refactor ll40ls: split I2C and PWM into separate drivers

- there was almost nothing shared
- it will fit better into the updated I2C driver structure

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -54,7 +54,7 @@ if param compare -s SENS_EN_LL40LS 1
 then
 	if pwm_input start
 	then
-		ll40ls start pwm
+		ll40ls_pwm start
 	fi
 fi
 

src/drivers/distance_sensor/CMakeLists.txt

@@ -34,6 +34,7 @@
 add_subdirectory(cm8jl65)
 add_subdirectory(leddar_one)
 add_subdirectory(ll40ls)
+add_subdirectory(ll40ls_pwm)
 add_subdirectory(mappydot)
 add_subdirectory(mb12xx)
 add_subdirectory(pga460)

src/drivers/distance_sensor/ll40ls/CMakeLists.txt

@@ -37,10 +37,7 @@ px4_add_module(
 		-Wno-cast-align # TODO: fix and enable
 	SRCS
 		ll40ls.cpp
-		LidarLite.cpp
 		LidarLiteI2C.cpp
-		LidarLitePWM.cpp
 	DEPENDS
 		drivers_rangefinder
-		#arch_io_pins # LidarLitePWM
 	)

src/drivers/distance_sensor/ll40ls/LidarLite.cpp

@@ -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

@@ -42,10 +42,13 @@
 #include "LidarLiteI2C.h"
 
 LidarLiteI2C::LidarLiteI2C(const int bus, const uint8_t rotation, const int address) :
-	LidarLite(rotation),
 	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
 	_retries = 3;
 }
@@ -53,6 +56,10 @@ LidarLiteI2C::LidarLiteI2C(const int bus, const uint8_t rotation, const int addr
 LidarLiteI2C::~LidarLiteI2C()
 {
 	stop();
+	perf_free(_sample_perf);
+	perf_free(_comms_errors);
+	perf_free(_sensor_resets);
+	perf_free(_sensor_zero_resets);
 }
 
 int
@@ -66,6 +73,16 @@ LidarLiteI2C::init()
 	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
 LidarLiteI2C::read_reg(const uint8_t reg, uint8_t &val)
 {

src/drivers/distance_sensor/ll40ls/LidarLiteI2C.h

@@ -40,14 +40,16 @@
 
 #pragma once
 
-#include "LidarLite.h"
-
 #include <drivers/device/i2c.h>
 #include <drivers/drv_hrt.h>
 #include <mathlib/mathlib.h>
 #include <px4_platform_common/defines.h>
 #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 */
 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_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:
 	LidarLiteI2C(const int bus, const uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING,
 		     const int address = LL40LS_BASEADDR);
 	virtual ~LidarLiteI2C();
 
-	int init() override;
+	int init();
 
 	/**
 	 * Print sensor registers to console for debugging.
 	 */
-	void print_registers() override;
+	void print_registers();
 
 	/**
 	 * 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
 	 *       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.
 	 */
-	void stop() override;
+	void stop();
 
 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.
 	 */
-	int reset_sensor() override;
+	int reset_sensor();
 
 	int probe() override;
 
@@ -122,7 +137,7 @@ protected:
 
 private:
 
-	int collect() override;
+	int collect();
 
 	/**
 	 * LidarLite specific transfer function. This is needed
@@ -163,4 +178,11 @@ private:
 	uint16_t _zero_counter{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

@@ -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

@@ -53,7 +53,6 @@
 #include <px4_platform_common/module.h>
 
 #include "LidarLiteI2C.h"
-#include "LidarLitePWM.h"
 
 
 /**
@@ -62,13 +61,12 @@
 namespace ll40ls
 {
 
-LidarLite *instance = nullptr;
+LidarLiteI2C *instance = nullptr;
 
 int print_regs();
 int start(const uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING);
 int start_bus(const int bus = PX4_I2C_BUS_EXPANSION,
 	      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 stop();
 int usage();
@@ -150,48 +148,6 @@ start_bus(const int bus, const uint8_t rotation)
 	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.
  */
@@ -252,8 +208,6 @@ $ ll40ls stop
 	PRINT_MODULE_USAGE_SUBCATEGORY("distance_sensor");
 	PRINT_MODULE_USAGE_COMMAND_DESCR("print_regs","Print the register values");
 	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_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);
@@ -279,7 +233,6 @@ extern "C" __EXPORT int ll40ls_main(int argc, char *argv[])
 	uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING;
 
 	bool start_i2c_all = false;
-	bool start_pwm = false;
 
 	while ((ch = px4_getopt(argc, argv, "ab:R:", &myoptind, &myoptarg)) != EOF) {
 		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) {
 		return ll40ls::usage();
 	}
@@ -333,10 +269,6 @@ extern "C" __EXPORT int ll40ls_main(int argc, char *argv[])
 			PX4_INFO("starting all i2c busses");
 			return ll40ls::start(rotation);
 
-		} else if (start_pwm) {
-			PX4_INFO("starting pwm");
-			return ll40ls::start_pwm(rotation);
-
 		} else {
 			return ll40ls::start_bus(bus, rotation);
 		}

src/drivers/distance_sensor/ll40ls_pwm/CMakeLists.txt

@@ -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_pwm/LidarLitePWM.cpp

@@ -49,15 +49,22 @@
 #include <px4_arch/io_timer.h>
 
 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));
 }
 
 LidarLitePWM::~LidarLitePWM()
 {
 	stop();
+	perf_free(_sample_perf);
+	perf_free(_comms_errors);
+	perf_free(_sensor_resets);
+	perf_free(_sensor_zero_resets);
 }
 
 int
@@ -106,7 +113,6 @@ LidarLitePWM::measure()
 	if (current_distance <= 0.0f) {
 		perf_count(_sensor_zero_resets);
 		perf_end(_sample_perf);
-		return reset_sensor();
 	}
 
 	_px4_rangefinder.update(timestamp_sample, current_distance);
@@ -130,4 +136,14 @@ LidarLitePWM::collect()
 	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

src/drivers/distance_sensor/ll40ls_pwm/LidarLitePWM.h

@@ -33,13 +33,21 @@
 
 
 /**
- * @file LidarLite.h
+ * @file LidarLitePWM.h
  * @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
 
+#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 <lib/drivers/rangefinder/PX4Rangefinder.hpp>
 #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.
 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:
-	LidarLite(const uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING);
-	virtual ~LidarLite();
+	LidarLitePWM(const uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING);
+	virtual ~LidarLitePWM();
 
-	virtual int init() = 0;
-	virtual void start() = 0;
-	virtual void stop() = 0;
+	int init();
+	void start();
+	void stop();
 
-	/**
-	 * @brief Diagnostics - print some basic information about the driver.
-	 */
 	void print_info();
 
-	/**
-	 * @brief print registers to console.
-	 */
-	virtual void print_registers() {};
-
 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;
 
@@ -93,8 +102,6 @@ protected:
 	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")};
-
-private:
-
-	uint32_t  _measure_interval{LL40LS_CONVERSION_INTERVAL};
 };
+
+#endif

src/drivers/distance_sensor/ll40ls_pwm/ll40ls.cpp

@@ -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