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ll40ls: astyle

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This commit is contained in:
Ban Siesta 2015-05-24 09:44:10 +01:00
parent 3efaeabd5b
commit e67f681935
7 changed files with 667 additions and 628 deletions
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156
src/drivers/ll40ls/LidarLite.cpp
View File

@ -43,130 +43,130 @@
#include <nuttx/clock.h>
LidarLite::LidarLite() :
_min_distance(LL40LS_MIN_DISTANCE),
_max_distance(LL40LS_MAX_DISTANCE),
_measure_ticks(0)
_min_distance(LL40LS_MIN_DISTANCE),
_max_distance(LL40LS_MAX_DISTANCE),
_measure_ticks(0)
{
//ctor
//ctor
}
LidarLite::~LidarLite()
{
//dtor
//dtor
}
void LidarLite::set_minimum_distance(const float min)
{
_min_distance = min;
_min_distance = min;
}
void LidarLite::set_maximum_distance(const float max)
{
_max_distance = max;
_max_distance = max;
}
float LidarLite::get_minimum_distance() const
{
return _min_distance;
return _min_distance;
}
float LidarLite::get_maximum_distance() const
{
return _max_distance;
return _max_distance;
}
uint32_t LidarLite::getMeasureTicks() const
uint32_t LidarLite::getMeasureTicks() const
{
return _measure_ticks;
return _measure_ticks;
}
int LidarLite::ioctl(struct file *filp, int cmd, unsigned long arg)
{
switch (cmd) {
switch (cmd) {
case SENSORIOCSPOLLRATE: {
switch (arg) {
case SENSORIOCSPOLLRATE: {
switch (arg) {
/* switching to manual polling */
case SENSOR_POLLRATE_MANUAL:
stop();
_measure_ticks = 0;
return OK;
/* switching to manual polling */
case SENSOR_POLLRATE_MANUAL:
stop();
_measure_ticks = 0;
return OK;
/* external signalling (DRDY) not supported */
case SENSOR_POLLRATE_EXTERNAL:
/* external signalling (DRDY) not supported */
case SENSOR_POLLRATE_EXTERNAL:
/* zero would be bad */
case 0:
return -EINVAL;
/* 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 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(LL40LS_CONVERSION_INTERVAL);
/* set interval for next measurement to minimum legal value */
_measure_ticks = USEC2TICK(LL40LS_CONVERSION_INTERVAL);
/* if we need to start the poll state machine, do it */
if (want_start) {
start();
}
/* if we need to start the poll state machine, do it */
if (want_start) {
start();
}
return OK;
}
return OK;
}
/* adjust to a legal polling interval in Hz */
default: {
/* do we need to start internal polling? */
bool want_start = (_measure_ticks == 0);
/* 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);
/* convert hz to tick interval via microseconds */
unsigned ticks = USEC2TICK(1000000 / arg);
/* check against maximum rate */
if (ticks < USEC2TICK(LL40LS_CONVERSION_INTERVAL)) {
return -EINVAL;
}
/* check against maximum rate */
if (ticks < USEC2TICK(LL40LS_CONVERSION_INTERVAL)) {
return -EINVAL;
}
/* update interval for next measurement */
_measure_ticks = ticks;
/* update interval for next measurement */
_measure_ticks = ticks;
/* if we need to start the poll state machine, do it */
if (want_start) {
start();
}
/* if we need to start the poll state machine, do it */
if (want_start) {
start();
}
return OK;
}
}
}
return OK;
}
}
}
case SENSORIOCGPOLLRATE:
if (_measure_ticks == 0) {
return SENSOR_POLLRATE_MANUAL;
}
case SENSORIOCGPOLLRATE:
if (_measure_ticks == 0) {
return SENSOR_POLLRATE_MANUAL;
}
return (1000 / _measure_ticks);
return (1000 / _measure_ticks);
case SENSORIOCRESET:
reset_sensor();
return OK;
case SENSORIOCRESET:
reset_sensor();
return OK;
case RANGEFINDERIOCSETMINIUMDISTANCE: {
set_minimum_distance(*(float *)arg);
return OK;
}
break;
case RANGEFINDERIOCSETMINIUMDISTANCE: {
set_minimum_distance(*(float *)arg);
return OK;
}
break;
case RANGEFINDERIOCSETMAXIUMDISTANCE: {
set_maximum_distance(*(float *)arg);
return OK;
}
break;
case RANGEFINDERIOCSETMAXIUMDISTANCE: {
set_maximum_distance(*(float *)arg);
return OK;
}
break;
default:
return -EINVAL;
}
default:
return -EINVAL;
}
}

66
src/drivers/ll40ls/LidarLite.h
View File

@ -38,7 +38,7 @@
*
* Generic interface driver for the PulsedLight Lidar-Lite range finders.
*/
#pragma once
#pragma once
#include <drivers/device/device.h>
#include <drivers/drv_range_finder.h>
@ -56,50 +56,50 @@
class LidarLite
{
public:
LidarLite();
LidarLite();
virtual ~LidarLite();
virtual ~LidarLite();
virtual int init() = 0;
virtual int init() = 0;
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
virtual void start() = 0;
virtual void start() = 0;
virtual void stop() = 0;
virtual void stop() = 0;
/**
* @brief
* Diagnostics - print some basic information about the driver.
*/
virtual void print_info() = 0;
/**
* @brief
* Diagnostics - print some basic information about the driver.
*/
virtual void print_info() = 0;
/**
* @brief
* print registers to console
*/
virtual void print_registers() = 0;
/**
* @brief
* print registers to console
*/
virtual void print_registers() = 0;
protected:
/**
* 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 LL40LS_MIN_DISTANCE
* and LL40LS_MAX_DISTANCE
*/
void set_minimum_distance(const float min);
void set_maximum_distance(const float max);
float get_minimum_distance() const;
float get_maximum_distance() const;
/**
* 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 LL40LS_MIN_DISTANCE
* and LL40LS_MAX_DISTANCE
*/
void set_minimum_distance(const float min);
void set_maximum_distance(const float max);
float get_minimum_distance() const;
float get_maximum_distance() const;
uint32_t getMeasureTicks() const;
uint32_t getMeasureTicks() const;
virtual int measure() = 0;
virtual int collect() = 0;
virtual int measure() = 0;
virtual int collect() = 0;
virtual int reset_sensor() = 0;
virtual int reset_sensor() = 0;
private:
float _min_distance;
float _max_distance;
uint32_t _measure_ticks;
float _min_distance;
float _max_distance;
uint32_t _measure_ticks;
};

734
src/drivers/ll40ls/LidarLiteI2C.cpp
View File

@ -56,273 +56,274 @@
static const int ERROR = -1;
LidarLiteI2C::LidarLiteI2C(int bus, const char *path, int address) :
I2C("LL40LS", path, bus, address, 100000),
_work(),
_reports(nullptr),
_sensor_ok(false),
_collect_phase(false),
_class_instance(-1),
_range_finder_topic(-1),
_sample_perf(perf_alloc(PC_ELAPSED, "ll40ls_read")),
_comms_errors(perf_alloc(PC_COUNT, "ll40ls_comms_errors")),
_buffer_overflows(perf_alloc(PC_COUNT, "ll40ls_buffer_overflows")),
_sensor_resets(perf_alloc(PC_COUNT, "ll40ls_resets")),
_sensor_zero_resets(perf_alloc(PC_COUNT, "ll40ls_zero_resets")),
_last_distance(0),
_zero_counter(0),
_acquire_time_usec(0),
_pause_measurements(false),
_bus(bus)
I2C("LL40LS", path, bus, address, 100000),
_work(),
_reports(nullptr),
_sensor_ok(false),
_collect_phase(false),
_class_instance(-1),
_range_finder_topic(-1),
_sample_perf(perf_alloc(PC_ELAPSED, "ll40ls_read")),
_comms_errors(perf_alloc(PC_COUNT, "ll40ls_comms_errors")),
_buffer_overflows(perf_alloc(PC_COUNT, "ll40ls_buffer_overflows")),
_sensor_resets(perf_alloc(PC_COUNT, "ll40ls_resets")),
_sensor_zero_resets(perf_alloc(PC_COUNT, "ll40ls_zero_resets")),
_last_distance(0),
_zero_counter(0),
_acquire_time_usec(0),
_pause_measurements(false),
_bus(bus)
{
// up the retries since the device misses the first measure attempts
_retries = 3;
// up the retries since the device misses the first measure attempts
_retries = 3;
// enable debug() calls
_debug_enabled = false;
// enable debug() calls
_debug_enabled = false;
// work_cancel in the dtor will explode if we don't do this...
memset(&_work, 0, sizeof(_work));
// work_cancel in the dtor will explode if we don't do this...
memset(&_work, 0, sizeof(_work));
}
LidarLiteI2C::~LidarLiteI2C()
{
/* make sure we are truly inactive */
stop();
/* make sure we are truly inactive */
stop();
/* free any existing reports */
if (_reports != nullptr) {
delete _reports;
}
/* free any existing reports */
if (_reports != nullptr) {
delete _reports;
}
if (_class_instance != -1) {
unregister_class_devname(RANGE_FINDER_BASE_DEVICE_PATH, _class_instance);
}
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);
perf_free(_sensor_resets);
perf_free(_sensor_zero_resets);
// free perf counters
perf_free(_sample_perf);
perf_free(_comms_errors);
perf_free(_buffer_overflows);
perf_free(_sensor_resets);
perf_free(_sensor_zero_resets);
}
int LidarLiteI2C::init()
{
int ret = ERROR;
int ret = ERROR;
/* do I2C init (and probe) first */
if (I2C::init() != OK) {
goto out;
}
/* do I2C init (and probe) first */
if (I2C::init() != OK) {
goto out;
}
/* allocate basic report buffers */
_reports = new RingBuffer(2, sizeof(range_finder_report));
/* allocate basic report buffers */
_reports = new RingBuffer(2, sizeof(range_finder_report));
if (_reports == nullptr) {
goto out;
}
if (_reports == nullptr) {
goto out;
}
_class_instance = register_class_devname(RANGE_FINDER_BASE_DEVICE_PATH);
_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 range_finder_report rf_report;
measure();
_reports->get(&rf_report);
_range_finder_topic = orb_advertise(ORB_ID(sensor_range_finder), &rf_report);
if (_class_instance == CLASS_DEVICE_PRIMARY) {
/* get a publish handle on the range finder topic */
struct range_finder_report rf_report;
measure();
_reports->get(&rf_report);
_range_finder_topic = orb_advertise(ORB_ID(sensor_range_finder), &rf_report);
if (_range_finder_topic < 0) {
debug("failed to create sensor_range_finder object. Did you start uOrb?");
}
}
if (_range_finder_topic < 0) {
debug("failed to create sensor_range_finder object. Did you start uOrb?");
}
}
ret = OK;
/* sensor is ok, but we don't really know if it is within range */
_sensor_ok = true;
ret = OK;
/* sensor is ok, but we don't really know if it is within range */
_sensor_ok = true;
out:
return ret;
return ret;
}
int LidarLiteI2C::read_reg(uint8_t reg, uint8_t &val)
{
return transfer(&reg, 1, &val, 1);
return transfer(&reg, 1, &val, 1);
}
int LidarLiteI2C::probe()
{
// cope with both old and new I2C bus address
const uint8_t addresses[2] = {LL40LS_BASEADDR, LL40LS_BASEADDR_OLD};
// cope with both old and new I2C bus address
const uint8_t addresses[2] = {LL40LS_BASEADDR, LL40LS_BASEADDR_OLD};
// more retries for detection
_retries = 10;
// more retries for detection
_retries = 10;
for (uint8_t i=0; i<sizeof(addresses); i++) {
uint8_t who_am_i=0, max_acq_count=0;
for (uint8_t i = 0; i < sizeof(addresses); i++) {
uint8_t who_am_i = 0, max_acq_count = 0;
// set the I2C bus address
set_address(addresses[i]);
// set the I2C bus address
set_address(addresses[i]);
/* register 2 defaults to 0x80. If this matches it is
almost certainly a ll40ls */
if (read_reg(LL40LS_MAX_ACQ_COUNT_REG, max_acq_count) == OK && max_acq_count == 0x80) {
// very likely to be a ll40ls. This is the
// default max acquisition counter
goto ok;
}
/* register 2 defaults to 0x80. If this matches it is
almost certainly a ll40ls */
if (read_reg(LL40LS_MAX_ACQ_COUNT_REG, max_acq_count) == OK && max_acq_count == 0x80) {
// very likely to be a ll40ls. This is the
// default max acquisition counter
goto ok;
}
if (read_reg(LL40LS_WHO_AM_I_REG, who_am_i) == OK && who_am_i == LL40LS_WHO_AM_I_REG_VAL) {
// it is responding correctly to a
// WHO_AM_I. This works with older sensors (pre-production)
goto ok;
}
if (read_reg(LL40LS_WHO_AM_I_REG, who_am_i) == OK && who_am_i == LL40LS_WHO_AM_I_REG_VAL) {
// it is responding correctly to a
// WHO_AM_I. This works with older sensors (pre-production)
goto ok;
}
debug("probe failed reg11=0x%02x reg2=0x%02x\n",
(unsigned)who_am_i,
(unsigned)max_acq_count);
}
debug("probe failed reg11=0x%02x reg2=0x%02x\n",
(unsigned)who_am_i,
(unsigned)max_acq_count);
}
// not found on any address
return -EIO;
// not found on any address
return -EIO;
ok:
_retries = 3;
_retries = 3;
// reset the sensor to ensure it is in a known state with
// correct settings
return reset_sensor();
// reset the sensor to ensure it is in a known state with
// correct settings
return reset_sensor();
}
int LidarLiteI2C::ioctl(struct file *filp, int cmd, unsigned long arg)
{
switch(cmd) {
case SENSORIOCSQUEUEDEPTH: {
/* lower bound is mandatory, upper bound is a sanity check */
if ((arg < 1) || (arg > 100)) {
return -EINVAL;
}
switch (cmd) {
case SENSORIOCSQUEUEDEPTH: {
/* lower bound is mandatory, upper bound is a sanity check */
if ((arg < 1) || (arg > 100)) {
return -EINVAL;
}
irqstate_t flags = irqsave();
irqstate_t flags = irqsave();
if (!_reports->resize(arg)) {
irqrestore(flags);
return -ENOMEM;
}
if (!_reports->resize(arg)) {
irqrestore(flags);
return -ENOMEM;
}
irqrestore(flags);
irqrestore(flags);
return OK;
}
return OK;
}
case SENSORIOCGQUEUEDEPTH:
return _reports->size();
case SENSORIOCGQUEUEDEPTH:
return _reports->size();
default:
{
int result = LidarLite::ioctl(filp, cmd, arg);
default: {
int result = LidarLite::ioctl(filp, cmd, arg);
if(result == -EINVAL) {
result = I2C::ioctl(filp, cmd, arg);
}
if (result == -EINVAL) {
result = I2C::ioctl(filp, cmd, arg);
}
return result;
}
}
return result;
}
}
}
ssize_t LidarLiteI2C::read(struct file *filp, char *buffer, size_t buflen)
{
unsigned count = buflen / sizeof(struct range_finder_report);
struct range_finder_report *rbuf = reinterpret_cast<struct range_finder_report *>(buffer);
int ret = 0;
unsigned count = buflen / sizeof(struct range_finder_report);
struct range_finder_report *rbuf = reinterpret_cast<struct range_finder_report *>(buffer);
int ret = 0;
/* buffer must be large enough */
if (count < 1) {
return -ENOSPC;
}
/* buffer must be large enough */
if (count < 1) {
return -ENOSPC;
}
/* if automatic measurement is enabled */
if (getMeasureTicks() > 0) {
/* if automatic measurement is enabled */
if (getMeasureTicks() > 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++;
}
}
/*
* 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;
}
/* if there was no data, warn the caller */
return ret ? ret : -EAGAIN;
}
/* manual measurement - run one conversion */
do {
_reports->flush();
/* manual measurement - run one conversion */
do {
_reports->flush();
/* trigger a measurement */
if (OK != measure()) {
ret = -EIO;
break;
}
/* trigger a measurement */
if (OK != measure()) {
ret = -EIO;
break;
}
/* wait for it to complete */
usleep(LL40LS_CONVERSION_INTERVAL);
/* wait for it to complete */
usleep(LL40LS_CONVERSION_INTERVAL);
/* run the collection phase */
if (OK != collect()) {
ret = -EIO;
break;
}
/* 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);
}
/* state machine will have generated a report, copy it out */
if (_reports->get(rbuf)) {
ret = sizeof(*rbuf);
}
} while (0);
} while (0);
return ret;
return ret;
}
int LidarLiteI2C::measure()
{
int ret;
int ret;
if (_pause_measurements) {
// we are in print_registers() and need to avoid
// acquisition to keep the I2C peripheral on the
// sensor active
return OK;
}
if (_pause_measurements) {
// we are in print_registers() and need to avoid
// acquisition to keep the I2C peripheral on the
// sensor active
return OK;
}
/*
* Send the command to begin a measurement.
*/
const uint8_t cmd[2] = { LL40LS_MEASURE_REG, LL40LS_MSRREG_ACQUIRE };
ret = transfer(cmd, sizeof(cmd), nullptr, 0);
/*
* Send the command to begin a measurement.
*/
const uint8_t cmd[2] = { LL40LS_MEASURE_REG, LL40LS_MSRREG_ACQUIRE };
ret = transfer(cmd, sizeof(cmd), nullptr, 0);
if (OK != ret) {
perf_count(_comms_errors);
debug("i2c::transfer returned %d", ret);
// if we are getting lots of I2C transfer errors try
// resetting the sensor
if (perf_event_count(_comms_errors) % 10 == 0) {
perf_count(_sensor_resets);
reset_sensor();
}
return ret;
}
if (OK != ret) {
perf_count(_comms_errors);
debug("i2c::transfer returned %d", ret);
// remember when we sent the acquire so we can know when the
// acquisition has timed out
_acquire_time_usec = hrt_absolute_time();
ret = OK;
// if we are getting lots of I2C transfer errors try
// resetting the sensor
if (perf_event_count(_comms_errors) % 10 == 0) {
perf_count(_sensor_resets);
reset_sensor();
}
return ret;
return ret;
}
// remember when we sent the acquire so we can know when the
// acquisition has timed out
_acquire_time_usec = hrt_absolute_time();
ret = OK;
return ret;
}
/*
@ -330,9 +331,9 @@ int LidarLiteI2C::measure()
*/
int LidarLiteI2C::reset_sensor()
{
const uint8_t cmd[2] = { LL40LS_MEASURE_REG, LL40LS_MSRREG_RESET };
int ret = transfer(cmd, sizeof(cmd), nullptr, 0);
return ret;
const uint8_t cmd[2] = { LL40LS_MEASURE_REG, LL40LS_MSRREG_RESET };
int ret = transfer(cmd, sizeof(cmd), nullptr, 0);
return ret;
}
/*
@ -340,216 +341,229 @@ int LidarLiteI2C::reset_sensor()
*/
void LidarLiteI2C::print_registers()
{
_pause_measurements = true;
printf("ll40ls registers\n");
// wait for a while to ensure the lidar is in a ready state
usleep(50000);
for (uint8_t reg=0; reg<=0x67; reg++) {
uint8_t val = 0;
int ret = transfer(&reg, 1, &val, 1);
if (ret != OK) {
printf("%02x:XX ",(unsigned)reg);
} else {
printf("%02x:%02x ",(unsigned)reg, (unsigned)val);
}
if (reg % 16 == 15) {
printf("\n");
}
}
printf("\n");
_pause_measurements = false;
_pause_measurements = true;
printf("ll40ls registers\n");
// wait for a while to ensure the lidar is in a ready state
usleep(50000);
for (uint8_t reg = 0; reg <= 0x67; reg++) {
uint8_t val = 0;
int ret = transfer(&reg, 1, &val, 1);
if (ret != OK) {
printf("%02x:XX ", (unsigned)reg);
} else {
printf("%02x:%02x ", (unsigned)reg, (unsigned)val);
}
if (reg % 16 == 15) {
printf("\n");
}
}
printf("\n");
_pause_measurements = false;
}
int LidarLiteI2C::collect()
{
int ret = -EIO;
int ret = -EIO;
/* read from the sensor */
uint8_t val[2] = {0, 0};
/* read from the sensor */
uint8_t val[2] = {0, 0};
perf_begin(_sample_perf);
perf_begin(_sample_perf);
// read the high and low byte distance registers
uint8_t distance_reg = LL40LS_DISTHIGH_REG;
ret = transfer(&distance_reg, 1, &val[0], sizeof(val));
// read the high and low byte distance registers
uint8_t distance_reg = LL40LS_DISTHIGH_REG;
ret = transfer(&distance_reg, 1, &val[0], sizeof(val));
if (ret < 0) {
if (hrt_absolute_time() - _acquire_time_usec > LL40LS_CONVERSION_TIMEOUT) {
/*
NACKs from the sensor are expected when we
read before it is ready, so only consider it
an error if more than 100ms has elapsed.
*/
debug("error reading from sensor: %d", ret);
perf_count(_comms_errors);
if (perf_event_count(_comms_errors) % 10 == 0) {
perf_count(_sensor_resets);
reset_sensor();
}
}
perf_end(_sample_perf);
// if we are getting lots of I2C transfer errors try
// resetting the sensor
return ret;
}
if (ret < 0) {
if (hrt_absolute_time() - _acquire_time_usec > LL40LS_CONVERSION_TIMEOUT) {
/*
NACKs from the sensor are expected when we
read before it is ready, so only consider it
an error if more than 100ms has elapsed.
*/
debug("error reading from sensor: %d", ret);
perf_count(_comms_errors);
uint16_t distance = (val[0] << 8) | val[1];
float si_units = distance * 0.01f; /* cm to m */
struct range_finder_report report;
if (perf_event_count(_comms_errors) % 10 == 0) {
perf_count(_sensor_resets);
reset_sensor();
}
}
if (distance == 0) {
_zero_counter++;
if (_zero_counter == 20) {
/* we have had 20 zeros in a row - reset the
sensor. This is a known bad state of the
sensor where it returns 16 bits of zero for
the distance with a trailing NACK, and
keeps doing that even when the target comes
into a valid range.
*/
_zero_counter = 0;
perf_end(_sample_perf);
perf_count(_sensor_zero_resets);
return reset_sensor();
}
} else {
_zero_counter = 0;
}
perf_end(_sample_perf);
// if we are getting lots of I2C transfer errors try
// resetting the sensor
return ret;
}
_last_distance = distance;
uint16_t distance = (val[0] << 8) | val[1];
float si_units = distance * 0.01f; /* cm to m */
struct range_finder_report report;
/* this should be fairly close to the end of the measurement, so the best approximation of the time */
report.timestamp = hrt_absolute_time();
report.error_count = perf_event_count(_comms_errors);
report.distance = si_units;
report.minimum_distance = get_minimum_distance();
report.maximum_distance = get_maximum_distance();
if (si_units > get_minimum_distance() && si_units < get_maximum_distance()) {
report.valid = 1;
}
else {
report.valid = 0;
}
if (distance == 0) {
_zero_counter++;
/* publish it, if we are the primary */
if (_range_finder_topic >= 0) {
orb_publish(ORB_ID(sensor_range_finder), _range_finder_topic, &report);
}
if (_zero_counter == 20) {
/* we have had 20 zeros in a row - reset the
sensor. This is a known bad state of the
sensor where it returns 16 bits of zero for
the distance with a trailing NACK, and
keeps doing that even when the target comes
into a valid range.
*/
_zero_counter = 0;
perf_end(_sample_perf);
perf_count(_sensor_zero_resets);
return reset_sensor();
}
if (_reports->force(&report)) {
perf_count(_buffer_overflows);
}
} else {
_zero_counter = 0;
}
/* notify anyone waiting for data */
poll_notify(POLLIN);
_last_distance = distance;
ret = OK;
/* this should be fairly close to the end of the measurement, so the best approximation of the time */
report.timestamp = hrt_absolute_time();
report.error_count = perf_event_count(_comms_errors);
report.distance = si_units;
report.minimum_distance = get_minimum_distance();
report.maximum_distance = get_maximum_distance();
perf_end(_sample_perf);
return ret;
if (si_units > get_minimum_distance() && si_units < get_maximum_distance()) {
report.valid = 1;
} else {
report.valid = 0;
}
/* publish it, if we are the primary */
if (_range_finder_topic >= 0) {
orb_publish(ORB_ID(sensor_range_finder), _range_finder_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 LidarLiteI2C::start()
{
/* reset the report ring and state machine */
_collect_phase = false;
_reports->flush();
/* reset the report ring and state machine */
_collect_phase = false;
_reports->flush();
/* schedule a cycle to start things */
work_queue(HPWORK, &_work, (worker_t)&LidarLiteI2C::cycle_trampoline, this, 1);
/* schedule a cycle to start things */
work_queue(HPWORK, &_work, (worker_t)&LidarLiteI2C::cycle_trampoline, this, 1);
/* notify about state change */
struct subsystem_info_s info = {
true,
true,
true,
SUBSYSTEM_TYPE_RANGEFINDER
};
static orb_advert_t pub = -1;
/* notify about state change */
struct subsystem_info_s info = {
true,
true,
true,
SUBSYSTEM_TYPE_RANGEFINDER
};
static orb_advert_t pub = -1;
if (pub > 0) {
orb_publish(ORB_ID(subsystem_info), pub, &info);
if (pub > 0) {
orb_publish(ORB_ID(subsystem_info), pub, &info);
} else {
pub = orb_advertise(ORB_ID(subsystem_info), &info);
}
} else {
pub = orb_advertise(ORB_ID(subsystem_info), &info);
}
}
void LidarLiteI2C::stop()
{
work_cancel(HPWORK, &_work);
work_cancel(HPWORK, &_work);
}
void LidarLiteI2C::cycle_trampoline(void *arg)
{
LidarLiteI2C *dev = (LidarLiteI2C *)arg;
LidarLiteI2C *dev = (LidarLiteI2C *)arg;
dev->cycle();
dev->cycle();
}
void LidarLiteI2C::cycle()
{
/* collection phase? */
if (_collect_phase) {
/* collection phase? */
if (_collect_phase) {
/* try a collection */
if (OK != collect()) {
debug("collection error");
/* if we've been waiting more than 200ms then
send a new acquire */
if (hrt_absolute_time() - _acquire_time_usec > LL40LS_CONVERSION_TIMEOUT*2) {
_collect_phase = false;
}
} else {
/* next phase is measurement */
_collect_phase = false;
/* try a collection */
if (OK != collect()) {
debug("collection error");
/*
* Is there a collect->measure gap?
*/
if (getMeasureTicks() > USEC2TICK(LL40LS_CONVERSION_INTERVAL)) {
/* schedule a fresh cycle call when we are ready to measure again */
work_queue(HPWORK,
&_work,
(worker_t)&LidarLiteI2C::cycle_trampoline,
this,
getMeasureTicks() - USEC2TICK(LL40LS_CONVERSION_INTERVAL));
return;
}
}
}
/* if we've been waiting more than 200ms then
send a new acquire */
if (hrt_absolute_time() - _acquire_time_usec > LL40LS_CONVERSION_TIMEOUT * 2) {
_collect_phase = false;
}
if (_collect_phase == false) {
/* measurement phase */
if (OK != measure()) {
debug("measure error");
} else {
/* next phase is collection. Don't switch to
collection phase until we have a successful
acquire request I2C transfer */
_collect_phase = true;
}
}
} else {
/* next phase is measurement */
_collect_phase = false;
/* schedule a fresh cycle call when the measurement is done */
work_queue(HPWORK,
&_work,
(worker_t)&LidarLiteI2C::cycle_trampoline,
this,
USEC2TICK(LL40LS_CONVERSION_INTERVAL));
/*
* Is there a collect->measure gap?
*/
if (getMeasureTicks() > USEC2TICK(LL40LS_CONVERSION_INTERVAL)) {
/* schedule a fresh cycle call when we are ready to measure again */
work_queue(HPWORK,
&_work,
(worker_t)&LidarLiteI2C::cycle_trampoline,
this,
getMeasureTicks() - USEC2TICK(LL40LS_CONVERSION_INTERVAL));
return;
}
}
}
if (_collect_phase == false) {
/* measurement phase */
if (OK != measure()) {
debug("measure error");
} else {
/* next phase is collection. Don't switch to
collection phase until we have a successful
acquire request I2C transfer */
_collect_phase = true;
}
}
/* schedule a fresh cycle call when the measurement is done */
work_queue(HPWORK,
&_work,
(worker_t)&LidarLiteI2C::cycle_trampoline,
this,
USEC2TICK(LL40LS_CONVERSION_INTERVAL));
}
void LidarLiteI2C::print_info()
{
perf_print_counter(_sample_perf);
perf_print_counter(_comms_errors);
perf_print_counter(_buffer_overflows);
perf_print_counter(_sensor_resets);
perf_print_counter(_sensor_zero_resets);
printf("poll interval: %u ticks\n", getMeasureTicks());
_reports->print_info("report queue");
printf("distance: %ucm (0x%04x)\n",
(unsigned)_last_distance, (unsigned)_last_distance);
perf_print_counter(_sample_perf);
perf_print_counter(_comms_errors);
perf_print_counter(_buffer_overflows);
perf_print_counter(_sensor_resets);
perf_print_counter(_sensor_zero_resets);
printf("poll interval: %u ticks\n", getMeasureTicks());
_reports->print_info("report queue");
printf("distance: %ucm (0x%04x)\n",
(unsigned)_last_distance, (unsigned)_last_distance);
}

138
src/drivers/ll40ls/LidarLiteI2C.h
View File

@ -73,91 +73,91 @@ class RingBuffer;
class LidarLiteI2C : public LidarLite, public device::I2C
{
public:
LidarLiteI2C(int bus, const char *path, int address = LL40LS_BASEADDR);
virtual ~LidarLiteI2C();
LidarLiteI2C(int bus, const char *path, int address = LL40LS_BASEADDR);
virtual ~LidarLiteI2C();
virtual int init() override;
virtual int init() override;
virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
virtual int ioctl(struct file *filp, int cmd, unsigned long arg) override;
virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
virtual int ioctl(struct file *filp, int cmd, unsigned long arg) override;
/**
* Diagnostics - print some basic information about the driver.
*/
void print_info() override;
/**
* Diagnostics - print some basic information about the driver.
*/
void print_info() override;
/**
* print registers to console
*/
void print_registers() override;
/**
* print registers to console
*/
void print_registers() override;
protected:
virtual int probe();
virtual int read_reg(uint8_t reg, uint8_t &val);
virtual int probe();
virtual int read_reg(uint8_t reg, uint8_t &val);
int measure() override;
int reset_sensor() override;
int measure() override;
int reset_sensor() override;
private:
work_s _work;
RingBuffer *_reports;
bool _sensor_ok;
bool _collect_phase;
int _class_instance;
work_s _work;
RingBuffer *_reports;
bool _sensor_ok;
bool _collect_phase;
int _class_instance;
orb_advert_t _range_finder_topic;
orb_advert_t _range_finder_topic;
perf_counter_t _sample_perf;
perf_counter_t _comms_errors;
perf_counter_t _buffer_overflows;
perf_counter_t _sensor_resets;
perf_counter_t _sensor_zero_resets;
uint16_t _last_distance;
uint16_t _zero_counter;
uint64_t _acquire_time_usec;
volatile bool _pause_measurements;
perf_counter_t _sample_perf;
perf_counter_t _comms_errors;
perf_counter_t _buffer_overflows;
perf_counter_t _sensor_resets;
perf_counter_t _sensor_zero_resets;
uint16_t _last_distance;
uint16_t _zero_counter;
uint64_t _acquire_time_usec;
volatile bool _pause_measurements;
/**< the bus the device is connected to */
int _bus;
/**< the bus the device is connected to */
int _bus;
/**
* 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);
/**
* 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();
/**
* 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();
/**
* Stop the automatic measurement state machine.
*/
void stop();
/**
* Perform a poll cycle; collect from the previous measurement
* and start a new one.
*/
void cycle();
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);
/**
* Perform a poll cycle; collect from the previous measurement
* and start a new one.
*/
void cycle();
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);
private:
LidarLiteI2C(const LidarLiteI2C &copy) = delete;
LidarLiteI2C operator=(const LidarLiteI2C &assignment) = delete;
LidarLiteI2C(const LidarLiteI2C &copy) = delete;
LidarLiteI2C operator=(const LidarLiteI2C &assignment) = delete;
};

103
src/drivers/ll40ls/LidarLitePWM.cpp
View File

@ -48,40 +48,40 @@ static const int ERROR = -1;
#endif
LidarLitePWM::LidarLitePWM() :
_terminateRequested(false),
_pwmSub(-1),
_pwm{},
_rangePub(-1),
_range{}
_terminateRequested(false),
_pwmSub(-1),
_pwm{},
_rangePub(-1),
_range{}
{
}
int LidarLitePWM::init()
{
_pwmSub = orb_subscribe(ORB_ID(pwm_input));
_pwmSub = orb_subscribe(ORB_ID(pwm_input));
if(_pwmSub == -1) {
return ERROR;
}
if (_pwmSub == -1) {
return ERROR;
}
_range.type = RANGE_FINDER_TYPE_LASER;
_range.valid = false;
_rangePub = orb_advertise(ORB_ID(sensor_range_finder), &_range);
_range.type = RANGE_FINDER_TYPE_LASER;
_range.valid = false;
_rangePub = orb_advertise(ORB_ID(sensor_range_finder), &_range);
return OK;
return OK;
}
void LidarLitePWM::print_info()
{
printf("poll interval: %u ticks\n", getMeasureTicks());
printf("distance: %ucm (0x%04x)\n",
(unsigned)_range.distance, (unsigned)_range.distance);
printf("poll interval: %u ticks\n", getMeasureTicks());
printf("distance: %ucm (0x%04x)\n",
(unsigned)_range.distance, (unsigned)_range.distance);
}
void LidarLitePWM::print_registers()
{
printf("Not supported in PWM mode\n");
printf("Not supported in PWM mode\n");
}
void LidarLitePWM::start()
@ -91,52 +91,53 @@ void LidarLitePWM::start()
void LidarLitePWM::stop()
{
//TODO: stop measurement task
_terminateRequested = true;
//TODO: stop measurement task
_terminateRequested = true;
}
int LidarLitePWM::measure()
{
int result = OK;
int result = OK;
_range.error_count = _pwm.error_count;
_range.maximum_distance = get_maximum_distance();
_range.minimum_distance = get_minimum_distance();
_range.distance = _pwm.pulse_width / 1000.0f; //10 usec = 1 cm distance for LIDAR-Lite
_range.distance_vector[0] = _range.distance;
_range.just_updated = 0;
_range.valid = true;
_range.error_count = _pwm.error_count;
_range.maximum_distance = get_maximum_distance();
_range.minimum_distance = get_minimum_distance();
_range.distance = _pwm.pulse_width / 1000.0f; //10 usec = 1 cm distance for LIDAR-Lite
_range.distance_vector[0] = _range.distance;
_range.just_updated = 0;
_range.valid = true;
//TODO: due to a bug in older versions of the LidarLite firmware, we have to reset sensor on (distance == 0)
if(_range.distance <= 0.0f) {
_range.valid = false;
_range.error_count++;
result = ERROR;
}
//TODO: due to a bug in older versions of the LidarLite firmware, we have to reset sensor on (distance == 0)
if (_range.distance <= 0.0f) {
_range.valid = false;
_range.error_count++;
result = ERROR;
}
orb_publish(ORB_ID(sensor_range_finder), _rangePub, &_range);
orb_publish(ORB_ID(sensor_range_finder), _rangePub, &_range);
return result;
return result;
}
int LidarLitePWM::collect()
{
//Check PWM
bool update;
orb_check(_pwmSub, &update);
if(update) {
orb_copy(ORB_ID(pwm_input), _pwmSub, &_pwm);
_range.timestamp = hrt_absolute_time();
return OK;
}
//Check PWM
bool update;
orb_check(_pwmSub, &update);
//Timeout readings after 0.2 seconds and mark as invalid
if(hrt_absolute_time() - _range.timestamp > LL40LS_CONVERSION_TIMEOUT*2) {
_range.timestamp = hrt_absolute_time();
_range.valid = false;
orb_publish(ORB_ID(sensor_range_finder), _rangePub, &_range);
return ERROR;
}
if (update) {
orb_copy(ORB_ID(pwm_input), _pwmSub, &_pwm);
_range.timestamp = hrt_absolute_time();
return OK;
}
return EAGAIN;
//Timeout readings after 0.2 seconds and mark as invalid
if (hrt_absolute_time() - _range.timestamp > LL40LS_CONVERSION_TIMEOUT * 2) {
_range.timestamp = hrt_absolute_time();
_range.valid = false;
orb_publish(ORB_ID(sensor_range_finder), _rangePub, &_range);
return ERROR;
}
return EAGAIN;
}

44
src/drivers/ll40ls/LidarLitePWM.h
View File

@ -47,37 +47,37 @@
class LidarLitePWM : public LidarLite
{
public:
LidarLitePWM();
LidarLitePWM();
int init() override;
int init() override;
void start() override;
void start() override;
void stop() override;
void stop() override;
/**
* @brief
* Diagnostics - print some basic information about the driver.
*/
void print_info() override;
/**
* @brief
* Diagnostics - print some basic information about the driver.
*/
void print_info() override;
/**
* @brief
* print registers to console
*/
void print_registers() override;
/**
* @brief
* print registers to console
*/
void print_registers() override;
protected:
int measure() override;
int measure() override;
int collect() override;
int collect() override;
void task_main_trampoline(int argc, char *argv[]);
void task_main_trampoline(int argc, char *argv[]);
private:
bool _terminateRequested;
int _pwmSub;
pwm_input_s _pwm;
orb_advert_t _rangePub;
range_finder_report _range;
bool _terminateRequested;
int _pwmSub;
pwm_input_s _pwm;
orb_advert_t _rangePub;
range_finder_report _range;
};

54
src/drivers/ll40ls/ll40ls.cpp
View File

@ -90,12 +90,16 @@ void start(int bus)
{
/* create the driver, attempt expansion bus first */
if (bus == -1 || bus == PX4_I2C_BUS_EXPANSION) {
if (g_dev_ext != nullptr)
if (g_dev_ext != nullptr) {
errx(0, "already started external");
}
g_dev_ext = new LidarLiteI2C(PX4_I2C_BUS_EXPANSION, LL40LS_DEVICE_PATH_EXT);
if (g_dev_ext != nullptr && OK != g_dev_ext->init()) {
delete g_dev_ext;
g_dev_ext = nullptr;
if (bus == PX4_I2C_BUS_EXPANSION) {
goto fail;
}
@ -103,11 +107,15 @@ void start(int bus)
}
#ifdef PX4_I2C_BUS_ONBOARD
/* if this failed, attempt onboard sensor */
if (bus == -1 || bus == PX4_I2C_BUS_ONBOARD) {
if (g_dev_int != nullptr)
if (g_dev_int != nullptr) {
errx(0, "already started internal");
}
g_dev_int = new LidarLiteI2C(PX4_I2C_BUS_ONBOARD, LL40LS_DEVICE_PATH_INT);
if (g_dev_int != nullptr && OK != g_dev_int->init()) {
/* tear down the failing onboard instance */
delete g_dev_int;
@ -117,44 +125,54 @@ void start(int bus)
goto fail;
}
}
if (g_dev_int == nullptr && bus == PX4_I2C_BUS_ONBOARD) {
goto fail;
}
}
#endif
/* set the poll rate to default, starts automatic data collection */
if (g_dev_int != nullptr) {
int fd = open(LL40LS_DEVICE_PATH_INT, O_RDONLY);
if (fd == -1) {
goto fail;
}
if (fd == -1) {
goto fail;
}
int ret = ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT);
close(fd);
if (ret < 0) {
goto fail;
}
}
}
if (g_dev_ext != nullptr) {
int fd = open(LL40LS_DEVICE_PATH_EXT, O_RDONLY);
if (fd == -1) {
goto fail;
}
if (fd == -1) {
goto fail;
}
int ret = ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT);
close(fd);
if (ret < 0) {
goto fail;
}
}
}
exit(0);
fail:
if (g_dev_int != nullptr && (bus == -1 || bus == PX4_I2C_BUS_ONBOARD)) {
delete g_dev_int;
g_dev_int = nullptr;
}
if (g_dev_ext != nullptr && (bus == -1 || bus == PX4_I2C_BUS_EXPANSION)) {
delete g_dev_ext;
g_dev_ext = nullptr;
@ -168,7 +186,8 @@ fail:
*/
void stop(int bus)
{
LidarLiteI2C **g_dev = (bus == PX4_I2C_BUS_ONBOARD?&g_dev_int:&g_dev_ext);
LidarLiteI2C **g_dev = (bus == PX4_I2C_BUS_ONBOARD ? &g_dev_int : &g_dev_ext);
if (*g_dev != nullptr) {
delete *g_dev;
*g_dev = nullptr;
@ -191,7 +210,7 @@ test(int bus)
struct range_finder_report report;
ssize_t sz;
int ret;
const char *path = (bus==PX4_I2C_BUS_ONBOARD?LL40LS_DEVICE_PATH_INT:LL40LS_DEVICE_PATH_EXT);
const char *path = (bus == PX4_I2C_BUS_ONBOARD ? LL40LS_DEVICE_PATH_INT : LL40LS_DEVICE_PATH_EXT);
int fd = open(path, O_RDONLY);
@ -254,7 +273,7 @@ test(int bus)
void
reset(int bus)
{
const char *path = (bus==PX4_I2C_BUS_ONBOARD?LL40LS_DEVICE_PATH_INT:LL40LS_DEVICE_PATH_EXT);
const char *path = (bus == PX4_I2C_BUS_ONBOARD ? LL40LS_DEVICE_PATH_INT : LL40LS_DEVICE_PATH_EXT);
int fd = open(path, O_RDONLY);
if (fd < 0) {
@ -278,7 +297,8 @@ reset(int bus)
void
info(int bus)
{
LidarLiteI2C *g_dev = (bus == PX4_I2C_BUS_ONBOARD?g_dev_int:g_dev_ext);
LidarLiteI2C *g_dev = (bus == PX4_I2C_BUS_ONBOARD ? g_dev_int : g_dev_ext);
if (g_dev == nullptr) {
errx(1, "driver not running");
}
@ -295,7 +315,8 @@ info(int bus)
void
regdump(int bus)
{
LidarLiteI2C *g_dev = (bus == PX4_I2C_BUS_ONBOARD?g_dev_int:g_dev_ext);
LidarLiteI2C *g_dev = (bus == PX4_I2C_BUS_ONBOARD ? g_dev_int : g_dev_ext);
if (g_dev == nullptr) {
errx(1, "driver not running");
}
@ -328,13 +349,16 @@ ll40ls_main(int argc, char *argv[])
while ((ch = getopt(argc, argv, "XI")) != EOF) {
switch (ch) {
#ifdef PX4_I2C_BUS_ONBOARD
case 'I':
bus = PX4_I2C_BUS_ONBOARD;
break;
#endif
case 'X':
bus = PX4_I2C_BUS_EXPANSION;
break;
default:
ll40ls::usage();
exit(0);