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Added support for TFmini-LiDAR

This commit is contained in:
Ayush 2017-12-31 23:20:37 +05:30 committed by Lorenz Meier
parent ad532d0510
commit 9f2bb6c7f9
6 changed files with 1293 additions and 0 deletions
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1
cmake/configs/nuttx_px4fmu-v2_default.cmake
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@ -59,6 +59,7 @@ set(config_module_list
#drivers/ulanding
drivers/vmount
modules/sensors
drivers/tfmini
#
# System commands

44
src/drivers/tfmini/CMakeLists.txt Normal file
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@ -0,0 +1,44 @@
############################################################################
#
# Copyright (c) 2017 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__tfmini
MAIN tfmini
COMPILE_FLAGS
-Wno-sign-compare
SRCS
tfmini.cpp
tfmini_parser.cpp
DEPENDS
platforms__common
)
# vim: set noet ft=cmake fenc=utf-8 ff=unix :

986
src/drivers/tfmini/tfmini.cpp Normal file
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@ -0,0 +1,986 @@
/****************************************************************************
*
* Copyright (c) 2017 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.
*
****************************************************************************/
/**
* @file tfmini.cpp
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Greg Hulands
* @author Ayush Gaud <ayush.gaud@gmail.com>
*
* Driver for the Benewake TFmini laser rangefinder series
*/
#include <px4_config.h>
#include <px4_getopt.h>
#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 <termios.h>
#include <nuttx/arch.h>
#include <nuttx/wqueue.h>
#include <nuttx/clock.h>
#include <systemlib/perf_counter.h>
#include <systemlib/err.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_range_finder.h>
#include <drivers/device/device.h>
#include <drivers/device/ringbuffer.h>
#include <uORB/uORB.h>
#include <uORB/topics/subsystem_info.h>
#include <uORB/topics/distance_sensor.h>
#include <board_config.h>
#include "tfmini_parser.h"
/* Configuration Constants */
#ifndef CONFIG_SCHED_WORKQUEUE
# error This requires CONFIG_SCHED_WORKQUEUE.
#endif
// designated SERIAL4/5 on Pixhawk
#define TFMINI_DEFAULT_PORT "/dev/ttyS6"
class TFMINI : public device::CDev
{
public:
TFMINI(const char *port = TFMINI_DEFAULT_PORT, uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING);
virtual ~TFMINI();
virtual int init();
virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
/**
* Diagnostics - print some basic information about the driver.
*/
void print_info();
private:
char _port[20];
uint8_t _rotation;
float _min_distance;
float _max_distance;
int _conversion_interval;
work_s _work;
ringbuffer::RingBuffer *_reports;
bool _sensor_ok;
int _measure_ticks;
bool _collect_phase;
int _fd;
char _linebuf[10];
unsigned _linebuf_index;
enum TFMINI_PARSE_STATE _parse_state;
hrt_abstime _last_read;
int _class_instance;
int _orb_class_instance;
orb_advert_t _distance_sensor_topic;
unsigned _consecutive_fail_count;
perf_counter_t _sample_perf;
perf_counter_t _comms_errors;
/**
* 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 TFMINI_MIN_DISTANCE
* and TFMINI_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 cycle();
int collect();
/**
* Static trampoline from the workq context; because we don't have a
* generic workq wrapper yet.
*
* @param arg Instance pointer for the driver that is polling.
*/
static void cycle_trampoline(void *arg);
};
/*
* Driver 'main' command.
*/
extern "C" __EXPORT int tfmini_main(int argc, char *argv[]);
TFMINI::TFMINI(const char *port, uint8_t rotation) :
CDev("TFMINI", RANGE_FINDER0_DEVICE_PATH),
_rotation(rotation),
_min_distance(0.30f),
_max_distance(12.0f),
_conversion_interval(10000),
_reports(nullptr),
_sensor_ok(false),
_measure_ticks(0),
_collect_phase(false),
_fd(-1),
_linebuf_index(0),
_parse_state(TFMINI_PARSE_STATE0_UNSYNC),
_last_read(0),
_class_instance(-1),
_orb_class_instance(-1),
_distance_sensor_topic(nullptr),
_consecutive_fail_count(0),
_sample_perf(perf_alloc(PC_ELAPSED, "tfmini_read")),
_comms_errors(perf_alloc(PC_COUNT, "tfmini_com_err"))
{
/* store port name */
strncpy(_port, port, sizeof(_port));
/* enforce null termination */
_port[sizeof(_port) - 1] = '\0';
/* open fd */
_fd = ::open(_port, O_RDWR | O_NOCTTY | O_SYNC);
/*baudrate 115200, 8 bits, no parity, 1 stop bit */
unsigned speed = B115200;
struct termios uart_config;
int termios_state;
tcgetattr(_fd, &uart_config);
/* clear ONLCR flag (which appends a CR for every LF) */
uart_config.c_oflag &= ~ONLCR;
/* set baud rate */
if ((termios_state = cfsetispeed(&uart_config, speed)) < 0) {
warnx("ERR CFG: %d ISPD", termios_state);
}
if ((termios_state = cfsetospeed(&uart_config, speed)) < 0) {
warnx("ERR CFG: %d OSPD\n", termios_state);
}
if ((termios_state = tcsetattr(_fd, TCSANOW, &uart_config)) < 0) {
warnx("ERR baud %d ATTR", termios_state);
}
uart_config.c_cflag |= (CLOCAL | CREAD); /* ignore modem controls */
uart_config.c_cflag &= ~CSIZE;
uart_config.c_cflag |= CS8; /* 8-bit characters */
uart_config.c_cflag &= ~PARENB; /* no parity bit */
uart_config.c_cflag &= ~CSTOPB; /* only need 1 stop bit */
uart_config.c_cflag &= ~CRTSCTS; /* no hardware flowcontrol */
/* setup for non-canonical mode */
uart_config.c_iflag &= ~(IGNBRK | BRKINT | PARMRK | ISTRIP | INLCR | IGNCR | ICRNL | IXON);
uart_config.c_lflag &= ~(ECHO | ECHONL | ICANON | ISIG | IEXTEN);
uart_config.c_oflag &= ~OPOST;
/* fetch bytes as they become available */
uart_config.c_cc[VMIN] = 1;
uart_config.c_cc[VTIME] = 1;
if (_fd < 0) {
warnx("FAIL: laser fd");
}
// disable debug() calls
_debug_enabled = false;
// work_cancel in the dtor will explode if we don't do this...
memset(&_work, 0, sizeof(_work));
}
TFMINI::~TFMINI()
{
/* 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);
}
perf_free(_sample_perf);
perf_free(_comms_errors);
}
int
TFMINI::init()
{
int hw_model;
param_get(param_find("SENS_EN_TFMINI"), &hw_model);
switch (hw_model) {
case 0:
DEVICE_LOG("disabled.");
return 0;
case 1: /* TFMINI (12m, 100 Hz)*/
_min_distance = 0.3f;
_max_distance = 12.0f;
_conversion_interval = 10000;
break;
default:
DEVICE_LOG("invalid HW model %d.", hw_model);
return -1;
}
/* status */
int ret = 0;
do { /* create a scope to handle exit conditions using break */
/* do regular cdev init */
ret = CDev::init();
if (ret != OK) { break; }
/* allocate basic report buffers */
_reports = new ringbuffer::RingBuffer(2, sizeof(distance_sensor_s));
if (_reports == nullptr) {
warnx("mem err");
ret = -1;
break;
}
_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_HIGH);
if (_distance_sensor_topic == nullptr) {
DEVICE_LOG("failed to create distance_sensor object. Did you start uOrb?");
}
} while (0);
/* close the fd */
::close(_fd);
_fd = -1;
return OK;
}
void
TFMINI::set_minimum_distance(float min)
{
_min_distance = min;
}
void
TFMINI::set_maximum_distance(float max)
{
_max_distance = max;
}
float
TFMINI::get_minimum_distance()
{
return _min_distance;
}
float
TFMINI::get_maximum_distance()
{
return _max_distance;
}
int
TFMINI::ioctl(struct file *filp, int cmd, unsigned long arg)
{
switch (cmd) {
case SENSORIOCSPOLLRATE: {
switch (arg) {
/* switching to manual polling */
case SENSOR_POLLRATE_MANUAL:
stop();
_measure_ticks = 0;
return OK;
/* external signalling (DRDY) not supported */
case SENSOR_POLLRATE_EXTERNAL:
/* zero would be bad */
case 0:
return -EINVAL;
/* set default/max polling rate */
case SENSOR_POLLRATE_MAX:
case SENSOR_POLLRATE_DEFAULT: {
/* do we need to start internal polling? */
bool want_start = (_measure_ticks == 0);
/* set interval for next measurement to minimum legal value */
_measure_ticks = USEC2TICK(_conversion_interval);
/* 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_ticks == 0);
/* convert hz to tick interval via microseconds */
unsigned ticks = USEC2TICK(1000000 / arg);
/* check against maximum rate */
if (ticks < USEC2TICK(_conversion_interval)) {
return -EINVAL;
}
/* update interval for next measurement */
_measure_ticks = ticks;
/* if we need to start the poll state machine, do it */
if (want_start) {
start();
}
return OK;
}
}
}
case SENSORIOCGPOLLRATE:
if (_measure_ticks == 0) {
return SENSOR_POLLRATE_MANUAL;
}
return (1000 / _measure_ticks);
case SENSORIOCSQUEUEDEPTH: {
/* lower bound is mandatory, upper bound is a sanity check */
if ((arg < 1) || (arg > 100)) {
return -EINVAL;
}
irqstate_t flags = px4_enter_critical_section();
if (!_reports->resize(arg)) {
px4_leave_critical_section(flags);
return -ENOMEM;
}
px4_leave_critical_section(flags);
return OK;
}
case SENSORIOCGQUEUEDEPTH:
return _reports->size();
case SENSORIOCRESET:
/* XXX implement this */
return -EINVAL;
case RANGEFINDERIOCSETMINIUMDISTANCE: {
set_minimum_distance(*(float *)arg);
return 0;
}
break;
case RANGEFINDERIOCSETMAXIUMDISTANCE: {
set_maximum_distance(*(float *)arg);
return 0;
}
break;
default:
/* give it to the superclass */
return CDev::ioctl(filp, cmd, arg);
}
}
ssize_t
TFMINI::read(struct file *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_ticks > 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();
/* wait for it to complete */
usleep(_conversion_interval);
/* 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
TFMINI::collect()
{
int ret;
perf_begin(_sample_perf);
/* clear buffer if last read was too long ago */
uint64_t read_elapsed = hrt_elapsed_time(&_last_read);
/* the buffer for read chars is buflen minus null termination */
char readbuf[sizeof(_linebuf)];
unsigned readlen = sizeof(readbuf) - 1;
/* read from the sensor (uart buffer) */
ret = ::read(_fd, &readbuf[0], readlen);
if (ret < 0) {
DEVICE_DEBUG("read err: %d", ret);
perf_count(_comms_errors);
perf_end(_sample_perf);
/* only throw an error if we time out */
if (read_elapsed > (_conversion_interval * 2)) {
return ret;
} else {
return -EAGAIN;
}
} else if (ret == 0) {
return -EAGAIN;
}
_last_read = hrt_absolute_time();
float distance_m = -1.0f;
bool valid = false;
for (int i = 0; i < ret; i++) {
if (OK == tfmini_parser(readbuf[i], _linebuf, &_linebuf_index, &_parse_state, &distance_m)) {
valid = true;
}
}
if (!valid) {
return -EAGAIN;
}
DEVICE_DEBUG("val (float): %8.4f, raw: %s, valid: %s", (double)distance_m, _linebuf, ((valid) ? "OK" : "NO"));
struct distance_sensor_s report;
report.timestamp = hrt_absolute_time();
report.type = distance_sensor_s::MAV_DISTANCE_SENSOR_LASER;
report.orientation = _rotation;
report.current_distance = distance_m;
report.min_distance = get_minimum_distance();
report.max_distance = get_maximum_distance();
report.covariance = 0.0f;
/* TODO: set proper ID */
report.id = 0;
/* publish it */
orb_publish(ORB_ID(distance_sensor), _distance_sensor_topic, &report);
_reports->force(&report);
/* notify anyone waiting for data */
poll_notify(POLLIN);
ret = OK;
perf_end(_sample_perf);
return ret;
}
void
TFMINI::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)&TFMINI::cycle_trampoline, this, 1);
/* notify about state change */
struct subsystem_info_s info = {};
info.present = true;
info.enabled = true;
info.ok = true;
info.subsystem_type = subsystem_info_s::SUBSYSTEM_TYPE_RANGEFINDER;
static orb_advert_t pub = nullptr;
if (pub != nullptr) {
orb_publish(ORB_ID(subsystem_info), pub, &info);
} else {
pub = orb_advertise(ORB_ID(subsystem_info), &info);
}
}
void
TFMINI::stop()
{
work_cancel(HPWORK, &_work);
}
void
TFMINI::cycle_trampoline(void *arg)
{
TFMINI *dev = static_cast<TFMINI *>(arg);
dev->cycle();
}
void
TFMINI::cycle()
{
/* fds initialized? */
if (_fd < 0) {
/* open fd */
_fd = ::open(TFMINI_DEFAULT_PORT, O_RDWR | O_NOCTTY | O_SYNC);
}
/* collection phase? */
if (_collect_phase) {
/* perform collection */
int collect_ret = collect();
if (collect_ret == -EAGAIN) {
/* reschedule to grab the missing bits, time to transmit 8 bytes @ 9600 bps */
work_queue(HPWORK,
&_work,
(worker_t)&TFMINI::cycle_trampoline,
this,
USEC2TICK(1042 * 8));
return;
}
if (OK != collect_ret) {
/* we know the sensor needs about four seconds to initialize */
if (hrt_absolute_time() > 5 * 1000 * 1000LL && _consecutive_fail_count < 5) {
DEVICE_LOG("collection error #%u", _consecutive_fail_count);
}
_consecutive_fail_count++;
/* restart the measurement state machine */
start();
return;
} else {
/* apparently success */
_consecutive_fail_count = 0;
}
/* next phase is measurement */
_collect_phase = false;
/*
* Is there a collect->measure gap?
*/
if (_measure_ticks > USEC2TICK(_conversion_interval)) {
/* schedule a fresh cycle call when we are ready to measure again */
work_queue(HPWORK,
&_work,
(worker_t)&TFMINI::cycle_trampoline,
this,
_measure_ticks - USEC2TICK(_conversion_interval));
return;
}
}
/* next phase is collection */
_collect_phase = true;
/* schedule a fresh cycle call when the measurement is done */
work_queue(HPWORK,
&_work,
(worker_t)&TFMINI::cycle_trampoline,
this,
USEC2TICK(_conversion_interval));
}
void
TFMINI::print_info()
{
perf_print_counter(_sample_perf);
perf_print_counter(_comms_errors);
printf("poll interval: %d ticks\n", _measure_ticks);
_reports->print_info("report queue");
}
/**
* Local functions in support of the shell command.
*/
namespace tfmini
{
TFMINI *g_dev;
void start(const char *port, uint8_t rotation);
void stop();
void test();
void reset();
void info();
/**
* Start the driver.
*/
void
start(const char *port, uint8_t rotation)
{
int fd;
if (g_dev != nullptr) {
errx(1, "already started");
}
/* create the driver */
g_dev = new TFMINI(port, rotation);
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(RANGE_FINDER0_DEVICE_PATH, 0);
if (fd < 0) {
warnx("device open fail");
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 distance_sensor_s report;
ssize_t sz;
int fd = open(RANGE_FINDER0_DEVICE_PATH, O_RDONLY);
if (fd < 0) {
err(1, "%s open failed (try 'tfmini start' if the driver is not running", RANGE_FINDER0_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.current_distance);
warnx("time: %llu", report.timestamp);
/* start the sensor polling at 2 Hz rate */
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;
int ret = poll(&fds, 1, 2000);
if (ret != 1) {
warnx("timed out");
break;
}
/* now go get it */
sz = read(fd, &report, sizeof(report));
if (sz != sizeof(report)) {
warnx("read failed: got %d vs exp. %d", sz, sizeof(report));
break;
}
warnx("read #%u", i);
warnx("valid %u", (float)report.current_distance > report.min_distance
&& (float)report.current_distance < report.max_distance ? 1 : 0);
warnx("measurement: %0.3f m", (double)report.current_distance);
warnx("time: %llu", report.timestamp);
}
/* reset the sensor polling to the default rate */
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT)) {
errx(1, "ERR: DEF RATE");
}
errx(0, "PASS");
}
/**
* Reset the driver.
*/
void
reset()
{
int fd = open(RANGE_FINDER0_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
tfmini_main(int argc, char *argv[])
{
// check for optional arguments
int ch;
uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING;
int myoptind = 1;
const char *myoptarg = NULL;
while ((ch = px4_getopt(argc, argv, "R:", &myoptind, &myoptarg)) != EOF) {
switch (ch) {
case 'R':
rotation = (uint8_t)atoi(myoptarg);
PX4_INFO("Setting distance sensor orientation to %d", (int)rotation);
break;
default:
PX4_WARN("Unknown option!");
}
}
/*
* Start/load the driver.
*/
if (!strcmp(argv[myoptind], "start")) {
if (argc > myoptind + 1) {
tfmini::start(argv[myoptind + 1], rotation);
} else {
tfmini::start(TFMINI_DEFAULT_PORT, rotation);
}
}
/*
* Stop the driver
*/
if (!strcmp(argv[myoptind], "stop")) {
tfmini::stop();
}
/*
* Test the driver/device.
*/
if (!strcmp(argv[myoptind], "test")) {
tfmini::test();
}
/*
* Reset the driver.
*/
if (!strcmp(argv[myoptind], "reset")) {
tfmini::reset();
}
/*
* Print driver information.
*/
if (!strcmp(argv[myoptind], "info") || !strcmp(argv[1], "status")) {
tfmini::info();
}
errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'");
}

180
src/drivers/tfmini/tfmini_parser.cpp Normal file
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@ -0,0 +1,180 @@
/****************************************************************************
*
* Copyright (c) 2017 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.
*
****************************************************************************/
/**
* @file modified from sf0x_parser.cpp
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Chuong Nguyen <chnguye7@asu.edu>
* @author Ayush Gaud <ayush.gaud@gmail.com>
*
* Declarations of parser for the Benewake TFmini laser rangefinder series
*/
#include "tfmini_parser.h"
#include <string.h>
#include <stdlib.h>
// #define TFMINI_DEBUG
#ifdef TFMINI_DEBUG
#include <stdio.h>
const char *parser_state[] = {
"0_UNSYNC",
"1_SYNC_1",
"2_SYNC_2",
"3_GOT_DIST_L",
"4_GOT_DIST_H",
"5_GOT_STRENGTH_L",
"6_GOT_STRENGTH_H",
"7_GOT_PRESERVED",
"8_GOT_QUALITY"
"9_GOT_CHECKSUM"
};
#endif
int tfmini_parser(char c, char *parserbuf, unsigned *parserbuf_index, enum TFMINI_PARSE_STATE *state, float *dist)
{
int ret = -1;
//char *end;
switch (*state) {
case TFMINI_PARSE_STATE6_GOT_CHECKSUM:
if (c == 'Y') {
*state = TFMINI_PARSE_STATE1_SYNC_1;
parserbuf[*parserbuf_index] = c;
(*parserbuf_index)++;
} else {
*state = TFMINI_PARSE_STATE0_UNSYNC;
}
break;
case TFMINI_PARSE_STATE0_UNSYNC:
if (c == 'Y') {
*state = TFMINI_PARSE_STATE1_SYNC_1;
parserbuf[*parserbuf_index] = c;
(*parserbuf_index)++;
}
break;
case TFMINI_PARSE_STATE1_SYNC_1:
if (c == 'Y') {
*state = TFMINI_PARSE_STATE1_SYNC_2;
parserbuf[*parserbuf_index] = c;
(*parserbuf_index)++;
} else {
*state = TFMINI_PARSE_STATE0_UNSYNC;
*parserbuf_index = 0;
}
break;
case TFMINI_PARSE_STATE1_SYNC_2:
*state = TFMINI_PARSE_STATE2_GOT_DIST_L;
parserbuf[*parserbuf_index] = c;
(*parserbuf_index)++;
break;
case TFMINI_PARSE_STATE2_GOT_DIST_L:
*state = TFMINI_PARSE_STATE2_GOT_DIST_H;
parserbuf[*parserbuf_index] = c;
(*parserbuf_index)++;
break;
case TFMINI_PARSE_STATE2_GOT_DIST_H:
*state = TFMINI_PARSE_STATE3_GOT_STRENGTH_L;
parserbuf[*parserbuf_index] = c;
(*parserbuf_index)++;
break;
case TFMINI_PARSE_STATE3_GOT_STRENGTH_L:
*state = TFMINI_PARSE_STATE3_GOT_STRENGTH_H;
parserbuf[*parserbuf_index] = c;
(*parserbuf_index)++;
break;
case TFMINI_PARSE_STATE3_GOT_STRENGTH_H:
*state = TFMINI_PARSE_STATE4_GOT_RESERVED;
parserbuf[*parserbuf_index] = c;
(*parserbuf_index)++;
break;
case TFMINI_PARSE_STATE4_GOT_RESERVED:
*state = TFMINI_PARSE_STATE5_GOT_QUALITY;
parserbuf[*parserbuf_index] = c;
(*parserbuf_index)++;
break;
case TFMINI_PARSE_STATE5_GOT_QUALITY:
// Find the checksum
unsigned char cksm = 0;
for (int i = 0; i < 8; i++) {
cksm += parserbuf[i];
}
if (c == cksm) {
parserbuf[*parserbuf_index] = '\0';
unsigned int t1 = parserbuf[2];
unsigned int t2 = parserbuf[3];
t2 <<= 8;
t2 += t1;
*dist = ((float)t2) / 100;
*state = TFMINI_PARSE_STATE6_GOT_CHECKSUM;
*parserbuf_index = 0;
ret = 0;
} else {
*state = TFMINI_PARSE_STATE0_UNSYNC;
*parserbuf_index = 0;
}
break;
}
#ifdef TFMINI_DEBUG
printf("state: TFMINI_PARSE_STATE%s\n", parser_state[*state]);
#endif
return ret;
}

72
src/drivers/tfmini/tfmini_parser.h Normal file
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@ -0,0 +1,72 @@
/****************************************************************************
*
* Copyright (c) 2017 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.
*
****************************************************************************/
/**
* @file modified from sf0x_parser.cpp
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Chuong Nguyen <chnguye7@asu.edu>
* @author Ayush Gaud <ayush.gaud@gmail.com>
*
* Declarations of parser for the Benewake TFmini laser rangefinder series
*/
#pragma once
// Data Format for Benewake TFmini
// ===============================
// 9 bytes total per message:
// 1) 0x59
// 2) 0x59
// 3) Dist_L (low 8bit)
// 4) Dist_H (high 8bit)
// 5) Strength_L (low 8bit)
// 6) Strength_H (high 8bit)
// 7) Reserved bytes
// 8) Original signal quality degree
// 9) Checksum parity bit (low 8bit), Checksum = Byte1 + Byte2 +...+Byte8. This is only a low 8bit though
enum TFMINI_PARSE_STATE {
TFMINI_PARSE_STATE0_UNSYNC = 0,
TFMINI_PARSE_STATE1_SYNC_1,
TFMINI_PARSE_STATE1_SYNC_2,
TFMINI_PARSE_STATE2_GOT_DIST_L,
TFMINI_PARSE_STATE2_GOT_DIST_H,
TFMINI_PARSE_STATE3_GOT_STRENGTH_L,
TFMINI_PARSE_STATE3_GOT_STRENGTH_H,
TFMINI_PARSE_STATE4_GOT_RESERVED,
TFMINI_PARSE_STATE5_GOT_QUALITY,
TFMINI_PARSE_STATE6_GOT_CHECKSUM
};
int tfmini_parser(char c, char *parserbuf, unsigned *parserbuf_index, enum TFMINI_PARSE_STATE *state, float *dist);

10
src/modules/sensors/sensor_params.c
View File

@ -315,3 +315,13 @@ PARAM_DEFINE_FLOAT(IMU_GYRO_CUTOFF, 30.0f);
* @group Sensors
*/
PARAM_DEFINE_FLOAT(IMU_ACCEL_CUTOFF, 30.0f);
/**
* Benewake TFmini laser rangefinder
*
* @reboot_required true
*
* @boolean
* @group Sensors
*/
PARAM_DEFINE_INT32(SENS_EN_TFMINI, 0);