mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-22 22:27:35 +08:00
Johan Jansen
116 lines
3.4 KiB
C++
116 lines
3.4 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2014, 2015 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file LidarLitePWM.h
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* @author Johan Jansen <jnsn.johan@gmail.com>
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*
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* Driver for the PulsedLight Lidar-Lite range finders connected via PWM.
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*/
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#include "LidarLitePWM.h"
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#include <stdio.h>
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#include <drivers/drv_hrt.h>
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/* oddly, ERROR is not defined for c++ */
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#ifdef __cplusplus
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static const int ERROR = -1;
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#endif
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LidarLitePWM::LidarLitePWM() :
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_pwmSub(-1),
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_pwm{},
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_rangePub(-1),
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_range{}
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{
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}
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int LidarLitePWM::init()
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{
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_pwmSub = orb_subscribe(ORB_ID(pwm_input));
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if(_pwmSub == -1) {
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return ERROR;
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}
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_range.type = RANGE_FINDER_TYPE_LASER;
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_range.valid = false;
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_rangePub = orb_advertise(ORB_ID(sensor_range_finder), &_range);
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return OK;
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}
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void LidarLitePWM::print_info()
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{
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printf("poll interval: %u ticks\n", getMeasureTicks());
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}
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void LidarLitePWM::print_registers()
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{
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printf("Not supported in PWM mode\n");
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}
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void LidarLitePWM::start()
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{
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//TODO: start measurement task
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}
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void LidarLitePWM::stop()
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{
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//TODO: stop measurement task
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}
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int LidarLitePWM::measure()
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{
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bool update;
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orb_check(_pwmSub, &update);
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if(update) {
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orb_copy(ORB_ID(pwm_input), _pwmSub, &_pwm);
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_range.timestamp = hrt_absolute_time();
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_range.error_count = _pwm.error_count;
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_range.valid = true;
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_range.maximum_distance = get_maximum_distance();
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_range.minimum_distance = get_minimum_distance();
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_range.distance = _pwm.pulse_width / 1000.0f; //10 usec = 1 cm distance for LIDAR-Lite
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_range.distance_vector[0] = _range.distance;
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_range.just_updated = 0;
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orb_publish(ORB_ID(sensor_range_finder), _rangePub, &_range);
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}
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return OK;
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}
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