Sensordots Mappydot+ driver (#12147)

* Add MappyDot+ driver capable of utilizing multiple sensors on a single i2c bus.

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -75,6 +75,12 @@ then
 	ll40ls start i2c
 fi
 
+# mappydot lidar sensor
+if param compare SENS_EN_MPDT 1
+then
+	mappydot start -a
+fi
+
 # mb12xx sonar sensor
 if param greater SENS_EN_MB12XX 0
 then

src/drivers/distance_sensor/CMakeLists.txt

@@ -35,6 +35,7 @@ add_subdirectory(cm8jl65)
 #add_subdirectory(hc_sr04) # not currently supported
 add_subdirectory(leddar_one)
 add_subdirectory(ll40ls)
+add_subdirectory(mappydot)
 add_subdirectory(mb12xx)
 add_subdirectory(pga460)
 add_subdirectory(sf0x)

src/drivers/distance_sensor/mappydot/CMakeLists.txt

@@ -0,0 +1,39 @@
+############################################################################
+#
+#   Copyright (c) 2019 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+px4_add_module(
+	MODULE drivers__mappydot
+	MAIN mappydot
+	STACK_MAIN 1200
+	SRCS
+		MappyDot.cpp
+	)

src/drivers/distance_sensor/mappydot/parameters.c

@@ -0,0 +1,297 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 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.
+ *
+ ****************************************************************************/
+
+
+/**
+ * Enable Mappydot rangefinder (i2c)
+ *
+ * @reboot_required true
+ * @min 0
+ * @max 1
+ * @group Sensors
+ * @value 0 Disabled
+ * @value 1 Autodetect
+ */
+PARAM_DEFINE_INT32(SENS_EN_MPDT, 0);
+
+/**
+ * MappyDot Sensor 0 Rotation
+ *
+ * This parameter defines the rotation of the Mappydot sensor relative to the platform.
+ *
+ * @reboot_required true
+ * @min 0
+ * @max 7
+ * @group Sensors
+ *
+ * @value 0 No rotation
+ * @value 1 Yaw 45°
+ * @value 2 Yaw 90°
+ * @value 3 Yaw 135°
+ * @value 4 Yaw 180°
+ * @value 5 Yaw 225°
+ * @value 6 Yaw 270°
+ * @value 7 Yaw 315°
+ */
+PARAM_DEFINE_INT32(SENS_MPDT0_ROT, 0);
+
+/**
+ * MappyDot Sensor 1 Rotation
+ *
+ * This parameter defines the rotation of the Mappydot sensor relative to the platform.
+ *
+ * @reboot_required true
+ * @min 0
+ * @max 7
+ * @group Sensors
+ *
+ * @value 0 No rotation
+ * @value 1 Yaw 45°
+ * @value 2 Yaw 90°
+ * @value 3 Yaw 135°
+ * @value 4 Yaw 180°
+ * @value 5 Yaw 225°
+ * @value 6 Yaw 270°
+ * @value 7 Yaw 315°
+ */
+PARAM_DEFINE_INT32(SENS_MPDT1_ROT, 0);
+
+/**
+ * MappyDot Sensor 2 Rotation
+ *
+ * This parameter defines the rotation of the Mappydot sensor relative to the platform.
+ *
+ * @reboot_required true
+ * @min 0
+ * @max 7
+ * @group Sensors
+ *
+ * @value 0 No rotation
+ * @value 1 Yaw 45°
+ * @value 2 Yaw 90°
+ * @value 3 Yaw 135°
+ * @value 4 Yaw 180°
+ * @value 5 Yaw 225°
+ * @value 6 Yaw 270°
+ * @value 7 Yaw 315°
+ */
+PARAM_DEFINE_INT32(SENS_MPDT2_ROT, 0);
+
+/**
+ * MappyDot Sensor 3 Rotation
+ *
+ * This parameter defines the rotation of the Mappydot sensor relative to the platform.
+ *
+ * @reboot_required true
+ * @min 0
+ * @max 7
+ * @group Sensors
+ *
+ * @value 0 No rotation
+ * @value 1 Yaw 45°
+ * @value 2 Yaw 90°
+ * @value 3 Yaw 135°
+ * @value 4 Yaw 180°
+ * @value 5 Yaw 225°
+ * @value 6 Yaw 270°
+ * @value 7 Yaw 315°
+ */
+PARAM_DEFINE_INT32(SENS_MPDT3_ROT, 0);
+
+/**
+ * MappyDot Sensor 4 Rotation
+ *
+ * This parameter defines the rotation of the Mappydot sensor relative to the platform.
+ *
+ * @reboot_required true
+ * @min 0
+ * @max 7
+ * @group Sensors
+ *
+ * @value 0 No rotation
+ * @value 1 Yaw 45°
+ * @value 2 Yaw 90°
+ * @value 3 Yaw 135°
+ * @value 4 Yaw 180°
+ * @value 5 Yaw 225°
+ * @value 6 Yaw 270°
+ * @value 7 Yaw 315°
+ */
+PARAM_DEFINE_INT32(SENS_MPDT4_ROT, 0);
+
+/**
+ * MappyDot Sensor 5 Rotation
+ *
+ * This parameter defines the rotation of the Mappydot sensor relative to the platform.
+ *
+ * @reboot_required true
+ * @min 0
+ * @max 7
+ * @group Sensors
+ *
+ * @value 0 No rotation
+ * @value 1 Yaw 45°
+ * @value 2 Yaw 90°
+ * @value 3 Yaw 135°
+ * @value 4 Yaw 180°
+ * @value 5 Yaw 225°
+ * @value 6 Yaw 270°
+ * @value 7 Yaw 315°
+ */
+PARAM_DEFINE_INT32(SENS_MPDT5_ROT, 0);
+
+/**
+ * MappyDot Sensor 6 Rotation
+ *
+ * This parameter defines the rotation of the Mappydot sensor relative to the platform.
+ *
+ * @reboot_required true
+ * @min 0
+ * @max 7
+ * @group Sensors
+ *
+ * @value 0 No rotation
+ * @value 1 Yaw 45°
+ * @value 2 Yaw 90°
+ * @value 3 Yaw 135°
+ * @value 4 Yaw 180°
+ * @value 5 Yaw 225°
+ * @value 6 Yaw 270°
+ * @value 7 Yaw 315°
+ */
+PARAM_DEFINE_INT32(SENS_MPDT6_ROT, 0);
+
+/**
+ * MappyDot Sensor 7 Rotation
+ *
+ * This parameter defines the rotation of the Mappydot sensor relative to the platform.
+ *
+ * @reboot_required true
+ * @min 0
+ * @max 7
+ * @group Sensors
+ *
+ * @value 0 No rotation
+ * @value 1 Yaw 45°
+ * @value 2 Yaw 90°
+ * @value 3 Yaw 135°
+ * @value 4 Yaw 180°
+ * @value 5 Yaw 225°
+ * @value 6 Yaw 270°
+ * @value 7 Yaw 315°
+ */
+PARAM_DEFINE_INT32(SENS_MPDT7_ROT, 0);
+
+/**
+ * MappyDot Sensor 8 Rotation
+ *
+ * This parameter defines the rotation of the Mappydot sensor relative to the platform.
+ *
+ * @reboot_required true
+ * @min 0
+ * @max 7
+ * @group Sensors
+ *
+ * @value 0 No rotation
+ * @value 1 Yaw 45°
+ * @value 2 Yaw 90°
+ * @value 3 Yaw 135°
+ * @value 4 Yaw 180°
+ * @value 5 Yaw 225°
+ * @value 6 Yaw 270°
+ * @value 7 Yaw 315°
+ */
+PARAM_DEFINE_INT32(SENS_MPDT8_ROT, 0);
+
+/**
+ * MappyDot Sensor 9 Rotation
+ *
+ * This parameter defines the rotation of the Mappydot sensor relative to the platform.
+ *
+ * @reboot_required true
+ * @min 0
+ * @max 7
+ * @group Sensors
+ *
+ * @value 0 No rotation
+ * @value 1 Yaw 45°
+ * @value 2 Yaw 90°
+ * @value 3 Yaw 135°
+ * @value 4 Yaw 180°
+ * @value 5 Yaw 225°
+ * @value 6 Yaw 270°
+ * @value 7 Yaw 315°
+ */
+PARAM_DEFINE_INT32(SENS_MPDT9_ROT, 0);
+
+/**
+ * MappyDot Sensor 10 Rotation
+ *
+ * This parameter defines the rotation of the Mappydot sensor relative to the platform.
+ *
+ * @reboot_required true
+ * @min 0
+ * @max 7
+ * @group Sensors
+ *
+ * @value 0 No rotation
+ * @value 1 Yaw 45°
+ * @value 2 Yaw 90°
+ * @value 3 Yaw 135°
+ * @value 4 Yaw 180°
+ * @value 5 Yaw 225°
+ * @value 6 Yaw 270°
+ * @value 7 Yaw 315°
+ */
+PARAM_DEFINE_INT32(SENS_MPDT10_ROT, 0);
+
+/**
+ * MappyDot Sensor 12 Rotation
+ *
+ * This parameter defines the rotation of the Mappydot sensor relative to the platform.
+ *
+ * @reboot_required true
+ * @min 0
+ * @max 7
+ * @group Sensors
+ *
+ * @value 0 No rotation
+ * @value 1 Yaw 45°
+ * @value 2 Yaw 90°
+ * @value 3 Yaw 135°
+ * @value 4 Yaw 180°
+ * @value 5 Yaw 225°
+ * @value 6 Yaw 270°
+ * @value 7 Yaw 315°
+ */
+PARAM_DEFINE_INT32(SENS_MPDT11_ROT, 0);