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1199 lines
25 KiB
C++
1199 lines
25 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2013-2017 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file vl53lxx.cpp
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* @author Daniele Pettenuzzo
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*
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* Driver for the vl53lxx ToF Sensor from ST Microelectronics connected via I2C.
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*/
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#include <px4_config.h>
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#include <px4_defines.h>
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#include <px4_getopt.h>
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#include <px4_workqueue.h>
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#include <drivers/device/i2c.h>
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#include <sys/types.h>
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#include <stdint.h>
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#include <stdlib.h>
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#include <stdbool.h>
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#include <semaphore.h>
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#include <string.h>
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#include <fcntl.h>
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#include <poll.h>
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#include <errno.h>
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#include <stdio.h>
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#include <math.h>
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#include <unistd.h>
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#include <systemlib/perf_counter.h>
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#include <systemlib/err.h>
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#include <drivers/drv_hrt.h>
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#include <drivers/drv_range_finder.h>
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#include <drivers/device/ringbuffer.h>
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#include <uORB/uORB.h>
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#include <uORB/topics/subsystem_info.h>
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#include <uORB/topics/distance_sensor.h>
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#include <uORB/topics/obstacle_distance.h>
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#include <board_config.h>
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/* Configuration Constants */
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#ifdef PX4_I2C_BUS_EXPANSION
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#define VL53LXX_BUS PX4_I2C_BUS_EXPANSION
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#else
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#define VL53LXX_BUS 0
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#endif
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#define VL53LXX_BASEADDR 0b0101001 // 7-bit address
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#define VL53LXX_DEVICE_PATH "/dev/vl53lxx"
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/* VL53LXX Registers addresses */
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#define VHV_CONFIG_PAD_SCL_SDA_EXTSUP_HW_REG 0x89
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#define MSRC_CONFIG_CONTROL_REG 0x60
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#define FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT_REG 0x44
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#define SYSTEM_SEQUENCE_CONFIG_REG 0x01
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#define DYNAMIC_SPAD_REF_EN_START_OFFSET_REG 0x4F
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#define DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD_REG 0x4E
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#define GLOBAL_CONFIG_REF_EN_START_SELECT_REG 0xB6
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#define GLOBAL_CONFIG_SPAD_ENABLES_REF_0_REG 0xB0
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#define SYSTEM_INTERRUPT_CONFIG_GPIO_REG 0x0A
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#define SYSTEM_SEQUENCE_CONFIG_REG 0x01
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#define SYSRANGE_START_REG 0x00
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#define RESULT_INTERRUPT_STATUS_REG 0x13
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#define SYSTEM_INTERRUPT_CLEAR_REG 0x0B
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#define GLOBAL_CONFIG_SPAD_ENABLES_REF_0_REG 0xB0
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#define GPIO_HV_MUX_ACTIVE_HIGH_REG 0x84
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#define SYSTEM_INTERRUPT_CLEAR_REG 0x0B
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#define RESULT_RANGE_STATUS_REG 0x14
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#define VL53LXX_CONVERSION_INTERVAL 1000 /* 1ms */
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#define VL53LXX_SAMPLE_RATE 50000 /* 50ms */
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#define VL53LXX_MAX_RANGING_DISTANCE 2.0f
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#define VL53LXX_MIN_RANGING_DISTANCE 0.0f
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#ifndef CONFIG_SCHED_WORKQUEUE
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# error This requires CONFIG_SCHED_WORKQUEUE.
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#endif
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class VL53LXX : public device::I2C
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{
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public:
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VL53LXX(uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING,
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int bus = VL53LXX_BUS, int address = VL53LXX_BASEADDR);
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virtual ~VL53LXX();
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virtual int init();
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virtual ssize_t read(device::file_t *filp, char *buffer, size_t buflen); // NOT TESTED YET
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virtual int ioctl(device::file_t *filp, int cmd, unsigned long arg);
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/**
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* Diagnostics - print some basic information about the driver.
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*/
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void print_info();
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private:
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uint8_t _rotation;
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work_s _work;
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ringbuffer::RingBuffer *_reports;
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bool _sensor_ok;
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int _measure_ticks;
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bool _collect_phase;
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bool _new_measurement;
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bool _measurement_started;
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int _class_instance;
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int _orb_class_instance;
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orb_advert_t _distance_sensor_topic;
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perf_counter_t _sample_perf;
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perf_counter_t _comms_errors;
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uint8_t stop_variable_;
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/**
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* Initialise the automatic measurement state machine and start it.
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*
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* @note This function is called at open and error time. It might make sense
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* to make it more aggressive about resetting the bus in case of errors.
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*/
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void start();
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/**
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* Stop the automatic measurement state machine.
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*/
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void stop();
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/**
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* Perform a poll cycle; collect from the previous measurement
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* and start a new one.
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*/
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void cycle();
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int measure();
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int collect();
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int readRegister(uint8_t reg_address, uint8_t &value);
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int writeRegister(uint8_t reg_address, uint8_t value);
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int writeRegisterMulti(uint8_t reg_address, uint8_t *value, uint8_t length);
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int readRegisterMulti(uint8_t reg_address, uint8_t *value, uint8_t length);
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int sensorInit();
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bool spadCalculations();
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bool sensorTuning();
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bool singleRefCalibration(uint8_t byte);
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/**
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* Static trampoline from the workq context; because we don't have a
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* generic workq wrapper yet.
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*
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* @param arg Instance pointer for the driver that is polling.
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*/
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static void cycle_trampoline(void *arg);
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};
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/*
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* Driver 'main' command.
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*/
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extern "C" __EXPORT int vl53lxx_main(int argc, char *argv[]);
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VL53LXX::VL53LXX(uint8_t rotation, int bus, int address) :
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I2C("VL53LXX", VL53LXX_DEVICE_PATH, bus, address, 400000),
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_rotation(rotation),
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_reports(nullptr),
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_sensor_ok(false),
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_measure_ticks(0),
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_collect_phase(false),
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_new_measurement(true),
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_measurement_started(false),
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_class_instance(-1),
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_orb_class_instance(-1),
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_distance_sensor_topic(nullptr),
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_sample_perf(perf_alloc(PC_ELAPSED, "vl53lxx_read")),
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_comms_errors(perf_alloc(PC_COUNT, "vl53lxx_com_err"))
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{
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// up the retries since the device misses the first measure attempts
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I2C::_retries = 2;
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// enable debug() calls
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_debug_enabled = false;
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// work_cancel in the dtor will explode if we don't do this...
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memset(&_work, 0, sizeof(_work));
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}
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VL53LXX::~VL53LXX()
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{
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/* make sure we are truly inactive */
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stop();
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/* free any existing reports */
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if (_reports != nullptr) {
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delete _reports;
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}
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if (_distance_sensor_topic != nullptr) {
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orb_unadvertise(_distance_sensor_topic);
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}
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if (_class_instance != -1) {
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unregister_class_devname(RANGE_FINDER_BASE_DEVICE_PATH, _class_instance);
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}
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// free perf counters
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perf_free(_sample_perf);
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perf_free(_comms_errors);
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}
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int
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VL53LXX::sensorInit()
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{
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uint8_t val = 0;
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int ret;
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float rate_limit;
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uint8_t rate_limit_split[2];
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// I2C at 2.8V on sensor side of level shifter
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readRegister(VHV_CONFIG_PAD_SCL_SDA_EXTSUP_HW_REG, val);
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writeRegister(VHV_CONFIG_PAD_SCL_SDA_EXTSUP_HW_REG, val | 0x01);
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// set I2C to standard mode
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writeRegister(0x88, 0x00);
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writeRegister(0x80, 0x01);
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writeRegister(0xFF, 0x01);
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writeRegister(0x00, 0x00);
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readRegister(0x91, val);
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writeRegister(0x00, 0x01);
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writeRegister(0xFF, 0x00);
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writeRegister(0x80, 0x00);
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stop_variable_ = val;
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// disable SIGNAL_RATE_MSRC (bit 1) and SIGNAL_RATE_PRE_RANGE (bit 4) limit checks
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readRegister(MSRC_CONFIG_CONTROL_REG, val);
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writeRegister(MSRC_CONFIG_CONTROL_REG, val | 0x12);
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// Set signal rate limit to 0.1
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rate_limit = 0.1 * 65536;
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rate_limit_split[0] = (((uint16_t)rate_limit) >> 8);
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rate_limit_split[1] = (uint16_t)rate_limit;
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writeRegisterMulti(FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT_REG, &rate_limit_split[0], 2);
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writeRegister(SYSTEM_SEQUENCE_CONFIG_REG, 0xFF);
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spadCalculations();
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ret = OK;
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return ret;
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}
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int
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VL53LXX::init()
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{
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int ret = PX4_ERROR;
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set_device_address(VL53LXX_BASEADDR);
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/* do I2C init (and probe) first */
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if (I2C::init() != OK) {
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goto out;
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}
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sensorInit();
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/* allocate basic report buffers */
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_reports = new ringbuffer::RingBuffer(2, sizeof(distance_sensor_s));
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if (_reports == nullptr) {
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goto out;
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}
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_class_instance = register_class_devname(RANGE_FINDER_BASE_DEVICE_PATH);
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if (_class_instance == CLASS_DEVICE_PRIMARY) {
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/* get a publish handle on the range finder topic */
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struct distance_sensor_s ds_report;
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_reports->get(&ds_report);
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_distance_sensor_topic = orb_advertise_multi(ORB_ID(distance_sensor), &ds_report,
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&_orb_class_instance, ORB_PRIO_LOW);
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if (_distance_sensor_topic == nullptr) {
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DEVICE_LOG("failed to create distance_sensor object. Did you start uOrb?");
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}
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}
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ret = OK;
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/* sensor is ok, but we don't really know if it is within range */
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_sensor_ok = true;
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out:
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return ret;
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}
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int
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VL53LXX::ioctl(device::file_t *filp, int cmd, unsigned long arg)
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{
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switch (cmd) {
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case SENSORIOCSPOLLRATE: {
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switch (arg) {
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case 0:
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return -EINVAL;
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case SENSOR_POLLRATE_DEFAULT: {
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/* do we need to start internal polling? */
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bool want_start = (_measure_ticks == 0);
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/* set interval for next measurement to minimum legal value */
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_measure_ticks = USEC2TICK(VL53LXX_CONVERSION_INTERVAL);
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/* if we need to start the poll state machine, do it */
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if (want_start) {
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start();
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}
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start();
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return OK;
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}
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case SENSOR_POLLRATE_MANUAL: {
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stop();
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_measure_ticks = 0;
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return OK;
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}
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/* adjust to a legal polling interval in Hz */
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default: {
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/* do we need to start internal polling? */
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bool want_start = (_measure_ticks == 0);
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/* convert hz to tick interval via microseconds */
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unsigned ticks = USEC2TICK(1000000 / arg);
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/* update interval for next measurement */
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_measure_ticks = ticks;
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/* if we need to start the poll state machine, do it */
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if (want_start) {
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start();
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}
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return OK;
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}
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}
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}
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default:
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/* give it to the superclass */
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return I2C::ioctl(filp, cmd, arg);
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}
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}
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ssize_t
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VL53LXX::read(device::file_t *filp, char *buffer, size_t buflen)
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{
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unsigned count = buflen / sizeof(struct distance_sensor_s);
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struct distance_sensor_s *rbuf = reinterpret_cast<struct distance_sensor_s *>(buffer);
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int ret = 0;
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/* buffer must be large enough */
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if (count < 1) {
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return -ENOSPC;
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}
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/* if automatic measurement is enabled */
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if (_measure_ticks > 0) {
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/*
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* While there is space in the caller's buffer, and reports, copy them.
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* Note that we may be pre-empted by the workq thread while we are doing this;
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* we are careful to avoid racing with them.
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*/
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while (count--) {
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if (_reports->get(rbuf)) {
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ret += sizeof(*rbuf);
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rbuf++;
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}
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}
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/* if there was no data, warn the caller */
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return ret ? ret : -EAGAIN;
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}
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/* manual measurement - run one conversion */
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do {
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_reports->flush();
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/* trigger a measurement */
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if (OK != measure()) {
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ret = -EIO;
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break;
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}
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/* run the collection phase */
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if (OK != collect()) {
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ret = -EIO;
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break;
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}
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/* state machine will have generated a report, copy it out */
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if (_reports->get(rbuf)) {
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ret = sizeof(*rbuf);
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}
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} while (0);
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return ret;
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}
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int
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VL53LXX::readRegister(uint8_t reg_address, uint8_t &value)
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{
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int ret;
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uint8_t val = 0;
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ret = transfer(®_address, sizeof(reg_address), nullptr, 0);
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if (OK != ret) {
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DEVICE_LOG("i2c::transfer returned %d", ret);
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perf_count(_comms_errors);
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return ret;
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}
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/* read from the sensor */
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ret = transfer(nullptr, 0, &val, 1);
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if (ret < 0) {
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DEVICE_LOG("error reading from sensor: %d", ret);
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perf_count(_comms_errors);
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return ret;
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}
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ret = OK;
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value = val;
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return ret;
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}
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int
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VL53LXX::readRegisterMulti(uint8_t reg_address, uint8_t *value, uint8_t length)
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{
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int ret;
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uint8_t val[6] = {0, 0, 0, 0, 0, 0};
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ret = transfer(®_address, 1, nullptr, 0);
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if (OK != ret) {
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DEVICE_LOG("i2c::transfer returned %d", ret);
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return ret;
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}
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/* read from the sensor */
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ret = transfer(nullptr, 0, &val[0], length);
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if (ret < 0) {
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DEVICE_LOG("error reading from sensor: %d", ret);
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perf_count(_comms_errors);
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return ret;
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}
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memcpy(&value[0], &val[0], length);
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ret = OK;
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return ret;
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}
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int
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VL53LXX::writeRegister(uint8_t reg_address, uint8_t value)
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{
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int ret;
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uint8_t cmd[2] = {0, 0};
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cmd[0] = reg_address;
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cmd[1] = value;
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ret = transfer(&cmd[0], 2, nullptr, 0);
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if (OK != ret) {
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perf_count(_comms_errors);
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DEVICE_LOG("i2c::transfer returned %d", ret);
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return ret;
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}
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ret = OK;
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return ret;
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}
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int
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VL53LXX::writeRegisterMulti(uint8_t reg_address, uint8_t *value,
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uint8_t length) // bytes are send in order as they are in the array
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{
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// be careful for uint16_t to send first higher byte
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int ret;
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uint8_t cmd[6] = {0, 0, 0, 0, 0, 0};
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cmd[0] = reg_address;
|
|
|
|
memcpy(&cmd[1], &value[0], length);
|
|
|
|
ret = transfer(&cmd[0], length + 1, nullptr, 0);
|
|
|
|
if (OK != ret) {
|
|
perf_count(_comms_errors);
|
|
DEVICE_LOG("i2c::transfer returned %d", ret);
|
|
return ret;
|
|
}
|
|
|
|
ret = OK;
|
|
|
|
return ret;
|
|
|
|
}
|
|
|
|
|
|
int
|
|
VL53LXX::measure()
|
|
{
|
|
int ret;
|
|
uint8_t wait_for_measurement;
|
|
uint8_t system_start;
|
|
|
|
/*
|
|
* Send the command to begin a measurement.
|
|
*/
|
|
const uint8_t cmd = RESULT_RANGE_STATUS_REG + 10;
|
|
|
|
if (_new_measurement) {
|
|
|
|
_new_measurement = false;
|
|
|
|
writeRegister(0x80, 0x01);
|
|
writeRegister(0xFF, 0x01);
|
|
writeRegister(0x00, 0x00);
|
|
writeRegister(0x91, stop_variable_);
|
|
writeRegister(0x00, 0x01);
|
|
writeRegister(0xFF, 0x00);
|
|
writeRegister(0x80, 0x00);
|
|
|
|
writeRegister(SYSRANGE_START_REG, 0x01);
|
|
|
|
readRegister(SYSRANGE_START_REG, system_start);
|
|
|
|
if ((system_start & 0x01) == 1) {
|
|
work_queue(HPWORK, &_work, (worker_t)&VL53LXX::cycle_trampoline, this,
|
|
1000); // reschedule every 1 ms until measurement is ready
|
|
ret = OK;
|
|
return ret;
|
|
|
|
} else {
|
|
_measurement_started = true;
|
|
}
|
|
|
|
}
|
|
|
|
if (!_collect_phase && !_measurement_started) {
|
|
|
|
readRegister(SYSRANGE_START_REG, system_start);
|
|
|
|
if ((system_start & 0x01) == 1) {
|
|
work_queue(HPWORK, &_work, (worker_t)&VL53LXX::cycle_trampoline, this,
|
|
1000); // reschedule every 1 ms until measurement is ready
|
|
ret = OK;
|
|
return ret;
|
|
|
|
} else {
|
|
_measurement_started = true;
|
|
}
|
|
}
|
|
|
|
readRegister(RESULT_INTERRUPT_STATUS_REG, wait_for_measurement);
|
|
|
|
if ((wait_for_measurement & 0x07) == 0) {
|
|
work_queue(HPWORK, &_work, (worker_t)&VL53LXX::cycle_trampoline, this,
|
|
1000); // reschedule every 1 ms until measurement is ready
|
|
ret = OK;
|
|
return ret;
|
|
}
|
|
|
|
_collect_phase = true;
|
|
|
|
ret = transfer(&cmd, sizeof(cmd), nullptr, 0);
|
|
|
|
if (OK != ret) {
|
|
perf_count(_comms_errors);
|
|
DEVICE_LOG("i2c::transfer returned %d", ret);
|
|
return ret;
|
|
}
|
|
|
|
ret = OK;
|
|
|
|
return ret;
|
|
}
|
|
|
|
|
|
int
|
|
VL53LXX::collect()
|
|
{
|
|
int ret = -EIO;
|
|
|
|
/* read from the sensor */
|
|
uint8_t val[2] = {0, 0};
|
|
|
|
perf_begin(_sample_perf);
|
|
|
|
_collect_phase = false;
|
|
|
|
ret = transfer(nullptr, 0, &val[0], 2);
|
|
|
|
if (ret < 0) {
|
|
DEVICE_LOG("error reading from sensor: %d", ret);
|
|
perf_count(_comms_errors);
|
|
perf_end(_sample_perf);
|
|
return ret;
|
|
}
|
|
|
|
uint16_t distance_mm = (val[0] << 8) | val[1];
|
|
float distance_m = float(distance_mm) * 1e-3f;
|
|
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_m;
|
|
|
|
report.min_distance = VL53LXX_MIN_RANGING_DISTANCE;
|
|
report.max_distance = VL53LXX_MAX_RANGING_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);
|
|
}
|
|
|
|
_reports->force(&report);
|
|
|
|
/* notify anyone waiting for data */
|
|
poll_notify(POLLIN);
|
|
|
|
ret = OK;
|
|
|
|
perf_end(_sample_perf);
|
|
|
|
return ret;
|
|
}
|
|
|
|
|
|
void
|
|
VL53LXX::start()
|
|
{
|
|
/* reset the report ring and state machine */
|
|
_reports->flush();
|
|
|
|
/* schedule a cycle to start things */
|
|
work_queue(HPWORK, &_work, (worker_t)&VL53LXX::cycle_trampoline, this, 1000);
|
|
|
|
/* notify about state change */
|
|
struct subsystem_info_s info = {};
|
|
info.present = true;
|
|
info.enabled = true;
|
|
info.ok = true;
|
|
info.subsystem_type = 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
|
|
VL53LXX::stop()
|
|
{
|
|
work_cancel(HPWORK, &_work);
|
|
}
|
|
|
|
|
|
void
|
|
VL53LXX::cycle_trampoline(void *arg)
|
|
{
|
|
VL53LXX *dev = (VL53LXX *)arg;
|
|
|
|
dev->cycle();
|
|
}
|
|
|
|
|
|
void
|
|
VL53LXX::cycle()
|
|
{
|
|
measure();
|
|
|
|
if (_collect_phase) {
|
|
|
|
_collect_phase = false;
|
|
_new_measurement = true;
|
|
|
|
collect();
|
|
|
|
work_queue(HPWORK,
|
|
&_work,
|
|
(worker_t)&VL53LXX::cycle_trampoline,
|
|
this,
|
|
USEC2TICK(VL53LXX_SAMPLE_RATE));
|
|
}
|
|
|
|
}
|
|
|
|
|
|
void
|
|
VL53LXX::print_info()
|
|
{
|
|
perf_print_counter(_sample_perf);
|
|
perf_print_counter(_comms_errors);
|
|
printf("poll interval: %u ticks\n", _measure_ticks);
|
|
_reports->print_info("report queue");
|
|
}
|
|
|
|
|
|
bool
|
|
VL53LXX::spadCalculations()
|
|
{
|
|
uint8_t val;
|
|
|
|
uint8_t spad_count;
|
|
bool spad_type_is_aperture;
|
|
|
|
uint8_t ref_spad_map[6];
|
|
|
|
writeRegister(0x80, 0x01);
|
|
writeRegister(0xFF, 0x01);
|
|
writeRegister(0x00, 0x00);
|
|
writeRegister(0xFF, 0x06);
|
|
|
|
readRegister(0x83, val);
|
|
writeRegister(0x83, val | 0x04);
|
|
|
|
writeRegister(0xFF, 0x07);
|
|
writeRegister(0x81, 0x01);
|
|
writeRegister(0x80, 0x01);
|
|
writeRegister(0x94, 0x6b);
|
|
writeRegister(0x83, 0x00);
|
|
|
|
readRegister(0x83, val);
|
|
|
|
while (val == 0x00) {
|
|
readRegister(0x83, val);
|
|
}
|
|
|
|
writeRegister(0x83, 0x01);
|
|
|
|
readRegister(0x92, val);
|
|
|
|
spad_count = val & 0x7f;
|
|
spad_type_is_aperture = (val >> 7) & 0x01;
|
|
|
|
writeRegister(0x81, 0x00);
|
|
writeRegister(0xFF, 0x06);
|
|
|
|
readRegister(0x83, val);
|
|
writeRegister(0x83, val & ~0x04);
|
|
|
|
writeRegister(0xFF, 0x01);
|
|
writeRegister(0x00, 0x01);
|
|
writeRegister(0xFF, 0x00);
|
|
writeRegister(0x80, 0x00);
|
|
|
|
readRegisterMulti(GLOBAL_CONFIG_SPAD_ENABLES_REF_0_REG, &ref_spad_map[0], 6);
|
|
|
|
writeRegister(0xFF, 0x01);
|
|
writeRegister(DYNAMIC_SPAD_REF_EN_START_OFFSET_REG, 0x00);
|
|
writeRegister(DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD_REG, 0x2C);
|
|
writeRegister(0xFF, 0x00);
|
|
writeRegister(GLOBAL_CONFIG_REF_EN_START_SELECT_REG, 0xB4);
|
|
|
|
uint8_t first_spad_to_enable = spad_type_is_aperture ? 12 : 0;
|
|
uint8_t spads_enabled = 0;
|
|
|
|
for (uint8_t i = 0; i < 48; i++) {
|
|
if (i < first_spad_to_enable || spads_enabled == spad_count) {
|
|
ref_spad_map[i / 8] &= ~(1 << (i % 8));
|
|
|
|
} else if ((ref_spad_map[i / 8] >> (i % 8)) & 0x1) {
|
|
spads_enabled++;
|
|
}
|
|
}
|
|
|
|
writeRegisterMulti(GLOBAL_CONFIG_SPAD_ENABLES_REF_0_REG, &ref_spad_map[0], 6);
|
|
|
|
sensorTuning();
|
|
|
|
writeRegister(SYSTEM_INTERRUPT_CONFIG_GPIO_REG, 4); // 4: GPIO interrupt on new data
|
|
|
|
readRegister(GPIO_HV_MUX_ACTIVE_HIGH_REG, val);
|
|
writeRegister(GPIO_HV_MUX_ACTIVE_HIGH_REG, val & ~0x10); // active low
|
|
|
|
writeRegister(SYSTEM_INTERRUPT_CLEAR_REG, 0x01);
|
|
|
|
writeRegister(SYSTEM_SEQUENCE_CONFIG_REG, 0xE8);
|
|
|
|
writeRegister(SYSTEM_SEQUENCE_CONFIG_REG, 0x01);
|
|
singleRefCalibration(0x40);
|
|
|
|
writeRegister(SYSTEM_SEQUENCE_CONFIG_REG, 0x02);
|
|
singleRefCalibration(0x00);
|
|
|
|
writeRegister(SYSTEM_SEQUENCE_CONFIG_REG, 0xE8); // restore config
|
|
|
|
return true;
|
|
|
|
}
|
|
|
|
|
|
bool
|
|
VL53LXX::sensorTuning()
|
|
{
|
|
|
|
writeRegister(0xFF, 0x01);
|
|
writeRegister(0x00, 0x00);
|
|
writeRegister(0xFF, 0x00);
|
|
writeRegister(0x09, 0x00);
|
|
writeRegister(0x10, 0x00);
|
|
writeRegister(0x11, 0x00);
|
|
writeRegister(0x24, 0x01);
|
|
writeRegister(0x25, 0xFF);
|
|
writeRegister(0x75, 0x00);
|
|
writeRegister(0xFF, 0x01);
|
|
writeRegister(0x4E, 0x2C);
|
|
writeRegister(0x48, 0x00);
|
|
writeRegister(0x30, 0x20);
|
|
writeRegister(0xFF, 0x00);
|
|
writeRegister(0x30, 0x09);
|
|
writeRegister(0x54, 0x00);
|
|
writeRegister(0x31, 0x04);
|
|
writeRegister(0x32, 0x03);
|
|
writeRegister(0x40, 0x83);
|
|
writeRegister(0x46, 0x25);
|
|
writeRegister(0x60, 0x00);
|
|
writeRegister(0x27, 0x00);
|
|
writeRegister(0x50, 0x06);
|
|
writeRegister(0x51, 0x00);
|
|
writeRegister(0x52, 0x96);
|
|
writeRegister(0x56, 0x08);
|
|
writeRegister(0x57, 0x30);
|
|
writeRegister(0x61, 0x00);
|
|
writeRegister(0x62, 0x00);
|
|
writeRegister(0x64, 0x00);
|
|
writeRegister(0x65, 0x00);
|
|
writeRegister(0x66, 0xA0);
|
|
writeRegister(0xFF, 0x01);
|
|
writeRegister(0x22, 0x32);
|
|
writeRegister(0x47, 0x14);
|
|
writeRegister(0x49, 0xFF);
|
|
writeRegister(0x4A, 0x00);
|
|
writeRegister(0xFF, 0x00);
|
|
writeRegister(0x7A, 0x0A);
|
|
writeRegister(0x7B, 0x00);
|
|
writeRegister(0x78, 0x21);
|
|
writeRegister(0xFF, 0x01);
|
|
writeRegister(0x23, 0x34);
|
|
writeRegister(0x42, 0x00);
|
|
writeRegister(0x44, 0xFF);
|
|
writeRegister(0x45, 0x26);
|
|
writeRegister(0x46, 0x05);
|
|
writeRegister(0x40, 0x40);
|
|
writeRegister(0x0E, 0x06);
|
|
writeRegister(0x20, 0x1A);
|
|
writeRegister(0x43, 0x40);
|
|
writeRegister(0xFF, 0x00);
|
|
writeRegister(0x34, 0x03);
|
|
writeRegister(0x35, 0x44);
|
|
writeRegister(0xFF, 0x01);
|
|
writeRegister(0x31, 0x04);
|
|
writeRegister(0x4B, 0x09);
|
|
writeRegister(0x4C, 0x05);
|
|
writeRegister(0x4D, 0x04);
|
|
writeRegister(0xFF, 0x00);
|
|
writeRegister(0x44, 0x00);
|
|
writeRegister(0x45, 0x20);
|
|
writeRegister(0x47, 0x08);
|
|
writeRegister(0x48, 0x28);
|
|
writeRegister(0x67, 0x00);
|
|
writeRegister(0x70, 0x04);
|
|
writeRegister(0x71, 0x01);
|
|
writeRegister(0x72, 0xFE);
|
|
writeRegister(0x76, 0x00);
|
|
writeRegister(0x77, 0x00);
|
|
writeRegister(0xFF, 0x01);
|
|
writeRegister(0x0D, 0x01);
|
|
writeRegister(0xFF, 0x00);
|
|
writeRegister(0x80, 0x01);
|
|
writeRegister(0x01, 0xF8);
|
|
writeRegister(0xFF, 0x01);
|
|
writeRegister(0x8E, 0x01);
|
|
writeRegister(0x00, 0x01);
|
|
writeRegister(0xFF, 0x00);
|
|
writeRegister(0x80, 0x00);
|
|
|
|
return true;
|
|
}
|
|
|
|
|
|
bool
|
|
VL53LXX::singleRefCalibration(uint8_t byte)
|
|
{
|
|
uint8_t val;
|
|
|
|
writeRegister(SYSRANGE_START_REG, byte | 0x01); // VL53L0X_REG_SYSRANGE_MODE_START_STOP
|
|
|
|
do {
|
|
readRegister(RESULT_INTERRUPT_STATUS_REG, val);
|
|
} while ((val & 0x07) == 0);
|
|
|
|
writeRegister(SYSTEM_INTERRUPT_CLEAR_REG, 0x01);
|
|
writeRegister(SYSRANGE_START_REG, 0x00);
|
|
|
|
return true;
|
|
}
|
|
|
|
|
|
|
|
/**
|
|
* Local functions in support of the shell command.
|
|
*/
|
|
namespace vl53lxx
|
|
{
|
|
|
|
VL53LXX *g_dev;
|
|
|
|
void start(uint8_t rotation);
|
|
void stop();
|
|
void test();
|
|
void reset();
|
|
void info();
|
|
|
|
/**
|
|
* Start the driver.
|
|
*/
|
|
void
|
|
start(uint8_t rotation)
|
|
{
|
|
int fd;
|
|
|
|
if (g_dev != nullptr) {
|
|
errx(1, "already started");
|
|
}
|
|
|
|
/* create the driver */
|
|
g_dev = new VL53LXX(rotation, VL53LXX_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(VL53LXX_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;
|
|
|
|
int fd = open(VL53LXX_DEVICE_PATH, O_RDONLY);
|
|
|
|
if (fd < 0) {
|
|
err(1, "%s open failed (try 'vl53lxx start' if the driver is not running", VL53LXX_DEVICE_PATH);
|
|
}
|
|
|
|
|
|
/* start the sensor polling at 2Hz */
|
|
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT)) {
|
|
errx(1, "failed to set 2Hz poll rate");
|
|
}
|
|
|
|
errx(0, "PASS");
|
|
}
|
|
|
|
/**
|
|
* Reset the driver.
|
|
*/
|
|
void
|
|
reset()
|
|
{
|
|
int fd = open(VL53LXX_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 vl53lxx
|
|
|
|
|
|
int
|
|
vl53lxx_main(int argc, char *argv[])
|
|
{
|
|
int ch;
|
|
int myoptind = 1;
|
|
const char *myoptarg = nullptr;
|
|
uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING;
|
|
|
|
if (argc < 2) {
|
|
goto out;
|
|
}
|
|
|
|
while ((ch = px4_getopt(argc, argv, "R:", &myoptind, &myoptarg)) != EOF) {
|
|
switch (ch) {
|
|
case 'R':
|
|
rotation = (uint8_t)atoi(myoptarg);
|
|
PX4_INFO("Setting sensor orientation to %d", (int)rotation);
|
|
break;
|
|
|
|
default:
|
|
PX4_WARN("Unknown option!");
|
|
}
|
|
}
|
|
|
|
/*
|
|
* Start/load the driver.
|
|
*/
|
|
if (!strcmp(argv[myoptind], "start")) {
|
|
vl53lxx::start(rotation);
|
|
}
|
|
|
|
/*
|
|
* Stop the driver
|
|
*/
|
|
if (!strcmp(argv[myoptind], "stop")) {
|
|
vl53lxx::stop();
|
|
}
|
|
|
|
/*
|
|
* Test the driver/device.
|
|
*/
|
|
if (!strcmp(argv[myoptind], "test")) {
|
|
vl53lxx::test();
|
|
}
|
|
|
|
/*
|
|
* Reset the driver.
|
|
*/
|
|
if (!strcmp(argv[myoptind], "reset")) {
|
|
vl53lxx::reset();
|
|
}
|
|
|
|
/*
|
|
* Print driver information.
|
|
*/
|
|
if (!strcmp(argv[myoptind], "info") || !strcmp(argv[1], "status")) {
|
|
vl53lxx::info();
|
|
}
|
|
|
|
out:
|
|
|
|
PX4_ERR("unrecognized command, try 'start', 'test', 'reset' or 'info'");
|
|
return PX4_ERROR;
|
|
}
|