mirror of https://github.com/ArduPilot/ardupilot
149 lines
4.4 KiB
C++
149 lines
4.4 KiB
C++
// -*- 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/AP_HAL.h>
|
|
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
|
|
#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);
|
|
}
|
|
}
|
|
|
|
/*
|
|
open the PX4 driver, returning the file descriptor
|
|
*/
|
|
int AP_RangeFinder_PX4::open_driver(void)
|
|
{
|
|
// 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
|