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Deprecate the non-functioning HC_SR04 driver. (#13021)

This commit is contained in:
Mark Sauder 2019-09-25 02:34:50 -06:00 committed by Julian Oes
parent 07d656e971
commit 4a6742c3e6
3 changed files with 0 additions and 880 deletions
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1
src/drivers/distance_sensor/CMakeLists.txt
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@ -32,7 +32,6 @@
############################################################################
add_subdirectory(cm8jl65)
#add_subdirectory(hc_sr04) # not currently supported
add_subdirectory(leddar_one)
add_subdirectory(ll40ls)
add_subdirectory(mappydot)

41
src/drivers/distance_sensor/hc_sr04/CMakeLists.txt
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@ -1,41 +0,0 @@
############################################################################
#
# Copyright (c) 2015 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.
#
############################################################################
px4_add_module(
MODULE drivers__hc_sr04
MAIN hc_sr04
COMPILE_FLAGS
SRCS
hc_sr04.cpp
DEPENDS
)

838
src/drivers/distance_sensor/hc_sr04/hc_sr04.cpp
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@ -1,838 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2015, 2016 Airmind 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 Airmind 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.
*
****************************************************************************/
/**
* @file hc_sr04.cpp
*
* Driver for the hc_sr04 sonar range finders .
*/
#include <px4_config.h>
#include <px4_workqueue.h>
#include <drivers/device/device.h>
#include <px4_defines.h>
#include <containers/Array.hpp>
#include <sys/types.h>
#include <stdint.h>
#include <stdlib.h>
#include <stdbool.h>
#include <semaphore.h>
#include <string.h>
#include <fcntl.h>
#include <poll.h>
#include <errno.h>
#include <stdio.h>
#include <math.h>
#include <unistd.h>
#include <perf/perf_counter.h>
#include <systemlib/err.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_range_finder.h>
#include <drivers/device/ringbuffer.h>
#include <uORB/uORB.h>
#include <uORB/topics/distance_sensor.h>
#define SR04_MAX_RANGEFINDERS 6
#define SR04_ID_BASE 0x10
/* Configuration Constants */
#define SR04_DEVICE_PATH "/dev/hc_sr04"
/* Device limits */
#define SR04_MIN_DISTANCE (0.10f)
#define SR04_MAX_DISTANCE (4.00f)
#define SR04_CONVERSION_INTERVAL 100000 /* 100ms for one sonar */
class HC_SR04 : public cdev::CDev
{
public:
HC_SR04();
virtual ~HC_SR04();
virtual int init();
virtual ssize_t read(device::file_t *filp, char *buffer, size_t buflen);
virtual int ioctl(device::file_t *filp, int cmd, unsigned long arg);
/**
* Diagnostics - print some basic information about the driver.
*/
void print_info();
void interrupt(unsigned time);
protected:
virtual int probe();
private:
float _min_distance;
float _max_distance;
ringbuffer::RingBuffer *_reports;
bool _sensor_ok;
int _measure_interval;
bool _collect_phase;
int _class_instance;
int _orb_class_instance;
orb_advert_t _distance_sensor_topic;
perf_counter_t _sample_perf;
perf_counter_t _comms_errors;
uint8_t _cycle_counter; /* counter in cycle to change i2c adresses */
int _cycling_rate; /* */
uint8_t _index_counter; /* temporary sonar i2c address */
px4::Array<float, 6>
_latest_sonar_measurements; /* vector to store latest sonar measurements in before writing to report */
unsigned _sonars{6};
struct GPIOConfig {
uint32_t trig_port;
uint32_t echo_port;
uint32_t alt;
};
static const GPIOConfig _gpio_tab[];
unsigned _raising_time;
unsigned _falling_time;
unsigned _status;
/**
* Test whether the device supported by the driver is present at a
* specific address.
*
* @param address The I2C bus address to probe.
* @return True if the device is present.
*/
int probe_address(uint8_t address);
/**
* Initialise the automatic measurement state machine and start it.
*
* @note This function is called at open and error time. It might make sense
* to make it more aggressive about resetting the bus in case of errors.
*/
void start();
/**
* Stop the automatic measurement state machine.
*/
void stop();
/**
* Set the min and max distance thresholds if you want the end points of the sensors
* range to be brought in at all, otherwise it will use the defaults MB12XX_MIN_DISTANCE
* and MB12XX_MAX_DISTANCE
*/
void set_minimum_distance(float min);
void set_maximum_distance(float max);
float get_minimum_distance();
float get_maximum_distance();
/**
* Perform a poll cycle; collect from the previous measurement
* and start a new one.
*/
void Run() override;
int measure();
int collect();
};
const HC_SR04::GPIOConfig HC_SR04::_gpio_tab[] = {
{GPIO_GPIO6_OUTPUT, GPIO_GPIO7_INPUT, 0},
{GPIO_GPIO6_OUTPUT, GPIO_GPIO8_INPUT, 0},
{GPIO_GPIO6_OUTPUT, GPIO_GPIO9_INPUT, 0},
{GPIO_GPIO6_OUTPUT, GPIO_GPIO10_INPUT, 0},
{GPIO_GPIO6_OUTPUT, GPIO_GPIO11_INPUT, 0},
{GPIO_GPIO6_OUTPUT, GPIO_GPIO12_INPUT, 0}
};
/*
* Driver 'main' command.
*/
extern "C" __EXPORT int hc_sr04_main(int argc, char *argv[]);
static int sonar_isr(int irq, void *context);
HC_SR04::HC_SR04() :
CDev(SR04_DEVICE_PATH, 0),
_min_distance(SR04_MIN_DISTANCE),
_max_distance(SR04_MAX_DISTANCE),
_reports(nullptr),
_sensor_ok(false),
_measure_interval(0),
_collect_phase(false),
_class_instance(-1),
_orb_class_instance(-1),
_distance_sensor_topic(nullptr),
_sample_perf(perf_alloc(PC_ELAPSED, "hc_sr04_read")),
_comms_errors(perf_alloc(PC_COUNT, "hc_sr04_comms_errors")),
_cycle_counter(0), /* initialising counter for cycling function to zero */
_cycling_rate(0), /* initialising cycling rate (which can differ depending on one sonar or multiple) */
_index_counter(0), /* initialising temp sonar i2c address to zero */
_sonars(sonars),
_raising_time(0),
_falling_time(0),
_status(0)
{
}
HC_SR04::~HC_SR04()
{
/* make sure we are truly inactive */
stop();
/* free any existing reports */
if (_reports != nullptr) {
delete _reports;
}
if (_class_instance != -1) {
unregister_class_devname(RANGE_FINDER_BASE_DEVICE_PATH, _class_instance);
}
/* free perf counters */
perf_free(_sample_perf);
perf_free(_comms_errors);
}
int
HC_SR04::init()
{
int ret = PX4_ERROR;
/* do I2C init (and probe) first */
if (CDev::init() != OK) {
return PX4_ERROR;
}
/* allocate basic report buffers */
_reports = new ringbuffer::RingBuffer(2, sizeof(distance_sensor_s));
if (_reports == nullptr) {
return PX4_ERROR;
}
_class_instance = register_class_devname(RANGE_FINDER_BASE_DEVICE_PATH);
/* get a publish handle on the range finder topic */
struct distance_sensor_s ds_report = {};
_distance_sensor_topic = orb_advertise_multi(ORB_ID(distance_sensor), &ds_report,
&_orb_class_instance, ORB_PRIO_LOW);
if (_distance_sensor_topic == nullptr) {
PX4_ERR("failed to create distance_sensor object");
}
/* init echo port : */
for (unsigned i = 0; i <= _sonars; i++) {
px4_arch_configgpio(_gpio_tab[i].trig_port);
px4_arch_gpiowrite(_gpio_tab[i].trig_port, false);
px4_arch_configgpio(_gpio_tab[i].echo_port);
_latest_sonar_measurements.push_back(0);
}
usleep(200000); /* wait for 200ms; */
_cycling_rate = SR04_CONVERSION_INTERVAL;
/* show the connected sonars in terminal */
PX4_DEBUG("Number of sonars set: %d", _sonars);
ret = OK;
/* sensor is ok, but we don't really know if it is within range */
_sensor_ok = true;
return ret;
}
int
HC_SR04::probe()
{
return (OK);
}
void
HC_SR04::set_minimum_distance(float min)
{
_min_distance = min;
}
void
HC_SR04::set_maximum_distance(float max)
{
_max_distance = max;
}
float
HC_SR04::get_minimum_distance()
{
return _min_distance;
}
float
HC_SR04::get_maximum_distance()
{
return _max_distance;
}
void
HC_SR04::interrupt(unsigned time)
{
if (_status == 0) {
_raising_time = time;
_status++;
return;
} else if (_status == 1) {
_falling_time = time;
_status++;
return;
}
return;
}
int
HC_SR04::ioctl(device::file_t *filp, int cmd, unsigned long arg)
{
switch (cmd) {
case SENSORIOCSPOLLRATE: {
switch (arg) {
/* zero would be bad */
case 0:
return -EINVAL;
/* set default polling rate */
case SENSOR_POLLRATE_DEFAULT: {
/* do we need to start internal polling? */
bool want_start = (_measure_interval == 0);
/* set interval for next measurement to minimum legal value */
_measure_interval = _cycling_rate;
/* if we need to start the poll state machine, do it */
if (want_start) {
start();
}
return OK;
}
/* adjust to a legal polling interval in Hz */
default: {
/* do we need to start internal polling? */
bool want_start = (_measure_interval == 0);
/* convert hz to tick interval via microseconds */
int interval = (1000000 / arg);
/* check against maximum rate */
if (interval < _cycling_rate) {
return -EINVAL;
}
/* update interval for next measurement */
_measure_interval = interval;
/* if we need to start the poll state machine, do it */
if (want_start) {
start();
}
return OK;
}
}
}
default:
/* give it to the superclass */
return CDev::ioctl(filp, cmd, arg);
}
}
ssize_t
HC_SR04::read(device::file_t *filp, char *buffer, size_t buflen)
{
unsigned count = buflen / sizeof(struct distance_sensor_s);
struct distance_sensor_s *rbuf = reinterpret_cast<struct distance_sensor_s *>(buffer);
int ret = 0;
/* buffer must be large enough */
if (count < 1) {
return -ENOSPC;
}
/* if automatic measurement is enabled */
if (_measure_interval > 0) {
/*
* While there is space in the caller's buffer, and reports, copy them.
* Note that we may be pre-empted by the workq thread while we are doing this;
* we are careful to avoid racing with them.
*/
while (count--) {
if (_reports->get(rbuf)) {
ret += sizeof(*rbuf);
rbuf++;
}
}
/* if there was no data, warn the caller */
return ret ? ret : -EAGAIN;
}
/* manual measurement - run one conversion */
do {
_reports->flush();
/* trigger a measurement */
if (OK != measure()) {
ret = -EIO;
break;
}
/* wait for it to complete */
usleep(_cycling_rate * 2);
/* run the collection phase */
if (OK != collect()) {
ret = -EIO;
break;
}
/* state machine will have generated a report, copy it out */
if (_reports->get(rbuf)) {
ret = sizeof(*rbuf);
}
} while (0);
return ret;
}
int
HC_SR04::measure()
{
int ret;
/*
* Send a plus begin a measurement.
*/
px4_arch_gpiowrite(_gpio_tab[_cycle_counter].trig_port, true);
usleep(10); // 10us
px4_arch_gpiowrite(_gpio_tab[_cycle_counter].trig_port, false);
px4_arch_gpiosetevent(_gpio_tab[_cycle_counter].echo_port, true, true, false, sonar_isr);
_status = 0;
ret = OK;
return ret;
}
int
HC_SR04::collect()
{
int ret = -EIO;
#if 0
perf_begin(_sample_perf);
/* read from the sensor */
if (_status != 2) {
PX4_DEBUG("erro sonar %d ,status=%d", _cycle_counter, _status);
px4_arch_gpiosetevent(_gpio_tab[_cycle_counter].echo_port, true, true, false, nullptr);
perf_end(_sample_perf);
return (ret);
}
unsigned distance_time = _falling_time - _raising_time ;
float si_units = (distance_time * 0.000170f) ; /* meter */
struct distance_sensor_s report;
/* this should be fairly close to the end of the measurement, so the best approximation of the time */
report.timestamp = hrt_absolute_time();
report.error_count = perf_event_count(_comms_errors);
/* if only one sonar, write it to the original distance parameter so that it's still used as altitude sonar */
if (_sonars == 1) {
report.distance = si_units;
for (unsigned i = 0; i < (SRF02_MAX_RANGEFINDERS); i++) {
report.id[i] = 0;
report.distance_vector[i] = 0;
}
report.id[0] = SR04_ID_BASE;
report.distance_vector[0] = si_units; // 将测量值填入向量中，适应test()的要求
report.just_updated = 1;
} else {
/* for multiple sonars connected */
_latest_sonar_measurements[_cycle_counter] = si_units;
report.just_updated = 0;
for (unsigned i = 0; i < SRF02_MAX_RANGEFINDERS; i++) {
if (i < _sonars) {
report.distance_vector[i] = _latest_sonar_measurements[i];
report.id[i] = SR04_ID_BASE + i;
report.just_updated++;
} else {
report.distance_vector[i] = 0;
report.id[i] = 0;
}
}
report.distance = _latest_sonar_measurements[0]; //
}
report.minimum_distance = get_minimum_distance();
report.maximum_distance = get_maximum_distance();
report.valid = si_units > get_minimum_distance() && si_units < get_maximum_distance() ? 1 : 0;
/* publish it, if we are the primary */
if (_distance_sensor_topic != nullptr) {
orb_publish(ORB_ID(distance_sensor), _distance_sensor_topic, &report);
}
_reports->force(&report);
/* notify anyone waiting for data */
poll_notify(POLLIN);
ret = OK;
px4_arch_gpiosetevent(_gpio_tab[_cycle_counter].echo_port, true, true, false, nullptr); /* close interrupt */
perf_end(_sample_perf);
#endif
return ret;
}
void
HC_SR04::start()
{
/* reset the report ring and state machine */
_collect_phase = false;
_reports->flush();
measure(); /* begin measure */
/* schedule a cycle to start things */
ScheduleDelayed(_cycling_rate);
}
void
HC_SR04::stop()
{
ScheduleClear();
}
void
HC_SR04::Run()
{
/*_circle_count 计录当前sonar　*/
/* perform collection */
if (OK != collect()) {
PX4_DEBUG("collection error");
}
/* change to next sonar */
_cycle_counter = _cycle_counter + 1;
if (_cycle_counter >= _sonars) {
_cycle_counter = 0;
}
/* 测量next sonar */
if (OK != measure()) {
PX4_DEBUG("measure error sonar adress %d", _cycle_counter);
}
ScheduleDelayed(_cycling_rate);
}
void
HC_SR04::print_info()
{
perf_print_counter(_sample_perf);
perf_print_counter(_comms_errors);
printf("poll interval: %u \n", _measure_interval);
_reports->print_info("report queue");
}
/**
* Local functions in support of the shell command.
*/
namespace hc_sr04
{
HC_SR04 *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 HC_SR04();
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(SR04_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()
{
#if 0
struct distance_sensor_s report;
ssize_t sz;
int ret;
int fd = open(SR04_DEVICE_PATH, O_RDONLY);
if (fd < 0) {
err(1, "%s open failed (try 'hc_sr04 start' if the driver is not running", SR04_DEVICE_PATH);
}
/* do a simple demand read */
sz = read(fd, &report, sizeof(report));
if (sz != sizeof(report)) {
err(1, "immediate read failed");
}
print_message(report);
/* 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");
}
print_message(report);
}
/* 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");
#endif
}
/**
* Reset the driver.
*/
void
reset()
{
int fd = open(SR04_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 */
static int sonar_isr(int irq, void *context)
{
unsigned time = hrt_absolute_time();
/* ack the interrupts we just read */
if (hc_sr04::g_dev != nullptr) {
hc_sr04::g_dev->interrupt(time);
}
return OK;
}
int
hc_sr04_main(int argc, char *argv[])
{
/*
* Start/load the driver.
*/
if (!strcmp(argv[1], "start")) {
hc_sr04::start();
}
/*
* Stop the driver
*/
if (!strcmp(argv[1], "stop")) {
hc_sr04::stop();
}
/*
* Test the driver/device.
*/
if (!strcmp(argv[1], "test")) {
hc_sr04::test();
}
/*
* Reset the driver.
*/
if (!strcmp(argv[1], "reset")) {
hc_sr04::reset();
}
/*
* Print driver information.
*/
if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) {
hc_sr04::info();
}
errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'");
}