diff --git a/src/drivers/distance_sensor/CMakeLists.txt b/src/drivers/distance_sensor/CMakeLists.txt index ea32014bb911..9395bcf3a02b 100644 --- a/src/drivers/distance_sensor/CMakeLists.txt +++ b/src/drivers/distance_sensor/CMakeLists.txt @@ -32,7 +32,6 @@ ############################################################################ add_subdirectory(cm8jl65) -#add_subdirectory(hc_sr04) # not currently supported add_subdirectory(leddar_one) add_subdirectory(ll40ls) add_subdirectory(mappydot) diff --git a/src/drivers/distance_sensor/hc_sr04/CMakeLists.txt b/src/drivers/distance_sensor/hc_sr04/CMakeLists.txt deleted file mode 100644 index fd32cc36a8c1..000000000000 --- a/src/drivers/distance_sensor/hc_sr04/CMakeLists.txt +++ /dev/null @@ -1,41 +0,0 @@ -############################################################################ -# -# Copyright (c) 2015 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -px4_add_module( - MODULE drivers__hc_sr04 - MAIN hc_sr04 - COMPILE_FLAGS - SRCS - hc_sr04.cpp - DEPENDS - ) diff --git a/src/drivers/distance_sensor/hc_sr04/hc_sr04.cpp b/src/drivers/distance_sensor/hc_sr04/hc_sr04.cpp deleted file mode 100644 index 3856853c8e5c..000000000000 --- a/src/drivers/distance_sensor/hc_sr04/hc_sr04.cpp +++ /dev/null @@ -1,838 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2015, 2016 Airmind 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 Airmind 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 hc_sr04.cpp - * - * Driver for the hc_sr04 sonar range finders . - */ - -#include -#include -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include - -#include -#include -#include - -#include -#include - -#define SR04_MAX_RANGEFINDERS 6 -#define SR04_ID_BASE 0x10 - -/* Configuration Constants */ -#define SR04_DEVICE_PATH "/dev/hc_sr04" - -/* Device limits */ -#define SR04_MIN_DISTANCE (0.10f) -#define SR04_MAX_DISTANCE (4.00f) - -#define SR04_CONVERSION_INTERVAL 100000 /* 100ms for one sonar */ - - -class HC_SR04 : public cdev::CDev -{ -public: - HC_SR04(); - virtual ~HC_SR04(); - - virtual int init(); - - virtual ssize_t read(device::file_t *filp, char *buffer, size_t buflen); - virtual int ioctl(device::file_t *filp, int cmd, unsigned long arg); - - /** - * Diagnostics - print some basic information about the driver. - */ - void print_info(); - void interrupt(unsigned time); - -protected: - virtual int probe(); - -private: - float _min_distance; - float _max_distance; - ringbuffer::RingBuffer *_reports; - bool _sensor_ok; - int _measure_interval; - bool _collect_phase; - int _class_instance; - int _orb_class_instance; - - orb_advert_t _distance_sensor_topic; - - perf_counter_t _sample_perf; - perf_counter_t _comms_errors; - - uint8_t _cycle_counter; /* counter in cycle to change i2c adresses */ - int _cycling_rate; /* */ - uint8_t _index_counter; /* temporary sonar i2c address */ - - px4::Array - _latest_sonar_measurements; /* vector to store latest sonar measurements in before writing to report */ - unsigned _sonars{6}; - struct GPIOConfig { - uint32_t trig_port; - uint32_t echo_port; - uint32_t alt; - }; - static const GPIOConfig _gpio_tab[]; - unsigned _raising_time; - unsigned _falling_time; - unsigned _status; - /** - * Test whether the device supported by the driver is present at a - * specific address. - * - * @param address The I2C bus address to probe. - * @return True if the device is present. - */ - int probe_address(uint8_t address); - - /** - * Initialise the automatic measurement state machine and start it. - * - * @note This function is called at open and error time. It might make sense - * to make it more aggressive about resetting the bus in case of errors. - */ - void start(); - - /** - * Stop the automatic measurement state machine. - */ - void stop(); - - /** - * Set the min and max distance thresholds if you want the end points of the sensors - * range to be brought in at all, otherwise it will use the defaults MB12XX_MIN_DISTANCE - * and MB12XX_MAX_DISTANCE - */ - void set_minimum_distance(float min); - void set_maximum_distance(float max); - float get_minimum_distance(); - float get_maximum_distance(); - - /** - * Perform a poll cycle; collect from the previous measurement - * and start a new one. - */ - void Run() override; - int measure(); - int collect(); - -}; - -const HC_SR04::GPIOConfig HC_SR04::_gpio_tab[] = { - {GPIO_GPIO6_OUTPUT, GPIO_GPIO7_INPUT, 0}, - {GPIO_GPIO6_OUTPUT, GPIO_GPIO8_INPUT, 0}, - {GPIO_GPIO6_OUTPUT, GPIO_GPIO9_INPUT, 0}, - {GPIO_GPIO6_OUTPUT, GPIO_GPIO10_INPUT, 0}, - {GPIO_GPIO6_OUTPUT, GPIO_GPIO11_INPUT, 0}, - {GPIO_GPIO6_OUTPUT, GPIO_GPIO12_INPUT, 0} -}; - -/* - * Driver 'main' command. - */ -extern "C" __EXPORT int hc_sr04_main(int argc, char *argv[]); -static int sonar_isr(int irq, void *context); - -HC_SR04::HC_SR04() : - CDev(SR04_DEVICE_PATH, 0), - _min_distance(SR04_MIN_DISTANCE), - _max_distance(SR04_MAX_DISTANCE), - _reports(nullptr), - _sensor_ok(false), - _measure_interval(0), - _collect_phase(false), - _class_instance(-1), - _orb_class_instance(-1), - _distance_sensor_topic(nullptr), - _sample_perf(perf_alloc(PC_ELAPSED, "hc_sr04_read")), - _comms_errors(perf_alloc(PC_COUNT, "hc_sr04_comms_errors")), - _cycle_counter(0), /* initialising counter for cycling function to zero */ - _cycling_rate(0), /* initialising cycling rate (which can differ depending on one sonar or multiple) */ - _index_counter(0), /* initialising temp sonar i2c address to zero */ - _sonars(sonars), - _raising_time(0), - _falling_time(0), - _status(0) - -{ -} - -HC_SR04::~HC_SR04() -{ - /* make sure we are truly inactive */ - stop(); - - /* free any existing reports */ - if (_reports != nullptr) { - delete _reports; - } - - if (_class_instance != -1) { - unregister_class_devname(RANGE_FINDER_BASE_DEVICE_PATH, _class_instance); - } - - /* free perf counters */ - perf_free(_sample_perf); - perf_free(_comms_errors); -} - -int -HC_SR04::init() -{ - int ret = PX4_ERROR; - - /* do I2C init (and probe) first */ - if (CDev::init() != OK) { - return PX4_ERROR; - } - - /* allocate basic report buffers */ - _reports = new ringbuffer::RingBuffer(2, sizeof(distance_sensor_s)); - - if (_reports == nullptr) { - return PX4_ERROR; - } - - _class_instance = register_class_devname(RANGE_FINDER_BASE_DEVICE_PATH); - - /* get a publish handle on the range finder topic */ - struct distance_sensor_s ds_report = {}; - - _distance_sensor_topic = orb_advertise_multi(ORB_ID(distance_sensor), &ds_report, - &_orb_class_instance, ORB_PRIO_LOW); - - if (_distance_sensor_topic == nullptr) { - PX4_ERR("failed to create distance_sensor object"); - } - - /* init echo port : */ - for (unsigned i = 0; i <= _sonars; i++) { - px4_arch_configgpio(_gpio_tab[i].trig_port); - px4_arch_gpiowrite(_gpio_tab[i].trig_port, false); - px4_arch_configgpio(_gpio_tab[i].echo_port); - _latest_sonar_measurements.push_back(0); - } - - usleep(200000); /* wait for 200ms; */ - - _cycling_rate = SR04_CONVERSION_INTERVAL; - - /* show the connected sonars in terminal */ - PX4_DEBUG("Number of sonars set: %d", _sonars); - - ret = OK; - /* sensor is ok, but we don't really know if it is within range */ - _sensor_ok = true; - - return ret; -} - -int -HC_SR04::probe() -{ - return (OK); -} - -void -HC_SR04::set_minimum_distance(float min) -{ - _min_distance = min; -} - -void -HC_SR04::set_maximum_distance(float max) -{ - _max_distance = max; -} - -float -HC_SR04::get_minimum_distance() -{ - return _min_distance; -} - -float -HC_SR04::get_maximum_distance() -{ - return _max_distance; -} -void -HC_SR04::interrupt(unsigned time) -{ - if (_status == 0) { - _raising_time = time; - _status++; - return; - - } else if (_status == 1) { - _falling_time = time; - _status++; - return; - } - - return; -} - -int -HC_SR04::ioctl(device::file_t *filp, int cmd, unsigned long arg) -{ - switch (cmd) { - - case SENSORIOCSPOLLRATE: { - switch (arg) { - - /* zero would be bad */ - case 0: - return -EINVAL; - - /* set default polling rate */ - case SENSOR_POLLRATE_DEFAULT: { - /* do we need to start internal polling? */ - bool want_start = (_measure_interval == 0); - - /* set interval for next measurement to minimum legal value */ - _measure_interval = _cycling_rate; - - /* if we need to start the poll state machine, do it */ - if (want_start) { - start(); - - } - - return OK; - } - - /* adjust to a legal polling interval in Hz */ - default: { - /* do we need to start internal polling? */ - bool want_start = (_measure_interval == 0); - - /* convert hz to tick interval via microseconds */ - int interval = (1000000 / arg); - - /* check against maximum rate */ - if (interval < _cycling_rate) { - return -EINVAL; - } - - /* update interval for next measurement */ - _measure_interval = interval; - - /* if we need to start the poll state machine, do it */ - if (want_start) { - start(); - } - - return OK; - } - } - } - - default: - /* give it to the superclass */ - return CDev::ioctl(filp, cmd, arg); - } -} - -ssize_t -HC_SR04::read(device::file_t *filp, char *buffer, size_t buflen) -{ - - unsigned count = buflen / sizeof(struct distance_sensor_s); - struct distance_sensor_s *rbuf = reinterpret_cast(buffer); - int ret = 0; - - /* buffer must be large enough */ - if (count < 1) { - return -ENOSPC; - } - - /* if automatic measurement is enabled */ - if (_measure_interval > 0) { - /* - * While there is space in the caller's buffer, and reports, copy them. - * Note that we may be pre-empted by the workq thread while we are doing this; - * we are careful to avoid racing with them. - */ - while (count--) { - if (_reports->get(rbuf)) { - ret += sizeof(*rbuf); - rbuf++; - } - } - - /* if there was no data, warn the caller */ - return ret ? ret : -EAGAIN; - } - - /* manual measurement - run one conversion */ - do { - _reports->flush(); - - /* trigger a measurement */ - if (OK != measure()) { - ret = -EIO; - break; - } - - /* wait for it to complete */ - usleep(_cycling_rate * 2); - - /* run the collection phase */ - if (OK != collect()) { - ret = -EIO; - break; - } - - /* state machine will have generated a report, copy it out */ - if (_reports->get(rbuf)) { - ret = sizeof(*rbuf); - } - - } while (0); - - return ret; -} - -int -HC_SR04::measure() -{ - - int ret; - /* - * Send a plus begin a measurement. - */ - px4_arch_gpiowrite(_gpio_tab[_cycle_counter].trig_port, true); - usleep(10); // 10us - px4_arch_gpiowrite(_gpio_tab[_cycle_counter].trig_port, false); - - px4_arch_gpiosetevent(_gpio_tab[_cycle_counter].echo_port, true, true, false, sonar_isr); - _status = 0; - ret = OK; - - return ret; -} - -int -HC_SR04::collect() -{ - int ret = -EIO; -#if 0 - perf_begin(_sample_perf); - - /* read from the sensor */ - if (_status != 2) { - PX4_DEBUG("erro sonar %d ,status=%d", _cycle_counter, _status); - px4_arch_gpiosetevent(_gpio_tab[_cycle_counter].echo_port, true, true, false, nullptr); - perf_end(_sample_perf); - return (ret); - } - - unsigned distance_time = _falling_time - _raising_time ; - - float si_units = (distance_time * 0.000170f) ; /* meter */ - struct distance_sensor_s report; - - /* this should be fairly close to the end of the measurement, so the best approximation of the time */ - report.timestamp = hrt_absolute_time(); - report.error_count = perf_event_count(_comms_errors); - - /* if only one sonar, write it to the original distance parameter so that it's still used as altitude sonar */ - if (_sonars == 1) { - report.distance = si_units; - - for (unsigned i = 0; i < (SRF02_MAX_RANGEFINDERS); i++) { - report.id[i] = 0; - report.distance_vector[i] = 0; - } - - report.id[0] = SR04_ID_BASE; - report.distance_vector[0] = si_units; // 将测量值填入向量中，适应test()的要求 - report.just_updated = 1; - - } else { - /* for multiple sonars connected */ - - _latest_sonar_measurements[_cycle_counter] = si_units; - report.just_updated = 0; - - for (unsigned i = 0; i < SRF02_MAX_RANGEFINDERS; i++) { - if (i < _sonars) { - report.distance_vector[i] = _latest_sonar_measurements[i]; - report.id[i] = SR04_ID_BASE + i; - report.just_updated++; - - } else { - report.distance_vector[i] = 0; - report.id[i] = 0; - } - - } - - report.distance = _latest_sonar_measurements[0]; // - } - - report.minimum_distance = get_minimum_distance(); - report.maximum_distance = get_maximum_distance(); - report.valid = si_units > get_minimum_distance() && si_units < get_maximum_distance() ? 1 : 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; - - px4_arch_gpiosetevent(_gpio_tab[_cycle_counter].echo_port, true, true, false, nullptr); /* close interrupt */ - perf_end(_sample_perf); -#endif - return ret; -} - -void -HC_SR04::start() -{ - /* reset the report ring and state machine */ - _collect_phase = false; - _reports->flush(); - - measure(); /* begin measure */ - - /* schedule a cycle to start things */ - ScheduleDelayed(_cycling_rate); -} - -void -HC_SR04::stop() -{ - ScheduleClear(); -} - -void -HC_SR04::Run() -{ - /*_circle_count 计录当前sonar　*/ - /* perform collection */ - if (OK != collect()) { - PX4_DEBUG("collection error"); - } - - /* change to next sonar */ - _cycle_counter = _cycle_counter + 1; - - if (_cycle_counter >= _sonars) { - _cycle_counter = 0; - } - - /* 测量next sonar */ - if (OK != measure()) { - PX4_DEBUG("measure error sonar adress %d", _cycle_counter); - } - - ScheduleDelayed(_cycling_rate); -} - -void -HC_SR04::print_info() -{ - perf_print_counter(_sample_perf); - perf_print_counter(_comms_errors); - printf("poll interval: %u \n", _measure_interval); - _reports->print_info("report queue"); -} - -/** - * Local functions in support of the shell command. - */ -namespace hc_sr04 -{ - -HC_SR04 *g_dev; - -void start(); -void stop(); -void test(); -void reset(); -void info(); - -/** - * Start the driver. - */ -void -start() -{ - int fd; - - if (g_dev != nullptr) { - errx(1, "already started"); - } - - /* create the driver */ - g_dev = new HC_SR04(); - - 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(SR04_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() -{ -#if 0 - struct distance_sensor_s report; - ssize_t sz; - int ret; - - int fd = open(SR04_DEVICE_PATH, O_RDONLY); - - if (fd < 0) { - err(1, "%s open failed (try 'hc_sr04 start' if the driver is not running", SR04_DEVICE_PATH); - } - - /* do a simple demand read */ - sz = read(fd, &report, sizeof(report)); - - if (sz != sizeof(report)) { - err(1, "immediate read failed"); - } - - print_message(report); - - /* start the sensor polling at 2Hz */ - if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) { - errx(1, "failed to set 2Hz poll rate"); - } - - /* read the sensor 5x and report each value */ - for (unsigned i = 0; i < 5; i++) { - struct pollfd fds; - - /* wait for data to be ready */ - fds.fd = fd; - fds.events = POLLIN; - ret = poll(&fds, 1, 2000); - - if (ret != 1) { - errx(1, "timed out waiting for sensor data"); - } - - /* now go get it */ - sz = read(fd, &report, sizeof(report)); - - if (sz != sizeof(report)) { - err(1, "periodic read failed"); - } - - print_message(report); - } - - /* reset the sensor polling to default rate */ - if (OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT)) { - errx(1, "failed to set default poll rate"); - } - - errx(0, "PASS"); -#endif -} - -/** - * Reset the driver. - */ -void -reset() -{ - int fd = open(SR04_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 */ - -static int sonar_isr(int irq, void *context) -{ - unsigned time = hrt_absolute_time(); - /* ack the interrupts we just read */ - - if (hc_sr04::g_dev != nullptr) { - hc_sr04::g_dev->interrupt(time); - } - - return OK; -} - - - -int -hc_sr04_main(int argc, char *argv[]) -{ - /* - * Start/load the driver. - */ - if (!strcmp(argv[1], "start")) { - hc_sr04::start(); - } - - /* - * Stop the driver - */ - if (!strcmp(argv[1], "stop")) { - hc_sr04::stop(); - } - - /* - * Test the driver/device. - */ - if (!strcmp(argv[1], "test")) { - hc_sr04::test(); - } - - /* - * Reset the driver. - */ - if (!strcmp(argv[1], "reset")) { - hc_sr04::reset(); - } - - /* - * Print driver information. - */ - if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) { - hc_sr04::info(); - } - - errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'"); -}