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LidarLite driver minor comment updates/formatting and change instances of OK to PX4_OK.

sbg
mcsauder 5 years ago committed by Nuno Marques
parent
7b16c3482d
commit
9023030931
2 changed files with 29 additions and 33 deletions
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  1. 12
      src/drivers/distance_sensor/ll40ls/LidarLiteI2C.cpp
  2. 50
      src/drivers/distance_sensor/ll40ls/LidarLiteI2C.h

12
src/drivers/distance_sensor/ll40ls/LidarLiteI2C.cpp
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@ -201,13 +201,11 @@ LidarLiteI2C::measure()
int int
LidarLiteI2C::reset_sensor() LidarLiteI2C::reset_sensor()
{ {
int ret;
px4_usleep(15000); px4_usleep(15000);
ret = write_reg(LL40LS_SIG_COUNT_VAL_REG, LL40LS_SIG_COUNT_VAL_MAX); int ret = write_reg(LL40LS_SIG_COUNT_VAL_REG, LL40LS_SIG_COUNT_VAL_MAX);
if (ret != OK) { if (ret != PX4_OK) {
return ret; return ret;
} }
@ -215,13 +213,13 @@ LidarLiteI2C::reset_sensor()
ret = write_reg(LL40LS_MEASURE_REG, LL40LS_MSRREG_RESET); ret = write_reg(LL40LS_MEASURE_REG, LL40LS_MSRREG_RESET);
if (ret != OK) { if (ret != PX4_OK) {
uint8_t sig_cnt; uint8_t sig_cnt;
px4_usleep(15000); px4_usleep(15000);
ret = read_reg(LL40LS_SIG_COUNT_VAL_REG, sig_cnt); ret = read_reg(LL40LS_SIG_COUNT_VAL_REG, sig_cnt);
if ((ret != OK) || (sig_cnt != LL40LS_SIG_COUNT_VAL_DEFAULT)) { if ((ret != PX4_OK) || (sig_cnt != LL40LS_SIG_COUNT_VAL_DEFAULT)) {
PX4_INFO("Error: ll40ls reset failure. Exiting!\n"); PX4_INFO("Error: ll40ls reset failure. Exiting!\n");
return ret; return ret;
@ -232,7 +230,7 @@ LidarLiteI2C::reset_sensor()
px4_usleep(50000); px4_usleep(50000);
ret = write_reg(LL40LS_SIG_COUNT_VAL_REG, LL40LS_SIG_COUNT_VAL_MAX); ret = write_reg(LL40LS_SIG_COUNT_VAL_REG, LL40LS_SIG_COUNT_VAL_MAX);
if (ret != OK) { if (ret != PX4_OK) {
return ret; return ret;
} }

50
src/drivers/distance_sensor/ll40ls/LidarLiteI2C.h
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@ -50,34 +50,32 @@
/* Configuration Constants */ /* Configuration Constants */
static constexpr uint8_t LL40LS_BASEADDR = 0x62; /* 7-bit address */ static constexpr uint8_t LL40LS_BASEADDR = 0x62; /* 7-bit address */
static constexpr uint8_t LL40LS_BASEADDR_OLD = 0x42; /* previous 7-bit address */ static constexpr uint8_t LL40LS_BASEADDR_OLD = 0x42; /* previous 7-bit address */
static constexpr uint8_t LL40LS_SIG_COUNT_VAL_DEFAULT = 0x80; /* Default maximum acquisition count */ static constexpr uint8_t LL40LS_SIG_COUNT_VAL_DEFAULT = 0x80; /* Default maximum acquisition count */
/* LL40LS Registers addresses */ /* LL40LS Registers addresses */
static constexpr uint8_t LL40LS_MEASURE_REG = 0x00; /* Measure range register */ static constexpr uint8_t LL40LS_MEASURE_REG = 0x00; /* Measure range register */
static constexpr uint8_t LL40LS_MSRREG_RESET = 0x00; /* reset to power on defaults */ static constexpr uint8_t LL40LS_MSRREG_RESET = 0x00; /* reset to power on defaults */
static constexpr uint8_t LL40LS_MSRREG_ACQUIRE = static constexpr uint8_t LL40LS_MSRREG_ACQUIRE = 0x04; /* Value to acquire a measurement, version specific */
0x04; /* Value to initiate a measurement, varies based on sensor revision */ static constexpr uint8_t LL40LS_DISTHIGH_REG = 0x0F; /* High byte of distance register, auto increment */
static constexpr uint8_t LL40LS_DISTHIGH_REG = 0x0F; /* High byte of distance register, auto increment */ static constexpr uint8_t LL40LS_AUTO_INCREMENT = 0x80;
static constexpr uint8_t LL40LS_AUTO_INCREMENT = 0x80; static constexpr uint8_t LL40LS_HW_VERSION = 0x41;
static constexpr uint8_t LL40LS_HW_VERSION = 0x41; static constexpr uint8_t LL40LS_SW_VERSION = 0x4f;
static constexpr uint8_t LL40LS_SW_VERSION = 0x4f; static constexpr uint8_t LL40LS_SIGNAL_STRENGTH_REG = 0x0e;
static constexpr uint8_t LL40LS_SIGNAL_STRENGTH_REG = 0x0e; static constexpr uint8_t LL40LS_PEAK_STRENGTH_REG = 0x0c;
static constexpr uint8_t LL40LS_PEAK_STRENGTH_REG = 0x0c; static constexpr uint8_t LL40LS_UNIT_ID_HIGH = 0x16;
static constexpr uint8_t LL40LS_UNIT_ID_HIGH = 0x16; static constexpr uint8_t LL40LS_UNIT_ID_LOW = 0x17;
static constexpr uint8_t LL40LS_UNIT_ID_LOW = 0x17;
static constexpr uint8_t LL40LS_SIG_COUNT_VAL_REG = 0x02; /* Maximum acquisition count register */
static constexpr uint8_t LL40LS_SIG_COUNT_VAL_REG = 0x02; /* Maximum acquisition count register */ static constexpr uint8_t LL40LS_SIG_COUNT_VAL_MAX = 0xFF; /* Maximum acquisition count max value */
static constexpr uint8_t LL40LS_SIG_COUNT_VAL_MAX = 0xFF; /* Maximum acquisition count max value */
static constexpr int LL40LS_SIGNAL_STRENGTH_MIN_V3HP = 70; /* Min signal strength for V3HP */
static constexpr int LL40LS_SIGNAL_STRENGTH_MIN_V3HP = 70; /* Min signal strength for V3HP */ static constexpr int LL40LS_SIGNAL_STRENGTH_MAX_V3HP = 255; /* Max signal strength for V3HP */
static constexpr int LL40LS_SIGNAL_STRENGTH_MAX_V3HP = 255; /* Max signal strength for V3HP */
static constexpr int LL40LS_SIGNAL_STRENGTH_LOW = static constexpr int LL40LS_SIGNAL_STRENGTH_LOW = 24; /* Minimum relative signal strength for a valid measurement */
24; /* Minimum (relative) signal strength value for accepting a measurement */ static constexpr int LL40LS_PEAK_STRENGTH_LOW = 135; /* Minimum peak strength raw value for accepting a measurement */
static constexpr int LL40LS_PEAK_STRENGTH_LOW = static constexpr int LL40LS_PEAK_STRENGTH_HIGH = 234; /* Max peak strength raw value */
135; /* Minimum peak strength raw value for accepting a measurement */
static constexpr int LL40LS_PEAK_STRENGTH_HIGH = 234; /* Max peak strength raw value */
class LidarLiteI2C : public LidarLite, public device::I2C, public px4::ScheduledWorkItem class LidarLiteI2C : public LidarLite, public device::I2C, public px4::ScheduledWorkItem

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