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Merge pull request #2231 from jgoppert/lidar_lite_pwm_fix 

Lidar lite driver fixes.
This commit is contained in:
Lorenz Meier 2015-05-27 10:54:59 -07:00
parent 92f67a923a 57f5db544c
commit 9a67303416
4 changed files with 64 additions and 33 deletions
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9
ROMFS/px4fmu_common/init.d/rc.sensors
View File

@ -115,8 +115,15 @@ if px4flow start
then
fi
if ll40ls start
if param compare SENS_EN_LL40LS 1
then
if pwm_input start
then
fi
if ll40ls start pwm
then
fi
fi
#

75
src/drivers/ll40ls/ll40ls.cpp
View File

@ -36,6 +36,7 @@
* @author Allyson Kreft
* @author Johan Jansen <jnsn.johan@gmail.com>
* @author Ban Siesta <bansiesta@gmail.com>
* @author James Goppert <james.goppert@gmail.com>
*
* Interface for the PulsedLight Lidar-Lite range finders.
*/
@ -79,6 +80,7 @@ LidarLiteI2C *g_dev_int;
LidarLiteI2C *g_dev_ext;
LidarLitePWM *g_dev_pwm;
LidarLite * get_dev(const bool use_i2c, const int bus);
void start(const bool use_i2c, const int bus);
void stop(const bool use_i2c, const int bus);
void test(const bool use_i2c, const int bus);
@ -87,6 +89,25 @@ void info(const bool use_i2c, const int bus);
void regdump(const bool use_i2c, const int bus);
void usage();
/**
* Get the correct device pointer
*/
LidarLite * get_dev(const bool use_i2c, const int bus) {
LidarLite * g_dev = nullptr;
if (use_i2c) {
g_dev = static_cast<LidarLite*>(bus == PX4_I2C_BUS_ONBOARD ? g_dev_int : g_dev_ext);
if (g_dev == nullptr) {
errx(1, "i2c driver not running");
}
} else {
g_dev = static_cast<LidarLite*>(g_dev_pwm);
if (g_dev == nullptr) {
errx(1, "pwm driver not running");
}
}
return g_dev;
};
/**
* Start the driver.
*/
@ -210,6 +231,11 @@ fail:
g_dev_ext = nullptr;
}
if (g_dev_pwm != nullptr) {
delete g_dev_pwm;
g_dev_pwm = nullptr;
}
errx(1, "driver start failed");
}
@ -218,16 +244,24 @@ fail:
*/
void stop(const bool use_i2c, const int bus)
{
LidarLiteI2C **g_dev = (bus == PX4_I2C_BUS_ONBOARD ? &g_dev_int : &g_dev_ext);
if (*g_dev != nullptr) {
delete *g_dev;
*g_dev = nullptr;
} else {
errx(1, "driver not running");
if (use_i2c) {
if (bus == PX4_I2C_BUS_ONBOARD) {
if (g_dev_int != nullptr) {
delete g_dev_int;
g_dev_int = nullptr;
}
} else {
if (g_dev_ext != nullptr) {
delete g_dev_ext;
g_dev_ext = nullptr;
}
}
} else {
if (g_dev_pwm != nullptr) {
delete g_dev_pwm;
g_dev_pwm = nullptr;
}
}
exit(0);
}
@ -346,22 +380,9 @@ reset(const bool use_i2c, const int bus)
void
info(const bool use_i2c, const int bus)
{
LidarLite *g_dev = nullptr;
if (use_i2c) {
g_dev = (bus == PX4_I2C_BUS_ONBOARD ? g_dev_int : g_dev_ext);
if (g_dev == nullptr) {
errx(1, "driver not running");
}
} else {
g_dev = g_dev_pwm;
}
LidarLite * g_dev = get_dev(use_i2c, bus);
printf("state @ %p\n", g_dev);
g_dev->print_info();
exit(0);
}
@ -371,15 +392,9 @@ info(const bool use_i2c, const int bus)
void
regdump(const bool use_i2c, const int bus)
{
LidarLiteI2C *g_dev = (bus == PX4_I2C_BUS_ONBOARD ? g_dev_int : g_dev_ext);
if (g_dev == nullptr) {
errx(1, "driver not running");
}
LidarLite * g_dev = get_dev(use_i2c, bus);
printf("regdump @ %p\n", g_dev);
g_dev->print_registers();
exit(0);
}

6
src/modules/sdlog2/sdlog2_messages.h
View File

@ -301,8 +301,8 @@ struct log_DIST_s {
uint8_t id;
uint8_t type;
uint8_t orientation;
uint16_t current_distance;
uint8_t covariance;
float current_distance;
float covariance;
};
/* LOG IMU1 and IMU2 MSGs consume IDs 22 and 23 */
@ -515,7 +515,7 @@ static const struct log_format_s log_formats[] = {
LOG_FORMAT(ESC, "HBBBHHffiffH", "count,nESC,Conn,N,Ver,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"),
LOG_FORMAT(GVSP, "fff", "VX,VY,VZ"),
LOG_FORMAT(BATT, "ffff", "V,VFilt,C,Discharged"),
LOG_FORMAT(DIST, "iiff", "Type,Orientation,Distance,Covariance"),
LOG_FORMAT(DIST, "BBBff", "Id,Type,Orientation,Distance,Covariance"),
LOG_FORMAT_S(TEL0, TEL, "BBBBHHBQ", "RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf,HbTime"),
LOG_FORMAT_S(TEL1, TEL, "BBBBHHBQ", "RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf,HbTime"),
LOG_FORMAT_S(TEL2, TEL, "BBBBHHBQ", "RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf,HbTime"),

9
src/modules/sensors/sensor_params.c
View File

@ -1401,3 +1401,12 @@ PARAM_DEFINE_INT32(RC_RSSI_PWM_MAX, 1000);
*
*/
PARAM_DEFINE_INT32(RC_RSSI_PWM_MIN, 2000);
/**
* Enable Lidar-Lite (LL40LS) pwm driver
*
* @min 0
* @max 1
* @group Sensor Enable
*/
PARAM_DEFINE_INT32(SENS_EN_LL40LS, 0);