diff --git a/cmake/configs/qurt_eagle_default.cmake b/cmake/configs/qurt_eagle_default.cmake index 728fa6f366..ce10981ad2 100644 --- a/cmake/configs/qurt_eagle_default.cmake +++ b/cmake/configs/qurt_eagle_default.cmake @@ -24,6 +24,7 @@ set(config_module_list platforms/posix/drivers/df_mpu9250_wrapper platforms/posix/drivers/df_bmp280_wrapper platforms/posix/drivers/df_hmc5883_wrapper + platforms/posix/drivers/df_trone_wrapper # # System commands @@ -93,4 +94,5 @@ set(config_df_driver_list mpu9250 bmp280 hmc5883 + trone ) diff --git a/posix-configs/eagle/flight/px4.config b/posix-configs/eagle/flight/px4.config index 790f7f0c74..ba3fd96749 100644 --- a/posix-configs/eagle/flight/px4.config +++ b/posix-configs/eagle/flight/px4.config @@ -7,6 +7,7 @@ param set MAV_TYPE 2 df_mpu9250_wrapper start df_bmp280_wrapper start df_hmc5883_wrapper start +df_trone_wrapper start sensors start commander start ekf2 start diff --git a/src/lib/DriverFramework b/src/lib/DriverFramework index 19011783b4..d6ef668f45 160000 --- a/src/lib/DriverFramework +++ b/src/lib/DriverFramework @@ -1 +1 @@ -Subproject commit 19011783b496189224aa6ba2dfe3fe17a4a29e3c +Subproject commit d6ef668f4564e1c158910c52df7d71114bd2ca4e diff --git a/src/platforms/posix/drivers/df_trone_wrapper/CMakeLists.txt b/src/platforms/posix/drivers/df_trone_wrapper/CMakeLists.txt new file mode 100644 index 0000000000..792fa723f1 --- /dev/null +++ b/src/platforms/posix/drivers/df_trone_wrapper/CMakeLists.txt @@ -0,0 +1,46 @@ +############################################################################ +# +# Copyright (c) 2016 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_directories(../../../../lib/DriverFramework/drivers) + +px4_add_module( + MODULE platforms__posix__drivers__df_trone_wrapper + MAIN df_trone_wrapper + SRCS + df_trone_wrapper.cpp + DEPENDS + platforms__common + df_driver_framework + df_trone + ) +# vim: set noet ft=cmake fenc=utf-8 ff=unix : diff --git a/src/platforms/posix/drivers/df_trone_wrapper/df_trone_wrapper.cpp b/src/platforms/posix/drivers/df_trone_wrapper/df_trone_wrapper.cpp new file mode 100644 index 0000000000..4bc4fdf531 --- /dev/null +++ b/src/platforms/posix/drivers/df_trone_wrapper/df_trone_wrapper.cpp @@ -0,0 +1,357 @@ +/**************************************************************************** + * + * Copyright (c) 2016 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 df_trone_wrapper.cpp + * Driver to access the TROne of the DriverFramework. + * + * @author Nicolas de Palezieux + */ + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +#include + +#include +#include +#include + +#include + +#include +#include + + +extern "C" { __EXPORT int df_trone_wrapper_main(int argc, char *argv[]); } + +using namespace DriverFramework; + + +class DfTROneWrapper : public TROne +{ +public: + DfTROneWrapper(); + ~DfTROneWrapper(); + + + /** + * Start automatic measurement. + * + * @return 0 on success + */ + int start(); + + /** + * Stop automatic measurement. + * + * @return 0 on success + */ + int stop(); + +private: + int _publish(struct range_sensor_data &data); + + orb_advert_t _range_topic; + + int _orb_class_instance; + + // perf_counter_t _range_sample_perf; + +}; + +DfTROneWrapper::DfTROneWrapper(/*enum Rotation rotation*/) : + TROne(TRONE_DEVICE_PATH), + _range_topic(nullptr), + _orb_class_instance(-1) +{ +} + +DfTROneWrapper::~DfTROneWrapper() +{ +} + +int DfTROneWrapper::start() +{ + struct distance_sensor_s d; + _range_topic = orb_advertise_multi(ORB_ID(distance_sensor), &d, + &_orb_class_instance, ORB_PRIO_DEFAULT); + + int ret; + + /* Init device and start sensor. */ + ret = init(); + + if (ret != 0) { + PX4_ERR("TROne init fail: %d", ret); + return ret; + } + + ret = TROne::start(); + + if (ret != 0) { + PX4_ERR("TROne start fail: %d", ret); + return ret; + } + + return 0; +} + +int DfTROneWrapper::stop() +{ + /* Stop sensor. */ + int ret = TROne::stop(); + + if (ret != 0) { + PX4_ERR("TROne stop fail: %d", ret); + return ret; + } + + return 0; +} + +int DfTROneWrapper::_publish(struct range_sensor_data &data) +{ + if (!_range_topic) { + return 1; + } + + struct distance_sensor_s d; + + memset(&d, 0, sizeof(d)); + + d.timestamp = hrt_absolute_time(); + + d.min_distance = float(TRONE_MIN_DISTANCE); /* m */ + + d.max_distance = float(TRONE_MAX_DISTANCE); /* m */ + + d.current_distance = float(data.dist); + + d.type = distance_sensor_s::MAV_DISTANCE_SENSOR_LASER; + + d.id = 0; // TODO set proper ID + + d.orientation = 0; // TODO no idea what to put here + + d.covariance = 0.0f; + + orb_publish(ORB_ID(distance_sensor), _range_topic, &d); + + /* Notify anyone waiting for data. */ + DevMgr::updateNotify(*this); + + return 0; +}; + + +namespace df_trone_wrapper +{ + +DfTROneWrapper *g_dev = nullptr; + +int start(); +int stop(); +int info(); +int probe(); +void usage(); + +int start() +{ + PX4_ERR("start"); + g_dev = new DfTROneWrapper(); + + if (g_dev == nullptr) { + PX4_ERR("failed instantiating DfTROneWrapper object"); + return -1; + } + + int ret = g_dev->start(); + + if (ret != 0) { + PX4_ERR("DfTROneWrapper start failed"); + return ret; + } + + // Open the range sensor + DevHandle h; + DevMgr::getHandle(TRONE_DEVICE_PATH, h); + + if (!h.isValid()) { + DF_LOG_INFO("Error: unable to obtain a valid handle for the receiver at: %s (%d)", + TRONE_DEVICE_PATH, h.getError()); + return -1; + } + + DevMgr::releaseHandle(h); + + return 0; +} + +int stop() +{ + if (g_dev == nullptr) { + PX4_ERR("driver not running"); + return 1; + } + + int ret = g_dev->stop(); + + if (ret != 0) { + PX4_ERR("driver could not be stopped"); + return ret; + } + + delete g_dev; + g_dev = nullptr; + return 0; +} + +/** + * Print a little info about the driver. + */ +int +info() +{ + if (g_dev == nullptr) { + PX4_ERR("driver not running"); + return 1; + } + + PX4_DEBUG("state @ %p", g_dev); + + return 0; +} + +/** + * Who am i + */ +int +probe() +{ + int ret; + + if (g_dev == nullptr) { + ret = start(); + + if (ret) { + PX4_ERR("Failed to start"); + return ret; + } + } + + ret = g_dev->probe(); + + if (ret) { + PX4_ERR("Failed to probe"); + return ret; + } + + PX4_DEBUG("state @ %p", g_dev); + + return 0; +} + + +void +usage() +{ + PX4_WARN("Usage: df_trone_wrapper 'start', 'info', 'stop'"); +} + +} // namespace df_trone_wrapper + + +int +df_trone_wrapper_main(int argc, char *argv[]) +{ + int ch; + int ret = 0; + int myoptind = 1; + const char *myoptarg = NULL; + + /* jump over start/off/etc and look at options first */ + while ((ch = px4_getopt(argc, argv, "R:", &myoptind, &myoptarg)) != EOF) { + switch (ch) { + + default: + df_trone_wrapper::usage(); + return 0; + } + } + + if (argc <= 1) { + df_trone_wrapper::usage(); + return 1; + } + + const char *verb = argv[myoptind]; + + + if (!strcmp(verb, "start")) { + ret = df_trone_wrapper::start(/*rotation*/); + } + + else if (!strcmp(verb, "stop")) { + ret = df_trone_wrapper::stop(); + } + + else if (!strcmp(verb, "info")) { + ret = df_trone_wrapper::info(); + } + + else if (!strcmp(verb, "probe")) { + ret = df_trone_wrapper::probe(); + } + + else { + df_trone_wrapper::usage(); + return 1; + } + + return ret; +}