Added support for TFmini-LiDAR #8537

ayushgaud · 2017-12-30T12:55:21Z

To use TFmini set parameter SENS_EN_SF0X to 6

TSC21

This driver is not for a LightWare device, so should be set on a separate driver file. Also, you are also updating the sitl_gazebo module - just undo that until we get it to a stable state.

TSC21 · 2017-12-30T13:00:28Z

src/drivers/sf0x/sf0x.cpp

@@ -75,6 +76,7 @@
 #include <board_config.h>

 #include "sf0x_parser.h"
+#include "tfmini_parser.h"


Why are you including this on the sf0x driver? From what I know this is not a LightWare driver.

ayushgaud

Added TFmini support as a separate driver

TSC21

Almost good. Just some remarks here and there. Can you show us the output of the test command, please? Also, please undo the update on the sitl_gazebo submodule - put it at the same tag as Firmware master.

TSC21 · 2017-12-31T14:43:31Z

cmake/configs/nuttx_px4fmu-v2_default.cmake

@@ -47,8 +47,8 @@ set(config_module_list
 	drivers/px4io
 	drivers/rgbled
 	drivers/sdp3x_airspeed
-	drivers/sf0x
-	drivers/sf1xx
+	#drivers/sf0x


Please uncomment the sf drivers, as they are more widely supported and used by the community.

Fixed

Output of tfmini test

WARN [tfmini] single read WARN [tfmini] measurement: 2.07 m WARN [tfmini] time: 114917001 WARN [tfmini] read #0 WARN [tfmini] valid 1 WARN [tfmini] measurement: 2.070 m WARN [tfmini] time: 114928002 WARN [tfmini] read #1 WARN [tfmini] valid 1 WARN [tfmini] measurement: 2.070 m WARN [tfmini] time: 114939004 WARN [tfmini] read #2 WARN [tfmini] valid 1 WARN [tfmini] measurement: 2.070 m WARN [tfmini] time: 115441435 WARN [tfmini] read #3 WARN [tfmini] valid 1 WARN [tfmini] measurement: 2.070 m WARN [tfmini] time: 115943013 WARN [tfmini] read #4 WARN [tfmini] valid 1 WARN [tfmini] measurement: 2.070 m WARN [tfmini] time: 116445392 ERROR [tfmini] PASS

TSC21 · 2017-12-31T14:43:44Z

src/drivers/tfmini/CMakeLists.txt

@@ -0,0 +1,44 @@
+############################################################################
+#
+#   Copyright (c) 2015 PX4 Development Team. All rights reserved.


TSC21 · 2017-12-31T14:44:06Z

src/drivers/tfmini/CMakeLists.txt

+	MODULE drivers__tfmini
+	MAIN tfmini
+	COMPILE_FLAGS
+		-Wno-sign-compare # TODO: fix all sign-compare


Any reason for that comment?

TSC21 · 2017-12-31T14:44:21Z

src/drivers/tfmini/tfmini.cpp

@@ -0,0 +1,984 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2014-2015 PX4 Development Team. All rights reserved.


TSC21 · 2017-12-31T14:45:04Z

src/drivers/tfmini/tfmini.cpp

+ * @file tfmini.cpp
+ * @author Lorenz Meier <[email protected]>
+ * @author Greg Hulands
+ * @author Ayush Gaud <[email protected]>


Any reason for not adding just you as the author?

It's because I have reused most the code from the sf0x driver

TSC21 · 2017-12-31T14:53:37Z

src/drivers/tfmini/tfmini.cpp

+	/* schedule a cycle to start things */
+	work_queue(HPWORK, &_work, (worker_t)&TFMINI::cycle_trampoline, this, 1);
+
+	// /* notify about state change */


Any reason why this is commented?

TSC21 · 2017-12-31T14:55:46Z

src/drivers/tfmini/tfmini_parser.cpp

@@ -0,0 +1,179 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2014 PX4 Development Team. All rights reserved.


TSC21 · 2017-12-31T14:56:34Z

src/drivers/tfmini/tfmini_parser.cpp

+#ifdef TFMINI_DEBUG
+#include <stdio.h>
+
+const char *parser_state[] = {


do these states actually work also with the TFMini?

Yes, I have tested it with debug flag on.

TSC21 · 2017-12-31T14:56:52Z

src/drivers/tfmini/tfmini_parser.h

@@ -0,0 +1,71 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2014 PX4 Development Team. All rights reserved.


TSC21 · 2017-12-31T14:57:21Z

src/modules/sensors/sensor_params.c

+ * @max 1
+ * @group Sensors
+ * @value 0 Disabled
+ * @value 1 TFmini


@value 1 Enabled

You can use @boolean here. See SENS_EN_MB12XX for an example.

TSC21 · 2017-12-31T16:58:13Z

Jenkins test this please.

ayushgaud · 2017-12-31T18:24:54Z

I think I need to disable some drivers to fit it in flash region. Also, I am unable to figure out the problem with sitl_gazebo please give me suggestions to resolve this.

TSC21 · 2017-12-31T18:59:23Z

Go to sitl_gazebo dir and issue git checkout d2f46b7

TSC21 · 2017-12-31T19:01:16Z

I think I need to disable some drivers to fit it in flash region.

You added the support to the driver, which is good. Now anyone that wants to use it just needs to enable it. So I suggest you comment it for fmuv2. Though, I also ask you to please add it for the other boards build config too.

ayushgaud · 2017-12-31T19:16:31Z

Go to sitl_gazebo dir and issue git checkout d2f46b7

Already did that

You added the support to the driver, which is good. Now anyone that wants to use it just needs to enable it. So I suggest you comment it for fmuv2. Though, I also ask you to please add it for the other boards build config too

I'll update the suggested changes

TSC21 · 2017-12-31T19:18:39Z

Your current commit tag for sitl_gazebo is f50c5dc, not d2f46b7.

ayushgaud · 2018-01-01T07:25:57Z

Your current commit tag for sitl_gazebo is f50c5dc, not d2f46b7

Here it shows d2f46b7

I also ask you to please add it for the other boards build config too

I have added tfmini to the config of only those boards which had sf0x driver because I was not sure
whether it will support other build configs too.

LorenzMeier · 2018-01-01T10:59:06Z

@ayushgaud The point is that the PR should not include changes to the sitl_gazebo submodule at all and you were not successful yet at resetting them to master. We can do that for you though.

LorenzMeier · 2018-01-01T14:36:09Z

Rebased here: #8548

TSC21 requested changes Dec 30, 2017

View reviewed changes

ayushgaud force-pushed the master branch from 17c9ee9 to 07118a9 Compare December 30, 2017 17:37

ayushgaud commented Dec 30, 2017

View reviewed changes

ayushgaud force-pushed the master branch 2 times, most recently from 6e24c6a to fb5f8c1 Compare December 31, 2017 14:44

TSC21 requested changes Dec 31, 2017

View reviewed changes

Added support for TFmini-LiDAR

fde7687

ayushgaud force-pushed the master branch from fb5f8c1 to fde7687 Compare December 31, 2017 17:53

TSC21 closed this Dec 31, 2017

TSC21 reopened this Dec 31, 2017

Added tfmini driver to build configs

c7d4fe3

LorenzMeier mentioned this pull request Jan 1, 2018

Added support for TFmini-LiDAR #8548

Merged

LorenzMeier closed this Jan 1, 2018

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Added support for TFmini-LiDAR #8537

Added support for TFmini-LiDAR #8537

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Added support for TFmini-LiDAR #8537

Added support for TFmini-LiDAR #8537

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