yemai/bizhang_-obav
1
0
Fork 0
mirror of https://gitee.com/xiaohuolufeihua/bizhang_-obav.git synced 2026-05-21 01:12:11 +00:00
Code Issues Packages Projects Releases Wiki Activity

ulanding_radar: move to PX4Rangefinder and cleanup

Browse Source
This commit is contained in:
Daniel Agar
2020-01-08 12:42:56 -05:00
committed by GitHub
parent eef508cc4a
commit ef9a930816
7 changed files with 522 additions and 592 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
src/drivers/distance_sensor/CMakeLists.txt
View File

@@ -42,5 +42,5 @@ add_subdirectory(sf1xx)
add_subdirectory(srf02) add_subdirectory(srf02)
add_subdirectory(teraranger) add_subdirectory(teraranger)
add_subdirectory(tfmini) add_subdirectory(tfmini)
add_subdirectory(ulanding) add_subdirectory(ulanding_radar)
add_subdirectory(vl53lxx) add_subdirectory(vl53lxx)

584
src/drivers/distance_sensor/ulanding/ulanding.cpp
View File

@@ -1,584 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2016 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 ulanding.cpp
* @author Jessica Stockham <jessica@aerotenna.com>
* @author Roman Bapst <roman@uaventure.com>
*
* Driver for the uLanding radar from Aerotenna
*/
#include <errno.h>
#include <fcntl.h>
#include <math.h>
#include <poll.h>
#include <semaphore.h>
#include <stdbool.h>
#include <stdint.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <sys/types.h>
#include <termios.h>
#include <unistd.h>
#include <drivers/device/device.h>
#include <drivers/device/ringbuffer.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_range_finder.h>
#include <mathlib/mathlib.h>
#include <perf/perf_counter.h>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/defines.h>
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/workqueue.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <systemlib/err.h>
#include <uORB/topics/distance_sensor.h>
#include <uORB/uORB.h>
using namespace time_literals;
#define ULANDING_MEASURE_INTERVAL 10_ms
#define ULANDING_MAX_DISTANCE 50.0f
#define ULANDING_MIN_DISTANCE 0.315f
#define ULANDING_VERSION 1
#if defined(__PX4_POSIX_OCPOC)
#define RADAR_DEFAULT_PORT "/dev/ttyS6" // Default uLanding port on OCPOC.
#else
#define RADAR_DEFAULT_PORT "/dev/ttyS2" // Default serial port on Pixhawk (TELEM2), baudrate 115200
#endif
#if ULANDING_VERSION == 1
#define ULANDING_PACKET_HDR 254
#define ULANDING_BUFFER_LENGTH 18
#else
#define ULANDING_PACKET_HDR 72
#define ULANDING_BUFFER_LENGTH 9
#endif
/**
* Assume standard deviation to be equal to sensor resolution.
* Static bench tests have shown that the sensor ouput does
* not vary if the unit is not moved.
*/
#define SENS_VARIANCE 0.045f * 0.045f
class Radar : public cdev::CDev, public px4::ScheduledWorkItem
{
public:
/**
* Default Constructor
* @param port The serial port to open for communicating with the sensor.
* @param rotation The sensor rotation relative to the vehicle body.
*/
Radar(const char *port = RADAR_DEFAULT_PORT, uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING);
/** Virtual destructor */
virtual ~Radar();
/**
* Method : init()
* This method initializes the general driver for a range finder sensor.
*/
virtual int init() override;
/**
* Diagnostics - print some basic information about the driver.
*/
void print_info();
private:
/**
* Reads data from serial UART and places it into a buffer.
*/
int collect();
/**
* Opens and configures the UART serial communications port.
* @param speed The baudrate (speed) to configure the serial UART port.
*/
int open_serial_port(const speed_t speed = B115200);
/**
* Perform a reading cycle; collect from the previous measurement
* and start a new one.
*/
void Run() override;
/**
* 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();
/**
* Stops the automatic measurement state machine.
*/
void stop();
char _port[20];
int _file_descriptor{-1};
int _orb_class_instance{-1};
unsigned int _head{0};
unsigned int _tail{0};
uint8_t _buffer[ULANDING_BUFFER_LENGTH] {};
uint8_t _rotation;
perf_counter_t _comms_errors{perf_alloc(PC_COUNT, "radar_com_err")};
perf_counter_t _sample_perf{perf_alloc(PC_ELAPSED, "radar_read")};
orb_advert_t _distance_sensor_topic{nullptr};
};
Radar::Radar(const char *port, uint8_t rotation) :
CDev(RANGE_FINDER0_DEVICE_PATH),
ScheduledWorkItem(MODULE_NAME, px4::serial_port_to_wq(port)),
_rotation(rotation)
{
/* store port name */
strncpy(_port, port, sizeof(_port) - 1);
/* enforce null termination */
_port[sizeof(_port) - 1] = '\0';
}
Radar::~Radar()
{
// Ensure we are truly inactive.
stop();
perf_free(_sample_perf);
perf_free(_comms_errors);
}
int
Radar::collect()
{
perf_begin(_sample_perf);
int bytes_processed = 0;
int distance_cm = -1;
int index = 0;
float distance_m = -1.0f;
bool checksum_passed = false;
// Read from the sensor UART buffer.
int bytes_read = ::read(_file_descriptor, &_buffer[0], sizeof(_buffer));
if (bytes_read > 0) {
index = bytes_read - 6;
while (index >= 0 && !checksum_passed) {
if (_buffer[index] == ULANDING_PACKET_HDR) {
bytes_processed = index;
while (bytes_processed < bytes_read && !checksum_passed) {
if (ULANDING_VERSION == 1) {
uint8_t checksum_value = (_buffer[index + 1] + _buffer[index + 2] + _buffer[index + 3] + _buffer[index + 4]) & 0xFF;
uint8_t checksum_byte = _buffer[index + 5];
if (checksum_value == checksum_byte) {
checksum_passed = true;
distance_cm = (_buffer[index + 3] << 8) | _buffer[index + 2];
distance_m = static_cast<float>(distance_cm) / 100.f;
}
} else {
checksum_passed = true;
distance_cm = (_buffer[index + 1] & 0x7F);
distance_cm += ((_buffer[index + 2] & 0x7F) << 7);
distance_m = static_cast<float>(distance_cm) * 0.045f;
break;
}
bytes_processed++;
}
}
index--;
}
}
if (!checksum_passed) {
return -EAGAIN;
}
distance_m = math::constrain(distance_m, ULANDING_MIN_DISTANCE, ULANDING_MAX_DISTANCE);
distance_sensor_s report;
report.current_distance = distance_m;
report.id = 0; // TODO: set proper ID.
report.max_distance = ULANDING_MAX_DISTANCE;
report.min_distance = ULANDING_MIN_DISTANCE;
report.orientation = _rotation;
report.signal_quality = -1;
report.timestamp = hrt_absolute_time();
report.type = distance_sensor_s::MAV_DISTANCE_SENSOR_RADAR;
report.variance = SENS_VARIANCE;
// Publish the new report.
orb_publish(ORB_ID(distance_sensor), _distance_sensor_topic, &report);
// Notify anyone waiting for data.
poll_notify(POLLIN);
perf_end(_sample_perf);
return PX4_OK;
}
int
Radar::init()
{
// Intitialize the character device.
if (CDev::init() != OK) {
return PX4_ERROR;
}
// Get a publish handle on the range finder topic.
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");
}
start();
return PX4_OK;
}
int
Radar::open_serial_port(const speed_t speed)
{
// File descriptor initialized?
if (_file_descriptor > 0) {
// PX4_INFO("serial port already open");
return PX4_OK;
}
// Configure port flags for read/write, non-controlling, non-blocking.
int flags = (O_RDWR | O_NOCTTY | O_NONBLOCK);
// Open the serial port.
_file_descriptor = ::open(_port, flags);
if (_file_descriptor < 0) {
PX4_ERR("open failed (%i)", errno);
return PX4_ERROR;
}
if (!isatty(_file_descriptor)) {
PX4_WARN("not a serial device");
return PX4_ERROR;
}
termios uart_config = {};
// Store the current port configuration. attributes.
tcgetattr(_file_descriptor, &uart_config);
uart_config.c_iflag &= ~(IGNBRK | BRKINT | ICRNL | INLCR | PARMRK | INPCK | ISTRIP | IXON);
// 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);
// No line processing - echo off, echo newline off, canonical mode off, extended input processing off, signal chars off
uart_config.c_lflag &= ~(ECHO | ECHONL | ICANON | IEXTEN | ISIG);
// Set the input baud rate in the uart_config struct.
int termios_state = cfsetispeed(&uart_config, speed);
if (termios_state < 0) {
PX4_ERR("CFG: %d ISPD", termios_state);
::close(_file_descriptor);
return PX4_ERROR;
}
// Set the output baud rate in the uart_config struct.
termios_state = cfsetospeed(&uart_config, speed);
if (termios_state < 0) {
PX4_ERR("CFG: %d OSPD", termios_state);
::close(_file_descriptor);
return PX4_ERROR;
}
// Apply the modified port attributes.
termios_state = tcsetattr(_file_descriptor, TCSANOW, &uart_config);
if (termios_state < 0) {
PX4_ERR("baud %d ATTR", termios_state);
::close(_file_descriptor);
return PX4_ERROR;
}
PX4_INFO("successfully opened UART port %s", _port);
return PX4_OK;
}
void
Radar::print_info()
{
perf_print_counter(_sample_perf);
perf_print_counter(_comms_errors);
PX4_INFO("ulanding max distance %.2f m", static_cast<double>(ULANDING_MAX_DISTANCE));
PX4_INFO("ulanding min distance %.2f m", static_cast<double>(ULANDING_MIN_DISTANCE));
PX4_INFO("ulanding update rate: %.2f Hz", static_cast<double>(ULANDING_MEASURE_INTERVAL));
}
void
Radar::Run()
{
// Ensure the serial port is open.
open_serial_port();
collect();
}
void
Radar::start()
{
// Schedule the driver at regular intervals.
ScheduleOnInterval(ULANDING_MEASURE_INTERVAL, 0);
PX4_INFO("driver started");
}
void
Radar::stop()
{
// Ensure the serial port is closed.
::close(_file_descriptor);
// Clear the work queue schedule.
ScheduleClear();
}
namespace radar
{
Radar *g_dev;
int reset(const char *port = RADAR_DEFAULT_PORT);
int start(const char *port = RADAR_DEFAULT_PORT,
const uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING);
int status();
int stop();
int test(const char *port = RADAR_DEFAULT_PORT);
int usage();
/**
* Reset the driver.
*/
int
reset(const char *port)
{
if (stop() == PX4_OK) {
return start(port);
}
return PX4_ERROR;
}
/**
* Start the driver.
*/
int
start(const char *port, const uint8_t rotation)
{
if (g_dev != nullptr) {
PX4_INFO("already started");
return PX4_OK;
}
// Instantiate the driver.
g_dev = new Radar(port, rotation);
if (g_dev == nullptr) {
PX4_ERR("object instantiate failed");
return PX4_ERROR;
}
if (g_dev->init() != PX4_OK) {
PX4_ERR("driver start failed");
delete g_dev;
g_dev = nullptr;
return PX4_ERROR;
}
return PX4_OK;
}
/**
* Print the driver status.
*/
int
status()
{
if (g_dev == nullptr) {
PX4_ERR("driver not running");
return PX4_ERROR;
}
printf("state @ %p\n", g_dev);
g_dev->print_info();
return PX4_OK;
}
/**
* Stop the driver
*/
int stop()
{
if (g_dev != nullptr) {
delete g_dev;
g_dev = nullptr;
}
return PX4_ERROR;
}
/**
* Perform some basic functional tests on the driver;
* make sure we can collect data from the sensor in polled
* and automatic modes.
*/
int
test(const char *port)
{
int fd = open(port, O_RDONLY);
if (fd < 0) {
PX4_ERR("%s open failed (try 'radar start' if the driver is not running", port);
return PX4_ERROR;
}
// Perform a simple demand read.
distance_sensor_s report;
ssize_t bytes_read = read(fd, &report, sizeof(report));
if (bytes_read != sizeof(report)) {
PX4_ERR("immediate read failed");
return PX4_ERROR;
}
print_message(report);
return PX4_OK;
}
int
usage()
{
PX4_INFO("usage: radar command [options]");
PX4_INFO("command:");
PX4_INFO("\treset|start|status|stop|test");
PX4_INFO("options:");
PX4_INFO("\t-R --rotation (%d)", distance_sensor_s::ROTATION_DOWNWARD_FACING);
PX4_INFO("\t-d --device_path");
return PX4_OK;
}
} // namespace radar
/**
* Driver 'main' command.
*/
extern "C" __EXPORT int ulanding_radar_main(int argc, char *argv[])
{
uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING;
const char *device_path = RADAR_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 radar::usage();
}
}
if (myoptind >= argc) {
return radar::usage();
}
// Reset the driver.
if (!strcmp(argv[myoptind], "reset")) {
return radar::reset(device_path);
}
// Start/load the driver.
if (!strcmp(argv[myoptind], "start")) {
return radar::start(device_path, rotation);
}
// Print driver information.
if (!strcmp(argv[myoptind], "status")) {
return radar::status();
}
// Stop the driver
if (!strcmp(argv[myoptind], "stop")) {
return radar::stop();
}
// Test the driver/device.
if (!strcmp(argv[myoptind], "test")) {
return radar::test();
}
return radar::usage();
}

226
src/drivers/distance_sensor/ulanding_radar/AerotennaULanding.cpp Normal file
View File

@@ -0,0 +1,226 @@
/****************************************************************************
*
* Copyright (c) 2016-2020 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.
*
****************************************************************************/
#include "AerotennaULanding.hpp"
AerotennaULanding::AerotennaULanding(const char *port, uint8_t rotation) :
ScheduledWorkItem(MODULE_NAME, px4::serial_port_to_wq(port)),
_px4_rangefinder(0 /* TODO: device ids */, ORB_PRIO_DEFAULT, rotation)
{
/* store port name */
strncpy(_port, port, sizeof(_port) - 1);
/* enforce null termination */
_port[sizeof(_port) - 1] = '\0';
_px4_rangefinder.set_min_distance(ULANDING_MIN_DISTANCE);
_px4_rangefinder.set_max_distance(ULANDING_MAX_DISTANCE);
}
AerotennaULanding::~AerotennaULanding()
{
stop();
perf_free(_sample_perf);
perf_free(_comms_errors);
}
int AerotennaULanding::init()
{
start();
return PX4_OK;
}
int AerotennaULanding::collect()
{
perf_begin(_sample_perf);
int bytes_processed = 0;
int distance_cm = -1;
int index = 0;
float distance_m = -1.0f;
bool checksum_passed = false;
// Read from the sensor UART buffer.
const hrt_abstime timestamp_sample = hrt_absolute_time();
int bytes_read = ::read(_file_descriptor, &_buffer[0], sizeof(_buffer));
if (bytes_read > 0) {
index = bytes_read - 6;
while (index >= 0 && !checksum_passed) {
if (_buffer[index] == ULANDING_PACKET_HDR) {
bytes_processed = index;
while (bytes_processed < bytes_read && !checksum_passed) {
if (ULANDING_VERSION == 1) {
uint8_t checksum_value = (_buffer[index + 1] + _buffer[index + 2] + _buffer[index + 3] + _buffer[index + 4]) & 0xFF;
uint8_t checksum_byte = _buffer[index + 5];
if (checksum_value == checksum_byte) {
checksum_passed = true;
distance_cm = (_buffer[index + 3] << 8) | _buffer[index + 2];
distance_m = static_cast<float>(distance_cm) / 100.f;
}
} else {
checksum_passed = true;
distance_cm = (_buffer[index + 1] & 0x7F);
distance_cm += ((_buffer[index + 2] & 0x7F) << 7);
distance_m = static_cast<float>(distance_cm) * 0.045f;
break;
}
bytes_processed++;
}
}
index--;
}
}
if (!checksum_passed) {
return -EAGAIN;
}
_px4_rangefinder.update(timestamp_sample, distance_m);
perf_end(_sample_perf);
return PX4_OK;
}
int AerotennaULanding::open_serial_port(const speed_t speed)
{
// File descriptor initialized?
if (_file_descriptor > 0) {
PX4_DEBUG("serial port already open");
return PX4_OK;
}
// Configure port flags for read/write, non-controlling, non-blocking.
int flags = (O_RDWR | O_NOCTTY | O_NONBLOCK);
// Open the serial port.
_file_descriptor = ::open(_port, flags);
if (_file_descriptor < 0) {
PX4_ERR("open failed (%i)", errno);
return PX4_ERROR;
}
if (!isatty(_file_descriptor)) {
PX4_WARN("not a serial device");
return PX4_ERROR;
}
termios uart_config{};
// Store the current port configuration. attributes.
tcgetattr(_file_descriptor, &uart_config);
uart_config.c_iflag &= ~(IGNBRK | BRKINT | ICRNL | INLCR | PARMRK | INPCK | ISTRIP | IXON);
// 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);
// No line processing - echo off, echo newline off, canonical mode off, extended input processing off, signal chars off
uart_config.c_lflag &= ~(ECHO | ECHONL | ICANON | IEXTEN | ISIG);
// Set the input baud rate in the uart_config struct.
int termios_state = cfsetispeed(&uart_config, speed);
if (termios_state < 0) {
PX4_ERR("CFG: %d ISPD", termios_state);
::close(_file_descriptor);
return PX4_ERROR;
}
// Set the output baud rate in the uart_config struct.
termios_state = cfsetospeed(&uart_config, speed);
if (termios_state < 0) {
PX4_ERR("CFG: %d OSPD", termios_state);
::close(_file_descriptor);
return PX4_ERROR;
}
// Apply the modified port attributes.
termios_state = tcsetattr(_file_descriptor, TCSANOW, &uart_config);
if (termios_state < 0) {
PX4_ERR("baud %d ATTR", termios_state);
::close(_file_descriptor);
return PX4_ERROR;
}
PX4_INFO("successfully opened UART port %s", _port);
return PX4_OK;
}
void AerotennaULanding::Run()
{
// Ensure the serial port is open.
open_serial_port();
collect();
}
void AerotennaULanding::start()
{
// Schedule the driver at regular intervals.
ScheduleOnInterval(ULANDING_MEASURE_INTERVAL, 0);
}
void AerotennaULanding::stop()
{
// Ensure the serial port is closed.
::close(_file_descriptor);
// Clear the work queue schedule.
ScheduleClear();
}
void AerotennaULanding::print_info()
{
perf_print_counter(_sample_perf);
perf_print_counter(_comms_errors);
_px4_rangefinder.print_status();
}

124
src/drivers/distance_sensor/ulanding_radar/AerotennaULanding.hpp Normal file
View File

@@ -0,0 +1,124 @@
/****************************************************************************
*
* Copyright (c) 2016-2020 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 AerotennaULanding.hpp
* @author Jessica Stockham <jessica@aerotenna.com>
* @author Roman Bapst <roman@uaventure.com>
*
* Driver for the uLanding radar from Aerotenna
*/
#pragma once
#include <fcntl.h>
#include <poll.h>
#include <termios.h>
#include <unistd.h>
#include <drivers/drv_hrt.h>
#include <lib/perf/perf_counter.h>
#include <lib/drivers/rangefinder/PX4Rangefinder.hpp>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/defines.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <lib/perf/perf_counter.h>
using namespace time_literals;
#define ULANDING_MEASURE_INTERVAL 10_ms
#define ULANDING_MAX_DISTANCE 50.0f
#define ULANDING_MIN_DISTANCE 0.315f
#define ULANDING_VERSION 1
#if ULANDING_VERSION == 1
#define ULANDING_PACKET_HDR 254
#define ULANDING_BUFFER_LENGTH 18
#else
#define ULANDING_PACKET_HDR 72
#define ULANDING_BUFFER_LENGTH 9
#endif
/**
* Assume standard deviation to be equal to sensor resolution.
* Static bench tests have shown that the sensor ouput does
* not vary if the unit is not moved.
*/
#define SENS_VARIANCE 0.045f * 0.045f
class AerotennaULanding : public px4::ScheduledWorkItem
{
public:
/**
* Default Constructor
* @param port The serial port to open for communicating with the sensor.
* @param rotation The sensor rotation relative to the vehicle body.
*/
AerotennaULanding(const char *port, uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING);
~AerotennaULanding() override;
int init();
void print_info();
private:
/**
* Reads data from serial UART and places it into a buffer.
*/
int collect();
/**
* Opens and configures the UART serial communications port.
* @param speed The baudrate (speed) to configure the serial UART port.
*/
int open_serial_port(const speed_t speed = B115200);
void Run() override;
void start();
void stop();
PX4Rangefinder _px4_rangefinder;
char _port[20] {};
int _file_descriptor{-1};
unsigned int _head{0};
unsigned int _tail{0};
uint8_t _buffer[ULANDING_BUFFER_LENGTH] {};
perf_counter_t _comms_errors{perf_alloc(PC_COUNT, MODULE_NAME": com_err")};
perf_counter_t _sample_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": read")};
};

13
src/drivers/distance_sensor/ulanding/CMakeLists.txt → src/drivers/distance_sensor/ulanding_radar/CMakeLists.txt
View File

@@ -1,6 +1,6 @@
############################################################################ ############################################################################
# #
# Copyright (c) 2016 PX4 Development Team. All rights reserved. # Copyright (c) 2016-2020 PX4 Development Team. All rights reserved.
# #
# Redistribution and use in source and binary forms, with or without # Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions # modification, are permitted provided that the following conditions
@@ -31,14 +31,15 @@
# #
############################################################################ ############################################################################
px4_add_module( px4_add_module(
MODULE drivers__ulanding MODULE drivers__distance_sensor__ulanding_radar
MAIN ulanding_radar MAIN ulanding_radar
COMPILE_FLAGS
-Wno-cast-align # TODO: fix and enable
SRCS SRCS
ulanding.cpp AerotennaULanding.cpp
AerotennaULanding.hpp
ulanding_radar_main.cpp
MODULE_CONFIG MODULE_CONFIG
module.yaml module.yaml
DEPENDS DEPENDS
drivers_rangefinder
px4_work_queue
) )

1
src/drivers/distance_sensor/ulanding/module.yaml → src/drivers/distance_sensor/ulanding_radar/module.yaml
View File

@@ -4,4 +4,3 @@ serial_config:
port_config_param: port_config_param:
name: SENS_ULAND_CFG name: SENS_ULAND_CFG
group: Sensors group: Sensors

164
src/drivers/distance_sensor/ulanding_radar/ulanding_radar_main.cpp Normal file
View File

@@ -0,0 +1,164 @@
/****************************************************************************
*
* Copyright (c) 2016-2020 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.
*
****************************************************************************/
#include "AerotennaULanding.hpp"
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/module.h>
namespace ulanding_radar
{
AerotennaULanding *g_dev{nullptr};
static int start(const char *port, uint8_t rotation)
{
if (g_dev != nullptr) {
PX4_WARN("already started");
return -1;
}
if (port == nullptr) {
PX4_ERR("serial port required");
return -1;
}
// Instantiate the driver.
g_dev = new AerotennaULanding(port, rotation);
if (g_dev == nullptr) {
return -1;
}
if (g_dev->init() != PX4_OK) {
delete g_dev;
g_dev = nullptr;
return -1;
}
return 0;
}
static int stop()
{
if (g_dev != nullptr) {
delete g_dev;
g_dev = nullptr;
} else {
return -1;
}
return 0;
}
static int status()
{
if (g_dev == nullptr) {
PX4_ERR("driver not running");
return -1;
}
g_dev->print_info();
return 0;
}
static int usage()
{
PRINT_MODULE_DESCRIPTION(
R"DESCR_STR(
### Description
Serial bus driver for the Aerotenna uLanding radar.
Setup/usage information: https://docs.px4.io/v1.9.0/en/sensor/ulanding_radar.html
### Examples
Attempt to start driver on a specified serial device.
$ ulanding_radar start -d /dev/ttyS1
Stop driver
$ ulanding_radar stop
)DESCR_STR");
PRINT_MODULE_USAGE_NAME("ulanding_radar", "driver");
PRINT_MODULE_USAGE_SUBCATEGORY("distance_sensor");
PRINT_MODULE_USAGE_COMMAND_DESCR("start", "Start driver");
PRINT_MODULE_USAGE_PARAM_STRING('d', "/dev/ttyS3", "<file:dev>", "Serial device", false);
PRINT_MODULE_USAGE_PARAM_INT('R', 25, 1, 25, "Sensor rotation - downward facing by default", true);
PRINT_MODULE_USAGE_COMMAND_DESCR("stop", "Stop driver");
return PX4_OK;
}
} // namespace ulanding_radar
extern "C" __EXPORT int ulanding_radar_main(int argc, char *argv[])
{
uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING;
const char *device_path = nullptr;
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:
return ulanding_radar::usage();
}
}
if (myoptind >= argc) {
return ulanding_radar::usage();
}
if (!strcmp(argv[myoptind], "start")) {
return ulanding_radar::start(device_path, rotation);
} else if (!strcmp(argv[myoptind], "stop")) {
return ulanding_radar::stop();
} else if (!strcmp(argv[myoptind], "status")) {
return ulanding_radar::status();
}
return ulanding_radar::usage();
}