Maxbotix I2C Sonar Support

apps/drivers/device/i2c.cpp

@@ -114,6 +114,30 @@ I2C::probe()
 	return OK;
 }
 
+int
+I2C::write(const uint8_t *send, unsigned send_len)
+{
+	int ret = OK;
+	
+	I2C_SETFREQUENCY(_dev, _frequency);
+	I2C_SETADDRESS(_dev, _address, 7);
+	ret = I2C_WRITE(_dev, send, send_len);
+	
+	return ret;
+}
+
+int
+I2C::read(uint8_t *recv, unsigned recv_len)
+{
+	int ret = OK;
+	
+	I2C_SETFREQUENCY(_dev, _frequency);
+	I2C_SETADDRESS(_dev, _address, 7);
+	ret = I2C_READ(_dev, recv, recv_len);
+	
+	return ret;
+}
+
 int
 I2C::transfer(const uint8_t *send, unsigned send_len, uint8_t *recv, unsigned recv_len)
 {

apps/drivers/device/i2c.h

@@ -85,6 +85,26 @@ protected:
 	 */
 	virtual int	probe();
 
+	/**
+	 * Perform an I2C write to the device.
+	 *
+	 * @param send		Pointer to bytes to send.
+	 * @param send_len	Number of bytes to send.
+	 * @return		OK if the transfer was successful, -errno
+	 *			otherwise.
+	 */
+	int		write(const uint8_t *send, unsigned send_len);
+	
+	/**
+	 * Perform an I2C read from the device.
+	 *
+	 * @param send		Pointer to bytes to send.
+	 * @param send_len	Number of bytes to send.
+	 * @return		OK if the transfer was successful, -errno
+	 *			otherwise.
+	 */
+	int		read(uint8_t *recv, unsigned recv_len);
+	
 	/**
 	 * Perform an I2C transaction to the device.
 	 *

apps/drivers/drv_range_finder.h

@@ -0,0 +1,81 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2013 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 Rangefinder driver interface.
+ */
+
+#ifndef _DRV_RANGEFINDER_H
+#define _DRV_RANGEFINDER_H
+
+#include <stdint.h>
+#include <sys/ioctl.h>
+
+#include "drv_sensor.h"
+#include "drv_orb_dev.h"
+
+#define RANGE_FINDER_DEVICE_PATH	"/dev/range_finder"
+
+/**
+ * accel report structure.  Reads from the device must be in multiples of this
+ * structure.
+ */
+struct range_finder_report {
+	uint64_t timestamp;
+	float distance; 			/** in meters */
+	uint8_t valid;				/** 1 == within sensor range, 0 = outside sensor range */
+};
+
+/*
+ * ObjDev tag for raw accelerometer data.
+ */
+ORB_DECLARE(sensor_range_finder);
+
+/*
+ * ioctl() definitions
+ *
+ * Accelerometer drivers also implement the generic sensor driver
+ * interfaces from drv_sensor.h
+ */
+
+#define _RANGEFINDERIOCBASE			(0x7900)
+#define __RANGEFINDERIOC(_n)		(_IOC(_RANGEFINDERIOCBASE, _n))
+
+/** set the minimum effective distance of the device */
+#define RANGEFINDERIOCSETMINIUMDISTANCE	__RANGEFINDERIOC(1)
+
+/** set the maximum effective distance of the device */
+#define RANGEFINDERIOCSETMAXIUMDISTANCE	__RANGEFINDERIOC(2)
+
+
+#endif /* _DRV_RANGEFINDER_H */

apps/drivers/mb12xx/Makefile

@@ -0,0 +1,42 @@
+############################################################################
+#
+#   Copyright (C) 2013 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.
+#
+############################################################################
+
+#
+# Makefile to build the Maxbotix Sonar driver.
+#
+
+APPNAME		= mb12xx
+PRIORITY	= SCHED_PRIORITY_DEFAULT
+STACKSIZE	= 4096
+
+include $(APPDIR)/mk/app.mk

apps/uORB/objects_common.cpp

@@ -53,6 +53,9 @@ ORB_DEFINE(sensor_gyro, struct gyro_report);
 #include <drivers/drv_baro.h>
 ORB_DEFINE(sensor_baro, struct baro_report);
 
+#include <drivers/drv_range_finder.h>
+ORB_DEFINE(sensor_range_finder, struct range_finder_report);
+
 #include <drivers/drv_pwm_output.h>
 ORB_DEFINE(output_pwm, struct pwm_output_values);
 

apps/uORB/topics/subsystem_info.h

@@ -71,7 +71,8 @@ enum SUBSYSTEM_TYPE
 	SUBSYSTEM_TYPE_YAWPOSITION = 4096,
 	SUBSYSTEM_TYPE_ALTITUDECONTROL = 16384,
 	SUBSYSTEM_TYPE_POSITIONCONTROL = 32768,
-	SUBSYSTEM_TYPE_MOTORCONTROL = 65536
+	SUBSYSTEM_TYPE_MOTORCONTROL = 65536,
+	SUBSYSTEM_TYPE_RANGEFINDER = 131072
 };
 
 /**

nuttx/configs/px4fmu/nsh/appconfig

@@ -125,6 +125,7 @@ CONFIGURED_APPS += drivers/stm32/adc
 CONFIGURED_APPS += drivers/px4fmu
 CONFIGURED_APPS += drivers/hil
 CONFIGURED_APPS += drivers/gps
+CONFIGURED_APPS += drivers/mb12xx
 
 # Testing stuff
 CONFIGURED_APPS += px4/sensors_bringup