tfmini split out header and main

2026-11-02 02:11:35 +08:00 · 2019-09-17 21:50:59 -04:00
parent 9b7ef7141f
commit be61d93d64
4 changed files with 294 additions and 221 deletions
@@ -0,0 +1,262 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2017-2019 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 "TFMINI.hpp"
+
+TFMINI::TFMINI(const char *port, uint8_t rotation) :
+	ScheduledWorkItem(px4::wq_configurations::hp_default),
+	_px4_rangefinder(0 /* TODO: device id */, ORB_PRIO_DEFAULT, rotation)
+{
+	// store port name
+	strncpy(_port, port, sizeof(_port) - 1);
+
+	// enforce null termination
+	_port[sizeof(_port) - 1] = '\0';
+}
+
+TFMINI::~TFMINI()
+{
+	// make sure we are truly inactive
+	stop();
+
+	perf_free(_sample_perf);
+	perf_free(_comms_errors);
+}
+
+int
+TFMINI::init()
+{
+	int32_t hw_model = 1; // only one model so far...
+
+	switch (hw_model) {
+	case 1: // TFMINI (12m, 100 Hz)
+		_px4_rangefinder.set_min_distance(0.3f);
+		_px4_rangefinder.set_max_distance(12.0f);
+		_px4_rangefinder.set_fov(math::radians(1.15f));
+
+		break;
+
+	default:
+		PX4_ERR("invalid HW model %d.", hw_model);
+		return -1;
+	}
+
+	// status
+	int ret = 0;
+
+	do { // create a scope to handle exit conditions using break
+
+		// open fd
+		_fd = ::open(_port, O_RDWR | O_NOCTTY);
+
+		if (_fd < 0) {
+			PX4_ERR("Error opening fd");
+			return -1;
+		}
+
+		// baudrate 115200, 8 bits, no parity, 1 stop bit
+		unsigned speed = B115200;
+		termios uart_config{};
+		int termios_state{};
+
+		tcgetattr(_fd, &uart_config);
+
+		// clear ONLCR flag (which appends a CR for every LF)
+		uart_config.c_oflag &= ~ONLCR;
+
+		// set baud rate
+		if ((termios_state = cfsetispeed(&uart_config, speed)) < 0) {
+			PX4_ERR("CFG: %d ISPD", termios_state);
+			ret = -1;
+			break;
+		}
+
+		if ((termios_state = cfsetospeed(&uart_config, speed)) < 0) {
+			PX4_ERR("CFG: %d OSPD\n", termios_state);
+			ret = -1;
+			break;
+		}
+
+		if ((termios_state = tcsetattr(_fd, TCSANOW, &uart_config)) < 0) {
+			PX4_ERR("baud %d ATTR", termios_state);
+			ret = -1;
+			break;
+		}
+
+		uart_config.c_cflag |= (CLOCAL | CREAD);	// ignore modem controls
+		uart_config.c_cflag &= ~CSIZE;
+		uart_config.c_cflag |= CS8;			// 8-bit characters
+		uart_config.c_cflag &= ~PARENB;			// no parity bit
+		uart_config.c_cflag &= ~CSTOPB;			// only need 1 stop bit
+		uart_config.c_cflag &= ~CRTSCTS;		// no hardware flowcontrol
+
+		// setup for non-canonical mode
+		uart_config.c_iflag &= ~(IGNBRK | BRKINT | PARMRK | ISTRIP | INLCR | IGNCR | ICRNL | IXON);
+		uart_config.c_lflag &= ~(ECHO | ECHONL | ICANON | ISIG | IEXTEN);
+		uart_config.c_oflag &= ~OPOST;
+
+		// fetch bytes as they become available
+		uart_config.c_cc[VMIN] = 1;
+		uart_config.c_cc[VTIME] = 1;
+
+		if (_fd < 0) {
+			PX4_ERR("FAIL: laser fd");
+			ret = -1;
+			break;
+		}
+	} while (0);
+
+	// close the fd
+	::close(_fd);
+	_fd = -1;
+
+	if (ret == PX4_OK) {
+		start();
+	}
+
+	return ret;
+}
+
+int
+TFMINI::collect()
+{
+	perf_begin(_sample_perf);
+
+	// clear buffer if last read was too long ago
+	int64_t read_elapsed = hrt_elapsed_time(&_last_read);
+
+	// the buffer for read chars is buflen minus null termination
+	char readbuf[sizeof(_linebuf)] {};
+	unsigned readlen = sizeof(readbuf) - 1;
+
+	int ret = 0;
+	float distance_m = -1.0f;
+
+	// Check the number of bytes available in the buffer
+	int bytes_available = 0;
+	::ioctl(_fd, FIONREAD, (unsigned long)&bytes_available);
+
+	if (!bytes_available) {
+		perf_end(_sample_perf);
+		return -EAGAIN;
+	}
+
+	// parse entire buffer
+	const hrt_abstime timestamp_sample = hrt_absolute_time();
+
+	do {
+		// read from the sensor (uart buffer)
+		ret = ::read(_fd, &readbuf[0], readlen);
+
+		if (ret < 0) {
+			PX4_ERR("read err: %d", ret);
+			perf_count(_comms_errors);
+			perf_end(_sample_perf);
+
+			// only throw an error if we time out
+			if (read_elapsed > (kCONVERSIONINTERVAL * 2)) {
+				/* flush anything in RX buffer */
+				tcflush(_fd, TCIFLUSH);
+				return ret;
+
+			} else {
+				return -EAGAIN;
+			}
+		}
+
+		_last_read = hrt_absolute_time();
+
+		// parse buffer
+		for (int i = 0; i < ret; i++) {
+			tfmini_parse(readbuf[i], _linebuf, &_linebuf_index, &_parse_state, &distance_m);
+		}
+
+		// bytes left to parse
+		bytes_available -= ret;
+
+	} while (bytes_available > 0);
+
+	// no valid measurement after parsing buffer
+	if (distance_m < 0.0f) {
+		perf_end(_sample_perf);
+		return -EAGAIN;
+	}
+
+	// publish most recent valid measurement from buffer
+	_px4_rangefinder.update(timestamp_sample, distance_m);
+
+	perf_end(_sample_perf);
+
+	return PX4_OK;
+}
+
+void
+TFMINI::start()
+{
+	// schedule a cycle to start things
+	ScheduleOnInterval(100_us);
+}
+
+void
+TFMINI::stop()
+{
+	ScheduleClear();
+}
+
+void
+TFMINI::Run()
+{
+	// fds initialized?
+	if (_fd < 0) {
+		// open fd
+		_fd = ::open(_port, O_RDWR | O_NOCTTY);
+	}
+
+	// perform collection
+	if (collect() == -EAGAIN) {
+		// reschedule to grab the missing bits, time to transmit 9 bytes @ 115200 bps
+		ScheduleClear();
+		ScheduleOnInterval(100_us, 87 * 9);
+		return;
+	}
+}
+
+void
+TFMINI::print_info()
+{
+	printf("Using port '%s'\n", _port);
+	perf_print_counter(_sample_perf);
+	perf_print_counter(_comms_errors);
+
+	_px4_rangefinder.print_status();
+}