forked from Archive/PX4-Autopilot
teraranger: move to PX4Rangefinder and cleanup
This commit is contained in:
Daniel Agar
parent
3d60ef9383
commit
eef508cc4a
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@ -1,6 +1,6 @@
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############################################################################
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#
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# Copyright (c) 2017 PX4 Development Team. All rights reserved.
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# Copyright (c) 2017-2020 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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@ -31,12 +31,13 @@
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#
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############################################################################
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px4_add_module(
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MODULE drivers__teraranger
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MODULE drivers__distance_sensor__teraranger
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MAIN teraranger
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COMPILE_FLAGS
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-Wno-cast-align # TODO: fix and enable
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SRCS
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teraranger.cpp
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teraranger_main.cpp
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TERARANGER.cpp
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TERARANGER.hpp
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DEPENDS
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drivers_rangefinder
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px4_work_queue
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)
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@ -0,0 +1,281 @@
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/****************************************************************************
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*
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* Copyright (c) 2013-2020 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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||||
* notice, this list of conditions and the following disclaimer.
|
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* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
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* the documentation and/or other materials provided with the
|
||||
* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
|
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* used to endorse or promote products derived from this software
|
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* without specific prior written permission.
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||||
*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include "TERARANGER.hpp"
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#include <lib/parameters/param.h>
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static constexpr uint8_t crc_table[] = {
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0x00, 0x07, 0x0e, 0x09, 0x1c, 0x1b, 0x12, 0x15, 0x38, 0x3f, 0x36, 0x31,
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0x24, 0x23, 0x2a, 0x2d, 0x70, 0x77, 0x7e, 0x79, 0x6c, 0x6b, 0x62, 0x65,
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0x48, 0x4f, 0x46, 0x41, 0x54, 0x53, 0x5a, 0x5d, 0xe0, 0xe7, 0xee, 0xe9,
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0xfc, 0xfb, 0xf2, 0xf5, 0xd8, 0xdf, 0xd6, 0xd1, 0xc4, 0xc3, 0xca, 0xcd,
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0x90, 0x97, 0x9e, 0x99, 0x8c, 0x8b, 0x82, 0x85, 0xa8, 0xaf, 0xa6, 0xa1,
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0xb4, 0xb3, 0xba, 0xbd, 0xc7, 0xc0, 0xc9, 0xce, 0xdb, 0xdc, 0xd5, 0xd2,
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0xff, 0xf8, 0xf1, 0xf6, 0xe3, 0xe4, 0xed, 0xea, 0xb7, 0xb0, 0xb9, 0xbe,
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0xab, 0xac, 0xa5, 0xa2, 0x8f, 0x88, 0x81, 0x86, 0x93, 0x94, 0x9d, 0x9a,
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0x27, 0x20, 0x29, 0x2e, 0x3b, 0x3c, 0x35, 0x32, 0x1f, 0x18, 0x11, 0x16,
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0x03, 0x04, 0x0d, 0x0a, 0x57, 0x50, 0x59, 0x5e, 0x4b, 0x4c, 0x45, 0x42,
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0x6f, 0x68, 0x61, 0x66, 0x73, 0x74, 0x7d, 0x7a, 0x89, 0x8e, 0x87, 0x80,
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0x95, 0x92, 0x9b, 0x9c, 0xb1, 0xb6, 0xbf, 0xb8, 0xad, 0xaa, 0xa3, 0xa4,
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0xf9, 0xfe, 0xf7, 0xf0, 0xe5, 0xe2, 0xeb, 0xec, 0xc1, 0xc6, 0xcf, 0xc8,
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0xdd, 0xda, 0xd3, 0xd4, 0x69, 0x6e, 0x67, 0x60, 0x75, 0x72, 0x7b, 0x7c,
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0x51, 0x56, 0x5f, 0x58, 0x4d, 0x4a, 0x43, 0x44, 0x19, 0x1e, 0x17, 0x10,
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0x05, 0x02, 0x0b, 0x0c, 0x21, 0x26, 0x2f, 0x28, 0x3d, 0x3a, 0x33, 0x34,
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0x4e, 0x49, 0x40, 0x47, 0x52, 0x55, 0x5c, 0x5b, 0x76, 0x71, 0x78, 0x7f,
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0x6a, 0x6d, 0x64, 0x63, 0x3e, 0x39, 0x30, 0x37, 0x22, 0x25, 0x2c, 0x2b,
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0x06, 0x01, 0x08, 0x0f, 0x1a, 0x1d, 0x14, 0x13, 0xae, 0xa9, 0xa0, 0xa7,
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0xb2, 0xb5, 0xbc, 0xbb, 0x96, 0x91, 0x98, 0x9f, 0x8a, 0x8d, 0x84, 0x83,
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0xde, 0xd9, 0xd0, 0xd7, 0xc2, 0xc5, 0xcc, 0xcb, 0xe6, 0xe1, 0xe8, 0xef,
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0xfa, 0xfd, 0xf4, 0xf3
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};
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static uint8_t crc8(uint8_t *p, uint8_t len)
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{
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uint16_t i;
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uint16_t crc = 0x0;
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while (len--) {
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i = (crc ^ *p++) & 0xFF;
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crc = (crc_table[i] ^ (crc << 8)) & 0xFF;
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}
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return crc & 0xFF;
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}
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TERARANGER::TERARANGER(const int bus, const int address, const uint8_t rotation) :
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I2C("TERARANGER", nullptr, bus, address, 100000),
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ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(get_device_id())),
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_px4_rangefinder(0 /* device id not yet used */, ORB_PRIO_DEFAULT, rotation)
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{
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// up the retries since the device misses the first measure attempts
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I2C::_retries = 3;
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}
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TERARANGER::~TERARANGER()
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{
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stop();
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perf_free(_sample_perf);
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perf_free(_comms_errors);
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}
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int TERARANGER::collect()
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{
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if (!_collect_phase) {
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return measure();
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}
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perf_begin(_sample_perf);
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// Transfer data from the bus.
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uint8_t val[3] {};
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const hrt_abstime timestamp_sample = hrt_absolute_time();
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int ret_val = transfer(nullptr, 0, &val[0], 3);
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if (ret_val < 0) {
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PX4_ERR("error reading from sensor: %d", ret_val);
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perf_count(_comms_errors);
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perf_end(_sample_perf);
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return ret_val;
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}
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uint16_t distance_mm = (val[0] << 8) | val[1];
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float distance_m = static_cast<float>(distance_mm) * 1e-3f;
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if (crc8(val, 2) == val[2]) {
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_px4_rangefinder.update(timestamp_sample, distance_m);
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}
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// Next phase is measurement.
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_collect_phase = false;
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perf_count(_sample_perf);
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perf_end(_sample_perf);
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return PX4_OK;
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}
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int TERARANGER::init()
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{
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int32_t hw_model = 0;
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param_get(param_find("SENS_EN_TRANGER"), &hw_model);
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switch (hw_model) {
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case 0: // Disabled
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PX4_WARN("Disabled");
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return PX4_ERROR;
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case 1: // Autodetect - assume default Teraranger One
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set_device_address(TERARANGER_ONE_BASEADDR);
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if (I2C::init() != OK) {
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set_device_address(TERARANGER_EVO_BASEADDR);
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if (I2C::init() != OK) {
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return PX4_ERROR;
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} else {
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// Assume minimum and maximum possible distances acros Evo family
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_px4_rangefinder.set_min_distance(TERARANGER_EVO_3M_MIN_DISTANCE);
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_px4_rangefinder.set_max_distance(TERARANGER_EVO_60M_MAX_DISTANCE);
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}
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} else {
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_px4_rangefinder.set_min_distance(TERARANGER_ONE_MIN_DISTANCE);
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_px4_rangefinder.set_max_distance(TERARANGER_ONE_MAX_DISTANCE);
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}
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break;
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case 2: // Teraranger One.
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set_device_address(TERARANGER_ONE_BASEADDR);
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if (I2C::init() != OK) {
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return PX4_ERROR;
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}
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_px4_rangefinder.set_min_distance(TERARANGER_ONE_MIN_DISTANCE);
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_px4_rangefinder.set_max_distance(TERARANGER_ONE_MAX_DISTANCE);
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break;
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case 3: // Teraranger Evo60m.
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set_device_address(TERARANGER_EVO_BASEADDR);
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// I2C init (and probe) first.
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if (I2C::init() != OK) {
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return PX4_ERROR;
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}
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_px4_rangefinder.set_min_distance(TERARANGER_EVO_60M_MIN_DISTANCE);
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_px4_rangefinder.set_max_distance(TERARANGER_EVO_60M_MAX_DISTANCE);
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break;
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case 4: // Teraranger Evo600Hz.
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set_device_address(TERARANGER_EVO_BASEADDR);
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// I2C init (and probe) first.
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if (I2C::init() != OK) {
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return PX4_ERROR;
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}
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_px4_rangefinder.set_min_distance(TERARANGER_EVO_600HZ_MIN_DISTANCE);
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_px4_rangefinder.set_max_distance(TERARANGER_EVO_600HZ_MAX_DISTANCE);
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break;
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case 5: // Teraranger Evo3m.
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set_device_address(TERARANGER_EVO_BASEADDR);
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// I2C init (and probe) first.
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if (I2C::init() != OK) {
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return PX4_ERROR;
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}
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_px4_rangefinder.set_min_distance(TERARANGER_EVO_3M_MIN_DISTANCE);
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_px4_rangefinder.set_max_distance(TERARANGER_EVO_3M_MAX_DISTANCE);
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break;
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default:
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PX4_ERR("invalid HW model %d.", hw_model);
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return PX4_ERROR;
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}
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start();
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return PX4_OK;
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}
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int TERARANGER::measure()
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{
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// Send the command to begin a measurement.
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const uint8_t cmd = TERARANGER_MEASURE_REG;
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int ret_val = transfer(&cmd, sizeof(cmd), nullptr, 0);
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if (ret_val != PX4_OK) {
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perf_count(_comms_errors);
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PX4_DEBUG("i2c::transfer returned %d", ret_val);
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return ret_val;
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}
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_collect_phase = true;
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return PX4_OK;
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}
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int TERARANGER::probe()
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{
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uint8_t who_am_i = 0;
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const uint8_t cmd = TERARANGER_WHO_AM_I_REG;
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// Can't use a single transfer as Teraranger needs a bit of time for internal processing.
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if (transfer(&cmd, 1, nullptr, 0) == OK) {
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if (transfer(nullptr, 0, &who_am_i, 1) == OK && who_am_i == TERARANGER_WHO_AM_I_REG_VAL) {
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return measure();
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}
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}
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PX4_DEBUG("WHO_AM_I byte mismatch 0x%02x should be 0x%02x\n",
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(unsigned)who_am_i,
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TERARANGER_WHO_AM_I_REG_VAL);
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// Not found on any address.
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return -EIO;
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}
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void TERARANGER::Run()
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{
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// Perform data collection.
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collect();
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}
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void TERARANGER::start()
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{
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_collect_phase = false;
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// Schedule the driver to run on a set interval
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ScheduleOnInterval(TERARANGER_MEASUREMENT_INTERVAL);
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}
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void TERARANGER::stop()
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{
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ScheduleClear();
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}
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void TERARANGER::print_info()
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{
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perf_print_counter(_sample_perf);
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perf_print_counter(_comms_errors);
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_px4_rangefinder.print_status();
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}
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@ -0,0 +1,113 @@
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/****************************************************************************
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*
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* Copyright (c) 2013-2020 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
|
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* 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.
|
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* 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.
|
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*
|
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****************************************************************************/
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/**
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* @file teraranger.cpp
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* @author Luis Rodrigues
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*
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* Driver for the TeraRanger One range finders connected via I2C.
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*/
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#pragma once
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#include <drivers/device/i2c.h>
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#include <px4_platform_common/px4_config.h>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <lib/drivers/rangefinder/PX4Rangefinder.hpp>
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#include <lib/perf/perf_counter.h>
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using namespace time_literals;
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/* Configuration Constants */
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#define TERARANGER_ONE_BASEADDR 0x30 // 7-bit address.
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#define TERARANGER_EVO_BASEADDR 0x31 // 7-bit address.
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/* TERARANGER Registers addresses */
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#define TERARANGER_MEASURE_REG 0x00 // Measure range register.
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#define TERARANGER_WHO_AM_I_REG 0x01 // Who am I test register.
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#define TERARANGER_WHO_AM_I_REG_VAL 0xA1
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/* Device limits */
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#define TERARANGER_ONE_MAX_DISTANCE (14.00f)
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#define TERARANGER_ONE_MIN_DISTANCE (0.20f)
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#define TERARANGER_EVO_3M_MAX_DISTANCE (3.0f)
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#define TERARANGER_EVO_3M_MIN_DISTANCE (0.10f)
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#define TERARANGER_EVO_60M_MAX_DISTANCE (60.0f)
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#define TERARANGER_EVO_60M_MIN_DISTANCE (0.50f)
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#define TERARANGER_EVO_600HZ_MAX_DISTANCE (8.0f)
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#define TERARANGER_EVO_600HZ_MIN_DISTANCE (0.75f)
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#define TERARANGER_MEASUREMENT_INTERVAL 10_ms
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class TERARANGER : public device::I2C, public px4::ScheduledWorkItem
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{
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public:
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TERARANGER(const int bus, const int address = TERARANGER_ONE_BASEADDR,
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const uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING);
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~TERARANGER() override;
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virtual int init() override;
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void print_info();
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protected:
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virtual int probe() override;
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private:
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void start();
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void stop();
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int collect();
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int measure();
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/**
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* Test whether the device supported by the driver is present at a
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* specific address.
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*
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* @param address The I2C bus address to probe.
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* @return True if the device is present.
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*/
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int probe_address(const uint8_t address);
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void Run() override;
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PX4Rangefinder _px4_rangefinder;
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bool _collect_phase{false};
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perf_counter_t _comms_errors{perf_alloc(PC_COUNT, MODULE_NAME": comm_err")};
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perf_counter_t _sample_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": read")};
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};
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|
|
@ -1,632 +0,0 @@
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/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2013-2017 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 teraranger.cpp
|
||||
* @author Luis Rodrigues
|
||||
*
|
||||
* Driver for the TeraRanger One range finders connected via I2C.
|
||||
*/
|
||||
|
||||
#include <drivers/device/i2c.h>
|
||||
#include <lib/parameters/param.h>
|
||||
#include <perf/perf_counter.h>
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
#include <px4_platform_common/defines.h>
|
||||
#include <px4_platform_common/getopt.h>
|
||||
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
|
||||
#include <px4_platform_common/module.h>
|
||||
#include <uORB/topics/distance_sensor.h>
|
||||
#include <uORB/uORB.h>
|
||||
|
||||
using namespace time_literals;
|
||||
|
||||
/* Configuration Constants */
|
||||
#define TERARANGER_BUS_DEFAULT PX4_I2C_BUS_EXPANSION
|
||||
#define TERARANGER_DEVICE_PATH "/dev/teraranger"
|
||||
#define TERARANGER_ONE_BASEADDR 0x30 // 7-bit address.
|
||||
#define TERARANGER_EVO_BASEADDR 0x31 // 7-bit address.
|
||||
|
||||
/* TERARANGER Registers addresses */
|
||||
#define TERARANGER_MEASURE_REG 0x00 // Measure range register.
|
||||
#define TERARANGER_WHO_AM_I_REG 0x01 // Who am I test register.
|
||||
#define TERARANGER_WHO_AM_I_REG_VAL 0xA1
|
||||
|
||||
/* Device limits */
|
||||
#define TERARANGER_ONE_MAX_DISTANCE (14.00f)
|
||||
#define TERARANGER_ONE_MIN_DISTANCE (0.20f)
|
||||
|
||||
#define TERARANGER_EVO_3M_MAX_DISTANCE (3.0f)
|
||||
#define TERARANGER_EVO_3M_MIN_DISTANCE (0.10f)
|
||||
|
||||
#define TERARANGER_EVO_60M_MAX_DISTANCE (60.0f)
|
||||
#define TERARANGER_EVO_60M_MIN_DISTANCE (0.50f)
|
||||
|
||||
#define TERARANGER_EVO_600HZ_MAX_DISTANCE (8.0f)
|
||||
#define TERARANGER_EVO_600HZ_MIN_DISTANCE (0.75f)
|
||||
|
||||
#define TERARANGER_MEASUREMENT_INTERVAL 50_us
|
||||
|
||||
class TERARANGER : public device::I2C, public px4::ScheduledWorkItem
|
||||
{
|
||||
public:
|
||||
TERARANGER(const int bus = TERARANGER_BUS_DEFAULT,
|
||||
const uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING,
|
||||
const int address = TERARANGER_ONE_BASEADDR);
|
||||
|
||||
virtual ~TERARANGER();
|
||||
|
||||
virtual int init() override;
|
||||
|
||||
/**
|
||||
* Diagnostics - print some basic information about the driver.
|
||||
*/
|
||||
void print_info();
|
||||
|
||||
/**
|
||||
* 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();
|
||||
|
||||
protected:
|
||||
|
||||
virtual int probe() override;
|
||||
|
||||
private:
|
||||
|
||||
/**
|
||||
* Collects the most recent sensor measurement data from the i2c bus.
|
||||
*/
|
||||
int collect();
|
||||
|
||||
/**
|
||||
* Sends an i2c measure command to the sensors.
|
||||
*/
|
||||
int measure();
|
||||
|
||||
/**
|
||||
* 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(const uint8_t address);
|
||||
|
||||
/**
|
||||
* Perform a poll cycle; collect from the previous measurement
|
||||
* and start a new one.
|
||||
*/
|
||||
void Run() override;
|
||||
|
||||
bool _collect_phase{false};
|
||||
|
||||
int _orb_class_instance{-1};
|
||||
|
||||
uint8_t _orientation{0};
|
||||
|
||||
float _max_distance{0};
|
||||
float _min_distance{0};
|
||||
|
||||
orb_advert_t _distance_sensor_topic{nullptr};
|
||||
|
||||
perf_counter_t _comms_errors{perf_alloc(PC_COUNT, "tr1_comm_err")};
|
||||
perf_counter_t _sample_perf{perf_alloc(PC_ELAPSED, "tr1_read")};
|
||||
};
|
||||
|
||||
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;
|
||||
}
|
||||
|
||||
|
||||
TERARANGER::TERARANGER(const int bus, const uint8_t orientation, const int address) :
|
||||
I2C("TERARANGER", TERARANGER_DEVICE_PATH, bus, address, 100000),
|
||||
ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(get_device_id())),
|
||||
_orientation(orientation)
|
||||
{
|
||||
// up the retries since the device misses the first measure attempts
|
||||
I2C::_retries = 3;
|
||||
}
|
||||
|
||||
TERARANGER::~TERARANGER()
|
||||
{
|
||||
// Ensure we are truly inactive.
|
||||
stop();
|
||||
|
||||
// Unadvertise the distance sensor topic.
|
||||
if (_distance_sensor_topic != nullptr) {
|
||||
orb_unadvertise(_distance_sensor_topic);
|
||||
}
|
||||
|
||||
// Free perf counters.
|
||||
perf_free(_sample_perf);
|
||||
perf_free(_comms_errors);
|
||||
}
|
||||
|
||||
int
|
||||
TERARANGER::collect()
|
||||
{
|
||||
if (!_collect_phase) {
|
||||
return measure();
|
||||
}
|
||||
|
||||
perf_begin(_sample_perf);
|
||||
|
||||
uint8_t val[3] = {};
|
||||
|
||||
// Transfer data from the bus.
|
||||
int ret_val = transfer(nullptr, 0, &val[0], 3);
|
||||
|
||||
if (ret_val < 0) {
|
||||
PX4_ERR("error reading from sensor: %d", ret_val);
|
||||
perf_count(_comms_errors);
|
||||
perf_end(_sample_perf);
|
||||
return ret_val;
|
||||
}
|
||||
|
||||
uint16_t distance_mm = (val[0] << 8) | val[1];
|
||||
float distance_m = static_cast<float>(distance_mm) * 1e-3f;
|
||||
|
||||
distance_sensor_s report {};
|
||||
report.current_distance = distance_m;
|
||||
report.id = 0; // TODO: set proper ID.
|
||||
report.min_distance = _min_distance;
|
||||
report.max_distance = _max_distance;
|
||||
report.orientation = _orientation;
|
||||
report.signal_quality = -1;
|
||||
report.timestamp = hrt_absolute_time();
|
||||
// NOTE: There is no enum item for a combined LASER and ULTRASOUND which this should be.
|
||||
report.type = distance_sensor_s::MAV_DISTANCE_SENSOR_LASER;
|
||||
report.variance = 0.0f;
|
||||
|
||||
if (crc8(val, 2) == val[2] &&
|
||||
(float)report.current_distance > report.min_distance &&
|
||||
(float)report.current_distance < report.max_distance) {
|
||||
int instance_id;
|
||||
orb_publish_auto(ORB_ID(distance_sensor), &_distance_sensor_topic, &report, &instance_id, ORB_PRIO_DEFAULT);
|
||||
}
|
||||
|
||||
// Next phase is measurement.
|
||||
_collect_phase = false;
|
||||
|
||||
perf_count(_sample_perf);
|
||||
perf_end(_sample_perf);
|
||||
return PX4_OK;
|
||||
}
|
||||
|
||||
int
|
||||
TERARANGER::init()
|
||||
{
|
||||
int hw_model = 0;
|
||||
param_get(param_find("SENS_EN_TRANGER"), &hw_model);
|
||||
|
||||
switch (hw_model) {
|
||||
case 0: // Disabled
|
||||
PX4_WARN("Disabled");
|
||||
return PX4_ERROR;
|
||||
|
||||
case 1: // Autodetect - assume default Teraranger One
|
||||
set_device_address(TERARANGER_ONE_BASEADDR);
|
||||
|
||||
if (I2C::init() != OK) {
|
||||
set_device_address(TERARANGER_EVO_BASEADDR);
|
||||
|
||||
if (I2C::init() != OK) {
|
||||
return PX4_ERROR;
|
||||
|
||||
} else {
|
||||
// Assume minimum and maximum possible distances acros Evo family
|
||||
_min_distance = TERARANGER_EVO_3M_MIN_DISTANCE;
|
||||
_max_distance = TERARANGER_EVO_60M_MAX_DISTANCE;
|
||||
}
|
||||
|
||||
} else {
|
||||
_min_distance = TERARANGER_ONE_MIN_DISTANCE;
|
||||
_max_distance = TERARANGER_ONE_MAX_DISTANCE;
|
||||
}
|
||||
|
||||
break;
|
||||
|
||||
case 2: // Teraranger One.
|
||||
set_device_address(TERARANGER_ONE_BASEADDR);
|
||||
|
||||
if (I2C::init() != OK) {
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
_min_distance = TERARANGER_ONE_MIN_DISTANCE;
|
||||
_max_distance = TERARANGER_ONE_MAX_DISTANCE;
|
||||
break;
|
||||
|
||||
case 3: // Teraranger Evo60m.
|
||||
set_device_address(TERARANGER_EVO_BASEADDR);
|
||||
|
||||
// I2C init (and probe) first.
|
||||
if (I2C::init() != OK) {
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
_min_distance = TERARANGER_EVO_60M_MIN_DISTANCE;
|
||||
_max_distance = TERARANGER_EVO_60M_MAX_DISTANCE;
|
||||
break;
|
||||
|
||||
case 4: // Teraranger Evo600Hz.
|
||||
set_device_address(TERARANGER_EVO_BASEADDR);
|
||||
|
||||
// I2C init (and probe) first.
|
||||
if (I2C::init() != OK) {
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
_min_distance = TERARANGER_EVO_600HZ_MIN_DISTANCE;
|
||||
_max_distance = TERARANGER_EVO_600HZ_MAX_DISTANCE;
|
||||
break;
|
||||
|
||||
case 5: // Teraranger Evo3m.
|
||||
set_device_address(TERARANGER_EVO_BASEADDR);
|
||||
|
||||
// I2C init (and probe) first.
|
||||
if (I2C::init() != OK) {
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
_min_distance = TERARANGER_EVO_3M_MIN_DISTANCE;
|
||||
_max_distance = TERARANGER_EVO_3M_MAX_DISTANCE;
|
||||
break;
|
||||
|
||||
default:
|
||||
PX4_ERR("invalid HW model %d.", hw_model);
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
return PX4_OK;
|
||||
}
|
||||
|
||||
int
|
||||
TERARANGER::measure()
|
||||
{
|
||||
// Send the command to begin a measurement.
|
||||
const uint8_t cmd = TERARANGER_MEASURE_REG;
|
||||
int ret_val = transfer(&cmd, sizeof(cmd), nullptr, 0);
|
||||
|
||||
if (ret_val != PX4_OK) {
|
||||
perf_count(_comms_errors);
|
||||
PX4_DEBUG("i2c::transfer returned %d", ret_val);
|
||||
return ret_val;
|
||||
}
|
||||
|
||||
_collect_phase = true;
|
||||
return PX4_OK;
|
||||
}
|
||||
|
||||
int
|
||||
TERARANGER::probe()
|
||||
{
|
||||
uint8_t who_am_i = 0;
|
||||
|
||||
const uint8_t cmd = TERARANGER_WHO_AM_I_REG;
|
||||
|
||||
// Can't use a single transfer as Teraranger needs 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 == TERARANGER_WHO_AM_I_REG_VAL) {
|
||||
return measure();
|
||||
}
|
||||
}
|
||||
|
||||
PX4_DEBUG("WHO_AM_I byte mismatch 0x%02x should be 0x%02x\n",
|
||||
(unsigned)who_am_i,
|
||||
TERARANGER_WHO_AM_I_REG_VAL);
|
||||
|
||||
// Not found on any address.
|
||||
return -EIO;
|
||||
}
|
||||
|
||||
void
|
||||
TERARANGER::print_info()
|
||||
{
|
||||
perf_print_counter(_sample_perf);
|
||||
perf_print_counter(_comms_errors);
|
||||
printf("poll interval: %u\n", TERARANGER_MEASUREMENT_INTERVAL);
|
||||
}
|
||||
|
||||
void
|
||||
TERARANGER::Run()
|
||||
{
|
||||
// Perform data collection.
|
||||
collect();
|
||||
}
|
||||
|
||||
void
|
||||
TERARANGER::start()
|
||||
{
|
||||
_collect_phase = false;
|
||||
|
||||
// Schedule the driver to run on a set interval
|
||||
ScheduleOnInterval(TERARANGER_MEASUREMENT_INTERVAL);
|
||||
}
|
||||
|
||||
void
|
||||
TERARANGER::stop()
|
||||
{
|
||||
ScheduleClear();
|
||||
}
|
||||
|
||||
/**
|
||||
* Local functions in support of the shell command.
|
||||
*/
|
||||
namespace teraranger
|
||||
{
|
||||
|
||||
TERARANGER *g_dev;
|
||||
|
||||
int start(const uint8_t orientation = distance_sensor_s::ROTATION_DOWNWARD_FACING);
|
||||
int start_bus(const int i2c_bus = TERARANGER_BUS_DEFAULT,
|
||||
const uint8_t orientation = distance_sensor_s::ROTATION_DOWNWARD_FACING);
|
||||
int status();
|
||||
int stop();
|
||||
int usage();
|
||||
|
||||
/**
|
||||
*
|
||||
* Attempt to start driver on all available I2C busses.
|
||||
*
|
||||
* This function will return as soon as the first sensor
|
||||
* is detected on one of the available busses or if no
|
||||
* sensors are detected.
|
||||
*
|
||||
*/
|
||||
int
|
||||
start(const uint8_t orientation)
|
||||
{
|
||||
if (g_dev != nullptr) {
|
||||
PX4_ERR("already started");
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
for (size_t i = 0; i < NUM_I2C_BUS_OPTIONS; i++) {
|
||||
if (start_bus(i2c_bus_options[i], orientation) == PX4_OK) {
|
||||
return PX4_OK;
|
||||
}
|
||||
}
|
||||
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
/**
|
||||
* Start the driver on a specific bus.
|
||||
*
|
||||
* This function only returns if the sensor is up and running
|
||||
* or could not be detected successfully.
|
||||
*/
|
||||
int
|
||||
start_bus(const int i2c_bus, const uint8_t orientation)
|
||||
{
|
||||
if (g_dev != nullptr) {
|
||||
PX4_ERR("already started");
|
||||
return PX4_OK;
|
||||
}
|
||||
|
||||
// Instantiate the driver.
|
||||
g_dev = new TERARANGER(i2c_bus, orientation);
|
||||
|
||||
if (g_dev == nullptr) {
|
||||
delete g_dev;
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
// Initialize the sensor.
|
||||
if (g_dev->init() != PX4_OK) {
|
||||
delete g_dev;
|
||||
g_dev = nullptr;
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
// Start the driver.
|
||||
g_dev->start();
|
||||
|
||||
PX4_INFO("driver started");
|
||||
return PX4_OK;
|
||||
}
|
||||
|
||||
/**
|
||||
* Stop the driver
|
||||
*/
|
||||
int
|
||||
stop()
|
||||
{
|
||||
if (g_dev != nullptr) {
|
||||
delete g_dev;
|
||||
g_dev = nullptr;
|
||||
|
||||
}
|
||||
|
||||
PX4_INFO("driver stopped");
|
||||
return PX4_OK;
|
||||
}
|
||||
|
||||
/**
|
||||
* Print the driver status.
|
||||
*/
|
||||
int
|
||||
status()
|
||||
{
|
||||
if (g_dev == nullptr) {
|
||||
PX4_ERR("driver not running");
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
g_dev->print_info();
|
||||
|
||||
return PX4_OK;
|
||||
}
|
||||
|
||||
int
|
||||
usage()
|
||||
{
|
||||
PRINT_MODULE_DESCRIPTION(
|
||||
R"DESCR_STR(
|
||||
### Description
|
||||
|
||||
I2C bus driver for TeraRanger rangefinders.
|
||||
|
||||
The sensor/driver must be enabled using the parameter SENS_EN_TRANGER.
|
||||
|
||||
Setup/usage information: https://docs.px4.io/en/sensor/rangefinders.html#teraranger-rangefinders
|
||||
|
||||
### Examples
|
||||
Start driver on any bus (start on bus where first sensor found).
|
||||
$ teraranger start -a
|
||||
Start driver on specified bus
|
||||
$ teraranger start -b 1
|
||||
Stop driver
|
||||
$ teraranger stop
|
||||
)DESCR_STR");
|
||||
|
||||
PRINT_MODULE_USAGE_NAME("teraranger", "driver");
|
||||
PRINT_MODULE_USAGE_SUBCATEGORY("distance_sensor");
|
||||
PRINT_MODULE_USAGE_COMMAND_DESCR("start","Start driver");
|
||||
PRINT_MODULE_USAGE_PARAM_FLAG('a', "Attempt to start driver on all I2C buses (first one found)", true);
|
||||
PRINT_MODULE_USAGE_PARAM_INT('b', 1, 1, 2000, "Start driver on specific I2C bus", true);
|
||||
PRINT_MODULE_USAGE_PARAM_INT('R', 25, 1, 25, "Sensor rotation - downward facing by default", true);
|
||||
PRINT_MODULE_USAGE_COMMAND_DESCR("stop","Stop driver");
|
||||
PRINT_MODULE_USAGE_COMMAND_DESCR("status","Print driver information");
|
||||
|
||||
return PX4_OK;
|
||||
}
|
||||
|
||||
} // namespace
|
||||
|
||||
/**
|
||||
* Driver 'main' command.
|
||||
*/
|
||||
extern "C" __EXPORT int teraranger_main(int argc, char *argv[])
|
||||
{
|
||||
const char *myoptarg = nullptr;
|
||||
|
||||
int ch;
|
||||
int i2c_bus = TERARANGER_BUS_DEFAULT;
|
||||
int myoptind = 1;
|
||||
|
||||
uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING;
|
||||
|
||||
bool start_all = false;
|
||||
|
||||
while ((ch = px4_getopt(argc, argv, "ab:R:", &myoptind, &myoptarg)) != EOF) {
|
||||
switch (ch) {
|
||||
case 'a':
|
||||
start_all = true;
|
||||
break;
|
||||
|
||||
case 'b':
|
||||
i2c_bus = atoi(myoptarg);
|
||||
break;
|
||||
|
||||
case 'R':
|
||||
rotation = (uint8_t)atoi(myoptarg);
|
||||
break;
|
||||
|
||||
default:
|
||||
PX4_WARN("Unknown option!");
|
||||
return teraranger::usage();
|
||||
}
|
||||
}
|
||||
|
||||
if (myoptind >= argc) {
|
||||
return teraranger::usage();
|
||||
}
|
||||
|
||||
// Start/load the driver.
|
||||
if (!strcmp(argv[myoptind], "start")) {
|
||||
|
||||
if (start_all) {
|
||||
return teraranger::start(rotation);
|
||||
|
||||
} else {
|
||||
return teraranger::start_bus(i2c_bus, rotation);
|
||||
}
|
||||
}
|
||||
|
||||
// Print the driver status.
|
||||
if (!strcmp(argv[myoptind], "status")) {
|
||||
return teraranger::status();
|
||||
}
|
||||
|
||||
// Stop the driver.
|
||||
if (!strcmp(argv[myoptind], "stop")) {
|
||||
return teraranger::stop();
|
||||
}
|
||||
|
||||
return teraranger::usage();
|
||||
}
|
||||
|
|
@ -0,0 +1,195 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2013-2020 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include "TERARANGER.hpp"
|
||||
|
||||
#include <px4_platform_common/getopt.h>
|
||||
#include <px4_platform_common/module.h>
|
||||
|
||||
namespace teraranger
|
||||
{
|
||||
|
||||
TERARANGER *g_dev{nullptr};
|
||||
|
||||
static int start_bus(const int i2c_bus, const uint8_t orientation)
|
||||
{
|
||||
if (g_dev != nullptr) {
|
||||
PX4_ERR("already started");
|
||||
return PX4_OK;
|
||||
}
|
||||
|
||||
// Instantiate the driver.
|
||||
g_dev = new TERARANGER(i2c_bus, TERARANGER_ONE_BASEADDR, orientation);
|
||||
|
||||
if (g_dev == nullptr) {
|
||||
delete g_dev;
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
// Initialize the sensor.
|
||||
if (g_dev->init() != PX4_OK) {
|
||||
delete g_dev;
|
||||
g_dev = nullptr;
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
return PX4_OK;
|
||||
}
|
||||
|
||||
static int start(const uint8_t orientation)
|
||||
{
|
||||
if (g_dev != nullptr) {
|
||||
PX4_ERR("already started");
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
for (size_t i = 0; i < NUM_I2C_BUS_OPTIONS; i++) {
|
||||
if (start_bus(i2c_bus_options[i], orientation) == PX4_OK) {
|
||||
return PX4_OK;
|
||||
}
|
||||
}
|
||||
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
static int stop()
|
||||
{
|
||||
if (g_dev != nullptr) {
|
||||
delete g_dev;
|
||||
g_dev = nullptr;
|
||||
|
||||
}
|
||||
|
||||
PX4_INFO("driver stopped");
|
||||
return PX4_OK;
|
||||
}
|
||||
|
||||
static int status()
|
||||
{
|
||||
if (g_dev == nullptr) {
|
||||
PX4_ERR("driver not running");
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
g_dev->print_info();
|
||||
|
||||
return PX4_OK;
|
||||
}
|
||||
|
||||
static int usage()
|
||||
{
|
||||
PRINT_MODULE_DESCRIPTION(
|
||||
R"DESCR_STR(
|
||||
### Description
|
||||
|
||||
I2C bus driver for TeraRanger rangefinders.
|
||||
|
||||
The sensor/driver must be enabled using the parameter SENS_EN_TRANGER.
|
||||
|
||||
Setup/usage information: https://docs.px4.io/en/sensor/rangefinders.html#teraranger-rangefinders
|
||||
|
||||
### Examples
|
||||
Start driver on any bus (start on bus where first sensor found).
|
||||
$ teraranger start -a
|
||||
Start driver on specified bus
|
||||
$ teraranger start -b 1
|
||||
Stop driver
|
||||
$ teraranger stop
|
||||
)DESCR_STR");
|
||||
|
||||
PRINT_MODULE_USAGE_NAME("teraranger", "driver");
|
||||
PRINT_MODULE_USAGE_SUBCATEGORY("distance_sensor");
|
||||
PRINT_MODULE_USAGE_COMMAND_DESCR("start","Start driver");
|
||||
PRINT_MODULE_USAGE_PARAM_FLAG('a', "Attempt to start driver on all I2C buses (first one found)", true);
|
||||
PRINT_MODULE_USAGE_PARAM_INT('b', 1, 1, 2000, "Start driver on specific I2C bus", true);
|
||||
PRINT_MODULE_USAGE_PARAM_INT('R', 25, 1, 25, "Sensor rotation - downward facing by default", true);
|
||||
PRINT_MODULE_USAGE_COMMAND_DESCR("stop","Stop driver");
|
||||
PRINT_MODULE_USAGE_COMMAND_DESCR("status","Print driver information");
|
||||
|
||||
return PX4_OK;
|
||||
}
|
||||
|
||||
} // namespace
|
||||
|
||||
extern "C" __EXPORT int teraranger_main(int argc, char *argv[])
|
||||
{
|
||||
const char *myoptarg = nullptr;
|
||||
|
||||
int ch;
|
||||
int i2c_bus = PX4_I2C_BUS_EXPANSION;
|
||||
int myoptind = 1;
|
||||
|
||||
uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING;
|
||||
|
||||
bool start_all = false;
|
||||
|
||||
while ((ch = px4_getopt(argc, argv, "ab:R:", &myoptind, &myoptarg)) != EOF) {
|
||||
switch (ch) {
|
||||
case 'a':
|
||||
start_all = true;
|
||||
break;
|
||||
|
||||
case 'b':
|
||||
i2c_bus = atoi(myoptarg);
|
||||
break;
|
||||
|
||||
case 'R':
|
||||
rotation = (uint8_t)atoi(myoptarg);
|
||||
break;
|
||||
|
||||
default:
|
||||
PX4_WARN("Unknown option!");
|
||||
return teraranger::usage();
|
||||
}
|
||||
}
|
||||
|
||||
if (myoptind >= argc) {
|
||||
return teraranger::usage();
|
||||
}
|
||||
|
||||
if (!strcmp(argv[myoptind], "start")) {
|
||||
|
||||
if (start_all) {
|
||||
return teraranger::start(rotation);
|
||||
|
||||
} else {
|
||||
return teraranger::start_bus(i2c_bus, rotation);
|
||||
}
|
||||
} else if (!strcmp(argv[myoptind], "status")) {
|
||||
return teraranger::status();
|
||||
} else if (!strcmp(argv[myoptind], "stop")) {
|
||||
return teraranger::stop();
|
||||
}
|
||||
|
||||
return teraranger::usage();
|
||||
}
|
||||
Loading…
Reference in New Issue