diff --git a/cmake/configs/nuttx_px4fmu-v2_default.cmake b/cmake/configs/nuttx_px4fmu-v2_default.cmake index 715ae19133e4..71b4baf0d9a4 100644 --- a/cmake/configs/nuttx_px4fmu-v2_default.cmake +++ b/cmake/configs/nuttx_px4fmu-v2_default.cmake @@ -51,7 +51,6 @@ set(config_module_list drivers/distance_sensor/sf0x drivers/distance_sensor/sf1xx drivers/distance_sensor/srf02 - drivers/distance_sensor/srf02_i2c drivers/distance_sensor/teraranger drivers/distance_sensor/tfmini #drivers/distance_sensor/ulanding diff --git a/src/drivers/distance_sensor/CMakeLists.txt b/src/drivers/distance_sensor/CMakeLists.txt index 11cc306f91eb..d68a93f5d565 100644 --- a/src/drivers/distance_sensor/CMakeLists.txt +++ b/src/drivers/distance_sensor/CMakeLists.txt @@ -37,7 +37,6 @@ add_subdirectory(mb12xx) add_subdirectory(sf0x) add_subdirectory(sf1xx) add_subdirectory(srf02) -add_subdirectory(srf02_i2c) add_subdirectory(teraranger) add_subdirectory(tfmini) add_subdirectory(ulanding) diff --git a/src/drivers/distance_sensor/srf02/srf02.cpp b/src/drivers/distance_sensor/srf02/srf02.cpp index 789c3b24d56e..90f7792aa812 100644 --- a/src/drivers/distance_sensor/srf02/srf02.cpp +++ b/src/drivers/distance_sensor/srf02/srf02.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2013-2015 PX4 Development Team. All rights reserved. + * Copyright (c) 2013-2018 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 @@ -90,7 +90,6 @@ #define SRF02_CONVERSION_INTERVAL 100000 /* 60ms for one sonar */ #define TICKS_BETWEEN_SUCCESIVE_FIRES 100000 /* 30ms between each sonar measurement (watch out for interference!) */ - #ifndef CONFIG_SCHED_WORKQUEUE # error This requires CONFIG_SCHED_WORKQUEUE. #endif @@ -120,9 +119,9 @@ class SRF02 : public device::I2C float _min_distance; float _max_distance; work_s _work; - ringbuffer::RingBuffer *_reports; + ringbuffer::RingBuffer *_reports; bool _sensor_ok; - int _measure_ticks; + int _measure_ticks; bool _collect_phase; int _class_instance; int _orb_class_instance; diff --git a/src/drivers/distance_sensor/srf02_i2c/CMakeLists.txt b/src/drivers/distance_sensor/srf02_i2c/CMakeLists.txt deleted file mode 100644 index 828b1d3e8574..000000000000 --- a/src/drivers/distance_sensor/srf02_i2c/CMakeLists.txt +++ /dev/null @@ -1,42 +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__srf02_i2c - MAIN srf02_i2c - COMPILE_FLAGS - -Wno-sign-compare - SRCS - srf02_i2c.cpp - DEPENDS - ) - diff --git a/src/drivers/distance_sensor/srf02_i2c/srf02_i2c.cpp b/src/drivers/distance_sensor/srf02_i2c/srf02_i2c.cpp deleted file mode 100644 index c37dbf6948a3..000000000000 --- a/src/drivers/distance_sensor/srf02_i2c/srf02_i2c.cpp +++ /dev/null @@ -1,942 +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 srf02_i2c.cpp - * @author Greg Hulands - * @author Jon Verbeke - * - * Driver for the Maxbotix sonar range finders connected via I2C. - */ - -#include -#include -#include -#include - -#include - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include - -#include -#include -#include - -#include -#include -#include - -#include - -/* Configuration Constants */ -#define SRF02_I2C_BUS PX4_I2C_BUS_EXPANSION -#define SRF02_I2C_BASEADDR 0x70 /* 7-bit address. 8-bit address is 0xE0 */ -#define SRF02_DEVICE_PATH "/dev/srf02" - -/* MB12xx Registers addresses */ - -#define SRF02_TAKE_RANGE_REG 0x51 /* Measure range Register */ -#define SRF02_SET_ADDRESS_0 0xA0 /* Change address 0 Register */ -#define SRF02_SET_ADDRESS_1 0xAA /* Change address 1 Register */ -#define SRF02_SET_ADDRESS_2 0xA5 /* Change address 2 Register */ - -/* Device limits */ -#define SRF02_MIN_DISTANCE (0.20f) -#define SRF02_MAX_DISTANCE (6.00f) - -#define SRF02_CONVERSION_INTERVAL 100000 /* 60ms for one sonar */ -#define TICKS_BETWEEN_SUCCESIVE_FIRES 100000 /* 30ms between each sonar measurement (watch out for interference!) */ - -#ifndef CONFIG_SCHED_WORKQUEUE -# error This requires CONFIG_SCHED_WORKQUEUE. -#endif - -class SRF02_I2C : public device::I2C -{ -public: - SRF02_I2C(uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING, int bus = SRF02_I2C_BUS, - int address = SRF02_I2C_BASEADDR); - virtual ~SRF02_I2C(); - - 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(); - -protected: - virtual int probe(); - -private: - uint8_t _rotation; - float _min_distance; - float _max_distance; - work_s _work; - ringbuffer::RingBuffer *_reports; - bool _sensor_ok; - int _measure_ticks; - 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 */ - std::vector addr_ind; /* temp sonar i2c address vector */ - std::vector - _latest_sonar_measurements; /* vector to store latest sonar measurements in before writing to report */ - - - /** - * 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 SRF02_MIN_DISTANCE - * and SRF02_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 cycle(); - int measure(); - int collect(); - /** - * Static trampoline from the workq context; because we don't have a - * generic workq wrapper yet. - * - * @param arg Instance pointer for the driver that is polling. - */ - static void cycle_trampoline(void *arg); - - -}; - -/* - * Driver 'main' command. - */ -extern "C" { __EXPORT int srf02_i2c_main(int argc, char *argv[]);} - -SRF02_I2C::SRF02_I2C(uint8_t rotation, int bus, int address) : - I2C("MB12xx", SRF02_DEVICE_PATH, bus, address, 100000), - _rotation(rotation), - _min_distance(SRF02_MIN_DISTANCE), - _max_distance(SRF02_MAX_DISTANCE), - _reports(nullptr), - _sensor_ok(false), - _measure_ticks(0), - _collect_phase(false), - _class_instance(-1), - _orb_class_instance(-1), - _distance_sensor_topic(nullptr), - _sample_perf(perf_alloc(PC_ELAPSED, "srf02_i2c_read")), - _comms_errors(perf_alloc(PC_COUNT, "srf02_i2c_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 */ - -{ - /* enable debug() calls */ - _debug_enabled = false; - - /* work_cancel in the dtor will explode if we don't do this... */ - memset(&_work, 0, sizeof(_work)); -} - -SRF02_I2C::~SRF02_I2C() -{ - /* 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 -SRF02_I2C::init() -{ - int ret = PX4_ERROR; - - /* do I2C init (and probe) first */ - if (I2C::init() != OK) { - return ret; - } - - /* allocate basic report buffers */ - _reports = new ringbuffer::RingBuffer(2, sizeof(distance_sensor_s)); - - _index_counter = SRF02_I2C_BASEADDR; /* set temp sonar i2c address to base adress */ - set_device_address(_index_counter); /* set I2c port to temp sonar i2c adress */ - - if (_reports == nullptr) { - return ret; - } - - _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) { - DEVICE_LOG("failed to create distance_sensor object. Did you start uOrb?"); - } - - // XXX we should find out why we need to wait 200 ms here - usleep(200000); - - /* check for connected rangefinders on each i2c port: - We start from i2c base address (0x70 = 112) and count downwards - So second iteration it uses i2c address 111, third iteration 110 and so on*/ - for (unsigned counter = 0; counter <= MB12XX_MAX_RANGEFINDERS; counter++) { - _index_counter = SRF02_I2C_BASEADDR + counter * 2; /* set temp sonar i2c address to base adress - counter */ - set_device_address(_index_counter); /* set I2c port to temp sonar i2c adress */ - int ret2 = measure(); - - if (ret2 == 0) { /* sonar is present -> store address_index in array */ - addr_ind.push_back(_index_counter); - DEVICE_DEBUG("sonar added"); - _latest_sonar_measurements.push_back(200); - } - } - - _index_counter = SRF02_I2C_BASEADDR; - set_device_address(_index_counter); /* set i2c port back to base adress for rest of driver */ - - /* if only one sonar detected, no special timing is required between firing, so use default */ - if (addr_ind.size() == 1) { - _cycling_rate = SRF02_CONVERSION_INTERVAL; - - } else { - _cycling_rate = TICKS_BETWEEN_SUCCESIVE_FIRES; - } - - /* show the connected sonars in terminal */ - for (unsigned i = 0; i < addr_ind.size(); i++) { - DEVICE_LOG("sonar %d with address %d added", (i + 1), addr_ind[i]); - } - - DEVICE_DEBUG("Number of sonars connected: %zu", addr_ind.size()); - - ret = OK; - /* sensor is ok, but we don't really know if it is within range */ - _sensor_ok = true; - - return ret; -} - -int -SRF02_I2C::probe() -{ - return measure(); -} - -void -SRF02_I2C::set_minimum_distance(float min) -{ - _min_distance = min; -} - -void -SRF02_I2C::set_maximum_distance(float max) -{ - _max_distance = max; -} - -float -SRF02_I2C::get_minimum_distance() -{ - return _min_distance; -} - -float -SRF02_I2C::get_maximum_distance() -{ - return _max_distance; -} - -int -SRF02_I2C::ioctl(device::file_t *filp, int cmd, unsigned long arg) -{ - switch (cmd) { - - case SENSORIOCSPOLLRATE: { - switch (arg) { - - /* switching to manual polling */ - case SENSOR_POLLRATE_MANUAL: - stop(); - _measure_ticks = 0; - return OK; - - /* external signalling (DRDY) not supported */ - case SENSOR_POLLRATE_EXTERNAL: - - /* zero would be bad */ - case 0: - return -EINVAL; - - /* set default/max polling rate */ - case SENSOR_POLLRATE_MAX: - case SENSOR_POLLRATE_DEFAULT: { - /* do we need to start internal polling? */ - bool want_start = (_measure_ticks == 0); - - /* set interval for next measurement to minimum legal value */ - _measure_ticks = USEC2TICK(_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_ticks == 0); - - /* convert hz to tick interval via microseconds */ - int ticks = USEC2TICK(1000000 / arg); - - /* check against maximum rate */ - if (ticks < USEC2TICK(_cycling_rate)) { - return -EINVAL; - } - - /* update interval for next measurement */ - _measure_ticks = ticks; - - /* if we need to start the poll state machine, do it */ - if (want_start) { - start(); - } - - return OK; - } - } - } - - case SENSORIOCGPOLLRATE: - if (_measure_ticks == 0) { - return SENSOR_POLLRATE_MANUAL; - } - - return (1000 / _measure_ticks); - - case SENSORIOCSQUEUEDEPTH: { - /* lower bound is mandatory, upper bound is a sanity check */ - if ((arg < 1) || (arg > 100)) { - return -EINVAL; - } - - ATOMIC_ENTER; - - if (!_reports->resize(arg)) { - ATOMIC_LEAVE; - return -ENOMEM; - } - - ATOMIC_LEAVE; - - return OK; - } - - case SENSORIOCRESET: - /* XXX implement this */ - return -EINVAL; - - default: - /* give it to the superclass */ - return I2C::ioctl(filp, cmd, arg); - } -} - -ssize_t -SRF02_I2C::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_ticks > 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 -SRF02_I2C::measure() -{ - - int ret; - - /* - * Send the command to begin a measurement. - */ - - uint8_t cmd[2]; - cmd[0] = 0x00; - cmd[1] = SRF02_TAKE_RANGE_REG; - ret = transfer(cmd, 2, nullptr, 0); - - if (OK != ret) { - perf_count(_comms_errors); - DEVICE_DEBUG("i2c::transfer returned %d", ret); - return ret; - } - - ret = OK; - - return ret; -} - -int -SRF02_I2C::collect() -{ - int ret = -EIO; - - /* read from the sensor */ - uint8_t val[2] = {0, 0}; - uint8_t cmd = 0x02; - perf_begin(_sample_perf); - - ret = transfer(&cmd, 1, nullptr, 0); - ret = transfer(nullptr, 0, &val[0], 2); - - if (ret < 0) { - DEVICE_DEBUG("error reading from sensor: %d", ret); - perf_count(_comms_errors); - perf_end(_sample_perf); - return ret; - } - - uint16_t distance_cm = val[0] << 8 | val[1]; - float distance_m = float(distance_cm) * 1e-2f; - - struct distance_sensor_s report; - report.timestamp = hrt_absolute_time(); - report.type = distance_sensor_s::MAV_DISTANCE_SENSOR_ULTRASOUND; - report.orientation = _rotation; - report.current_distance = distance_m; - report.min_distance = get_minimum_distance(); - report.max_distance = get_maximum_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 -SRF02_I2C::start() -{ - - /* reset the report ring and state machine */ - _collect_phase = false; - _reports->flush(); - - /* schedule a cycle to start things */ - work_queue(HPWORK, &_work, (worker_t)&SRF02_I2C::cycle_trampoline, this, 5); - - /* 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 -SRF02_I2C::stop() -{ - work_cancel(HPWORK, &_work); -} - -void -SRF02_I2C::cycle_trampoline(void *arg) -{ - - SRF02_I2C *dev = (SRF02_I2C *)arg; - - dev->cycle(); - -} - -void -SRF02_I2C::cycle() -{ - if (_collect_phase) { - _index_counter = addr_ind[_cycle_counter]; /*sonar from previous iteration collect is now read out */ - set_device_address(_index_counter); - - /* perform collection */ - if (OK != collect()) { - DEVICE_DEBUG("collection error"); - /* if error restart the measurement state machine */ - start(); - return; - } - - /* next phase is measurement */ - _collect_phase = false; - - /* change i2c adress to next sonar */ - _cycle_counter = _cycle_counter + 1; - - if (_cycle_counter >= addr_ind.size()) { - _cycle_counter = 0; - } - - /* Is there a collect->measure gap? Yes, and the timing is set equal to the cycling_rate - Otherwise the next sonar would fire without the first one having received its reflected sonar pulse */ - - if (_measure_ticks > USEC2TICK(_cycling_rate)) { - - /* schedule a fresh cycle call when we are ready to measure again */ - work_queue(HPWORK, - &_work, - (worker_t)&SRF02_I2C::cycle_trampoline, - this, - _measure_ticks - USEC2TICK(_cycling_rate)); - return; - } - } - - /* Measurement (firing) phase */ - - /* ensure sonar i2c adress is still correct */ - _index_counter = addr_ind[_cycle_counter]; - set_device_address(_index_counter); - - /* Perform measurement */ - if (OK != measure()) { - DEVICE_DEBUG("measure error sonar adress %d", _index_counter); - } - - /* next phase is collection */ - _collect_phase = true; - - /* schedule a fresh cycle call when the measurement is done */ - work_queue(HPWORK, - &_work, - (worker_t)&SRF02_I2C::cycle_trampoline, - this, - USEC2TICK(_cycling_rate)); - -} - -void -SRF02_I2C::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"); -} - -/** - * Local functions in support of the shell command. - */ -namespace srf02_i2c -{ - -SRF02_I2C *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 SRF02_I2C(rotation, SRF02_I2C_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(SRF02_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; - ssize_t sz; - int ret; - - int fd = open(SRF02_DEVICE_PATH, O_RDONLY); - - if (fd < 0) { - err(1, "%s open failed (try 'srf02_i2c start' if the driver is not running", SRF02_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"); -} - -/** - * Reset the driver. - */ -void -reset() -{ - int fd = open(SRF02_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 */ - -int -srf02_i2c_main(int argc, char *argv[]) -{ - // check for optional arguments - int ch; - int myoptind = 1; - const char *myoptarg = nullptr; - uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING; - - - while ((ch = px4_getopt(argc, argv, "R:", &myoptind, &myoptarg)) != EOF) { - switch (ch) { - case 'R': - rotation = (uint8_t)atoi(myoptarg); - PX4_INFO("Setting distance sensor orientation to %d", (int)rotation); - break; - - default: - PX4_WARN("Unknown option!"); - } - } - - /* - * Start/load the driver. - */ - if (!strcmp(argv[myoptind], "start")) { - srf02_i2c::start(rotation); - } - - /* - * Stop the driver - */ - if (!strcmp(argv[myoptind], "stop")) { - srf02_i2c::stop(); - } - - /* - * Test the driver/device. - */ - if (!strcmp(argv[myoptind], "test")) { - srf02_i2c::test(); - } - - /* - * Reset the driver. - */ - if (!strcmp(argv[myoptind], "reset")) { - srf02_i2c::reset(); - } - - /* - * Print driver information. - */ - if (!strcmp(argv[myoptind], "info") || !strcmp(argv[myoptind], "status")) { - srf02_i2c::info(); - } - - PX4_ERR("unrecognized command, try 'start', 'test', 'reset' or 'info'"); - return PX4_ERROR; -}