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drivers/distance_sensor: New Broadcom AFBR-S50LV85D distance sensor driver
* Basic Broadcom AFBR-S50 driver using vendor API and binary blob https://github.com/Broadcom/AFBR-S50-API * fix ARK Flow paw3902 rotation
This commit is contained in:
AlexKlimaj
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/****************************************************************************
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*
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* Copyright (c) 2021 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/* Include Files */
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#include "AFBRS50.hpp"
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#include <lib/drivers/device/Device.hpp>
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#include <px4_platform_common/getopt.h>
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#include <px4_platform_common/module.h>
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#define AFBRS50_MEASURE_INTERVAL (1000000 / 100) // 10Hz
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/*! Define the SPI baud rate (to be used in the SPI module). */
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#define SPI_BAUD_RATE 5000000
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#include "s2pi.h"
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#include "timer.h"
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#include "argus_hal_test.h"
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AFBRS50 *g_dev{nullptr};
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AFBRS50::AFBRS50(uint8_t device_orientation):
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ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default),
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_px4_rangefinder(0, device_orientation)
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{
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device::Device::DeviceId device_id{};
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device_id.devid_s.bus_type = device::Device::DeviceBusType::DeviceBusType_SPI;
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device_id.devid_s.bus = BROADCOM_AFBR_S50_S2PI_SPI_BUS;
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device_id.devid_s.devtype = DRV_DIST_DEVTYPE_AFBRS50;
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_px4_rangefinder.set_device_id(device_id.devid);
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}
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AFBRS50::~AFBRS50()
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{
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stop();
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perf_free(_sample_perf);
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}
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status_t AFBRS50::measurement_ready_callback(status_t status, void *data)
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{
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if (!up_interrupt_context()) {
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if (status == STATUS_OK) {
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if (g_dev) {
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g_dev->ProcessMeasurement(data);
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}
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}
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}
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return status;
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}
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void AFBRS50::ProcessMeasurement(void *data)
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{
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if (data != nullptr) {
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perf_count(_sample_perf);
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argus_results_t res{};
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status_t evaluate_status = Argus_EvaluateData(_hnd, &res, data);
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if ((evaluate_status == STATUS_OK) && (res.Status == 0)) {
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uint32_t result_mm = res.Bin.Range / (Q9_22_ONE / 1000);
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float result_m = static_cast<float>(result_mm) / 1000.f;
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_px4_rangefinder.update(((res.TimeStamp.sec * 1000000ULL) + res.TimeStamp.usec), result_m);
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}
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}
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}
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int AFBRS50::init()
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{
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if (_hnd != nullptr) {
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// retry
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Argus_Deinit(_hnd);
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Argus_DestroyHandle(_hnd);
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_hnd = nullptr;
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}
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_hnd = Argus_CreateHandle();
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if (_hnd == nullptr) {
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PX4_ERR("Handle not initialized");
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return PX4_ERROR;
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}
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// Initialize the S2PI hardware required by the API.
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S2PI_Init(BROADCOM_AFBR_S50_S2PI_SPI_BUS, SPI_BAUD_RATE);
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status_t status = Argus_Init(_hnd, BROADCOM_AFBR_S50_S2PI_SPI_BUS);
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if (status == STATUS_OK) {
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uint32_t id = Argus_GetChipID(_hnd);
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uint32_t value = Argus_GetAPIVersion();
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uint8_t a = (value >> 24) & 0xFFU;
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uint8_t b = (value >> 16) & 0xFFU;
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uint8_t c = value & 0xFFFFU;
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PX4_INFO_RAW("AFBR-S50 Chip ID: %d, API Version: %d v%d.%d.%d\n", id, value, a, b, c);
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argus_module_version_t mv = Argus_GetModuleVersion(_hnd);
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switch (mv) {
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case AFBR_S50MV85G_V1:
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// FALLTHROUGH
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case AFBR_S50MV85G_V2:
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// FALLTHROUGH
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case AFBR_S50MV85G_V3:
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_px4_rangefinder.set_min_distance(0.08f);
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_px4_rangefinder.set_max_distance(10.f);
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_px4_rangefinder.set_fov(math::radians(6.f));
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PX4_INFO_RAW("AFBR-S50MV85G\n");
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break;
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case AFBR_S50LV85D_V1:
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_px4_rangefinder.set_min_distance(0.08f);
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_px4_rangefinder.set_max_distance(30.f);
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_px4_rangefinder.set_fov(math::radians(6.f));
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PX4_INFO_RAW("AFBR-S50LV85D (v1)\n");
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break;
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case AFBR_S50MV68B_V1:
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_px4_rangefinder.set_min_distance(0.08f);
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_px4_rangefinder.set_max_distance(10.f);
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_px4_rangefinder.set_fov(math::radians(1.f));
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PX4_INFO_RAW("AFBR-S50MV68B (v1)\n");
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break;
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case AFBR_S50MV85I_V1:
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_px4_rangefinder.set_min_distance(0.08f);
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_px4_rangefinder.set_max_distance(5.f);
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_px4_rangefinder.set_fov(math::radians(6.f));
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PX4_INFO_RAW("AFBR-S50MV85I (v1)\n");
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break;
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case AFBR_S50SV85K_V1:
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_px4_rangefinder.set_min_distance(0.08f);
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_px4_rangefinder.set_max_distance(10.f);
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_px4_rangefinder.set_fov(math::radians(4.f));
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PX4_INFO_RAW("AFBR-S50SV85K (v1)\n");
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break;
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default:
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break;
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}
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_state = STATE::CONFIGURE;
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ScheduleDelayed(AFBRS50_MEASURE_INTERVAL);
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return PX4_OK;
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}
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return PX4_ERROR;
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}
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void AFBRS50::Run()
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{
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// backup schedule
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ScheduleDelayed(100_ms);
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switch (_state) {
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case STATE::TEST: {
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Argus_VerifyHALImplementation(Argus_GetSPISlave(_hnd));
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_state = STATE::CONFIGURE;
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ScheduleDelayed(100_ms);
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}
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break;
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case STATE::CONFIGURE: {
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Argus_SetConfigurationFrameTime(_hnd, AFBRS50_MEASURE_INTERVAL);
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status_t status = Argus_StartMeasurementTimer(_hnd, measurement_ready_callback);
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if (status != STATUS_OK) {
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PX4_ERR("CONFIGURE status not okay: %i", status);
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_state = STATE::STOP;
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ScheduleNow();
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} else {
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_state = STATE::COLLECT;
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ScheduleDelayed(AFBRS50_MEASURE_INTERVAL);
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}
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}
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break;
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case STATE::COLLECT: {
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// currently handeled by measurement_ready_callback
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}
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break;
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case STATE::STOP: {
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Argus_StopMeasurementTimer(_hnd);
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Argus_Deinit(_hnd);
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Argus_DestroyHandle(_hnd);
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}
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break;
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default:
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break;
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}
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}
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void AFBRS50::stop()
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{
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_state = STATE::STOP;
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ScheduleNow();
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}
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void AFBRS50::print_info()
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{
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perf_print_counter(_sample_perf);
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}
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namespace afbrs50
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{
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static int start(const uint8_t rotation)
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{
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if (g_dev != nullptr) {
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PX4_ERR("already started");
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return PX4_ERROR;
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}
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g_dev = new AFBRS50(rotation);
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if (g_dev == nullptr) {
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PX4_ERR("object instantiate failed");
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return PX4_ERROR;
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}
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// Initialize the sensor.
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if (g_dev->init() != PX4_OK) {
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PX4_ERR("driver start failed");
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delete g_dev;
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g_dev = nullptr;
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return PX4_ERROR;
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}
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return PX4_OK;
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}
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static int status()
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{
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if (g_dev == nullptr) {
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PX4_ERR("driver not running");
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return PX4_ERROR;
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}
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g_dev->print_info();
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return PX4_OK;
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}
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static int stop()
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{
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if (g_dev != nullptr) {
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delete g_dev;
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g_dev = nullptr;
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}
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PX4_INFO("driver stopped");
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return PX4_OK;
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}
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static int usage()
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{
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PRINT_MODULE_DESCRIPTION(
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R"DESCR_STR(
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### Description
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Driver for the Broadcom AFBRS50.
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### Examples
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Attempt to start driver on a specified serial device.
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$ afbrs50 start
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Stop driver
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$ afbrs50 stop
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)DESCR_STR");
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PRINT_MODULE_USAGE_NAME("afbrs50", "driver");
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PRINT_MODULE_USAGE_SUBCATEGORY("distance_sensor");
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PRINT_MODULE_USAGE_COMMAND_DESCR("start", "Start driver");
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PRINT_MODULE_USAGE_PARAM_STRING('d', nullptr, nullptr, "Serial device", false);
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PRINT_MODULE_USAGE_PARAM_INT('r', 25, 0, 25, "Sensor rotation - downward facing by default", true);
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PRINT_MODULE_USAGE_COMMAND_DESCR("stop", "Stop driver");
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return PX4_OK;
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}
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} // namespace
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extern "C" __EXPORT int afbrs50_main(int argc, char *argv[])
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{
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const char *myoptarg = nullptr;
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int ch = 0;
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int myoptind = 1;
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uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING;
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while ((ch = px4_getopt(argc, argv, "d:r", &myoptind, &myoptarg)) != EOF) {
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switch (ch) {
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case 'r':
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rotation = (uint8_t)atoi(myoptarg);
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break;
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default:
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PX4_WARN("Unknown option");
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return afbrs50::usage();
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}
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}
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if (myoptind >= argc) {
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return afbrs50::usage();
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}
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if (!strcmp(argv[myoptind], "start")) {
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return afbrs50::start(rotation);
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} else if (!strcmp(argv[myoptind], "status")) {
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return afbrs50::status();
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} else if (!strcmp(argv[myoptind], "stop")) {
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return afbrs50::stop();
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}
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return afbrs50::usage();
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}
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