fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-28 05:03:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Merge remote-tracking branch 'px4/pr/2200' into lidarlite_merge

Browse Source
This commit is contained in:
Ban Siesta
2015-05-24 13:59:18 +01:00
parent 2c4c0ecb32 5672df8eda
commit a0011d2163
16 changed files with 233 additions and 197 deletions
Download Patch File Download Diff File Expand all files Collapse all files
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::RingBuffer(2, sizeof(range_finder_report));
_reports = new ringbuffer::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 */