mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-22 14:23:34 +08:00
Beat Küng
685be9b3d1
The whole system now uses timer_io_channels, which will allow the redundant GPIO_GPIOx_OUTPUT definitions to be removed.
134 lines
3.4 KiB
C++
134 lines
3.4 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2014-2019 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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* @author Ban Siesta <bansiesta@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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* This driver accesses the pwm_input published by the pwm_input driver.
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*/
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#include "LidarLitePWM.h"
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#ifdef LIDAR_LITE_PWM_SUPPORTED
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#include <px4_arch/io_timer.h>
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LidarLitePWM::LidarLitePWM(const uint8_t rotation) :
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LidarLite(rotation),
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ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default)
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{
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px4_arch_configgpio(io_timer_channel_get_gpio_output(GPIO_VDD_RANGEFINDER_EN_CHAN));
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}
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LidarLitePWM::~LidarLitePWM()
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{
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stop();
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}
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int
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LidarLitePWM::init()
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{
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start();
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return PX4_OK;
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}
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void
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LidarLitePWM::start()
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{
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ScheduleOnInterval(get_measure_interval());
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}
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void
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LidarLitePWM::stop()
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{
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ScheduleClear();
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}
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void
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LidarLitePWM::Run()
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{
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measure();
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}
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int
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LidarLitePWM::measure()
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{
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perf_begin(_sample_perf);
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const hrt_abstime timestamp_sample = hrt_absolute_time();
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if (PX4_OK != collect()) {
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PX4_DEBUG("collection error");
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perf_count(_comms_errors);
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perf_end(_sample_perf);
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return PX4_ERROR;
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}
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const float current_distance = float(_pwm.pulse_width) * 1e-3f; /* 10 usec = 1 cm distance for LIDAR-Lite */
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/* Due to a bug in older versions of the LidarLite firmware, we have to reset sensor on (distance == 0) */
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if (current_distance <= 0.0f) {
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perf_count(_sensor_zero_resets);
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perf_end(_sample_perf);
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return reset_sensor();
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}
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_px4_rangefinder.update(timestamp_sample, current_distance);
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perf_end(_sample_perf);
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return PX4_OK;
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}
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int
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LidarLitePWM::collect()
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{
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pwm_input_s pwm_input;
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if (_sub_pwm_input.update(&pwm_input)) {
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_pwm = pwm_input;
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return PX4_OK;
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}
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return EAGAIN;
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}
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#endif
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