - 1] = '\0';
+
+	// disable debug() calls
+	_debug_enabled = false;
+}
+
+Radar::~Radar()
+{
+
+	if (_class_instance != -1) {
+		unregister_class_devname(RANGE_FINDER_BASE_DEVICE_PATH, _class_instance);
+	}
+
+	if (_task_handle != -1) {
+		/* task wakes up every 100ms or so at the longest */
+		_task_should_exit = true;
+
+		/* wait for a second for the task to quit at our request */
+		unsigned i = 0;
+
+		do {
+			/* wait 20ms */
+			usleep(20000);
+
+			/* if we have given up, kill it */
+			if (++i > 50) {
+				px4_task_delete(_task_handle);
+				break;
+			}
+		} while (_task_handle != -1);
+	}
+
+	if (_class_instance != -1) {
+		unregister_class_devname(RANGE_FINDER_BASE_DEVICE_PATH, _class_instance);
+	}
+
+	orb_unadvertise(_distance_sensor_topic);
+}
+
+int
+Radar::init()
+{
+	/* status */
+	int ret = 0;
+
+	do { /* create a scope to handle exit conditions using break */
+
+		/* do regular cdev init */
+		ret = CDev::init();
+
+		if (ret != OK) {
+			PX4_WARN("cdev init failed");
+			break;
+		}
+
+		int fd = px4_open(RANGE_FINDER0_DEVICE_PATH, 0);
+
+		if (fd < 0) {
+			PX4_WARN("failed to open range finder device");
+			ret = 1;
+			break;
+		}
+
+		px4_close(fd);
+
+		/* open fd */
+		fd = px4_open(_port, O_RDWR | O_NOCTTY);
+
+		if (fd < 0) {
+			PX4_WARN("failed to open serial device");
+			ret = 1;
+			break;
+		}
+
+		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_WARN("ERR CFG: %d ISPD", termios_state);
+			ret = 1;
+			break;
+		}
+
+		if ((termios_state = cfsetospeed(&uart_config, speed)) < 0) {
+			PX4_WARN("ERR CFG: %d OSPD\n", termios_state);
+			ret = 1;
+			break;
+		}
+
+		if ((termios_state = tcsetattr(fd, TCSANOW, &uart_config)) < 0) {
+			PX4_WARN("ERR baud %d ATTR", termios_state);
+			ret = 1;
+			break;
+		}
+
+		px4_close(fd);
+
+		_class_instance = register_class_devname(RANGE_FINDER_BASE_DEVICE_PATH);
+
+		struct distance_sensor_s ds_report = {};
+
+		_distance_sensor_topic = orb_advertise_multi(ORB_ID(distance_sensor), &ds_report,
+					 &_orb_class_instance, ORB_PRIO_HIGH);
+
+		if (_distance_sensor_topic == nullptr) {
+			DEVICE_LOG("failed to create distance_sensor object. Did you start uOrb?");
+			ret = 1;
+			break;
+		}
+
+	} while (0);
+
+	return ret;
+}
+
+void
+Radar::task_main_trampoline(int argc, char *argv[])
+{
+	radar::g_dev->task_main();
+}
+
+int
+Radar::start()
+{
+	ASSERT(_task_handle == -1);
+
+	/* start the task */
+	_task_handle = px4_task_spawn_cmd("radar",
+					  SCHED_DEFAULT,
+					  SCHED_PRIORITY_MAX - 30,
+					  800,
+					  (px4_main_t)&Radar::task_main_trampoline,
+					  nullptr);
+
+	if (_task_handle < 0) {
+		PX4_WARN("task start failed");
+		return -errno;
+	}
+
+	return OK;
+}
+
+void
+Radar::task_main()
+{
+
+	int fd = px4_open(_port, O_RDWR | O_NOCTTY);
+
+	// we poll on data from the serial port
+	px4_pollfd_struct_t fds[1];
+	fds[0].fd = fd;
+	fds[0].events = POLLIN;
+
+	// read buffer, one measurement consists of three bytes
+	char buf[6];
+
+	while (!_task_should_exit) {
+		// wait for up to 100ms for data
+		int pret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
+
+		// timed out
+		if (pret == 0) {
+			continue;
+		}
+
+		if (pret < 0) {
+			PX4_DEBUG("radar serial port poll error");
+			// sleep a bit before next try
+			usleep(100000);
+			continue;
+		}
+
+		if (fds[0].revents & POLLIN) {
+
+			int bytesAvailable = 0;
+			px4_ioctl(fd, FIONREAD, (unsigned long)&bytesAvailable);
+
+			if (bytesAvailable < 3) {
+				// we have less than three bytes available, wait a bit for data to arrive
+				usleep(2000);
+			}
+
+			int len = px4_read(fd, &buf[0], sizeof(buf));
+
+			if (len <= 0) {
+				PX4_DEBUG("error reading radar");
+			}
+
+			// check if we have a data package and if we have read at least three bytes, because that is
+			// the size of one data package
+			if ((buf[0] & 0x80) == 0x00 && (buf[0] & 0x7F) == RADAR_RANGE_DATA && len >= 3) {
+
+				int raw = (buf[1] & 0x7F) + ((buf[2] & 0x7F) << 7);
+
+				struct distance_sensor_s report = {};
+				report.timestamp = hrt_absolute_time();
+				report.type = distance_sensor_s::MAV_DISTANCE_SENSOR_ULTRASOUND;
+				report.orientation = 8;
+				report.current_distance = ((float)raw) * 0.045f;
+				report.current_distance = report.current_distance > ULANDING_MAX_DISTANCE ? ULANDING_MAX_DISTANCE :
+							  report.current_distance;
+				report.current_distance = report.current_distance < ULANDING_MIN_DISTANCE ? ULANDING_MIN_DISTANCE :
+							  report.current_distance;
+				report.min_distance = ULANDING_MIN_DISTANCE;
+				report.max_distance = ULANDING_MAX_DISTANCE;
+				report.covariance = 0.0f;
+				// TODO: set proper ID
+				report.id = 0;
+
+				// publish it
+				orb_publish(ORB_ID(distance_sensor), _distance_sensor_topic, &report);
+			}
+
+		}
+	}
+
+	px4_close(fd);
+}
+
+int ulanding_radar_main(int argc, char *argv[])
+{
+	/*
+	 * Start/load the driver.
+	 */
+	if (!strcmp(argv[1], "start")) {
+		if (radar::g_dev != nullptr) {
+			PX4_WARN("driver already started");
+			return 0;
+		}
+
+		if (argc > 2) {
+			radar::g_dev = new Radar(argv[2]);
+
+		} else {
+			radar::g_dev = new Radar(RADAR_DEFAULT_PORT);
+		}
+
+		if (radar::g_dev == nullptr) {
+			PX4_ERR("failed to create instance of Radar");
+			return 1;
+		}
+
+		if (PX4_OK != radar::g_dev->init()) {
+			delete radar::g_dev;
+			radar::g_dev = nullptr;
+			return 1;
+		}
+
+		if (OK != radar::g_dev->start()) {
+			delete radar::g_dev;
+			radar::g_dev = nullptr;
+			return 1;
+		}
+
+		return 0;
+	}
+
+	/*
+	 * Stop the driver
+	 */
+	if (!strcmp(argv[1], "stop")) {
+		if (radar::g_dev != nullptr) {
+			delete radar::g_dev;
+			radar::g_dev = nullptr;
+
+		} else {
+			PX4_WARN("driver not running");
+		}
+
+		return 0;
+	}
+
+	if (!strcmp(argv[1], "info")) {
+		PX4_INFO("ulanding radar from Aerotenna");
+		PX4_INFO("min distance %.2f m", (double)ULANDING_MIN_DISTANCE);
+		PX4_INFO("max distance %.2f m", (double)ULANDING_MAX_DISTANCE);
+		PX4_INFO("update rate: 500 Hz");
+		return 0;
+
+	}
+
+	PX4_WARN("unrecognized arguments, try: start [device_name], stop, info ");
+	return 1;
+}