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distance_sensor: update drivers

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This commit is contained in:
TSC21
2015-05-23 21:06:19 +01:00
parent 17bc0979e4
commit 98d0204087
3 changed files with 52 additions and 50 deletions
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src/drivers/mb12xx/mb12xx.cpp
+1 -1
View File
@@ -575,7 +575,7 @@ MB12XX::collect()
struct distance_sensor_s report;
report.time_boot_ms = hrt_absolute_time();
report.id = 0;
report.id = 1;
report.type = 1;
report.orientation = 8;
report.current_distance = si_units;
src/drivers/sf0x/sf0x.cpp
+24 -22
View File
@@ -69,6 +69,7 @@
#include <uORB/uORB.h>
#include <uORB/topics/subsystem_info.h>
#include <uORB/topics/distance_sensor.h>
#include <board_config.h>
@@ -128,7 +129,7 @@ private:
enum SF0X_PARSE_STATE _parse_state;
hrt_abstime _last_read;
orb_advert_t _range_finder_topic;
orb_advert_t _distance_sensor_topic;
unsigned _consecutive_fail_count;
@@ -194,7 +195,7 @@ SF0X::SF0X(const char *port) :
_linebuf_index(0),
_parse_state(SF0X_PARSE_STATE0_UNSYNC),
_last_read(0),
_range_finder_topic(-1),
_distance_sensor_topic(-1),
_consecutive_fail_count(0),
_sample_perf(perf_alloc(PC_ELAPSED, "sf0x_read")),
_comms_errors(perf_alloc(PC_COUNT, "sf0x_comms_errors")),
@@ -270,7 +271,7 @@ SF0X::init()
if (ret != OK) break;
/* allocate basic report buffers */
_reports = new RingBuffer(2, sizeof(range_finder_report));
_reports = new RingBuffer(2, sizeof(distance_sensor_s));
if (_reports == nullptr) {
warnx("mem err");
ret = -1;
@@ -278,11 +279,11 @@ SF0X::init()
}
/* get a publish handle on the range finder topic */
struct range_finder_report zero_report;
struct distance_sensor_s zero_report;
memset(&zero_report, 0, sizeof(zero_report));
_range_finder_topic = orb_advertise(ORB_ID(sensor_range_finder), &zero_report);
_distance_sensor_topic = orb_advertise(ORB_ID(distance_sensor), &zero_report);
if (_range_finder_topic < 0) {
if (_distance_sensor_topic < 0) {
warnx("advert err");
}
} while(0);
@@ -442,8 +443,8 @@ SF0X::ioctl(struct file *filp, int cmd, unsigned long arg)
ssize_t
SF0X::read(struct file *filp, char *buffer, size_t buflen)
{
unsigned count = buflen / sizeof(struct range_finder_report);
struct range_finder_report *rbuf = reinterpret_cast<struct range_finder_report *>(buffer);
unsigned count = buflen / sizeof(struct distance_sensor_s);
struct distance_sensor_s *rbuf = reinterpret_cast<struct distance_sensor_s *>(buffer);
int ret = 0;
/* buffer must be large enough */
@@ -571,18 +572,19 @@ SF0X::collect()
debug("val (float): %8.4f, raw: %s, valid: %s", (double)si_units, _linebuf, ((valid) ? "OK" : "NO"));
struct range_finder_report report;
struct distance_sensor_s report;
/* this should be fairly close to the end of the measurement, so the best approximation of the time */
report.timestamp = hrt_absolute_time();
report.error_count = perf_event_count(_comms_errors);
report.distance = si_units;
report.minimum_distance = get_minimum_distance();
report.maximum_distance = get_maximum_distance();
report.valid = valid && (si_units > get_minimum_distance() && si_units < get_maximum_distance() ? 1 : 0);
report.time_boot_ms = hrt_absolute_time();
report.id = 2;
report.type = 0;
report.orientation = 8;
report.current_distance = si_units;
report.min_distance = get_minimum_distance();
report.max_distance = get_maximum_distance();
report.covariance = 0.0;
/* publish it */
orb_publish(ORB_ID(sensor_range_finder), _range_finder_topic, &report);
orb_publish(ORB_ID(distance_sensor), _distance_sensor_topic, &report);
if (_reports->force(&report)) {
perf_count(_buffer_overflows);
@@ -815,7 +817,7 @@ void stop()
void
test()
{
struct range_finder_report report;
struct distance_sensor_s report;
ssize_t sz;
int fd = open(RANGE_FINDER0_DEVICE_PATH, O_RDONLY);
@@ -832,8 +834,8 @@ test()
}
warnx("single read");
warnx("val: %0.2f m", (double)report.distance);
warnx("time: %lld", report.timestamp);
warnx("val: %0.2f m", (double)report.current_distance);
warnx("time: %d", report.time_boot_ms);
/* start the sensor polling at 2 Hz rate */
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
@@ -863,8 +865,8 @@ test()
}
warnx("read #%u", i);
warnx("val: %0.3f m", (double)report.distance);
warnx("time: %lld", report.timestamp);
warnx("val: %0.3f m", (double)report.current_distance);
warnx("time: %d", report.time_boot_ms);
}
/* reset the sensor polling to the default rate */
src/drivers/trone/trone.cpp
+27 -27
View File
@@ -68,6 +68,7 @@
#include <uORB/uORB.h>
#include <uORB/topics/subsystem_info.h>
#include <uORB/topics/distance_sensor.h>
#include <board_config.h>
@@ -128,7 +129,7 @@ private:
bool _collect_phase;
int _class_instance;
orb_advert_t _range_finder_topic;
orb_advert_t _distance_sensor_topic;
perf_counter_t _sample_perf;
perf_counter_t _comms_errors;
@@ -209,7 +210,7 @@ static const uint8_t crc_table[] = {
0xfa, 0xfd, 0xf4, 0xf3
};
static uint8_t crc8(uint8_t *p, uint8_t len) {
/* static uint8_t crc8(uint8_t *p, uint8_t len) {
uint16_t i;
uint16_t crc = 0x0;
@@ -219,7 +220,7 @@ static uint8_t crc8(uint8_t *p, uint8_t len) {
}
return crc & 0xFF;
}
}*/
/*
* Driver 'main' command.
@@ -235,7 +236,7 @@ TRONE::TRONE(int bus, int address) :
_measure_ticks(0),
_collect_phase(false),
_class_instance(-1),
_range_finder_topic(-1),
_distance_sensor_topic(-1),
_sample_perf(perf_alloc(PC_ELAPSED, "trone_read")),
_comms_errors(perf_alloc(PC_COUNT, "trone_comms_errors")),
_buffer_overflows(perf_alloc(PC_COUNT, "trone_buffer_overflows"))
@@ -281,7 +282,7 @@ TRONE::init()
}
/* allocate basic report buffers */
_reports = new RingBuffer(2, sizeof(range_finder_report));
_reports = new RingBuffer(2, sizeof(distance_sensor_s));
if (_reports == nullptr) {
goto out;
@@ -291,12 +292,12 @@ TRONE::init()
if (_class_instance == CLASS_DEVICE_PRIMARY) {
/* get a publish handle on the range finder topic */
struct range_finder_report rf_report;
struct distance_sensor_s rf_report;
measure();
_reports->get(&rf_report);
_range_finder_topic = orb_advertise(ORB_ID(sensor_range_finder), &rf_report);
_distance_sensor_topic = orb_advertise(ORB_ID(distance_sensor), &rf_report);
if (_range_finder_topic < 0) {
if (_distance_sensor_topic < 0) {
debug("failed to create sensor_range_finder object. Did you start uOrb?");
}
}
@@ -468,8 +469,8 @@ TRONE::ioctl(struct file *filp, int cmd, unsigned long arg)
ssize_t
TRONE::read(struct file *filp, char *buffer, size_t buflen)
{
unsigned count = buflen / sizeof(struct range_finder_report);
struct range_finder_report *rbuf = reinterpret_cast<struct range_finder_report *>(buffer);
unsigned count = buflen / sizeof(struct distance_sensor_s);
struct distance_sensor_s *rbuf = reinterpret_cast<struct distance_sensor_s *>(buffer);
int ret = 0;
/* buffer must be large enough */
@@ -568,20 +569,20 @@ TRONE::collect()
uint16_t distance = (val[0] << 8) | val[1];
float si_units = distance * 0.001f; /* mm to m */
struct range_finder_report report;
/* this should be fairly close to the end of the measurement, so the best approximation of the time */
report.timestamp = hrt_absolute_time();
report.error_count = perf_event_count(_comms_errors);
report.distance = si_units;
report.minimum_distance = get_minimum_distance();
report.maximum_distance = get_maximum_distance();
report.valid = crc8(val, 2) == val[2] && si_units > get_minimum_distance() && si_units < get_maximum_distance() ? 1 : 0;
struct distance_sensor_s report;
report.time_boot_ms = hrt_absolute_time();
report.id = 3;
report.type = 0;
report.orientation = 8;
report.current_distance = si_units;
report.min_distance = get_minimum_distance();
report.max_distance = get_maximum_distance();
report.covariance = 0.0;
/* publish it, if we are the primary */
if (_range_finder_topic >= 0) {
orb_publish(ORB_ID(sensor_range_finder), _range_finder_topic, &report);
if (_distance_sensor_topic >= 0) {
orb_publish(ORB_ID(distance_sensor), _distance_sensor_topic, &report);
}
if (_reports->force(&report)) {
@@ -787,7 +788,7 @@ void stop()
void
test()
{
struct range_finder_report report;
struct distance_sensor_s report;
ssize_t sz;
int ret;
@@ -805,8 +806,8 @@ test()
}
warnx("single read");
warnx("measurement: %0.2f m", (double)report.distance);
warnx("time: %lld", report.timestamp);
warnx("measurement: %0.2f m", (double)report.current_distance);
warnx("time: %d", report.time_boot_ms);
/* start the sensor polling at 2Hz */
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
@@ -834,9 +835,8 @@ test()
}
warnx("periodic read %u", i);
warnx("valid %u", report.valid);
warnx("measurement: %0.3f", (double)report.distance);
warnx("time: %lld", report.timestamp);
warnx("measurement: %0.3f", (double)report.current_distance);
warnx("time: %d", report.time_boot_ms);
}
/* reset the sensor polling to default rate */