/**************************************************************************** * * Copyright (c) 2014-2015 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions * are met: * * 1. Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * 2. Redistributions in binary form must reproduce the above copyright * notice, this list of conditions and the following disclaimer in * the documentation and/or other materials provided with the * distribution. * 3. Neither the name PX4 nor the names of its contributors may be * used to endorse or promote products derived from this software * without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. * ****************************************************************************/ /** * @file landbao15L2950.cpp * @author Claudio Micheli * * Driver for the Lanbao ISL2950 */ #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include "isl2950_parser.h" /* Configuration Constants */ #ifndef CONFIG_SCHED_WORKQUEUE # error This requires CONFIG_SCHED_WORKQUEUE. #endif #define ISL2950_TAKE_RANGE_REG 'd' // designated serial port on Pixhawk #define ISL2950_DEFAULT_PORT "/dev/ttyS1" // Its baudrate is 115200 // #define LANBAO_DEFAULT_BAUDRATE 115200 // normal conversion wait time #define ISL2950_CONVERSION_INTERVAL 50*1000UL /* 50ms */ class ISL2950 : public cdev::CDev { public: // Constructor ISL2950(const char *port = ISL2950_DEFAULT_PORT, uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING); // Virtual destructor virtual ~ISL2950(); virtual int init(); //virtual ssize_t read(device::file_t *filp, char *buffer, size_t buflen); virtual int ioctl(device::file_t *filp, int cmd, unsigned long arg); /** * Diagnostics - print some basic information about the driver. */ void print_info(); private: char _port[20]; uint8_t _rotation; float _min_distance; float _max_distance; int _conversion_interval; work_s _work{}; ringbuffer::RingBuffer *_reports; int _measure_ticks; bool _collect_phase; int _fd; char _linebuf[50]; unsigned _linebuf_index; enum ISL2950_PARSE_STATE _parse_state; hrt_abstime _last_read; int _class_instance; int _orb_class_instance; orb_advert_t _distance_sensor_topic; unsigned _consecutive_fail_count; perf_counter_t _sample_perf; perf_counter_t _comms_errors; /** * Initialise the automatic measurement state machine and start it. * * @note This function is called at open and error time. It might make sense * to make it more aggressive about resetting the bus in case of errors. */ void start(); /** * Stop the automatic measurement state machine. */ void stop(); /** * Set the min and max distance thresholds if you want the end points of the sensors * range to be brought in at all, otherwise it will use the defaults SF0X_MIN_DISTANCE * and SF0X_MAX_DISTANCE */ void set_minimum_distance(float min); void set_maximum_distance(float max); float get_minimum_distance(); float get_maximum_distance(); /** * Perform a poll cycle; collect from the previous measurement * and start a new one. */ void cycle(); int measure(); int collect(); /** * Static trampoline from the workq context; because we don't have a * generic workq wrapper yet. * * @param arg Instance pointer for the driver that is polling. */ static void cycle_trampoline(void *arg); }; /* * Driver 'main' command. */ extern "C" __EXPORT int isl2950_main(int argc, char *argv[]); /** * Method : Constructor * * @note This method initializes the class variables */ ISL2950::ISL2950(const char *port, uint8_t rotation) : CDev(RANGE_FINDER0_DEVICE_PATH), _rotation(rotation), _min_distance(0.10f), _max_distance(40.0f), _conversion_interval(ISL2950_CONVERSION_INTERVAL), _reports(nullptr), _measure_ticks(0), _collect_phase(false), _fd(-1), _linebuf_index(0), _parse_state(ISL2950_PARSE_STATE0_UNSYNC), _last_read(0), _class_instance(-1), _orb_class_instance(-1), _distance_sensor_topic(nullptr), _consecutive_fail_count(0), _sample_perf(perf_alloc(PC_ELAPSED, "isl2950_read")), _comms_errors(perf_alloc(PC_COUNT, "isl2950_com_err")) { /* store port name */ strncpy(_port, port, sizeof(_port)); /* enforce null termination */ _port[sizeof(_port) - 1] = '\0'; } // Destructor ISL2950::~ISL2950() { /* make sure we are truly inactive */ stop(); /* free any existing reports */ if (_reports != nullptr) { delete _reports; } if (_class_instance != -1) { unregister_class_devname(RANGE_FINDER_BASE_DEVICE_PATH, _class_instance); } perf_free(_sample_perf); perf_free(_comms_errors); } /** * Method : init() * * This method setup the general driver for a range finder sensor. */ int ISL2950::init() { /* status */ int ret = 0; do { /* create a scope to handle exit conditions using break */ /* do regular cdev init */ ret = CDev::init(); if (ret != OK) { break; } /* allocate basic report buffers */ _reports = new ringbuffer::RingBuffer(2, sizeof(distance_sensor_s)); if (_reports == nullptr) { PX4_ERR("alloc failed"); ret = -1; break; } _class_instance = register_class_devname(RANGE_FINDER_BASE_DEVICE_PATH); /* get a publish handle on the range finder topic */ struct 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"); } } while (0); return ret; } void ISL2950::set_minimum_distance(float min) { _min_distance = min; } void ISL2950::set_maximum_distance(float max) { _max_distance = max; } float ISL2950::get_minimum_distance() { return _min_distance; } float ISL2950::get_maximum_distance() { return _max_distance; } int ISL2950::ioctl(device::file_t *filp, int cmd, unsigned long arg) { switch (cmd) { case SENSORIOCSPOLLRATE: { switch (arg) { /* zero would be bad */ case 0: return -EINVAL; /* set default polling rate */ 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(_conversion_interval); /* if we need to start the poll state machine, do it */ if (want_start) { start(); } return OK; } /* adjust to a legal polling interval in Hz */ default: { /* do we need to start internal polling? */ bool want_start = (_measure_ticks == 0); /* convert hz to tick interval via microseconds */ int ticks = USEC2TICK(1000000 / arg); /* check against maximum rate */ if (ticks < USEC2TICK(_conversion_interval)) { return -EINVAL; } /* update interval for next measurement */ _measure_ticks = ticks; /* if we need to start the poll state machine, do it */ if (want_start) { start(); } return OK; } } } default: /* give it to the superclass */ return CDev::ioctl(filp, cmd, arg); } } /* ssize_t ISL2950::read(device::file_t *filp, char *buffer, size_t buflen) { // SOME STUFFS }*/ int ISL2950::measure() { int ret; /* * Send the command to begin a measurement. */ char cmd = ISL2950_TAKE_RANGE_REG; ret = ::write(_fd, &cmd, 1); if (ret != sizeof(cmd)) { perf_count(_comms_errors); printf("write fail %d", ret); return ret; } ret = OK; return ret; } int /* * Method: collect() * * This method reads data from serial UART and places it into a buffer */ ISL2950::collect() { int ret; perf_begin(_sample_perf); /* clear buffer if last read was too long ago */ int64_t read_elapsed = hrt_elapsed_time(&_last_read); // ----------------------- LANBAO SPECIFIC --------------------------- uint8_t buffer[50]; int bytes_available = 0; int bytes_processed = 0; int bytes_read = 0; bool full_frame; int distance_mm = -1.0f; bytes_read = ::read(_fd, buffer + bytes_available, 50 - bytes_available); //printf("read() returns %02X %02X %02X %02X \n", buffer[0], buffer[1],buffer[2],buffer[3] ); //-------------------------------------------------------------------- if (bytes_read < 0) { PX4_ERR("isl2950 - read() error: %d \n", bytes_read); perf_count(_comms_errors); perf_end(_sample_perf); /* only throw an error if we time out */ if (read_elapsed > (_conversion_interval * 2)) { return bytes_read; } else { return -EAGAIN; } } else if (bytes_read == 0) { return -EAGAIN; // SF0X drivers // LANBAO driver } _last_read = hrt_absolute_time(); bytes_available += bytes_read; // parse the buffer data full_frame = false; bytes_processed = isl2950_parser(buffer, bytes_available, &full_frame,&distance_mm); //printf("isl2950_parser() processed %d bytes, full_frame %d \n", bytes_processed, full_frame); // discard the processed bytes and move the buffer content to the head bytes_available -= bytes_processed; memcpy(buffer, buffer + bytes_processed, bytes_available); if (full_frame) { printf("Measured Distance %d mm\n",distance_mm); } else if (!full_frame) { return -EAGAIN; } struct distance_sensor_s report; report.timestamp = hrt_absolute_time(); report.type = distance_sensor_s::MAV_DISTANCE_SENSOR_LASER; report.orientation = _rotation; report.current_distance = distance_mm /1000.f; // To meters report.min_distance = get_minimum_distance(); report.max_distance = get_maximum_distance(); report.covariance = 0.0f; report.signal_quality = -1; /* TODO: set proper ID */ report.id = 0; /* publish it */ orb_publish(ORB_ID(distance_sensor), _distance_sensor_topic, &report); _reports->force(&report); /* notify anyone waiting for data */ poll_notify(POLLIN); ret = OK; perf_end(_sample_perf); return ret; } void ISL2950::start() { PX4_INFO("ISL2950::start() - launch the work queue"); /* reset the report ring and state machine */ _collect_phase = false; _reports->flush(); /* schedule a cycle to start things */ work_queue(HPWORK, &_work, (worker_t)&ISL2950::cycle_trampoline, this, 1); } void ISL2950::stop() { work_cancel(HPWORK, &_work); } void ISL2950::cycle_trampoline(void *arg) { ISL2950 *dev = static_cast(arg); dev->cycle(); } void ISL2950::cycle() { PX4_DEBUG("ISL2950::cycle() - in the cycle"); /* fds initialized? */ if (_fd < 0) { /* open fd */ _fd = ::open(_port,O_RDWR); if (_fd < 0) { PX4_ERR("ISL2950::cycle() - open failed (%i)", errno); return; } struct termios uart_config; int termios_state; /* fill the struct for the new configuration */ tcgetattr(_fd, &uart_config); /* 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); unsigned speed = B115200; /* set baud rate */ if ((termios_state = cfsetispeed(&uart_config, speed)) < 0) { PX4_ERR("CFG: %d ISPD", termios_state); } if ((termios_state = cfsetospeed(&uart_config, speed)) < 0) { PX4_ERR("CFG: %d OSPD", termios_state); } if ((termios_state = tcsetattr(_fd, TCSANOW, &uart_config)) < 0) { PX4_ERR("baud %d ATTR", termios_state); } } /* collection phase? */ if (_collect_phase) { /* perform collection */ int collect_ret = collect(); if (collect_ret == -EAGAIN) { /* reschedule to grab the missing bits, time to transmit 8 bytes @ 9600 bps */ work_queue(HPWORK,&_work,(worker_t)&ISL2950::cycle_trampoline,this,USEC2TICK(1042 * 8)); return; } if (OK != collect_ret) { /* we know the sensor needs about four seconds to initialize */ if (hrt_absolute_time() > 5 * 1000 * 1000LL && _consecutive_fail_count < 5) { PX4_ERR("collection error #%u", _consecutive_fail_count); } _consecutive_fail_count++; /* restart the measurement state machine */ start(); return; } else { /* apparently success */ _consecutive_fail_count = 0; } /* next phase is measurement */ _collect_phase = false; /* * Is there a collect->measure gap? */ if (_measure_ticks > USEC2TICK(_conversion_interval)) { /* schedule a fresh cycle call when we are ready to measure again */ work_queue(HPWORK, &_work, (worker_t)&ISL2950::cycle_trampoline, this, _measure_ticks - USEC2TICK(_conversion_interval)); return; } } /* measurement phase */ /* if (OK != measure()) { PX4_DEBUG("measure error"); } */ /* next phase is collection */ _collect_phase = true; /* schedule a fresh cycle call when the measurement is done */ work_queue(HPWORK, &_work, (worker_t)&ISL2950::cycle_trampoline, this, USEC2TICK(_conversion_interval)); } void ISL2950::print_info() { perf_print_counter(_sample_perf); perf_print_counter(_comms_errors); printf("poll interval: %d ticks\n", _measure_ticks); _reports->print_info("report queue"); } /** * Local functions in support of the shell command. */ namespace isl2950 { ISL2950 *g_dev; int start(const char *port, uint8_t rotation); int stop(); int test(); int reset(); int info(); /** * Start the driver. */ int start(const char *port, uint8_t rotation) { int fd; if (g_dev != nullptr) { PX4_WARN("already started"); return -1; } /* create the driver */ g_dev = new ISL2950(port, rotation); if (g_dev == nullptr) { goto fail; } if (OK != g_dev->init()) { goto fail; } /* set the poll rate to default, starts automatic data collection */ fd = open(RANGE_FINDER0_DEVICE_PATH, 0); if (fd < 0) { PX4_ERR("device open fail (%i)", errno); goto fail; } if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) { PX4_ERR("failed to set baudrate %d", B115200); goto fail; } PX4_DEBUG("isl2950::start() succeeded"); return 0; fail: PX4_DEBUG("isl2950::start() failed"); if (g_dev != nullptr) { delete g_dev; g_dev = nullptr; } return -1; } /** * Stop the driver */ int stop() { if (g_dev != nullptr) { delete g_dev; g_dev = nullptr; } else { return -1; } return 0; } /** * Perform some basic functional tests on the driver; * make sure we can collect data from the sensor in polled * and automatic modes. */ int test() { struct distance_sensor_s report; ssize_t sz; int fd = open(RANGE_FINDER0_DEVICE_PATH, O_RDONLY); if (fd < 0) { PX4_ERR("%s open failed (try 'isl2950 start' if the driver is not running", RANGE_FINDER0_DEVICE_PATH); return -1; } /* do a simple demand read */ sz = read(fd, &report, sizeof(report)); if (sz != sizeof(report)) { PX4_ERR("immediate read failed"); return -1; } print_message(report); /* start the sensor polling at 2 Hz rate */ if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) { PX4_ERR("failed to set 2Hz poll rate"); return -1; } /* read the sensor 5x and report each value */ for (unsigned i = 0; i < 5; i++) { struct pollfd fds; /* wait for data to be ready */ fds.fd = fd; fds.events = POLLIN; int ret = poll(&fds, 1, 2000); if (ret != 1) { PX4_ERR("timed out"); break; } /* now go get it */ sz = read(fd, &report, sizeof(report)); if (sz != sizeof(report)) { PX4_ERR("read failed: got %zi vs exp. %zu", sz, sizeof(report)); break; } print_message(report); } /* reset the sensor polling to the default rate */ if (OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT)) { PX4_ERR("ioctl SENSORIOCSPOLLRATE failed"); return -1; } return 0; } /** * Reset the driver. */ int reset() { int fd = open(RANGE_FINDER0_DEVICE_PATH, O_RDONLY); if (fd < 0) { PX4_ERR("open failed (%i)", errno); return -1; } if (ioctl(fd, SENSORIOCRESET, 0) < 0) { PX4_ERR("driver reset failed"); return -1; } if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) { PX4_ERR("driver poll restart failed"); return -1; } return 0; } /** * Print a little info about the driver. */ int info() { if (g_dev == nullptr) { PX4_ERR("driver not running"); return -1; } printf("state @ %p\n", g_dev); g_dev->print_info(); return 0; } } // namespace int isl2950_main(int argc, char *argv[]) { uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING; const char *device_path = ISL2950_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 -1; } } if (myoptind >= argc) { goto out_error; } /* * Start/load the driver. */ if (!strcmp(argv[myoptind], "start")) { return isl2950::start(device_path, rotation); } /* * Stop the driver */ if (!strcmp(argv[myoptind], "stop")) { return isl2950::stop(); } /* * Test the driver/device. */ if (!strcmp(argv[myoptind], "test")) { return isl2950::test(); } /* * Reset the driver. */ if (!strcmp(argv[myoptind], "reset")) { return isl2950::reset(); } /* * Print driver information. */ if (!strcmp(argv[myoptind], "info") || !strcmp(argv[myoptind], "status")) { return isl2950::info(); } out_error: PX4_ERR("unrecognized command, try 'start', 'test', 'reset' or 'info'"); return -1; }