From ef9a9308160f32ba90e1e2a2c6ebbced26fb3c55 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Wed, 8 Jan 2020 12:42:56 -0500 Subject: [PATCH] ulanding_radar: move to PX4Rangefinder and cleanup --- src/drivers/distance_sensor/CMakeLists.txt | 2 +- .../distance_sensor/ulanding/ulanding.cpp | 584 ------------------ .../ulanding_radar/AerotennaULanding.cpp | 226 +++++++ .../ulanding_radar/AerotennaULanding.hpp | 124 ++++ .../CMakeLists.txt | 13 +- .../{ulanding => ulanding_radar}/module.yaml | 1 - .../ulanding_radar/ulanding_radar_main.cpp | 164 +++++ 7 files changed, 522 insertions(+), 592 deletions(-) delete mode 100644 src/drivers/distance_sensor/ulanding/ulanding.cpp create mode 100644 src/drivers/distance_sensor/ulanding_radar/AerotennaULanding.cpp create mode 100644 src/drivers/distance_sensor/ulanding_radar/AerotennaULanding.hpp rename src/drivers/distance_sensor/{ulanding => ulanding_radar}/CMakeLists.txt (88%) rename src/drivers/distance_sensor/{ulanding => ulanding_radar}/module.yaml (99%) create mode 100644 src/drivers/distance_sensor/ulanding_radar/ulanding_radar_main.cpp diff --git a/src/drivers/distance_sensor/CMakeLists.txt b/src/drivers/distance_sensor/CMakeLists.txt index 9395bcf3a0..9790b1c030 100644 --- a/src/drivers/distance_sensor/CMakeLists.txt +++ b/src/drivers/distance_sensor/CMakeLists.txt @@ -42,5 +42,5 @@ add_subdirectory(sf1xx) add_subdirectory(srf02) add_subdirectory(teraranger) add_subdirectory(tfmini) -add_subdirectory(ulanding) +add_subdirectory(ulanding_radar) add_subdirectory(vl53lxx) diff --git a/src/drivers/distance_sensor/ulanding/ulanding.cpp b/src/drivers/distance_sensor/ulanding/ulanding.cpp deleted file mode 100644 index a8a7cd2ade..0000000000 --- a/src/drivers/distance_sensor/ulanding/ulanding.cpp +++ /dev/null @@ -1,584 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2016 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 ulanding.cpp - * @author Jessica Stockham - * @author Roman Bapst - * - * Driver for the uLanding radar from Aerotenna - */ - -#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 - - -using namespace time_literals; - -#define ULANDING_MEASURE_INTERVAL 10_ms -#define ULANDING_MAX_DISTANCE 50.0f -#define ULANDING_MIN_DISTANCE 0.315f -#define ULANDING_VERSION 1 - -#if defined(__PX4_POSIX_OCPOC) -#define RADAR_DEFAULT_PORT "/dev/ttyS6" // Default uLanding port on OCPOC. -#else -#define RADAR_DEFAULT_PORT "/dev/ttyS2" // Default serial port on Pixhawk (TELEM2), baudrate 115200 -#endif - -#if ULANDING_VERSION == 1 -#define ULANDING_PACKET_HDR 254 -#define ULANDING_BUFFER_LENGTH 18 -#else -#define ULANDING_PACKET_HDR 72 -#define ULANDING_BUFFER_LENGTH 9 -#endif - -/** - * Assume standard deviation to be equal to sensor resolution. - * Static bench tests have shown that the sensor ouput does - * not vary if the unit is not moved. - */ -#define SENS_VARIANCE 0.045f * 0.045f - - -class Radar : public cdev::CDev, public px4::ScheduledWorkItem -{ -public: - /** - * Default Constructor - * @param port The serial port to open for communicating with the sensor. - * @param rotation The sensor rotation relative to the vehicle body. - */ - Radar(const char *port = RADAR_DEFAULT_PORT, uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING); - - /** Virtual destructor */ - virtual ~Radar(); - - /** - * Method : init() - * This method initializes the general driver for a range finder sensor. - */ - virtual int init() override; - - /** - * Diagnostics - print some basic information about the driver. - */ - void print_info(); - -private: - - /** - * Reads data from serial UART and places it into a buffer. - */ - int collect(); - - /** - * Opens and configures the UART serial communications port. - * @param speed The baudrate (speed) to configure the serial UART port. - */ - int open_serial_port(const speed_t speed = B115200); - - /** - * Perform a reading cycle; collect from the previous measurement - * and start a new one. - */ - void Run() override; - - /** - * 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(); - - /** - * Stops the automatic measurement state machine. - */ - void stop(); - - char _port[20]; - - int _file_descriptor{-1}; - int _orb_class_instance{-1}; - - unsigned int _head{0}; - unsigned int _tail{0}; - - uint8_t _buffer[ULANDING_BUFFER_LENGTH] {}; - uint8_t _rotation; - - perf_counter_t _comms_errors{perf_alloc(PC_COUNT, "radar_com_err")}; - perf_counter_t _sample_perf{perf_alloc(PC_ELAPSED, "radar_read")}; - - orb_advert_t _distance_sensor_topic{nullptr}; -}; - -Radar::Radar(const char *port, uint8_t rotation) : - CDev(RANGE_FINDER0_DEVICE_PATH), - ScheduledWorkItem(MODULE_NAME, px4::serial_port_to_wq(port)), - _rotation(rotation) -{ - /* store port name */ - strncpy(_port, port, sizeof(_port) - 1); - /* enforce null termination */ - _port[sizeof(_port) - 1] = '\0'; -} - -Radar::~Radar() -{ - // Ensure we are truly inactive. - stop(); - - perf_free(_sample_perf); - perf_free(_comms_errors); -} - -int -Radar::collect() -{ - perf_begin(_sample_perf); - - int bytes_processed = 0; - int distance_cm = -1; - int index = 0; - - float distance_m = -1.0f; - - bool checksum_passed = false; - - // Read from the sensor UART buffer. - int bytes_read = ::read(_file_descriptor, &_buffer[0], sizeof(_buffer)); - - if (bytes_read > 0) { - index = bytes_read - 6; - - while (index >= 0 && !checksum_passed) { - if (_buffer[index] == ULANDING_PACKET_HDR) { - bytes_processed = index; - - while (bytes_processed < bytes_read && !checksum_passed) { - if (ULANDING_VERSION == 1) { - uint8_t checksum_value = (_buffer[index + 1] + _buffer[index + 2] + _buffer[index + 3] + _buffer[index + 4]) & 0xFF; - uint8_t checksum_byte = _buffer[index + 5]; - - if (checksum_value == checksum_byte) { - checksum_passed = true; - distance_cm = (_buffer[index + 3] << 8) | _buffer[index + 2]; - distance_m = static_cast(distance_cm) / 100.f; - } - - } else { - checksum_passed = true; - distance_cm = (_buffer[index + 1] & 0x7F); - distance_cm += ((_buffer[index + 2] & 0x7F) << 7); - distance_m = static_cast(distance_cm) * 0.045f; - break; - } - - bytes_processed++; - } - } - - index--; - } - } - - if (!checksum_passed) { - return -EAGAIN; - } - - distance_m = math::constrain(distance_m, ULANDING_MIN_DISTANCE, ULANDING_MAX_DISTANCE); - - distance_sensor_s report; - report.current_distance = distance_m; - report.id = 0; // TODO: set proper ID. - report.max_distance = ULANDING_MAX_DISTANCE; - report.min_distance = ULANDING_MIN_DISTANCE; - report.orientation = _rotation; - report.signal_quality = -1; - report.timestamp = hrt_absolute_time(); - report.type = distance_sensor_s::MAV_DISTANCE_SENSOR_RADAR; - report.variance = SENS_VARIANCE; - - // Publish the new report. - orb_publish(ORB_ID(distance_sensor), _distance_sensor_topic, &report); - - // Notify anyone waiting for data. - poll_notify(POLLIN); - perf_end(_sample_perf); - - return PX4_OK; -} - -int -Radar::init() -{ - // Intitialize the character device. - if (CDev::init() != OK) { - return PX4_ERROR; - } - - // Get a publish handle on the range finder topic. - distance_sensor_s ds_report = {}; - _distance_sensor_topic = orb_advertise_multi(ORB_ID(distance_sensor), &ds_report, - &_orb_class_instance, ORB_PRIO_HIGH); - - if (_distance_sensor_topic == nullptr) { - PX4_ERR("failed to create distance_sensor object"); - } - - start(); - return PX4_OK; -} - -int -Radar::open_serial_port(const speed_t speed) -{ - // File descriptor initialized? - if (_file_descriptor > 0) { - // PX4_INFO("serial port already open"); - return PX4_OK; - } - - // Configure port flags for read/write, non-controlling, non-blocking. - int flags = (O_RDWR | O_NOCTTY | O_NONBLOCK); - - // Open the serial port. - _file_descriptor = ::open(_port, flags); - - if (_file_descriptor < 0) { - PX4_ERR("open failed (%i)", errno); - return PX4_ERROR; - } - - if (!isatty(_file_descriptor)) { - PX4_WARN("not a serial device"); - return PX4_ERROR; - } - - termios uart_config = {}; - - // Store the current port configuration. attributes. - tcgetattr(_file_descriptor, &uart_config); - - uart_config.c_iflag &= ~(IGNBRK | BRKINT | ICRNL | INLCR | PARMRK | INPCK | ISTRIP | IXON); - - // Clear ONLCR flag (which appends a CR for every LF). - uart_config.c_oflag &= ~ONLCR; - - // No parity, one stop bit. - uart_config.c_cflag &= ~(CSTOPB | PARENB); - - // No line processing - echo off, echo newline off, canonical mode off, extended input processing off, signal chars off - uart_config.c_lflag &= ~(ECHO | ECHONL | ICANON | IEXTEN | ISIG); - - // Set the input baud rate in the uart_config struct. - int termios_state = cfsetispeed(&uart_config, speed); - - if (termios_state < 0) { - PX4_ERR("CFG: %d ISPD", termios_state); - ::close(_file_descriptor); - return PX4_ERROR; - } - - // Set the output baud rate in the uart_config struct. - termios_state = cfsetospeed(&uart_config, speed); - - if (termios_state < 0) { - PX4_ERR("CFG: %d OSPD", termios_state); - ::close(_file_descriptor); - return PX4_ERROR; - } - - // Apply the modified port attributes. - termios_state = tcsetattr(_file_descriptor, TCSANOW, &uart_config); - - if (termios_state < 0) { - PX4_ERR("baud %d ATTR", termios_state); - ::close(_file_descriptor); - return PX4_ERROR; - } - - PX4_INFO("successfully opened UART port %s", _port); - return PX4_OK; -} - -void -Radar::print_info() -{ - perf_print_counter(_sample_perf); - perf_print_counter(_comms_errors); - PX4_INFO("ulanding max distance %.2f m", static_cast(ULANDING_MAX_DISTANCE)); - PX4_INFO("ulanding min distance %.2f m", static_cast(ULANDING_MIN_DISTANCE)); - PX4_INFO("ulanding update rate: %.2f Hz", static_cast(ULANDING_MEASURE_INTERVAL)); -} - -void -Radar::Run() -{ - // Ensure the serial port is open. - open_serial_port(); - - collect(); -} - -void -Radar::start() -{ - // Schedule the driver at regular intervals. - ScheduleOnInterval(ULANDING_MEASURE_INTERVAL, 0); - PX4_INFO("driver started"); -} - -void -Radar::stop() -{ - // Ensure the serial port is closed. - ::close(_file_descriptor); - - // Clear the work queue schedule. - ScheduleClear(); -} - -namespace radar -{ -Radar *g_dev; - -int reset(const char *port = RADAR_DEFAULT_PORT); -int start(const char *port = RADAR_DEFAULT_PORT, - const uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING); -int status(); -int stop(); -int test(const char *port = RADAR_DEFAULT_PORT); -int usage(); - -/** - * Reset the driver. - */ -int -reset(const char *port) -{ - if (stop() == PX4_OK) { - return start(port); - } - - return PX4_ERROR; -} - -/** - * Start the driver. - */ -int -start(const char *port, const uint8_t rotation) -{ - if (g_dev != nullptr) { - PX4_INFO("already started"); - return PX4_OK; - } - - // Instantiate the driver. - g_dev = new Radar(port, rotation); - - if (g_dev == nullptr) { - PX4_ERR("object instantiate failed"); - return PX4_ERROR; - } - - if (g_dev->init() != PX4_OK) { - PX4_ERR("driver start failed"); - delete g_dev; - g_dev = nullptr; - return PX4_ERROR; - } - - return PX4_OK; -} - -/** - * Print the driver status. - */ -int -status() -{ - if (g_dev == nullptr) { - PX4_ERR("driver not running"); - return PX4_ERROR; - } - - printf("state @ %p\n", g_dev); - g_dev->print_info(); - - return PX4_OK; -} - -/** - * Stop the driver - */ -int stop() -{ - if (g_dev != nullptr) { - delete g_dev; - g_dev = nullptr; - } - - return PX4_ERROR; -} - -/** - * Perform some basic functional tests on the driver; - * make sure we can collect data from the sensor in polled - * and automatic modes. - */ -int -test(const char *port) -{ - int fd = open(port, O_RDONLY); - - if (fd < 0) { - PX4_ERR("%s open failed (try 'radar start' if the driver is not running", port); - return PX4_ERROR; - } - - // Perform a simple demand read. - distance_sensor_s report; - ssize_t bytes_read = read(fd, &report, sizeof(report)); - - if (bytes_read != sizeof(report)) { - PX4_ERR("immediate read failed"); - return PX4_ERROR; - } - - print_message(report); - return PX4_OK; -} - -int -usage() -{ - PX4_INFO("usage: radar command [options]"); - PX4_INFO("command:"); - PX4_INFO("\treset|start|status|stop|test"); - PX4_INFO("options:"); - PX4_INFO("\t-R --rotation (%d)", distance_sensor_s::ROTATION_DOWNWARD_FACING); - PX4_INFO("\t-d --device_path"); - return PX4_OK; -} - -} // namespace radar - - -/** - * Driver 'main' command. - */ -extern "C" __EXPORT int ulanding_radar_main(int argc, char *argv[]) -{ - uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING; - const char *device_path = RADAR_DEFAULT_PORT; - int ch; - int myoptind = 1; - const char *myoptarg = nullptr; - - while ((ch = px4_getopt(argc, argv, "R:d:", &myoptind, &myoptarg)) != EOF) { - switch (ch) { - case 'R': - rotation = (uint8_t)atoi(myoptarg); - break; - - case 'd': - device_path = myoptarg; - break; - - default: - PX4_WARN("Unknown option!"); - return radar::usage(); - } - } - - if (myoptind >= argc) { - return radar::usage(); - } - - // Reset the driver. - if (!strcmp(argv[myoptind], "reset")) { - return radar::reset(device_path); - } - - // Start/load the driver. - if (!strcmp(argv[myoptind], "start")) { - return radar::start(device_path, rotation); - } - - // Print driver information. - if (!strcmp(argv[myoptind], "status")) { - return radar::status(); - } - - // Stop the driver - if (!strcmp(argv[myoptind], "stop")) { - return radar::stop(); - } - - // Test the driver/device. - if (!strcmp(argv[myoptind], "test")) { - return radar::test(); - } - - return radar::usage(); -} diff --git a/src/drivers/distance_sensor/ulanding_radar/AerotennaULanding.cpp b/src/drivers/distance_sensor/ulanding_radar/AerotennaULanding.cpp new file mode 100644 index 0000000000..6963d291c2 --- /dev/null +++ b/src/drivers/distance_sensor/ulanding_radar/AerotennaULanding.cpp @@ -0,0 +1,226 @@ +/**************************************************************************** + * + * Copyright (c) 2016-2020 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. + * + ****************************************************************************/ + +#include "AerotennaULanding.hpp" + +AerotennaULanding::AerotennaULanding(const char *port, uint8_t rotation) : + ScheduledWorkItem(MODULE_NAME, px4::serial_port_to_wq(port)), + _px4_rangefinder(0 /* TODO: device ids */, ORB_PRIO_DEFAULT, rotation) +{ + /* store port name */ + strncpy(_port, port, sizeof(_port) - 1); + + /* enforce null termination */ + _port[sizeof(_port) - 1] = '\0'; + + _px4_rangefinder.set_min_distance(ULANDING_MIN_DISTANCE); + _px4_rangefinder.set_max_distance(ULANDING_MAX_DISTANCE); +} + +AerotennaULanding::~AerotennaULanding() +{ + stop(); + + perf_free(_sample_perf); + perf_free(_comms_errors); +} + +int AerotennaULanding::init() +{ + start(); + + return PX4_OK; +} + +int AerotennaULanding::collect() +{ + perf_begin(_sample_perf); + + int bytes_processed = 0; + int distance_cm = -1; + int index = 0; + + float distance_m = -1.0f; + + bool checksum_passed = false; + + // Read from the sensor UART buffer. + const hrt_abstime timestamp_sample = hrt_absolute_time(); + int bytes_read = ::read(_file_descriptor, &_buffer[0], sizeof(_buffer)); + + if (bytes_read > 0) { + index = bytes_read - 6; + + while (index >= 0 && !checksum_passed) { + if (_buffer[index] == ULANDING_PACKET_HDR) { + bytes_processed = index; + + while (bytes_processed < bytes_read && !checksum_passed) { + if (ULANDING_VERSION == 1) { + uint8_t checksum_value = (_buffer[index + 1] + _buffer[index + 2] + _buffer[index + 3] + _buffer[index + 4]) & 0xFF; + uint8_t checksum_byte = _buffer[index + 5]; + + if (checksum_value == checksum_byte) { + checksum_passed = true; + distance_cm = (_buffer[index + 3] << 8) | _buffer[index + 2]; + distance_m = static_cast(distance_cm) / 100.f; + } + + } else { + checksum_passed = true; + distance_cm = (_buffer[index + 1] & 0x7F); + distance_cm += ((_buffer[index + 2] & 0x7F) << 7); + distance_m = static_cast(distance_cm) * 0.045f; + break; + } + + bytes_processed++; + } + } + + index--; + } + } + + if (!checksum_passed) { + return -EAGAIN; + } + + _px4_rangefinder.update(timestamp_sample, distance_m); + + perf_end(_sample_perf); + + return PX4_OK; +} + +int AerotennaULanding::open_serial_port(const speed_t speed) +{ + // File descriptor initialized? + if (_file_descriptor > 0) { + PX4_DEBUG("serial port already open"); + return PX4_OK; + } + + // Configure port flags for read/write, non-controlling, non-blocking. + int flags = (O_RDWR | O_NOCTTY | O_NONBLOCK); + + // Open the serial port. + _file_descriptor = ::open(_port, flags); + + if (_file_descriptor < 0) { + PX4_ERR("open failed (%i)", errno); + return PX4_ERROR; + } + + if (!isatty(_file_descriptor)) { + PX4_WARN("not a serial device"); + return PX4_ERROR; + } + + termios uart_config{}; + + // Store the current port configuration. attributes. + tcgetattr(_file_descriptor, &uart_config); + + uart_config.c_iflag &= ~(IGNBRK | BRKINT | ICRNL | INLCR | PARMRK | INPCK | ISTRIP | IXON); + + // Clear ONLCR flag (which appends a CR for every LF). + uart_config.c_oflag &= ~ONLCR; + + // No parity, one stop bit. + uart_config.c_cflag &= ~(CSTOPB | PARENB); + + // No line processing - echo off, echo newline off, canonical mode off, extended input processing off, signal chars off + uart_config.c_lflag &= ~(ECHO | ECHONL | ICANON | IEXTEN | ISIG); + + // Set the input baud rate in the uart_config struct. + int termios_state = cfsetispeed(&uart_config, speed); + + if (termios_state < 0) { + PX4_ERR("CFG: %d ISPD", termios_state); + ::close(_file_descriptor); + return PX4_ERROR; + } + + // Set the output baud rate in the uart_config struct. + termios_state = cfsetospeed(&uart_config, speed); + + if (termios_state < 0) { + PX4_ERR("CFG: %d OSPD", termios_state); + ::close(_file_descriptor); + return PX4_ERROR; + } + + // Apply the modified port attributes. + termios_state = tcsetattr(_file_descriptor, TCSANOW, &uart_config); + + if (termios_state < 0) { + PX4_ERR("baud %d ATTR", termios_state); + ::close(_file_descriptor); + return PX4_ERROR; + } + + PX4_INFO("successfully opened UART port %s", _port); + return PX4_OK; +} + +void AerotennaULanding::Run() +{ + // Ensure the serial port is open. + open_serial_port(); + + collect(); +} + +void AerotennaULanding::start() +{ + // Schedule the driver at regular intervals. + ScheduleOnInterval(ULANDING_MEASURE_INTERVAL, 0); +} + +void AerotennaULanding::stop() +{ + // Ensure the serial port is closed. + ::close(_file_descriptor); + + // Clear the work queue schedule. + ScheduleClear(); +} + +void AerotennaULanding::print_info() +{ + perf_print_counter(_sample_perf); + perf_print_counter(_comms_errors); + + _px4_rangefinder.print_status(); +} diff --git a/src/drivers/distance_sensor/ulanding_radar/AerotennaULanding.hpp b/src/drivers/distance_sensor/ulanding_radar/AerotennaULanding.hpp new file mode 100644 index 0000000000..0e71bff610 --- /dev/null +++ b/src/drivers/distance_sensor/ulanding_radar/AerotennaULanding.hpp @@ -0,0 +1,124 @@ +/**************************************************************************** + * + * Copyright (c) 2016-2020 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 AerotennaULanding.hpp + * @author Jessica Stockham + * @author Roman Bapst + * + * Driver for the uLanding radar from Aerotenna + */ + +#pragma once + +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include + +using namespace time_literals; + +#define ULANDING_MEASURE_INTERVAL 10_ms +#define ULANDING_MAX_DISTANCE 50.0f +#define ULANDING_MIN_DISTANCE 0.315f +#define ULANDING_VERSION 1 + +#if ULANDING_VERSION == 1 +#define ULANDING_PACKET_HDR 254 +#define ULANDING_BUFFER_LENGTH 18 +#else +#define ULANDING_PACKET_HDR 72 +#define ULANDING_BUFFER_LENGTH 9 +#endif + +/** + * Assume standard deviation to be equal to sensor resolution. + * Static bench tests have shown that the sensor ouput does + * not vary if the unit is not moved. + */ +#define SENS_VARIANCE 0.045f * 0.045f + +class AerotennaULanding : public px4::ScheduledWorkItem +{ +public: + /** + * Default Constructor + * @param port The serial port to open for communicating with the sensor. + * @param rotation The sensor rotation relative to the vehicle body. + */ + AerotennaULanding(const char *port, uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING); + ~AerotennaULanding() override; + + int init(); + void print_info(); + +private: + + /** + * Reads data from serial UART and places it into a buffer. + */ + int collect(); + + /** + * Opens and configures the UART serial communications port. + * @param speed The baudrate (speed) to configure the serial UART port. + */ + int open_serial_port(const speed_t speed = B115200); + + void Run() override; + void start(); + void stop(); + + PX4Rangefinder _px4_rangefinder; + + char _port[20] {}; + + int _file_descriptor{-1}; + + unsigned int _head{0}; + unsigned int _tail{0}; + + uint8_t _buffer[ULANDING_BUFFER_LENGTH] {}; + + perf_counter_t _comms_errors{perf_alloc(PC_COUNT, MODULE_NAME": com_err")}; + perf_counter_t _sample_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": read")}; + +}; diff --git a/src/drivers/distance_sensor/ulanding/CMakeLists.txt b/src/drivers/distance_sensor/ulanding_radar/CMakeLists.txt similarity index 88% rename from src/drivers/distance_sensor/ulanding/CMakeLists.txt rename to src/drivers/distance_sensor/ulanding_radar/CMakeLists.txt index 46cd63a7e8..e614e39747 100644 --- a/src/drivers/distance_sensor/ulanding/CMakeLists.txt +++ b/src/drivers/distance_sensor/ulanding_radar/CMakeLists.txt @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (c) 2016 PX4 Development Team. All rights reserved. +# Copyright (c) 2016-2020 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 @@ -31,14 +31,15 @@ # ############################################################################ px4_add_module( - MODULE drivers__ulanding + MODULE drivers__distance_sensor__ulanding_radar MAIN ulanding_radar - COMPILE_FLAGS - -Wno-cast-align # TODO: fix and enable SRCS - ulanding.cpp + AerotennaULanding.cpp + AerotennaULanding.hpp + ulanding_radar_main.cpp MODULE_CONFIG module.yaml DEPENDS + drivers_rangefinder + px4_work_queue ) - diff --git a/src/drivers/distance_sensor/ulanding/module.yaml b/src/drivers/distance_sensor/ulanding_radar/module.yaml similarity index 99% rename from src/drivers/distance_sensor/ulanding/module.yaml rename to src/drivers/distance_sensor/ulanding_radar/module.yaml index 47f6d7aad2..2092bbb2a1 100644 --- a/src/drivers/distance_sensor/ulanding/module.yaml +++ b/src/drivers/distance_sensor/ulanding_radar/module.yaml @@ -4,4 +4,3 @@ serial_config: port_config_param: name: SENS_ULAND_CFG group: Sensors - diff --git a/src/drivers/distance_sensor/ulanding_radar/ulanding_radar_main.cpp b/src/drivers/distance_sensor/ulanding_radar/ulanding_radar_main.cpp new file mode 100644 index 0000000000..7c3344c804 --- /dev/null +++ b/src/drivers/distance_sensor/ulanding_radar/ulanding_radar_main.cpp @@ -0,0 +1,164 @@ +/**************************************************************************** + * + * Copyright (c) 2016-2020 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. + * + ****************************************************************************/ + +#include "AerotennaULanding.hpp" + +#include +#include + +namespace ulanding_radar +{ + +AerotennaULanding *g_dev{nullptr}; + +static int start(const char *port, uint8_t rotation) +{ + if (g_dev != nullptr) { + PX4_WARN("already started"); + return -1; + } + + if (port == nullptr) { + PX4_ERR("serial port required"); + return -1; + } + + // Instantiate the driver. + g_dev = new AerotennaULanding(port, rotation); + + if (g_dev == nullptr) { + return -1; + } + + if (g_dev->init() != PX4_OK) { + delete g_dev; + g_dev = nullptr; + return -1; + } + + return 0; +} + +static int stop() +{ + if (g_dev != nullptr) { + delete g_dev; + g_dev = nullptr; + + } else { + return -1; + } + + return 0; +} + +static int status() +{ + if (g_dev == nullptr) { + PX4_ERR("driver not running"); + return -1; + } + + g_dev->print_info(); + + return 0; +} + +static int usage() +{ + PRINT_MODULE_DESCRIPTION( + R"DESCR_STR( +### Description + +Serial bus driver for the Aerotenna uLanding radar. + +Setup/usage information: https://docs.px4.io/v1.9.0/en/sensor/ulanding_radar.html + +### Examples + +Attempt to start driver on a specified serial device. +$ ulanding_radar start -d /dev/ttyS1 +Stop driver +$ ulanding_radar stop +)DESCR_STR"); + + PRINT_MODULE_USAGE_NAME("ulanding_radar", "driver"); + PRINT_MODULE_USAGE_SUBCATEGORY("distance_sensor"); + PRINT_MODULE_USAGE_COMMAND_DESCR("start", "Start driver"); + PRINT_MODULE_USAGE_PARAM_STRING('d', "/dev/ttyS3", "", "Serial device", false); + PRINT_MODULE_USAGE_PARAM_INT('R', 25, 1, 25, "Sensor rotation - downward facing by default", true); + PRINT_MODULE_USAGE_COMMAND_DESCR("stop", "Stop driver"); + return PX4_OK; +} + +} // namespace ulanding_radar + +extern "C" __EXPORT int ulanding_radar_main(int argc, char *argv[]) +{ + uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING; + const char *device_path = nullptr; + int ch; + int myoptind = 1; + const char *myoptarg = nullptr; + + while ((ch = px4_getopt(argc, argv, "R:d:", &myoptind, &myoptarg)) != EOF) { + switch (ch) { + case 'R': + rotation = (uint8_t)atoi(myoptarg); + break; + + case 'd': + device_path = myoptarg; + break; + + default: + return ulanding_radar::usage(); + } + } + + if (myoptind >= argc) { + return ulanding_radar::usage(); + } + + if (!strcmp(argv[myoptind], "start")) { + return ulanding_radar::start(device_path, rotation); + + } else if (!strcmp(argv[myoptind], "stop")) { + return ulanding_radar::stop(); + + } else if (!strcmp(argv[myoptind], "status")) { + return ulanding_radar::status(); + } + + return ulanding_radar::usage(); +}