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AP_RangeFinder: removed old PX4 rangefinder drivers

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This commit is contained in:
Andrew Tridgell 2017-01-27 16:13:13 +11:00
parent 92933f7f04
commit 848c03650b
3 changed files with 4 additions and 230 deletions
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171
libraries/AP_RangeFinder/AP_RangeFinder_PX4.cpp
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@ -1,171 +0,0 @@
/*
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/AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
#include <AP_BoardConfig/AP_BoardConfig.h>
#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 <uORB/topics/distance_sensor.h>
#include <stdio.h>
#include <errno.h>
extern const AP_HAL::HAL& hal;
uint8_t AP_RangeFinder_PX4::num_px4_instances = 0;
/*
The constructor also initialises the rangefinder. Note that this
constructor is not called until detect() returns true, so we
already know that we should setup the rangefinder
*/
AP_RangeFinder_PX4::AP_RangeFinder_PX4(RangeFinder &_ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state) :
AP_RangeFinder_Backend(_ranger, instance, _state),
_last_max_distance_cm(-1),
_last_min_distance_cm(-1)
{
_fd = open_driver();
// consider this path used up
num_px4_instances++;
if (_fd == -1) {
hal.console->printf("Unable to open PX4 rangefinder %u\n", num_px4_instances);
set_status(RangeFinder::RangeFinder_NotConnected);
return;
}
// average over up to 20 samples
if (ioctl(_fd, SENSORIOCSQUEUEDEPTH, 20) != 0) {
hal.console->printf("Failed to setup range finder queue\n");
set_status(RangeFinder::RangeFinder_NotConnected);
return;
}
// initialise to connected but no data
set_status(RangeFinder::RangeFinder_NoData);
}
/*
close the file descriptor
*/
AP_RangeFinder_PX4::~AP_RangeFinder_PX4()
{
if (_fd != -1) {
close(_fd);
}
}
extern "C" {
int ll40ls_main(int, char **);
int trone_main(int, char **);
int mb12xx_main(int, char **);
};
/*
open the PX4 driver, returning the file descriptor
*/
int AP_RangeFinder_PX4::open_driver(void)
{
if (num_px4_instances == 0) {
/*
we start the px4 rangefinder drivers on demand
*/
if (AP_BoardConfig::px4_start_driver(ll40ls_main, "ll40ls", "-X start")) {
hal.console->printf("Found external ll40ls sensor\n");
}
if (AP_BoardConfig::px4_start_driver(ll40ls_main, "ll40ls", "-I start")) {
hal.console->printf("Found internal ll40ls sensor\n");
}
if (AP_BoardConfig::px4_start_driver(trone_main, "trone", "start")) {
hal.console->printf("Found trone sensor\n");
}
if (AP_BoardConfig::px4_start_driver(mb12xx_main, "mb12xx", "start")) {
hal.console->printf("Found mb12xx sensor\n");
}
}
// work out the device path based on how many PX4 drivers we have loaded
char path[] = RANGE_FINDER_BASE_DEVICE_PATH "n";
path[strlen(path)-1] = '0' + num_px4_instances;
return open(path, O_RDONLY);
}
/*
see if the PX4 driver is available
*/
bool AP_RangeFinder_PX4::detect(RangeFinder &_ranger, uint8_t instance)
{
int fd = open_driver();
if (fd == -1) {
return false;
}
close(fd);
return true;
}
void AP_RangeFinder_PX4::update(void)
{
if (_fd == -1) {
set_status(RangeFinder::RangeFinder_NotConnected);
return;
}
struct distance_sensor_s range_report;
float sum = 0;
uint16_t count = 0;
if (_last_max_distance_cm != ranger._max_distance_cm[state.instance] ||
_last_min_distance_cm != ranger._min_distance_cm[state.instance]) {
float max_distance = ranger._max_distance_cm[state.instance]*0.01f;
float min_distance = ranger._min_distance_cm[state.instance]*0.01f;
if (ioctl(_fd, RANGEFINDERIOCSETMAXIUMDISTANCE, (unsigned long)&max_distance) == 0 &&
ioctl(_fd, RANGEFINDERIOCSETMINIUMDISTANCE, (unsigned long)&min_distance) == 0) {
_last_max_distance_cm = ranger._max_distance_cm[state.instance];
_last_min_distance_cm = ranger._min_distance_cm[state.instance];
}
}
while (::read(_fd, &range_report, sizeof(range_report)) == sizeof(range_report) &&
range_report.timestamp != _last_timestamp) {
// take reading
sum += range_report.current_distance;
count++;
_last_timestamp = range_report.timestamp;
}
// if we have not taken a reading in the last 0.2s set status to No Data
if (AP_HAL::micros64() - _last_timestamp >= 200000) {
set_status(RangeFinder::RangeFinder_NoData);
}
if (count != 0) {
state.distance_cm = sum / count * 100.0f;
state.distance_cm += ranger._offset[state.instance];
// update range_valid state based on distance measured
update_status();
}
}
#endif // CONFIG_HAL_BOARD

48
libraries/AP_RangeFinder/AP_RangeFinder_PX4.h
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@ -1,48 +0,0 @@
/*
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/>.
*/
#pragma once
#include "RangeFinder.h"
#include "RangeFinder_Backend.h"
class AP_RangeFinder_PX4 : public AP_RangeFinder_Backend
{
public:
// constructor
AP_RangeFinder_PX4(RangeFinder &ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state);
// destructor
~AP_RangeFinder_PX4(void);
// static detection function
static bool detect(RangeFinder &ranger, uint8_t instance);
// update state
void update(void);
private:
int _fd;
uint64_t _last_timestamp;
int16_t _last_max_distance_cm;
int16_t _last_min_distance_cm;
// we need to keep track of how many PX4 drivers have been loaded
// so we can open the right device filename
static uint8_t num_px4_instances;
// try to open the PX4 driver and return its fd
static int open_driver(void);
};

15
libraries/AP_RangeFinder/RangeFinder.cpp
View File

@ -18,7 +18,6 @@
#include "AP_RangeFinder_PulsedLightLRF.h"
#include "AP_RangeFinder_MaxsonarI2CXL.h"
#include "AP_RangeFinder_MaxsonarSerialLV.h"
#include "AP_RangeFinder_PX4.h"
#include "AP_RangeFinder_PX4_PWM.h"
#include "AP_RangeFinder_BBB_PRU.h"
#include "AP_RangeFinder_LightWareI2C.h"
@ -37,7 +36,7 @@ const AP_Param::GroupInfo RangeFinder::var_info[] = {
// @Param: _TYPE
// @DisplayName: Rangefinder type
// @Description: What type of rangefinder device that is connected
// @Values: 0:None,1:Analog,2:MaxbotixI2C,3:PulsedLightI2C,4:PX4-I2C,5:PX4-PWM,6:BBB-PRU,7:LightWareI2C,8:LightWareSerial,9:Bebop,10:MAVLink,11:uLanding,12:LeddarOne,13:MaxbotixSerial,14:TrOneI2C
// @Values: 0:None,1:Analog,2:MaxbotixI2C,3:PulsedLightI2C,5:PX4-PWM,6:BBB-PRU,7:LightWareI2C,8:LightWareSerial,9:Bebop,10:MAVLink,11:uLanding,12:LeddarOne,13:MaxbotixSerial,14:TrOneI2C
// @User: Standard
AP_GROUPINFO("_TYPE", 0, RangeFinder, _type[0], 0),
@ -157,7 +156,7 @@ const AP_Param::GroupInfo RangeFinder::var_info[] = {
// @Param: 2_TYPE
// @DisplayName: Second Rangefinder type
// @Description: What type of rangefinder device that is connected
// @Values: 0:None,1:Analog,2:MaxbotixI2C,3:PulsedLightI2C,4:PX4-I2C,5:PX4-PWM,6:BBB-PRU,7:LightWareI2C,8:LightWareSerial,9:Bebop,10:MAVLink,11:uLanding,12:LeddarOne,13:MaxbotixSerial,14:TrOneI2C
// @Values: 0:None,1:Analog,2:MaxbotixI2C,3:PulsedLightI2C,5:PX4-PWM,6:BBB-PRU,7:LightWareI2C,8:LightWareSerial,9:Bebop,10:MAVLink,11:uLanding,12:LeddarOne,13:MaxbotixSerial,14:TrOneI2C
// @User: Advanced
AP_GROUPINFO("2_TYPE", 12, RangeFinder, _type[1], 0),
@ -272,7 +271,7 @@ const AP_Param::GroupInfo RangeFinder::var_info[] = {
// @Param: 3_TYPE
// @DisplayName: Third Rangefinder type
// @Description: What type of rangefinder device that is connected
// @Values: 0:None,1:Analog,2:APM2-MaxbotixI2C,3:APM2-PulsedLightI2C,4:PX4-I2C,5:PX4-PWM,6:BBB-PRU,7:LightWareI2C,8:LightWareSerial,9:Bebop,10:MAVLink,11:uLanding,12:LeddarOne,13:MaxbotixSerial
// @Values: 0:None,1:Analog,2:APM2-MaxbotixI2C,3:APM2-PulsedLightI2C,5:PX4-PWM,6:BBB-PRU,7:LightWareI2C,8:LightWareSerial,9:Bebop,10:MAVLink,11:uLanding,12:LeddarOne,13:MaxbotixSerial
// @User: Advanced
AP_GROUPINFO("3_TYPE", 25, RangeFinder, _type[2], 0),
@ -387,7 +386,7 @@ const AP_Param::GroupInfo RangeFinder::var_info[] = {
// @Param: 4_TYPE
// @DisplayName: Fourth Rangefinder type
// @Description: What type of rangefinder device that is connected
// @Values: 0:None,1:Analog,2:APM2-MaxbotixI2C,3:APM2-PulsedLightI2C,4:PX4-I2C,5:PX4-PWM,6:BBB-PRU,7:LightWareI2C,8:LightWareSerial,9:Bebop,10:MAVLink,11:uLanding,12:LeddarOne,13:MaxbotixSerial
// @Values: 0:None,1:Analog,2:APM2-MaxbotixI2C,3:APM2-PulsedLightI2C,5:PX4-PWM,6:BBB-PRU,7:LightWareI2C,8:LightWareSerial,9:Bebop,10:MAVLink,11:uLanding,12:LeddarOne,13:MaxbotixSerial
// @User: Advanced
AP_GROUPINFO("4_TYPE", 37, RangeFinder, _type[3], 0),
@ -608,12 +607,6 @@ void RangeFinder::detect_instance(uint8_t instance)
}
break;
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
case RangeFinder_TYPE_PX4:
if (AP_RangeFinder_PX4::detect(*this, instance)) {
state[instance].instance = instance;
drivers[instance] = new AP_RangeFinder_PX4(*this, instance, state[instance]);
}
break;
case RangeFinder_TYPE_PX4_PWM:
if (AP_RangeFinder_PX4_PWM::detect(*this, instance)) {
state[instance].instance = instance;