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refactor ll40ls: split I2C and PWM into separate drivers

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- there was almost nothing shared
- it will fit better into the updated I2C driver structure
This commit is contained in:
Beat Küng
2020-03-03 19:01:59 +01:00
committed by Daniel Agar
parent 081ab729aa
commit df99555132
12 changed files with 366 additions and 262 deletions
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ROMFS/px4fmu_common/init.d/rc.sensors
+1 -1
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@@ -54,7 +54,7 @@ if param compare -s SENS_EN_LL40LS 1
then then
if pwm_input start if pwm_input start
then then
ll40ls start pwm ll40ls_pwm start
fi fi
fi fi
src/drivers/distance_sensor/CMakeLists.txt
+1
View File
@@ -34,6 +34,7 @@
add_subdirectory(cm8jl65) add_subdirectory(cm8jl65)
add_subdirectory(leddar_one) add_subdirectory(leddar_one)
add_subdirectory(ll40ls) add_subdirectory(ll40ls)
add_subdirectory(ll40ls_pwm)
add_subdirectory(mappydot) add_subdirectory(mappydot)
add_subdirectory(mb12xx) add_subdirectory(mb12xx)
add_subdirectory(pga460) add_subdirectory(pga460)
src/drivers/distance_sensor/ll40ls/CMakeLists.txt
-3
View File
@@ -37,10 +37,7 @@ px4_add_module(
-Wno-cast-align # TODO: fix and enable -Wno-cast-align # TODO: fix and enable
SRCS SRCS
ll40ls.cpp ll40ls.cpp
LidarLite.cpp
LidarLiteI2C.cpp LidarLiteI2C.cpp
LidarLitePWM.cpp
DEPENDS DEPENDS
drivers_rangefinder drivers_rangefinder
#arch_io_pins # LidarLitePWM
) )
src/drivers/distance_sensor/ll40ls/LidarLite.cpp
-68
View File
@@ -1,68 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2014-2019 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.
*
****************************************************************************/
/**
* @file LidarLite.h
* @author Johan Jansen <jnsn.johan@gmail.com>
*
* Generic interface driver for the PulsedLight Lidar-Lite range finders.
*/
#include "LidarLite.h"
LidarLite::LidarLite(const uint8_t rotation) :
_px4_rangefinder(0 /* device id not yet used */, ORB_PRIO_DEFAULT, rotation)
{
_px4_rangefinder.set_min_distance(LL40LS_MIN_DISTANCE);
_px4_rangefinder.set_max_distance(LL40LS_MAX_DISTANCE);
_px4_rangefinder.set_fov(0.008); // Divergence 8 mRadian
}
LidarLite::~LidarLite()
{
perf_free(_sample_perf);
perf_free(_comms_errors);
perf_free(_sensor_resets);
perf_free(_sensor_zero_resets);
};
void
LidarLite::print_info()
{
perf_print_counter(_sample_perf);
perf_print_counter(_comms_errors);
perf_print_counter(_sensor_resets);
perf_print_counter(_sensor_zero_resets);
printf("poll interval: %u \n", get_measure_interval());
}
src/drivers/distance_sensor/ll40ls/LidarLiteI2C.cpp
+19 -2
View File
@@ -42,10 +42,13 @@
#include "LidarLiteI2C.h" #include "LidarLiteI2C.h"
LidarLiteI2C::LidarLiteI2C(const int bus, const uint8_t rotation, const int address) : LidarLiteI2C::LidarLiteI2C(const int bus, const uint8_t rotation, const int address) :
LidarLite(rotation),
I2C("LL40LS", nullptr, bus, address, 100000), I2C("LL40LS", nullptr, bus, address, 100000),
ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(get_device_id())) ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(get_device_id())),
_px4_rangefinder(0 /* device id not yet used */, ORB_PRIO_DEFAULT, rotation)
{ {
_px4_rangefinder.set_min_distance(LL40LS_MIN_DISTANCE);
_px4_rangefinder.set_max_distance(LL40LS_MAX_DISTANCE);
_px4_rangefinder.set_fov(0.008); // Divergence 8 mRadian
// up the retries since the device misses the first measure attempts // up the retries since the device misses the first measure attempts
_retries = 3; _retries = 3;
} }
@@ -53,6 +56,10 @@ LidarLiteI2C::LidarLiteI2C(const int bus, const uint8_t rotation, const int addr
LidarLiteI2C::~LidarLiteI2C() LidarLiteI2C::~LidarLiteI2C()
{ {
stop(); stop();
perf_free(_sample_perf);
perf_free(_comms_errors);
perf_free(_sensor_resets);
perf_free(_sensor_zero_resets);
} }
int int
@@ -66,6 +73,16 @@ LidarLiteI2C::init()
return PX4_OK; return PX4_OK;
} }
void
LidarLiteI2C::print_info()
{
perf_print_counter(_sample_perf);
perf_print_counter(_comms_errors);
perf_print_counter(_sensor_resets);
perf_print_counter(_sensor_zero_resets);
printf("poll interval: %u \n", get_measure_interval());
}
int int
LidarLiteI2C::read_reg(const uint8_t reg, uint8_t &val) LidarLiteI2C::read_reg(const uint8_t reg, uint8_t &val)
{ {
src/drivers/distance_sensor/ll40ls/LidarLiteI2C.h
+32 -10
View File
@@ -40,14 +40,16 @@
#pragma once #pragma once
#include "LidarLite.h"
#include <drivers/device/i2c.h> #include <drivers/device/i2c.h>
#include <drivers/drv_hrt.h> #include <drivers/drv_hrt.h>
#include <mathlib/mathlib.h> #include <mathlib/mathlib.h>
#include <px4_platform_common/defines.h> #include <px4_platform_common/defines.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp> #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <drivers/device/device.h>
#include <lib/drivers/rangefinder/PX4Rangefinder.hpp>
#include <perf/perf_counter.h>
using namespace time_literals;
/* Configuration Constants */ /* Configuration Constants */
static constexpr uint8_t LL40LS_BASEADDR = 0x62; /* 7-bit address */ static constexpr uint8_t LL40LS_BASEADDR = 0x62; /* 7-bit address */
@@ -77,20 +79,30 @@ static constexpr int LL40LS_SIGNAL_STRENGTH_LOW = 24; /* Minimum signal s
static constexpr int LL40LS_PEAK_STRENGTH_LOW = 135; /* Minimum peak strength for accepting a measurement */ static constexpr int LL40LS_PEAK_STRENGTH_LOW = 135; /* Minimum peak strength for accepting a measurement */
static constexpr int LL40LS_PEAK_STRENGTH_HIGH = 234; /* Max peak strength raw value */ static constexpr int LL40LS_PEAK_STRENGTH_HIGH = 234; /* Max peak strength raw value */
static constexpr float LL40LS_MIN_DISTANCE{0.05f};
static constexpr float LL40LS_MAX_DISTANCE{25.00f};
static constexpr float LL40LS_MAX_DISTANCE_V2{35.00f};
class LidarLiteI2C : public LidarLite, public device::I2C, public px4::ScheduledWorkItem // Normal conversion wait time.
static constexpr uint32_t LL40LS_CONVERSION_INTERVAL{50_ms};
// Maximum time to wait for a conversion to complete.
static constexpr uint32_t LL40LS_CONVERSION_TIMEOUT{100_ms};
class LidarLiteI2C : public device::I2C, public px4::ScheduledWorkItem
{ {
public: public:
LidarLiteI2C(const int bus, const uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING, LidarLiteI2C(const int bus, const uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING,
const int address = LL40LS_BASEADDR); const int address = LL40LS_BASEADDR);
virtual ~LidarLiteI2C(); virtual ~LidarLiteI2C();
int init() override; int init();
/** /**
* Print sensor registers to console for debugging. * Print sensor registers to console for debugging.
*/ */
void print_registers() override; void print_registers();
/** /**
* Initialise the automatic measurement state machine and start it. * Initialise the automatic measurement state machine and start it.
@@ -98,21 +110,24 @@ public:
* @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() override; void start();
void print_info();
/** /**
* Stop the automatic measurement state machine. * Stop the automatic measurement state machine.
*/ */
void stop() override; void stop();
protected: protected:
uint32_t get_measure_interval() const { return LL40LS_CONVERSION_INTERVAL; };
int measure() override; int measure();
/** /**
* Reset the sensor to power on defaults plus additional configurations. * Reset the sensor to power on defaults plus additional configurations.
*/ */
int reset_sensor() override; int reset_sensor();
int probe() override; int probe() override;
@@ -122,7 +137,7 @@ protected:
private: private:
int collect() override; int collect();
/** /**
* LidarLite specific transfer function. This is needed * LidarLite specific transfer function. This is needed
@@ -163,4 +178,11 @@ private:
uint16_t _zero_counter{0}; uint16_t _zero_counter{0};
uint64_t _acquire_time_usec{0}; uint64_t _acquire_time_usec{0};
PX4Rangefinder _px4_rangefinder;
perf_counter_t _comms_errors{perf_alloc(PC_COUNT, "ll40ls: comms errors")};
perf_counter_t _sample_perf{perf_alloc(PC_ELAPSED, "ll40ls: read")};
perf_counter_t _sensor_resets{perf_alloc(PC_COUNT, "ll40ls: resets")};
perf_counter_t _sensor_zero_resets{perf_alloc(PC_COUNT, "ll40ls: zero resets")};
}; };
src/drivers/distance_sensor/ll40ls/LidarLitePWM.h
-82
View File
@@ -1,82 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2014-2019 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.
*
****************************************************************************/
/**
* @file LidarLitePWM.h
* @author Johan Jansen <jnsn.johan@gmail.com>
* @author Ban Siesta <bansiesta@gmail.com>
*
* Driver for the PulsedLight Lidar-Lite range finders connected via PWM.
*
* This driver accesses the pwm_input published by the pwm_input driver.
*/
#pragma once
#include "LidarLite.h"
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <uORB/topics/pwm_input.h>
#include <uORB/Subscription.hpp>
#include <board_config.h>
#if DIRECT_PWM_OUTPUT_CHANNELS >= 6
#define GPIO_VDD_RANGEFINDER_EN_CHAN 5 // use pin 6
#define LIDAR_LITE_PWM_SUPPORTED
class LidarLitePWM : public LidarLite, public px4::ScheduledWorkItem
{
public:
LidarLitePWM(const uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING);
virtual ~LidarLitePWM();
int init() override;
void start() override;
void stop() override;
protected:
int collect() override;
int measure() override;
private:
void Run() override;
uORB::Subscription _sub_pwm_input{ORB_ID(pwm_input)};
pwm_input_s _pwm{};
};
#endif
src/drivers/distance_sensor/ll40ls/ll40ls.cpp
+1 -69
View File
@@ -53,7 +53,6 @@
#include <px4_platform_common/module.h> #include <px4_platform_common/module.h>
#include "LidarLiteI2C.h" #include "LidarLiteI2C.h"
#include "LidarLitePWM.h"
/** /**
@@ -62,13 +61,12 @@
namespace ll40ls namespace ll40ls
{ {
LidarLite *instance = nullptr; LidarLiteI2C *instance = nullptr;
int print_regs(); int print_regs();
int start(const uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING); int start(const uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING);
int start_bus(const int bus = PX4_I2C_BUS_EXPANSION, int start_bus(const int bus = PX4_I2C_BUS_EXPANSION,
const uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING); const uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING);
int start_pwm(const uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING);
int status(); int status();
int stop(); int stop();
int usage(); int usage();
@@ -150,48 +148,6 @@ start_bus(const int bus, const uint8_t rotation)
return PX4_OK; return PX4_OK;
} }
/**
* Start the pwm driver.
*
* This function only returns if the sensor is up and running
* or could not be detected successfully.
*/
int
start_pwm(const uint8_t rotation)
{
if (instance != nullptr) {
PX4_ERR("already started");
return PX4_OK;
}
#ifdef LIDAR_LITE_PWM_SUPPORTED
instance = new LidarLitePWM(rotation);
#else
instance = nullptr;
PX4_ERR("PWM input not supported.");
#endif
if (instance == nullptr) {
PX4_ERR("Failed to instantiate the driver");
delete instance;
return PX4_ERROR;
}
// Initialize the sensor.
if (instance->init() != PX4_OK) {
PX4_ERR("Failed to initialize LidarLite pwm.");
delete instance;
instance = nullptr;
return PX4_ERROR;
}
// Start the driver.
instance->start();
PX4_INFO("driver started");
return PX4_OK;
}
/** /**
* @brief Prints status info about the driver. * @brief Prints status info about the driver.
*/ */
@@ -252,8 +208,6 @@ $ ll40ls stop
PRINT_MODULE_USAGE_SUBCATEGORY("distance_sensor"); PRINT_MODULE_USAGE_SUBCATEGORY("distance_sensor");
PRINT_MODULE_USAGE_COMMAND_DESCR("print_regs","Print the register values"); PRINT_MODULE_USAGE_COMMAND_DESCR("print_regs","Print the register values");
PRINT_MODULE_USAGE_COMMAND_DESCR("start","Start driver"); PRINT_MODULE_USAGE_COMMAND_DESCR("start","Start driver");
PRINT_MODULE_USAGE_COMMAND_DESCR("pwm", "PWM device");
PRINT_MODULE_USAGE_COMMAND_DESCR("i2c", "I2C device");
PRINT_MODULE_USAGE_PARAM_FLAG('a', "Attempt to start driver on all I2C buses (first one found)", true); PRINT_MODULE_USAGE_PARAM_FLAG('a', "Attempt to start driver on all I2C buses (first one found)", true);
PRINT_MODULE_USAGE_PARAM_INT('b', 1, 1, 2000, "Start driver on specific I2C bus", true); PRINT_MODULE_USAGE_PARAM_INT('b', 1, 1, 2000, "Start driver on specific I2C bus", true);
PRINT_MODULE_USAGE_PARAM_INT('R', 25, 1, 25, "Sensor rotation - downward facing by default", true); PRINT_MODULE_USAGE_PARAM_INT('R', 25, 1, 25, "Sensor rotation - downward facing by default", true);
@@ -279,7 +233,6 @@ extern "C" __EXPORT int ll40ls_main(int argc, char *argv[])
uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING; uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING;
bool start_i2c_all = false; bool start_i2c_all = false;
bool start_pwm = false;
while ((ch = px4_getopt(argc, argv, "ab:R:", &myoptind, &myoptarg)) != EOF) { while ((ch = px4_getopt(argc, argv, "ab:R:", &myoptind, &myoptarg)) != EOF) {
switch (ch) { switch (ch) {
@@ -301,23 +254,6 @@ extern "C" __EXPORT int ll40ls_main(int argc, char *argv[])
} }
} }
// Determine protocol.
if (argc > myoptind + 1) {
const char *protocol = argv[myoptind + 1];
if (!strcmp(protocol, "i2c")) {
PX4_INFO("protocol %s", protocol);
} else if (!strcmp(protocol, "pwm")) {
PX4_INFO("protocol %s", protocol);
start_pwm = true;
} else {
PX4_INFO("unknown protocol, choose pwm or i2c");
return ll40ls::usage();
}
}
if (myoptind >= argc) { if (myoptind >= argc) {
return ll40ls::usage(); return ll40ls::usage();
} }
@@ -333,10 +269,6 @@ extern "C" __EXPORT int ll40ls_main(int argc, char *argv[])
PX4_INFO("starting all i2c busses"); PX4_INFO("starting all i2c busses");
return ll40ls::start(rotation); return ll40ls::start(rotation);
} else if (start_pwm) {
PX4_INFO("starting pwm");
return ll40ls::start_pwm(rotation);
} else { } else {
return ll40ls::start_bus(bus, rotation); return ll40ls::start_bus(bus, rotation);
} }
src/drivers/distance_sensor/ll40ls_pwm/CMakeLists.txt
+44
View File
@@ -0,0 +1,44 @@
############################################################################
#
# Copyright (c) 2015-2019 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__ll40ls_pwm
MAIN ll40ls_pwm
COMPILE_FLAGS
-Wno-cast-align # TODO: fix and enable
SRCS
ll40ls.cpp
LidarLitePWM.cpp
DEPENDS
drivers_rangefinder
#arch_io_pins # LidarLitePWM
)
src/drivers/distance_sensor/ll40ls/LidarLitePWM.cpp → src/drivers/distance_sensor/ll40ls_pwm/LidarLitePWM.cpp
+19 -3
View File
@@ -49,15 +49,22 @@
#include <px4_arch/io_timer.h> #include <px4_arch/io_timer.h>
LidarLitePWM::LidarLitePWM(const uint8_t rotation) : LidarLitePWM::LidarLitePWM(const uint8_t rotation) :
LidarLite(rotation), ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default),
ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default) _px4_rangefinder(0 /* device id not yet used */, ORB_PRIO_DEFAULT, rotation)
{ {
_px4_rangefinder.set_min_distance(LL40LS_MIN_DISTANCE);
_px4_rangefinder.set_max_distance(LL40LS_MAX_DISTANCE);
_px4_rangefinder.set_fov(0.008); // Divergence 8 mRadian
px4_arch_configgpio(io_timer_channel_get_gpio_output(GPIO_VDD_RANGEFINDER_EN_CHAN)); px4_arch_configgpio(io_timer_channel_get_gpio_output(GPIO_VDD_RANGEFINDER_EN_CHAN));
} }
LidarLitePWM::~LidarLitePWM() LidarLitePWM::~LidarLitePWM()
{ {
stop(); stop();
perf_free(_sample_perf);
perf_free(_comms_errors);
perf_free(_sensor_resets);
perf_free(_sensor_zero_resets);
} }
int int
@@ -106,7 +113,6 @@ LidarLitePWM::measure()
if (current_distance <= 0.0f) { if (current_distance <= 0.0f) {
perf_count(_sensor_zero_resets); perf_count(_sensor_zero_resets);
perf_end(_sample_perf); perf_end(_sample_perf);
return reset_sensor();
} }
_px4_rangefinder.update(timestamp_sample, current_distance); _px4_rangefinder.update(timestamp_sample, current_distance);
@@ -130,4 +136,14 @@ LidarLitePWM::collect()
return EAGAIN; return EAGAIN;
} }
void
LidarLitePWM::print_info()
{
perf_print_counter(_sample_perf);
perf_print_counter(_comms_errors);
perf_print_counter(_sensor_resets);
perf_print_counter(_sensor_zero_resets);
printf("poll interval: %u \n", get_measure_interval());
}
#endif #endif
src/drivers/distance_sensor/ll40ls/LidarLite.h → src/drivers/distance_sensor/ll40ls_pwm/LidarLitePWM.h
+31 -24
View File
@@ -33,13 +33,21 @@
/** /**
* @file LidarLite.h * @file LidarLitePWM.h
* @author Johan Jansen <jnsn.johan@gmail.com> * @author Johan Jansen <jnsn.johan@gmail.com>
* @author Ban Siesta <bansiesta@gmail.com>
* *
* Generic interface driver for the PulsedLight Lidar-Lite range finders. * Driver for the PulsedLight Lidar-Lite range finders connected via PWM.
*
* This driver accesses the pwm_input published by the pwm_input driver.
*/ */
#pragma once #pragma once
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <uORB/topics/pwm_input.h>
#include <uORB/Subscription.hpp>
#include <board_config.h>
#include <drivers/device/device.h> #include <drivers/device/device.h>
#include <lib/drivers/rangefinder/PX4Rangefinder.hpp> #include <lib/drivers/rangefinder/PX4Rangefinder.hpp>
#include <perf/perf_counter.h> #include <perf/perf_counter.h>
@@ -57,35 +65,36 @@ static constexpr uint32_t LL40LS_CONVERSION_INTERVAL{50_ms};
// Maximum time to wait for a conversion to complete. // Maximum time to wait for a conversion to complete.
static constexpr uint32_t LL40LS_CONVERSION_TIMEOUT{100_ms}; static constexpr uint32_t LL40LS_CONVERSION_TIMEOUT{100_ms};
class LidarLite #if DIRECT_PWM_OUTPUT_CHANNELS >= 6
#define GPIO_VDD_RANGEFINDER_EN_CHAN 5 // use pin 6
#define LIDAR_LITE_PWM_SUPPORTED
class LidarLitePWM : public px4::ScheduledWorkItem
{ {
public: public:
LidarLite(const uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING); LidarLitePWM(const uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING);
virtual ~LidarLite(); virtual ~LidarLitePWM();
virtual int init() = 0; int init();
virtual void start() = 0; void start();
virtual void stop() = 0; void stop();
/**
* @brief Diagnostics - print some basic information about the driver.
*/
void print_info(); void print_info();
/**
* @brief print registers to console.
*/
virtual void print_registers() {};
protected: protected:
uint32_t get_measure_interval() const { return _measure_interval; }; int collect();
int measure();
virtual int collect() = 0; void Run() override;
virtual int measure() = 0; private:
uint32_t get_measure_interval() const { return LL40LS_CONVERSION_INTERVAL; };
virtual int reset_sensor() { return PX4_ERROR; };
uORB::Subscription _sub_pwm_input{ORB_ID(pwm_input)};
pwm_input_s _pwm{};
PX4Rangefinder _px4_rangefinder; PX4Rangefinder _px4_rangefinder;
@@ -93,8 +102,6 @@ protected:
perf_counter_t _sample_perf{perf_alloc(PC_ELAPSED, "ll40ls: read")}; perf_counter_t _sample_perf{perf_alloc(PC_ELAPSED, "ll40ls: read")};
perf_counter_t _sensor_resets{perf_alloc(PC_COUNT, "ll40ls: resets")}; perf_counter_t _sensor_resets{perf_alloc(PC_COUNT, "ll40ls: resets")};
perf_counter_t _sensor_zero_resets{perf_alloc(PC_COUNT, "ll40ls: zero resets")}; perf_counter_t _sensor_zero_resets{perf_alloc(PC_COUNT, "ll40ls: zero resets")};
private:
uint32_t _measure_interval{LL40LS_CONVERSION_INTERVAL};
}; };
#endif
src/drivers/distance_sensor/ll40ls_pwm/ll40ls.cpp
+218
View File
@@ -0,0 +1,218 @@
/****************************************************************************
*
* Copyright (c) 2014-2019 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.
*
****************************************************************************/
/**
* @file ll40ls.cpp
* @author Allyson Kreft
* @author Johan Jansen <jnsn.johan@gmail.com>
* @author Ban Siesta <bansiesta@gmail.com>
* @author James Goppert <james.goppert@gmail.com>
*
* Interface for the PulsedLight Lidar-Lite range finders.
*/
#include <cstdlib>
#include <fcntl.h>
#include <string.h>
#include <stdio.h>
#include <systemlib/err.h>
#include <board_config.h>
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/module.h>
#include "LidarLitePWM.h"
#ifdef LIDAR_LITE_PWM_SUPPORTED
/**
* @brief Local functions in support of the shell command.
*/
namespace ll40ls_pwm
{
LidarLitePWM *instance = nullptr;
int start_pwm(const uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING);
int status();
int stop();
int usage();
/**
* Start the pwm driver.
*
* This function only returns if the sensor is up and running
* or could not be detected successfully.
*/
int
start_pwm(const uint8_t rotation)
{
if (instance != nullptr) {
PX4_ERR("already started");
return PX4_OK;
}
instance = new LidarLitePWM(rotation);
if (instance == nullptr) {
PX4_ERR("Failed to instantiate the driver");
return PX4_ERROR;
}
// Initialize the sensor.
if (instance->init() != PX4_OK) {
PX4_ERR("Failed to initialize LidarLite pwm.");
delete instance;
instance = nullptr;
return PX4_ERROR;
}
// Start the driver.
instance->start();
PX4_INFO("driver started");
return PX4_OK;
}
/**
* @brief Prints status info about the driver.
*/
int
status()
{
if (instance == nullptr) {
PX4_ERR("driver not running");
return PX4_ERROR;
}
instance->print_info();
return PX4_OK;
}
/**
* @brief Stops the driver
*/
int
stop()
{
if (instance != nullptr) {
delete instance;
instance = nullptr;
}
return PX4_OK;
}
/**
* @brief Displays driver usage at the console.
*/
int
usage()
{
PRINT_MODULE_DESCRIPTION(
R"DESCR_STR(
### Description
PWM driver for LidarLite rangefinders.
The sensor/driver must be enabled using the parameter SENS_EN_LL40LS.
Setup/usage information: https://docs.px4.io/en/sensor/lidar_lite.html
)DESCR_STR");
PRINT_MODULE_USAGE_NAME("ll40ls", "driver");
PRINT_MODULE_USAGE_SUBCATEGORY("distance_sensor");
PRINT_MODULE_USAGE_COMMAND_DESCR("start","Start driver");
PRINT_MODULE_USAGE_PARAM_INT('R', 25, 1, 25, "Sensor rotation - downward facing by default", true);
PRINT_MODULE_USAGE_COMMAND_DESCR("status","Print driver status information");
PRINT_MODULE_USAGE_COMMAND_DESCR("stop","Stop driver");
return PX4_OK;
}
} // namespace ll40ls
/**
* @brief Driver 'main' command.
*/
extern "C" __EXPORT int ll40ls_pwm_main(int argc, char *argv[])
{
const char *myoptarg = nullptr;
int ch = 0;
int myoptind = 1;
uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING;
while ((ch = px4_getopt(argc, argv, "R:", &myoptind, &myoptarg)) != EOF) {
switch (ch) {
case 'R':
rotation = (uint8_t)atoi(myoptarg);
PX4_INFO("Setting Lidar orientation to %d", (int)rotation);
break;
default:
return ll40ls_pwm::usage();
}
}
if (myoptind >= argc) {
return ll40ls_pwm::usage();
}
// Start the driver.
if (!strcmp(argv[myoptind], "start")) {
return ll40ls_pwm::start_pwm(rotation);
}
// Print the driver status.
if (!strcmp(argv[myoptind], "status")) {
return ll40ls_pwm::status();
}
// Stop the driver
if (!strcmp(argv[myoptind], "stop")) {
return ll40ls_pwm::stop();
}
// Print driver usage information.
return ll40ls_pwm::usage();
}
#else
extern "C" __EXPORT int ll40ls_pwm_main(int argc, char *argv[])
{
PX4_ERR("PWM input not supported.");
return -1;
}
#endif