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Formatted code.

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Signed-off-by: Claudio Micheli <claudio@auterion.com>
This commit is contained in:
Claudio Micheli
2019-01-04 12:12:56 +01:00
committed by Beat Küng
parent 7124cbf3af
commit ca0cd27c6b
3 changed files with 314 additions and 298 deletions
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src/drivers/distance_sensor/cm8jl65/cm8jl65.cpp
+175 -169
View File
@@ -41,33 +41,33 @@
* *
*/ */
#include <px4_config.h> #include <px4_config.h>
#include <px4_getopt.h> #include <px4_getopt.h>
#include <px4_workqueue.h> #include <px4_workqueue.h>
#include <sys/types.h> #include <sys/types.h>
#include <stdint.h> #include <stdint.h>
#include <stdlib.h> #include <stdlib.h>
#include <stdbool.h> #include <stdbool.h>
#include <string.h> #include <string.h>
#include <poll.h> #include <poll.h>
#include <stdio.h> #include <stdio.h>
#include <unistd.h> #include <unistd.h>
#include <termios.h> #include <termios.h>
#include <perf/perf_counter.h> #include <perf/perf_counter.h>
#include <drivers/drv_hrt.h> #include <drivers/drv_hrt.h>
#include <drivers/drv_range_finder.h> #include <drivers/drv_range_finder.h>
#include <drivers/device/device.h> #include <drivers/device/device.h>
#include <drivers/device/ringbuffer.h> #include <drivers/device/ringbuffer.h>
#include <uORB/uORB.h> #include <uORB/uORB.h>
#include <uORB/topics/distance_sensor.h> #include <uORB/topics/distance_sensor.h>
#include "cm8jl65_parser.h" #include "cm8jl65_parser.h"
/* Configuration Constants */ /* Configuration Constants */
#ifndef CONFIG_SCHED_WORKQUEUE #ifndef CONFIG_SCHED_WORKQUEUE
# error This requires CONFIG_SCHED_WORKQUEUE. # error This requires CONFIG_SCHED_WORKQUEUE.
@@ -82,91 +82,91 @@
#define CM8JL65_CONVERSION_INTERVAL 50*1000UL/* 50ms */ #define CM8JL65_CONVERSION_INTERVAL 50*1000UL/* 50ms */
class CM8JL65 : public cdev::CDev class CM8JL65 : public cdev::CDev
{ {
public: public:
// Constructor // Constructor
CM8JL65(const char *port = CM8JL65_DEFAULT_PORT, uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING); CM8JL65(const char *port = CM8JL65_DEFAULT_PORT, uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING);
// Virtual destructor // Virtual destructor
virtual ~CM8JL65(); virtual ~CM8JL65();
virtual int init(); virtual int init();
virtual int ioctl(device::file_t *filp, int cmd, unsigned long arg); virtual int ioctl(device::file_t *filp, int cmd, unsigned long arg);
/** /**
* Diagnostics - print some basic information about the driver. * Diagnostics - print some basic information about the driver.
*/ */
void print_info(); void print_info();
private: private:
char _port[20]; char _port[20];
uint8_t _rotation; uint8_t _rotation;
float _min_distance; float _min_distance;
float _max_distance; float _max_distance;
int _conversion_interval; int _conversion_interval;
work_s _work{}; work_s _work{};
ringbuffer::RingBuffer *_reports; ringbuffer::RingBuffer *_reports;
int _fd; int _fd;
uint8_t _linebuf[25]; uint8_t _linebuf[25];
uint8_t _cycle_counter; uint8_t _cycle_counter;
enum CM8JL65_PARSE_STATE _parse_state; enum CM8JL65_PARSE_STATE _parse_state;
unsigned char _frame_data[4]; unsigned char _frame_data[4];
uint16_t _crc16; uint16_t _crc16;
int _distance_mm; int _distance_mm;
int _class_instance; int _class_instance;
int _orb_class_instance; int _orb_class_instance;
orb_advert_t _distance_sensor_topic; orb_advert_t _distance_sensor_topic;
perf_counter_t _sample_perf; perf_counter_t _sample_perf;
perf_counter_t _comms_errors; perf_counter_t _comms_errors;
/** /**
* Initialise the automatic measurement state machine and start it. * Initialise the automatic measurement state machine and start it.
* *
* @note This function is called at open and error time. It might make sense * @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. * to make it more aggressive about resetting the bus in case of errors.
*/ */
void start(); void start();
/** /**
* Stop the automatic measurement state machine. * Stop the automatic measurement state machine.
*/ */
void stop(); void stop();
/** /**
* Set the min and max distance thresholds. * Set the min and max distance thresholds.
*/ */
void set_minimum_distance(float min); void set_minimum_distance(float min);
void set_maximum_distance(float max); void set_maximum_distance(float max);
float get_minimum_distance(); float get_minimum_distance();
float get_maximum_distance(); float get_maximum_distance();
/** /**
* Perform a reading cycle; collect from the previous measurement * Perform a reading cycle; collect from the previous measurement
* and start a new one. * and start a new one.
*/ */
void cycle(); void cycle();
int collect(); int collect();
/** /**
* Static trampoline from the workq context; because we don't have a * Static trampoline from the workq context; because we don't have a
* generic workq wrapper yet. * generic workq wrapper yet.
* *
* @param arg Instance pointer for the driver that is polling. * @param arg Instance pointer for the driver that is polling.
*/ */
static void cycle_trampoline(void *arg); static void cycle_trampoline(void *arg);
}; };
/* /*
* Driver 'main' command. * Driver 'main' command.
*/ */
extern "C" __EXPORT int cm8jl65_main(int argc, char *argv[]); extern "C" __EXPORT int cm8jl65_main(int argc, char *argv[]);
/** /**
* Method : Constructor * Method : Constructor
@@ -174,7 +174,7 @@
* @note This method initializes the class variables * @note This method initializes the class variables
*/ */
CM8JL65::CM8JL65(const char *port, uint8_t rotation) : CM8JL65::CM8JL65(const char *port, uint8_t rotation) :
CDev(RANGE_FINDER0_DEVICE_PATH), CDev(RANGE_FINDER0_DEVICE_PATH),
_rotation(rotation), _rotation(rotation),
_min_distance(0.10f), _min_distance(0.10f),
@@ -182,17 +182,17 @@
_conversion_interval(CM8JL65_CONVERSION_INTERVAL), _conversion_interval(CM8JL65_CONVERSION_INTERVAL),
_reports(nullptr), _reports(nullptr),
_fd(-1), _fd(-1),
_cycle_counter(0), _cycle_counter(0),
_parse_state(STATE0_WAITING_FRAME), _parse_state(STATE0_WAITING_FRAME),
_frame_data{START_FRAME_DIGIT1, START_FRAME_DIGIT2, 0, 0}, _frame_data{START_FRAME_DIGIT1, START_FRAME_DIGIT2, 0, 0},
_crc16(0), _crc16(0),
_distance_mm(-1), _distance_mm(-1),
_class_instance(-1), _class_instance(-1),
_orb_class_instance(-1), _orb_class_instance(-1),
_distance_sensor_topic(nullptr), _distance_sensor_topic(nullptr),
_sample_perf(perf_alloc(PC_ELAPSED, "cm8jl65_read")), _sample_perf(perf_alloc(PC_ELAPSED, "cm8jl65_read")),
_comms_errors(perf_alloc(PC_COUNT, "cm8jl65_com_err")) _comms_errors(perf_alloc(PC_COUNT, "cm8jl65_com_err"))
{ {
/* store port name */ /* store port name */
strncpy(_port, port, sizeof(_port)); strncpy(_port, port, sizeof(_port));
/* enforce null termination */ /* enforce null termination */
@@ -228,39 +228,40 @@ CM8JL65::~CM8JL65()
int int
CM8JL65::init() CM8JL65::init()
{ {
/* status */ /* status */
int ret = 0; int ret = 0;
do { /* create a scope to handle exit conditions using break */ do { /* create a scope to handle exit conditions using break */
/* do regular cdev init */ /* do regular cdev init */
ret = CDev::init(); ret = CDev::init();
if (ret != OK) { break; } if (ret != OK) { break; }
/* allocate basic report buffers */ /* allocate basic report buffers */
_reports = new ringbuffer::RingBuffer(2, sizeof(distance_sensor_s)); _reports = new ringbuffer::RingBuffer(2, sizeof(distance_sensor_s));
if (_reports == nullptr) { if (_reports == nullptr) {
PX4_ERR("alloc failed"); PX4_ERR("alloc failed");
ret = -1; ret = -1;
break; break;
} }
_class_instance = register_class_devname(RANGE_FINDER_BASE_DEVICE_PATH);
/* get a publish handle on the range finder topic */ _class_instance = register_class_devname(RANGE_FINDER_BASE_DEVICE_PATH);
struct distance_sensor_s ds_report = {};
_distance_sensor_topic = orb_advertise_multi(ORB_ID(distance_sensor), &ds_report, /* get a publish handle on the range finder topic */
&_orb_class_instance, ORB_PRIO_HIGH); struct distance_sensor_s ds_report = {};
if (_distance_sensor_topic == nullptr) { _distance_sensor_topic = orb_advertise_multi(ORB_ID(distance_sensor), &ds_report,
PX4_ERR("failed to create distance_sensor object"); &_orb_class_instance, ORB_PRIO_HIGH);
}
} while (0); if (_distance_sensor_topic == nullptr) {
PX4_ERR("failed to create distance_sensor object");
}
return ret; } while (0);
return ret;
} }
void void
@@ -316,7 +317,7 @@ CM8JL65::ioctl(device::file_t *filp, int cmd, unsigned long arg)
return -EINVAL; return -EINVAL;
} }
start(); start();
return OK; return OK;
@@ -339,61 +340,64 @@ int
*/ */
CM8JL65::collect() CM8JL65::collect()
{ {
int bytes_read = 0; int bytes_read = 0;
int bytes_processed = 0; int bytes_processed = 0;
int i = 0; int i = 0;
bool crc_valid = false; bool crc_valid = false;
perf_begin(_sample_perf); perf_begin(_sample_perf);
/* read from the sensor (uart buffer) */ /* read from the sensor (uart buffer) */
bytes_read = ::read(_fd, &_linebuf[0], sizeof(_linebuf)); bytes_read = ::read(_fd, &_linebuf[0], sizeof(_linebuf));
if (bytes_read < 0) { if (bytes_read < 0) {
PX4_DEBUG("read err: %d \n", bytes_read); PX4_DEBUG("read err: %d \n", bytes_read);
perf_count(_comms_errors); perf_count(_comms_errors);
perf_end(_sample_perf); perf_end(_sample_perf);
} else if (bytes_read > 0){ } else if (bytes_read > 0) {
// printf("Bytes read: %d \n",bytes_read); // printf("Bytes read: %d \n",bytes_read);
i = bytes_read - 6 ; i = bytes_read - 6 ;
while ((i >=0) && (!crc_valid))
{
if (_linebuf[i] == START_FRAME_DIGIT1) {
bytes_processed = i;
while ((bytes_processed < bytes_read) && (!crc_valid))
{
// printf("In the cycle, processing byte %d, 0x%02X \n",bytes_processed, _linebuf[bytes_processed]);
if (OK == cm8jl65_parser(_linebuf[bytes_processed],_frame_data, &_parse_state,&_crc16, &_distance_mm)){
crc_valid = true;
}
bytes_processed++;
}
_parse_state = STATE0_WAITING_FRAME;
} while ((i >= 0) && (!crc_valid)) {
// else {printf("Starting frame wrong. Index: %d value 0x%02X \n",i,_linebuf[i]);} if (_linebuf[i] == START_FRAME_DIGIT1) {
i--; bytes_processed = i;
}
} while ((bytes_processed < bytes_read) && (!crc_valid)) {
// printf("In the cycle, processing byte %d, 0x%02X \n",bytes_processed, _linebuf[bytes_processed]);
if (OK == cm8jl65_parser(_linebuf[bytes_processed], _frame_data, &_parse_state, &_crc16, &_distance_mm)) {
crc_valid = true;
}
if (!crc_valid) { bytes_processed++;
}
_parse_state = STATE0_WAITING_FRAME;
}
// else {printf("Starting frame wrong. Index: %d value 0x%02X \n",i,_linebuf[i]);}
i--;
}
}
if (!crc_valid) {
return -EAGAIN; return -EAGAIN;
} }
//printf("val (int): %d, raw: 0x%08X, valid: %s \n", _distance_mm, _frame_data, ((crc_valid) ? "OK" : "NO")); //printf("val (int): %d, raw: 0x%08X, valid: %s \n", _distance_mm, _frame_data, ((crc_valid) ? "OK" : "NO"));
struct distance_sensor_s report; struct distance_sensor_s report;
report.timestamp = hrt_absolute_time(); report.timestamp = hrt_absolute_time();
report.type = distance_sensor_s::MAV_DISTANCE_SENSOR_LASER; report.type = distance_sensor_s::MAV_DISTANCE_SENSOR_LASER;
report.orientation = _rotation; report.orientation = _rotation;
report.current_distance = _distance_mm/1000.0f; report.current_distance = _distance_mm / 1000.0f;
report.min_distance = get_minimum_distance(); report.min_distance = get_minimum_distance();
report.max_distance = get_maximum_distance(); report.max_distance = get_maximum_distance();
report.covariance = 0.0f; report.covariance = 0.0f;
@@ -413,19 +417,19 @@ CM8JL65::collect()
perf_end(_sample_perf); perf_end(_sample_perf);
/* ENABLE THIS IF YOU WANT TO PRINT OLD VALUES WHILE CRC CHECK IS WRONG /* ENABLE THIS IF YOU WANT TO PRINT OLD VALUES WHILE CRC CHECK IS WRONG
if (!crc_valid) { if (!crc_valid) {
return -EAGAIN; return -EAGAIN;
} }
else return OK; */ else return OK; */
return OK; return OK;
} }
void void
CM8JL65::start() CM8JL65::start()
{ {
PX4_INFO("driver started"); PX4_INFO("driver started");
_reports->flush(); _reports->flush();
@@ -451,11 +455,11 @@ CM8JL65::cycle_trampoline(void *arg)
void void
CM8JL65::cycle() CM8JL65::cycle()
{ {
//PX4_DEBUG("CM8JL65::cycle() - in the cycle"); //PX4_DEBUG("CM8JL65::cycle() - in the cycle");
/* fds initialized? */ /* fds initialized? */
if (_fd < 0) { if (_fd < 0) {
/* open fd */ /* open fd */
_fd = ::open(_port,O_RDWR); _fd = ::open(_port, O_RDWR);
if (_fd < 0) { if (_fd < 0) {
PX4_ERR("open failed (%i)", errno); PX4_ERR("open failed (%i)", errno);
@@ -491,21 +495,21 @@ CM8JL65::cycle()
} }
} }
/* perform collection */ /* perform collection */
int collect_ret = collect(); int collect_ret = collect();
if (collect_ret == -EAGAIN) { if (collect_ret == -EAGAIN) {
_cycle_counter++; _cycle_counter++;
/* We are missing bytes to complete the packet, re-cycle at 1ms */ /* We are missing bytes to complete the packet, re-cycle at 1ms */
// work_queue(HPWORK,&_work,(worker_t)&CM8JL65::cycle_trampoline,this,USEC2TICK(1000LL)); // work_queue(HPWORK,&_work,(worker_t)&CM8JL65::cycle_trampoline,this,USEC2TICK(1000LL));
// return; // return;
} }
/* schedule a fresh cycle call when a complete packet has been received */ /* schedule a fresh cycle call when a complete packet has been received */
//work_queue(HPWORK,&_work,(worker_t)&CM8JL65::cycle_trampoline,this,USEC2TICK(_conversion_interval - _cycle_counter * 1000LL)); //work_queue(HPWORK,&_work,(worker_t)&CM8JL65::cycle_trampoline,this,USEC2TICK(_conversion_interval - _cycle_counter * 1000LL));
work_queue(HPWORK,&_work,(worker_t)&CM8JL65::cycle_trampoline,this,USEC2TICK(_conversion_interval)); work_queue(HPWORK, &_work, (worker_t)&CM8JL65::cycle_trampoline, this, USEC2TICK(_conversion_interval));
_cycle_counter = 0; _cycle_counter = 0;
} }
void void
@@ -563,14 +567,16 @@ start(const char *port, uint8_t rotation)
} }
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) { if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
PX4_ERR("failed to set baudrate %d", B115200); PX4_ERR("failed to set baudrate %d", B115200);
goto fail; goto fail;
} }
PX4_DEBUG("cm8jl65::start() succeeded");
PX4_DEBUG("cm8jl65::start() succeeded");
return 0; return 0;
fail: fail:
PX4_DEBUG("cm8jl65::start() failed"); PX4_DEBUG("cm8jl65::start() failed");
if (g_dev != nullptr) { if (g_dev != nullptr) {
delete g_dev; delete g_dev;
g_dev = nullptr; g_dev = nullptr;
src/drivers/distance_sensor/cm8jl65/cm8jl65_parser.cpp
+125 -115
View File
@@ -50,144 +50,154 @@
// Note : No clue what those static variables are // Note : No clue what those static variables are
static const unsigned char crc_msb_vector[] = { static const unsigned char crc_msb_vector[] = {
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40 0x00, 0xC1, 0x81, 0x40
}; };
static const unsigned char crc_lsb_vector[] = { static const unsigned char crc_lsb_vector[] = {
0x00, 0xC0, 0xC1, 0x01, 0xC3, 0x03, 0x02, 0xC2, 0xC6, 0x06, 0x07, 0xC7, 0x00, 0xC0, 0xC1, 0x01, 0xC3, 0x03, 0x02, 0xC2, 0xC6, 0x06, 0x07, 0xC7,
0x05, 0xC5, 0xC4, 0x04, 0xCC, 0x0C, 0x0D, 0xCD, 0x0F, 0xCF, 0xCE, 0x0E, 0x05, 0xC5, 0xC4, 0x04, 0xCC, 0x0C, 0x0D, 0xCD, 0x0F, 0xCF, 0xCE, 0x0E,
0x0A, 0xCA, 0xCB, 0x0B, 0xC9, 0x09, 0x08, 0xC8, 0xD8, 0x18, 0x19, 0xD9, 0x0A, 0xCA, 0xCB, 0x0B, 0xC9, 0x09, 0x08, 0xC8, 0xD8, 0x18, 0x19, 0xD9,
0x1B, 0xDB, 0xDA, 0x1A, 0x1E, 0xDE, 0xDF, 0x1F, 0xDD, 0x1D, 0x1C, 0xDC, 0x1B, 0xDB, 0xDA, 0x1A, 0x1E, 0xDE, 0xDF, 0x1F, 0xDD, 0x1D, 0x1C, 0xDC,
0x14, 0xD4, 0xD5, 0x15, 0xD7, 0x17, 0x16, 0xD6, 0xD2, 0x12, 0x13, 0xD3, 0x14, 0xD4, 0xD5, 0x15, 0xD7, 0x17, 0x16, 0xD6, 0xD2, 0x12, 0x13, 0xD3,
0x11, 0xD1, 0xD0, 0x10, 0xF0, 0x30, 0x31, 0xF1, 0x33, 0xF3, 0xF2, 0x32, 0x11, 0xD1, 0xD0, 0x10, 0xF0, 0x30, 0x31, 0xF1, 0x33, 0xF3, 0xF2, 0x32,
0x36, 0xF6, 0xF7, 0x37, 0xF5, 0x35, 0x34, 0xF4, 0x3C, 0xFC, 0xFD, 0x3D, 0x36, 0xF6, 0xF7, 0x37, 0xF5, 0x35, 0x34, 0xF4, 0x3C, 0xFC, 0xFD, 0x3D,
0xFF, 0x3F, 0x3E, 0xFE, 0xFA, 0x3A, 0x3B, 0xFB, 0x39, 0xF9, 0xF8, 0x38, 0xFF, 0x3F, 0x3E, 0xFE, 0xFA, 0x3A, 0x3B, 0xFB, 0x39, 0xF9, 0xF8, 0x38,
0x28, 0xE8, 0xE9, 0x29, 0xEB, 0x2B, 0x2A, 0xEA, 0xEE, 0x2E, 0x2F, 0xEF, 0x28, 0xE8, 0xE9, 0x29, 0xEB, 0x2B, 0x2A, 0xEA, 0xEE, 0x2E, 0x2F, 0xEF,
0x2D, 0xED, 0xEC, 0x2C, 0xE4, 0x24, 0x25, 0xE5, 0x27, 0xE7, 0xE6, 0x26, 0x2D, 0xED, 0xEC, 0x2C, 0xE4, 0x24, 0x25, 0xE5, 0x27, 0xE7, 0xE6, 0x26,
0x22, 0xE2, 0xE3, 0x23, 0xE1, 0x21, 0x20, 0xE0, 0xA0, 0x60, 0x61, 0xA1, 0x22, 0xE2, 0xE3, 0x23, 0xE1, 0x21, 0x20, 0xE0, 0xA0, 0x60, 0x61, 0xA1,
0x63, 0xA3, 0xA2, 0x62, 0x66, 0xA6, 0xA7, 0x67, 0xA5, 0x65, 0x64, 0xA4, 0x63, 0xA3, 0xA2, 0x62, 0x66, 0xA6, 0xA7, 0x67, 0xA5, 0x65, 0x64, 0xA4,
0x6C, 0xAC, 0xAD, 0x6D, 0xAF, 0x6F, 0x6E, 0xAE, 0xAA, 0x6A, 0x6B, 0xAB, 0x6C, 0xAC, 0xAD, 0x6D, 0xAF, 0x6F, 0x6E, 0xAE, 0xAA, 0x6A, 0x6B, 0xAB,
0x69, 0xA9, 0xA8, 0x68, 0x78, 0xB8, 0xB9, 0x79, 0xBB, 0x7B, 0x7A, 0xBA, 0x69, 0xA9, 0xA8, 0x68, 0x78, 0xB8, 0xB9, 0x79, 0xBB, 0x7B, 0x7A, 0xBA,
0xBE, 0x7E, 0x7F, 0xBF, 0x7D, 0xBD, 0xBC, 0x7C, 0xB4, 0x74, 0x75, 0xB5, 0xBE, 0x7E, 0x7F, 0xBF, 0x7D, 0xBD, 0xBC, 0x7C, 0xB4, 0x74, 0x75, 0xB5,
0x77, 0xB7, 0xB6, 0x76, 0x72, 0xB2, 0xB3, 0x73, 0xB1, 0x71, 0x70, 0xB0, 0x77, 0xB7, 0xB6, 0x76, 0x72, 0xB2, 0xB3, 0x73, 0xB1, 0x71, 0x70, 0xB0,
0x50, 0x90, 0x91, 0x51, 0x93, 0x53, 0x52, 0x92, 0x96, 0x56, 0x57, 0x97, 0x50, 0x90, 0x91, 0x51, 0x93, 0x53, 0x52, 0x92, 0x96, 0x56, 0x57, 0x97,
0x55, 0x95, 0x94, 0x54, 0x9C, 0x5C, 0x5D, 0x9D, 0x5F, 0x9F, 0x9E, 0x5E, 0x55, 0x95, 0x94, 0x54, 0x9C, 0x5C, 0x5D, 0x9D, 0x5F, 0x9F, 0x9E, 0x5E,
0x5A, 0x9A, 0x9B, 0x5B, 0x99, 0x59, 0x58, 0x98, 0x88, 0x48, 0x49, 0x89, 0x5A, 0x9A, 0x9B, 0x5B, 0x99, 0x59, 0x58, 0x98, 0x88, 0x48, 0x49, 0x89,
0x4B, 0x8B, 0x8A, 0x4A, 0x4E, 0x8E, 0x8F, 0x4F, 0x8D, 0x4D, 0x4C, 0x8C, 0x4B, 0x8B, 0x8A, 0x4A, 0x4E, 0x8E, 0x8F, 0x4F, 0x8D, 0x4D, 0x4C, 0x8C,
0x44, 0x84, 0x85, 0x45, 0x87, 0x47, 0x46, 0x86, 0x82, 0x42, 0x43, 0x83, 0x44, 0x84, 0x85, 0x45, 0x87, 0x47, 0x46, 0x86, 0x82, 0x42, 0x43, 0x83,
0x41, 0x81, 0x80, 0x40 0x41, 0x81, 0x80, 0x40
}; };
unsigned short crc16_calc(unsigned char *dataFrame,uint8_t crc16_length) { unsigned short crc16_calc(unsigned char *dataFrame, uint8_t crc16_length)
unsigned char crc_high_byte = 0xFF; {
unsigned char crc_low_byte = 0xFF; unsigned char crc_high_byte = 0xFF;
int i; unsigned char crc_low_byte = 0xFF;
while (crc16_length--) { int i;
i = crc_low_byte ^ *(dataFrame++);
crc_low_byte = (unsigned char)(crc_high_byte ^ crc_msb_vector[i]); while (crc16_length--) {
crc_high_byte = crc_lsb_vector[i]; i = crc_low_byte ^ *(dataFrame++);
} crc_low_byte = (unsigned char)(crc_high_byte ^ crc_msb_vector[i]);
return (unsigned short)(crc_high_byte << 8 | crc_low_byte); crc_high_byte = crc_lsb_vector[i];
}
return (unsigned short)(crc_high_byte << 8 | crc_low_byte);
} }
int cm8jl65_parser(uint8_t c, uint8_t *parserbuf, CM8JL65_PARSE_STATE *state, uint16_t *crc16, int *dist) int cm8jl65_parser(uint8_t c, uint8_t *parserbuf, CM8JL65_PARSE_STATE *state, uint16_t *crc16, int *dist)
{ {
int ret = -1; int ret = -1;
// printf("parse byte 0x%02X \n", b); // printf("parse byte 0x%02X \n", b);
switch (*state) { switch (*state) {
case STATE0_WAITING_FRAME: case STATE0_WAITING_FRAME:
if (c == START_FRAME_DIGIT1) { if (c == START_FRAME_DIGIT1) {
*state = STATE1_GOT_DIGIT1; *state = STATE1_GOT_DIGIT1;
//printf("Got SFD1 \n"); //printf("Got SFD1 \n");
} }
break;
case STATE1_GOT_DIGIT1: break;
if (c == START_FRAME_DIGIT2) {
*state = STATE2_GOT_DIGIT2;
//printf("Got SFD2 \n");
}
// @NOTE: (claudio@auterion.com): if second byte is wrong we skip all the frame and restart parsing !!
else if (c == START_FRAME_DIGIT1) {
*state = STATE1_GOT_DIGIT1;
//printf("Discard previous SFD1, Got new SFD1 \n");
} else {
*state = STATE0_WAITING_FRAME;
}
break;
case STATE2_GOT_DIGIT2: case STATE1_GOT_DIGIT1:
*state = STATE3_GOT_MSB_DATA; if (c == START_FRAME_DIGIT2) {
parserbuf[DISTANCE_MSB_POS] = c; // MSB Data *state = STATE2_GOT_DIGIT2;
//printf("Got DATA1 0x%02X \n", c); //printf("Got SFD2 \n");
break; }
case STATE3_GOT_MSB_DATA: // @NOTE: (claudio@auterion.com): if second byte is wrong we skip all the frame and restart parsing !!
*state = STATE4_GOT_LSB_DATA; else if (c == START_FRAME_DIGIT1) {
parserbuf[DISTANCE_LSB_POS] = c; // LSB Data *state = STATE1_GOT_DIGIT1;
//printf("Got DATA2 0x%02X \n", c); //printf("Discard previous SFD1, Got new SFD1 \n");
// do crc calculation
*crc16 = crc16_calc(parserbuf, CHECKSUM_LENGTH); } else {
// convert endian *state = STATE0_WAITING_FRAME;
*crc16 = (*crc16 >> 8) | (*crc16 << 8); }
break;
break;
case STATE2_GOT_DIGIT2:
*state = STATE3_GOT_MSB_DATA;
parserbuf[DISTANCE_MSB_POS] = c; // MSB Data
//printf("Got DATA1 0x%02X \n", c);
break;
case STATE3_GOT_MSB_DATA:
*state = STATE4_GOT_LSB_DATA;
parserbuf[DISTANCE_LSB_POS] = c; // LSB Data
//printf("Got DATA2 0x%02X \n", c);
// do crc calculation
*crc16 = crc16_calc(parserbuf, CHECKSUM_LENGTH);
// convert endian
*crc16 = (*crc16 >> 8) | (*crc16 << 8);
break;
case STATE4_GOT_LSB_DATA: case STATE4_GOT_LSB_DATA:
if (c == (*crc16 >> 8)) { if (c == (*crc16 >> 8)) {
*state = STATE5_GOT_CHKSUM1; *state = STATE5_GOT_CHKSUM1;
}
else {
// printf("Checksum invalid on high byte: 0x%02X, calculated: 0x%04X \n",c, *crc16);
*state = STATE0_WAITING_FRAME;
} } else {
break; // printf("Checksum invalid on high byte: 0x%02X, calculated: 0x%04X \n",c, *crc16);
*state = STATE0_WAITING_FRAME;
case STATE5_GOT_CHKSUM1: }
// Here, reset state to `NOT-STARTED` no matter crc ok or not
*state = STATE0_WAITING_FRAME;
if (c == (*crc16 & 0xFF)) {
// printf("Checksum verified \n");
*dist = (parserbuf[DISTANCE_MSB_POS] << 8) | parserbuf[DISTANCE_LSB_POS];
return 0;
}
/*else {
//printf("Checksum invalidon low byte: 0x%02X, calculated: 0x%04X \n",c, *crc16);
}*/
break;
default: break;
printf("This should never happen. \n");
break;
}
return ret; case STATE5_GOT_CHKSUM1:
// Here, reset state to `NOT-STARTED` no matter crc ok or not
*state = STATE0_WAITING_FRAME;
if (c == (*crc16 & 0xFF)) {
// printf("Checksum verified \n");
*dist = (parserbuf[DISTANCE_MSB_POS] << 8) | parserbuf[DISTANCE_LSB_POS];
return 0;
}
/*else {
//printf("Checksum invalidon low byte: 0x%02X, calculated: 0x%04X \n",c, *crc16);
}*/
break;
default:
printf("This should never happen. \n");
break;
}
return ret;
} }
src/drivers/distance_sensor/cm8jl65/cm8jl65_parser.h
+14 -14
View File
@@ -31,12 +31,12 @@
* *
****************************************************************************/ ****************************************************************************/
/** /**
* @file cm8jl65.cpp * @file cm8jl65.cpp
* @author Claudio Micheli <claudio@auterion.com> * @author Claudio Micheli <claudio@auterion.com>
* *
* Parser declarations for Lanbao PSK-CM8JL65-CC5 distance sensor * Parser declarations for Lanbao PSK-CM8JL65-CC5 distance sensor
*/ */
#pragma once #pragma once
@@ -58,15 +58,15 @@
enum CM8JL65_PARSE_STATE { enum CM8JL65_PARSE_STATE {
STATE0_WAITING_FRAME = 0, STATE0_WAITING_FRAME = 0,
STATE1_GOT_DIGIT1, STATE1_GOT_DIGIT1,
STATE2_GOT_DIGIT2, STATE2_GOT_DIGIT2,
STATE3_GOT_MSB_DATA, STATE3_GOT_MSB_DATA,
STATE4_GOT_LSB_DATA, STATE4_GOT_LSB_DATA,
STATE5_GOT_CHKSUM1, STATE5_GOT_CHKSUM1,
STATE6_GOT_CHKSUM2, STATE6_GOT_CHKSUM2,
}; };
int cm8jl65_parser(uint8_t c, uint8_t *parserbuf,enum CM8JL65_PARSE_STATE *state,uint16_t *crc16, int *dist); int cm8jl65_parser(uint8_t c, uint8_t *parserbuf, enum CM8JL65_PARSE_STATE *state, uint16_t *crc16, int *dist);