AP_RangeFinder: Added a new PX4 range finder and modified the RangeFinder parent class to support having multiple devices simultaneously

This commit is contained in:
akdslr 2014-04-30 13:43:03 -04:00 committed by Andrew Tridgell
parent 17eacf5bff
commit 18c06277f8
4 changed files with 207 additions and 0 deletions

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@ -8,3 +8,4 @@
#include "AP_RangeFinder_MaxsonarI2CXL.h"
#include "AP_RangeFinder_PulsedLightLRF.h"
#include "AP_RangeFinder_analog.h"
#include "AP_RangeFinder_PX4.h"

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@ -0,0 +1,132 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include <AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
#include "AP_RangeFinder_PX4.h"
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <unistd.h>
#include <drivers/drv_range_finder.h>
#include <drivers/drv_hrt.h>
#include <stdio.h>
#include <errno.h>
extern const AP_HAL::HAL& hal;
// Constructor ////////////////////////////////////////////////////////
AP_RangeFinder_PX4::AP_RangeFinder_PX4(FilterInt16 *filter) :
RangeFinder(NULL, filter),
_num_instances(0){ }
bool AP_RangeFinder_PX4::init(void)
{
_range_fd[0] = open(RANGE_FINDER_DEVICE_PATH, O_RDONLY);
if (_range_fd[0] < 0) {
hal.console->printf("Unable to open " RANGE_FINDER_DEVICE_PATH "\n");
return false;
}
_range_fd[1] = open(RANGE_FINDER_DEVICE_PATH "1", O_RDONLY);
if (_range_fd[1] >= 0) {
_num_instances = 2;
} else {
_num_instances = 1;
}
for (uint8_t i=0; i<_num_instances; i++) {
// average over up to 20 samples
if (ioctl(_range_fd[i], SENSORIOCSQUEUEDEPTH, 20) != 0) {
hal.console->printf("Failed to setup range finder queue\n");
return false;
}
_count[0] = 0;
_sum[i] = 0;
_healthy[i] = false;
}
// give the driver a chance to run, and gather one sample
hal.scheduler->delay(40);
accumulate();
if (_count[0] == 0) {
hal.console->printf("Failed initial range finder accumulate\n");
}
return true;
}
bool AP_RangeFinder_PX4::take_reading(void)
{
// try to accumulate one more sample, so we have the latest data
accumulate();
// consider the compass healthy if we got a reading in the last 0.2s
for (uint8_t i=0; i<_num_instances; i++) {
_healthy[i] = (hrt_absolute_time() - _last_timestamp[i] < 200000);
}
for (uint8_t i=0; i<_num_instances; i++) {
// avoid division by zero if we haven't received any range reports
if (_count[i] == 0) continue;
_sum[i] /= _count[i];
_sum[i] *= 100.00f;
_distance[i] = _mode_filter->apply(_sum[i]);
_sum[i] = 0;
_count[i] = 0;
}
return _healthy[_get_primary()];
}
void AP_RangeFinder_PX4::accumulate(void)
{
struct range_finder_report range_report;
for (uint8_t i=0; i<_num_instances; i++) {
while (::read(_range_fd[i], &range_report, sizeof(range_report)) == sizeof(range_report) &&
range_report.timestamp != _last_timestamp[i]) {
// Only take valid readings
if (range_report.valid == 1) {
_sum[i] += range_report.distance;
_count[i]++;
_last_timestamp[i] = range_report.timestamp;
}
}
}
}
uint8_t AP_RangeFinder_PX4::_get_primary(void) const
{
for (uint8_t i=0; i<_num_instances; i++) {
if (_healthy[i]) return i;
}
return 0;
}
int16_t AP_RangeFinder_PX4::read()
{
take_reading();
return _distance[_get_primary()];
}
#endif // CONFIG_HAL_BOARD

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@ -0,0 +1,49 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef AP_RangeFinder_PX4_H
#define AP_RangeFinder_PX4_H
#include "RangeFinder.h"
class AP_RangeFinder_PX4 : public RangeFinder
{
public:
// constructor
AP_RangeFinder_PX4(FilterInt16 *filter);
// initialize all the range finder devices
bool init(void);
bool take_reading(void);
void accumulate(void);
// read value from primary sensor and return distance in cm
int16_t read();
// return the number of compass instances
uint8_t get_count(void) const { return _num_instances; }
private:
uint8_t _get_primary(void) const;
uint8_t _num_instances;
int _range_fd[RANGEFINDER_MAX_INSTANCES];
float _sum[RANGEFINDER_MAX_INSTANCES];
uint32_t _count[RANGEFINDER_MAX_INSTANCES];
uint64_t _last_timestamp[RANGEFINDER_MAX_INSTANCES];
};
#endif // AP_RangeFinder_PX4_H

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@ -18,6 +18,16 @@
* #define AP_RANGEFINDER_ORIENTATION_FRONT_LEFT 5, 5, 0
*/
/**
maximum number of range finder instances available on this platform. If more
than 1 then redundant sensors may be available
*/
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
#define RANGEFINDER_MAX_INSTANCES 2
#else
#define RANGEFINDER_MAX_INSTANCES 1
#endif
class RangeFinder
{
protected:
@ -25,6 +35,10 @@ protected:
_analog_source(source),
_mode_filter(filter) {
}
virtual uint8_t _get_primary(void) const { return 0; }
bool _healthy[RANGEFINDER_MAX_INSTANCES];
int16_t _distance[RANGEFINDER_MAX_INSTANCES]; // distance: in cm
public:
// distance: in cm
int16_t distance;
@ -49,5 +63,16 @@ public:
AP_HAL::AnalogSource* _analog_source;
FilterInt16 * _mode_filter;
/// Return the number of range finder instances
virtual uint8_t get_count(void) const { return 1; }
/// Return the current distance as a int16_t
int16_t get_distance(uint8_t i) const { return _distance[i]; }
int16_t get_distance(void) const { return get_distance(_get_primary()); }
/// Return the health of a range finder
bool healthy(uint8_t i) const { return _healthy[i]; }
bool healthy(void) const { return healthy(_get_primary()); }
};
#endif // __RANGEFINDER_H__