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sf1xx: move to PX4Rangefinder and cleanup
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,246 @@ | ||
| /**************************************************************************** | ||
| * | ||
| * Copyright (c) 2013-2020 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 "SF1XX.hpp" | ||
|
|
||
| #include <lib/parameters/param.h> | ||
|
|
||
| using namespace time_literals; | ||
|
|
||
| /* Configuration Constants */ | ||
| #define SF1XX_TAKE_RANGE_REG 0 | ||
|
|
||
| SF1XX::SF1XX(int bus, int address, uint8_t rotation) : | ||
| I2C("SF1XX", nullptr, bus, address, 400000), | ||
| ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(get_device_id())), | ||
| _px4_rangefinder(0 /* device id not yet used */, ORB_PRIO_DEFAULT, rotation), | ||
| _sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")), | ||
| _comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": com_err")) | ||
| { | ||
| } | ||
|
|
||
| SF1XX::~SF1XX() | ||
| { | ||
| stop(); | ||
|
|
||
| perf_free(_sample_perf); | ||
| perf_free(_comms_errors); | ||
| } | ||
|
|
||
| int SF1XX::init() | ||
| { | ||
| int32_t hw_model = 0; | ||
| param_get(param_find("SENS_EN_SF1XX"), &hw_model); | ||
|
|
||
| switch (hw_model) { | ||
| case 1: | ||
| /* SF10/a (25m 32Hz) */ | ||
| _px4_rangefinder.set_min_distance(0.01f); | ||
| _px4_rangefinder.set_max_distance(25.0f); | ||
| _interval = 31250; | ||
| break; | ||
|
|
||
| case 2: | ||
| /* SF10/b (50m 32Hz) */ | ||
| _px4_rangefinder.set_min_distance(0.01f); | ||
| _px4_rangefinder.set_max_distance(50.0f); | ||
| _interval = 31250; | ||
| break; | ||
|
|
||
| case 3: | ||
| /* SF10/c (100m 16Hz) */ | ||
| _px4_rangefinder.set_min_distance(0.01f); | ||
| _px4_rangefinder.set_max_distance(100.0f); | ||
| _interval = 62500; | ||
| break; | ||
|
|
||
| case 4: | ||
| /* SF11/c (120m 20Hz) */ | ||
| _px4_rangefinder.set_min_distance(0.01f); | ||
| _px4_rangefinder.set_max_distance(120.0f); | ||
| _interval = 50000; | ||
| break; | ||
|
|
||
| case 5: | ||
| /* SF/LW20/b (50m 48-388Hz) */ | ||
| _px4_rangefinder.set_min_distance(0.001f); | ||
| _px4_rangefinder.set_max_distance(50.0f); | ||
| _interval = 20834; | ||
| break; | ||
|
|
||
| case 6: | ||
| /* SF/LW20/c (100m 48-388Hz) */ | ||
| _px4_rangefinder.set_min_distance(0.001f); | ||
| _px4_rangefinder.set_max_distance(100.0f); | ||
| _interval = 20834; | ||
| break; | ||
|
|
||
| default: | ||
| PX4_ERR("invalid HW model %d.", hw_model); | ||
| return -1; | ||
| } | ||
|
|
||
| /* do I2C init (and probe) first */ | ||
| if (I2C::init() != OK) { | ||
| return PX4_ERROR; | ||
| } | ||
|
|
||
| return PX4_OK; | ||
| } | ||
|
|
||
| int SF1XX::measure() | ||
| { | ||
| // Send the command to begin a measurement. | ||
| uint8_t cmd = SF1XX_TAKE_RANGE_REG; | ||
| int ret = transfer(&cmd, 1, nullptr, 0); | ||
|
|
||
| if (OK != ret) { | ||
| perf_count(_comms_errors); | ||
| PX4_DEBUG("i2c::transfer returned %d", ret); | ||
| return ret; | ||
| } | ||
|
|
||
| return PX4_OK; | ||
| } | ||
|
|
||
| int SF1XX::collect() | ||
| { | ||
| perf_begin(_sample_perf); | ||
|
|
||
| /* clear buffer if last read was too long ago */ | ||
| int64_t read_elapsed = hrt_elapsed_time(&_last_read); | ||
|
|
||
| /* read from the sensor (i2c) */ | ||
| uint8_t val[2] {}; | ||
| const hrt_abstime timestamp_sample = hrt_absolute_time(); | ||
| int ret = transfer(nullptr, 0, &val[0], 2); | ||
|
|
||
| if (ret < 0) { | ||
| PX4_DEBUG("read err: %d", ret); | ||
| perf_count(_comms_errors); | ||
| perf_end(_sample_perf); | ||
|
|
||
| /* only throw an error if we time out */ | ||
| if (read_elapsed > (_interval * 2)) { | ||
| return ret; | ||
|
|
||
| } else { | ||
| return -EAGAIN; | ||
| } | ||
|
|
||
| } else if (ret == 0) { | ||
| return -EAGAIN; | ||
| } | ||
|
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| _last_read = hrt_absolute_time(); | ||
|
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| uint16_t distance_cm = val[0] << 8 | val[1]; | ||
| float distance_m = float(distance_cm) * 1e-2f; | ||
|
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| _px4_rangefinder.update(timestamp_sample, distance_m); | ||
|
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| perf_end(_sample_perf); | ||
|
|
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| return PX4_OK; | ||
| } | ||
|
|
||
| void SF1XX::start() | ||
| { | ||
| /* reset the report ring and state machine */ | ||
| _collect_phase = false; | ||
|
|
||
| /* schedule a cycle to start things */ | ||
| ScheduleNow(); | ||
| } | ||
|
|
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| void SF1XX::stop() | ||
| { | ||
| ScheduleClear(); | ||
| } | ||
|
|
||
| void SF1XX::Run() | ||
| { | ||
| /* collection phase? */ | ||
| if (_collect_phase) { | ||
|
|
||
| /* perform collection */ | ||
| int collect_ret = collect(); | ||
|
|
||
| if (collect_ret == -EAGAIN) { | ||
| /* reschedule to grab the missing bits, time to transmit 8 bytes @ 9600 bps */ | ||
| ScheduleDelayed(1042 * 8); | ||
|
|
||
| return; | ||
| } | ||
|
|
||
| if (OK != collect_ret) { | ||
|
|
||
| /* we know the sensor needs about four seconds to initialize */ | ||
| if (hrt_absolute_time() > 5_s && _consecutive_fail_count < 5) { | ||
| PX4_ERR("collection error #%u", _consecutive_fail_count); | ||
| } | ||
|
|
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| _consecutive_fail_count++; | ||
|
|
||
| /* restart the measurement state machine */ | ||
| start(); | ||
| return; | ||
|
|
||
| } else { | ||
| /* apparently success */ | ||
| _consecutive_fail_count = 0; | ||
| } | ||
|
|
||
| /* next phase is measurement */ | ||
| _collect_phase = false; | ||
| } | ||
|
|
||
| /* measurement phase */ | ||
| if (OK != measure()) { | ||
| PX4_DEBUG("measure error"); | ||
| } | ||
|
|
||
| /* next phase is collection */ | ||
| _collect_phase = true; | ||
|
|
||
| /* schedule a fresh cycle call when the measurement is done */ | ||
| ScheduleDelayed(_interval); | ||
| } | ||
|
|
||
| void SF1XX::print_info() | ||
| { | ||
| perf_print_counter(_sample_perf); | ||
| perf_print_counter(_comms_errors); | ||
|
|
||
| _px4_rangefinder.print_status(); | ||
| } |
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