diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors index c20f7b8cf2..389b16fc12 100644 --- a/ROMFS/px4fmu_common/init.d/rc.sensors +++ b/ROMFS/px4fmu_common/init.d/rc.sensors @@ -321,12 +321,6 @@ then mb12xx start fi -# teraranger evo tof sensor -if param compare SENS_EN_TREVO 1 -then - trevo start -fi - # teraranger one tof sensor if param compare SENS_EN_TRONE 1 then diff --git a/cmake/configs/nuttx_aerocore2_default.cmake b/cmake/configs/nuttx_aerocore2_default.cmake index 75f0944a4c..a6a79bfe42 100644 --- a/cmake/configs/nuttx_aerocore2_default.cmake +++ b/cmake/configs/nuttx_aerocore2_default.cmake @@ -20,7 +20,6 @@ set(config_module_list drivers/lsm303d drivers/l3gd20 drivers/ms5611 - drivers/trevo drivers/trone drivers/gps drivers/pwm_out_sim diff --git a/cmake/configs/nuttx_auav-x21_default.cmake b/cmake/configs/nuttx_auav-x21_default.cmake index 8f51136f82..c5b774cf55 100644 --- a/cmake/configs/nuttx_auav-x21_default.cmake +++ b/cmake/configs/nuttx_auav-x21_default.cmake @@ -28,7 +28,6 @@ set(config_module_list drivers/sf0x drivers/sf1xx drivers/ll40ls - drivers/trevo drivers/trone drivers/gps drivers/pwm_out_sim diff --git a/cmake/configs/nuttx_mindpx-v2_default.cmake b/cmake/configs/nuttx_mindpx-v2_default.cmake index 9de9c688db..07c9e1f045 100644 --- a/cmake/configs/nuttx_mindpx-v2_default.cmake +++ b/cmake/configs/nuttx_mindpx-v2_default.cmake @@ -31,7 +31,6 @@ set(config_module_list drivers/sf0x drivers/sf1xx drivers/ll40ls - drivers/trevo drivers/trone drivers/gps drivers/pwm_out_sim diff --git a/cmake/configs/nuttx_px4fmu-v2_default.cmake b/cmake/configs/nuttx_px4fmu-v2_default.cmake index 2a08cf252f..40a7ab4dd7 100644 --- a/cmake/configs/nuttx_px4fmu-v2_default.cmake +++ b/cmake/configs/nuttx_px4fmu-v2_default.cmake @@ -29,7 +29,6 @@ set(config_module_list #drivers/srf02 drivers/sf0x drivers/ll40ls - drivers/trevo drivers/trone drivers/gps drivers/pwm_out_sim diff --git a/cmake/configs/nuttx_px4fmu-v2_test.cmake b/cmake/configs/nuttx_px4fmu-v2_test.cmake index b784cf6351..36f2bf3ae4 100644 --- a/cmake/configs/nuttx_px4fmu-v2_test.cmake +++ b/cmake/configs/nuttx_px4fmu-v2_test.cmake @@ -29,7 +29,6 @@ set(config_module_list #drivers/srf02 #drivers/sf0x #drivers/ll40ls - #drivers/trevo #drivers/trone drivers/gps #drivers/pwm_out_sim diff --git a/cmake/configs/nuttx_px4fmu-v3_default.cmake b/cmake/configs/nuttx_px4fmu-v3_default.cmake index 20e1401b7d..a2654535fd 100644 --- a/cmake/configs/nuttx_px4fmu-v3_default.cmake +++ b/cmake/configs/nuttx_px4fmu-v3_default.cmake @@ -54,7 +54,6 @@ set(config_module_list drivers/stm32/adc drivers/stm32/tone_alarm drivers/tap_esc - drivers/trevo drivers/trone drivers/vmount modules/sensors diff --git a/cmake/configs/nuttx_px4fmu-v4_default.cmake b/cmake/configs/nuttx_px4fmu-v4_default.cmake index 206bb14cae..a7be253942 100644 --- a/cmake/configs/nuttx_px4fmu-v4_default.cmake +++ b/cmake/configs/nuttx_px4fmu-v4_default.cmake @@ -55,7 +55,6 @@ set(config_module_list drivers/stm32/adc drivers/stm32/tone_alarm drivers/tap_esc - drivers/trevo drivers/trone drivers/vmount modules/sensors diff --git a/cmake/configs/nuttx_px4fmu-v4pro_default.cmake b/cmake/configs/nuttx_px4fmu-v4pro_default.cmake index 0db4ae9b10..1b61fa64c7 100644 --- a/cmake/configs/nuttx_px4fmu-v4pro_default.cmake +++ b/cmake/configs/nuttx_px4fmu-v4pro_default.cmake @@ -55,7 +55,6 @@ set(config_module_list drivers/stm32/adc drivers/stm32/tone_alarm drivers/tap_esc - drivers/trevo drivers/trone drivers/vmount modules/sensors diff --git a/cmake/configs/nuttx_px4fmu-v5_default.cmake b/cmake/configs/nuttx_px4fmu-v5_default.cmake index 9ec432771c..c0ddb71c07 100644 --- a/cmake/configs/nuttx_px4fmu-v5_default.cmake +++ b/cmake/configs/nuttx_px4fmu-v5_default.cmake @@ -55,7 +55,6 @@ set(config_module_list drivers/stm32/adc drivers/stm32/tone_alarm drivers/tap_esc - drivers/trevo drivers/trone drivers/vmount modules/sensors diff --git a/cmake/configs/nuttx_px4nucleoF767ZI-v1_default.cmake b/cmake/configs/nuttx_px4nucleoF767ZI-v1_default.cmake index 6ab5ce5552..2f2a0ec34d 100644 --- a/cmake/configs/nuttx_px4nucleoF767ZI-v1_default.cmake +++ b/cmake/configs/nuttx_px4nucleoF767ZI-v1_default.cmake @@ -50,7 +50,6 @@ set(config_module_list drivers/stm32/adc drivers/stm32/tone_alarm drivers/tap_esc - drivers/trevo drivers/trone modules/sensors diff --git a/src/drivers/trevo/CMakeLists.txt b/src/drivers/trevo/CMakeLists.txt deleted file mode 100644 index 171493adab..0000000000 --- a/src/drivers/trevo/CMakeLists.txt +++ /dev/null @@ -1,43 +0,0 @@ -############################################################################ -# -# Copyright (c) 2015 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. -# -############################################################################ -px4_add_module( - MODULE drivers__trevo - MAIN trevo - STACK_MAIN 1200 - COMPILE_FLAGS - SRCS - trevo.cpp - DEPENDS - platforms__common - ) -# vim: set noet ft=cmake fenc=utf-8 ff=unix : diff --git a/src/drivers/trevo/trevo.cpp b/src/drivers/trevo/trevo.cpp deleted file mode 100644 index 2698a516ee..0000000000 --- a/src/drivers/trevo/trevo.cpp +++ /dev/null @@ -1,938 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2013-2015 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 trevo.cpp - * @author Mateusz Sadowski - * - * Driver for the TeraRanger Evo range finders connected via I2C. - */ - -#include -#include - -#include - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include - -#include -#include - -#include -#include -#include - -#include -#include -#include - -#include - -/* Configuration Constants */ -#define TREVO_BUS PX4_I2C_BUS_EXPANSION -#define TREVO_BASEADDR 0x31 /* 7-bit address */ -#define TREVO_DEVICE_PATH "/dev/trevo" - -/* TREVO Registers addresses */ - -#define TREVO_MEASURE_REG 0x00 /* Measure range register */ -#define TREVO_WHO_AM_I_REG 0x01 /* Who am I test register */ -#define TREVO_WHO_AM_I_REG_VAL 0xA1 - - -/* Device limits */ -#define TREVO_MIN_DISTANCE (0.50f) -#define TREVO_MAX_DISTANCE (60.00f) - -#define TREVO_CONVERSION_INTERVAL 50000 /* 50ms */ - -#ifndef CONFIG_SCHED_WORKQUEUE -# error This requires CONFIG_SCHED_WORKQUEUE. -#endif - -class TREVO : public device::I2C -{ -public: - TREVO(int bus = TREVO_BUS, int address = TREVO_BASEADDR); - virtual ~TREVO(); - - virtual int init(); - - virtual ssize_t read(struct file *filp, char *buffer, size_t buflen); - virtual int ioctl(struct file *filp, int cmd, unsigned long arg); - - /** - * Diagnostics - print some basic information about the driver. - */ - void print_info(); - -protected: - virtual int probe(); - -private: - float _min_distance; - float _max_distance; - work_s _work; - ringbuffer::RingBuffer *_reports; - bool _sensor_ok; - uint8_t _valid; - int _measure_ticks; - bool _collect_phase; - int _class_instance; - int _orb_class_instance; - - orb_advert_t _distance_sensor_topic; - - perf_counter_t _sample_perf; - perf_counter_t _comms_errors; - perf_counter_t _buffer_overflows; - - /** - * Test whether the device supported by the driver is present at a - * specific address. - * - * @param address The I2C bus address to probe. - * @return True if the device is present. - */ - int probe_address(uint8_t address); - - /** - * 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(); - - /** - * Stop the automatic measurement state machine. - */ - void stop(); - - /** - * Set the min and max distance thresholds if you want the end points of the sensors - * range to be brought in at all, otherwise it will use the defaults TREVO_MIN_DISTANCE - * and TREVO_MAX_DISTANCE - */ - void set_minimum_distance(float min); - void set_maximum_distance(float max); - float get_minimum_distance(); - float get_maximum_distance(); - - /** - * Perform a poll cycle; collect from the previous measurement - * and start a new one. - */ - void cycle(); - int measure(); - int collect(); - /** - * Static trampoline from the workq context; because we don't have a - * generic workq wrapper yet. - * - * @param arg Instance pointer for the driver that is polling. - */ - static void cycle_trampoline(void *arg); - - -}; - -static const uint8_t crc_table[] = { - 0x00, 0x07, 0x0e, 0x09, 0x1c, 0x1b, 0x12, 0x15, 0x38, 0x3f, 0x36, 0x31, - 0x24, 0x23, 0x2a, 0x2d, 0x70, 0x77, 0x7e, 0x79, 0x6c, 0x6b, 0x62, 0x65, - 0x48, 0x4f, 0x46, 0x41, 0x54, 0x53, 0x5a, 0x5d, 0xe0, 0xe7, 0xee, 0xe9, - 0xfc, 0xfb, 0xf2, 0xf5, 0xd8, 0xdf, 0xd6, 0xd1, 0xc4, 0xc3, 0xca, 0xcd, - 0x90, 0x97, 0x9e, 0x99, 0x8c, 0x8b, 0x82, 0x85, 0xa8, 0xaf, 0xa6, 0xa1, - 0xb4, 0xb3, 0xba, 0xbd, 0xc7, 0xc0, 0xc9, 0xce, 0xdb, 0xdc, 0xd5, 0xd2, - 0xff, 0xf8, 0xf1, 0xf6, 0xe3, 0xe4, 0xed, 0xea, 0xb7, 0xb0, 0xb9, 0xbe, - 0xab, 0xac, 0xa5, 0xa2, 0x8f, 0x88, 0x81, 0x86, 0x93, 0x94, 0x9d, 0x9a, - 0x27, 0x20, 0x29, 0x2e, 0x3b, 0x3c, 0x35, 0x32, 0x1f, 0x18, 0x11, 0x16, - 0x03, 0x04, 0x0d, 0x0a, 0x57, 0x50, 0x59, 0x5e, 0x4b, 0x4c, 0x45, 0x42, - 0x6f, 0x68, 0x61, 0x66, 0x73, 0x74, 0x7d, 0x7a, 0x89, 0x8e, 0x87, 0x80, - 0x95, 0x92, 0x9b, 0x9c, 0xb1, 0xb6, 0xbf, 0xb8, 0xad, 0xaa, 0xa3, 0xa4, - 0xf9, 0xfe, 0xf7, 0xf0, 0xe5, 0xe2, 0xeb, 0xec, 0xc1, 0xc6, 0xcf, 0xc8, - 0xdd, 0xda, 0xd3, 0xd4, 0x69, 0x6e, 0x67, 0x60, 0x75, 0x72, 0x7b, 0x7c, - 0x51, 0x56, 0x5f, 0x58, 0x4d, 0x4a, 0x43, 0x44, 0x19, 0x1e, 0x17, 0x10, - 0x05, 0x02, 0x0b, 0x0c, 0x21, 0x26, 0x2f, 0x28, 0x3d, 0x3a, 0x33, 0x34, - 0x4e, 0x49, 0x40, 0x47, 0x52, 0x55, 0x5c, 0x5b, 0x76, 0x71, 0x78, 0x7f, - 0x6a, 0x6d, 0x64, 0x63, 0x3e, 0x39, 0x30, 0x37, 0x22, 0x25, 0x2c, 0x2b, - 0x06, 0x01, 0x08, 0x0f, 0x1a, 0x1d, 0x14, 0x13, 0xae, 0xa9, 0xa0, 0xa7, - 0xb2, 0xb5, 0xbc, 0xbb, 0x96, 0x91, 0x98, 0x9f, 0x8a, 0x8d, 0x84, 0x83, - 0xde, 0xd9, 0xd0, 0xd7, 0xc2, 0xc5, 0xcc, 0xcb, 0xe6, 0xe1, 0xe8, 0xef, - 0xfa, 0xfd, 0xf4, 0xf3 -}; - -static uint8_t crc8(uint8_t *p, uint8_t len) -{ - uint16_t i; - uint16_t crc = 0x0; - - while (len--) { - i = (crc ^ *p++) & 0xFF; - crc = (crc_table[i] ^ (crc << 8)) & 0xFF; - } - - return crc & 0xFF; -} - -/* - * Driver 'main' command. - */ -extern "C" __EXPORT int trevo_main(int argc, char *argv[]); - -TREVO::TREVO(int bus, int address) : - I2C("TREVO", TREVO_DEVICE_PATH, bus, address, 100000), - _min_distance(TREVO_MIN_DISTANCE), - _max_distance(TREVO_MAX_DISTANCE), - _reports(nullptr), - _sensor_ok(false), - _valid(0), - _measure_ticks(0), - _collect_phase(false), - _class_instance(-1), - _orb_class_instance(-1), - _distance_sensor_topic(nullptr), - _sample_perf(perf_alloc(PC_ELAPSED, "tr1_read")), - _comms_errors(perf_alloc(PC_COUNT, "tr1_com_err")), - _buffer_overflows(perf_alloc(PC_COUNT, "tr1_buf_of")) -{ - // up the retries since the device misses the first measure attempts - I2C::_retries = 3; - - // enable debug() calls - _debug_enabled = false; - - // work_cancel in the dtor will explode if we don't do this... - memset(&_work, 0, sizeof(_work)); -} - -TREVO::~TREVO() -{ - /* make sure we are truly inactive */ - stop(); - - /* free any existing reports */ - if (_reports != nullptr) { - delete _reports; - } - - if (_class_instance != -1) { - unregister_class_devname(RANGE_FINDER_BASE_DEVICE_PATH, _class_instance); - } - - // free perf counters - perf_free(_sample_perf); - perf_free(_comms_errors); - perf_free(_buffer_overflows); -} - -int -TREVO::init() -{ - int ret = PX4_ERROR; - - /* do I2C init (and probe) first */ - if (I2C::init() != OK) { - goto out; - } - - /* allocate basic report buffers */ - _reports = new ringbuffer::RingBuffer(2, sizeof(distance_sensor_s)); - - if (_reports == nullptr) { - goto out; - } - - _class_instance = register_class_devname(RANGE_FINDER_BASE_DEVICE_PATH); - - if (_class_instance == CLASS_DEVICE_PRIMARY) { - /* get a publish handle on the range finder topic */ - struct distance_sensor_s ds_report; - measure(); - _reports->get(&ds_report); - - _distance_sensor_topic = orb_advertise_multi(ORB_ID(distance_sensor), &ds_report, - &_orb_class_instance, ORB_PRIO_LOW); - - if (_distance_sensor_topic == nullptr) { - DEVICE_LOG("failed to create distance_sensor object. Did you start uOrb?"); - } - } - - ret = OK; - /* sensor is ok, but we don't really know if it is within range */ - _sensor_ok = true; -out: - return ret; -} - -int -TREVO::probe() -{ - uint8_t who_am_i = 0; - - const uint8_t cmd = TREVO_WHO_AM_I_REG; - - // set the I2C bus address - set_address(TREVO_BASEADDR); - - // can't use a single transfer as TREvo need a bit of time for internal processing - if (transfer(&cmd, 1, nullptr, 0) == OK) { - if (transfer(nullptr, 0, &who_am_i, 1) == OK && who_am_i == TREVO_WHO_AM_I_REG_VAL) { - return measure(); - } - } - - DEVICE_DEBUG("WHO_AM_I byte mismatch 0x%02x should be 0x%02x\n", - (unsigned)who_am_i, - TREVO_WHO_AM_I_REG_VAL); - - // not found on any address - return -EIO; -} - -void -TREVO::set_minimum_distance(float min) -{ - _min_distance = min; -} - -void -TREVO::set_maximum_distance(float max) -{ - _max_distance = max; -} - -float -TREVO::get_minimum_distance() -{ - return _min_distance; -} - -float -TREVO::get_maximum_distance() -{ - return _max_distance; -} - -int -TREVO::ioctl(struct file *filp, int cmd, unsigned long arg) -{ - switch (cmd) { - - case SENSORIOCSPOLLRATE: { - switch (arg) { - - /* switching to manual polling */ - case SENSOR_POLLRATE_MANUAL: - stop(); - _measure_ticks = 0; - return OK; - - /* external signalling (DRDY) not supported */ - case SENSOR_POLLRATE_EXTERNAL: - - /* zero would be bad */ - case 0: - return -EINVAL; - - /* set default/max polling rate */ - case SENSOR_POLLRATE_MAX: - case SENSOR_POLLRATE_DEFAULT: { - /* do we need to start internal polling? */ - bool want_start = (_measure_ticks == 0); - - /* set interval for next measurement to minimum legal value */ - _measure_ticks = USEC2TICK(TREVO_CONVERSION_INTERVAL); - - /* if we need to start the poll state machine, do it */ - if (want_start) { - start(); - } - - return OK; - } - - /* adjust to a legal polling interval in Hz */ - default: { - /* do we need to start internal polling? */ - bool want_start = (_measure_ticks == 0); - - /* convert hz to tick interval via microseconds */ - unsigned ticks = USEC2TICK(1000000 / arg); - - /* check against maximum rate */ - if (ticks < USEC2TICK(TREVO_CONVERSION_INTERVAL)) { - return -EINVAL; - } - - /* update interval for next measurement */ - _measure_ticks = ticks; - - /* if we need to start the poll state machine, do it */ - if (want_start) { - start(); - } - - return OK; - } - } - } - - case SENSORIOCGPOLLRATE: - if (_measure_ticks == 0) { - return SENSOR_POLLRATE_MANUAL; - } - - return (1000 / _measure_ticks); - - case SENSORIOCSQUEUEDEPTH: { - /* lower bound is mandatory, upper bound is a sanity check */ - if ((arg < 1) || (arg > 100)) { - return -EINVAL; - } - - irqstate_t flags = px4_enter_critical_section(); - - if (!_reports->resize(arg)) { - px4_leave_critical_section(flags); - return -ENOMEM; - } - - px4_leave_critical_section(flags); - - return OK; - } - - case SENSORIOCGQUEUEDEPTH: - return _reports->size(); - - case SENSORIOCRESET: - /* XXX implement this */ - return -EINVAL; - - case RANGEFINDERIOCSETMINIUMDISTANCE: { - set_minimum_distance(*(float *)arg); - return 0; - } - break; - - case RANGEFINDERIOCSETMAXIUMDISTANCE: { - set_maximum_distance(*(float *)arg); - return 0; - } - break; - - default: - /* give it to the superclass */ - return I2C::ioctl(filp, cmd, arg); - } -} - -ssize_t -TREVO::read(struct file *filp, char *buffer, size_t buflen) -{ - unsigned count = buflen / sizeof(struct distance_sensor_s); - struct distance_sensor_s *rbuf = reinterpret_cast(buffer); - int ret = 0; - - /* buffer must be large enough */ - if (count < 1) { - return -ENOSPC; - } - - /* if automatic measurement is enabled */ - if (_measure_ticks > 0) { - - /* - * While there is space in the caller's buffer, and reports, copy them. - * Note that we may be pre-empted by the workq thread while we are doing this; - * we are careful to avoid racing with them. - */ - while (count--) { - if (_reports->get(rbuf)) { - ret += sizeof(*rbuf); - rbuf++; - } - } - - /* if there was no data, warn the caller */ - return ret ? ret : -EAGAIN; - } - - /* manual measurement - run one conversion */ - do { - _reports->flush(); - - /* trigger a measurement */ - if (OK != measure()) { - ret = -EIO; - break; - } - - /* wait for it to complete */ - usleep(TREVO_CONVERSION_INTERVAL); - - /* run the collection phase */ - if (OK != collect()) { - ret = -EIO; - break; - } - - /* state machine will have generated a report, copy it out */ - if (_reports->get(rbuf)) { - ret = sizeof(*rbuf); - } - - } while (0); - - return ret; -} - -int -TREVO::measure() -{ - int ret; - - /* - * Send the command to begin a measurement. - */ - const uint8_t cmd = TREVO_MEASURE_REG; - ret = transfer(&cmd, sizeof(cmd), nullptr, 0); - - if (OK != ret) { - perf_count(_comms_errors); - DEVICE_LOG("i2c::transfer returned %d", ret); - return ret; - } - - ret = OK; - - return ret; -} - -int -TREVO::collect() -{ - int ret = -EIO; - - /* read from the sensor */ - uint8_t val[3] = {0, 0, 0}; - - perf_begin(_sample_perf); - - ret = transfer(nullptr, 0, &val[0], 3); - - if (ret < 0) { - DEVICE_LOG("error reading from sensor: %d", ret); - perf_count(_comms_errors); - perf_end(_sample_perf); - return ret; - } - - uint16_t distance_mm = (val[0] << 8) | val[1]; - float distance_m = float(distance_mm) * 1e-3f; - struct distance_sensor_s report; - - report.timestamp = hrt_absolute_time(); - /* there is no enum item for a combined LASER and ULTRASOUND which it should be */ - report.type = distance_sensor_s::MAV_DISTANCE_SENSOR_LASER; - report.orientation = 8; - report.current_distance = distance_m; - report.min_distance = get_minimum_distance(); - report.max_distance = get_maximum_distance(); - report.covariance = 0.0f; - /* TODO: set proper ID */ - report.id = 0; - - // This validation check can be used later - _valid = crc8(val, 2) == val[2] && (float)report.current_distance > report.min_distance - && (float)report.current_distance < report.max_distance ? 1 : 0; - - /* publish it, if we are the primary */ - if (_distance_sensor_topic != nullptr) { - orb_publish(ORB_ID(distance_sensor), _distance_sensor_topic, &report); - } - - if (_reports->force(&report)) { - perf_count(_buffer_overflows); - } - - /* notify anyone waiting for data */ - poll_notify(POLLIN); - - ret = OK; - - perf_end(_sample_perf); - return ret; -} - -void -TREVO::start() -{ - /* reset the report ring and state machine */ - _collect_phase = false; - _reports->flush(); - - /* schedule a cycle to start things */ - work_queue(HPWORK, &_work, (worker_t)&TREVO::cycle_trampoline, this, 1); - - /* notify about state change */ - struct subsystem_info_s info = {}; - info.present = true; - info.enabled = true; - info.ok = true; - info.subsystem_type = subsystem_info_s::SUBSYSTEM_TYPE_RANGEFINDER; - - static orb_advert_t pub = nullptr; - - if (pub != nullptr) { - orb_publish(ORB_ID(subsystem_info), pub, &info); - - } else { - pub = orb_advertise(ORB_ID(subsystem_info), &info); - } -} - -void -TREVO::stop() -{ - work_cancel(HPWORK, &_work); -} - -void -TREVO::cycle_trampoline(void *arg) -{ - TREVO *dev = (TREVO *)arg; - - dev->cycle(); -} - -void -TREVO::cycle() -{ - /* collection phase? */ - if (_collect_phase) { - - /* perform collection */ - if (OK != collect()) { - DEVICE_LOG("collection error"); - /* restart the measurement state machine */ - start(); - return; - } - - /* next phase is measurement */ - _collect_phase = false; - - /* - * Is there a collect->measure gap? - */ - if (_measure_ticks > USEC2TICK(TREVO_CONVERSION_INTERVAL)) { - /* schedule a fresh cycle call when we are ready to measure again */ - work_queue(HPWORK, - &_work, - (worker_t)&TREVO::cycle_trampoline, - this, - _measure_ticks - USEC2TICK(TREVO_CONVERSION_INTERVAL)); - - return; - } - } - - /* measurement phase */ - if (OK != measure()) { - DEVICE_LOG("measure error"); - } - - /* next phase is collection */ - _collect_phase = true; - - /* schedule a fresh cycle call when the measurement is done */ - work_queue(HPWORK, - &_work, - (worker_t)&TREVO::cycle_trampoline, - this, - USEC2TICK(TREVO_CONVERSION_INTERVAL)); -} - -void -TREVO::print_info() -{ - perf_print_counter(_sample_perf); - perf_print_counter(_comms_errors); - perf_print_counter(_buffer_overflows); - printf("poll interval: %u ticks\n", _measure_ticks); - _reports->print_info("report queue"); -} - -/** - * Local functions in support of the shell command. - */ -namespace trevo -{ - -TREVO *g_dev; - -void start(); -void stop(); -void test(); -void reset(); -void info(); - -/** - * Start the driver. - */ -void -start() -{ - int fd; - - if (g_dev != nullptr) { - errx(1, "already started"); - } - - /* create the driver */ - g_dev = new TREVO(TREVO_BUS); - - - if (g_dev == nullptr) { - goto fail; - } - - if (OK != g_dev->init()) { - goto fail; - } - - /* set the poll rate to default, starts automatic data collection */ - fd = open(TREVO_DEVICE_PATH, O_RDONLY); - - if (fd < 0) { - goto fail; - } - - if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) { - goto fail; - } - - exit(0); - -fail: - - if (g_dev != nullptr) { - delete g_dev; - g_dev = nullptr; - } - - errx(1, "driver start failed"); -} - -/** - * Stop the driver - */ -void stop() -{ - if (g_dev != nullptr) { - delete g_dev; - g_dev = nullptr; - - } else { - errx(1, "driver not running"); - } - - exit(0); -} - -/** - * Perform some basic functional tests on the driver; - * make sure we can collect data from the sensor in polled - * and automatic modes. - */ -void -test() -{ - struct distance_sensor_s report; - ssize_t sz; - int ret; - - int fd = open(TREVO_DEVICE_PATH, O_RDONLY); - - if (fd < 0) { - err(1, "%s open failed (try 'trevo start' if the driver is not running", TREVO_DEVICE_PATH); - } - - /* do a simple demand read */ - sz = read(fd, &report, sizeof(report)); - - if (sz != sizeof(report)) { - err(1, "immediate read failed"); - } - - warnx("single read"); - warnx("measurement: %0.2f m", (double)report.current_distance); - warnx("time: %llu", report.timestamp); - - /* start the sensor polling at 2Hz */ - if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) { - errx(1, "failed to set 2Hz poll rate"); - } - - /* read the sensor 50x and report each value */ - for (unsigned i = 0; i < 50; i++) { - struct pollfd fds; - - /* wait for data to be ready */ - fds.fd = fd; - fds.events = POLLIN; - ret = poll(&fds, 1, 2000); - - if (ret != 1) { - errx(1, "timed out waiting for sensor data"); - } - - /* now go get it */ - sz = read(fd, &report, sizeof(report)); - - if (sz != sizeof(report)) { - err(1, "periodic read failed"); - } - - warnx("periodic read %u", i); - warnx("measurement: %0.3f", (double)report.current_distance); - warnx("time: %llu", report.timestamp); - } - - /* reset the sensor polling to default rate */ - if (OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT)) { - errx(1, "failed to set default poll rate"); - } - - errx(0, "PASS"); -} - -/** - * Reset the driver. - */ -void -reset() -{ - int fd = open(TREVO_DEVICE_PATH, O_RDONLY); - - if (fd < 0) { - err(1, "failed "); - } - - if (ioctl(fd, SENSORIOCRESET, 0) < 0) { - err(1, "driver reset failed"); - } - - if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) { - err(1, "driver poll restart failed"); - } - - exit(0); -} - -/** - * Print a little info about the driver. - */ -void -info() -{ - if (g_dev == nullptr) { - errx(1, "driver not running"); - } - - printf("state @ %p\n", g_dev); - g_dev->print_info(); - - exit(0); -} - -} // namespace - -int -trevo_main(int argc, char *argv[]) -{ - /* - * Start/load the driver. - */ - if (!strcmp(argv[1], "start")) { - trevo::start(); - } - - /* - * Stop the driver - */ - if (!strcmp(argv[1], "stop")) { - trevo::stop(); - } - - /* - * Test the driver/device. - */ - if (!strcmp(argv[1], "test")) { - trevo::test(); - } - - /* - * Reset the driver. - */ - if (!strcmp(argv[1], "reset")) { - trevo::reset(); - } - - /* - * Print driver information. - */ - if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) { - trevo::info(); - } - - errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'"); -} diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c index d3bc09aeef..03d48a598d 100644 --- a/src/modules/sensors/sensor_params.c +++ b/src/modules/sensors/sensor_params.c @@ -1087,16 +1087,6 @@ PARAM_DEFINE_INT32(SENS_EN_SF0X, 0); */ PARAM_DEFINE_INT32(SENS_EN_MB12XX, 0); -/** - * TeraRanger Evo (trevo) - * - * @reboot_required true - * - * @boolean - * @group Sensor Enable - */ - PARAM_DEFINE_INT32(SENS_EN_TREVO, 0); - /** * TeraRanger One (trone) *