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px4-firmware
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added return values that I check for ::read and ::write

This commit is contained in:
Jake Dahl 2018-10-16 17:39:17 -06:00 committed by Kabir Mohammed
parent 39d0e0b80c
commit edf82d3937
2 changed files with 64 additions and 19 deletions
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77
src/drivers/distance_sensor/pga460/pga460.cpp
View File

@ -145,7 +145,11 @@ int PGA460::initialize_thresholds()
uint8_t checksum = calc_checksum(&settings_buf[1], sizeof(settings_buf) - 2);
settings_buf[array_size - 1] = checksum;
::write(_fd, &settings_buf[0], sizeof(settings_buf));
int ret = ::write(_fd, &settings_buf[0], sizeof(settings_buf));
if (ret < 0) {
return PX4_ERROR;
}
// Must wait >50us per datasheet.
usleep(100);
@ -218,13 +222,19 @@ float PGA460::calculate_object_distance(uint16_t time_of_flight)
return object_distance;
}
void PGA460::flash_eeprom()
int PGA460::flash_eeprom()
{
// Send same unlock code with prog bit set to 1.
uint8_t eeprom_write_buf[5] = {SYNCBYTE, SRW, EE_CNTRL_ADDR, EE_UNLOCK_ST2, 0xFF};
uint8_t checksum = calc_checksum(&eeprom_write_buf[1], sizeof(eeprom_write_buf) - 2);
eeprom_write_buf[4] = checksum;
::write(_fd, &eeprom_write_buf[0], sizeof(eeprom_write_buf));
int ret = ::write(_fd, &eeprom_write_buf[0], sizeof(eeprom_write_buf));
if (ret < 0) {
return PX4_ERROR;
}
return PX4_OK;
}
float PGA460::get_temperature()
@ -233,13 +243,22 @@ float PGA460::get_temperature()
uint8_t checksum = calc_checksum(&buf_tx[0], 3);
buf_tx[3] = checksum;
::write(_fd, &buf_tx[0], sizeof(buf_tx));
int result = ::write(_fd, &buf_tx[0], sizeof(buf_tx));
if (result < 0) {
return PX4_ERROR;
}
// The pga460 requires a 2ms delay per the datasheet.
usleep(5000);
buf_tx[1] = TNLR;
::write(_fd, &buf_tx[0], sizeof(buf_tx) - 2);
int ret = ::write(_fd, &buf_tx[0], sizeof(buf_tx) - 2);
if (ret < 0) {
return PX4_ERROR;
}
usleep(10000);
uint8_t buf_rx[4] = {};
@ -247,7 +266,7 @@ float PGA460::get_temperature()
int total_bytes = 0;
do {
int ret = ::read(_fd, buf_rx + total_bytes, sizeof(buf_rx));
ret = ::read(_fd, buf_rx + total_bytes, sizeof(buf_rx));
total_bytes += ret;
@ -506,7 +525,7 @@ int PGA460::read_eeprom()
ret = ::write(_fd, &cmd_buf[0], sizeof(cmd_buf));
if (ret < 0) {
PX4_WARN("::write() failed.");
return PX4_ERROR;
}
usleep(10000);
@ -555,7 +574,12 @@ uint8_t PGA460::read_register(const uint8_t reg)
uint8_t checksum = calc_checksum(&buf_tx[1], 2);
buf_tx[3] = checksum;
::write(_fd, &buf_tx[0], sizeof(buf_tx));
int ret = ::write(_fd, &buf_tx[0], sizeof(buf_tx));
if(ret < 0) {
return PX4_ERROR;
}
usleep(10000);
uint8_t buf_rx[3] = {};
@ -563,7 +587,7 @@ uint8_t PGA460::read_register(const uint8_t reg)
int total_bytes = 0;
do {
int ret = ::read(_fd, buf_rx + total_bytes, sizeof(buf_rx));
ret = ::read(_fd, buf_rx + total_bytes, sizeof(buf_rx));
total_bytes += ret;
@ -598,7 +622,12 @@ int PGA460::read_threshold_registers()
uint8_t buf_tx[2] = {SYNCBYTE, THRBR};
::write(_fd, &buf_tx[0], sizeof(buf_tx));
int ret = ::write(_fd, &buf_tx[0], sizeof(buf_tx));
if(ret < 0) {
return PX4_ERROR;
}
usleep(10000);
uint8_t buf_rx[array_size + 2] = {};
@ -606,7 +635,7 @@ int PGA460::read_threshold_registers()
int total_bytes = 0;
do {
int ret = ::read(_fd, buf_rx + total_bytes, sizeof(buf_rx));
ret = ::read(_fd, buf_rx + total_bytes, sizeof(buf_rx));
total_bytes += ret;
@ -697,14 +726,20 @@ uint8_t PGA460::set_range_mode()
return _ranging_mode;
}
void PGA460::take_measurement(const uint8_t mode)
int PGA460::take_measurement(const uint8_t mode)
{
// Issue a measurement command to detect one object using Preset 1 Burst/Listen.
uint8_t buf_tx[4] = {SYNCBYTE, mode, 0x01, 0xFF};
uint8_t checksum = calc_checksum(&buf_tx[1], 2);
buf_tx[3] = checksum;
::write(_fd, &buf_tx[0], sizeof(buf_tx));
int ret = ::write(_fd, &buf_tx[0], sizeof(buf_tx));
if(ret < 0) {
return PX4_ERROR;
}
return PX4_OK;
}
int PGA460::task_spawn(int argc, char *argv[])
@ -778,14 +813,20 @@ void PGA460::uORB_publish_results(const float object_distance)
}
}
void PGA460::unlock_eeprom()
int PGA460::unlock_eeprom()
{
// Two step EEPROM unlock -- send unlock code w/ prog bit set to 0.
// This might actually be wrapped into command 11 (ee bulk write) but I am not sure.
uint8_t eeprom_write_buf[5] = {SYNCBYTE, SRW, EE_CNTRL_ADDR, EE_UNLOCK_ST1, 0xFF};
uint8_t checksum = calc_checksum(&eeprom_write_buf[1], sizeof(eeprom_write_buf) - 2);
eeprom_write_buf[4] = checksum;
::write(_fd, &eeprom_write_buf[0], sizeof(eeprom_write_buf));
int ret = ::write(_fd, &eeprom_write_buf[0], sizeof(eeprom_write_buf));
if(ret < 0) {
return PX4_ERROR;
}
return PX4_OK;
}
int PGA460::write_eeprom()
@ -802,7 +843,11 @@ int PGA460::write_eeprom()
uint8_t checksum = calc_checksum(&settings_buf[1], sizeof(settings_buf) - 2);
settings_buf[45] = checksum;
::write(_fd, &settings_buf[0], sizeof(settings_buf));
int ret = ::write(_fd, &settings_buf[0], sizeof(settings_buf));
if(ret < 0) {
return PX4_ERROR;
}
// Needs time, see datasheet timing requirements.
usleep(5000);

6
src/drivers/distance_sensor/pga460/pga460.h
View File

@ -337,7 +337,7 @@ private:
/**
* @brief Send the program command to the EEPROM to start the flash process.
*/
void flash_eeprom();
int flash_eeprom();
/**
* @brief Writes program defined threshold defaults to the register map and checks/writes the EEPROM.
@ -365,7 +365,7 @@ private:
/**
* @brief Commands the device to perform an ultrasonic measurement.
*/
void take_measurement(const uint8_t mode);
int take_measurement(const uint8_t mode);
/*
* @brief Gets a temperature measurement in degrees C.
@ -376,7 +376,7 @@ private:
/**
* @brief Send the unlock command to the EEPROM to enable reading and writing -- not needed w/ bulk write
*/
void unlock_eeprom();
int unlock_eeprom();
/**
* @brief Commands the device to publish the measurement results to uORB.