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Diffstat (limited to 'apps/drivers/mb12xx/mb12xx.cpp')
| -rw-r--r-- | apps/drivers/mb12xx/mb12xx.cpp | 840 |
1 files changed, 0 insertions, 840 deletions
diff --git a/apps/drivers/mb12xx/mb12xx.cpp b/apps/drivers/mb12xx/mb12xx.cpp deleted file mode 100644 index 9d0f6bddc..000000000 --- a/apps/drivers/mb12xx/mb12xx.cpp +++ /dev/null @@ -1,840 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2013 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. - * - ****************************************************************************/ - -/** - * @file mb12xx.cpp - * @author Greg Hulands - * - * Driver for the Maxbotix sonar range finders connected via I2C. - */ - -#include <nuttx/config.h> - -#include <drivers/device/i2c.h> - -#include <sys/types.h> -#include <stdint.h> -#include <stdlib.h> -#include <stdbool.h> -#include <semaphore.h> -#include <string.h> -#include <fcntl.h> -#include <poll.h> -#include <errno.h> -#include <stdio.h> -#include <math.h> -#include <unistd.h> - -#include <nuttx/arch.h> -#include <nuttx/wqueue.h> -#include <nuttx/clock.h> - -#include <arch/board/board.h> - -#include <systemlib/perf_counter.h> -#include <systemlib/err.h> - -#include <drivers/drv_hrt.h> -#include <drivers/drv_range_finder.h> - -#include <uORB/uORB.h> -#include <uORB/topics/subsystem_info.h> - -/* Configuration Constants */ -#define MB12XX_BUS PX4_I2C_BUS_EXPANSION -#define MB12XX_BASEADDR 0x70 /* 7-bit address. 8-bit address is 0xE0 */ - -/* MB12xx Registers addresses */ - -#define MB12XX_TAKE_RANGE_REG 0x51 /* Measure range Register */ -#define MB12XX_SET_ADDRESS_1 0xAA /* Change address 1 Register */ -#define MB12XX_SET_ADDRESS_2 0xA5 /* Change address 2 Register */ - -/* Device limits */ -#define MB12XX_MIN_DISTANCE (0.20f) -#define MB12XX_MAX_DISTANCE (7.65f) - -#define MB12XX_CONVERSION_INTERVAL 60000 /* 60ms */ - -/* oddly, ERROR is not defined for c++ */ -#ifdef ERROR -# undef ERROR -#endif -static const int ERROR = -1; - -#ifndef CONFIG_SCHED_WORKQUEUE -# error This requires CONFIG_SCHED_WORKQUEUE. -#endif - -class MB12XX : public device::I2C -{ -public: - MB12XX(int bus = MB12XX_BUS, int address = MB12XX_BASEADDR); - virtual ~MB12XX(); - - virtual int init(); - - virtual ssize_t read(struct file *filp, char *buffer, size_t buflen); - virtual int ioctl(struct file *filp, int cmd, unsigned long arg); - - /** - * Diagnostics - print some basic information about the driver. - */ - void print_info(); - -protected: - virtual int probe(); - -private: - float _min_distance; - float _max_distance; - work_s _work; - unsigned _num_reports; - volatile unsigned _next_report; - volatile unsigned _oldest_report; - range_finder_report *_reports; - bool _sensor_ok; - int _measure_ticks; - bool _collect_phase; - - orb_advert_t _range_finder_topic; - - perf_counter_t _sample_perf; - perf_counter_t _comms_errors; - perf_counter_t _buffer_overflows; - - /** - * 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 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); - - -}; - -/* helper macro for handling report buffer indices */ -#define INCREMENT(_x, _lim) do { _x++; if (_x >= _lim) _x = 0; } while(0) - -/* - * Driver 'main' command. - */ -extern "C" __EXPORT int mb12xx_main(int argc, char *argv[]); - -MB12XX::MB12XX(int bus, int address) : - I2C("MB12xx", RANGE_FINDER_DEVICE_PATH, bus, address, 100000), - _min_distance(MB12XX_MIN_DISTANCE), - _max_distance(MB12XX_MAX_DISTANCE), - _num_reports(0), - _next_report(0), - _oldest_report(0), - _reports(nullptr), - _sensor_ok(false), - _measure_ticks(0), - _collect_phase(false), - _range_finder_topic(-1), - _sample_perf(perf_alloc(PC_ELAPSED, "mb12xx_read")), - _comms_errors(perf_alloc(PC_COUNT, "mb12xx_comms_errors")), - _buffer_overflows(perf_alloc(PC_COUNT, "mb12xx_buffer_overflows")) -{ - // enable debug() calls - _debug_enabled = true; - - // work_cancel in the dtor will explode if we don't do this... - memset(&_work, 0, sizeof(_work)); -} - -MB12XX::~MB12XX() -{ - /* make sure we are truly inactive */ - stop(); - - /* free any existing reports */ - if (_reports != nullptr) - delete[] _reports; -} - -int -MB12XX::init() -{ - int ret = ERROR; - - /* do I2C init (and probe) first */ - if (I2C::init() != OK) - goto out; - - /* allocate basic report buffers */ - _num_reports = 2; - _reports = new struct range_finder_report[_num_reports]; - - if (_reports == nullptr) - goto out; - - _oldest_report = _next_report = 0; - - /* get a publish handle on the range finder topic */ - memset(&_reports[0], 0, sizeof(_reports[0])); - _range_finder_topic = orb_advertise(ORB_ID(sensor_range_finder), &_reports[0]); - - if (_range_finder_topic < 0) - debug("failed to create sensor_range_finder object. Did you start uOrb?"); - - ret = OK; - /* sensor is ok, but we don't really know if it is within range */ - _sensor_ok = true; -out: - return ret; -} - -int -MB12XX::probe() -{ - return measure(); -} - -void -MB12XX::set_minimum_distance(float min) -{ - _min_distance = min; -} - -void -MB12XX::set_maximum_distance(float max) -{ - _max_distance = max; -} - -float -MB12XX::get_minimum_distance() -{ - return _min_distance; -} - -float -MB12XX::get_maximum_distance() -{ - return _max_distance; -} - -int -MB12XX::ioctl(struct file *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(MB12XX_CONVERSION_INTERVAL); - - /* 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 */ - unsigned ticks = USEC2TICK(1000000 / arg); - - /* check against maximum rate */ - if (ticks < USEC2TICK(MB12XX_CONVERSION_INTERVAL)) - 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: { - /* add one to account for the sentinel in the ring */ - arg++; - - /* lower bound is mandatory, upper bound is a sanity check */ - if ((arg < 2) || (arg > 100)) - return -EINVAL; - - /* allocate new buffer */ - struct range_finder_report *buf = new struct range_finder_report[arg]; - - if (nullptr == buf) - return -ENOMEM; - - /* reset the measurement state machine with the new buffer, free the old */ - stop(); - delete[] _reports; - _num_reports = arg; - _reports = buf; - start(); - - return OK; - } - - case SENSORIOCGQUEUEDEPTH: - return _num_reports - 1; - - case SENSORIOCRESET: - /* XXX implement this */ - return -EINVAL; - - case RANGEFINDERIOCSETMINIUMDISTANCE: - { - set_minimum_distance(*(float *)arg); - return 0; - } - break; - case RANGEFINDERIOCSETMAXIUMDISTANCE: - { - set_maximum_distance(*(float *)arg); - return 0; - } - break; - default: - /* give it to the superclass */ - return I2C::ioctl(filp, cmd, arg); - } -} - -ssize_t -MB12XX::read(struct file *filp, char *buffer, size_t buflen) -{ - unsigned count = buflen / sizeof(struct range_finder_report); - 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 (_oldest_report != _next_report) { - memcpy(buffer, _reports + _oldest_report, sizeof(*_reports)); - ret += sizeof(_reports[0]); - INCREMENT(_oldest_report, _num_reports); - } - } - - /* if there was no data, warn the caller */ - return ret ? ret : -EAGAIN; - } - - /* manual measurement - run one conversion */ - /* XXX really it'd be nice to lock against other readers here */ - do { - _oldest_report = _next_report = 0; - - /* trigger a measurement */ - if (OK != measure()) { - ret = -EIO; - break; - } - - /* wait for it to complete */ - usleep(MB12XX_CONVERSION_INTERVAL); - - /* run the collection phase */ - if (OK != collect()) { - ret = -EIO; - break; - } - - /* state machine will have generated a report, copy it out */ - memcpy(buffer, _reports, sizeof(*_reports)); - ret = sizeof(*_reports); - - } while (0); - - return ret; -} - -int -MB12XX::measure() -{ - int ret; - - /* - * Send the command to begin a measurement. - */ - uint8_t cmd = MB12XX_TAKE_RANGE_REG; - ret = transfer(&cmd, 1, nullptr, 0); - - if (OK != ret) - { - perf_count(_comms_errors); - log("i2c::transfer returned %d", ret); - return ret; - } - ret = OK; - - return ret; -} - -int -MB12XX::collect() -{ - int ret = -EIO; - - /* read from the sensor */ - uint8_t val[2] = {0, 0}; - - perf_begin(_sample_perf); - - ret = transfer(nullptr, 0, &val[0], 2); - - if (ret < 0) - { - log("error reading from sensor: %d", ret); - return ret; - } - - uint16_t distance = val[0] << 8 | val[1]; - float si_units = (distance * 1.0f)/ 100.0f; /* cm to m */ - /* this should be fairly close to the end of the measurement, so the best approximation of the time */ - _reports[_next_report].timestamp = hrt_absolute_time(); - _reports[_next_report].distance = si_units; - _reports[_next_report].valid = si_units > get_minimum_distance() && si_units < get_maximum_distance() ? 1 : 0; - - /* publish it */ - orb_publish(ORB_ID(sensor_range_finder), _range_finder_topic, &_reports[_next_report]); - - /* post a report to the ring - note, not locked */ - INCREMENT(_next_report, _num_reports); - - /* if we are running up against the oldest report, toss it */ - if (_next_report == _oldest_report) { - perf_count(_buffer_overflows); - INCREMENT(_oldest_report, _num_reports); - } - - /* notify anyone waiting for data */ - poll_notify(POLLIN); - - ret = OK; - -out: - perf_end(_sample_perf); - return ret; - - return ret; -} - -void -MB12XX::start() -{ - /* reset the report ring and state machine */ - _collect_phase = false; - _oldest_report = _next_report = 0; - - /* schedule a cycle to start things */ - work_queue(HPWORK, &_work, (worker_t)&MB12XX::cycle_trampoline, this, 1); - - /* notify about state change */ - struct subsystem_info_s info = { - true, - true, - true, - SUBSYSTEM_TYPE_RANGEFINDER}; - static orb_advert_t pub = -1; - - if (pub > 0) { - orb_publish(ORB_ID(subsystem_info), pub, &info); - } else { - pub = orb_advertise(ORB_ID(subsystem_info), &info); - } -} - -void -MB12XX::stop() -{ - work_cancel(HPWORK, &_work); -} - -void -MB12XX::cycle_trampoline(void *arg) -{ - MB12XX *dev = (MB12XX *)arg; - - dev->cycle(); -} - -void -MB12XX::cycle() -{ - /* collection phase? */ - if (_collect_phase) { - - /* perform collection */ - if (OK != collect()) { - log("collection error"); - /* restart the measurement state machine */ - start(); - return; - } - - /* next phase is measurement */ - _collect_phase = false; - - /* - * Is there a collect->measure gap? - */ - if (_measure_ticks > USEC2TICK(MB12XX_CONVERSION_INTERVAL)) { - - /* schedule a fresh cycle call when we are ready to measure again */ - work_queue(HPWORK, - &_work, - (worker_t)&MB12XX::cycle_trampoline, - this, - _measure_ticks - USEC2TICK(MB12XX_CONVERSION_INTERVAL)); - - return; - } - } - - /* measurement phase */ - if (OK != measure()) - log("measure error"); - - /* next phase is collection */ - _collect_phase = true; - - /* schedule a fresh cycle call when the measurement is done */ - work_queue(HPWORK, - &_work, - (worker_t)&MB12XX::cycle_trampoline, - this, - USEC2TICK(MB12XX_CONVERSION_INTERVAL)); -} - -void -MB12XX::print_info() -{ - perf_print_counter(_sample_perf); - perf_print_counter(_comms_errors); - perf_print_counter(_buffer_overflows); - printf("poll interval: %u ticks\n", _measure_ticks); - printf("report queue: %u (%u/%u @ %p)\n", - _num_reports, _oldest_report, _next_report, _reports); -} - -/** - * Local functions in support of the shell command. - */ -namespace mb12xx -{ - -/* oddly, ERROR is not defined for c++ */ -#ifdef ERROR -# undef ERROR -#endif -const int ERROR = -1; - -MB12XX *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 MB12XX(MB12XX_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(RANGE_FINDER_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 range_finder_report report; - ssize_t sz; - int ret; - - int fd = open(RANGE_FINDER_DEVICE_PATH, O_RDONLY); - - if (fd < 0) - err(1, "%s open failed (try 'mb12xx start' if the driver is not running", RANGE_FINDER_DEVICE_PATH); - - /* do a simple demand read */ - sz = read(fd, &report, sizeof(report)); - - if (sz != sizeof(report)) - err(1, "immediate read failed"); - - warnx("single read"); - warnx("measurement: %0.2f m", (double)report.distance); - warnx("time: %lld", report.timestamp); - - /* 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"); - - warnx("periodic read %u", i); - warnx("measurement: %0.3f", (double)report.distance); - warnx("time: %lld", report.timestamp); - } - - errx(0, "PASS"); -} - -/** - * Reset the driver. - */ -void -reset() -{ - int fd = open(RANGE_FINDER_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 -mb12xx_main(int argc, char *argv[]) -{ - /* - * Start/load the driver. - */ - if (!strcmp(argv[1], "start")) - mb12xx::start(); - - /* - * Stop the driver - */ - if (!strcmp(argv[1], "stop")) - mb12xx::stop(); - - /* - * Test the driver/device. - */ - if (!strcmp(argv[1], "test")) - mb12xx::test(); - - /* - * Reset the driver. - */ - if (!strcmp(argv[1], "reset")) - mb12xx::reset(); - - /* - * Print driver information. - */ - if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) - mb12xx::info(); - - errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'"); -} |