mirror of https://github.com/ArduPilot/ardupilot
147 lines
4.2 KiB
C++
147 lines
4.2 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
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#include "AP_RangeFinder_PX4.h"
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#include <sys/types.h>
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#include <sys/stat.h>
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#include <fcntl.h>
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#include <unistd.h>
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#include <drivers/drv_range_finder.h>
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#include <drivers/drv_hrt.h>
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#include <stdio.h>
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#include <errno.h>
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extern const AP_HAL::HAL& hal;
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uint8_t AP_RangeFinder_PX4::num_px4_instances = 0;
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/*
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The constructor also initialises the rangefinder. Note that this
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constructor is not called until detect() returns true, so we
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already know that we should setup the rangefinder
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*/
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AP_RangeFinder_PX4::AP_RangeFinder_PX4(RangeFinder &_ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state) :
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AP_RangeFinder_Backend(_ranger, instance, _state),
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_last_max_distance_cm(-1),
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_last_min_distance_cm(-1)
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{
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_fd = open_driver();
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// consider this path used up
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num_px4_instances++;
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if (_fd == -1) {
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hal.console->printf("Unable to open PX4 rangefinder %u\n", num_px4_instances);
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state.healthy = false;
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return;
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}
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// average over up to 20 samples
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if (ioctl(_fd, SENSORIOCSQUEUEDEPTH, 20) != 0) {
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hal.console->printf("Failed to setup range finder queue\n");
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state.healthy = false;
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return;
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}
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state.healthy = true;
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}
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/*
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close the file descriptor
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*/
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AP_RangeFinder_PX4::~AP_RangeFinder_PX4()
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{
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if (_fd != -1) {
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close(_fd);
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}
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}
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/*
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open the PX4 driver, returning the file descriptor
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*/
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int AP_RangeFinder_PX4::open_driver(void)
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{
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// work out the device path based on how many PX4 drivers we have loaded
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char path[] = RANGE_FINDER_DEVICE_PATH "n";
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if (num_px4_instances == 0) {
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path[strlen(path)-1] = 0;
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} else {
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path[strlen(path)-1] = '1' + (num_px4_instances-1);
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}
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return open(path, O_RDONLY);
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}
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/*
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see if the PX4 driver is available
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*/
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bool AP_RangeFinder_PX4::detect(RangeFinder &_ranger, uint8_t instance)
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{
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int fd = open_driver();
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if (fd == -1) {
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return false;
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}
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close(fd);
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return true;
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}
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void AP_RangeFinder_PX4::update(void)
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{
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if (_fd == -1) {
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state.healthy = false;
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return;
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}
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struct range_finder_report range_report;
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float sum = 0;
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uint16_t count = 0;
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if (_last_max_distance_cm != ranger._max_distance_cm[state.instance] ||
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_last_min_distance_cm != ranger._min_distance_cm[state.instance]) {
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float max_distance = ranger._max_distance_cm[state.instance]*0.01f;
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float min_distance = ranger._min_distance_cm[state.instance]*0.01f;
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if (ioctl(_fd, RANGEFINDERIOCSETMAXIUMDISTANCE, (unsigned long)&max_distance) == 0 &&
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ioctl(_fd, RANGEFINDERIOCSETMINIUMDISTANCE, (unsigned long)&min_distance) == 0) {
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_last_max_distance_cm = ranger._max_distance_cm[state.instance];
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_last_min_distance_cm = ranger._min_distance_cm[state.instance];
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}
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}
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while (::read(_fd, &range_report, sizeof(range_report)) == sizeof(range_report) &&
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range_report.timestamp != _last_timestamp) {
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// Only take valid readings
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if (range_report.valid == 1) {
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sum += range_report.distance;
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count++;
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_last_timestamp = range_report.timestamp;
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}
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}
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// consider the range finder healthy if we got a reading in the last 0.2s
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state.healthy = (hal.scheduler->micros64() - _last_timestamp < 200000);
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if (count != 0) {
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state.distance_cm = sum / count * 100.0f;
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}
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}
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#endif // CONFIG_HAL_BOARD
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