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distance_sensor/sf0x: rename to lightware_laser_serial

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This commit is contained in:
Beat Küng 2020-10-22 09:11:48 +02:00 committed by Daniel Agar
parent a68ac95399
commit d2644a3bf7
18 changed files with 110 additions and 113 deletions
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2
boards/px4/fmu-v2/default.cmake
View File

@ -28,7 +28,7 @@ px4_add_board(
differential_pressure/ms4525
#distance_sensor # all available distance sensor drivers
#distance_sensor/ll40ls
#distance_sensor/sf0x
#distance_sensor/lightware_laser_serial
#dshot
gps
#heater

2
boards/px4/fmu-v2/fixedwing.cmake
View File

@ -26,7 +26,7 @@ px4_add_board(
differential_pressure # all available differential pressure drivers
#distance_sensor # all available distance sensor drivers
distance_sensor/ll40ls
distance_sensor/sf0x
distance_sensor/lightware_laser_serial
gps
imu/l3gd20
imu/lsm303d

2
boards/px4/fmu-v2/test.cmake
View File

@ -27,7 +27,7 @@ px4_add_board(
differential_pressure/ms4525
#distance_sensor # all available distance sensor drivers
distance_sensor/ll40ls
distance_sensor/sf0x
distance_sensor/lightware_laser_serial
#dshot
gps
#heater

2
platforms/posix/cmake/sitl_tests.cmake
View File

@ -33,7 +33,7 @@ set(tests
rc
search_min
servo
#sf0x
#lightware_laser
sleep
uorb
versioning

2
src/drivers/distance_sensor/CMakeLists.txt
View File

@ -38,8 +38,8 @@ add_subdirectory(ll40ls_pwm)
add_subdirectory(mappydot)
add_subdirectory(mb12xx)
add_subdirectory(pga460)
add_subdirectory(sf0x)
add_subdirectory(lightware_laser_i2c)
add_subdirectory(lightware_laser_serial)
add_subdirectory(srf02)
add_subdirectory(teraranger)
add_subdirectory(tfmini)

14
src/drivers/distance_sensor/sf0x/CMakeLists.txt → src/drivers/distance_sensor/lightware_laser_serial/CMakeLists.txt
View File

@ -31,15 +31,15 @@
#
############################################################################
px4_add_module(
MODULE drivers__sf0x
MAIN sf0x
MODULE drivers__distance_sensor__lightware_laser_serial
MAIN lightware_laser_serial
COMPILE_FLAGS
-Wno-cast-align # TODO: fix and enable
SRCS
SF0X.cpp
SF0X.hpp
sf0x_main.cpp
sf0x_parser.cpp
lightware_laser_serial.cpp
lightware_laser_serial.hpp
lightware_laser_serial_main.cpp
parser.cpp
DEPENDS
drivers_rangefinder
px4_work_queue
@ -48,5 +48,5 @@ px4_add_module(
)
if(PX4_TESTING)
add_subdirectory(sf0x_tests)
add_subdirectory(tests)
endif()

26
src/drivers/distance_sensor/sf0x/SF0X.cpp → src/drivers/distance_sensor/lightware_laser_serial/lightware_laser_serial.cpp
View File

@ -31,15 +31,15 @@
*
****************************************************************************/
#include "SF0X.hpp"
#include "lightware_laser_serial.hpp"
#include <fcntl.h>
#include <termios.h>
/* Configuration Constants */
#define SF0X_TAKE_RANGE_REG 'd'
#define LW_TAKE_RANGE_REG 'd'
SF0X::SF0X(const char *port, uint8_t rotation) :
LightwareLaserSerial::LightwareLaserSerial(const char *port, uint8_t rotation) :
ScheduledWorkItem(MODULE_NAME, px4::serial_port_to_wq(port)),
_px4_rangefinder(0 /* device id not yet used */, rotation),
_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
@ -52,7 +52,7 @@ SF0X::SF0X(const char *port, uint8_t rotation) :
_port[sizeof(_port) - 1] = '\0';
}
SF0X::~SF0X()
LightwareLaserSerial::~LightwareLaserSerial()
{
stop();
@ -61,7 +61,7 @@ SF0X::~SF0X()
}
int
SF0X::init()
LightwareLaserSerial::init()
{
int32_t hw_model = 0;
param_get(param_find("SENS_EN_SF0X"), &hw_model);
@ -108,10 +108,10 @@ SF0X::init()
return PX4_OK;
}
int SF0X::measure()
int LightwareLaserSerial::measure()
{
// Send the command to begin a measurement.
char cmd = SF0X_TAKE_RANGE_REG;
char cmd = LW_TAKE_RANGE_REG;
int ret = ::write(_fd, &cmd, 1);
if (ret != sizeof(cmd)) {
@ -123,7 +123,7 @@ int SF0X::measure()
return PX4_OK;
}
int SF0X::collect()
int LightwareLaserSerial::collect()
{
perf_begin(_sample_perf);
@ -161,7 +161,7 @@ int SF0X::collect()
bool valid = false;
for (int i = 0; i < ret; i++) {
if (OK == sf0x_parser(readbuf[i], _linebuf, &_linebuf_index, &_parse_state, &distance_m)) {
if (OK == lightware_parser(readbuf[i], _linebuf, &_linebuf_index, &_parse_state, &distance_m)) {
valid = true;
}
}
@ -179,7 +179,7 @@ int SF0X::collect()
return PX4_OK;
}
void SF0X::start()
void LightwareLaserSerial::start()
{
/* reset the report ring and state machine */
_collect_phase = false;
@ -188,12 +188,12 @@ void SF0X::start()
ScheduleNow();
}
void SF0X::stop()
void LightwareLaserSerial::stop()
{
ScheduleClear();
}
void SF0X::Run()
void LightwareLaserSerial::Run()
{
/* fds initialized? */
if (_fd < 0) {
@ -293,7 +293,7 @@ void SF0X::Run()
ScheduleDelayed(_interval);
}
void SF0X::print_info()
void LightwareLaserSerial::print_info()
{
perf_print_counter(_sample_perf);
perf_print_counter(_comms_errors);

17
src/drivers/distance_sensor/sf0x/SF0X.hpp → src/drivers/distance_sensor/lightware_laser_serial/lightware_laser_serial.hpp
View File

@ -32,11 +32,11 @@
****************************************************************************/
/**
* @file SF0X.hpp
* @file lightware_laser_serial.hpp
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Greg Hulands
*
* Driver for the Lightware SF0x laser rangefinder series
* Driver for the Lightware laser rangefinder series
*/
#pragma once
@ -48,13 +48,13 @@
#include <lib/parameters/param.h>
#include <lib/perf/perf_counter.h>
#include "sf0x_parser.h"
#include "parser.h"
class SF0X : public px4::ScheduledWorkItem
class LightwareLaserSerial : public px4::ScheduledWorkItem
{
public:
SF0X(const char *port, uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING);
~SF0X() override;
LightwareLaserSerial(const char *port, uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING);
~LightwareLaserSerial() override;
int init();
void print_info();
@ -67,7 +67,6 @@ private:
int measure();
int collect();
PX4Rangefinder _px4_rangefinder;
char _port[20] {};
@ -76,7 +75,7 @@ private:
int _fd{-1};
char _linebuf[10] {};
unsigned _linebuf_index{0};
enum SF0X_PARSE_STATE _parse_state {SF0X_PARSE_STATE0_UNSYNC};
enum LW_PARSE_STATE _parse_state {LW_PARSE_STATE0_UNSYNC};
hrt_abstime _last_read{0};
unsigned _consecutive_fail_count;
@ -84,6 +83,4 @@ private:
perf_counter_t _sample_perf;
perf_counter_t _comms_errors;
};

28
src/drivers/distance_sensor/sf0x/sf0x_main.cpp → src/drivers/distance_sensor/lightware_laser_serial/lightware_laser_serial_main.cpp
View File

@ -31,15 +31,15 @@
*
****************************************************************************/
#include "SF0X.hpp"
#include "lightware_laser_serial.hpp"
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/module.h>
namespace sf0x
namespace lightware_laser
{
SF0X *g_dev{nullptr};
LightwareLaserSerial *g_dev{nullptr};
static int start(const char *port, uint8_t rotation)
{
@ -54,7 +54,7 @@ static int start(const char *port, uint8_t rotation)
}
/* create the driver */
g_dev = new SF0X(port, rotation);
g_dev = new LightwareLaserSerial(port, rotation);
if (g_dev == nullptr) {
return -1;
@ -109,12 +109,12 @@ Setup/usage information: https://docs.px4.io/master/en/sensor/sfxx_lidar.html
### Examples
Attempt to start driver on a specified serial device.
$ sf0x start -d /dev/ttyS1
$ lightware_laser_serial start -d /dev/ttyS1
Stop driver
$ sf0x stop
$ lightware_laser_serial stop
)DESCR_STR");
PRINT_MODULE_USAGE_NAME("sf0x", "driver");
PRINT_MODULE_USAGE_NAME("lightware_laser_serial", "driver");
PRINT_MODULE_USAGE_SUBCATEGORY("distance_sensor");
PRINT_MODULE_USAGE_COMMAND_DESCR("start", "Start driver");
PRINT_MODULE_USAGE_PARAM_STRING('d', nullptr, nullptr, "Serial device", false);
@ -125,7 +125,7 @@ $ sf0x stop
} // namespace
extern "C" __EXPORT int sf0x_main(int argc, char *argv[])
extern "C" __EXPORT int lightware_laser_serial_main(int argc, char *argv[])
{
uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING;
const char *device_path = nullptr;
@ -144,26 +144,26 @@ extern "C" __EXPORT int sf0x_main(int argc, char *argv[])
break;
default:
sf0x::usage();
lightware_laser::usage();
return -1;
}
}
if (myoptind >= argc) {
sf0x::usage();
lightware_laser::usage();
return -1;
}
if (!strcmp(argv[myoptind], "start")) {
return sf0x::start(device_path, rotation);
return lightware_laser::start(device_path, rotation);
} else if (!strcmp(argv[myoptind], "stop")) {
return sf0x::stop();
return lightware_laser::stop();
} else if (!strcmp(argv[myoptind], "status")) {
return sf0x::status();
return lightware_laser::status();
}
sf0x::usage();
lightware_laser::usage();
return -1;
}

7
src/drivers/distance_sensor/lightware_laser_serial/module.yaml Normal file
View File

@ -0,0 +1,7 @@
module_name: Lightware Laser Rangefinder (serial)
serial_config:
- command: lightware_laser_serial start -d ${SERIAL_DEV}
port_config_param:
name: SENS_SF0X_CFG
group: Sensors

2
src/drivers/distance_sensor/sf0x/parameters.c → src/drivers/distance_sensor/lightware_laser_serial/parameters.c
View File

@ -32,7 +32,7 @@
****************************************************************************/
/**
* Lightware Laser Rangefinder hardware model
* Lightware Laser Rangefinder hardware model (serial)
*
* @reboot_required true
* @group Sensors

58
src/drivers/distance_sensor/sf0x/sf0x_parser.cpp → src/drivers/distance_sensor/lightware_laser_serial/parser.cpp
View File

@ -32,19 +32,19 @@
****************************************************************************/
/**
* @file sf0x_parser.cpp
* @file parser.cpp
* @author Lorenz Meier <lm@inf.ethz.ch>
*
* Driver for the Lightware SF0x laser rangefinder series
* Driver for the Lightware laser rangefinder series
*/
#include "sf0x_parser.h"
#include "parser.h"
#include <string.h>
#include <stdlib.h>
//#define SF0X_DEBUG
//#define LW_DEBUG
#ifdef SF0X_DEBUG
#ifdef LW_DEBUG
#include <stdio.h>
const char *parser_state[] = {
@ -58,98 +58,98 @@ const char *parser_state[] = {
};
#endif
int sf0x_parser(char c, char *parserbuf, unsigned *parserbuf_index, enum SF0X_PARSE_STATE *state, float *dist)
int lightware_parser(char c, char *parserbuf, unsigned *parserbuf_index, enum LW_PARSE_STATE *state, float *dist)
{
int ret = -1;
char *end;
switch (*state) {
case SF0X_PARSE_STATE0_UNSYNC:
case LW_PARSE_STATE0_UNSYNC:
if (c == '\n') {
*state = SF0X_PARSE_STATE1_SYNC;
*state = LW_PARSE_STATE1_SYNC;
(*parserbuf_index) = 0;
}
break;
case SF0X_PARSE_STATE1_SYNC:
case LW_PARSE_STATE1_SYNC:
if (c >= '0' && c <= '9') {
*state = SF0X_PARSE_STATE2_GOT_DIGIT0;
*state = LW_PARSE_STATE2_GOT_DIGIT0;
parserbuf[*parserbuf_index] = c;
(*parserbuf_index)++;
}
break;
case SF0X_PARSE_STATE2_GOT_DIGIT0:
case LW_PARSE_STATE2_GOT_DIGIT0:
if (c >= '0' && c <= '9') {
*state = SF0X_PARSE_STATE2_GOT_DIGIT0;
*state = LW_PARSE_STATE2_GOT_DIGIT0;
parserbuf[*parserbuf_index] = c;
(*parserbuf_index)++;
} else if (c == '.') {
*state = SF0X_PARSE_STATE3_GOT_DOT;
*state = LW_PARSE_STATE3_GOT_DOT;
parserbuf[*parserbuf_index] = c;
(*parserbuf_index)++;
} else {
*state = SF0X_PARSE_STATE0_UNSYNC;
*state = LW_PARSE_STATE0_UNSYNC;
}
break;
case SF0X_PARSE_STATE3_GOT_DOT:
case LW_PARSE_STATE3_GOT_DOT:
if (c >= '0' && c <= '9') {
*state = SF0X_PARSE_STATE4_GOT_DIGIT1;
*state = LW_PARSE_STATE4_GOT_DIGIT1;
parserbuf[*parserbuf_index] = c;
(*parserbuf_index)++;
} else {
*state = SF0X_PARSE_STATE0_UNSYNC;
*state = LW_PARSE_STATE0_UNSYNC;
}
break;
case SF0X_PARSE_STATE4_GOT_DIGIT1:
case LW_PARSE_STATE4_GOT_DIGIT1:
if (c >= '0' && c <= '9') {
*state = SF0X_PARSE_STATE5_GOT_DIGIT2;
*state = LW_PARSE_STATE5_GOT_DIGIT2;
parserbuf[*parserbuf_index] = c;
(*parserbuf_index)++;
} else {
*state = SF0X_PARSE_STATE0_UNSYNC;
*state = LW_PARSE_STATE0_UNSYNC;
}
break;
case SF0X_PARSE_STATE5_GOT_DIGIT2:
case LW_PARSE_STATE5_GOT_DIGIT2:
if (c == '\r') {
*state = SF0X_PARSE_STATE6_GOT_CARRIAGE_RETURN;
*state = LW_PARSE_STATE6_GOT_CARRIAGE_RETURN;
} else {
*state = SF0X_PARSE_STATE0_UNSYNC;
*state = LW_PARSE_STATE0_UNSYNC;
}
break;
case SF0X_PARSE_STATE6_GOT_CARRIAGE_RETURN:
case LW_PARSE_STATE6_GOT_CARRIAGE_RETURN:
if (c == '\n') {
parserbuf[*parserbuf_index] = '\0';
*dist = strtod(parserbuf, &end);
*state = SF0X_PARSE_STATE1_SYNC;
*state = LW_PARSE_STATE1_SYNC;
*parserbuf_index = 0;
ret = 0;
} else {
*state = SF0X_PARSE_STATE0_UNSYNC;
*state = LW_PARSE_STATE0_UNSYNC;
}
break;
}
#ifdef SF0X_DEBUG
printf("state: SF0X_PARSE_STATE%s\n", parser_state[*state]);
#ifdef LW_DEBUG
printf("state: LW_PARSE_STATE%s\n", parser_state[*state]);
#endif
return ret;
}
}

22
src/drivers/distance_sensor/sf0x/sf0x_parser.h → src/drivers/distance_sensor/lightware_laser_serial/parser.h
View File

@ -32,22 +32,22 @@
****************************************************************************/
/**
* @file sf0x_parser.cpp
* @file parser.cpp
* @author Lorenz Meier <lm@inf.ethz.ch>
*
* Declarations of parser for the Lightware SF0x laser rangefinder series
* Declarations of parser for the Lightware laser rangefinder series
*/
#pragma once
enum SF0X_PARSE_STATE {
SF0X_PARSE_STATE0_UNSYNC = 0,
SF0X_PARSE_STATE1_SYNC,
SF0X_PARSE_STATE2_GOT_DIGIT0,
SF0X_PARSE_STATE3_GOT_DOT,
SF0X_PARSE_STATE4_GOT_DIGIT1,
SF0X_PARSE_STATE5_GOT_DIGIT2,
SF0X_PARSE_STATE6_GOT_CARRIAGE_RETURN
enum LW_PARSE_STATE {
LW_PARSE_STATE0_UNSYNC = 0,
LW_PARSE_STATE1_SYNC,
LW_PARSE_STATE2_GOT_DIGIT0,
LW_PARSE_STATE3_GOT_DOT,
LW_PARSE_STATE4_GOT_DIGIT1,
LW_PARSE_STATE5_GOT_DIGIT2,
LW_PARSE_STATE6_GOT_CARRIAGE_RETURN
};
int sf0x_parser(char c, char *parserbuf, unsigned *parserbuf_index, enum SF0X_PARSE_STATE *state, float *dist);
int lightware_parser(char c, char *parserbuf, unsigned *parserbuf_index, enum LW_PARSE_STATE *state, float *dist);

8
src/drivers/distance_sensor/sf0x/sf0x_tests/CMakeLists.txt → src/drivers/distance_sensor/lightware_laser_serial/tests/CMakeLists.txt
View File

@ -31,11 +31,11 @@
#
############################################################################
px4_add_module(
MODULE drivers__sf0x__sf0x_tests
MAIN sf0x_tests
MODULE drivers__distance_sensor__lightware_laser_serial__tests
MAIN lightware_laser_test
COMPILE_FLAGS
SRCS
SF0XTest.cpp
../sf0x_parser.cpp
lightware_laser_test.cpp
../parser.cpp
DEPENDS
)

20
src/drivers/distance_sensor/sf0x/sf0x_tests/SF0XTest.cpp → src/drivers/distance_sensor/lightware_laser_serial/tests/lightware_laser_test.cpp
View File

@ -1,6 +1,6 @@
#include <unit_test.h>
#include "../sf0x_parser.h"
#include "../parser.h"
#include <systemlib/err.h>
@ -8,25 +8,25 @@
#include <cstring>
#include <unistd.h>
extern "C" __EXPORT int sf0x_tests_main(int argc, char *argv[]);
extern "C" __EXPORT int lightware_laser_test_main(int argc, char *argv[]);
class SF0XTest : public UnitTest
class LightwareLaserTest : public UnitTest
{
public:
virtual bool run_tests();
private:
bool sf0xTest();
bool runTest();
};
bool SF0XTest::run_tests()
bool LightwareLaserTest::run_tests()
{
ut_run_test(sf0xTest);
ut_run_test(runTest);
return (_tests_failed == 0);
}
bool SF0XTest::sf0xTest()
bool LightwareLaserTest::runTest()
{
const char _LINE_MAX = 20;
//char _linebuf[_LINE_MAX];
@ -50,7 +50,7 @@ bool SF0XTest::sf0xTest()
"\r\n"
};
enum SF0X_PARSE_STATE state = SF0X_PARSE_STATE0_UNSYNC;
enum LW_PARSE_STATE state = LW_PARSE_STATE0_UNSYNC;
float dist_m;
char _parserbuf[_LINE_MAX];
unsigned _parsebuf_index = 0;
@ -61,7 +61,7 @@ bool SF0XTest::sf0xTest()
int parse_ret = -1;
for (int i = 0; i < (ssize_t)strlen(lines[l]); i++) {
parse_ret = sf0x_parser(lines[l][i], _parserbuf, &_parsebuf_index, &state, &dist_m);
parse_ret = lightware_parser(lines[l][i], _parserbuf, &_parsebuf_index, &state, &dist_m);
if (parse_ret == 0) {
if (l == 0) {
@ -88,4 +88,4 @@ bool SF0XTest::sf0xTest()
return true;
}
ut_declare_test_c(sf0x_tests_main, SF0XTest)
ut_declare_test_c(lightware_laser_test_main, LightwareLaserTest)

7
src/drivers/distance_sensor/sf0x/module.yaml
View File

@ -1,7 +0,0 @@
module_name: Lightware Laser Rangefinder
serial_config:
- command: sf0x start -d ${SERIAL_DEV}
port_config_param:
name: SENS_SF0X_CFG
group: Sensors

2
src/systemcmds/tests/tests_main.c
View File

@ -125,7 +125,7 @@ const struct {
{"controllib", controllib_test_main, 0},
{"mavlink", mavlink_tests_main, 0},
#ifdef __PX4_NUTTX
{"sf0x", sf0x_tests_main, 0},
{"lightware_laser", lightware_laser_test_main, 0},
#endif
{"uorb", uorb_tests_main, 0},

2
src/systemcmds/tests/tests_main.h
View File

@ -95,7 +95,7 @@ extern int mavlink_tests_main(int argc, char *argv[]);
extern int controllib_test_main(int argc, char *argv[]);
extern int uorb_tests_main(int argc, char *argv[]);
extern int rc_tests_main(int argc, char *argv[]);
extern int sf0x_tests_main(int argc, char *argv[]);
extern int lightware_laser_test_main(int argc, char *argv[]);
__END_DECLS