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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-03 13:48:54 +08:00
LeddarOne: Refactor the driver to standardize against other distance sensor drivers. (#11858)
* Migrate remaining member variable intialization to declarations and employ uniform initialization style. Copy/paste help() and main() methods to the bottom of the file to match convention with other distance sensor drivers. * Refactor the LeddarOne driver class to give scope resultion to the methods that were global and to standardize the implementation against most of the other distance sensor drivers. * Deprecate _reports member var, use of hardware ring buffer, and LeddarOne::read() method. * Deprecate commented (dead) code from the LeddarOne class init() method. * Refactor the LeddarOne class cycle() and collect() methods and create measure() method to untangle the previous logic implementation.
This commit is contained in:
Mark Sauder
@@ -51,25 +51,27 @@
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#include <uORB/topics/distance_sensor.h>
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#define MIN_DISTANCE 0.01f
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#define MAX_DISTANCE 40.0f
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using namespace time_literals;
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#define NAME "leddar_one"
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#define DEVICE_PATH "/dev/" NAME
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#define DEVICE_PATH "/dev/LeddarOne"
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#define LEDDAR_ONE_DEFAULT_SERIAL_PORT "/dev/ttyS3"
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#define SENSOR_READING_FREQ 10.0f
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#define READING_USEC_PERIOD (unsigned long)(1000000.0f / SENSOR_READING_FREQ)
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#define OVERSAMPLE 6
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#define WORK_USEC_INTERVAL READING_USEC_PERIOD / OVERSAMPLE
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#define COLLECT_USEC_TIMEOUT READING_USEC_PERIOD / (OVERSAMPLE / 2)
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#define MAX_DISTANCE 40.0f
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#define MIN_DISTANCE 0.01f
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#define SENSOR_READING_FREQ 10.0f
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#define READING_USEC_PERIOD (unsigned long)(1000000.0f / SENSOR_READING_FREQ)
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#define OVERSAMPLE 6
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#define WORK_USEC_INTERVAL READING_USEC_PERIOD / OVERSAMPLE
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#define COLLECT_USEC_TIMEOUT READING_USEC_PERIOD / (OVERSAMPLE / 2)
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/* 0.5sec */
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#define PROBE_USEC_TIMEOUT 500000
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#define PROBE_USEC_TIMEOUT 500000_us
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#define MODBUS_SLAVE_ADDRESS 0x01
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#define MODBUS_SLAVE_ADDRESS 0x01
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#define MODBUS_READING_FUNCTION 0x04
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#define READING_START_ADDR 0x14
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#define READING_LEN 0xA
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#define READING_START_ADDR 0x14
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#define READING_LEN 0xA
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static const uint8_t request_reading_msg[] = {
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MODBUS_SLAVE_ADDRESS,
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@@ -109,330 +111,106 @@ struct __attribute__((__packed__)) reading_msg {
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uint16_t crc; /* little-endian */
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};
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class leddar_one : public cdev::CDev, public px4::ScheduledWorkItem
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class LeddarOne : public cdev::CDev, public px4::ScheduledWorkItem
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{
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public:
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leddar_one(const char *device_path, const char *serial_port, uint8_t rotation);
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virtual ~leddar_one();
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LeddarOne(const char *device_path, const char *serial_port, uint8_t rotation);
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virtual ~LeddarOne();
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virtual int init() override;
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void start();
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void stop();
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virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
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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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/**
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* Initialise the automatic measurement state machine and start it.
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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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private:
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int _fd = -1;
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const char *_serial_port;
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/**
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* Calculates the 16 byte crc value for the data frame.
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* @param data_frame The data frame to compute a checksum for.
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* @param crc16_length The length of the data frame.
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*/
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uint16_t crc16_calc(const unsigned char *data_frame, uint8_t crc16_length);
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uint8_t _rotation;
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/**
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* Reads the data measrurement from serial UART.
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*/
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int collect();
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uint8_t _buffer[sizeof(struct reading_msg)];
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uint8_t _buffer_len = 0;
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int measure();
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orb_advert_t _topic = nullptr;
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ringbuffer::RingBuffer *_reports = nullptr;
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/**
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* Opens and configures the UART serial communications port.
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* @param speed The baudrate (speed) to configure the serial UART port.
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*/
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int open_serial_port(const speed_t speed = B115200);
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enum {
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state_waiting_reading = 0,
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state_reading_requested
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} _state = state_waiting_reading;
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hrt_abstime _timeout_usec = 0;
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void publish(uint16_t distance_cm);
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perf_counter_t _collect_timeout_perf;
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perf_counter_t _comm_error;
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perf_counter_t _sample_perf;
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int _fd_open();
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bool _request();
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int _collect();
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void _publish(uint16_t distance_cm);
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int _cycle();
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bool request();
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void Run() override;
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const char *_serial_port;
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bool _collect_phase{false};
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int _file_descriptor{-1};
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uint8_t _buffer[sizeof(struct reading_msg)];
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uint8_t _buffer_len{0};
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uint8_t _rotation;
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hrt_abstime _timeout_usec{0};
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perf_counter_t _collect_timeout_perf{perf_alloc(PC_COUNT, "leddar_one_collect_timeout")};
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perf_counter_t _comms_errors{perf_alloc(PC_COUNT, "leddar_one_comms_errors")};
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perf_counter_t _sample_perf{perf_alloc(PC_ELAPSED, "leddar_one_sample")};
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orb_advert_t _topic{nullptr};
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};
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extern "C" __EXPORT int leddar_one_main(int argc, char *argv[]);
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static void help();
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int leddar_one_main(int argc, char *argv[])
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{
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int ch;
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int myoptind = 1;
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const char *myoptarg = nullptr;
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const char *serial_port = "/dev/ttyS3";
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uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING;
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static leddar_one *inst = nullptr;
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while ((ch = px4_getopt(argc, argv, "d:r", &myoptind, &myoptarg)) != EOF) {
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switch (ch) {
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case 'd':
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serial_port = myoptarg;
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break;
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case 'r':
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rotation = (uint8_t)atoi(myoptarg);
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break;
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default:
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PX4_WARN("Unknown option!");
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help();
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return PX4_ERROR;
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}
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}
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if (myoptind >= argc) {
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help();
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return PX4_ERROR;
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}
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const char *verb = argv[myoptind];
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if (!strcmp(verb, "start")) {
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inst = new leddar_one(DEVICE_PATH, serial_port, rotation);
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if (!inst) {
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PX4_ERR("No memory to allocate " NAME);
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return PX4_ERROR;
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}
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if (inst->init() != PX4_OK) {
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delete inst;
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return PX4_ERROR;
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}
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inst->start();
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} else if (!strcmp(verb, "stop")) {
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delete inst;
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inst = nullptr;
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} else if (!strcmp(verb, "test")) {
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int fd = open(DEVICE_PATH, O_RDONLY);
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ssize_t sz;
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struct distance_sensor_s report;
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if (fd < 0) {
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PX4_ERR("Unable to open %s", DEVICE_PATH);
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return PX4_ERROR;
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}
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sz = read(fd, &report, sizeof(report));
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close(fd);
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if (sz != sizeof(report)) {
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PX4_ERR("No sample available in %s", DEVICE_PATH);
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return PX4_ERROR;
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}
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print_message(report);
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} else {
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help();
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PX4_ERR("unrecognized command");
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return PX4_ERROR;
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}
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return PX4_OK;
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}
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leddar_one::leddar_one(const char *device_path, const char *serial_port, uint8_t rotation):
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LeddarOne::LeddarOne(const char *device_path, const char *serial_port, uint8_t rotation):
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CDev(device_path),
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ScheduledWorkItem(px4::wq_configurations::hp_default),
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_rotation(rotation),
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_collect_timeout_perf(perf_alloc(PC_COUNT, "leddar_one_collect_timeout")),
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_comm_error(perf_alloc(PC_COUNT, "leddar_one_comm_errors")),
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_sample_perf(perf_alloc(PC_ELAPSED, "leddar_one_sample"))
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_rotation(rotation)
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{
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_serial_port = strdup(serial_port);
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}
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leddar_one::~leddar_one()
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LeddarOne::~LeddarOne()
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{
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stop();
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free((char *)_serial_port);
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if (_fd > -1) {
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::close(_fd);
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}
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if (_reports) {
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delete _reports;
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}
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if (_topic) {
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orb_unadvertise(_topic);
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}
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perf_free(_sample_perf);
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perf_free(_collect_timeout_perf);
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perf_free(_comm_error);
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perf_free(_comms_errors);
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perf_free(_sample_perf);
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}
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int leddar_one::_fd_open()
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{
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if (!_serial_port) {
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return -1;
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}
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_fd = ::open(_serial_port, O_RDWR | O_NOCTTY | O_NONBLOCK);
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if (_fd < 0) {
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return -1;
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}
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struct termios config;
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int r = tcgetattr(_fd, &config);
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if (r) {
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PX4_ERR("Unable to get termios from %s.", _serial_port);
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goto error;
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}
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/* clear: data bit size, two stop bits, parity, hardware flow control */
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config.c_cflag &= ~(CSIZE | CSTOPB | PARENB | CRTSCTS);
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/* set: 8 data bits, enable receiver, ignore modem status lines */
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config.c_cflag |= (CS8 | CREAD | CLOCAL);
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/* turn off output processing */
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config.c_oflag = 0;
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/* clear: echo, echo new line, canonical input and extended input */
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config.c_lflag &= (ECHO | ECHONL | ICANON | IEXTEN);
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r = cfsetispeed(&config, B115200);
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r |= cfsetospeed(&config, B115200);
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if (r) {
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PX4_ERR("Unable to set baudrate");
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goto error;
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}
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r = tcsetattr(_fd, TCSANOW, &config);
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if (r) {
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PX4_ERR("Unable to set termios to %s", _serial_port);
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goto error;
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}
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return PX4_OK;
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error:
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::close(_fd);
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_fd = -1;
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return PX4_ERROR;
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}
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int leddar_one::init()
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{
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if (CDev::init()) {
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PX4_ERR("Unable to initialize device\n");
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return -1;
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}
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_reports = new ringbuffer::RingBuffer(2, sizeof(distance_sensor_s));
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if (!_reports) {
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PX4_ERR("No memory to allocate RingBuffer");
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return -1;
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}
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if (_fd_open()) {
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return PX4_ERROR;
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}
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hrt_abstime timeout_usec, now;
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for (now = hrt_absolute_time(), timeout_usec = now + PROBE_USEC_TIMEOUT;
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now < timeout_usec;
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now = hrt_absolute_time()) {
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if (_cycle() > 0) {
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printf(NAME " found\n");
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return PX4_OK;
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}
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px4_usleep(1000);
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}
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PX4_ERR("No readings from " NAME);
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return PX4_ERROR;
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}
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void
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leddar_one::stop()
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{
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ScheduleClear();
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}
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void leddar_one::start()
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{
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/*
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* file descriptor can only be accessed by the process that opened it
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* so closing here and it will be opened from the High priority kernel
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* process
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*/
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::close(_fd);
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_fd = -1;
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ScheduleDelayed(WORK_USEC_INTERVAL);
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}
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void
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leddar_one::Run()
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{
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if (_fd != -1) {
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_cycle();
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} else {
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_fd_open();
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}
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ScheduleDelayed(WORK_USEC_INTERVAL);
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}
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void leddar_one::_publish(uint16_t distance_mm)
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{
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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_ULTRASOUND;
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report.orientation = _rotation;
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report.current_distance = ((float)distance_mm / 1000.0f);
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report.min_distance = MIN_DISTANCE;
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report.max_distance = MAX_DISTANCE;
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report.variance = 0.0f;
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report.signal_quality = -1;
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report.id = 0;
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_reports->force(&report);
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if (_topic == nullptr) {
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_topic = orb_advertise(ORB_ID(distance_sensor), &report);
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} else {
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orb_publish(ORB_ID(distance_sensor), _topic, &report);
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}
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}
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bool leddar_one::_request()
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{
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/* flush anything in RX buffer */
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tcflush(_fd, TCIFLUSH);
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int r = ::write(_fd, request_reading_msg, sizeof(request_reading_msg));
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return r == sizeof(request_reading_msg);
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}
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static uint16_t _calc_crc16(const uint8_t *buffer, uint8_t len)
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uint16_t
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LeddarOne::crc16_calc(const unsigned char *data_frame, uint8_t crc16_length)
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{
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uint16_t crc = 0xFFFF;
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for (uint8_t i = 0; i < len; i++) {
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crc ^= buffer[i];
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for (uint8_t i = 0; i < crc16_length; i++) {
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crc ^= data_frame[i];
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for (uint8_t j = 0; j < 8; j++) {
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if (crc & 1) {
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@@ -447,113 +225,362 @@ static uint16_t _calc_crc16(const uint8_t *buffer, uint8_t len)
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return crc;
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}
|
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|
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/*
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* returns 0 when still waiting for reading_msg, 1 when frame was read or
|
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* -1 in case of error
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*/
|
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int leddar_one::_collect()
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int
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LeddarOne::collect()
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{
|
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struct reading_msg *msg;
|
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|
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int r = ::read(_fd, _buffer + _buffer_len, sizeof(_buffer) - _buffer_len);
|
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|
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if (r < 1) {
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return 0;
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if (!_collect_phase) {
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return measure();
|
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}
|
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|
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_buffer_len += r;
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perf_end(_sample_perf);
|
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|
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const hrt_abstime time_now = hrt_absolute_time();
|
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|
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struct reading_msg *msg;
|
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|
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int bytes_read = ::read(_file_descriptor, _buffer + _buffer_len, sizeof(_buffer) - _buffer_len);
|
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|
||||
if (bytes_read < 1) {
|
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if (time_now > _timeout_usec) {
|
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_collect_phase = true;
|
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_timeout_usec = 0;
|
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}
|
||||
|
||||
perf_count(_collect_timeout_perf);
|
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return PX4_ERROR;
|
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}
|
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|
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_buffer_len += bytes_read;
|
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|
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if (_buffer_len < sizeof(struct reading_msg)) {
|
||||
return 0;
|
||||
perf_count(_comms_errors);
|
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return PX4_ERROR;
|
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}
|
||||
|
||||
msg = (struct reading_msg *)_buffer;
|
||||
|
||||
if (msg->slave_addr != MODBUS_SLAVE_ADDRESS || msg->function != MODBUS_READING_FUNCTION) {
|
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perf_count(_comms_errors);
|
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return PX4_ERROR;
|
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}
|
||||
|
||||
const uint16_t crc16 = crc16_calc(_buffer, _buffer_len - 2);
|
||||
|
||||
if (crc16 != msg->crc) {
|
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perf_count(_comms_errors);
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
// NOTE: little-endian support only.
|
||||
publish(msg->first_dist_high_byte << 8 | msg->first_dist_low_byte);
|
||||
|
||||
_collect_phase = false;
|
||||
_timeout_usec = time_now + READING_USEC_PERIOD;
|
||||
|
||||
perf_end(_sample_perf);
|
||||
return PX4_OK;
|
||||
}
|
||||
|
||||
int
|
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LeddarOne::measure()
|
||||
{
|
||||
const hrt_abstime time_now = hrt_absolute_time();
|
||||
|
||||
if (time_now > _timeout_usec) {
|
||||
if (request()) {
|
||||
_buffer_len = 0;
|
||||
_timeout_usec = time_now + COLLECT_USEC_TIMEOUT;
|
||||
_collect_phase = true;
|
||||
return PX4_OK;
|
||||
}
|
||||
}
|
||||
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
void
|
||||
LeddarOne::Run()
|
||||
{
|
||||
// Ensure the serial port is open.
|
||||
open_serial_port();
|
||||
|
||||
collect();
|
||||
}
|
||||
|
||||
int
|
||||
LeddarOne::init()
|
||||
{
|
||||
if (CDev::init()) {
|
||||
PX4_ERR("Unable to initialize character device\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
const uint16_t crc16_calc = _calc_crc16(_buffer, _buffer_len - 2);
|
||||
|
||||
if (crc16_calc != msg->crc) {
|
||||
return -1;
|
||||
if (open_serial_port()) {
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
/* NOTE: little-endian support only */
|
||||
_publish(msg->first_dist_high_byte << 8 | msg->first_dist_low_byte);
|
||||
return 1;
|
||||
hrt_abstime time_now = hrt_absolute_time();
|
||||
hrt_abstime timeout_usec = time_now + PROBE_USEC_TIMEOUT;
|
||||
|
||||
while (time_now < timeout_usec) {
|
||||
if (measure() == PX4_OK) {
|
||||
PX4_INFO("LeddarOne initialized");
|
||||
return PX4_OK;
|
||||
}
|
||||
|
||||
px4_usleep(1000);
|
||||
time_now = hrt_absolute_time();
|
||||
}
|
||||
|
||||
PX4_ERR("No readings from LeddarOne");
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
int leddar_one::_cycle()
|
||||
int
|
||||
LeddarOne::open_serial_port(const speed_t speed)
|
||||
{
|
||||
int ret = 0;
|
||||
const hrt_abstime now = hrt_absolute_time();
|
||||
|
||||
switch (_state) {
|
||||
case state_waiting_reading:
|
||||
if (now > _timeout_usec) {
|
||||
if (_request()) {
|
||||
perf_begin(_sample_perf);
|
||||
_buffer_len = 0;
|
||||
_state = state_reading_requested;
|
||||
_timeout_usec = now + COLLECT_USEC_TIMEOUT;
|
||||
}
|
||||
}
|
||||
|
||||
break;
|
||||
|
||||
case state_reading_requested:
|
||||
ret = _collect();
|
||||
|
||||
if (ret == 1) {
|
||||
perf_end(_sample_perf);
|
||||
_state = state_waiting_reading;
|
||||
_timeout_usec = now + READING_USEC_PERIOD;
|
||||
|
||||
} else {
|
||||
if (ret == 0 && now < _timeout_usec) {
|
||||
/* still waiting for reading */
|
||||
break;
|
||||
}
|
||||
|
||||
if (ret == -1) {
|
||||
perf_count(_comm_error);
|
||||
|
||||
} else {
|
||||
perf_count(_collect_timeout_perf);
|
||||
}
|
||||
|
||||
perf_cancel(_sample_perf);
|
||||
_state = state_waiting_reading;
|
||||
_timeout_usec = 0;
|
||||
return _cycle();
|
||||
}
|
||||
// File descriptor already initialized?
|
||||
if (_file_descriptor > 0) {
|
||||
// PX4_INFO("serial port already open");
|
||||
return PX4_OK;
|
||||
}
|
||||
|
||||
return ret;
|
||||
// Configure port flags for read/write, non-controlling, non-blocking.
|
||||
int flags = (O_RDWR | O_NOCTTY | O_NONBLOCK);
|
||||
|
||||
// Open the serial port.
|
||||
_file_descriptor = ::open(_serial_port, flags);
|
||||
|
||||
if (_file_descriptor < 0) {
|
||||
PX4_ERR("open failed (%i)", errno);
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
termios uart_config = {};
|
||||
|
||||
// Store the current port configuration. attributes.
|
||||
if (tcgetattr(_file_descriptor, &uart_config)) {
|
||||
PX4_ERR("Unable to get termios from %s.", _serial_port);
|
||||
::close(_file_descriptor);
|
||||
_file_descriptor = -1;
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
// Clear: data bit size, two stop bits, parity, hardware flow control.
|
||||
uart_config.c_cflag &= ~(CSIZE | CSTOPB | PARENB | CRTSCTS);
|
||||
|
||||
// Set: 8 data bits, enable receiver, ignore modem status lines.
|
||||
uart_config.c_cflag |= (CS8 | CREAD | CLOCAL);
|
||||
|
||||
// Turn off output processing.
|
||||
uart_config.c_oflag = 0;
|
||||
|
||||
// Clear: echo, echo new line, canonical input and extended input.
|
||||
uart_config.c_lflag &= (ECHO | ECHONL | ICANON | IEXTEN);
|
||||
|
||||
// Set the input baud rate in the uart_config struct.
|
||||
int termios_state = cfsetispeed(&uart_config, speed);
|
||||
|
||||
if (termios_state < 0) {
|
||||
PX4_ERR("CFG: %d ISPD", termios_state);
|
||||
::close(_file_descriptor);
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
// Set the output baud rate in the uart_config struct.
|
||||
termios_state = cfsetospeed(&uart_config, speed);
|
||||
|
||||
if (termios_state < 0) {
|
||||
PX4_ERR("CFG: %d OSPD", termios_state);
|
||||
::close(_file_descriptor);
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
// Apply the modified port attributes.
|
||||
termios_state = tcsetattr(_file_descriptor, TCSANOW, &uart_config);
|
||||
|
||||
if (termios_state < 0) {
|
||||
PX4_ERR("baud %d ATTR", termios_state);
|
||||
::close(_file_descriptor);
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
return PX4_OK;
|
||||
}
|
||||
|
||||
ssize_t leddar_one::read(struct file *filp, char *buffer, size_t buflen)
|
||||
void
|
||||
LeddarOne::print_info()
|
||||
{
|
||||
unsigned count = buflen / sizeof(struct distance_sensor_s);
|
||||
struct distance_sensor_s *rbuf = reinterpret_cast<struct distance_sensor_s *>(buffer);
|
||||
int ret = 0;
|
||||
|
||||
if (count < 1) {
|
||||
return -ENOSPC;
|
||||
}
|
||||
|
||||
while (count--) {
|
||||
if (_reports->get(rbuf)) {
|
||||
ret += sizeof(*rbuf);
|
||||
rbuf++;
|
||||
}
|
||||
}
|
||||
|
||||
return ret ? ret : -EAGAIN;
|
||||
perf_print_counter(_collect_timeout_perf);
|
||||
perf_print_counter(_comms_errors);
|
||||
perf_print_counter(_sample_perf);
|
||||
PX4_INFO("measure interval: %u msec", static_cast<uint16_t>(WORK_USEC_INTERVAL) / 1000);
|
||||
}
|
||||
|
||||
void help()
|
||||
void
|
||||
LeddarOne::publish(uint16_t distance_mm)
|
||||
{
|
||||
struct distance_sensor_s report;
|
||||
|
||||
report.timestamp = hrt_absolute_time();
|
||||
report.type = distance_sensor_s::MAV_DISTANCE_SENSOR_ULTRASOUND;
|
||||
report.orientation = _rotation;
|
||||
report.current_distance = ((float)distance_mm / 1000.0f);
|
||||
report.min_distance = MIN_DISTANCE;
|
||||
report.max_distance = MAX_DISTANCE;
|
||||
report.variance = 0.0f;
|
||||
report.signal_quality = -1;
|
||||
report.id = 0;
|
||||
|
||||
if (_topic == nullptr) {
|
||||
_topic = orb_advertise(ORB_ID(distance_sensor), &report);
|
||||
|
||||
} else {
|
||||
orb_publish(ORB_ID(distance_sensor), _topic, &report);
|
||||
}
|
||||
}
|
||||
|
||||
bool
|
||||
LeddarOne::request()
|
||||
{
|
||||
/* flush anything in RX buffer */
|
||||
tcflush(_file_descriptor, TCIFLUSH);
|
||||
|
||||
int r = ::write(_file_descriptor, request_reading_msg, sizeof(request_reading_msg));
|
||||
return r == sizeof(request_reading_msg);
|
||||
}
|
||||
|
||||
void
|
||||
LeddarOne::start()
|
||||
{
|
||||
/*
|
||||
* file descriptor can only be accessed by the process that opened it
|
||||
* so closing here and it will be opened from the High priority kernel
|
||||
* process
|
||||
*/
|
||||
::close(_file_descriptor);
|
||||
_file_descriptor = -1;
|
||||
|
||||
ScheduleOnInterval(WORK_USEC_INTERVAL);
|
||||
}
|
||||
|
||||
void
|
||||
LeddarOne::stop()
|
||||
{
|
||||
if (_file_descriptor > -1) {
|
||||
::close(_file_descriptor);
|
||||
}
|
||||
|
||||
ScheduleClear();
|
||||
}
|
||||
|
||||
|
||||
|
||||
/**
|
||||
* Local functions in support of the shell command.
|
||||
*/
|
||||
namespace leddar_one
|
||||
{
|
||||
|
||||
LeddarOne *g_dev;
|
||||
|
||||
int start(const char *port, const uint8_t rotation);
|
||||
int status();
|
||||
int stop();
|
||||
int test();
|
||||
int usage();
|
||||
|
||||
int start(const char *port, const uint8_t rotation)
|
||||
{
|
||||
if (g_dev != nullptr) {
|
||||
PX4_ERR("already started");
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
g_dev = new LeddarOne(DEVICE_PATH, port, rotation);
|
||||
|
||||
if (g_dev == nullptr) {
|
||||
delete g_dev;
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
// Initialize the sensor.
|
||||
if (g_dev->init() != PX4_OK) {
|
||||
delete g_dev;
|
||||
g_dev = nullptr;
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
// Start the driver.
|
||||
g_dev->start();
|
||||
PX4_INFO("driver started");
|
||||
return PX4_OK;
|
||||
}
|
||||
|
||||
/**
|
||||
* Print the driver status.
|
||||
*/
|
||||
int
|
||||
status()
|
||||
{
|
||||
if (g_dev == nullptr) {
|
||||
PX4_ERR("driver not running");
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
g_dev->print_info();
|
||||
|
||||
return PX4_OK;
|
||||
}
|
||||
|
||||
/**
|
||||
* Stop the driver
|
||||
*/
|
||||
int
|
||||
stop()
|
||||
{
|
||||
if (g_dev != nullptr) {
|
||||
delete g_dev;
|
||||
g_dev = nullptr;
|
||||
|
||||
}
|
||||
|
||||
PX4_INFO("driver stopped");
|
||||
return PX4_OK;
|
||||
}
|
||||
|
||||
/**
|
||||
* Perform some basic functional tests on the driver;
|
||||
* make sure we can collect data from the sensor in polled
|
||||
* and automatic modes.
|
||||
*/
|
||||
int test()
|
||||
{
|
||||
int fd = open(DEVICE_PATH, O_RDONLY);
|
||||
|
||||
if (fd < 0) {
|
||||
PX4_ERR("Unable to open %s", DEVICE_PATH);
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
distance_sensor_s report;
|
||||
ssize_t sz = ::read(fd, &report, sizeof(report));
|
||||
|
||||
if (sz != sizeof(report)) {
|
||||
PX4_ERR("No sample available in %s", DEVICE_PATH);
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
print_message(report);
|
||||
|
||||
close(fd);
|
||||
|
||||
PX4_INFO("PASS");
|
||||
return PX4_OK;
|
||||
}
|
||||
|
||||
int usage()
|
||||
{
|
||||
PRINT_MODULE_DESCRIPTION(
|
||||
R"DESCR_STR(
|
||||
@@ -580,5 +607,66 @@ $ leddar_one stop
|
||||
PRINT_MODULE_USAGE_PARAM_INT('r', 25, 1, 25, "Sensor rotation - downward facing by default", true);
|
||||
PRINT_MODULE_USAGE_COMMAND_DESCR("stop","Stop driver");
|
||||
PRINT_MODULE_USAGE_COMMAND_DESCR("test","Test driver (basic functional tests)");
|
||||
return PX4_OK;
|
||||
|
||||
}
|
||||
|
||||
} // namespace
|
||||
|
||||
extern "C" __EXPORT int leddar_one_main(int argc, char *argv[])
|
||||
{
|
||||
|
||||
const char *myoptarg = nullptr;
|
||||
|
||||
int ch = 0;
|
||||
int myoptind = 1;
|
||||
|
||||
const char *port = LEDDAR_ONE_DEFAULT_SERIAL_PORT;
|
||||
uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING;
|
||||
|
||||
while ((ch = px4_getopt(argc, argv, "d:r", &myoptind, &myoptarg)) != EOF) {
|
||||
switch (ch) {
|
||||
case 'd':
|
||||
port = myoptarg;
|
||||
break;
|
||||
|
||||
case 'r':
|
||||
rotation = (uint8_t)atoi(myoptarg);
|
||||
break;
|
||||
|
||||
default:
|
||||
PX4_WARN("Unknown option!");
|
||||
return leddar_one::usage();
|
||||
}
|
||||
}
|
||||
|
||||
if (myoptind >= argc) {
|
||||
return leddar_one::usage();
|
||||
}
|
||||
|
||||
// Start/load the driver.
|
||||
if (!strcmp(argv[myoptind], "start")) {
|
||||
return leddar_one::start(port, rotation);
|
||||
|
||||
}
|
||||
|
||||
// Print the driver status.
|
||||
if (!strcmp(argv[myoptind], "status")) {
|
||||
return leddar_one::status();
|
||||
}
|
||||
|
||||
// Stop the driver.
|
||||
if (!strcmp(argv[myoptind], "stop")) {
|
||||
return leddar_one::stop();
|
||||
|
||||
}
|
||||
|
||||
// Test the driver/device.
|
||||
if (!strcmp(argv[myoptind], "test")) {
|
||||
return leddar_one::test();
|
||||
|
||||
}
|
||||
|
||||
// Print driver usage information.
|
||||
return leddar_one::usage();
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user