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TODO : Adjust work_queue rescheduling (to always have a 10Hz cycle)

Signed-off-by: Claudio Micheli <claudio@auterion.com>
This commit is contained in:
Claudio Micheli
2018-12-17 18:01:16 +01:00
committed by Beat Küng
parent b0ac8fe963
commit 5d70ac7fd9
3 changed files with 11 additions and 1151 deletions
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824
src/drivers/distance_sensor/airlango/isl2950.cpp
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@@ -1,824 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2014-2015 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 landbao15L2950.cpp
* @author Claudio Micheli <claudio@auterion.com>
*
* Driver for the Lanbao ISL2950
*/
#include <px4_config.h>
#include <px4_getopt.h>
#include <px4_workqueue.h>
#include <sys/types.h>
#include <stdint.h>
#include <stdlib.h>
#include <stdbool.h>
#include <semaphore.h>
#include <string.h>
#include <fcntl.h>
#include <poll.h>
#include <errno.h>
#include <stdio.h>
#include <math.h>
#include <unistd.h>
#include <termios.h>
#include <perf/perf_counter.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_range_finder.h>
#include <drivers/device/device.h>
#include <drivers/device/ringbuffer.h>
#include <uORB/uORB.h>
#include <uORB/topics/distance_sensor.h>
#include "isl2950_parser.h"
/* Configuration Constants */
#ifndef CONFIG_SCHED_WORKQUEUE
# error This requires CONFIG_SCHED_WORKQUEUE.
#endif
#define ISL2950_TAKE_RANGE_REG 'd'
// designated serial port on Pixhawk
#define ISL2950_DEFAULT_PORT "/dev/ttyS1" // Its baudrate is 115200
// normal conversion wait time
#define ISL2950_CONVERSION_INTERVAL 100*1000UL/* 100ms */
class ISL2950 : public cdev::CDev
{
public:
// Constructor
ISL2950(const char *port = ISL2950_DEFAULT_PORT, uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING);
// Virtual destructor
virtual ~ISL2950();
virtual int init();
//virtual ssize_t read(device::file_t *filp, char *buffer, size_t buflen);
virtual int ioctl(device::file_t *filp, int cmd, unsigned long arg);
/**
* Diagnostics - print some basic information about the driver.
*/
void print_info();
private:
char _port[20];
uint8_t _rotation;
float _min_distance;
float _max_distance;
int _conversion_interval;
work_s _work{};
ringbuffer::RingBuffer *_reports;
int _measure_ticks;
bool _collect_phase;
int _fd;
uint8_t _linebuf[20];
unsigned _linebuf_index;
enum ISL2950_PARSE_STATE _parse_state;
unsigned char _frame_data[4];
uint16_t _crc16;
hrt_abstime _last_read;
int _class_instance;
int _orb_class_instance;
orb_advert_t _distance_sensor_topic;
unsigned _consecutive_fail_count;
perf_counter_t _sample_perf;
perf_counter_t _comms_errors;
/**
* 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 SF0X_MIN_DISTANCE
* and SF0X_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 isl2950_main(int argc, char *argv[]);
/**
* Method : Constructor
*
* @note This method initializes the class variables
*/
ISL2950::ISL2950(const char *port, uint8_t rotation) :
CDev(RANGE_FINDER0_DEVICE_PATH),
_rotation(rotation),
_min_distance(0.10f),
_max_distance(40.0f),
_conversion_interval(ISL2950_CONVERSION_INTERVAL),
_reports(nullptr),
_measure_ticks(0),
_collect_phase(false),
_fd(-1),
_linebuf_index(0),
_parse_state(TFS_NOT_STARTED),
_frame_data{TOF_SFD1, TOF_SFD2, 0, 0},
_crc16(0),
_last_read(0),
_class_instance(-1),
_orb_class_instance(-1),
_distance_sensor_topic(nullptr),
_consecutive_fail_count(0),
_sample_perf(perf_alloc(PC_ELAPSED, "isl2950_read")),
_comms_errors(perf_alloc(PC_COUNT, "isl2950_com_err"))
{
/* store port name */
strncpy(_port, port, sizeof(_port));
/* enforce null termination */
_port[sizeof(_port) - 1] = '\0';
}
// Destructor
ISL2950::~ISL2950()
{
/* 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);
}
perf_free(_sample_perf);
perf_free(_comms_errors);
}
/**
* Method : init()
*
* This method setup the general driver for a range finder sensor.
*/
int
ISL2950::init()
{
/* status */
int ret = 0;
do { /* create a scope to handle exit conditions using break */
/* do regular cdev init */
ret = CDev::init();
if (ret != OK) { break; }
/* allocate basic report buffers */
_reports = new ringbuffer::RingBuffer(2, sizeof(distance_sensor_s));
if (_reports == nullptr) {
PX4_ERR("alloc failed");
ret = -1;
break;
}
_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) {
PX4_ERR("failed to create distance_sensor object");
}
} while (0);
return ret;
}
void
ISL2950::set_minimum_distance(float min)
{
_min_distance = min;
}
void
ISL2950::set_maximum_distance(float max)
{
_max_distance = max;
}
float
ISL2950::get_minimum_distance()
{
return _min_distance;
}
float
ISL2950::get_maximum_distance()
{
return _max_distance;
}
int
ISL2950::ioctl(device::file_t *filp, int cmd, unsigned long arg)
{
switch (cmd) {
case SENSORIOCSPOLLRATE: {
switch (arg) {
/* zero would be bad */
case 0:
return -EINVAL;
/* set default polling rate */
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(_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(_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;
}
}
}
default:
/* give it to the superclass */
return CDev::ioctl(filp, cmd, arg);
}
}
/*
ssize_t
ISL2950::read(device::file_t *filp, char *buffer, size_t buflen)
{
// SOME STUFFS
}*/
int
ISL2950::measure()
{
int ret;
/*
* Send the command to begin a measurement.
*/
char cmd = ISL2950_TAKE_RANGE_REG;
ret = ::write(_fd, &cmd, 1);
if (ret != sizeof(cmd)) {
perf_count(_comms_errors);
printf("write fail %d", ret);
return ret;
}
ret = OK;
return ret;
}
int
/*
* Method: collect()
*
* This method reads data from serial UART and places it into a buffer
*/
ISL2950::collect()
{
int bytes_read = 0;
int distance_mm = -1.0f;
bool full_frame = false;
perf_begin(_sample_perf);
/* the buffer for read chars is buflen minus null termination */
uint8_t readbuf[sizeof(_linebuf)];
unsigned readlen = sizeof(readbuf);
/* read from the sensor (uart buffer) */
bytes_read = ::read(_fd, &readbuf[0], readlen);
if (bytes_read < 0) {
stop_serial_read = true;
PX4_DEBUG("read err: %d \n", bytes_read);
perf_count(_comms_errors);
perf_end(_sample_perf);
} else if (bytes_read > 0){
_last_read = hrt_absolute_time();
for (int i = 0; i < bytes_read; i++) {
if (OK == isl2950_parser(readbuf[i],_frame_data, &_parse_state,&_crc16, &distance_mm)){
full_frame = true;
}
}
}
if (!full_frame) {
return -EAGAIN;
}
printf("val (int): %d, raw: 0x%08X, valid: %s \n", distance_mm, _frame_data, ((full_frame) ? "OK" : "NO"));
struct distance_sensor_s report;
report.timestamp = hrt_absolute_time();
report.type = distance_sensor_s::MAV_DISTANCE_SENSOR_LASER;
report.orientation = _rotation;
report.current_distance = distance_mm/1000.0f;
report.min_distance = get_minimum_distance();
report.max_distance = get_maximum_distance();
report.covariance = 0.0f;
report.signal_quality = -1;
/* TODO: set proper ID */
report.id = 0;
/* publish it */
orb_publish(ORB_ID(distance_sensor), _distance_sensor_topic, &report);
_reports->force(&report);
/* notify anyone waiting for data */
poll_notify(POLLIN);
bytes_read = OK;
perf_end(_sample_perf);
return bytes_read;
}
void
ISL2950::start()
{
PX4_INFO("ISL2950::start() - launch the work queue");
/* reset the report ring and state machine */
_collect_phase = false;
_reports->flush();
/* schedule a cycle to start things */
work_queue(HPWORK, &_work, (worker_t)&ISL2950::cycle_trampoline, this, 1);
}
void
ISL2950::stop()
{
work_cancel(HPWORK, &_work);
}
void
ISL2950::cycle_trampoline(void *arg)
{
ISL2950 *dev = static_cast<ISL2950 *>(arg);
dev->cycle();
}
void
ISL2950::cycle()
{
PX4_DEBUG("ISL2950::cycle() - in the cycle");
/* fds initialized? */
if (_fd < 0) {
/* open fd */
_fd = ::open(_port,O_RDWR);
if (_fd < 0) {
PX4_ERR("ISL2950::cycle() - open failed (%i)", errno);
return;
}
struct termios uart_config;
int termios_state;
/* fill the struct for the new configuration */
tcgetattr(_fd, &uart_config);
/* clear ONLCR flag (which appends a CR for every LF) */
uart_config.c_oflag &= ~ONLCR;
/* no parity, one stop bit */
uart_config.c_cflag &= ~(CSTOPB | PARENB);
unsigned speed = B115200;
/* set baud rate */
if ((termios_state = cfsetispeed(&uart_config, speed)) < 0) {
PX4_ERR("CFG: %d ISPD", termios_state);
}
if ((termios_state = cfsetospeed(&uart_config, speed)) < 0) {
PX4_ERR("CFG: %d OSPD", termios_state);
}
if ((termios_state = tcsetattr(_fd, TCSANOW, &uart_config)) < 0) {
PX4_ERR("baud %d ATTR", termios_state);
}
}
/* perform collection */
int collect_ret = collect();
if (collect_ret == -EAGAIN) {
/* We are missing bytes to complete the packet, re-cycle at 1ms */
work_queue(HPWORK,&_work,(worker_t)&ISL2950::cycle_trampoline,this,USEC2TICK(1000LL));
return;
}
/* schedule a fresh cycle call when a complete packet has been received */
work_queue(HPWORK,&_work,(worker_t)&ISL2950::cycle_trampoline,this,USEC2TICK(_conversion_interval));
}
void
ISL2950::print_info()
{
perf_print_counter(_sample_perf);
perf_print_counter(_comms_errors);
printf("poll interval: %d ticks\n", _measure_ticks);
_reports->print_info("report queue");
}
/**
* Local functions in support of the shell command.
*/
namespace isl2950
{
ISL2950 *g_dev;
int start(const char *port, uint8_t rotation);
int stop();
int test();
int reset();
int info();
/**
* Start the driver.
*/
int
start(const char *port, uint8_t rotation)
{
int fd;
if (g_dev != nullptr) {
PX4_WARN("already started");
return -1;
}
/* create the driver */
g_dev = new ISL2950(port, rotation);
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(RANGE_FINDER0_DEVICE_PATH, 0);
if (fd < 0) {
PX4_ERR("device open fail (%i)", errno);
goto fail;
}
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
PX4_ERR("failed to set baudrate %d", B115200);
goto fail;
}
PX4_DEBUG("isl2950::start() succeeded");
return 0;
fail:
PX4_DEBUG("isl2950::start() failed");
if (g_dev != nullptr) {
delete g_dev;
g_dev = nullptr;
}
return -1;
}
/**
* Stop the driver
*/
int stop()
{
if (g_dev != nullptr) {
delete g_dev;
g_dev = nullptr;
} else {
return -1;
}
return 0;
}
/**
* Perform some basic functional tests on the driver;
* make sure we can collect data from the sensor in polled
* and automatic modes.
*/
int
test()
{
struct distance_sensor_s report;
ssize_t sz;
int fd = open(RANGE_FINDER0_DEVICE_PATH, O_RDONLY);
if (fd < 0) {
PX4_ERR("%s open failed (try 'isl2950 start' if the driver is not running", RANGE_FINDER0_DEVICE_PATH);
return -1;
}
/* do a simple demand read */
sz = read(fd, &report, sizeof(report));
if (sz != sizeof(report)) {
PX4_ERR("immediate read failed");
return -1;
}
print_message(report);
/* start the sensor polling at 2 Hz rate */
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
PX4_ERR("failed to set 2Hz poll rate");
return -1;
}
/* 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;
int ret = poll(&fds, 1, 2000);
if (ret != 1) {
PX4_ERR("timed out");
break;
}
/* now go get it */
sz = read(fd, &report, sizeof(report));
if (sz != sizeof(report)) {
PX4_ERR("read failed: got %zi vs exp. %zu", sz, sizeof(report));
break;
}
print_message(report);
}
/* reset the sensor polling to the default rate */
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT)) {
PX4_ERR("ioctl SENSORIOCSPOLLRATE failed");
return -1;
}
return 0;
}
/**
* Reset the driver.
*/
int
reset()
{
int fd = open(RANGE_FINDER0_DEVICE_PATH, O_RDONLY);
if (fd < 0) {
PX4_ERR("open failed (%i)", errno);
return -1;
}
if (ioctl(fd, SENSORIOCRESET, 0) < 0) {
PX4_ERR("driver reset failed");
return -1;
}
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
PX4_ERR("driver poll restart failed");
return -1;
}
return 0;
}
/**
* Print a little info about the driver.
*/
int
info()
{
if (g_dev == nullptr) {
PX4_ERR("driver not running");
return -1;
}
printf("state @ %p\n", g_dev);
g_dev->print_info();
return 0;
}
} // namespace
int
isl2950_main(int argc, char *argv[])
{
uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING;
const char *device_path = ISL2950_DEFAULT_PORT;
int ch;
int myoptind = 1;
const char *myoptarg = nullptr;
while ((ch = px4_getopt(argc, argv, "R:d:", &myoptind, &myoptarg)) != EOF) {
switch (ch) {
case 'R':
rotation = (uint8_t)atoi(myoptarg);
break;
case 'd':
device_path = myoptarg;
break;
default:
PX4_WARN("Unknown option!");
return -1;
}
}
if (myoptind >= argc) {
goto out_error;
}
/*
* Start/load the driver.
*/
if (!strcmp(argv[myoptind], "start")) {
return isl2950::start(device_path, rotation);
}
/*
* Stop the driver
*/
if (!strcmp(argv[myoptind], "stop")) {
return isl2950::stop();
}
/*
* Test the driver/device.
*/
if (!strcmp(argv[myoptind], "test")) {
return isl2950::test();
}
/*
* Reset the driver.
*/
if (!strcmp(argv[myoptind], "reset")) {
return isl2950::reset();
}
/*
* Print driver information.
*/
if (!strcmp(argv[myoptind], "info") || !strcmp(argv[myoptind], "status")) {
return isl2950::info();
}
out_error:
PX4_ERR("unrecognized command, try 'start', 'test', 'reset' or 'info'");
return -1;
}

205
src/drivers/distance_sensor/airlango/isl2950_parser.cpp
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@@ -1,205 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2014 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 isl2950_parser.cpp
* @author Claudio Micheli
* claudio@auterion.com
*
*/
#include "isl2950_parser.h"
#include <string.h>
#include <stdlib.h>
#include <stdio.h>
#include "isl2950_parser.h"
#include <string.h>
#include <stdlib.h>
typedef unsigned char UCHAR;
typedef unsigned short USHORT;
// Note : No clue what those static variables are
static const UCHAR aucCRCHi[] = {
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40
};
static const UCHAR aucCRCLo[] = {
0x00, 0xC0, 0xC1, 0x01, 0xC3, 0x03, 0x02, 0xC2, 0xC6, 0x06, 0x07, 0xC7,
0x05, 0xC5, 0xC4, 0x04, 0xCC, 0x0C, 0x0D, 0xCD, 0x0F, 0xCF, 0xCE, 0x0E,
0x0A, 0xCA, 0xCB, 0x0B, 0xC9, 0x09, 0x08, 0xC8, 0xD8, 0x18, 0x19, 0xD9,
0x1B, 0xDB, 0xDA, 0x1A, 0x1E, 0xDE, 0xDF, 0x1F, 0xDD, 0x1D, 0x1C, 0xDC,
0x14, 0xD4, 0xD5, 0x15, 0xD7, 0x17, 0x16, 0xD6, 0xD2, 0x12, 0x13, 0xD3,
0x11, 0xD1, 0xD0, 0x10, 0xF0, 0x30, 0x31, 0xF1, 0x33, 0xF3, 0xF2, 0x32,
0x36, 0xF6, 0xF7, 0x37, 0xF5, 0x35, 0x34, 0xF4, 0x3C, 0xFC, 0xFD, 0x3D,
0xFF, 0x3F, 0x3E, 0xFE, 0xFA, 0x3A, 0x3B, 0xFB, 0x39, 0xF9, 0xF8, 0x38,
0x28, 0xE8, 0xE9, 0x29, 0xEB, 0x2B, 0x2A, 0xEA, 0xEE, 0x2E, 0x2F, 0xEF,
0x2D, 0xED, 0xEC, 0x2C, 0xE4, 0x24, 0x25, 0xE5, 0x27, 0xE7, 0xE6, 0x26,
0x22, 0xE2, 0xE3, 0x23, 0xE1, 0x21, 0x20, 0xE0, 0xA0, 0x60, 0x61, 0xA1,
0x63, 0xA3, 0xA2, 0x62, 0x66, 0xA6, 0xA7, 0x67, 0xA5, 0x65, 0x64, 0xA4,
0x6C, 0xAC, 0xAD, 0x6D, 0xAF, 0x6F, 0x6E, 0xAE, 0xAA, 0x6A, 0x6B, 0xAB,
0x69, 0xA9, 0xA8, 0x68, 0x78, 0xB8, 0xB9, 0x79, 0xBB, 0x7B, 0x7A, 0xBA,
0xBE, 0x7E, 0x7F, 0xBF, 0x7D, 0xBD, 0xBC, 0x7C, 0xB4, 0x74, 0x75, 0xB5,
0x77, 0xB7, 0xB6, 0x76, 0x72, 0xB2, 0xB3, 0x73, 0xB1, 0x71, 0x70, 0xB0,
0x50, 0x90, 0x91, 0x51, 0x93, 0x53, 0x52, 0x92, 0x96, 0x56, 0x57, 0x97,
0x55, 0x95, 0x94, 0x54, 0x9C, 0x5C, 0x5D, 0x9D, 0x5F, 0x9F, 0x9E, 0x5E,
0x5A, 0x9A, 0x9B, 0x5B, 0x99, 0x59, 0x58, 0x98, 0x88, 0x48, 0x49, 0x89,
0x4B, 0x8B, 0x8A, 0x4A, 0x4E, 0x8E, 0x8F, 0x4F, 0x8D, 0x4D, 0x4C, 0x8C,
0x44, 0x84, 0x85, 0x45, 0x87, 0x47, 0x46, 0x86, 0x82, 0x42, 0x43, 0x83,
0x41, 0x81, 0x80, 0x40
};
// TOF frame format
//
// 1B 1B 1B 1B 2B
// | 0xA5 | 0x5A | distance-MSB | distance-LSB | crc-16 |
//
// Frame data saved for CRC calculation
const static int TOF_DISTANCE_MSB_POS = 2;
const static int TOF_DISTANCE_LSB_POS = 3;
const static int TOF_CRC_CALC_DATA_LEN = 4;
USHORT usMBCRC16(UCHAR* pucFrame, USHORT usLen) {
UCHAR ucCRCHi = 0xFF;
UCHAR ucCRCLo = 0xFF;
int iIndex;
while (usLen--) {
iIndex = ucCRCLo ^ *(pucFrame++);
ucCRCLo = (UCHAR)(ucCRCHi ^ aucCRCHi[iIndex]);
ucCRCHi = aucCRCLo[iIndex];
}
return (USHORT)(ucCRCHi << 8 | ucCRCLo);
}
int isl2950_parser(uint8_t c, uint8_t *parserbuf, ISL2950_PARSE_STATE *state, uint16_t *crc16, int *dist)
{
int ret = -1;
// int bytes_processed = 0;
// uint8_t b = buffer[bytes_processed++]; // Can be removed
// printf("parse byte 0x%02X \n", b);
switch (*state) {
case TFS_NOT_STARTED:
if (c == TOF_SFD1) {
*state = TFS_GOT_SFD1;
//printf("Got SFD1 \n");
}
break;
case TFS_GOT_SFD1:
if (c == TOF_SFD2) {
*state = TFS_GOT_SFD2;
//printf("Got SFD2 \n");
}
// @NOTE (claudio@auterion.com): Strange thing, if second byte is wrong we skip all the frame !!
else if (c == TOF_SFD1) {
*state = TFS_GOT_SFD1;
// printf("Discard previous SFD1, Got new SFD1 \n");
} else {
*state = TFS_NOT_STARTED;
}
break;
case TFS_GOT_SFD2:
*state = TFS_GOT_DATA1;
parserbuf[TOF_DISTANCE_MSB_POS] = c; // MSB Data
//printf("Got DATA1 0x%02X \n", c);
break;
case TFS_GOT_DATA1:
*state = TFS_GOT_DATA2;
parserbuf[TOF_DISTANCE_LSB_POS] = c; // LSB Data
//printf("Got DATA2 0x%02X \n", c);
// do crc calculation
*crc16 = usMBCRC16(parserbuf, TOF_CRC_CALC_DATA_LEN);
// convert endian
*crc16 = (*crc16 >> 8) | (*crc16 << 8);
break;
case TFS_GOT_DATA2:
if (c == (*crc16 >> 8)) {
*state = TFS_GOT_CHECKSUM1;
} else {
printf("Checksum invalid on high byte: 0x%02X, calculated: 0x%04X \n",c, *crc16);
//*state = TFS_NOT_STARTED;
*state = TFS_GOT_CHECKSUM1; // Forcing to print the value anyway
}
break;
case TFS_GOT_CHECKSUM1:
// Here, reset state to `NOT-STARTED` no matter crc ok or not
*state = TFS_NOT_STARTED;
/*if (c == (*crc16 & 0xFF)) {
//printf("Checksum verified \n");
*dist = (parserbuf[TOF_DISTANCE_MSB_POS] << 8) | parserbuf[TOF_DISTANCE_LSB_POS];
return OK;
}*/
*dist = (parserbuf[TOF_DISTANCE_MSB_POS] << 8) | parserbuf[TOF_DISTANCE_LSB_POS];
return OK;
break;
default:
printf("This should never happen. \n");
break;
}
// SOME STUFFS
return ret;
}

133
src/drivers/distance_sensor/isl2950/isl2950.cpp
View File

@@ -35,7 +35,7 @@
* @file landbao15L2950.cpp
* @author Claudio Micheli <claudio@auterion.com>
*
* Driver for the Lanbao ISL2950
* Driver for the ISL2950
*/
#include <px4_config.h>
@@ -399,46 +399,39 @@ int
ISL2950::collect()
{
int bytes_read = 0;
int bytes_available = 0;
int distance_mm = -1.0f;
bool full_frame = false;
bool stop_serial_read = false;
perf_begin(_sample_perf);
/* clear buffer if last read was too long ago */
int64_t read_elapsed = hrt_absolute_time();
read_elapsed = read_elapsed - _last_read;
/* the buffer for read chars is buflen minus null termination */
uint8_t readbuf[sizeof(_linebuf)];
unsigned readlen = sizeof(readbuf);
while ((!stop_serial_read)) {
/* read from the sensor (uart buffer) */
bytes_read = ::read(_fd, &readbuf[0], readlen);
if (bytes_read < 0) {
stop_serial_read = true;
PX4_DEBUG("read err: %d \n", bytes_read);
perf_count(_comms_errors);
perf_end(_sample_perf);
} else if (bytes_read > 0){
_last_read = hrt_absolute_time();
bytes_available += bytes_read;
//printf("Got a buffer with %d bytes,read %d \n", bytes_available,bytes_read);
for (int i = 0; i < bytes_read; i++) {
if (OK == isl2950_parser(readbuf[i],_frame_data, &_parse_state,&_crc16, &distance_mm)){
stop_serial_read = true;
full_frame = true;
}
}
}
}
if (!full_frame) {
return -EAGAIN;
@@ -472,86 +465,6 @@ ISL2950::collect()
perf_end(_sample_perf);
return bytes_read;
// ----------------------- LANBAO SPECIFIC ---------------------------
/*
uint8_t buffer[50];
int bytes_available = 0;
int bytes_processed = 0;
int bytes_read = 0;
int distance_mm = -1.0f;
bytes_read = ::read(_fd, buffer + bytes_available, 50 - bytes_available);
//printf("read() returns %02X %02X %02X %02X \n", buffer[0], buffer[1],buffer[2],buffer[3] );
//--------------------------------------------------------------------
if (bytes_read < 0) {
PX4_ERR("isl2950 - read() error: %d \n", bytes_read);
perf_count(_comms_errors);
perf_end(_sample_perf);
// only throw an error if we time out
if (read_elapsed > (_conversion_interval * 2)) {
printf("read elapsed %d , conversion interval %d",read_elapsed,_conversion_interval * 2);
return bytes_read;
} else {
printf("EAGAIN",read_elapsed,_conversion_interval * 2);
return -EAGAIN;
}
} else if (bytes_read == 0) {
return OK; // If we dont read any bites we simply exit from collecting
}
_last_read = hrt_absolute_time();
bytes_available += bytes_read;
// parse the buffer data
full_frame = false;
bytes_processed = isl2950_parser(buffer, bytes_available, &full_frame,&distance_mm);
tempo = tempo - hrt_absolute_time();
//printf("isl2950_parser() processed %d bytes, full_frame %d \n", bytes_processed, full_frame);
// discard the processed bytes and move the buffer content to the head
bytes_available -= bytes_processed;
memcpy(buffer, buffer + bytes_processed, bytes_available);
if (full_frame) {
printf("Measured Distance %d mm\n",distance_mm);
}
else if (!full_frame) { // If the frame is not valid we avoid publishing it
return OK;
}
struct distance_sensor_s report;
report.timestamp = hrt_absolute_time();
report.type = distance_sensor_s::MAV_DISTANCE_SENSOR_LASER;
report.orientation = _rotation;
report.current_distance = distance_mm/1000; // To meters
report.min_distance = get_minimum_distance();
report.max_distance = get_maximum_distance();
report.covariance = 0.0f;
report.signal_quality = -1;
// TODO: set proper ID
report.id = 0;
// publish it
orb_publish(ORB_ID(distance_sensor), _distance_sensor_topic, &report);
_reports->force(&report);
// notify anyone waiting for data
poll_notify(POLLIN);
printf("tempo %d \n",tempo);
perf_end(_sample_perf);
return OK; */
}
void
@@ -623,44 +536,20 @@ ISL2950::cycle()
PX4_ERR("baud %d ATTR", termios_state);
}
}
//printf("COLLECT \n");
/* perform collection */
int collect_ret = collect();
if (collect_ret == -EAGAIN) {
/* reschedule to grab the missing bits, time to transmit 8 bytes @ 9600 bps */
work_queue(HPWORK,&_work,(worker_t)&ISL2950::cycle_trampoline,this,USEC2TICK(1042 * 8));
/* We are missing bytes to complete the packet, re-cycle at 1ms */
work_queue(HPWORK,&_work,(worker_t)&ISL2950::cycle_trampoline,this,USEC2TICK(500LL));
return;
}
// ------------------- DISABLED CHECKING OF CONSECUTIVE FAIL
// if (OK != collect_ret) {
/* we know the sensor needs about four seconds to initialize */
// if (hrt_absolute_time() > 1 * 1000 * 1000LL && _consecutive_fail_count < 5) {
// PX4_ERR("collection error #%u", _consecutive_fail_count);
// }
// _consecutive_fail_count++;
/* restart the measurement state machine */
// start();
// return;
// } else {
/* apparently success */
// _consecutive_fail_count = 0;
// }
// ------------------- DISABLED CHECKING OF CONSECUTIVE FAIL
/* schedule a fresh cycle call when the measurement is done */
work_queue(HPWORK,
&_work,
(worker_t)&ISL2950::cycle_trampoline,
this,
USEC2TICK(_conversion_interval));
/* schedule a fresh cycle call when a complete packet has been received */
work_queue(HPWORK,&_work,(worker_t)&ISL2950::cycle_trampoline,this,USEC2TICK(_conversion_interval));
}
void