dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

leddar_one: split into separate header, implementation, and main 

- remove default serial port
This commit is contained in:
Daniel Agar 2019-12-29 11:42:41 -05:00
parent 213c6a1923
commit 04efd91840
5 changed files with 633 additions and 648 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
src/drivers/distance_sensor/leddar_one/CMakeLists.txt
View File

@ -1,6 +1,6 @@
############################################################################
#
# Copyright (C) 2017 Intel Corporation. All rights reserved.
# Copyright (C) 2017-2019 Intel Corporation. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
@ -31,12 +31,14 @@
#
############################################################################
px4_add_module(
MODULE drivers__leddar_one
MODULE drivers__distance_sensor__leddar_one
MAIN leddar_one
COMPILE_FLAGS
-Wno-cast-align # TODO: fix and enable
SRCS
leddar_one.cpp
LeddarOne.cpp
LeddarOne.hpp
leddar_one_main.cpp
MODULE_CONFIG
module.yaml
)

300
src/drivers/distance_sensor/leddar_one/LeddarOne.cpp Normal file
View File

@ -0,0 +1,300 @@
/****************************************************************************
*
* Copyright (C) 2017-2019 Intel Corporation. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include "LeddarOne.hpp"
#include <stdlib.h>
#include <string.h>
LeddarOne::LeddarOne(const char *serial_port, uint8_t device_orientation):
ScheduledWorkItem(MODULE_NAME, px4::serial_port_to_wq(serial_port)),
_px4_rangefinder(0 /* device id not yet used */, ORB_PRIO_DEFAULT, device_orientation)
{
_serial_port = strdup(serial_port);
_px4_rangefinder.set_device_type(distance_sensor_s::MAV_DISTANCE_SENSOR_LASER);
_px4_rangefinder.set_max_distance(LEDDAR_ONE_MAX_DISTANCE);
_px4_rangefinder.set_min_distance(LEDDAR_ONE_MIN_DISTANCE);
_px4_rangefinder.set_fov(LEDDAR_ONE_FIELD_OF_VIEW);
_px4_rangefinder.set_orientation(device_orientation);
}
LeddarOne::~LeddarOne()
{
stop();
free((char *)_serial_port);
perf_free(_comms_error);
perf_free(_sample_perf);
}
uint16_t
LeddarOne::crc16_calc(const unsigned char *data_frame, const uint8_t crc16_length)
{
uint16_t crc = 0xFFFF;
for (uint8_t i = 0; i < crc16_length; i++) {
crc ^= data_frame[i];
for (uint8_t j = 0; j < 8; j++) {
if (crc & 1) {
crc = (crc >> 1) ^ 0xA001;
} else {
crc >>= 1;
}
}
}
return crc;
}
int
LeddarOne::collect()
{
perf_begin(_sample_perf);
const int buffer_size = sizeof(_buffer);
const int message_size = sizeof(reading_msg);
int bytes_read = ::read(_file_descriptor, _buffer + _buffer_len, buffer_size - _buffer_len);
if (bytes_read < 1) {
// Trigger a new measurement.
return measure();
}
_buffer_len += bytes_read;
if (_buffer_len < message_size) {
// Return on next scheduled cycle to collect remaining data.
return PX4_OK;
}
reading_msg *msg {nullptr};
msg = (reading_msg *)_buffer;
if (msg->slave_addr != MODBUS_SLAVE_ADDRESS ||
msg->function != MODBUS_READING_FUNCTION) {
PX4_ERR("slave address or function read error");
perf_count(_comms_error);
perf_end(_sample_perf);
return measure();
}
const uint16_t crc16 = crc16_calc(_buffer, buffer_size - 2);
if (crc16 != msg->crc) {
PX4_ERR("crc error");
perf_count(_comms_error);
perf_end(_sample_perf);
return measure();
}
// NOTE: little-endian support only.
uint16_t distance_mm = (msg->first_dist_high_byte << 8 | msg->first_dist_low_byte);
float distance_m = static_cast<float>(distance_mm) / 1000.0f;
// @TODO - implement a meaningful signal quality value.
int8_t signal_quality = -1;
_px4_rangefinder.update(_measurement_time, distance_m, signal_quality);
perf_end(_sample_perf);
// Trigger the next measurement.
return measure();
}
int
LeddarOne::init()
{
if (open_serial_port() != PX4_OK) {
return PX4_ERROR;
}
hrt_abstime time_now = hrt_absolute_time();
const hrt_abstime timeout_usec = time_now + 500000_us; // 0.5sec
while (time_now < timeout_usec) {
if (measure() == PX4_OK) {
px4_usleep(LEDDAR_ONE_MEASURE_INTERVAL);
if (collect() == PX4_OK) {
// The file descriptor can only be accessed by the process that opened it,
// so closing here allows the port to be opened from scheduled work queue.
stop();
return PX4_OK;
}
}
px4_usleep(1000);
time_now = hrt_absolute_time();
}
PX4_ERR("No readings from LeddarOne");
return PX4_ERROR;
}
int
LeddarOne::measure()
{
// Flush the receive buffer.
tcflush(_file_descriptor, TCIFLUSH);
int num_bytes = ::write(_file_descriptor, request_reading_msg, sizeof(request_reading_msg));
if (num_bytes != sizeof(request_reading_msg)) {
PX4_INFO("measurement error: %i, errno: %i", num_bytes, errno);
return PX4_ERROR;
}
_measurement_time = hrt_absolute_time();
_buffer_len = 0;
return PX4_OK;
}
int
LeddarOne::open_serial_port(const speed_t speed)
{
// File descriptor already initialized?
if (_file_descriptor > 0) {
// PX4_INFO("serial port already open");
return PX4_OK;
}
// Configure port flags for read/write, non-controlling, non-blocking.
int flags = (O_RDWR | O_NOCTTY | O_NONBLOCK);
// Open the serial port.
_file_descriptor = ::open(_serial_port, flags);
if (_file_descriptor < 0) {
PX4_ERR("open failed (%i)", errno);
return PX4_ERROR;
}
termios uart_config = {};
// Store the current port configuration. attributes.
if (tcgetattr(_file_descriptor, &uart_config)) {
PX4_ERR("Unable to get termios from %s.", _serial_port);
::close(_file_descriptor);
_file_descriptor = -1;
return PX4_ERROR;
}
// Clear: data bit size, two stop bits, parity, hardware flow control.
uart_config.c_cflag &= ~(CSIZE | CSTOPB | PARENB | CRTSCTS);
// Set: 8 data bits, enable receiver, ignore modem status lines.
uart_config.c_cflag |= (CS8 | CREAD | CLOCAL);
// Clear: echo, echo new line, canonical input and extended input.
uart_config.c_lflag &= (ECHO | ECHONL | ICANON | IEXTEN);
// Clear ONLCR flag (which appends a CR for every LF).
uart_config.c_oflag &= ~ONLCR;
// Set the input baud rate in the uart_config struct.
int termios_state = cfsetispeed(&uart_config, speed);
if (termios_state < 0) {
PX4_ERR("CFG: %d ISPD", termios_state);
::close(_file_descriptor);
return PX4_ERROR;
}
// Set the output baud rate in the uart_config struct.
termios_state = cfsetospeed(&uart_config, speed);
if (termios_state < 0) {
PX4_ERR("CFG: %d OSPD", termios_state);
::close(_file_descriptor);
return PX4_ERROR;
}
// Apply the modified port attributes.
termios_state = tcsetattr(_file_descriptor, TCSANOW, &uart_config);
if (termios_state < 0) {
PX4_ERR("baud %d ATTR", termios_state);
::close(_file_descriptor);
return PX4_ERROR;
}
// Flush the hardware buffers.
tcflush(_file_descriptor, TCIOFLUSH);
PX4_DEBUG("opened UART port %s", _serial_port);
return PX4_OK;
}
void
LeddarOne::print_info()
{
perf_print_counter(_comms_error);
perf_print_counter(_sample_perf);
_px4_rangefinder.print_status();
}
void
LeddarOne::Run()
{
// Ensure the serial port is open.
open_serial_port();
collect();
}
void
LeddarOne::start()
{
// Schedule the driver at regular intervals.
ScheduleOnInterval(LEDDAR_ONE_MEASURE_INTERVAL, LEDDAR_ONE_MEASURE_INTERVAL);
}
void
LeddarOne::stop()
{
// Ensure the serial port is closed.
::close(_file_descriptor);
_file_descriptor = -1;
// Clear the work queue schedule.
ScheduleClear();
}

160
src/drivers/distance_sensor/leddar_one/LeddarOne.hpp Normal file
View File

@ -0,0 +1,160 @@
/****************************************************************************
*
* Copyright (C) 2017-2019 Intel Corporation. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#pragma once
#include <termios.h>
#include <drivers/drv_hrt.h>
#include <lib/drivers/rangefinder/PX4Rangefinder.hpp>
#include <lib/perf/perf_counter.h>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/defines.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
using namespace time_literals;
#define LEDDAR_ONE_FIELD_OF_VIEW (0.105f) // 6 deg cone angle.
#define LEDDAR_ONE_MAX_DISTANCE 40.0f
#define LEDDAR_ONE_MIN_DISTANCE 0.01f
#define LEDDAR_ONE_MEASURE_INTERVAL 100_ms // 10Hz
#define MODBUS_SLAVE_ADDRESS 0x01
#define MODBUS_READING_FUNCTION 0x04
#define READING_START_ADDR 0x14
#define READING_LEN 0xA
static const uint8_t request_reading_msg[] = {
MODBUS_SLAVE_ADDRESS,
MODBUS_READING_FUNCTION,
0, /* starting addr high byte */
READING_START_ADDR,
0, /* number of bytes to read high byte */
READING_LEN,
0x30, /* CRC low */
0x09 /* CRC high */
};
struct __attribute__((__packed__)) reading_msg {
uint8_t slave_addr;
uint8_t function;
uint8_t len;
uint8_t low_timestamp_high_byte;
uint8_t low_timestamp_low_byte;
uint8_t high_timestamp_high_byte;
uint8_t high_timestamp_low_byte;
uint8_t temp_high;
uint8_t temp_low;
uint8_t num_detections_high_byte;
uint8_t num_detections_low_byte;
uint8_t first_dist_high_byte;
uint8_t first_dist_low_byte;
uint8_t first_amplitude_high_byte;
uint8_t first_amplitude_low_byte;
uint8_t second_dist_high_byte;
uint8_t second_dist_low_byte;
uint8_t second_amplitude_high_byte;
uint8_t second_amplitude_low_byte;
uint8_t third_dist_high_byte;
uint8_t third_dist_low_byte;
uint8_t third_amplitude_high_byte;
uint8_t third_amplitude_low_byte;
uint16_t crc; /* little-endian */
};
class LeddarOne : public px4::ScheduledWorkItem
{
public:
LeddarOne(const char *serial_port, const uint8_t device_orientation = distance_sensor_s::ROTATION_DOWNWARD_FACING);
~LeddarOne() override;
int init();
/**
* Diagnostics - print some basic information about the driver.
*/
void print_info();
/**
* Initialise the automatic measurement state machine and start it.
*/
void start();
/**
* Stop the automatic measurement state machine.
*/
void stop();
private:
/**
* Calculates the 16 byte crc value for the data frame.
* @param data_frame The data frame to compute a checksum for.
* @param crc16_length The length of the data frame.
*/
uint16_t crc16_calc(const unsigned char *data_frame, const uint8_t crc16_length);
/**
* Reads the data measrurement from serial UART.
*/
int collect();
/**
* Sends a data request message to the sensor.
*/
int measure();
/**
* Opens and configures the UART serial communications port.
* @param speed The baudrate (speed) to configure the serial UART port.
*/
int open_serial_port(const speed_t speed = B115200);
void Run() override;
const char *_serial_port{nullptr};
PX4Rangefinder _px4_rangefinder;
int _file_descriptor{-1};
uint8_t _buffer[sizeof(reading_msg)];
uint8_t _buffer_len{0};
hrt_abstime _measurement_time{0};
perf_counter_t _comms_error{perf_alloc(PC_COUNT, MODULE_NAME": comms_error")};
perf_counter_t _sample_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": sample")};
};

645
src/drivers/distance_sensor/leddar_one/leddar_one.cpp
View File

@ -1,645 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2017 Intel Corporation. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <stdlib.h>
#include <string.h>
#include <termios.h>
#include <arch/board/board.h>
#include <drivers/device/device.h>
#include <drivers/device/ringbuffer.h>
#include <drivers/drv_hrt.h>
#include <lib/drivers/rangefinder/PX4Rangefinder.hpp>
#include <perf/perf_counter.h>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/defines.h>
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/module.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <uORB/topics/distance_sensor.h>
using namespace time_literals;
#define DEVICE_PATH "/dev/LeddarOne"
#define LEDDAR_ONE_DEFAULT_SERIAL_PORT "/dev/ttyS3"
#define LEDDAR_ONE_FIELD_OF_VIEW (0.105f) // 6 deg cone angle.
#define LEDDAR_ONE_MAX_DISTANCE 40.0f
#define LEDDAR_ONE_MIN_DISTANCE 0.01f
#define LEDDAR_ONE_MEASURE_INTERVAL 100_ms // 10Hz
#define MODBUS_SLAVE_ADDRESS 0x01
#define MODBUS_READING_FUNCTION 0x04
#define READING_START_ADDR 0x14
#define READING_LEN 0xA
static const uint8_t request_reading_msg[] = {
MODBUS_SLAVE_ADDRESS,
MODBUS_READING_FUNCTION,
0, /* starting addr high byte */
READING_START_ADDR,
0, /* number of bytes to read high byte */
READING_LEN,
0x30, /* CRC low */
0x09 /* CRC high */
};
struct __attribute__((__packed__)) reading_msg {
uint8_t slave_addr;
uint8_t function;
uint8_t len;
uint8_t low_timestamp_high_byte;
uint8_t low_timestamp_low_byte;
uint8_t high_timestamp_high_byte;
uint8_t high_timestamp_low_byte;
uint8_t temp_high;
uint8_t temp_low;
uint8_t num_detections_high_byte;
uint8_t num_detections_low_byte;
uint8_t first_dist_high_byte;
uint8_t first_dist_low_byte;
uint8_t first_amplitude_high_byte;
uint8_t first_amplitude_low_byte;
uint8_t second_dist_high_byte;
uint8_t second_dist_low_byte;
uint8_t second_amplitude_high_byte;
uint8_t second_amplitude_low_byte;
uint8_t third_dist_high_byte;
uint8_t third_dist_low_byte;
uint8_t third_amplitude_high_byte;
uint8_t third_amplitude_low_byte;
uint16_t crc; /* little-endian */
};
class LeddarOne : public cdev::CDev, public px4::ScheduledWorkItem
{
public:
LeddarOne(const char *device_path,
const char *serial_port = LEDDAR_ONE_DEFAULT_SERIAL_PORT,
const uint8_t device_orientation = distance_sensor_s::ROTATION_DOWNWARD_FACING);
virtual ~LeddarOne();
virtual int init() override;
/**
* Diagnostics - print some basic information about the driver.
*/
void print_info();
/**
* Initialise the automatic measurement state machine and start it.
*/
void start();
/**
* Stop the automatic measurement state machine.
*/
void stop();
private:
/**
* Calculates the 16 byte crc value for the data frame.
* @param data_frame The data frame to compute a checksum for.
* @param crc16_length The length of the data frame.
*/
uint16_t crc16_calc(const unsigned char *data_frame, const uint8_t crc16_length);
/**
* Reads the data measrurement from serial UART.
*/
int collect();
/**
* Sends a data request message to the sensor.
*/
int measure();
/**
* Opens and configures the UART serial communications port.
* @param speed The baudrate (speed) to configure the serial UART port.
*/
int open_serial_port(const speed_t speed = B115200);
void Run() override;
const char *_serial_port{nullptr};
PX4Rangefinder _px4_rangefinder;
int _file_descriptor{-1};
int _orb_class_instance{-1};
uint8_t _buffer[sizeof(reading_msg)];
uint8_t _buffer_len{0};
hrt_abstime _measurement_time{0};
perf_counter_t _comms_error{perf_alloc(PC_COUNT, "leddar_one_comms_error")};
perf_counter_t _sample_perf{perf_alloc(PC_ELAPSED, "leddar_one_sample")};
};
LeddarOne::LeddarOne(const char *device_path, const char *serial_port, uint8_t device_orientation):
CDev(device_path),
ScheduledWorkItem(MODULE_NAME, px4::serial_port_to_wq(serial_port)),
_px4_rangefinder(0 /* device id not yet used */, ORB_PRIO_DEFAULT, device_orientation)
{
_serial_port = strdup(serial_port);
_px4_rangefinder.set_device_type(distance_sensor_s::MAV_DISTANCE_SENSOR_LASER);
_px4_rangefinder.set_max_distance(LEDDAR_ONE_MAX_DISTANCE);
_px4_rangefinder.set_min_distance(LEDDAR_ONE_MIN_DISTANCE);
_px4_rangefinder.set_fov(LEDDAR_ONE_FIELD_OF_VIEW);
_px4_rangefinder.set_orientation(device_orientation);
}
LeddarOne::~LeddarOne()
{
stop();
free((char *)_serial_port);
perf_free(_comms_error);
perf_free(_sample_perf);
}
uint16_t
LeddarOne::crc16_calc(const unsigned char *data_frame, const uint8_t crc16_length)
{
uint16_t crc = 0xFFFF;
for (uint8_t i = 0; i < crc16_length; i++) {
crc ^= data_frame[i];
for (uint8_t j = 0; j < 8; j++) {
if (crc & 1) {
crc = (crc >> 1) ^ 0xA001;
} else {
crc >>= 1;
}
}
}
return crc;
}
int
LeddarOne::collect()
{
perf_begin(_sample_perf);
const int buffer_size = sizeof(_buffer);
const int message_size = sizeof(reading_msg);
int bytes_read = ::read(_file_descriptor, _buffer + _buffer_len, buffer_size - _buffer_len);
if (bytes_read < 1) {
// Trigger a new measurement.
return measure();
}
_buffer_len += bytes_read;
if (_buffer_len < message_size) {
// Return on next scheduled cycle to collect remaining data.
return PX4_OK;
}
reading_msg *msg {nullptr};
msg = (reading_msg *)_buffer;
if (msg->slave_addr != MODBUS_SLAVE_ADDRESS ||
msg->function != MODBUS_READING_FUNCTION) {
PX4_ERR("slave address or function read error");
perf_count(_comms_error);
perf_end(_sample_perf);
return measure();
}
const uint16_t crc16 = crc16_calc(_buffer, buffer_size - 2);
if (crc16 != msg->crc) {
PX4_ERR("crc error");
perf_count(_comms_error);
perf_end(_sample_perf);
return measure();
}
// NOTE: little-endian support only.
uint16_t distance_mm = (msg->first_dist_high_byte << 8 | msg->first_dist_low_byte);
float distance_m = static_cast<float>(distance_mm) / 1000.0f;
// @TODO - implement a meaningful signal quality value.
int8_t signal_quality = -1;
_px4_rangefinder.update(_measurement_time, distance_m, signal_quality);
perf_end(_sample_perf);
// Trigger the next measurement.
return measure();;
}
int
LeddarOne::init()
{
if (CDev::init()) {
PX4_ERR("Unable to initialize device");
return PX4_ERROR;
}
if (open_serial_port() != PX4_OK) {
return PX4_ERROR;
}
hrt_abstime time_now = hrt_absolute_time();
const hrt_abstime timeout_usec = time_now + 500000_us; // 0.5sec
while (time_now < timeout_usec) {
if (measure() == PX4_OK) {
px4_usleep(LEDDAR_ONE_MEASURE_INTERVAL);
if (collect() == PX4_OK) {
// The file descriptor can only be accessed by the process that opened it,
// so closing here allows the port to be opened from scheduled work queue.
stop();
return PX4_OK;
}
}
px4_usleep(1000);
time_now = hrt_absolute_time();
}
PX4_ERR("No readings from LeddarOne");
return PX4_ERROR;
}
int
LeddarOne::measure()
{
// Flush the receive buffer.
tcflush(_file_descriptor, TCIFLUSH);
int num_bytes = ::write(_file_descriptor, request_reading_msg, sizeof(request_reading_msg));
if (num_bytes != sizeof(request_reading_msg)) {
PX4_INFO("measurement error: %i, errno: %i", num_bytes, errno);
return PX4_ERROR;
}
_measurement_time = hrt_absolute_time();
_buffer_len = 0;
return PX4_OK;
}
int
LeddarOne::open_serial_port(const speed_t speed)
{
// File descriptor already initialized?
if (_file_descriptor > 0) {
// PX4_INFO("serial port already open");
return PX4_OK;
}
// Configure port flags for read/write, non-controlling, non-blocking.
int flags = (O_RDWR | O_NOCTTY | O_NONBLOCK);
// Open the serial port.
_file_descriptor = ::open(_serial_port, flags);
if (_file_descriptor < 0) {
PX4_ERR("open failed (%i)", errno);
return PX4_ERROR;
}
termios uart_config = {};
// Store the current port configuration. attributes.
if (tcgetattr(_file_descriptor, &uart_config)) {
PX4_ERR("Unable to get termios from %s.", _serial_port);
::close(_file_descriptor);
_file_descriptor = -1;
return PX4_ERROR;
}
// Clear: data bit size, two stop bits, parity, hardware flow control.
uart_config.c_cflag &= ~(CSIZE | CSTOPB | PARENB | CRTSCTS);
// Set: 8 data bits, enable receiver, ignore modem status lines.
uart_config.c_cflag |= (CS8 | CREAD | CLOCAL);
// Clear: echo, echo new line, canonical input and extended input.
uart_config.c_lflag &= (ECHO | ECHONL | ICANON | IEXTEN);
// Clear ONLCR flag (which appends a CR for every LF).
uart_config.c_oflag &= ~ONLCR;
// Set the input baud rate in the uart_config struct.
int termios_state = cfsetispeed(&uart_config, speed);
if (termios_state < 0) {
PX4_ERR("CFG: %d ISPD", termios_state);
::close(_file_descriptor);
return PX4_ERROR;
}
// Set the output baud rate in the uart_config struct.
termios_state = cfsetospeed(&uart_config, speed);
if (termios_state < 0) {
PX4_ERR("CFG: %d OSPD", termios_state);
::close(_file_descriptor);
return PX4_ERROR;
}
// Apply the modified port attributes.
termios_state = tcsetattr(_file_descriptor, TCSANOW, &uart_config);
if (termios_state < 0) {
PX4_ERR("baud %d ATTR", termios_state);
::close(_file_descriptor);
return PX4_ERROR;
}
// Flush the hardware buffers.
tcflush(_file_descriptor, TCIOFLUSH);
PX4_INFO("opened UART port %s", _serial_port);
return PX4_OK;
}
void
LeddarOne::print_info()
{
perf_print_counter(_comms_error);
perf_print_counter(_sample_perf);
PX4_INFO("measure interval: %u msec", static_cast<uint16_t>(LEDDAR_ONE_MEASURE_INTERVAL));
}
void
LeddarOne::Run()
{
// Ensure the serial port is open.
open_serial_port();
collect();
}
void
LeddarOne::start()
{
// Schedule the driver at regular intervals.
ScheduleOnInterval(LEDDAR_ONE_MEASURE_INTERVAL, LEDDAR_ONE_MEASURE_INTERVAL);
PX4_INFO("driver started");
}
void
LeddarOne::stop()
{
// Ensure the serial port is closed.
::close(_file_descriptor);
_file_descriptor = -1;
// Clear the work queue schedule.
ScheduleClear();
}
/**
* Local functions in support of the shell command.
*/
namespace leddar_one
{
LeddarOne *g_dev;
int start(const char *port = LEDDAR_ONE_DEFAULT_SERIAL_PORT,
const uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING);
int status();
int stop();
int test(const char *port = LEDDAR_ONE_DEFAULT_SERIAL_PORT);
int usage();
int start(const char *port, const uint8_t rotation)
{
if (g_dev != nullptr) {
PX4_ERR("already started");
return PX4_ERROR;
}
g_dev = new LeddarOne(DEVICE_PATH, port, rotation);
if (g_dev == nullptr) {
PX4_ERR("object instantiate failed");
delete g_dev;
return PX4_ERROR;
}
// Initialize the sensor.
if (g_dev->init() != PX4_OK) {
PX4_ERR("driver start failed");
delete g_dev;
g_dev = nullptr;
return PX4_ERROR;
}
// Start the driver.
g_dev->start();
return PX4_OK;
}
/**
* Print the driver status.
*/
int
status()
{
if (g_dev == nullptr) {
PX4_ERR("driver not running");
return PX4_ERROR;
}
g_dev->print_info();
return PX4_OK;
}
/**
* Stop the driver
*/
int
stop()
{
if (g_dev != nullptr) {
delete g_dev;
g_dev = nullptr;
}
PX4_INFO("driver stopped");
return PX4_OK;
}
/**
* Perform some basic functional tests on the driver;
* make sure we can collect data from the sensor in polled
* and automatic modes.
*/
int
test(const char *port)
{
// Configure port flags for read/write, non-controlling, non-blocking.
int flags = (O_RDWR | O_NOCTTY | O_NONBLOCK);
// Open the serial port.
int fd = ::open(port, flags);
if (fd < 0) {
PX4_ERR("Unable to open %s", port);
return PX4_ERROR;
}
ssize_t num_bytes = ::write(fd, request_reading_msg, sizeof(request_reading_msg));
if (num_bytes != sizeof(request_reading_msg)) {
PX4_INFO("serial port write failed: %i, errno: %i", num_bytes, errno);
return PX4_ERROR;
}
px4_usleep(LEDDAR_ONE_MEASURE_INTERVAL);
uint8_t buffer[sizeof(reading_msg)];
num_bytes = ::read(fd, buffer, sizeof(reading_msg));
if (num_bytes != sizeof(reading_msg)) {
PX4_ERR("Data not available at %s", port);
return PX4_ERROR;
}
close(fd);
PX4_INFO("PASS");
return PX4_OK;
}
int
usage()
{
PRINT_MODULE_DESCRIPTION(
R"DESCR_STR(
### Description
Serial bus driver for the LeddarOne LiDAR.
Most boards are configured to enable/start the driver on a specified UART using the SENS_LEDDAR1_CFG parameter.
Setup/usage information: https://docs.px4.io/en/sensor/leddar_one.html
### Examples
Attempt to start driver on a specified serial device.
$ leddar_one start -d /dev/ttyS1
Stop driver
$ leddar_one stop
)DESCR_STR");
PRINT_MODULE_USAGE_NAME("leddar_one", "driver");
PRINT_MODULE_USAGE_SUBCATEGORY("distance_sensor");
PRINT_MODULE_USAGE_COMMAND_DESCR("start","Start driver");
PRINT_MODULE_USAGE_PARAM_STRING('d', nullptr, nullptr, "Serial device", false);
PRINT_MODULE_USAGE_PARAM_INT('r', 25, 1, 25, "Sensor rotation - downward facing by default", true);
PRINT_MODULE_USAGE_COMMAND_DESCR("stop","Stop driver");
PRINT_MODULE_USAGE_COMMAND_DESCR("test","Test driver (basic functional tests)");
return PX4_OK;
}
} // namespace
extern "C" __EXPORT int leddar_one_main(int argc, char *argv[])
{
const char *myoptarg = nullptr;
int ch = 0;
int myoptind = 1;
const char *port = LEDDAR_ONE_DEFAULT_SERIAL_PORT;
uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING;
while ((ch = px4_getopt(argc, argv, "d:r", &myoptind, &myoptarg)) != EOF) {
switch (ch) {
case 'd':
port = myoptarg;
break;
case 'r':
rotation = (uint8_t)atoi(myoptarg);
break;
default:
PX4_WARN("Unknown option!");
return leddar_one::usage();
}
}
if (myoptind >= argc) {
return leddar_one::usage();
}
// Start/load the driver.
if (!strcmp(argv[myoptind], "start")) {
return leddar_one::start(port, rotation);
}
// Print the driver status.
if (!strcmp(argv[myoptind], "status")) {
return leddar_one::status();
}
// Stop the driver.
if (!strcmp(argv[myoptind], "stop")) {
return leddar_one::stop();
}
// Test the driver/device.
if (!strcmp(argv[myoptind], "test")) {
return leddar_one::test(port);
}
// Print driver usage information.
return leddar_one::usage();
}

168
src/drivers/distance_sensor/leddar_one/leddar_one_main.cpp Normal file
View File

@ -0,0 +1,168 @@
/****************************************************************************
*
* Copyright (C) 2017-2019 Intel Corporation. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include "LeddarOne.hpp"
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/module.h>
namespace leddar_one
{
LeddarOne *g_dev{nullptr};
static int start(const char *port, const uint8_t rotation)
{
if (g_dev != nullptr) {
PX4_ERR("already started");
return PX4_ERROR;
}
g_dev = new LeddarOne(port, rotation);
if (g_dev == nullptr) {
PX4_ERR("object instantiate failed");
return PX4_ERROR;
}
// Initialize the sensor.
if (g_dev->init() != PX4_OK) {
PX4_ERR("driver start failed");
delete g_dev;
g_dev = nullptr;
return PX4_ERROR;
}
// Start the driver.
g_dev->start();
return PX4_OK;
}
static int status()
{
if (g_dev == nullptr) {
PX4_ERR("driver not running");
return PX4_ERROR;
}
g_dev->print_info();
return PX4_OK;
}
static int stop()
{
if (g_dev != nullptr) {
delete g_dev;
g_dev = nullptr;
}
PX4_INFO("driver stopped");
return PX4_OK;
}
static int usage()
{
PRINT_MODULE_DESCRIPTION(
R"DESCR_STR(
### Description
Serial bus driver for the LeddarOne LiDAR.
Most boards are configured to enable/start the driver on a specified UART using the SENS_LEDDAR1_CFG parameter.
Setup/usage information: https://docs.px4.io/en/sensor/leddar_one.html
### Examples
Attempt to start driver on a specified serial device.
$ leddar_one start -d /dev/ttyS1
Stop driver
$ leddar_one stop
)DESCR_STR");
PRINT_MODULE_USAGE_NAME("leddar_one", "driver");
PRINT_MODULE_USAGE_SUBCATEGORY("distance_sensor");
PRINT_MODULE_USAGE_COMMAND_DESCR("start", "Start driver");
PRINT_MODULE_USAGE_PARAM_STRING('d', nullptr, nullptr, "Serial device", false);
PRINT_MODULE_USAGE_PARAM_INT('r', 25, 1, 25, "Sensor rotation - downward facing by default", true);
PRINT_MODULE_USAGE_COMMAND_DESCR("stop", "Stop driver");
return PX4_OK;
}
} // namespace
extern "C" __EXPORT int leddar_one_main(int argc, char *argv[])
{
const char *myoptarg = nullptr;
int ch = 0;
int myoptind = 1;
const char *port = nullptr;
uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING;
while ((ch = px4_getopt(argc, argv, "d:r", &myoptind, &myoptarg)) != EOF) {
switch (ch) {
case 'd':
port = myoptarg;
break;
case 'r':
rotation = (uint8_t)atoi(myoptarg);
break;
default:
PX4_WARN("Unknown option");
return leddar_one::usage();
}
}
if (myoptind >= argc) {
return leddar_one::usage();
}
if (!strcmp(argv[myoptind], "start")) {
return leddar_one::start(port, rotation);
} else if (!strcmp(argv[myoptind], "status")) {
return leddar_one::status();
} else if (!strcmp(argv[myoptind], "stop")) {
return leddar_one::stop();
}
return leddar_one::usage();
}