diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors index 389b16fc12..c20f7b8cf2 100644 --- a/ROMFS/px4fmu_common/init.d/rc.sensors +++ b/ROMFS/px4fmu_common/init.d/rc.sensors @@ -321,6 +321,12 @@ then mb12xx start fi +# teraranger evo tof sensor +if param compare SENS_EN_TREVO 1 +then + trevo start +fi + # teraranger one tof sensor if param compare SENS_EN_TRONE 1 then diff --git a/cmake/configs/nuttx_aerocore2_default.cmake b/cmake/configs/nuttx_aerocore2_default.cmake index a6a79bfe42..75f0944a4c 100644 --- a/cmake/configs/nuttx_aerocore2_default.cmake +++ b/cmake/configs/nuttx_aerocore2_default.cmake @@ -20,6 +20,7 @@ set(config_module_list drivers/lsm303d drivers/l3gd20 drivers/ms5611 + drivers/trevo drivers/trone drivers/gps drivers/pwm_out_sim diff --git a/cmake/configs/nuttx_auav-x21_default.cmake b/cmake/configs/nuttx_auav-x21_default.cmake index c5b774cf55..8f51136f82 100644 --- a/cmake/configs/nuttx_auav-x21_default.cmake +++ b/cmake/configs/nuttx_auav-x21_default.cmake @@ -28,6 +28,7 @@ set(config_module_list drivers/sf0x drivers/sf1xx drivers/ll40ls + drivers/trevo drivers/trone drivers/gps drivers/pwm_out_sim diff --git a/cmake/configs/nuttx_mindpx-v2_default.cmake b/cmake/configs/nuttx_mindpx-v2_default.cmake index 07c9e1f045..9de9c688db 100644 --- a/cmake/configs/nuttx_mindpx-v2_default.cmake +++ b/cmake/configs/nuttx_mindpx-v2_default.cmake @@ -31,6 +31,7 @@ set(config_module_list drivers/sf0x drivers/sf1xx drivers/ll40ls + drivers/trevo drivers/trone drivers/gps drivers/pwm_out_sim diff --git a/cmake/configs/nuttx_px4fmu-v2_default.cmake b/cmake/configs/nuttx_px4fmu-v2_default.cmake index 40a7ab4dd7..2a08cf252f 100644 --- a/cmake/configs/nuttx_px4fmu-v2_default.cmake +++ b/cmake/configs/nuttx_px4fmu-v2_default.cmake @@ -29,6 +29,7 @@ set(config_module_list #drivers/srf02 drivers/sf0x drivers/ll40ls + drivers/trevo drivers/trone drivers/gps drivers/pwm_out_sim diff --git a/cmake/configs/nuttx_px4fmu-v2_test.cmake b/cmake/configs/nuttx_px4fmu-v2_test.cmake index 36f2bf3ae4..b784cf6351 100644 --- a/cmake/configs/nuttx_px4fmu-v2_test.cmake +++ b/cmake/configs/nuttx_px4fmu-v2_test.cmake @@ -29,6 +29,7 @@ set(config_module_list #drivers/srf02 #drivers/sf0x #drivers/ll40ls + #drivers/trevo #drivers/trone drivers/gps #drivers/pwm_out_sim diff --git a/cmake/configs/nuttx_px4fmu-v3_default.cmake b/cmake/configs/nuttx_px4fmu-v3_default.cmake index a2654535fd..20e1401b7d 100644 --- a/cmake/configs/nuttx_px4fmu-v3_default.cmake +++ b/cmake/configs/nuttx_px4fmu-v3_default.cmake @@ -54,6 +54,7 @@ set(config_module_list drivers/stm32/adc drivers/stm32/tone_alarm drivers/tap_esc + drivers/trevo drivers/trone drivers/vmount modules/sensors diff --git a/cmake/configs/nuttx_px4fmu-v4_default.cmake b/cmake/configs/nuttx_px4fmu-v4_default.cmake index a7be253942..206bb14cae 100644 --- a/cmake/configs/nuttx_px4fmu-v4_default.cmake +++ b/cmake/configs/nuttx_px4fmu-v4_default.cmake @@ -55,6 +55,7 @@ set(config_module_list drivers/stm32/adc drivers/stm32/tone_alarm drivers/tap_esc + drivers/trevo drivers/trone drivers/vmount modules/sensors diff --git a/cmake/configs/nuttx_px4fmu-v4pro_default.cmake b/cmake/configs/nuttx_px4fmu-v4pro_default.cmake index 1b61fa64c7..0db4ae9b10 100644 --- a/cmake/configs/nuttx_px4fmu-v4pro_default.cmake +++ b/cmake/configs/nuttx_px4fmu-v4pro_default.cmake @@ -55,6 +55,7 @@ set(config_module_list drivers/stm32/adc drivers/stm32/tone_alarm drivers/tap_esc + drivers/trevo drivers/trone drivers/vmount modules/sensors diff --git a/cmake/configs/nuttx_px4fmu-v5_default.cmake b/cmake/configs/nuttx_px4fmu-v5_default.cmake index c0ddb71c07..9ec432771c 100644 --- a/cmake/configs/nuttx_px4fmu-v5_default.cmake +++ b/cmake/configs/nuttx_px4fmu-v5_default.cmake @@ -55,6 +55,7 @@ set(config_module_list drivers/stm32/adc drivers/stm32/tone_alarm drivers/tap_esc + drivers/trevo drivers/trone drivers/vmount modules/sensors diff --git a/cmake/configs/nuttx_px4nucleoF767ZI-v1_default.cmake b/cmake/configs/nuttx_px4nucleoF767ZI-v1_default.cmake index 2f2a0ec34d..6ab5ce5552 100644 --- a/cmake/configs/nuttx_px4nucleoF767ZI-v1_default.cmake +++ b/cmake/configs/nuttx_px4nucleoF767ZI-v1_default.cmake @@ -50,6 +50,7 @@ set(config_module_list drivers/stm32/adc drivers/stm32/tone_alarm drivers/tap_esc + drivers/trevo drivers/trone modules/sensors diff --git a/src/drivers/trevo/CMakeLists.txt b/src/drivers/trevo/CMakeLists.txt new file mode 100644 index 0000000000..171493adab --- /dev/null +++ b/src/drivers/trevo/CMakeLists.txt @@ -0,0 +1,43 @@ +############################################################################ +# +# 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__trevo + MAIN trevo + STACK_MAIN 1200 + COMPILE_FLAGS + SRCS + trevo.cpp + DEPENDS + platforms__common + ) +# vim: set noet ft=cmake fenc=utf-8 ff=unix : diff --git a/src/drivers/trevo/trevo.cpp b/src/drivers/trevo/trevo.cpp new file mode 100644 index 0000000000..2698a516ee --- /dev/null +++ b/src/drivers/trevo/trevo.cpp @@ -0,0 +1,938 @@ +/**************************************************************************** + * + * Copyright (c) 2013-2015 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. + * + ****************************************************************************/ + +/** + * @file trevo.cpp + * @author Mateusz Sadowski + * + * Driver for the TeraRanger Evo range finders connected via I2C. + */ + +#include +#include + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include + +#include +#include + +#include +#include +#include + +#include +#include +#include + +#include + +/* Configuration Constants */ +#define TREVO_BUS PX4_I2C_BUS_EXPANSION +#define TREVO_BASEADDR 0x31 /* 7-bit address */ +#define TREVO_DEVICE_PATH "/dev/trevo" + +/* TREVO Registers addresses */ + +#define TREVO_MEASURE_REG 0x00 /* Measure range register */ +#define TREVO_WHO_AM_I_REG 0x01 /* Who am I test register */ +#define TREVO_WHO_AM_I_REG_VAL 0xA1 + + +/* Device limits */ +#define TREVO_MIN_DISTANCE (0.50f) +#define TREVO_MAX_DISTANCE (60.00f) + +#define TREVO_CONVERSION_INTERVAL 50000 /* 50ms */ + +#ifndef CONFIG_SCHED_WORKQUEUE +# error This requires CONFIG_SCHED_WORKQUEUE. +#endif + +class TREVO : public device::I2C +{ +public: + TREVO(int bus = TREVO_BUS, int address = TREVO_BASEADDR); + virtual ~TREVO(); + + 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(); + +protected: + virtual int probe(); + +private: + float _min_distance; + float _max_distance; + work_s _work; + ringbuffer::RingBuffer *_reports; + bool _sensor_ok; + uint8_t _valid; + int _measure_ticks; + 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; + perf_counter_t _buffer_overflows; + + /** + * 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 TREVO_MIN_DISTANCE + * and TREVO_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 measure(); + 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); + + +}; + +static const uint8_t crc_table[] = { + 0x00, 0x07, 0x0e, 0x09, 0x1c, 0x1b, 0x12, 0x15, 0x38, 0x3f, 0x36, 0x31, + 0x24, 0x23, 0x2a, 0x2d, 0x70, 0x77, 0x7e, 0x79, 0x6c, 0x6b, 0x62, 0x65, + 0x48, 0x4f, 0x46, 0x41, 0x54, 0x53, 0x5a, 0x5d, 0xe0, 0xe7, 0xee, 0xe9, + 0xfc, 0xfb, 0xf2, 0xf5, 0xd8, 0xdf, 0xd6, 0xd1, 0xc4, 0xc3, 0xca, 0xcd, + 0x90, 0x97, 0x9e, 0x99, 0x8c, 0x8b, 0x82, 0x85, 0xa8, 0xaf, 0xa6, 0xa1, + 0xb4, 0xb3, 0xba, 0xbd, 0xc7, 0xc0, 0xc9, 0xce, 0xdb, 0xdc, 0xd5, 0xd2, + 0xff, 0xf8, 0xf1, 0xf6, 0xe3, 0xe4, 0xed, 0xea, 0xb7, 0xb0, 0xb9, 0xbe, + 0xab, 0xac, 0xa5, 0xa2, 0x8f, 0x88, 0x81, 0x86, 0x93, 0x94, 0x9d, 0x9a, + 0x27, 0x20, 0x29, 0x2e, 0x3b, 0x3c, 0x35, 0x32, 0x1f, 0x18, 0x11, 0x16, + 0x03, 0x04, 0x0d, 0x0a, 0x57, 0x50, 0x59, 0x5e, 0x4b, 0x4c, 0x45, 0x42, + 0x6f, 0x68, 0x61, 0x66, 0x73, 0x74, 0x7d, 0x7a, 0x89, 0x8e, 0x87, 0x80, + 0x95, 0x92, 0x9b, 0x9c, 0xb1, 0xb6, 0xbf, 0xb8, 0xad, 0xaa, 0xa3, 0xa4, + 0xf9, 0xfe, 0xf7, 0xf0, 0xe5, 0xe2, 0xeb, 0xec, 0xc1, 0xc6, 0xcf, 0xc8, + 0xdd, 0xda, 0xd3, 0xd4, 0x69, 0x6e, 0x67, 0x60, 0x75, 0x72, 0x7b, 0x7c, + 0x51, 0x56, 0x5f, 0x58, 0x4d, 0x4a, 0x43, 0x44, 0x19, 0x1e, 0x17, 0x10, + 0x05, 0x02, 0x0b, 0x0c, 0x21, 0x26, 0x2f, 0x28, 0x3d, 0x3a, 0x33, 0x34, + 0x4e, 0x49, 0x40, 0x47, 0x52, 0x55, 0x5c, 0x5b, 0x76, 0x71, 0x78, 0x7f, + 0x6a, 0x6d, 0x64, 0x63, 0x3e, 0x39, 0x30, 0x37, 0x22, 0x25, 0x2c, 0x2b, + 0x06, 0x01, 0x08, 0x0f, 0x1a, 0x1d, 0x14, 0x13, 0xae, 0xa9, 0xa0, 0xa7, + 0xb2, 0xb5, 0xbc, 0xbb, 0x96, 0x91, 0x98, 0x9f, 0x8a, 0x8d, 0x84, 0x83, + 0xde, 0xd9, 0xd0, 0xd7, 0xc2, 0xc5, 0xcc, 0xcb, 0xe6, 0xe1, 0xe8, 0xef, + 0xfa, 0xfd, 0xf4, 0xf3 +}; + +static uint8_t crc8(uint8_t *p, uint8_t len) +{ + uint16_t i; + uint16_t crc = 0x0; + + while (len--) { + i = (crc ^ *p++) & 0xFF; + crc = (crc_table[i] ^ (crc << 8)) & 0xFF; + } + + return crc & 0xFF; +} + +/* + * Driver 'main' command. + */ +extern "C" __EXPORT int trevo_main(int argc, char *argv[]); + +TREVO::TREVO(int bus, int address) : + I2C("TREVO", TREVO_DEVICE_PATH, bus, address, 100000), + _min_distance(TREVO_MIN_DISTANCE), + _max_distance(TREVO_MAX_DISTANCE), + _reports(nullptr), + _sensor_ok(false), + _valid(0), + _measure_ticks(0), + _collect_phase(false), + _class_instance(-1), + _orb_class_instance(-1), + _distance_sensor_topic(nullptr), + _sample_perf(perf_alloc(PC_ELAPSED, "tr1_read")), + _comms_errors(perf_alloc(PC_COUNT, "tr1_com_err")), + _buffer_overflows(perf_alloc(PC_COUNT, "tr1_buf_of")) +{ + // up the retries since the device misses the first measure attempts + I2C::_retries = 3; + + // enable debug() calls + _debug_enabled = false; + + // work_cancel in the dtor will explode if we don't do this... + memset(&_work, 0, sizeof(_work)); +} + +TREVO::~TREVO() +{ + /* 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); + perf_free(_buffer_overflows); +} + +int +TREVO::init() +{ + int ret = PX4_ERROR; + + /* do I2C init (and probe) first */ + if (I2C::init() != OK) { + goto out; + } + + /* allocate basic report buffers */ + _reports = new ringbuffer::RingBuffer(2, sizeof(distance_sensor_s)); + + if (_reports == nullptr) { + goto out; + } + + _class_instance = register_class_devname(RANGE_FINDER_BASE_DEVICE_PATH); + + if (_class_instance == CLASS_DEVICE_PRIMARY) { + /* get a publish handle on the range finder topic */ + struct distance_sensor_s ds_report; + measure(); + _reports->get(&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) { + DEVICE_LOG("failed to create distance_sensor object. Did you start uOrb?"); + } + } + + ret = OK; + /* sensor is ok, but we don't really know if it is within range */ + _sensor_ok = true; +out: + return ret; +} + +int +TREVO::probe() +{ + uint8_t who_am_i = 0; + + const uint8_t cmd = TREVO_WHO_AM_I_REG; + + // set the I2C bus address + set_address(TREVO_BASEADDR); + + // can't use a single transfer as TREvo need a bit of time for internal processing + if (transfer(&cmd, 1, nullptr, 0) == OK) { + if (transfer(nullptr, 0, &who_am_i, 1) == OK && who_am_i == TREVO_WHO_AM_I_REG_VAL) { + return measure(); + } + } + + DEVICE_DEBUG("WHO_AM_I byte mismatch 0x%02x should be 0x%02x\n", + (unsigned)who_am_i, + TREVO_WHO_AM_I_REG_VAL); + + // not found on any address + return -EIO; +} + +void +TREVO::set_minimum_distance(float min) +{ + _min_distance = min; +} + +void +TREVO::set_maximum_distance(float max) +{ + _max_distance = max; +} + +float +TREVO::get_minimum_distance() +{ + return _min_distance; +} + +float +TREVO::get_maximum_distance() +{ + return _max_distance; +} + +int +TREVO::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(TREVO_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(TREVO_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 I2C::ioctl(filp, cmd, arg); + } +} + +ssize_t +TREVO::read(struct file *filp, char *buffer, size_t buflen) +{ + unsigned count = buflen / sizeof(struct distance_sensor_s); + struct distance_sensor_s *rbuf = reinterpret_cast(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(); + + /* trigger a measurement */ + if (OK != measure()) { + ret = -EIO; + break; + } + + /* wait for it to complete */ + usleep(TREVO_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 +TREVO::measure() +{ + int ret; + + /* + * Send the command to begin a measurement. + */ + const uint8_t cmd = TREVO_MEASURE_REG; + ret = transfer(&cmd, sizeof(cmd), nullptr, 0); + + if (OK != ret) { + perf_count(_comms_errors); + DEVICE_LOG("i2c::transfer returned %d", ret); + return ret; + } + + ret = OK; + + return ret; +} + +int +TREVO::collect() +{ + int ret = -EIO; + + /* read from the sensor */ + uint8_t val[3] = {0, 0, 0}; + + perf_begin(_sample_perf); + + ret = transfer(nullptr, 0, &val[0], 3); + + if (ret < 0) { + DEVICE_LOG("error reading from sensor: %d", ret); + perf_count(_comms_errors); + perf_end(_sample_perf); + return ret; + } + + uint16_t distance_mm = (val[0] << 8) | val[1]; + float distance_m = float(distance_mm) * 1e-3f; + struct distance_sensor_s report; + + report.timestamp = hrt_absolute_time(); + /* there is no enum item for a combined LASER and ULTRASOUND which it should be */ + report.type = distance_sensor_s::MAV_DISTANCE_SENSOR_LASER; + report.orientation = 8; + 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; + + // This validation check can be used later + _valid = crc8(val, 2) == val[2] && (float)report.current_distance > report.min_distance + && (float)report.current_distance < report.max_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); + } + + if (_reports->force(&report)) { + perf_count(_buffer_overflows); + } + + /* notify anyone waiting for data */ + poll_notify(POLLIN); + + ret = OK; + + perf_end(_sample_perf); + return ret; +} + +void +TREVO::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)&TREVO::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 +TREVO::stop() +{ + work_cancel(HPWORK, &_work); +} + +void +TREVO::cycle_trampoline(void *arg) +{ + TREVO *dev = (TREVO *)arg; + + dev->cycle(); +} + +void +TREVO::cycle() +{ + /* collection phase? */ + if (_collect_phase) { + + /* perform collection */ + if (OK != collect()) { + DEVICE_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(TREVO_CONVERSION_INTERVAL)) { + /* schedule a fresh cycle call when we are ready to measure again */ + work_queue(HPWORK, + &_work, + (worker_t)&TREVO::cycle_trampoline, + this, + _measure_ticks - USEC2TICK(TREVO_CONVERSION_INTERVAL)); + + return; + } + } + + /* measurement phase */ + if (OK != measure()) { + DEVICE_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)&TREVO::cycle_trampoline, + this, + USEC2TICK(TREVO_CONVERSION_INTERVAL)); +} + +void +TREVO::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 trevo +{ + +TREVO *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 TREVO(TREVO_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(TREVO_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 distance_sensor_s report; + ssize_t sz; + int ret; + + int fd = open(TREVO_DEVICE_PATH, O_RDONLY); + + if (fd < 0) { + err(1, "%s open failed (try 'trevo start' if the driver is not running", TREVO_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 2Hz */ + if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) { + errx(1, "failed to set 2Hz poll rate"); + } + + /* read the sensor 50x and report each value */ + for (unsigned i = 0; i < 50; 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.current_distance); + warnx("time: %llu", 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(TREVO_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 +trevo_main(int argc, char *argv[]) +{ + /* + * Start/load the driver. + */ + if (!strcmp(argv[1], "start")) { + trevo::start(); + } + + /* + * Stop the driver + */ + if (!strcmp(argv[1], "stop")) { + trevo::stop(); + } + + /* + * Test the driver/device. + */ + if (!strcmp(argv[1], "test")) { + trevo::test(); + } + + /* + * Reset the driver. + */ + if (!strcmp(argv[1], "reset")) { + trevo::reset(); + } + + /* + * Print driver information. + */ + if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) { + trevo::info(); + } + + errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'"); +} diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c index 03d48a598d..d3bc09aeef 100644 --- a/src/modules/sensors/sensor_params.c +++ b/src/modules/sensors/sensor_params.c @@ -1087,6 +1087,16 @@ PARAM_DEFINE_INT32(SENS_EN_SF0X, 0); */ PARAM_DEFINE_INT32(SENS_EN_MB12XX, 0); +/** + * TeraRanger Evo (trevo) + * + * @reboot_required true + * + * @boolean + * @group Sensor Enable + */ + PARAM_DEFINE_INT32(SENS_EN_TREVO, 0); + /** * TeraRanger One (trone) *