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https://github.com/PX4/PX4-Autopilot.git
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cm8jl65: Refactor driver, employ uniform initialization, format, and deprecate ringbuffer and IOCTL. (#11853)
* Move cm8jl65 class member variable initialization from constructor list to declarations. Format whitespace and move method doxy comments to declarations. * Refactor the cm8jl65 driver start() method, and rename info()->status(). * Continued refactoring of the cm8jl65 driver class: - Condense all class files into a single *.cpp file and give class scope resolution to previously unscoped methods. - Refactor cm8jl65 namespace level driver entry methods to reduce code and improve clarity. - Breakout CDev specific initialization LOC into the device_init() method. - Move the endian modification inside of the crc16_calc() method. * Deprecate the hardware ringbuffer, _class_instance, and ioctl() from the cm8jl65 driver.
This commit is contained in:
Mark Sauder
Daniel Agar
@@ -33,10 +33,9 @@
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px4_add_module(
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MODULE drivers__cm8jl65
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MAIN cm8jl65
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STACK_MAIN 1400
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STACK_MAIN 1200
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SRCS
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cm8jl65.cpp
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cm8jl65_parser.cpp
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MODULE_CONFIG
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module.yaml
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)
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File diff suppressed because it is too large
Load Diff
@@ -1,195 +0,0 @@
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/****************************************************************************
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*
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* Copyright (c) 2018 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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* @file cm8jl65_parser.cpp
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* @author Claudio Micheli <claudio@auterion.com>
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*
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*/
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#include "cm8jl65_parser.h"
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#include <string.h>
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#include <stdlib.h>
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#include <stdio.h>
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#include "cm8jl65_parser.h"
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#include <string.h>
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#include <stdlib.h>
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static const unsigned char crc_msb_vector[] = {
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0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
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0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
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0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
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0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
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0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
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0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
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0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
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0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
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0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
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0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
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0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
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0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
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0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
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0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
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0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
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0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
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0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
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0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
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0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
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0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
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0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
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0x00, 0xC1, 0x81, 0x40
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};
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static const unsigned char crc_lsb_vector[] = {
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0x00, 0xC0, 0xC1, 0x01, 0xC3, 0x03, 0x02, 0xC2, 0xC6, 0x06, 0x07, 0xC7,
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0x05, 0xC5, 0xC4, 0x04, 0xCC, 0x0C, 0x0D, 0xCD, 0x0F, 0xCF, 0xCE, 0x0E,
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0x0A, 0xCA, 0xCB, 0x0B, 0xC9, 0x09, 0x08, 0xC8, 0xD8, 0x18, 0x19, 0xD9,
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0x1B, 0xDB, 0xDA, 0x1A, 0x1E, 0xDE, 0xDF, 0x1F, 0xDD, 0x1D, 0x1C, 0xDC,
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0x14, 0xD4, 0xD5, 0x15, 0xD7, 0x17, 0x16, 0xD6, 0xD2, 0x12, 0x13, 0xD3,
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0x11, 0xD1, 0xD0, 0x10, 0xF0, 0x30, 0x31, 0xF1, 0x33, 0xF3, 0xF2, 0x32,
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0x36, 0xF6, 0xF7, 0x37, 0xF5, 0x35, 0x34, 0xF4, 0x3C, 0xFC, 0xFD, 0x3D,
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0xFF, 0x3F, 0x3E, 0xFE, 0xFA, 0x3A, 0x3B, 0xFB, 0x39, 0xF9, 0xF8, 0x38,
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0x28, 0xE8, 0xE9, 0x29, 0xEB, 0x2B, 0x2A, 0xEA, 0xEE, 0x2E, 0x2F, 0xEF,
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0x2D, 0xED, 0xEC, 0x2C, 0xE4, 0x24, 0x25, 0xE5, 0x27, 0xE7, 0xE6, 0x26,
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0x22, 0xE2, 0xE3, 0x23, 0xE1, 0x21, 0x20, 0xE0, 0xA0, 0x60, 0x61, 0xA1,
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0x63, 0xA3, 0xA2, 0x62, 0x66, 0xA6, 0xA7, 0x67, 0xA5, 0x65, 0x64, 0xA4,
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0x6C, 0xAC, 0xAD, 0x6D, 0xAF, 0x6F, 0x6E, 0xAE, 0xAA, 0x6A, 0x6B, 0xAB,
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0x69, 0xA9, 0xA8, 0x68, 0x78, 0xB8, 0xB9, 0x79, 0xBB, 0x7B, 0x7A, 0xBA,
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0xBE, 0x7E, 0x7F, 0xBF, 0x7D, 0xBD, 0xBC, 0x7C, 0xB4, 0x74, 0x75, 0xB5,
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0x77, 0xB7, 0xB6, 0x76, 0x72, 0xB2, 0xB3, 0x73, 0xB1, 0x71, 0x70, 0xB0,
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0x50, 0x90, 0x91, 0x51, 0x93, 0x53, 0x52, 0x92, 0x96, 0x56, 0x57, 0x97,
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0x55, 0x95, 0x94, 0x54, 0x9C, 0x5C, 0x5D, 0x9D, 0x5F, 0x9F, 0x9E, 0x5E,
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0x5A, 0x9A, 0x9B, 0x5B, 0x99, 0x59, 0x58, 0x98, 0x88, 0x48, 0x49, 0x89,
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0x4B, 0x8B, 0x8A, 0x4A, 0x4E, 0x8E, 0x8F, 0x4F, 0x8D, 0x4D, 0x4C, 0x8C,
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0x44, 0x84, 0x85, 0x45, 0x87, 0x47, 0x46, 0x86, 0x82, 0x42, 0x43, 0x83,
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0x41, 0x81, 0x80, 0x40
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};
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unsigned short crc16_calc(unsigned char *data_frame, uint8_t crc16_length)
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{
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// compute CRC16 IBM 8005
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unsigned char crc_high_byte = 0xFF;
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unsigned char crc_low_byte = 0xFF;
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int i;
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while (crc16_length--) {
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i = crc_low_byte ^ *(data_frame++);
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crc_low_byte = (unsigned char)(crc_high_byte ^ crc_msb_vector[i]);
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crc_high_byte = crc_lsb_vector[i];
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}
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return (unsigned short)(crc_high_byte << 8 | crc_low_byte);
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}
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int cm8jl65_parser(uint8_t c, uint8_t parserbuf[PARSER_BUF_LENGTH], CM8JL65_PARSE_STATE &state, uint16_t &crc16,
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int &dist)
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{
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int ret = -1;
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switch (state) {
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case STATE0_WAITING_FRAME:
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if (c == START_FRAME_DIGIT1) {
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state = STATE1_GOT_DIGIT1;
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}
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break;
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case STATE1_GOT_DIGIT1:
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if (c == START_FRAME_DIGIT2) {
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state = STATE2_GOT_DIGIT2;
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}
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else if (c == START_FRAME_DIGIT1) {
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state = STATE1_GOT_DIGIT1;
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} else {
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state = STATE0_WAITING_FRAME;
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}
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break;
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case STATE2_GOT_DIGIT2:
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state = STATE3_GOT_MSB_DATA;
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parserbuf[DISTANCE_MSB_POS] = c; // MSB Data
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break;
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case STATE3_GOT_MSB_DATA:
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state = STATE4_GOT_LSB_DATA;
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parserbuf[DISTANCE_LSB_POS] = c; // LSB Data
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// do crc calculation
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crc16 = crc16_calc(parserbuf, PARSER_BUF_LENGTH);
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// convert endian
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crc16 = (crc16 >> 8) | (crc16 << 8);
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break;
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case STATE4_GOT_LSB_DATA:
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if (c == (crc16 >> 8)) {
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state = STATE5_GOT_CHKSUM1;
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} else {
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// printf("Checksum invalid on high byte: 0x%02X, calculated: 0x%04X \n",c, *crc16);
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state = STATE0_WAITING_FRAME;
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}
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break;
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case STATE5_GOT_CHKSUM1:
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// Here, reset state to `NOT-STARTED` no matter crc ok or not
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state = STATE0_WAITING_FRAME;
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if (c == (crc16 & 0xFF)) {
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// printf("Checksum verified \n");
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dist = (parserbuf[DISTANCE_MSB_POS] << 8) | parserbuf[DISTANCE_LSB_POS];
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return 0;
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}
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break;
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default:
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// Nothing todo
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break;
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}
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return ret;
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}
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@@ -1,73 +0,0 @@
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/****************************************************************************
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*
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* Copyright (c) 2018 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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* @file cm8jl65.cpp
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* @author Claudio Micheli <claudio@auterion.com>
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*
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* Parser declarations for Lanbao PSK-CM8JL65-CC5 distance sensor
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*/
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#pragma once
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#include <stdint.h>
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// frame start delimiter
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#define START_FRAME_DIGIT1 0xA5
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#define START_FRAME_DIGIT2 0x5A
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// Frame format definition
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//
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// 1B 1B 1B 1B 2B
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// | 0xA5 | 0x5A | distance-MSB | distance-LSB | crc-16 |
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//
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// Frame data saved for CRC calculation
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#define DISTANCE_MSB_POS 2
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#define DISTANCE_LSB_POS 3
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#define PARSER_BUF_LENGTH 4
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enum CM8JL65_PARSE_STATE {
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STATE0_WAITING_FRAME = 0,
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STATE1_GOT_DIGIT1,
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STATE2_GOT_DIGIT2,
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STATE3_GOT_MSB_DATA,
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STATE4_GOT_LSB_DATA,
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STATE5_GOT_CHKSUM1,
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STATE6_GOT_CHKSUM2,
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};
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int cm8jl65_parser(uint8_t c, uint8_t parserbuf[PARSER_BUF_LENGTH], enum CM8JL65_PARSE_STATE &state, uint16_t &crc16,
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int &dist);
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