forked from Archive/PX4-Autopilot
LL40LS driver: adding new range finder driver
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/****************************************************************************
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*
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* Copyright (c) 2013 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file ll40ls.cpp
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* @author Allyson Kreft
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*
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* Driver for the PulsedLight Lidar-Lite range finders connected via I2C.
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*/
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#include <nuttx/config.h>
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#include <drivers/device/i2c.h>
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#include <sys/types.h>
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#include <stdint.h>
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#include <stdlib.h>
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#include <stdbool.h>
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#include <semaphore.h>
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#include <string.h>
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#include <fcntl.h>
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#include <poll.h>
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#include <errno.h>
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#include <stdio.h>
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#include <math.h>
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#include <unistd.h>
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#include <nuttx/arch.h>
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#include <nuttx/wqueue.h>
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#include <nuttx/clock.h>
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#include <systemlib/perf_counter.h>
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#include <systemlib/err.h>
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#include <drivers/drv_hrt.h>
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#include <drivers/drv_range_finder.h>
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#include <drivers/device/ringbuffer.h>
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#include <uORB/uORB.h>
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#include <uORB/topics/subsystem_info.h>
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#include <board_config.h>
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/* Configuration Constants */
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#define LL40LS_BUS PX4_I2C_BUS_EXPANSION
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#define LL40LS_BASEADDR 0x42 /* 7-bit address */
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#define LL40LS_DEVICE_PATH "/dev/ll40ls"
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/* LL40LS Registers addresses */
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#define LL40LS_MEASURE_REG 0x00 /* Measure range register */
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#define LL40LS_MSRREG_ACQUIRE 0x61 /* Value to initiate a measurement */
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#define LL40LS_DISTHIGH_REG 0x8F /* High byte of distance register, auto increment */
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/* Device limits */
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#define LL40LS_MIN_DISTANCE (0.00f)
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#define LL40LS_MAX_DISTANCE (14.00f)
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#define LL40LS_CONVERSION_INTERVAL 60000 /* 60ms */
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/* oddly, ERROR is not defined for c++ */
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#ifdef ERROR
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# undef ERROR
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#endif
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static const int ERROR = -1;
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#ifndef CONFIG_SCHED_WORKQUEUE
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# error This requires CONFIG_SCHED_WORKQUEUE.
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#endif
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class LL40LS : public device::I2C
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{
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public:
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LL40LS(int bus = LL40LS_BUS, int address = LL40LS_BASEADDR);
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virtual ~LL40LS();
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virtual int init();
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virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
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virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
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/**
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* Diagnostics - print some basic information about the driver.
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*/
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void print_info();
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protected:
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virtual int probe();
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private:
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float _min_distance;
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float _max_distance;
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work_s _work;
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RingBuffer *_reports;
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bool _sensor_ok;
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int _measure_ticks;
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bool _collect_phase;
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int _class_instance;
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orb_advert_t _range_finder_topic;
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perf_counter_t _sample_perf;
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perf_counter_t _comms_errors;
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perf_counter_t _buffer_overflows;
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/**
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* Test whether the device supported by the driver is present at a
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* specific address.
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*
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* @param address The I2C bus address to probe.
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* @return True if the device is present.
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*/
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int probe_address(uint8_t address);
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/**
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* Initialise the automatic measurement state machine and start it.
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*
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* @note This function is called at open and error time. It might make sense
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* to make it more aggressive about resetting the bus in case of errors.
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*/
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void start();
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/**
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* Stop the automatic measurement state machine.
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*/
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void stop();
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/**
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* Set the min and max distance thresholds if you want the end points of the sensors
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* range to be brought in at all, otherwise it will use the defaults LL40LS_MIN_DISTANCE
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* and LL40LS_MAX_DISTANCE
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*/
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void set_minimum_distance(float min);
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void set_maximum_distance(float max);
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float get_minimum_distance();
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float get_maximum_distance();
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/**
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* Perform a poll cycle; collect from the previous measurement
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* and start a new one.
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*/
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void cycle();
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int measure();
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int collect();
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/**
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* Static trampoline from the workq context; because we don't have a
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* generic workq wrapper yet.
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*
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* @param arg Instance pointer for the driver that is polling.
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*/
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static void cycle_trampoline(void *arg);
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};
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/*
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* Driver 'main' command.
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*/
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extern "C" __EXPORT int ll40ls_main(int argc, char *argv[]);
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LL40LS::LL40LS(int bus, int address) :
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I2C("LL40LS", LL40LS_DEVICE_PATH, bus, address, 100000),
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_min_distance(LL40LS_MIN_DISTANCE),
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_max_distance(LL40LS_MAX_DISTANCE),
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_reports(nullptr),
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_sensor_ok(false),
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_measure_ticks(0),
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_collect_phase(false),
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_range_finder_topic(-1),
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_class_instance(-1),
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_sample_perf(perf_alloc(PC_ELAPSED, "ll40ls_read")),
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_comms_errors(perf_alloc(PC_COUNT, "ll40ls_comms_errors")),
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_buffer_overflows(perf_alloc(PC_COUNT, "ll40ls_buffer_overflows"))
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{
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// up the retries since the device misses the first measure attempts
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I2C::_retries = 3;
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// enable debug() calls
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_debug_enabled = false;
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// work_cancel in the dtor will explode if we don't do this...
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memset(&_work, 0, sizeof(_work));
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}
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LL40LS::~LL40LS()
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{
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/* make sure we are truly inactive */
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stop();
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/* free any existing reports */
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if (_reports != nullptr) {
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delete _reports;
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}
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if (_class_instance != -1) {
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unregister_class_devname(RANGE_FINDER_DEVICE_PATH, _class_instance);
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}
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// free perf counters
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perf_free(_sample_perf);
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perf_free(_comms_errors);
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perf_free(_buffer_overflows);
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}
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int
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LL40LS::init()
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{
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int ret = ERROR;
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/* do I2C init (and probe) first */
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if (I2C::init() != OK) {
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goto out;
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}
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/* allocate basic report buffers */
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_reports = new RingBuffer(2, sizeof(range_finder_report));
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if (_reports == nullptr) {
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goto out;
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}
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_class_instance = register_class_devname(RANGE_FINDER_DEVICE_PATH);
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if (_class_instance == CLASS_DEVICE_PRIMARY) {
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/* get a publish handle on the range finder topic */
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struct range_finder_report rf_report;
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measure();
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_reports->get(&rf_report);
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_range_finder_topic = orb_advertise(ORB_ID(sensor_range_finder), &rf_report);
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if (_range_finder_topic < 0) {
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debug("failed to create sensor_range_finder object. Did you start uOrb?");
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}
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}
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ret = OK;
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/* sensor is ok, but we don't really know if it is within range */
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_sensor_ok = true;
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out:
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return ret;
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}
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int
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LL40LS::probe()
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{
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return measure();
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}
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void
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LL40LS::set_minimum_distance(float min)
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{
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_min_distance = min;
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}
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void
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LL40LS::set_maximum_distance(float max)
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{
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_max_distance = max;
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}
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float
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LL40LS::get_minimum_distance()
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{
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return _min_distance;
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}
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float
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LL40LS::get_maximum_distance()
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{
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return _max_distance;
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}
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int
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LL40LS::ioctl(struct file *filp, int cmd, unsigned long arg)
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{
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switch (cmd) {
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case SENSORIOCSPOLLRATE: {
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switch (arg) {
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/* switching to manual polling */
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case SENSOR_POLLRATE_MANUAL:
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stop();
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_measure_ticks = 0;
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return OK;
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/* external signalling (DRDY) not supported */
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case SENSOR_POLLRATE_EXTERNAL:
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/* zero would be bad */
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case 0:
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return -EINVAL;
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/* set default/max polling rate */
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case SENSOR_POLLRATE_MAX:
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case SENSOR_POLLRATE_DEFAULT: {
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/* do we need to start internal polling? */
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bool want_start = (_measure_ticks == 0);
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/* set interval for next measurement to minimum legal value */
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_measure_ticks = USEC2TICK(LL40LS_CONVERSION_INTERVAL);
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/* if we need to start the poll state machine, do it */
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if (want_start) {
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start();
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}
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return OK;
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}
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/* adjust to a legal polling interval in Hz */
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default: {
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/* do we need to start internal polling? */
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bool want_start = (_measure_ticks == 0);
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/* convert hz to tick interval via microseconds */
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unsigned ticks = USEC2TICK(1000000 / arg);
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/* check against maximum rate */
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if (ticks < USEC2TICK(LL40LS_CONVERSION_INTERVAL)) {
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return -EINVAL;
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}
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/* update interval for next measurement */
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_measure_ticks = ticks;
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/* if we need to start the poll state machine, do it */
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if (want_start) {
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start();
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}
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return OK;
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}
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}
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}
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case SENSORIOCGPOLLRATE:
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if (_measure_ticks == 0) {
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return SENSOR_POLLRATE_MANUAL;
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}
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return (1000 / _measure_ticks);
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case SENSORIOCSQUEUEDEPTH: {
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/* lower bound is mandatory, upper bound is a sanity check */
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if ((arg < 1) || (arg > 100)) {
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return -EINVAL;
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}
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irqstate_t flags = irqsave();
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if (!_reports->resize(arg)) {
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irqrestore(flags);
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return -ENOMEM;
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}
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irqrestore(flags);
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return OK;
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}
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case SENSORIOCGQUEUEDEPTH:
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return _reports->size();
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case SENSORIOCRESET:
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/* XXX implement this */
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return -EINVAL;
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case RANGEFINDERIOCSETMINIUMDISTANCE: {
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set_minimum_distance(*(float *)arg);
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return 0;
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}
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break;
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case RANGEFINDERIOCSETMAXIUMDISTANCE: {
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set_maximum_distance(*(float *)arg);
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return 0;
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}
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break;
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default:
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/* give it to the superclass */
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return I2C::ioctl(filp, cmd, arg);
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}
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}
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ssize_t
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LL40LS::read(struct file *filp, char *buffer, size_t buflen)
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{
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unsigned count = buflen / sizeof(struct range_finder_report);
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struct range_finder_report *rbuf = reinterpret_cast<struct range_finder_report *>(buffer);
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int ret = 0;
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/* buffer must be large enough */
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if (count < 1) {
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return -ENOSPC;
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}
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/* if automatic measurement is enabled */
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if (_measure_ticks > 0) {
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/*
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* While there is space in the caller's buffer, and reports, copy them.
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* Note that we may be pre-empted by the workq thread while we are doing this;
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* we are careful to avoid racing with them.
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*/
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while (count--) {
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if (_reports->get(rbuf)) {
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ret += sizeof(*rbuf);
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rbuf++;
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}
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}
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/* if there was no data, warn the caller */
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return ret ? ret : -EAGAIN;
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}
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/* manual measurement - run one conversion */
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do {
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_reports->flush();
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/* trigger a measurement */
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if (OK != measure()) {
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ret = -EIO;
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break;
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}
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/* wait for it to complete */
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usleep(LL40LS_CONVERSION_INTERVAL);
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/* run the collection phase */
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if (OK != collect()) {
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ret = -EIO;
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break;
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}
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/* state machine will have generated a report, copy it out */
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if (_reports->get(rbuf)) {
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ret = sizeof(*rbuf);
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}
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} while (0);
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return ret;
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}
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int
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LL40LS::measure()
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{
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int ret;
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/*
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* Send the command to begin a measurement.
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*/
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const uint8_t cmd[2] = { LL40LS_MEASURE_REG, LL40LS_MSRREG_ACQUIRE };
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ret = transfer(cmd, sizeof(cmd), nullptr, 0);
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if (OK != ret) {
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perf_count(_comms_errors);
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log("i2c::transfer returned %d", ret);
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return ret;
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}
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ret = OK;
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return ret;
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}
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int
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LL40LS::collect()
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{
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int ret = -EIO;
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/* read from the sensor */
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uint8_t val[2] = {0, 0};
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perf_begin(_sample_perf);
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// read the high and low byte distance registers
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uint8_t distance_reg = LL40LS_DISTHIGH_REG;
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ret = transfer(&distance_reg, 1, &val[0], sizeof(val));
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if (ret < 0) {
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log("error reading from sensor: %d", ret);
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perf_count(_comms_errors);
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perf_end(_sample_perf);
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return ret;
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}
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uint16_t distance = val[0] << 8 | val[1];
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float si_units = (distance * 1.0f) / 100.0f; /* cm to m */
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struct range_finder_report report;
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/* this should be fairly close to the end of the measurement, so the best approximation of the time */
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report.timestamp = hrt_absolute_time();
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report.error_count = perf_event_count(_comms_errors);
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report.distance = si_units;
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if (si_units > get_minimum_distance() && si_units < get_maximum_distance()) {
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report.valid = 1;
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}
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else {
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report.valid = 0;
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}
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/* publish it */
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orb_publish(ORB_ID(sensor_range_finder), _range_finder_topic, &report);
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|
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if (_reports->force(&report)) {
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perf_count(_buffer_overflows);
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}
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|
||||
/* notify anyone waiting for data */
|
||||
poll_notify(POLLIN);
|
||||
|
||||
ret = OK;
|
||||
|
||||
perf_end(_sample_perf);
|
||||
return ret;
|
||||
}
|
||||
|
||||
void
|
||||
LL40LS::start()
|
||||
{
|
||||
/* reset the report ring and state machine */
|
||||
_collect_phase = false;
|
||||
_reports->flush();
|
||||
|
||||
/* schedule a cycle to start things */
|
||||
work_queue(HPWORK, &_work, (worker_t)&LL40LS::cycle_trampoline, this, 1);
|
||||
|
||||
/* notify about state change */
|
||||
struct subsystem_info_s info = {
|
||||
true,
|
||||
true,
|
||||
true,
|
||||
SUBSYSTEM_TYPE_RANGEFINDER
|
||||
};
|
||||
static orb_advert_t pub = -1;
|
||||
|
||||
if (pub > 0) {
|
||||
orb_publish(ORB_ID(subsystem_info), pub, &info);
|
||||
|
||||
} else {
|
||||
pub = orb_advertise(ORB_ID(subsystem_info), &info);
|
||||
}
|
||||
}
|
||||
|
||||
void
|
||||
LL40LS::stop()
|
||||
{
|
||||
work_cancel(HPWORK, &_work);
|
||||
}
|
||||
|
||||
void
|
||||
LL40LS::cycle_trampoline(void *arg)
|
||||
{
|
||||
LL40LS *dev = (LL40LS *)arg;
|
||||
|
||||
dev->cycle();
|
||||
}
|
||||
|
||||
void
|
||||
LL40LS::cycle()
|
||||
{
|
||||
/* collection phase? */
|
||||
if (_collect_phase) {
|
||||
|
||||
/* perform collection */
|
||||
if (OK != collect()) {
|
||||
log("collection error");
|
||||
/* restart the measurement state machine */
|
||||
start();
|
||||
return;
|
||||
}
|
||||
|
||||
/* next phase is measurement */
|
||||
_collect_phase = false;
|
||||
|
||||
/*
|
||||
* Is there a collect->measure gap?
|
||||
*/
|
||||
if (_measure_ticks > USEC2TICK(LL40LS_CONVERSION_INTERVAL)) {
|
||||
|
||||
/* schedule a fresh cycle call when we are ready to measure again */
|
||||
work_queue(HPWORK,
|
||||
&_work,
|
||||
(worker_t)&LL40LS::cycle_trampoline,
|
||||
this,
|
||||
_measure_ticks - USEC2TICK(LL40LS_CONVERSION_INTERVAL));
|
||||
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
/* measurement phase */
|
||||
if (OK != measure()) {
|
||||
log("measure error");
|
||||
}
|
||||
|
||||
/* next phase is collection */
|
||||
_collect_phase = true;
|
||||
|
||||
/* schedule a fresh cycle call when the measurement is done */
|
||||
work_queue(HPWORK,
|
||||
&_work,
|
||||
(worker_t)&LL40LS::cycle_trampoline,
|
||||
this,
|
||||
USEC2TICK(LL40LS_CONVERSION_INTERVAL));
|
||||
}
|
||||
|
||||
void
|
||||
LL40LS::print_info()
|
||||
{
|
||||
perf_print_counter(_sample_perf);
|
||||
perf_print_counter(_comms_errors);
|
||||
perf_print_counter(_buffer_overflows);
|
||||
printf("poll interval: %u ticks\n", _measure_ticks);
|
||||
_reports->print_info("report queue");
|
||||
}
|
||||
|
||||
/**
|
||||
* Local functions in support of the shell command.
|
||||
*/
|
||||
namespace ll40ls
|
||||
{
|
||||
|
||||
/* oddly, ERROR is not defined for c++ */
|
||||
#ifdef ERROR
|
||||
# undef ERROR
|
||||
#endif
|
||||
const int ERROR = -1;
|
||||
|
||||
LL40LS *g_dev;
|
||||
|
||||
void start();
|
||||
void stop();
|
||||
void test();
|
||||
void reset();
|
||||
void info();
|
||||
|
||||
/**
|
||||
* Start the driver.
|
||||
*/
|
||||
void
|
||||
start()
|
||||
{
|
||||
int fd;
|
||||
|
||||
if (g_dev != nullptr) {
|
||||
errx(1, "already started");
|
||||
}
|
||||
|
||||
/* create the driver */
|
||||
g_dev = new LL40LS(LL40LS_BUS);
|
||||
|
||||
if (g_dev == nullptr) {
|
||||
goto fail;
|
||||
}
|
||||
|
||||
if (OK != g_dev->init()) {
|
||||
goto fail;
|
||||
}
|
||||
|
||||
/* set the poll rate to default, starts automatic data collection */
|
||||
fd = open(LL40LS_DEVICE_PATH, O_RDONLY);
|
||||
|
||||
if (fd < 0) {
|
||||
goto fail;
|
||||
}
|
||||
|
||||
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
|
||||
goto fail;
|
||||
}
|
||||
|
||||
exit(0);
|
||||
|
||||
fail:
|
||||
|
||||
if (g_dev != nullptr) {
|
||||
delete g_dev;
|
||||
g_dev = nullptr;
|
||||
}
|
||||
|
||||
errx(1, "driver start failed");
|
||||
}
|
||||
|
||||
/**
|
||||
* Stop the driver
|
||||
*/
|
||||
void stop()
|
||||
{
|
||||
if (g_dev != nullptr) {
|
||||
delete g_dev;
|
||||
g_dev = nullptr;
|
||||
|
||||
} else {
|
||||
errx(1, "driver not running");
|
||||
}
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
/**
|
||||
* Perform some basic functional tests on the driver;
|
||||
* make sure we can collect data from the sensor in polled
|
||||
* and automatic modes.
|
||||
*/
|
||||
void
|
||||
test()
|
||||
{
|
||||
struct range_finder_report report;
|
||||
ssize_t sz;
|
||||
int ret;
|
||||
|
||||
int fd = open(LL40LS_DEVICE_PATH, O_RDONLY);
|
||||
|
||||
if (fd < 0) {
|
||||
err(1, "%s open failed (try 'll40ls start' if the driver is not running", LL40LS_DEVICE_PATH);
|
||||
}
|
||||
|
||||
/* do a simple demand read */
|
||||
sz = read(fd, &report, sizeof(report));
|
||||
|
||||
if (sz != sizeof(report)) {
|
||||
err(1, "immediate read failed");
|
||||
}
|
||||
|
||||
warnx("single read");
|
||||
warnx("measurement: %0.2f m", (double)report.distance);
|
||||
warnx("time: %lld", report.timestamp);
|
||||
|
||||
/* start the sensor polling at 2Hz */
|
||||
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
|
||||
errx(1, "failed to set 2Hz poll rate");
|
||||
}
|
||||
|
||||
/* read the sensor 5x and report each value */
|
||||
for (unsigned i = 0; i < 5; i++) {
|
||||
struct pollfd fds;
|
||||
|
||||
/* wait for data to be ready */
|
||||
fds.fd = fd;
|
||||
fds.events = POLLIN;
|
||||
ret = poll(&fds, 1, 2000);
|
||||
|
||||
if (ret != 1) {
|
||||
errx(1, "timed out waiting for sensor data");
|
||||
}
|
||||
|
||||
/* now go get it */
|
||||
sz = read(fd, &report, sizeof(report));
|
||||
|
||||
if (sz != sizeof(report)) {
|
||||
err(1, "periodic read failed");
|
||||
}
|
||||
|
||||
warnx("periodic read %u", i);
|
||||
warnx("measurement: %0.3f", (double)report.distance);
|
||||
warnx("time: %lld", report.timestamp);
|
||||
}
|
||||
|
||||
/* reset the sensor polling to default rate */
|
||||
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT)) {
|
||||
errx(1, "failed to set default poll rate");
|
||||
}
|
||||
|
||||
errx(0, "PASS");
|
||||
}
|
||||
|
||||
/**
|
||||
* Reset the driver.
|
||||
*/
|
||||
void
|
||||
reset()
|
||||
{
|
||||
int fd = open(LL40LS_DEVICE_PATH, O_RDONLY);
|
||||
|
||||
if (fd < 0) {
|
||||
err(1, "failed ");
|
||||
}
|
||||
|
||||
if (ioctl(fd, SENSORIOCRESET, 0) < 0) {
|
||||
err(1, "driver reset failed");
|
||||
}
|
||||
|
||||
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
|
||||
err(1, "driver poll restart failed");
|
||||
}
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
/**
|
||||
* Print a little info about the driver.
|
||||
*/
|
||||
void
|
||||
info()
|
||||
{
|
||||
if (g_dev == nullptr) {
|
||||
errx(1, "driver not running");
|
||||
}
|
||||
|
||||
printf("state @ %p\n", g_dev);
|
||||
g_dev->print_info();
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
} // namespace
|
||||
|
||||
int
|
||||
ll40ls_main(int argc, char *argv[])
|
||||
{
|
||||
/*
|
||||
* Start/load the driver.
|
||||
*/
|
||||
if (!strcmp(argv[1], "start")) {
|
||||
ll40ls::start();
|
||||
}
|
||||
|
||||
/*
|
||||
* Stop the driver
|
||||
*/
|
||||
if (!strcmp(argv[1], "stop")) {
|
||||
ll40ls::stop();
|
||||
}
|
||||
|
||||
/*
|
||||
* Test the driver/device.
|
||||
*/
|
||||
if (!strcmp(argv[1], "test")) {
|
||||
ll40ls::test();
|
||||
}
|
||||
|
||||
/*
|
||||
* Reset the driver.
|
||||
*/
|
||||
if (!strcmp(argv[1], "reset")) {
|
||||
ll40ls::reset();
|
||||
}
|
||||
|
||||
/*
|
||||
* Print driver information.
|
||||
*/
|
||||
if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) {
|
||||
ll40ls::info();
|
||||
}
|
||||
|
||||
errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'");
|
||||
}
|
|
@ -0,0 +1,40 @@
|
|||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2013 PX4 Development Team. 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
#
|
||||
# Makefile to build the PulsedLight Lidar-Lite driver.
|
||||
#
|
||||
|
||||
MODULE_COMMAND = ll40ls
|
||||
|
||||
SRCS = ll40ls.cpp
|
Loading…
Reference in New Issue