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path: root/src/drivers/px4flow/px4flow.cpp
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Diffstat (limited to 'src/drivers/px4flow/px4flow.cpp')
-rw-r--r--src/drivers/px4flow/px4flow.cpp189
1 files changed, 115 insertions, 74 deletions
diff --git a/src/drivers/px4flow/px4flow.cpp b/src/drivers/px4flow/px4flow.cpp
index 60ad3c1af..804027b05 100644
--- a/src/drivers/px4flow/px4flow.cpp
+++ b/src/drivers/px4flow/px4flow.cpp
@@ -200,7 +200,7 @@ PX4FLOW::PX4FLOW(int bus, int address) :
_buffer_overflows(perf_alloc(PC_COUNT, "px4flow_buffer_overflows"))
{
// enable debug() calls
- _debug_enabled = true;
+ _debug_enabled = false;
// work_cancel in the dtor will explode if we don't do this...
memset(&_work, 0, sizeof(_work));
@@ -212,8 +212,9 @@ PX4FLOW::~PX4FLOW()
stop();
/* free any existing reports */
- if (_reports != nullptr)
+ if (_reports != nullptr) {
delete _reports;
+ }
}
int
@@ -222,22 +223,25 @@ PX4FLOW::init()
int ret = ERROR;
/* do I2C init (and probe) first */
- if (I2C::init() != OK)
+ if (I2C::init() != OK) {
goto out;
+ }
/* allocate basic report buffers */
_reports = new RingBuffer(2, sizeof(struct optical_flow_s));
- if (_reports == nullptr)
+ if (_reports == nullptr) {
goto out;
+ }
/* get a publish handle on the px4flow topic */
struct optical_flow_s zero_report;
memset(&zero_report, 0, sizeof(zero_report));
_px4flow_topic = orb_advertise(ORB_ID(optical_flow), &zero_report);
- if (_px4flow_topic < 0)
- debug("failed to create px4flow object. Did you start uOrb?");
+ if (_px4flow_topic < 0) {
+ warnx("failed to create px4flow object. Did you start uOrb?");
+ }
ret = OK;
/* sensor is ok, but we don't really know if it is within range */
@@ -249,6 +253,17 @@ out:
int
PX4FLOW::probe()
{
+ uint8_t val[22];
+
+ // to be sure this is not a ll40ls Lidar (which can also be on
+ // 0x42) we check if a 22 byte transfer works from address
+ // 0. The ll40ls gives an error for that, whereas the flow
+ // happily returns some data
+ if (transfer(nullptr, 0, &val[0], 22) != OK) {
+ return -EIO;
+ }
+
+ // that worked, so start a measurement cycle
return measure();
}
@@ -260,20 +275,20 @@ PX4FLOW::ioctl(struct file *filp, int cmd, unsigned long arg)
case SENSORIOCSPOLLRATE: {
switch (arg) {
- /* switching to manual polling */
+ /* switching to manual polling */
case SENSOR_POLLRATE_MANUAL:
stop();
_measure_ticks = 0;
return OK;
- /* external signalling (DRDY) not supported */
+ /* external signalling (DRDY) not supported */
case SENSOR_POLLRATE_EXTERNAL:
- /* zero would be bad */
+ /* zero would be bad */
case 0:
return -EINVAL;
- /* set default/max polling rate */
+ /* set default/max polling rate */
case SENSOR_POLLRATE_MAX:
case SENSOR_POLLRATE_DEFAULT: {
/* do we need to start internal polling? */
@@ -283,13 +298,14 @@ PX4FLOW::ioctl(struct file *filp, int cmd, unsigned long arg)
_measure_ticks = USEC2TICK(PX4FLOW_CONVERSION_INTERVAL);
/* if we need to start the poll state machine, do it */
- if (want_start)
+ if (want_start) {
start();
+ }
return OK;
}
- /* adjust to a legal polling interval in Hz */
+ /* adjust to a legal polling interval in Hz */
default: {
/* do we need to start internal polling? */
bool want_start = (_measure_ticks == 0);
@@ -298,15 +314,17 @@ PX4FLOW::ioctl(struct file *filp, int cmd, unsigned long arg)
unsigned ticks = USEC2TICK(1000000 / arg);
/* check against maximum rate */
- if (ticks < USEC2TICK(PX4FLOW_CONVERSION_INTERVAL))
+ if (ticks < USEC2TICK(PX4FLOW_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)
+ if (want_start) {
start();
+ }
return OK;
}
@@ -314,25 +332,29 @@ PX4FLOW::ioctl(struct file *filp, int cmd, unsigned long arg)
}
case SENSORIOCGPOLLRATE:
- if (_measure_ticks == 0)
+ 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;
+ /* lower bound is mandatory, upper bound is a sanity check */
+ if ((arg < 1) || (arg > 100)) {
+ return -EINVAL;
+ }
+
+ irqstate_t flags = irqsave();
+
+ if (!_reports->resize(arg)) {
+ irqrestore(flags);
+ return -ENOMEM;
+ }
- irqstate_t flags = irqsave();
- if (!_reports->resize(arg)) {
irqrestore(flags);
- return -ENOMEM;
- }
- irqrestore(flags);
- return OK;
- }
+ return OK;
+ }
case SENSORIOCGQUEUEDEPTH:
return _reports->size();
@@ -355,8 +377,9 @@ PX4FLOW::read(struct file *filp, char *buffer, size_t buflen)
int ret = 0;
/* buffer must be large enough */
- if (count < 1)
+ if (count < 1) {
return -ENOSPC;
+ }
/* if automatic measurement is enabled */
if (_measure_ticks > 0) {
@@ -417,13 +440,11 @@ PX4FLOW::measure()
uint8_t cmd = PX4FLOW_REG;
ret = transfer(&cmd, 1, nullptr, 0);
- if (OK != ret)
- {
+ if (OK != ret) {
perf_count(_comms_errors);
- log("i2c::transfer returned %d", ret);
- printf("i2c::transfer flow returned %d");
return ret;
}
+
ret = OK;
return ret;
@@ -435,15 +456,14 @@ PX4FLOW::collect()
int ret = -EIO;
/* read from the sensor */
- uint8_t val[22] = {0, 0,0, 0,0, 0,0, 0,0, 0,0, 0,0, 0,0, 0,0, 0,0, 0,0, 0};
+ uint8_t val[22] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
perf_begin(_sample_perf);
ret = transfer(nullptr, 0, &val[0], 22);
- if (ret < 0)
- {
- log("error reading from sensor: %d", ret);
+ if (ret < 0) {
+ debug("error reading from sensor: %d", ret);
perf_count(_comms_errors);
perf_end(_sample_perf);
return ret;
@@ -467,12 +487,12 @@ PX4FLOW::collect()
int16_t gdist = val[21] << 8 | val[20];
struct optical_flow_s report;
- report.flow_comp_x_m = float(flowcx)/1000.0f;
- report.flow_comp_y_m = float(flowcy)/1000.0f;
- report.flow_raw_x= val[3] << 8 | val[2];
- report.flow_raw_y= val[5] << 8 | val[4];
- report.ground_distance_m =float(gdist)/1000.0f;
- report.quality= val[10];
+ report.flow_comp_x_m = float(flowcx) / 1000.0f;
+ report.flow_comp_y_m = float(flowcy) / 1000.0f;
+ report.flow_raw_x = val[3] << 8 | val[2];
+ report.flow_raw_y = val[5] << 8 | val[4];
+ report.ground_distance_m = float(gdist) / 1000.0f;
+ report.quality = val[10];
report.sensor_id = 0;
report.timestamp = hrt_absolute_time();
@@ -509,11 +529,13 @@ PX4FLOW::start()
true,
true,
true,
- SUBSYSTEM_TYPE_OPTICALFLOW};
+ SUBSYSTEM_TYPE_OPTICALFLOW
+ };
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);
}
@@ -541,7 +563,7 @@ PX4FLOW::cycle()
/* perform collection */
if (OK != collect()) {
- log("collection error");
+ debug("collection error");
/* restart the measurement state machine */
start();
return;
@@ -567,8 +589,9 @@ PX4FLOW::cycle()
}
/* measurement phase */
- if (OK != measure())
- log("measure error");
+ if (OK != measure()) {
+ debug("measure error");
+ }
/* next phase is collection */
_collect_phase = true;
@@ -619,33 +642,37 @@ start()
{
int fd;
- if (g_dev != nullptr)
+ if (g_dev != nullptr) {
errx(1, "already started");
+ }
/* create the driver */
g_dev = new PX4FLOW(PX4FLOW_BUS);
- if (g_dev == nullptr)
+ if (g_dev == nullptr) {
goto fail;
+ }
- if (OK != g_dev->init())
+ if (OK != g_dev->init()) {
goto fail;
+ }
/* set the poll rate to default, starts automatic data collection */
fd = open(PX4FLOW_DEVICE_PATH, O_RDONLY);
- if (fd < 0)
+ if (fd < 0) {
goto fail;
+ }
- if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MAX) < 0)
+ if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MAX) < 0) {
goto fail;
+ }
exit(0);
fail:
- if (g_dev != nullptr)
- {
+ if (g_dev != nullptr) {
delete g_dev;
g_dev = nullptr;
}
@@ -658,15 +685,14 @@ fail:
*/
void stop()
{
- if (g_dev != nullptr)
- {
+ if (g_dev != nullptr) {
delete g_dev;
g_dev = nullptr;
- }
- else
- {
+
+ } else {
errx(1, "driver not running");
}
+
exit(0);
}
@@ -684,14 +710,17 @@ test()
int fd = open(PX4FLOW_DEVICE_PATH, O_RDONLY);
- if (fd < 0)
+ if (fd < 0) {
err(1, "%s open failed (try 'px4flow start' if the driver is not running", PX4FLOW_DEVICE_PATH);
+ }
/* do a simple demand read */
sz = read(fd, &report, sizeof(report));
if (sz != sizeof(report))
- // err(1, "immediate read failed");
+ {
+ warnx("immediate read failed");
+ }
warnx("single read");
warnx("flowx: %0.2f m/s", (double)report.flow_comp_x_m);
@@ -700,8 +729,9 @@ test()
/* start the sensor polling at 2Hz */
- if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2))
+ 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++) {
@@ -712,14 +742,16 @@ test()
fds.events = POLLIN;
ret = poll(&fds, 1, 2000);
- if (ret != 1)
+ 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))
+ if (sz != sizeof(report)) {
err(1, "periodic read failed");
+ }
warnx("periodic read %u", i);
warnx("flowx: %0.2f m/s", (double)report.flow_comp_x_m);
@@ -740,14 +772,17 @@ reset()
{
int fd = open(PX4FLOW_DEVICE_PATH, O_RDONLY);
- if (fd < 0)
+ if (fd < 0) {
err(1, "failed ");
+ }
- if (ioctl(fd, SENSORIOCRESET, 0) < 0)
+ if (ioctl(fd, SENSORIOCRESET, 0) < 0) {
err(1, "driver reset failed");
+ }
- if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
+ if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
err(1, "driver poll restart failed");
+ }
exit(0);
}
@@ -758,8 +793,9 @@ reset()
void
info()
{
- if (g_dev == nullptr)
+ if (g_dev == nullptr) {
errx(1, "driver not running");
+ }
printf("state @ %p\n", g_dev);
g_dev->print_info();
@@ -775,32 +811,37 @@ px4flow_main(int argc, char *argv[])
/*
* Start/load the driver.
*/
- if (!strcmp(argv[1], "start"))
+ if (!strcmp(argv[1], "start")) {
px4flow::start();
+ }
- /*
- * Stop the driver
- */
- if (!strcmp(argv[1], "stop"))
- px4flow::stop();
+ /*
+ * Stop the driver
+ */
+ if (!strcmp(argv[1], "stop")) {
+ px4flow::stop();
+ }
/*
* Test the driver/device.
*/
- if (!strcmp(argv[1], "test"))
+ if (!strcmp(argv[1], "test")) {
px4flow::test();
+ }
/*
* Reset the driver.
*/
- if (!strcmp(argv[1], "reset"))
+ if (!strcmp(argv[1], "reset")) {
px4flow::reset();
+ }
/*
* Print driver information.
*/
- if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status"))
+ if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) {
px4flow::info();
+ }
errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'");
}
generated by cgit v1.2.3 (git 2.39.1) at 2024-07-24 09:20:31 +0000