From 88fb6f7b8e6affa52b1602defbc007f7c9bb163e Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Wed, 25 Sep 2019 12:52:45 -0400 Subject: [PATCH] cm8jl65: move to PX4Rangefinder and cleanup * cm8jl65 split out header and main * cm8jl65: move to PX4Rangefinder * PX4Rangefinder: move signal_quality handling to PX4Rangefinder --- .../distance_sensor/cm8jl65/CM8JL65.cpp | 359 +++++++++ .../distance_sensor/cm8jl65/CM8JL65.hpp | 165 ++++ .../distance_sensor/cm8jl65/CMakeLists.txt | 10 +- .../distance_sensor/cm8jl65/cm8jl65.cpp | 742 ------------------ .../distance_sensor/cm8jl65/cm8jl65_main.cpp | 204 +++++ .../drivers/rangefinder/PX4Rangefinder.cpp | 11 +- .../drivers/rangefinder/PX4Rangefinder.hpp | 2 +- 7 files changed, 744 insertions(+), 749 deletions(-) create mode 100644 src/drivers/distance_sensor/cm8jl65/CM8JL65.cpp create mode 100644 src/drivers/distance_sensor/cm8jl65/CM8JL65.hpp delete mode 100644 src/drivers/distance_sensor/cm8jl65/cm8jl65.cpp create mode 100644 src/drivers/distance_sensor/cm8jl65/cm8jl65_main.cpp diff --git a/src/drivers/distance_sensor/cm8jl65/CM8JL65.cpp b/src/drivers/distance_sensor/cm8jl65/CM8JL65.cpp new file mode 100644 index 0000000000..0a365b5b13 --- /dev/null +++ b/src/drivers/distance_sensor/cm8jl65/CM8JL65.cpp @@ -0,0 +1,359 @@ +/**************************************************************************** + * + * Copyright (c) 2018-2019 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. + * + ****************************************************************************/ + +#include "CM8JL65.hpp" + +static constexpr 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 constexpr 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 +}; + +CM8JL65::CM8JL65(const char *port, uint8_t rotation) : + ScheduledWorkItem(px4::wq_configurations::hp_default), + _px4_rangefinder(0 /* TODO: device ids */, ORB_PRIO_DEFAULT, rotation) +{ + // Store the port name. + strncpy(_port, port, sizeof(_port) - 1); + + // Enforce null termination. + _port[sizeof(_port) - 1] = '\0'; + + // Use conservative distance bounds, to make sure we don't fuse garbage data + _px4_rangefinder.set_min_distance(0.2f); // Datasheet: 0.17m + _px4_rangefinder.set_max_distance(7.9f); // Datasheet: 8.0m + _px4_rangefinder.set_fov(0.0488692f); +} + +CM8JL65::~CM8JL65() +{ + // Ensure we are truly inactive. + stop(); + + perf_free(_sample_perf); + perf_free(_comms_errors); +} + +uint16_t +CM8JL65::crc16_calc(const unsigned char *data_frame, uint8_t crc16_length) +{ + // compute CRC16 IBM 8005 + unsigned char crc_high_byte = 0xFF; + unsigned char crc_low_byte = 0xFF; + size_t index = 0; + + while (crc16_length--) { + index = crc_low_byte ^ *(data_frame++); + crc_low_byte = (unsigned char)(crc_high_byte ^ crc_msb_vector[index]); + crc_high_byte = crc_lsb_vector[index]; + } + + uint16_t crc16 = (crc_high_byte << 8 | crc_low_byte); + crc16 = (crc16 >> 8) | (crc16 << 8); // Convert endian + + return crc16; +} + +int +CM8JL65::collect() +{ + perf_begin(_sample_perf); + + int bytes_processed = 0; + int distance_mm = -1; + int index = 0; + + bool crc_valid = false; + + // Read from the sensor UART buffer. + const hrt_abstime timestamp_sample = hrt_absolute_time(); + int bytes_read = ::read(_file_descriptor, &_linebuf[0], sizeof(_linebuf)); + + if (bytes_read > 0) { + index = bytes_read - 6 ; + + while (index >= 0 && !crc_valid) { + if (_linebuf[index] == START_FRAME_DIGIT1) { + bytes_processed = index; + + while (bytes_processed < bytes_read && !crc_valid) { + if (data_parser(_linebuf[bytes_processed], _frame_data, _parse_state, _crc16, distance_mm) == PX4_OK) { + crc_valid = true; + } + + bytes_processed++; + } + + _parse_state = PARSE_STATE::WAITING_FRAME; + } + + index--; + } + + } else { + PX4_INFO("read error: %d", bytes_read); + perf_count(_comms_errors); + perf_end(_sample_perf); + return PX4_ERROR; + } + + if (!crc_valid) { + return -EAGAIN; + } + + bytes_read = OK; + + const float current_distance = static_cast(distance_mm) / 1000.0f; + + _px4_rangefinder.update(timestamp_sample, current_distance); + + perf_end(_sample_perf); + + return PX4_OK; +} + +int +CM8JL65::data_parser(const uint8_t check_byte, uint8_t parserbuf[PARSER_BUF_LENGTH], + PARSE_STATE &state, uint16_t &crc16, int &distance) +{ + switch (state) { + case PARSE_STATE::WAITING_FRAME: + if (check_byte == START_FRAME_DIGIT1) { + state = PARSE_STATE::DIGIT_1; + } + + break; + + case PARSE_STATE::DIGIT_1: + if (check_byte == START_FRAME_DIGIT1) { + state = PARSE_STATE::DIGIT_1; + + } else if (check_byte == START_FRAME_DIGIT2) { + state = PARSE_STATE::DIGIT_2; + + } else { + state = PARSE_STATE::WAITING_FRAME; + } + + break; + + case PARSE_STATE::DIGIT_2: + state = PARSE_STATE::MSB_DATA; + parserbuf[DISTANCE_MSB_POS] = check_byte; // MSB Data + break; + + case PARSE_STATE::MSB_DATA: + state = PARSE_STATE::LSB_DATA; + parserbuf[DISTANCE_LSB_POS] = check_byte; // LSB Data + + // Calculate CRC. + crc16 = crc16_calc(parserbuf, PARSER_BUF_LENGTH); + break; + + case PARSE_STATE::LSB_DATA: + if (check_byte == (crc16 >> 8)) { + state = PARSE_STATE::CHECKSUM; + + } else { + state = PARSE_STATE::WAITING_FRAME; + } + + break; + + case PARSE_STATE::CHECKSUM: + // Here, reset state to `NOT-STARTED` no matter crc ok or not + state = PARSE_STATE::WAITING_FRAME; + + if (check_byte == (crc16 & 0xFF)) { + // printf("Checksum verified \n"); + distance = (parserbuf[DISTANCE_MSB_POS] << 8) | parserbuf[DISTANCE_LSB_POS]; + return PX4_OK; + } + + break; + } + + return PX4_ERROR; +} + +int +CM8JL65::init() +{ + start(); + + return PX4_OK; +} + +int +CM8JL65::open_serial_port(const speed_t speed) +{ + // File descriptor initialized? + if (_file_descriptor > 0) { + // PX4_INFO("serial port already open"); + return PX4_OK; + } + + // 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(_port, flags); + + if (_file_descriptor < 0) { + PX4_ERR("open failed (%i)", errno); + return PX4_ERROR; + } + + termios uart_config = {}; + + // Store the current port configuration. attributes. + tcgetattr(_file_descriptor, &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); + + // 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; + } + + PX4_INFO("successfully opened UART port %s", _port); + return PX4_OK; +} + +void +CM8JL65::print_info() +{ + perf_print_counter(_sample_perf); + perf_print_counter(_comms_errors); + + _px4_rangefinder.print_status(); +} + +void +CM8JL65::Run() +{ + // Ensure the serial port is open. + open_serial_port(); + + // Perform collection. + collect(); +} + +void +CM8JL65::start() +{ + // Schedule the driver at regular intervals. + ScheduleOnInterval(CM8JL65_MEASURE_INTERVAL); + + PX4_INFO("driver started"); +} + +void +CM8JL65::stop() +{ + // Clear the work queue schedule. + ScheduleClear(); + + // Ensure the serial port is closed. + ::close(_file_descriptor); +} diff --git a/src/drivers/distance_sensor/cm8jl65/CM8JL65.hpp b/src/drivers/distance_sensor/cm8jl65/CM8JL65.hpp new file mode 100644 index 0000000000..3fdd689b34 --- /dev/null +++ b/src/drivers/distance_sensor/cm8jl65/CM8JL65.hpp @@ -0,0 +1,165 @@ +/**************************************************************************** + * + * Copyright (c) 2018-2019 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 + * + * Driver for the Lanbao PSK-CM8JL65-CC5 distance sensor. + * Make sure to disable MAVLINK messages (MAV_0_CONFIG PARAMETER) + * on the serial port you connect the sensor,i.e TELEM2. + * + */ + +#pragma once + +#include +#include +#include +#include +#include + +#include + +using namespace time_literals; + +/* Configuration Constants */ +static constexpr uint32_t CM8JL65_MEASURE_INTERVAL{50_ms}; // 50ms default sensor conversion time. + +/* Frame start delimiter */ +static constexpr unsigned char START_FRAME_DIGIT1{0xA5}; +static constexpr unsigned char 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 + */ +static constexpr uint8_t DISTANCE_MSB_POS{2}; +static constexpr uint8_t DISTANCE_LSB_POS{3}; +static constexpr uint8_t PARSER_BUF_LENGTH{4}; + +class CM8JL65 : public px4::ScheduledWorkItem +{ +public: + /** + * Default Constructor + * @param port The serial port to open for communicating with the sensor. + * @param rotation The sensor rotation relative to the vehicle body. + */ + CM8JL65(const char *port, uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING); + + /** Virtual destructor */ + virtual ~CM8JL65() override; + + /** + * Method : init() + * This method initializes the general driver for a range finder sensor. + */ + int init(); + + /** + * Diagnostics - print some basic information about the driver. + */ + void print_info(); + +private: + + enum class PARSE_STATE { + WAITING_FRAME = 0, + DIGIT_1, + DIGIT_2, + MSB_DATA, + LSB_DATA, + CHECKSUM + }; + + /** + * Calculates the 16 byte crc value for the data frame. + * @param data_frame The data frame to compute a checksum for. + * @param crc16_length The length of the data frame. + */ + uint16_t crc16_calc(const unsigned char *data_frame, uint8_t crc16_length); + + /** + * Reads data from serial UART and places it into a buffer. + */ + int collect(); + + int data_parser(const uint8_t check_byte, uint8_t parserbuf[PARSER_BUF_LENGTH], PARSE_STATE &state, + uint16_t &crc16, int &distance); + + /** + * Opens and configures the UART serial communications port. + * @param speed The baudrate (speed) to configure the serial UART port. + */ + int open_serial_port(const speed_t speed = B115200); + + /** + * Perform a reading cycle; collect from the previous measurement + * and start a new one. + */ + void Run() override; + + /** + * Initialise the automatic measurement state machine and start it. + * @note This function is called at open and error time. It might make sense + * to make it more aggressive about resetting the bus in case of errors. + */ + void start(); + + /** + * Stops the automatic measurement state machine. + */ + void stop(); + + + PX4Rangefinder _px4_rangefinder; + + char _port[20] {}; + + unsigned char _frame_data[PARSER_BUF_LENGTH] {START_FRAME_DIGIT1, START_FRAME_DIGIT2, 0, 0}; + + int _file_descriptor{-1}; + + uint8_t _linebuf[25] {}; + + uint16_t _crc16{0}; + + PARSE_STATE _parse_state{PARSE_STATE::WAITING_FRAME}; + + perf_counter_t _comms_errors{perf_alloc(PC_COUNT, MODULE_NAME": com_err")}; + perf_counter_t _sample_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": read")}; +}; diff --git a/src/drivers/distance_sensor/cm8jl65/CMakeLists.txt b/src/drivers/distance_sensor/cm8jl65/CMakeLists.txt index e64c51a5e2..ab5c775423 100644 --- a/src/drivers/distance_sensor/cm8jl65/CMakeLists.txt +++ b/src/drivers/distance_sensor/cm8jl65/CMakeLists.txt @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (c) 2015 PX4 Development Team. All rights reserved. +# Copyright (c) 2018-2019 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 @@ -34,7 +34,9 @@ px4_add_module( MODULE drivers__cm8jl65 MAIN cm8jl65 SRCS - cm8jl65.cpp - MODULE_CONFIG - module.yaml + CM8JL65.cpp + CM8JL65.hpp + cm8jl65_main.cpp + MODULE_CONFIG + module.yaml ) diff --git a/src/drivers/distance_sensor/cm8jl65/cm8jl65.cpp b/src/drivers/distance_sensor/cm8jl65/cm8jl65.cpp deleted file mode 100644 index 5f6a88a1d8..0000000000 --- a/src/drivers/distance_sensor/cm8jl65/cm8jl65.cpp +++ /dev/null @@ -1,742 +0,0 @@ -/**************************************************************************** - * - * 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 - * - * Driver for the Lanbao PSK-CM8JL65-CC5 distance sensor. - * Make sure to disable MAVLINK messages (MAV_0_CONFIG PARAMETER) - * on the serial port you connect the sensor,i.e TELEM2. - * - */ - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -using namespace time_literals; - -/* Configuration Constants */ -#define CM8JL65_TAKE_RANGE_REG 'd' -#define CM8JL65_DEFAULT_PORT "/dev/ttyS2" // Default serial port on Pixhawk (TELEM2), baudrate 115200 -#define CM8JL65_MEASURE_INTERVAL 50_ms // 50ms default sensor conversion time. - -/* 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 PARSER_BUF_LENGTH 4 - -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 -}; - - -class CM8JL65 : public cdev::CDev, public px4::ScheduledWorkItem -{ -public: - /** - * Default Constructor - * @param port The serial port to open for communicating with the sensor. - * @param rotation The sensor rotation relative to the vehicle body. - */ - CM8JL65(const char *port = CM8JL65_DEFAULT_PORT, uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING); - - /** Virtual destructor */ - virtual ~CM8JL65() override; - - /** - * Method : init() - * This method initializes the general driver for a range finder sensor. - */ - virtual int init() override; - - /** - * Diagnostics - print some basic information about the driver. - */ - void print_info(); - -private: - - enum CM8JL65_PARSE_STATE { - WAITING_FRAME = 0, - DIGIT_1, - DIGIT_2, - MSB_DATA, - LSB_DATA, - CHECKSUM - }; - - /** - * Calculates the 16 byte crc value for the data frame. - * @param data_frame The data frame to compute a checksum for. - * @param crc16_length The length of the data frame. - */ - uint16_t crc16_calc(const unsigned char *data_frame, uint8_t crc16_length); - - /** - * Reads data from serial UART and places it into a buffer. - */ - int collect(); - - int data_parser(const uint8_t check_byte, uint8_t parserbuf[PARSER_BUF_LENGTH], CM8JL65_PARSE_STATE &state, - uint16_t &crc16, int &distance); - - /** - * Opens and configures the UART serial communications port. - * @param speed The baudrate (speed) to configure the serial UART port. - */ - int open_serial_port(const speed_t speed = B115200); - - /** - * Perform a reading cycle; collect from the previous measurement - * and start a new one. - */ - void Run() override; - - /** - * Initialise the automatic measurement state machine and start it. - * @note This function is called at open and error time. It might make sense - * to make it more aggressive about resetting the bus in case of errors. - */ - void start(); - - /** - * Stops the automatic measurement state machine. - */ - void stop(); - - char _port[20] {}; - - unsigned char _frame_data[PARSER_BUF_LENGTH] {START_FRAME_DIGIT1, START_FRAME_DIGIT2, 0, 0}; - - int _measure_interval{CM8JL65_MEASURE_INTERVAL}; - int _file_descriptor{-1}; - int _orb_class_instance{-1}; - - uint8_t _cycle_counter{0}; - uint8_t _linebuf[25] {}; - uint8_t _rotation{0}; - - uint16_t _crc16{0}; - - // Use conservative distance bounds, to make sure we don't fuse garbage data - float _max_distance{7.9f}; // Datasheet: 8.0m - float _min_distance{0.2f}; // Datasheet: 0.17m - - CM8JL65_PARSE_STATE _parse_state{WAITING_FRAME}; - - orb_advert_t _distance_sensor_topic{nullptr}; - - perf_counter_t _comms_errors{perf_alloc(PC_COUNT, "cm8jl65_com_err")}; - perf_counter_t _sample_perf{perf_alloc(PC_ELAPSED, "cm8jl65_read")}; -}; - - -CM8JL65::CM8JL65(const char *port, uint8_t rotation) : - CDev(RANGE_FINDER_BASE_DEVICE_PATH), - ScheduledWorkItem(px4::wq_configurations::hp_default), - _rotation(rotation) -{ - // Store the port name. - strncpy(_port, port, sizeof(_port) - 1); - - // Enforce null termination. - _port[sizeof(_port) - 1] = '\0'; -} - -CM8JL65::~CM8JL65() -{ - // Ensure we are truly inactive. - stop(); - - perf_free(_sample_perf); - perf_free(_comms_errors); -} - -uint16_t -CM8JL65::crc16_calc(const unsigned char *data_frame, uint8_t crc16_length) -{ - // compute CRC16 IBM 8005 - unsigned char crc_high_byte = 0xFF; - unsigned char crc_low_byte = 0xFF; - size_t index = 0; - - while (crc16_length--) { - index = crc_low_byte ^ *(data_frame++); - crc_low_byte = (unsigned char)(crc_high_byte ^ crc_msb_vector[index]); - crc_high_byte = crc_lsb_vector[index]; - } - - uint16_t crc16 = (crc_high_byte << 8 | crc_low_byte); - crc16 = (crc16 >> 8) | (crc16 << 8); // Convert endian - - return crc16; -} - -int -CM8JL65::collect() -{ - perf_begin(_sample_perf); - - int bytes_processed = 0; - int distance_mm = -1; - int index = 0; - - bool crc_valid = false; - - // Read from the sensor UART buffer. - int bytes_read = ::read(_file_descriptor, &_linebuf[0], sizeof(_linebuf)); - - if (bytes_read > 0) { - index = bytes_read - 6 ; - - while (index >= 0 && !crc_valid) { - if (_linebuf[index] == START_FRAME_DIGIT1) { - bytes_processed = index; - - while (bytes_processed < bytes_read && !crc_valid) { - if (data_parser(_linebuf[bytes_processed], _frame_data, _parse_state, _crc16, distance_mm) == PX4_OK) { - crc_valid = true; - } - - bytes_processed++; - } - - _parse_state = WAITING_FRAME; - } - - index--; - } - - } else { - PX4_INFO("read error: %d", bytes_read); - perf_count(_comms_errors); - perf_end(_sample_perf); - return PX4_ERROR; - } - - if (!crc_valid) { - return -EAGAIN; - } - - bytes_read = OK; - - distance_sensor_s report = {}; - report.current_distance = static_cast(distance_mm) / 1000.0f; - report.id = 0; // TODO: set proper ID. - report.h_fov = 0.0488692f; - report.max_distance = _max_distance; - report.min_distance = _min_distance; - report.orientation = _rotation; - report.signal_quality = report.current_distance < _max_distance && report.current_distance > _min_distance ? -1 : 0; - report.timestamp = hrt_absolute_time(); - report.type = distance_sensor_s::MAV_DISTANCE_SENSOR_LASER; - report.variance = 0.0f; - - // Publish the new report. - orb_publish(ORB_ID(distance_sensor), _distance_sensor_topic, &report); - - // Notify anyone waiting for data. - poll_notify(POLLIN); - perf_end(_sample_perf); - - return PX4_OK; -} - -int -CM8JL65::data_parser(const uint8_t check_byte, uint8_t parserbuf[PARSER_BUF_LENGTH], - CM8JL65_PARSE_STATE &state, uint16_t &crc16, int &distance) -{ - switch (state) { - case WAITING_FRAME: - if (check_byte == START_FRAME_DIGIT1) { - state = DIGIT_1; - } - - break; - - case DIGIT_1: - if (check_byte == START_FRAME_DIGIT1) { - state = DIGIT_1; - - } else if (check_byte == START_FRAME_DIGIT2) { - state = DIGIT_2; - - } else { - state = WAITING_FRAME; - } - - break; - - case DIGIT_2: - state = MSB_DATA; - parserbuf[DISTANCE_MSB_POS] = check_byte; // MSB Data - break; - - case MSB_DATA: - state = LSB_DATA; - parserbuf[DISTANCE_LSB_POS] = check_byte; // LSB Data - - // Calculate CRC. - crc16 = crc16_calc(parserbuf, PARSER_BUF_LENGTH); - break; - - case LSB_DATA: - if (check_byte == (crc16 >> 8)) { - state = CHECKSUM; - - } else { - state = WAITING_FRAME; - - } - - break; - - case CHECKSUM: - // Here, reset state to `NOT-STARTED` no matter crc ok or not - state = WAITING_FRAME; - - if (check_byte == (crc16 & 0xFF)) { - // printf("Checksum verified \n"); - distance = (parserbuf[DISTANCE_MSB_POS] << 8) | parserbuf[DISTANCE_LSB_POS]; - return PX4_OK; - } - - break; - - default: - // Nothing todo - break; - } - - return PX4_ERROR; -} - -int -CM8JL65::init() -{ - // Intitialize the character device. - if (CDev::init() != OK) { - return PX4_ERROR; - } - - // Get a publish handle on the range finder topic. - 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) { - PX4_ERR("failed to create distance_sensor object"); - } - - start(); - return PX4_OK; -} - -int -CM8JL65::open_serial_port(const speed_t speed) -{ - // File descriptor initialized? - if (_file_descriptor > 0) { - // PX4_INFO("serial port already open"); - return PX4_OK; - } - - // 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(_port, flags); - - if (_file_descriptor < 0) { - PX4_ERR("open failed (%i)", errno); - return PX4_ERROR; - } - - termios uart_config = {}; - - // Store the current port configuration. attributes. - tcgetattr(_file_descriptor, &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); - - // 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; - } - - PX4_INFO("successfully opened UART port %s", _port); - return PX4_OK; -} - -void -CM8JL65::print_info() -{ - perf_print_counter(_sample_perf); - perf_print_counter(_comms_errors); -} - -void -CM8JL65::Run() -{ - // Ensure the serial port is open. - open_serial_port(); - - // Perform collection. - if (collect() == -EAGAIN) { - _cycle_counter++; - } - - _cycle_counter = 0; -} - -void -CM8JL65::start() -{ - // Schedule the driver at regular intervals. - ScheduleOnInterval(CM8JL65_MEASURE_INTERVAL, 0); - PX4_INFO("driver started"); -} - -void -CM8JL65::stop() -{ - // Ensure the serial port is closed. - ::close(_file_descriptor); - - // Clear the work queue schedule. - ScheduleClear(); -} - - -/** - * Local functions in support of the shell command. - */ -namespace cm8jl65 -{ - -CM8JL65 *g_dev; - -int reset(const char *port = CM8JL65_DEFAULT_PORT); -int start(const char *port = CM8JL65_DEFAULT_PORT, - const uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING); -int status(); -int stop(); -int test(const char *port = CM8JL65_DEFAULT_PORT); -int usage(); - -/** - * Reset the driver. - */ -int -reset(const char *port) -{ - if (stop() == PX4_OK) { - return start(port); - } - - return PX4_ERROR; -} - -/** - * Start the driver. - */ -int -start(const char *port, const uint8_t rotation) -{ - if (g_dev != nullptr) { - PX4_INFO("already started"); - return PX4_OK; - } - - // Instantiate the driver. - g_dev = new CM8JL65(port, rotation); - - if (g_dev == nullptr) { - PX4_ERR("object instantiate failed"); - return PX4_ERROR; - } - - if (g_dev->init() != PX4_OK) { - PX4_ERR("driver start failed"); - delete g_dev; - g_dev = nullptr; - return PX4_ERROR; - } - - return PX4_OK; -} - -/** - * Print the driver status. - */ -int -status() -{ - if (g_dev == nullptr) { - PX4_ERR("driver not running"); - return PX4_ERROR; - } - - printf("state @ %p\n", g_dev); - g_dev->print_info(); - - return PX4_OK; -} - -/** - * Stop the driver - */ -int stop() -{ - if (g_dev != nullptr) { - delete g_dev; - g_dev = nullptr; - } - - return PX4_ERROR; -} - -/** - * Perform some basic functional tests on the driver; - * make sure we can collect data from the sensor in polled - * and automatic modes. - */ -int -test(const char *port) -{ - int fd = open(port, O_RDONLY); - - if (fd < 0) { - PX4_ERR("%s open failed (try 'cm8jl65 start' if the driver is not running", port); - return PX4_ERROR; - } - - // Perform a simple demand read. - distance_sensor_s report; - ssize_t bytes_read = read(fd, &report, sizeof(report)); - - if (bytes_read != sizeof(report)) { - PX4_ERR("immediate read failed"); - return PX4_ERROR; - } - - print_message(report); - return PX4_OK; -} - -int -usage() -{ - PX4_INFO("usage: cm8jl65 command [options]"); - PX4_INFO("command:"); - PX4_INFO("\treset|start|status|stop|test"); - PX4_INFO("options:"); - PX4_INFO("\t-R --rotation (%d)", distance_sensor_s::ROTATION_DOWNWARD_FACING); - PX4_INFO("\t-d --device_path"); - return PX4_OK; -} - -} // namespace cm8jl65 - - -/** - * Driver 'main' command. - */ -extern "C" __EXPORT 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': { - int rot = -1; - - if (px4_get_parameter_value(myoptarg, rot) != 0) { - PX4_ERR("rotation parsing failed"); - return -1; - } - - rotation = (uint8_t)rot; - break; - } - - case 'd': - device_path = myoptarg; - break; - - default: - PX4_WARN("Unknown option!"); - return cm8jl65::usage(); - } - } - - if (myoptind >= argc) { - return cm8jl65::usage(); - } - - // Reset the driver. - if (!strcmp(argv[myoptind], "reset")) { - return cm8jl65::reset(device_path); - } - - // Start/load the driver. - if (!strcmp(argv[myoptind], "start")) { - return cm8jl65::start(device_path, rotation); - } - - // Print driver information. - if (!strcmp(argv[myoptind], "status")) { - return cm8jl65::status(); - } - - // Stop the driver - if (!strcmp(argv[myoptind], "stop")) { - return cm8jl65::stop(); - } - - // Test the driver/device. - if (!strcmp(argv[myoptind], "test")) { - return cm8jl65::test(); - } - - return cm8jl65::usage(); -} diff --git a/src/drivers/distance_sensor/cm8jl65/cm8jl65_main.cpp b/src/drivers/distance_sensor/cm8jl65/cm8jl65_main.cpp new file mode 100644 index 0000000000..98c57c3488 --- /dev/null +++ b/src/drivers/distance_sensor/cm8jl65/cm8jl65_main.cpp @@ -0,0 +1,204 @@ +/**************************************************************************** + * + * Copyright (c) 2018-2019 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. + * + ****************************************************************************/ + +#include +#include + +#include "CM8JL65.hpp" + +/** + * Local functions in support of the shell command. + */ +namespace cm8jl65 +{ + +CM8JL65 *g_dev; + +int reset(const char *port); +int start(const char *port, const uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING); +int status(); +int stop(); +int usage(); + +/** + * Reset the driver. + */ +int +reset(const char *port) +{ + if (stop() == PX4_OK) { + return start(port); + } + + return PX4_ERROR; +} + +/** + * Start the driver. + */ +int +start(const char *port, const uint8_t rotation) +{ + if (port == nullptr) { + PX4_ERR("invalid port"); + return PX4_ERROR; + } + + if (g_dev != nullptr) { + PX4_INFO("already started"); + return PX4_OK; + } + + // Instantiate the driver. + g_dev = new CM8JL65(port, rotation); + + if (g_dev == nullptr) { + PX4_ERR("object instantiate failed"); + return PX4_ERROR; + } + + if (g_dev->init() != PX4_OK) { + PX4_ERR("driver start failed"); + delete g_dev; + g_dev = nullptr; + return PX4_ERROR; + } + + 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; + } + + return PX4_ERROR; +} + +int +usage() +{ + PX4_INFO("usage: cm8jl65 command [options]"); + PX4_INFO("command:"); + PX4_INFO("\treset|start|status|stop"); + PX4_INFO("options:"); + PX4_INFO("\t-R --rotation (%d)", distance_sensor_s::ROTATION_DOWNWARD_FACING); + PX4_INFO("\t-d --device_path"); + return PX4_OK; +} + +} // namespace cm8jl65 + + +/** + * Driver 'main' command. + */ +extern "C" __EXPORT int cm8jl65_main(int argc, char *argv[]) +{ + uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING; + const char *device_path = nullptr; + int ch; + int myoptind = 1; + const char *myoptarg = nullptr; + + while ((ch = px4_getopt(argc, argv, "R:d:", &myoptind, &myoptarg)) != EOF) { + switch (ch) { + case 'R': { + int rot = -1; + + if (px4_get_parameter_value(myoptarg, rot) != 0) { + PX4_ERR("rotation parsing failed"); + return -1; + } + + rotation = (uint8_t)rot; + break; + } + + case 'd': + device_path = myoptarg; + break; + + default: + PX4_WARN("Unknown option!"); + return cm8jl65::usage(); + } + } + + if (myoptind >= argc) { + return cm8jl65::usage(); + } + + // Reset the driver. + if (!strcmp(argv[myoptind], "reset")) { + return cm8jl65::reset(device_path); + } + + // Start/load the driver. + if (!strcmp(argv[myoptind], "start")) { + return cm8jl65::start(device_path, rotation); + } + + // Print driver information. + if (!strcmp(argv[myoptind], "status")) { + return cm8jl65::status(); + } + + // Stop the driver + if (!strcmp(argv[myoptind], "stop")) { + return cm8jl65::stop(); + } + + return cm8jl65::usage(); +} diff --git a/src/lib/drivers/rangefinder/PX4Rangefinder.cpp b/src/lib/drivers/rangefinder/PX4Rangefinder.cpp index 38c86c0a48..7bcdf36406 100644 --- a/src/lib/drivers/rangefinder/PX4Rangefinder.cpp +++ b/src/lib/drivers/rangefinder/PX4Rangefinder.cpp @@ -79,9 +79,16 @@ PX4Rangefinder::update(const hrt_abstime timestamp, const float distance, const { distance_sensor_s &report = _distance_sensor_pub.get(); + report.timestamp = timestamp; report.current_distance = distance; - report.signal_quality = quality; - report.timestamp = timestamp; + report.signal_quality = quality; + + // if quality is unavailable (-1) set to 0 if distance is outside bounds + if (quality < 0) { + if ((distance < report.min_distance) || (distance > report.max_distance)) { + report.signal_quality = 0; + } + } _distance_sensor_pub.update(); } diff --git a/src/lib/drivers/rangefinder/PX4Rangefinder.hpp b/src/lib/drivers/rangefinder/PX4Rangefinder.hpp index bafb34c8d0..bbef352384 100644 --- a/src/lib/drivers/rangefinder/PX4Rangefinder.hpp +++ b/src/lib/drivers/rangefinder/PX4Rangefinder.hpp @@ -46,7 +46,7 @@ class PX4Rangefinder : public cdev::CDev public: PX4Rangefinder(const uint32_t device_id, - const uint8_t priority, + const uint8_t priority = ORB_PRIO_DEFAULT, const uint8_t device_orientation = distance_sensor_s::ROTATION_DOWNWARD_FACING); ~PX4Rangefinder() override;