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drivers: refactor trone driver to work with Evo

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This commit changes old trone driver into a generic
TeraRanger driver that supports both TeraRanger One
and TeraRanger Evo.

As a part of the change a new parameter was created
SENS_EN_TRANGER that allows to specify the following
modes of operation:

0 - sensors disabled
1 - autodetect sensors
2 - use TeraRanger One rangefinder
3 - use TeraRanger Evo rangefinder

Signed-off-by: Mateusz Sadowski <msadowski90@gmail.com>
This commit is contained in:
Mateusz Sadowski
2017-09-15 12:07:16 +01:00
committed by Nuno Marques
parent d5f8a300df
commit e439070f25
14 changed files with 140 additions and 88 deletions
Download Patch File Download Diff File Expand all files Collapse all files
ROMFS/px4fmu_common/init.d/rc.sensors
+3 -2
View File
@@ -322,9 +322,10 @@ then
fi
# teraranger one tof sensor
if param compare SENS_EN_TRONE 1
if param compare SENS_EN_TRANGER 0
then
trone start
else
teraranger start
fi
# Wait 20 ms for sensors (because we need to wait for the HRT and work queue callbacks to fire)
cmake/configs/nuttx_aerocore2_default.cmake
+1 -1
View File
@@ -20,7 +20,7 @@ set(config_module_list
drivers/lsm303d
drivers/l3gd20
drivers/ms5611
drivers/trone
drivers/teraranger
drivers/gps
drivers/pwm_out_sim
drivers/airspeed
cmake/configs/nuttx_auav-x21_default.cmake
+1 -1
View File
@@ -28,7 +28,7 @@ set(config_module_list
drivers/sf0x
drivers/sf1xx
drivers/ll40ls
drivers/trone
drivers/teraranger
drivers/gps
drivers/pwm_out_sim
drivers/hott
cmake/configs/nuttx_mindpx-v2_default.cmake
+1 -1
View File
@@ -31,7 +31,7 @@ set(config_module_list
drivers/sf0x
drivers/sf1xx
drivers/ll40ls
drivers/trone
drivers/teraranger
drivers/gps
drivers/pwm_out_sim
#drivers/hott
cmake/configs/nuttx_px4fmu-v2_default.cmake
+1 -1
View File
@@ -29,7 +29,7 @@ set(config_module_list
#drivers/srf02
drivers/sf0x
drivers/ll40ls
drivers/trone
drivers/teraranger
drivers/gps
drivers/pwm_out_sim
#drivers/hott
cmake/configs/nuttx_px4fmu-v2_test.cmake
+1 -1
View File
@@ -29,7 +29,7 @@ set(config_module_list
#drivers/srf02
#drivers/sf0x
#drivers/ll40ls
#drivers/trone
#drivers/teraranger
drivers/gps
#drivers/pwm_out_sim
#drivers/hott
cmake/configs/nuttx_px4fmu-v3_default.cmake
+1 -1
View File
@@ -54,7 +54,7 @@ set(config_module_list
drivers/stm32/adc
drivers/stm32/tone_alarm
drivers/tap_esc
drivers/trone
drivers/teraranger
drivers/vmount
modules/sensors
cmake/configs/nuttx_px4fmu-v4_default.cmake
+1 -1
View File
@@ -55,7 +55,7 @@ set(config_module_list
drivers/stm32/adc
drivers/stm32/tone_alarm
drivers/tap_esc
drivers/trone
drivers/teraranger
drivers/vmount
modules/sensors
cmake/configs/nuttx_px4fmu-v4pro_default.cmake
+1 -1
View File
@@ -55,7 +55,7 @@ set(config_module_list
drivers/stm32/adc
drivers/stm32/tone_alarm
drivers/tap_esc
drivers/trone
drivers/teraranger
drivers/vmount
modules/sensors
cmake/configs/nuttx_px4fmu-v5_default.cmake
+1 -1
View File
@@ -55,7 +55,7 @@ set(config_module_list
drivers/stm32/adc
drivers/stm32/tone_alarm
drivers/tap_esc
drivers/trone
drivers/teraranger
drivers/vmount
modules/sensors
cmake/configs/nuttx_px4nucleoF767ZI-v1_default.cmake
+1 -1
View File
@@ -50,7 +50,7 @@ set(config_module_list
drivers/stm32/adc
drivers/stm32/tone_alarm
drivers/tap_esc
drivers/trone
drivers/teraranger
modules/sensors
#
src/drivers/trone/CMakeLists.txt → src/drivers/teraranger/CMakeLists.txt
+4 -4
View File
@@ -1,6 +1,6 @@
############################################################################
#
# Copyright (c) 2015 PX4 Development Team. All rights reserved.
# Copyright (c) 2017 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
@@ -31,12 +31,12 @@
#
############################################################################
px4_add_module(
MODULE drivers__trone
MAIN trone
MODULE drivers__teraranger
MAIN teraranger
STACK_MAIN 1200
COMPILE_FLAGS
SRCS
trone.cpp
teraranger.cpp
DEPENDS
platforms__common
)
src/drivers/trone/trone.cpp → src/drivers/teraranger/teraranger.cpp
+115 -68
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2013-2015 PX4 Development Team. All rights reserved.
* Copyright (c) 2013-2017 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
@@ -32,7 +32,7 @@
****************************************************************************/
/**
* @file trone.cpp
* @file teraranger.cpp
* @author Luis Rodrigues
*
* Driver for the TeraRanger One range finders connected via I2C.
@@ -74,32 +74,35 @@
#include <board_config.h>
/* Configuration Constants */
#define TRONE_BUS PX4_I2C_BUS_EXPANSION
#define TERARANGER_BUS PX4_I2C_BUS_EXPANSION
#define TRONE_BASEADDR 0x30 /* 7-bit address */
#define TRONE_DEVICE_PATH "/dev/trone"
#define TREVO_BASEADDR 0x31 /* 7-bit address */
#define TERARANGER_DEVICE_PATH "/dev/teraranger"
/* TRONE Registers addresses */
/* TERARANGER Registers addresses */
#define TRONE_MEASURE_REG 0x00 /* Measure range register */
#define TRONE_WHO_AM_I_REG 0x01 /* Who am I test register */
#define TRONE_WHO_AM_I_REG_VAL 0xA1
#define TERARANGER_MEASURE_REG 0x00 /* Measure range register */
#define TERARANGER_WHO_AM_I_REG 0x01 /* Who am I test register */
#define TERARANGER_WHO_AM_I_REG_VAL 0xA1
/* Device limits */
#define TRONE_MIN_DISTANCE (0.20f)
#define TRONE_MAX_DISTANCE (14.00f)
#define TREVO_MIN_DISTANCE (0.50f)
#define TREVO_MAX_DISTANCE (60.0f)
#define TRONE_CONVERSION_INTERVAL 50000 /* 50ms */
#define TERARANGER_CONVERSION_INTERVAL 50000 /* 50ms */
#ifndef CONFIG_SCHED_WORKQUEUE
# error This requires CONFIG_SCHED_WORKQUEUE.
#endif
class TRONE : public device::I2C
class TERARANGER : public device::I2C
{
public:
TRONE(int bus = TRONE_BUS, int address = TRONE_BASEADDR);
virtual ~TRONE();
TERARANGER(int bus = TERARANGER_BUS, int address = TRONE_BASEADDR);
virtual ~TERARANGER();
virtual int init();
@@ -222,12 +225,12 @@ static uint8_t crc8(uint8_t *p, uint8_t len)
/*
* Driver 'main' command.
*/
extern "C" __EXPORT int trone_main(int argc, char *argv[]);
extern "C" __EXPORT int teraranger_main(int argc, char *argv[]);
TRONE::TRONE(int bus, int address) :
I2C("TRONE", TRONE_DEVICE_PATH, bus, address, 100000),
_min_distance(TRONE_MIN_DISTANCE),
_max_distance(TRONE_MAX_DISTANCE),
TERARANGER::TERARANGER(int bus, int address) :
I2C("TERARANGER", TERARANGER_DEVICE_PATH, bus, address, 100000),
_min_distance(-1.0f),
_max_distance(-1.0f),
_reports(nullptr),
_sensor_ok(false),
_valid(0),
@@ -249,7 +252,7 @@ TRONE::TRONE(int bus, int address) :
memset(&_work, 0, sizeof(_work));
}
TRONE::~TRONE()
TERARANGER::~TERARANGER()
{
/* make sure we are truly inactive */
stop();
@@ -269,13 +272,60 @@ TRONE::~TRONE()
}
int
TRONE::init()
TERARANGER::init()
{
int ret = PX4_ERROR;
int hw_model;
param_get(param_find("SENS_EN_TRANGER"), &hw_model);
/* do I2C init (and probe) first */
if (I2C::init() != OK) {
goto out;
switch(hw_model){
case 0: /* Disabled */
DEVICE_LOG("Disabled");
return ret;
case 1: /* Autodetect */
/* Assume TROne */
set_address(TRONE_BASEADDR);
if(I2C::init() != OK)
{
set_address(TREVO_BASEADDR);
if (I2C::init() != OK)
{
goto out;
} else {
_min_distance = TREVO_MIN_DISTANCE;
_max_distance = TREVO_MAX_DISTANCE;
}
}
else
{
_min_distance = TRONE_MIN_DISTANCE;
_max_distance = TRONE_MAX_DISTANCE;
}
break;
case 2: /* TROne */
set_address(TRONE_BASEADDR);
if (I2C::init() != OK) {
goto out;
}
_min_distance = TRONE_MIN_DISTANCE;
_max_distance = TRONE_MAX_DISTANCE;
break;
case 3: /* TREvo */
set_address(TREVO_BASEADDR);
/* do I2C init (and probe) first */
if (I2C::init() != OK) {
goto out;
}
_min_distance = TREVO_MIN_DISTANCE;
_max_distance = TREVO_MAX_DISTANCE;
break;
default:
DEVICE_LOG("invalid HW model %d.", hw_model);
return ret;
}
/* allocate basic report buffers */
@@ -309,56 +359,53 @@ out:
}
int
TRONE::probe()
TERARANGER::probe()
{
uint8_t who_am_i = 0;
const uint8_t cmd = TRONE_WHO_AM_I_REG;
const uint8_t cmd = TERARANGER_WHO_AM_I_REG;
// set the I2C bus address
set_address(TRONE_BASEADDR);
// can't use a single transfer as TROne need a bit of time for internal processing
// can't use a single transfer as Teraranger needs 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 == TRONE_WHO_AM_I_REG_VAL) {
if (transfer(nullptr, 0, &who_am_i, 1) == OK && who_am_i == TERARANGER_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,
TRONE_WHO_AM_I_REG_VAL);
TERARANGER_WHO_AM_I_REG_VAL);
// not found on any address
return -EIO;
}
void
TRONE::set_minimum_distance(float min)
TERARANGER::set_minimum_distance(float min)
{
_min_distance = min;
}
void
TRONE::set_maximum_distance(float max)
TERARANGER::set_maximum_distance(float max)
{
_max_distance = max;
}
float
TRONE::get_minimum_distance()
TERARANGER::get_minimum_distance()
{
return _min_distance;
}
float
TRONE::get_maximum_distance()
TERARANGER::get_maximum_distance()
{
return _max_distance;
}
int
TRONE::ioctl(struct file *filp, int cmd, unsigned long arg)
TERARANGER::ioctl(struct file *filp, int cmd, unsigned long arg)
{
switch (cmd) {
@@ -385,7 +432,7 @@ TRONE::ioctl(struct file *filp, int cmd, unsigned long arg)
bool want_start = (_measure_ticks == 0);
/* set interval for next measurement to minimum legal value */
_measure_ticks = USEC2TICK(TRONE_CONVERSION_INTERVAL);
_measure_ticks = USEC2TICK(TERARANGER_CONVERSION_INTERVAL);
/* if we need to start the poll state machine, do it */
if (want_start) {
@@ -404,7 +451,7 @@ TRONE::ioctl(struct file *filp, int cmd, unsigned long arg)
unsigned ticks = USEC2TICK(1000000 / arg);
/* check against maximum rate */
if (ticks < USEC2TICK(TRONE_CONVERSION_INTERVAL)) {
if (ticks < USEC2TICK(TERARANGER_CONVERSION_INTERVAL)) {
return -EINVAL;
}
@@ -472,7 +519,7 @@ TRONE::ioctl(struct file *filp, int cmd, unsigned long arg)
}
ssize_t
TRONE::read(struct file *filp, char *buffer, size_t buflen)
TERARANGER::read(struct file *filp, char *buffer, size_t buflen)
{
unsigned count = buflen / sizeof(struct distance_sensor_s);
struct distance_sensor_s *rbuf = reinterpret_cast<struct distance_sensor_s *>(buffer);
@@ -513,7 +560,7 @@ TRONE::read(struct file *filp, char *buffer, size_t buflen)
}
/* wait for it to complete */
usleep(TRONE_CONVERSION_INTERVAL);
usleep(TERARANGER_CONVERSION_INTERVAL);
/* run the collection phase */
if (OK != collect()) {
@@ -532,14 +579,14 @@ TRONE::read(struct file *filp, char *buffer, size_t buflen)
}
int
TRONE::measure()
TERARANGER::measure()
{
int ret;
/*
* Send the command to begin a measurement.
*/
const uint8_t cmd = TRONE_MEASURE_REG;
const uint8_t cmd = TERARANGER_MEASURE_REG;
ret = transfer(&cmd, sizeof(cmd), nullptr, 0);
if (OK != ret) {
@@ -554,7 +601,7 @@ TRONE::measure()
}
int
TRONE::collect()
TERARANGER::collect()
{
int ret = -EIO;
@@ -608,14 +655,14 @@ TRONE::collect()
}
void
TRONE::start()
TERARANGER::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)&TRONE::cycle_trampoline, this, 1);
work_queue(HPWORK, &_work, (worker_t)&TERARANGER::cycle_trampoline, this, 1);
/* notify about state change */
struct subsystem_info_s info = {};
@@ -635,21 +682,21 @@ TRONE::start()
}
void
TRONE::stop()
TERARANGER::stop()
{
work_cancel(HPWORK, &_work);
}
void
TRONE::cycle_trampoline(void *arg)
TERARANGER::cycle_trampoline(void *arg)
{
TRONE *dev = (TRONE *)arg;
TERARANGER *dev = (TERARANGER *)arg;
dev->cycle();
}
void
TRONE::cycle()
TERARANGER::cycle()
{
/* collection phase? */
if (_collect_phase) {
@@ -668,13 +715,13 @@ TRONE::cycle()
/*
* Is there a collect->measure gap?
*/
if (_measure_ticks > USEC2TICK(TRONE_CONVERSION_INTERVAL)) {
if (_measure_ticks > USEC2TICK(TERARANGER_CONVERSION_INTERVAL)) {
/* schedule a fresh cycle call when we are ready to measure again */
work_queue(HPWORK,
&_work,
(worker_t)&TRONE::cycle_trampoline,
(worker_t)&TERARANGER::cycle_trampoline,
this,
_measure_ticks - USEC2TICK(TRONE_CONVERSION_INTERVAL));
_measure_ticks - USEC2TICK(TERARANGER_CONVERSION_INTERVAL));
return;
}
@@ -691,13 +738,13 @@ TRONE::cycle()
/* schedule a fresh cycle call when the measurement is done */
work_queue(HPWORK,
&_work,
(worker_t)&TRONE::cycle_trampoline,
(worker_t)&TERARANGER::cycle_trampoline,
this,
USEC2TICK(TRONE_CONVERSION_INTERVAL));
USEC2TICK(TERARANGER_CONVERSION_INTERVAL));
}
void
TRONE::print_info()
TERARANGER::print_info()
{
perf_print_counter(_sample_perf);
perf_print_counter(_comms_errors);
@@ -708,10 +755,10 @@ TRONE::print_info()
/**
* Local functions in support of the shell command.
*/
namespace trone
namespace teraranger
{
TRONE *g_dev;
TERARANGER *g_dev;
void start();
void stop();
@@ -732,7 +779,7 @@ start()
}
/* create the driver */
g_dev = new TRONE(TRONE_BUS);
g_dev = new TERARANGER(TERARANGER_BUS);
if (g_dev == nullptr) {
@@ -744,7 +791,7 @@ start()
}
/* set the poll rate to default, starts automatic data collection */
fd = open(TRONE_DEVICE_PATH, O_RDONLY);
fd = open(TERARANGER_DEVICE_PATH, O_RDONLY);
if (fd < 0) {
goto fail;
@@ -794,10 +841,10 @@ test()
ssize_t sz;
int ret;
int fd = open(TRONE_DEVICE_PATH, O_RDONLY);
int fd = open(TERARANGER_DEVICE_PATH, O_RDONLY);
if (fd < 0) {
err(1, "%s open failed (try 'trone start' if the driver is not running", TRONE_DEVICE_PATH);
err(1, "%s open failed (try 'teraranger start' if the driver is not running", TERARANGER_DEVICE_PATH);
}
/* do a simple demand read */
@@ -855,7 +902,7 @@ test()
void
reset()
{
int fd = open(TRONE_DEVICE_PATH, O_RDONLY);
int fd = open(TERARANGER_DEVICE_PATH, O_RDONLY);
if (fd < 0) {
err(1, "failed ");
@@ -891,41 +938,41 @@ info()
} // namespace
int
trone_main(int argc, char *argv[])
teraranger_main(int argc, char *argv[])
{
/*
* Start/load the driver.
*/
if (!strcmp(argv[1], "start")) {
trone::start();
teraranger::start();
}
/*
* Stop the driver
*/
if (!strcmp(argv[1], "stop")) {
trone::stop();
teraranger::stop();
}
/*
* Test the driver/device.
*/
if (!strcmp(argv[1], "test")) {
trone::test();
teraranger::test();
}
/*
* Reset the driver.
*/
if (!strcmp(argv[1], "reset")) {
trone::reset();
teraranger::reset();
}
/*
* Print driver information.
*/
if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) {
trone::info();
teraranger::info();
}
errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'");
src/modules/sensors/sensor_params.c
+8 -4
View File
@@ -1088,14 +1088,18 @@ PARAM_DEFINE_INT32(SENS_EN_SF0X, 0);
PARAM_DEFINE_INT32(SENS_EN_MB12XX, 0);
/**
* TeraRanger One (trone)
* TeraRanger Rangefinder (i2c)
*
* @reboot_required true
*
* @boolean
* @min 0
* @max 3
* @group Sensor Enable
* @value 0 Disabled
* @value 1 Autodetect
* @value 2 TROne
* @value 3 TREvo
*/
PARAM_DEFINE_INT32(SENS_EN_TRONE, 0);
PARAM_DEFINE_INT32(SENS_EN_TRANGER, 0);
/**
* Lightware SF1xx/SF20/LW20 laser rangefinder (i2c)