mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-06-02 11:59:17 +08:00
Sensordots Mappydot+ driver (#12147)
* Add MappyDot+ driver capable of utilizing multiple sensors on a single i2c bus.
This commit is contained in:
Kabir Mohammed
committed by
Daniel Agar
Daniel Agar
parent
eaa3d4a24f
commit
ce784d1ef0
@@ -75,6 +75,12 @@ then
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ll40ls start i2c
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fi
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# mappydot lidar sensor
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if param compare SENS_EN_MPDT 1
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then
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mappydot start -a
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fi
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# mb12xx sonar sensor
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if param greater SENS_EN_MB12XX 0
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then
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@@ -35,6 +35,7 @@ add_subdirectory(cm8jl65)
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#add_subdirectory(hc_sr04) # not currently supported
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add_subdirectory(leddar_one)
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add_subdirectory(ll40ls)
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add_subdirectory(mappydot)
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add_subdirectory(mb12xx)
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add_subdirectory(pga460)
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add_subdirectory(sf0x)
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@@ -0,0 +1,39 @@
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############################################################################
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#
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# Copyright (c) 2019 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
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# 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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px4_add_module(
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MODULE drivers__mappydot
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MAIN mappydot
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STACK_MAIN 1200
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SRCS
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MappyDot.cpp
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)
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File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,297 @@
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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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*
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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
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* 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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/**
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* Enable Mappydot rangefinder (i2c)
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*
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* @reboot_required true
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* @min 0
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* @max 1
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* @group Sensors
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* @value 0 Disabled
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* @value 1 Autodetect
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*/
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PARAM_DEFINE_INT32(SENS_EN_MPDT, 0);
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/**
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* MappyDot Sensor 0 Rotation
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*
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* This parameter defines the rotation of the Mappydot sensor relative to the platform.
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*
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* @reboot_required true
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* @min 0
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* @max 7
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* @group Sensors
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*
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* @value 0 No rotation
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* @value 1 Yaw 45°
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* @value 2 Yaw 90°
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* @value 3 Yaw 135°
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* @value 4 Yaw 180°
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* @value 5 Yaw 225°
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* @value 6 Yaw 270°
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* @value 7 Yaw 315°
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*/
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PARAM_DEFINE_INT32(SENS_MPDT0_ROT, 0);
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/**
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* MappyDot Sensor 1 Rotation
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*
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* This parameter defines the rotation of the Mappydot sensor relative to the platform.
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*
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* @reboot_required true
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* @min 0
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* @max 7
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* @group Sensors
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*
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* @value 0 No rotation
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* @value 1 Yaw 45°
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* @value 2 Yaw 90°
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* @value 3 Yaw 135°
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* @value 4 Yaw 180°
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* @value 5 Yaw 225°
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* @value 6 Yaw 270°
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* @value 7 Yaw 315°
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*/
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PARAM_DEFINE_INT32(SENS_MPDT1_ROT, 0);
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/**
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* MappyDot Sensor 2 Rotation
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*
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* This parameter defines the rotation of the Mappydot sensor relative to the platform.
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*
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* @reboot_required true
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* @min 0
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* @max 7
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* @group Sensors
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*
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* @value 0 No rotation
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* @value 1 Yaw 45°
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* @value 2 Yaw 90°
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* @value 3 Yaw 135°
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* @value 4 Yaw 180°
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* @value 5 Yaw 225°
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* @value 6 Yaw 270°
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* @value 7 Yaw 315°
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*/
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PARAM_DEFINE_INT32(SENS_MPDT2_ROT, 0);
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/**
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* MappyDot Sensor 3 Rotation
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*
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* This parameter defines the rotation of the Mappydot sensor relative to the platform.
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*
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* @reboot_required true
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* @min 0
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* @max 7
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* @group Sensors
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*
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* @value 0 No rotation
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* @value 1 Yaw 45°
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* @value 2 Yaw 90°
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* @value 3 Yaw 135°
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* @value 4 Yaw 180°
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* @value 5 Yaw 225°
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* @value 6 Yaw 270°
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* @value 7 Yaw 315°
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*/
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PARAM_DEFINE_INT32(SENS_MPDT3_ROT, 0);
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/**
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* MappyDot Sensor 4 Rotation
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*
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* This parameter defines the rotation of the Mappydot sensor relative to the platform.
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*
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* @reboot_required true
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* @min 0
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* @max 7
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* @group Sensors
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*
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* @value 0 No rotation
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* @value 1 Yaw 45°
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* @value 2 Yaw 90°
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* @value 3 Yaw 135°
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* @value 4 Yaw 180°
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* @value 5 Yaw 225°
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* @value 6 Yaw 270°
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* @value 7 Yaw 315°
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*/
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PARAM_DEFINE_INT32(SENS_MPDT4_ROT, 0);
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/**
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* MappyDot Sensor 5 Rotation
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*
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* This parameter defines the rotation of the Mappydot sensor relative to the platform.
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*
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* @reboot_required true
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* @min 0
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* @max 7
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* @group Sensors
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*
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* @value 0 No rotation
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* @value 1 Yaw 45°
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* @value 2 Yaw 90°
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* @value 3 Yaw 135°
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* @value 4 Yaw 180°
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* @value 5 Yaw 225°
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* @value 6 Yaw 270°
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* @value 7 Yaw 315°
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*/
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PARAM_DEFINE_INT32(SENS_MPDT5_ROT, 0);
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/**
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* MappyDot Sensor 6 Rotation
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*
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* This parameter defines the rotation of the Mappydot sensor relative to the platform.
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*
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* @reboot_required true
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* @min 0
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* @max 7
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* @group Sensors
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*
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* @value 0 No rotation
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* @value 1 Yaw 45°
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* @value 2 Yaw 90°
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* @value 3 Yaw 135°
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* @value 4 Yaw 180°
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* @value 5 Yaw 225°
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* @value 6 Yaw 270°
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* @value 7 Yaw 315°
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*/
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PARAM_DEFINE_INT32(SENS_MPDT6_ROT, 0);
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/**
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* MappyDot Sensor 7 Rotation
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*
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* This parameter defines the rotation of the Mappydot sensor relative to the platform.
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*
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* @reboot_required true
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* @min 0
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* @max 7
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* @group Sensors
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*
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* @value 0 No rotation
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* @value 1 Yaw 45°
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* @value 2 Yaw 90°
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* @value 3 Yaw 135°
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* @value 4 Yaw 180°
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* @value 5 Yaw 225°
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* @value 6 Yaw 270°
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* @value 7 Yaw 315°
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*/
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PARAM_DEFINE_INT32(SENS_MPDT7_ROT, 0);
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/**
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* MappyDot Sensor 8 Rotation
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*
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* This parameter defines the rotation of the Mappydot sensor relative to the platform.
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*
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* @reboot_required true
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* @min 0
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* @max 7
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* @group Sensors
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*
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* @value 0 No rotation
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* @value 1 Yaw 45°
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* @value 2 Yaw 90°
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* @value 3 Yaw 135°
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* @value 4 Yaw 180°
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* @value 5 Yaw 225°
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* @value 6 Yaw 270°
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* @value 7 Yaw 315°
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*/
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PARAM_DEFINE_INT32(SENS_MPDT8_ROT, 0);
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/**
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* MappyDot Sensor 9 Rotation
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*
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* This parameter defines the rotation of the Mappydot sensor relative to the platform.
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*
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* @reboot_required true
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* @min 0
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* @max 7
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* @group Sensors
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*
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* @value 0 No rotation
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* @value 1 Yaw 45°
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* @value 2 Yaw 90°
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* @value 3 Yaw 135°
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* @value 4 Yaw 180°
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* @value 5 Yaw 225°
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* @value 6 Yaw 270°
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* @value 7 Yaw 315°
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*/
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PARAM_DEFINE_INT32(SENS_MPDT9_ROT, 0);
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/**
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* MappyDot Sensor 10 Rotation
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*
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* This parameter defines the rotation of the Mappydot sensor relative to the platform.
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*
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* @reboot_required true
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* @min 0
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* @max 7
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* @group Sensors
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*
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* @value 0 No rotation
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* @value 1 Yaw 45°
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* @value 2 Yaw 90°
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* @value 3 Yaw 135°
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* @value 4 Yaw 180°
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* @value 5 Yaw 225°
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* @value 6 Yaw 270°
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* @value 7 Yaw 315°
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*/
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PARAM_DEFINE_INT32(SENS_MPDT10_ROT, 0);
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/**
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* MappyDot Sensor 12 Rotation
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*
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* This parameter defines the rotation of the Mappydot sensor relative to the platform.
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*
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* @reboot_required true
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* @min 0
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* @max 7
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* @group Sensors
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*
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* @value 0 No rotation
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* @value 1 Yaw 45°
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* @value 2 Yaw 90°
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* @value 3 Yaw 135°
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* @value 4 Yaw 180°
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* @value 5 Yaw 225°
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* @value 6 Yaw 270°
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* @value 7 Yaw 315°
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*/
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PARAM_DEFINE_INT32(SENS_MPDT11_ROT, 0);
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