PX4-Autopilot/src/drivers/distance_sensor/tfmini/TFMINI.cpp

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#include "TFMINI.hpp"

#include <lib/parameters/param.h>
#include <lib/drivers/device/Device.hpp>
#include <fcntl.h>

TFMINI::TFMINI(const char *port, uint8_t rotation) :
	ScheduledWorkItem(MODULE_NAME, px4::serial_port_to_wq(port)),
	_px4_rangefinder(0, rotation)
{
	// store port name
	strncpy(_port, port, sizeof(_port) - 1);

	// enforce null termination
	_port[sizeof(_port) - 1] = '\0';

	device::Device::DeviceId device_id;
	device_id.devid_s.devtype = DRV_DIST_DEVTYPE_TFMINI;
	device_id.devid_s.bus_type = device::Device::DeviceBusType_SERIAL;

	uint8_t bus_num = atoi(&_port[strlen(_port) - 1]); // Assuming '/dev/ttySx'

	if (bus_num < 10) {
		device_id.devid_s.bus = bus_num;
	}

	_px4_rangefinder.set_device_id(device_id.devid);
	_px4_rangefinder.set_rangefinder_type(distance_sensor_s::MAV_DISTANCE_SENSOR_LASER);
}

TFMINI::~TFMINI()
{
	// make sure we are truly inactive
	stop();

	perf_free(_sample_perf);
	perf_free(_comms_errors);
}

int
TFMINI::init()
{
	int32_t hw_model = 1;
	param_get(param_find("SENS_TFMINI_HW"), &hw_model);

	switch (hw_model) {
	case 1: // TFMINI (12m, 100 Hz)
		// Note:
		// Sensor specification shows 0.3m as minimum, but in practice
		// 0.3 is too close to minimum so chattering of invalid sensor decision
		// is happening sometimes. this cause EKF to believe inconsistent range readings.
		// So we set 0.4 as valid minimum.
		_px4_rangefinder.set_min_distance(0.4f);
		_px4_rangefinder.set_max_distance(12.0f);
		_px4_rangefinder.set_fov(math::radians(2.3f));
		break;

	case 2: // ISTRA24 (50m, 100 Hz)
		_px4_rangefinder.set_min_distance(0.3f);
		_px4_rangefinder.set_max_distance(50.0f);
		_px4_rangefinder.set_fov(math::radians(20));
		break;

	case 3: // ISTRA24 (100m, 100 Hz)
		_px4_rangefinder.set_min_distance(0.3f);
		_px4_rangefinder.set_max_distance(100.0f);
		_px4_rangefinder.set_fov(math::radians(20));
		break;

	default:
		PX4_ERR("invalid HW model %" PRId32 ".", hw_model);
		return -1;
	}

	// status
	int ret = 0;

	do { // create a scope to handle exit conditions using break

		// open fd
		_fd = ::open(_port, O_RDWR | O_NOCTTY);

		if (_fd < 0) {
			PX4_ERR("Error opening fd");
			return -1;
		}

		// baudrate 115200, 8 bits, no parity, 1 stop bit
		unsigned speed = B115200;
		termios uart_config{};
		int termios_state{};

		tcgetattr(_fd, &uart_config);

		// clear ONLCR flag (which appends a CR for every LF)
		uart_config.c_oflag &= ~ONLCR;

		// set baud rate
		if ((termios_state = cfsetispeed(&uart_config, speed)) < 0) {
			PX4_ERR("CFG: %d ISPD", termios_state);
			ret = -1;
			break;
		}

		if ((termios_state = cfsetospeed(&uart_config, speed)) < 0) {
			PX4_ERR("CFG: %d OSPD\n", termios_state);
			ret = -1;
			break;
		}

		if ((termios_state = tcsetattr(_fd, TCSANOW, &uart_config)) < 0) {
			PX4_ERR("baud %d ATTR", termios_state);
			ret = -1;
			break;
		}

		uart_config.c_cflag |= (CLOCAL | CREAD);	// ignore modem controls
		uart_config.c_cflag &= ~CSIZE;
		uart_config.c_cflag |= CS8;			// 8-bit characters
		uart_config.c_cflag &= ~PARENB;			// no parity bit
		uart_config.c_cflag &= ~CSTOPB;			// only need 1 stop bit
		uart_config.c_cflag &= ~CRTSCTS;		// no hardware flowcontrol

		// setup for non-canonical mode
		uart_config.c_iflag &= ~(IGNBRK | BRKINT | PARMRK | ISTRIP | INLCR | IGNCR | ICRNL | IXON);
		uart_config.c_lflag &= ~(ECHO | ECHONL | ICANON | ISIG | IEXTEN);
		uart_config.c_oflag &= ~OPOST;

		// fetch bytes as they become available
		uart_config.c_cc[VMIN] = 1;
		uart_config.c_cc[VTIME] = 1;

		if (_fd < 0) {
			PX4_ERR("FAIL: laser fd");
			ret = -1;
			break;
		}
	} while (0);

	// close the fd
	::close(_fd);
	_fd = -1;

	if (ret == PX4_OK) {
		start();
	}

	return ret;
}

int
TFMINI::collect()
{
	perf_begin(_sample_perf);

	// clear buffer if last read was too long ago
	int64_t read_elapsed = hrt_elapsed_time(&_last_read);

	// the buffer for read chars is buflen minus null termination
	char readbuf[sizeof(_linebuf)] {};
	unsigned readlen = sizeof(readbuf) - 1;

	int ret = 0;
	float distance_m = -1.0f;

	// Check the number of bytes available in the buffer
	int bytes_available = 0;
	::ioctl(_fd, FIONREAD, (unsigned long)&bytes_available);

	if (!bytes_available) {
		perf_end(_sample_perf);
		return 0;
	}

	// parse entire buffer
	const hrt_abstime timestamp_sample = hrt_absolute_time();

	do {
		// read from the sensor (uart buffer)
		ret = ::read(_fd, &readbuf[0], readlen);

		if (ret < 0) {
			PX4_ERR("read err: %d", ret);
			perf_count(_comms_errors);
			perf_end(_sample_perf);

			// only throw an error if we time out
			if (read_elapsed > (kCONVERSIONINTERVAL * 2)) {
				/* flush anything in RX buffer */
				tcflush(_fd, TCIFLUSH);
				return ret;

			} else {
				return -EAGAIN;
			}
		}

		_last_read = hrt_absolute_time();

		// parse buffer
		for (int i = 0; i < ret; i++) {
			tfmini_parse(readbuf[i], _linebuf, &_linebuf_index, &_parse_state, &distance_m);
		}

		// bytes left to parse
		bytes_available -= ret;

	} while (bytes_available > 0);

	// no valid measurement after parsing buffer
	if (distance_m < 0.0f) {
		perf_end(_sample_perf);
		return -EAGAIN;
	}

	// publish most recent valid measurement from buffer
	_px4_rangefinder.update(timestamp_sample, distance_m);

	perf_end(_sample_perf);

	return PX4_OK;
}

void
TFMINI::start()
{
	// schedule a cycle to start things (the sensor sends at 100Hz, but we run a bit faster to avoid missing data)
	ScheduleOnInterval(7_ms);
}

void
TFMINI::stop()
{
	ScheduleClear();
}

void
TFMINI::Run()
{
	// fds initialized?
	if (_fd < 0) {
		// open fd
		_fd = ::open(_port, O_RDWR | O_NOCTTY);
	}

	// perform collection
	if (collect() == -EAGAIN) {
		// reschedule to grab the missing bits, time to transmit 9 bytes @ 115200 bps
		ScheduleClear();
		ScheduleOnInterval(7_ms, 87 * 9);
		return;
	}
}

void
TFMINI::print_info()
{
	printf("Using port '%s'\n", _port);
	perf_print_counter(_sample_perf);
	perf_print_counter(_comms_errors);
}