From edfbb90656582325424cce2a049f437a5027b4c4 Mon Sep 17 00:00:00 2001 From: ecmnet Date: Fri, 15 Jan 2016 14:27:14 +0100 Subject: [PATCH] Initial commit SF10x driver --- ROMFS/px4fmu_common/init.d/rc.sensors | 4 + src/drivers/sf10a/CMakeLists.txt | 44 ++ src/drivers/sf10a/sf10a.cpp | 875 ++++++++++++++++++++++++++ 3 files changed, 923 insertions(+) create mode 100644 src/drivers/sf10a/CMakeLists.txt create mode 100644 src/drivers/sf10a/sf10a.cpp diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors index f02fb5c650..2d01f50a83 100644 --- a/ROMFS/px4fmu_common/init.d/rc.sensors +++ b/ROMFS/px4fmu_common/init.d/rc.sensors @@ -145,6 +145,10 @@ else fi fi +if sf10a start +then +fi + # Wait 20 ms for sensors (because we need to wait for the HRT and work queue callbacks to fire) usleep 20000 if sensors start diff --git a/src/drivers/sf10a/CMakeLists.txt b/src/drivers/sf10a/CMakeLists.txt new file mode 100644 index 0000000000..5db2934a74 --- /dev/null +++ b/src/drivers/sf10a/CMakeLists.txt @@ -0,0 +1,44 @@ +############################################################################ +# +# Copyright (c) 2015 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__sf10a + MAIN sf10a + COMPILE_FLAGS + -Os + SRCS + sf10a.cpp + DEPENDS + platforms__common + ) +# vim: set noet ft=cmake fenc=utf-8 ff=unix : diff --git a/src/drivers/sf10a/sf10a.cpp b/src/drivers/sf10a/sf10a.cpp new file mode 100644 index 0000000000..02943d05f8 --- /dev/null +++ b/src/drivers/sf10a/sf10a.cpp @@ -0,0 +1,875 @@ +/**************************************************************************** + * + * Copyright (c) 2013-2015 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 sf10a.cpp + * + * @author ecmnet + * + * Driver for the Lightware SF10x lidar range finder series. + * Default I2C address 0x55 is used. + */ + +#include + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include + +#include +#include + +#include +#include +#include + +#include +#include +#include + +#include + +/* Configuration Constants */ +#define SF10A_BUS PX4_I2C_BUS_EXPANSION +#define SF10A_BASEADDR 0x55 +#define SF10A_DEVICE_PATH "/dev/sf10a" + +/* Device limits */ +#define SF10A_MIN_DISTANCE (0.0f) +#define SF10A_MAX_DISTANCE (25.0f) + +#define SF10A_CONVERSION_INTERVAL 25000 + + +/* oddly, ERROR is not defined for c++ */ +#ifdef ERROR +# undef ERROR +#endif +static const int ERROR = -1; + +#ifndef CONFIG_SCHED_WORKQUEUE +# error This requires CONFIG_SCHED_WORKQUEUE. +#endif + +class SF10A : public device::I2C +{ +public: + SF10A(int bus = SF10A_BUS, int address = SF10A_BASEADDR); + virtual ~SF10A(); + + virtual int init(); + + virtual ssize_t read(struct file *filp, char *buffer, size_t buflen); + virtual int ioctl(struct file *filp, int cmd, unsigned long arg); + + /** + * Diagnostics - print some basic information about the driver. + */ + void print_info(); + +protected: + virtual int probe(); + +private: + float _min_distance; + float _max_distance; + work_s _work; + ringbuffer::RingBuffer *_reports; + bool _sensor_ok; + int _measure_ticks; + int _class_instance; + int _orb_class_instance; + + orb_advert_t _distance_sensor_topic; + + perf_counter_t _sample_perf; + perf_counter_t _comms_errors; + perf_counter_t _buffer_overflows; + + + + /** + * Test whether the device supported by the driver is present at a + * specific address. + * + * @param address The I2C bus address to probe. + * @return True if the device is present. + */ + int probe_address(uint8_t address); + + /** + * Initialise the automatic measurement state machine and start it. + * + * @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. + */ + void start(); + + /** + * Stop the automatic measurement state machine. + */ + void stop(); + + /** + * Set the min and max distance thresholds if you want the end points of the sensors + * range to be brought in at all, otherwise it will use the defaults SF10A_MIN_DISTANCE + * and SF10A_MAX_DISTANCE + */ + void set_minimum_distance(float min); + void set_maximum_distance(float max); + float get_minimum_distance(); + float get_maximum_distance(); + + /** + * Perform a poll cycle; collect from the previous measurement + * and start a new one. + */ + void cycle(); + int measure(); + int collect(); + /** + * Static trampoline from the workq context; because we don't have a + * generic workq wrapper yet. + * + * @param arg Instance pointer for the driver that is polling. + */ + static void cycle_trampoline(void *arg); + + +}; + +/* + * Driver 'main' command. + */ +extern "C" __EXPORT int sf10a_main(int argc, char *argv[]); + +SF10A::SF10A(int bus, int address) : + I2C("SF10A", SF10A_DEVICE_PATH, bus, address, 100000), + _min_distance(SF10A_MIN_DISTANCE), + _max_distance(SF10A_MAX_DISTANCE), + _reports(nullptr), + _sensor_ok(false), + _measure_ticks(0), + _class_instance(-1), + _orb_class_instance(-1), + _distance_sensor_topic(nullptr), + _sample_perf(perf_alloc(PC_ELAPSED, "sf10a_read")), + _comms_errors(perf_alloc(PC_COUNT, "sf10a_comms_errors")), + _buffer_overflows(perf_alloc(PC_COUNT, "sf10a_buffer_overflows")) + +{ + /* enable debug() calls */ + _debug_enabled = false; + + /* work_cancel in the dtor will explode if we don't do this... */ + memset(&_work, 0, sizeof(_work)); +} + +SF10A::~SF10A() +{ + /* make sure we are truly inactive */ + stop(); + + /* free any existing reports */ + if (_reports != nullptr) { + delete _reports; + } + + if (_class_instance != -1) { + unregister_class_devname(RANGE_FINDER_BASE_DEVICE_PATH, _class_instance); + } + + /* free perf counters */ + perf_free(_sample_perf); + perf_free(_comms_errors); + perf_free(_buffer_overflows); +} + +int +SF10A::init() +{ + int ret = ERROR; + + /* do I2C init (and probe) first */ + if (I2C::init() != OK) { + return ret; + } + + /* allocate basic report buffers */ + _reports = new ringbuffer::RingBuffer(2, sizeof(distance_sensor_s)); + + set_address(SF10A_BASEADDR); + + if (_reports == nullptr) { + return ret; + } + + _class_instance = register_class_devname(RANGE_FINDER_BASE_DEVICE_PATH); + + /* get a publish handle on the range finder topic */ + struct distance_sensor_s ds_report = {}; + + _distance_sensor_topic = orb_advertise_multi(ORB_ID(distance_sensor), &ds_report, + &_orb_class_instance, ORB_PRIO_HIGH); + + if (_distance_sensor_topic == nullptr) { + DEVICE_LOG("failed to create distance_sensor object. Did you start uOrb?"); + } + + + int ret2 = measure(); + if (ret2 == 0) { + ret = OK; + _sensor_ok = true; + DEVICE_LOG("SF10x with address %d found", SF10A_BASEADDR); + } + + return ret; +} + +int +SF10A::probe() +{ + return measure(); +} + +void +SF10A::set_minimum_distance(float min) +{ + _min_distance = min; +} + +void +SF10A::set_maximum_distance(float max) +{ + _max_distance = max; +} + +float +SF10A::get_minimum_distance() +{ + return _min_distance; +} + +float +SF10A::get_maximum_distance() +{ + return _max_distance; +} + +int +SF10A::ioctl(struct file *filp, int cmd, unsigned long arg) +{ + switch (cmd) { + + case SENSORIOCSPOLLRATE: { + switch (arg) { + + /* switching to manual polling */ + case SENSOR_POLLRATE_MANUAL: + stop(); + _measure_ticks = 0; + return OK; + + /* external signalling (DRDY) not supported */ + case SENSOR_POLLRATE_EXTERNAL: + + /* zero would be bad */ + case 0: + return -EINVAL; + + /* set default/max polling rate */ + case SENSOR_POLLRATE_MAX: + case SENSOR_POLLRATE_DEFAULT: { + /* do we need to start internal polling? */ + bool want_start = (_measure_ticks == 0); + + /* set interval for next measurement to minimum legal value */ + _measure_ticks = USEC2TICK(SF10A_CONVERSION_INTERVAL); + + /* if we need to start the poll state machine, do it */ + if (want_start) { + start(); + + } + + return OK; + } + + /* adjust to a legal polling interval in Hz */ + default: { + /* do we need to start internal polling? */ + bool want_start = (_measure_ticks == 0); + + /* convert hz to tick interval via microseconds */ + int ticks = USEC2TICK(1000000 / arg); + + /* check against maximum rate */ + if (ticks < USEC2TICK(SF10A_CONVERSION_INTERVAL)) { + return -EINVAL; + } + + /* update interval for next measurement */ + _measure_ticks = ticks; + + /* if we need to start the poll state machine, do it */ + if (want_start) { + start(); + } + + return OK; + } + } + } + + case SENSORIOCGPOLLRATE: + if (_measure_ticks == 0) { + return SENSOR_POLLRATE_MANUAL; + } + + return (1000 / _measure_ticks); + + case SENSORIOCSQUEUEDEPTH: { + /* lower bound is mandatory, upper bound is a sanity check */ + if ((arg < 1) || (arg > 100)) { + return -EINVAL; + } + + irqstate_t flags = irqsave(); + + if (!_reports->resize(arg)) { + irqrestore(flags); + return -ENOMEM; + } + + irqrestore(flags); + + return OK; + } + + case SENSORIOCGQUEUEDEPTH: + return _reports->size(); + + case SENSORIOCRESET: + /* XXX implement this */ + return -EINVAL; + + case RANGEFINDERIOCSETMINIUMDISTANCE: { + set_minimum_distance(*(float *)arg); + return 0; + } + break; + + case RANGEFINDERIOCSETMAXIUMDISTANCE: { + set_maximum_distance(*(float *)arg); + return 0; + } + break; + + default: + /* give it to the superclass */ + return I2C::ioctl(filp, cmd, arg); + } +} + +ssize_t +SF10A::read(struct file *filp, char *buffer, size_t buflen) +{ + + unsigned count = buflen / sizeof(struct distance_sensor_s); + struct distance_sensor_s *rbuf = reinterpret_cast(buffer); + int ret = 0; + + /* buffer must be large enough */ + if (count < 1) { + return -ENOSPC; + } + + /* if automatic measurement is enabled */ + if (_measure_ticks > 0) { + + /* + * While there is space in the caller's buffer, and reports, copy them. + * Note that we may be pre-empted by the workq thread while we are doing this; + * we are careful to avoid racing with them. + */ + while (count--) { + if (_reports->get(rbuf)) { + ret += sizeof(*rbuf); + rbuf++; + } + } + + /* if there was no data, warn the caller */ + return ret ? ret : -EAGAIN; + } + + /* manual measurement - run one conversion */ + do { + _reports->flush(); + + /* trigger a measurement */ + if (OK != measure()) { + ret = -EIO; + break; + } + + /* wait for it to complete */ + usleep(SF10A_CONVERSION_INTERVAL); + + /* run the collection phase */ + if (OK != collect()) { + ret = -EIO; + break; + } + + /* state machine will have generated a report, copy it out */ + if (_reports->get(rbuf)) { + ret = sizeof(*rbuf); + } + + } while (0); + + return ret; +} + +int +SF10A::measure() +{ + + int ret; + + /* + * Send the command to begin a measurement. + */ + + uint8_t cmd[1]; + cmd[0] = SF10A_BASEADDR; + ret = transfer(cmd, 1, nullptr, 0); + + if (OK != ret) { + perf_count(_comms_errors); + DEVICE_DEBUG("i2c::transfer returned %d", ret); + return ret; + } + + ret = OK; + + return ret; +} + +int +SF10A::collect() +{ + int ret = -EIO; + + /* read from the sensor */ + uint8_t val[2] = {0, 0}; + uint8_t cmd = SF10A_BASEADDR; + perf_begin(_sample_perf); + + ret = transfer(&cmd, 1, nullptr, 0); + ret = transfer(nullptr, 0, &val[0], 2); + + if (ret < 0) { + DEVICE_DEBUG("error reading from sensor: %d", ret); + perf_count(_comms_errors); + perf_end(_sample_perf); + return ret; + } + + uint16_t distance_cm = val[0] << 8 | val[1]; + float distance_m = float(distance_cm) * 1e-2f; + + struct distance_sensor_s report; + report.timestamp = hrt_absolute_time(); + report.type = distance_sensor_s::MAV_DISTANCE_SENSOR_LASER; + report.orientation = 8; + report.current_distance = distance_m; + report.min_distance = get_minimum_distance(); + report.max_distance = get_maximum_distance(); + report.covariance = 0.0f; + /* TODO: set proper ID */ + report.id = 0; + + /* publish it, if we are the primary */ + if (_distance_sensor_topic != nullptr) { + orb_publish(ORB_ID(distance_sensor), _distance_sensor_topic, &report); + } + + if (_reports->force(&report)) { + perf_count(_buffer_overflows); + } + + /* notify anyone waiting for data */ + poll_notify(POLLIN); + + ret = OK; + + perf_end(_sample_perf); + return ret; +} + +void +SF10A::start() +{ + + /* reset the report ring and state machine */ + _reports->flush(); + + /* schedule a cycle to start things */ + work_queue(HPWORK, &_work, (worker_t)&SF10A::cycle_trampoline, this, 5); + + /* notify about state change */ + struct subsystem_info_s info = { + true, + true, + true, + subsystem_info_s::SUBSYSTEM_TYPE_RANGEFINDER + }; + static orb_advert_t pub = nullptr; + + if (pub != nullptr) { + orb_publish(ORB_ID(subsystem_info), pub, &info); + + + } else { + pub = orb_advertise(ORB_ID(subsystem_info), &info); + + } +} + +void +SF10A::stop() +{ + work_cancel(HPWORK, &_work); +} + +void +SF10A::cycle_trampoline(void *arg) +{ + + SF10A *dev = (SF10A *)arg; + + dev->cycle(); + +} + +void +SF10A::cycle() +{ + + set_address(SF10A_BASEADDR); + /* Collect results */ + if (OK != collect()) { + DEVICE_DEBUG("collection error"); + /* if error restart the measurement state machine */ + start(); + return; + } + + + /* Trigger measurement */ + if (OK != measure()) { + DEVICE_DEBUG("measure error lidar"); + } + + + + /* schedule a fresh cycle call when the measurement is done */ + work_queue(HPWORK, + &_work, + (worker_t)&SF10A::cycle_trampoline, + this, + USEC2TICK(SF10A_CONVERSION_INTERVAL)); + +} + +void +SF10A::print_info() +{ + perf_print_counter(_sample_perf); + perf_print_counter(_comms_errors); + perf_print_counter(_buffer_overflows); + printf("poll interval: %u ticks\n", _measure_ticks); + _reports->print_info("report queue"); +} + +/** + * Local functions in support of the shell command. + */ +namespace sf10a +{ + +/* oddly, ERROR is not defined for c++ */ +#ifdef ERROR +# undef ERROR +#endif +const int ERROR = -1; + +SF10A *g_dev; + +void start(); +void stop(); +void test(); +void reset(); +void info(); + +/** + * Start the driver. + */ +void +start() +{ + int fd; + + if (g_dev != nullptr) { + errx(1, "already started"); + } + + /* create the driver */ + g_dev = new SF10A(SF10A_BUS); + + if (g_dev == nullptr) { + goto fail; + } + + if (OK != g_dev->init()) { + goto fail; + } + + /* set the poll rate to default, starts automatic data collection */ + fd = open(SF10A_DEVICE_PATH, O_RDONLY); + + if (fd < 0) { + goto fail; + } + + if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) { + goto fail; + } + + exit(0); + +fail: + + if (g_dev != nullptr) { + delete g_dev; + g_dev = nullptr; + } + + errx(1, "driver start failed"); +} + +/** + * Stop the driver + */ +void stop() +{ + if (g_dev != nullptr) { + delete g_dev; + g_dev = nullptr; + + } else { + errx(1, "driver not running"); + } + + exit(0); +} + +/** + * Perform some basic functional tests on the driver; + * make sure we can collect data from the sensor in polled + * and automatic modes. + */ +void +test() +{ + struct distance_sensor_s report; + ssize_t sz; + int ret; + + int fd = open(SF10A_DEVICE_PATH, O_RDONLY); + + if (fd < 0) { + err(1, "%s open failed (try 'sf10a start' if the driver is not running", SF10A_DEVICE_PATH); + } + + /* do a simple demand read */ + sz = read(fd, &report, sizeof(report)); + + if (sz != sizeof(report)) { + err(1, "immediate read failed"); + } + + warnx("single read"); + warnx("measurement: %0.2f m", (double)report.current_distance); + warnx("time: %llu", report.timestamp); + + /* start the sensor polling at 2Hz */ + if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) { + errx(1, "failed to set 2Hz poll rate"); + } + + /* read the sensor 5x and report each value */ + for (unsigned i = 0; i < 5; i++) { + struct pollfd fds; + + /* wait for data to be ready */ + fds.fd = fd; + fds.events = POLLIN; + ret = poll(&fds, 1, 2000); + + if (ret != 1) { + errx(1, "timed out waiting for sensor data"); + } + + /* now go get it */ + sz = read(fd, &report, sizeof(report)); + + if (sz != sizeof(report)) { + err(1, "periodic read failed"); + } + + warnx("periodic read %u", i); + warnx("valid %u", (float)report.current_distance > report.min_distance + && (float)report.current_distance < report.max_distance ? 1 : 0); + warnx("measurement: %0.3f", (double)report.current_distance); + warnx("time: %llu", report.timestamp); + } + + /* reset the sensor polling to default rate */ + if (OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT)) { + errx(1, "failed to set default poll rate"); + } + + errx(0, "PASS"); +} + +/** + * Reset the driver. + */ +void +reset() +{ + int fd = open(SF10A_DEVICE_PATH, O_RDONLY); + + if (fd < 0) { + err(1, "failed "); + } + + if (ioctl(fd, SENSORIOCRESET, 0) < 0) { + err(1, "driver reset failed"); + } + + if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) { + err(1, "driver poll restart failed"); + } + + exit(0); +} + +/** + * Print a little info about the driver. + */ +void +info() +{ + if (g_dev == nullptr) { + errx(1, "driver not running"); + } + + printf("state @ %p\n", g_dev); + g_dev->print_info(); + + exit(0); +} + +} /* namespace */ + +int +sf10a_main(int argc, char *argv[]) +{ + /* + * Start/load the driver. + */ + if (!strcmp(argv[1], "start")) { + sf10a::start(); + } + + /* + * Stop the driver + */ + if (!strcmp(argv[1], "stop")) { + sf10a::stop(); + } + + /* + * Test the driver/device. + */ + if (!strcmp(argv[1], "test")) { + sf10a::test(); + } + + /* + * Reset the driver. + */ + if (!strcmp(argv[1], "reset")) { + sf10a::reset(); + } + + /* + * Print driver information. + */ + if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) { + sf10a::info(); + } + + errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'"); +}