Mateusz Sadowski
8 years ago
committed by
Nuno Marques
14 changed files with 0 additions and 1007 deletions
@ -1,43 +0,0 @@
@@ -1,43 +0,0 @@
|
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############################################################################ |
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# |
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# Copyright (c) 2015 PX4 Development Team. All rights reserved. |
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# |
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# Redistribution and use in source and binary forms, with or without |
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# modification, are permitted provided that the following conditions |
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# are met: |
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# |
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# 1. Redistributions of source code must retain the above copyright |
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# notice, this list of conditions and the following disclaimer. |
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# 2. Redistributions in binary form must reproduce the above copyright |
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# notice, this list of conditions and the following disclaimer in |
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# the documentation and/or other materials provided with the |
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# distribution. |
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# 3. Neither the name PX4 nor the names of its contributors may be |
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# used to endorse or promote products derived from this software |
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# without specific prior written permission. |
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# |
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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# POSSIBILITY OF SUCH DAMAGE. |
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# |
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############################################################################ |
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px4_add_module( |
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MODULE drivers__trevo |
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MAIN trevo |
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STACK_MAIN 1200 |
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COMPILE_FLAGS |
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SRCS |
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trevo.cpp |
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DEPENDS |
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platforms__common |
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) |
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# vim: set noet ft=cmake fenc=utf-8 ff=unix : |
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@ -1,938 +0,0 @@
@@ -1,938 +0,0 @@
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/****************************************************************************
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* |
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* Copyright (c) 2013-2015 PX4 Development Team. All rights reserved. |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* 1. Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* 2. Redistributions in binary form must reproduce the above copyright |
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* notice, this list of conditions and the following disclaimer in |
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* the documentation and/or other materials provided with the |
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* distribution. |
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* 3. Neither the name PX4 nor the names of its contributors may be |
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* used to endorse or promote products derived from this software |
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* without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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* |
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****************************************************************************/ |
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/**
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* @file trevo.cpp |
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* @author Mateusz Sadowski |
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* |
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* Driver for the TeraRanger Evo range finders connected via I2C. |
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*/ |
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#include <px4_config.h> |
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#include <px4_defines.h> |
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#include <drivers/device/i2c.h> |
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#include <sys/types.h> |
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#include <stdint.h> |
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#include <stdlib.h> |
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#include <stdbool.h> |
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#include <semaphore.h> |
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#include <string.h> |
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#include <fcntl.h> |
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#include <poll.h> |
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#include <errno.h> |
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#include <stdio.h> |
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#include <math.h> |
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#include <unistd.h> |
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#include <nuttx/arch.h> |
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#include <nuttx/wqueue.h> |
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#include <nuttx/clock.h> |
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#include <systemlib/perf_counter.h> |
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#include <systemlib/err.h> |
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#include <drivers/drv_hrt.h> |
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#include <drivers/drv_range_finder.h> |
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#include <drivers/device/ringbuffer.h> |
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#include <uORB/uORB.h> |
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#include <uORB/topics/subsystem_info.h> |
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#include <uORB/topics/distance_sensor.h> |
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#include <board_config.h> |
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/* Configuration Constants */ |
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#define TREVO_BUS PX4_I2C_BUS_EXPANSION |
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#define TREVO_BASEADDR 0x31 /* 7-bit address */ |
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#define TREVO_DEVICE_PATH "/dev/trevo" |
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/* TREVO Registers addresses */ |
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#define TREVO_MEASURE_REG 0x00 /* Measure range register */ |
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#define TREVO_WHO_AM_I_REG 0x01 /* Who am I test register */ |
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#define TREVO_WHO_AM_I_REG_VAL 0xA1 |
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/* Device limits */ |
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#define TREVO_MIN_DISTANCE (0.50f) |
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#define TREVO_MAX_DISTANCE (60.00f) |
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#define TREVO_CONVERSION_INTERVAL 50000 /* 50ms */ |
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#ifndef CONFIG_SCHED_WORKQUEUE |
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# error This requires CONFIG_SCHED_WORKQUEUE. |
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#endif |
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class TREVO : public device::I2C |
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{ |
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public: |
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TREVO(int bus = TREVO_BUS, int address = TREVO_BASEADDR); |
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virtual ~TREVO(); |
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virtual int init(); |
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virtual ssize_t read(struct file *filp, char *buffer, size_t buflen); |
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virtual int ioctl(struct file *filp, int cmd, unsigned long arg); |
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/**
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* Diagnostics - print some basic information about the driver. |
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*/ |
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void print_info(); |
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protected: |
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virtual int probe(); |
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private: |
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float _min_distance; |
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float _max_distance; |
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work_s _work; |
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ringbuffer::RingBuffer *_reports; |
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bool _sensor_ok; |
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uint8_t _valid; |
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int _measure_ticks; |
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bool _collect_phase; |
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int _class_instance; |
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int _orb_class_instance; |
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orb_advert_t _distance_sensor_topic; |
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perf_counter_t _sample_perf; |
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perf_counter_t _comms_errors; |
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perf_counter_t _buffer_overflows; |
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/**
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* Test whether the device supported by the driver is present at a |
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* specific address. |
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* |
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* @param address The I2C bus address to probe. |
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* @return True if the device is present. |
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*/ |
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int probe_address(uint8_t address); |
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/**
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* Initialise the automatic measurement state machine and start it. |
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* |
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* @note This function is called at open and error time. It might make sense |
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* to make it more aggressive about resetting the bus in case of errors. |
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*/ |
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void start(); |
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/**
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* Stop the automatic measurement state machine. |
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*/ |
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void stop(); |
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/**
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* Set the min and max distance thresholds if you want the end points of the sensors |
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* range to be brought in at all, otherwise it will use the defaults TREVO_MIN_DISTANCE |
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* and TREVO_MAX_DISTANCE |
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*/ |
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void set_minimum_distance(float min); |
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void set_maximum_distance(float max); |
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float get_minimum_distance(); |
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float get_maximum_distance(); |
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/**
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* Perform a poll cycle; collect from the previous measurement |
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* and start a new one. |
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*/ |
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void cycle(); |
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int measure(); |
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int collect(); |
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/**
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* Static trampoline from the workq context; because we don't have a |
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* generic workq wrapper yet. |
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* |
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* @param arg Instance pointer for the driver that is polling. |
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*/ |
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static void cycle_trampoline(void *arg); |
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}; |
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static const uint8_t crc_table[] = { |
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0x00, 0x07, 0x0e, 0x09, 0x1c, 0x1b, 0x12, 0x15, 0x38, 0x3f, 0x36, 0x31, |
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0x24, 0x23, 0x2a, 0x2d, 0x70, 0x77, 0x7e, 0x79, 0x6c, 0x6b, 0x62, 0x65, |
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0x48, 0x4f, 0x46, 0x41, 0x54, 0x53, 0x5a, 0x5d, 0xe0, 0xe7, 0xee, 0xe9, |
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0xfc, 0xfb, 0xf2, 0xf5, 0xd8, 0xdf, 0xd6, 0xd1, 0xc4, 0xc3, 0xca, 0xcd, |
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0x90, 0x97, 0x9e, 0x99, 0x8c, 0x8b, 0x82, 0x85, 0xa8, 0xaf, 0xa6, 0xa1, |
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0xb4, 0xb3, 0xba, 0xbd, 0xc7, 0xc0, 0xc9, 0xce, 0xdb, 0xdc, 0xd5, 0xd2, |
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0xff, 0xf8, 0xf1, 0xf6, 0xe3, 0xe4, 0xed, 0xea, 0xb7, 0xb0, 0xb9, 0xbe, |
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0xab, 0xac, 0xa5, 0xa2, 0x8f, 0x88, 0x81, 0x86, 0x93, 0x94, 0x9d, 0x9a, |
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0x27, 0x20, 0x29, 0x2e, 0x3b, 0x3c, 0x35, 0x32, 0x1f, 0x18, 0x11, 0x16, |
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0x03, 0x04, 0x0d, 0x0a, 0x57, 0x50, 0x59, 0x5e, 0x4b, 0x4c, 0x45, 0x42, |
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0x6f, 0x68, 0x61, 0x66, 0x73, 0x74, 0x7d, 0x7a, 0x89, 0x8e, 0x87, 0x80, |
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0x95, 0x92, 0x9b, 0x9c, 0xb1, 0xb6, 0xbf, 0xb8, 0xad, 0xaa, 0xa3, 0xa4, |
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0xf9, 0xfe, 0xf7, 0xf0, 0xe5, 0xe2, 0xeb, 0xec, 0xc1, 0xc6, 0xcf, 0xc8, |
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0xdd, 0xda, 0xd3, 0xd4, 0x69, 0x6e, 0x67, 0x60, 0x75, 0x72, 0x7b, 0x7c, |
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0x51, 0x56, 0x5f, 0x58, 0x4d, 0x4a, 0x43, 0x44, 0x19, 0x1e, 0x17, 0x10, |
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0x05, 0x02, 0x0b, 0x0c, 0x21, 0x26, 0x2f, 0x28, 0x3d, 0x3a, 0x33, 0x34, |
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0x4e, 0x49, 0x40, 0x47, 0x52, 0x55, 0x5c, 0x5b, 0x76, 0x71, 0x78, 0x7f, |
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0x6a, 0x6d, 0x64, 0x63, 0x3e, 0x39, 0x30, 0x37, 0x22, 0x25, 0x2c, 0x2b, |
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0x06, 0x01, 0x08, 0x0f, 0x1a, 0x1d, 0x14, 0x13, 0xae, 0xa9, 0xa0, 0xa7, |
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0xb2, 0xb5, 0xbc, 0xbb, 0x96, 0x91, 0x98, 0x9f, 0x8a, 0x8d, 0x84, 0x83, |
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0xde, 0xd9, 0xd0, 0xd7, 0xc2, 0xc5, 0xcc, 0xcb, 0xe6, 0xe1, 0xe8, 0xef, |
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0xfa, 0xfd, 0xf4, 0xf3 |
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}; |
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static uint8_t crc8(uint8_t *p, uint8_t len) |
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{ |
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uint16_t i; |
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uint16_t crc = 0x0; |
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while (len--) { |
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i = (crc ^ *p++) & 0xFF; |
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crc = (crc_table[i] ^ (crc << 8)) & 0xFF; |
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} |
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return crc & 0xFF; |
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} |
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/*
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* Driver 'main' command. |
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*/ |
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extern "C" __EXPORT int trevo_main(int argc, char *argv[]); |
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TREVO::TREVO(int bus, int address) : |
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I2C("TREVO", TREVO_DEVICE_PATH, bus, address, 100000), |
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_min_distance(TREVO_MIN_DISTANCE), |
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_max_distance(TREVO_MAX_DISTANCE), |
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_reports(nullptr), |
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_sensor_ok(false), |
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_valid(0), |
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_measure_ticks(0), |
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_collect_phase(false), |
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_class_instance(-1), |
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_orb_class_instance(-1), |
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_distance_sensor_topic(nullptr), |
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_sample_perf(perf_alloc(PC_ELAPSED, "tr1_read")), |
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_comms_errors(perf_alloc(PC_COUNT, "tr1_com_err")), |
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_buffer_overflows(perf_alloc(PC_COUNT, "tr1_buf_of")) |
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{ |
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// up the retries since the device misses the first measure attempts
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I2C::_retries = 3; |
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// enable debug() calls
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_debug_enabled = false; |
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// work_cancel in the dtor will explode if we don't do this...
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memset(&_work, 0, sizeof(_work)); |
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} |
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TREVO::~TREVO() |
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{ |
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/* make sure we are truly inactive */ |
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stop(); |
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/* free any existing reports */ |
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if (_reports != nullptr) { |
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delete _reports; |
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} |
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if (_class_instance != -1) { |
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unregister_class_devname(RANGE_FINDER_BASE_DEVICE_PATH, _class_instance); |
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} |
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// free perf counters
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perf_free(_sample_perf); |
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perf_free(_comms_errors); |
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perf_free(_buffer_overflows); |
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} |
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int |
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TREVO::init() |
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{ |
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int ret = PX4_ERROR; |
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/* do I2C init (and probe) first */ |
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if (I2C::init() != OK) { |
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goto out; |
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} |
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/* allocate basic report buffers */ |
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_reports = new ringbuffer::RingBuffer(2, sizeof(distance_sensor_s)); |
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if (_reports == nullptr) { |
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goto out; |
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} |
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_class_instance = register_class_devname(RANGE_FINDER_BASE_DEVICE_PATH); |
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if (_class_instance == CLASS_DEVICE_PRIMARY) { |
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/* get a publish handle on the range finder topic */ |
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struct distance_sensor_s ds_report; |
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measure(); |
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_reports->get(&ds_report); |
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_distance_sensor_topic = orb_advertise_multi(ORB_ID(distance_sensor), &ds_report, |
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&_orb_class_instance, ORB_PRIO_LOW); |
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if (_distance_sensor_topic == nullptr) { |
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DEVICE_LOG("failed to create distance_sensor object. Did you start uOrb?"); |
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} |
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} |
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ret = OK; |
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/* sensor is ok, but we don't really know if it is within range */ |
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_sensor_ok = true; |
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out: |
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return ret; |
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} |
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int |
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TREVO::probe() |
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{ |
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uint8_t who_am_i = 0; |
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const uint8_t cmd = TREVO_WHO_AM_I_REG; |
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// set the I2C bus address
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set_address(TREVO_BASEADDR); |
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// can't use a single transfer as TREvo need a bit of time for internal processing
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if (transfer(&cmd, 1, nullptr, 0) == OK) { |
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if (transfer(nullptr, 0, &who_am_i, 1) == OK && who_am_i == TREVO_WHO_AM_I_REG_VAL) { |
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return measure(); |
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} |
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} |
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|
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DEVICE_DEBUG("WHO_AM_I byte mismatch 0x%02x should be 0x%02x\n", |
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(unsigned)who_am_i, |
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TREVO_WHO_AM_I_REG_VAL); |
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// not found on any address
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return -EIO; |
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} |
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void |
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TREVO::set_minimum_distance(float min) |
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{ |
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_min_distance = min; |
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} |
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void |
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TREVO::set_maximum_distance(float max) |
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{ |
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_max_distance = max; |
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} |
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float |
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TREVO::get_minimum_distance() |
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{ |
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return _min_distance; |
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} |
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|
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float |
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TREVO::get_maximum_distance() |
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{ |
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return _max_distance; |
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} |
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|
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int |
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TREVO::ioctl(struct file *filp, int cmd, unsigned long arg) |
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{ |
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switch (cmd) { |
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|
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case SENSORIOCSPOLLRATE: { |
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switch (arg) { |
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|
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/* switching to manual polling */ |
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case SENSOR_POLLRATE_MANUAL: |
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stop(); |
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_measure_ticks = 0; |
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return OK; |
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|
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/* external signalling (DRDY) not supported */ |
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case SENSOR_POLLRATE_EXTERNAL: |
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|
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/* zero would be bad */ |
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case 0: |
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return -EINVAL; |
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|
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/* set default/max polling rate */ |
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case SENSOR_POLLRATE_MAX: |
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case SENSOR_POLLRATE_DEFAULT: { |
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/* do we need to start internal polling? */ |
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bool want_start = (_measure_ticks == 0); |
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|
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/* set interval for next measurement to minimum legal value */ |
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_measure_ticks = USEC2TICK(TREVO_CONVERSION_INTERVAL); |
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|
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/* if we need to start the poll state machine, do it */ |
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if (want_start) { |
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start(); |
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} |
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|
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return OK; |
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} |
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|
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/* adjust to a legal polling interval in Hz */ |
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default: { |
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/* do we need to start internal polling? */ |
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bool want_start = (_measure_ticks == 0); |
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|
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/* convert hz to tick interval via microseconds */ |
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unsigned ticks = USEC2TICK(1000000 / arg); |
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|
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/* check against maximum rate */ |
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if (ticks < USEC2TICK(TREVO_CONVERSION_INTERVAL)) { |
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return -EINVAL; |
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} |
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|
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/* update interval for next measurement */ |
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_measure_ticks = ticks; |
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|
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/* if we need to start the poll state machine, do it */ |
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if (want_start) { |
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start(); |
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} |
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|
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return OK; |
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} |
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} |
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} |
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|
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case SENSORIOCGPOLLRATE: |
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if (_measure_ticks == 0) { |
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return SENSOR_POLLRATE_MANUAL; |
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} |
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|
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return (1000 / _measure_ticks); |
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|
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case SENSORIOCSQUEUEDEPTH: { |
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/* lower bound is mandatory, upper bound is a sanity check */ |
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if ((arg < 1) || (arg > 100)) { |
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return -EINVAL; |
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} |
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|
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irqstate_t flags = px4_enter_critical_section(); |
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|
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if (!_reports->resize(arg)) { |
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px4_leave_critical_section(flags); |
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return -ENOMEM; |
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} |
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|
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px4_leave_critical_section(flags); |
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|
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return OK; |
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} |
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|
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case SENSORIOCGQUEUEDEPTH: |
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return _reports->size(); |
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|
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case SENSORIOCRESET: |
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/* XXX implement this */ |
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return -EINVAL; |
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|
||||
case RANGEFINDERIOCSETMINIUMDISTANCE: { |
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set_minimum_distance(*(float *)arg); |
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return 0; |
||||
} |
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break; |
||||
|
||||
case RANGEFINDERIOCSETMAXIUMDISTANCE: { |
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set_maximum_distance(*(float *)arg); |
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return 0; |
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} |
||||
break; |
||||
|
||||
default: |
||||
/* give it to the superclass */ |
||||
return I2C::ioctl(filp, cmd, arg); |
||||
} |
||||
} |
||||
|
||||
ssize_t |
||||
TREVO::read(struct file *filp, char *buffer, size_t buflen) |
||||
{ |
||||
unsigned count = buflen / sizeof(struct distance_sensor_s); |
||||
struct distance_sensor_s *rbuf = reinterpret_cast<struct distance_sensor_s *>(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(TREVO_CONVERSION_INTERVAL); |
||||
|
||||
/* 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 |
||||
TREVO::measure() |
||||
{ |
||||
int ret; |
||||
|
||||
/*
|
||||
* Send the command to begin a measurement. |
||||
*/ |
||||
const uint8_t cmd = TREVO_MEASURE_REG; |
||||
ret = transfer(&cmd, sizeof(cmd), nullptr, 0); |
||||
|
||||
if (OK != ret) { |
||||
perf_count(_comms_errors); |
||||
DEVICE_LOG("i2c::transfer returned %d", ret); |
||||
return ret; |
||||
} |
||||
|
||||
ret = OK; |
||||
|
||||
return ret; |
||||
} |
||||
|
||||
int |
||||
TREVO::collect() |
||||
{ |
||||
int ret = -EIO; |
||||
|
||||
/* read from the sensor */ |
||||
uint8_t val[3] = {0, 0, 0}; |
||||
|
||||
perf_begin(_sample_perf); |
||||
|
||||
ret = transfer(nullptr, 0, &val[0], 3); |
||||
|
||||
if (ret < 0) { |
||||
DEVICE_LOG("error reading from sensor: %d", ret); |
||||
perf_count(_comms_errors); |
||||
perf_end(_sample_perf); |
||||
return ret; |
||||
} |
||||
|
||||
uint16_t distance_mm = (val[0] << 8) | val[1]; |
||||
float distance_m = float(distance_mm) * 1e-3f; |
||||
struct distance_sensor_s report; |
||||
|
||||
report.timestamp = hrt_absolute_time(); |
||||
/* there is no enum item for a combined LASER and ULTRASOUND which it should be */ |
||||
report.type = distance_sensor_s::MAV_DISTANCE_SENSOR_LASER; |
||||
report.orientation = 8; |
||||
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; |
||||
|
||||
// This validation check can be used later
|
||||
_valid = crc8(val, 2) == val[2] && (float)report.current_distance > report.min_distance |
||||
&& (float)report.current_distance < report.max_distance ? 1 : 0; |
||||
|
||||
/* publish it, if we are the primary */ |
||||
if (_distance_sensor_topic != nullptr) { |
||||
orb_publish(ORB_ID(distance_sensor), _distance_sensor_topic, &report); |
||||
} |
||||
|
||||
if (_reports->force(&report)) { |
||||
perf_count(_buffer_overflows); |
||||
} |
||||
|
||||
/* notify anyone waiting for data */ |
||||
poll_notify(POLLIN); |
||||
|
||||
ret = OK; |
||||
|
||||
perf_end(_sample_perf); |
||||
return ret; |
||||
} |
||||
|
||||
void |
||||
TREVO::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)&TREVO::cycle_trampoline, this, 1); |
||||
|
||||
/* 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 |
||||
TREVO::stop() |
||||
{ |
||||
work_cancel(HPWORK, &_work); |
||||
} |
||||
|
||||
void |
||||
TREVO::cycle_trampoline(void *arg) |
||||
{ |
||||
TREVO *dev = (TREVO *)arg; |
||||
|
||||
dev->cycle(); |
||||
} |
||||
|
||||
void |
||||
TREVO::cycle() |
||||
{ |
||||
/* collection phase? */ |
||||
if (_collect_phase) { |
||||
|
||||
/* perform collection */ |
||||
if (OK != collect()) { |
||||
DEVICE_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(TREVO_CONVERSION_INTERVAL)) { |
||||
/* schedule a fresh cycle call when we are ready to measure again */ |
||||
work_queue(HPWORK, |
||||
&_work, |
||||
(worker_t)&TREVO::cycle_trampoline, |
||||
this, |
||||
_measure_ticks - USEC2TICK(TREVO_CONVERSION_INTERVAL)); |
||||
|
||||
return; |
||||
} |
||||
} |
||||
|
||||
/* measurement phase */ |
||||
if (OK != measure()) { |
||||
DEVICE_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)&TREVO::cycle_trampoline, |
||||
this, |
||||
USEC2TICK(TREVO_CONVERSION_INTERVAL)); |
||||
} |
||||
|
||||
void |
||||
TREVO::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); |
||||
_reports->print_info("report queue"); |
||||
} |
||||
|
||||
/**
|
||||
* Local functions in support of the shell command. |
||||
*/ |
||||
namespace trevo |
||||
{ |
||||
|
||||
TREVO *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 TREVO(TREVO_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(TREVO_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(TREVO_DEVICE_PATH, O_RDONLY); |
||||
|
||||
if (fd < 0) { |
||||
err(1, "%s open failed (try 'trevo start' if the driver is not running", TREVO_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.current_distance); |
||||
warnx("time: %llu", 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 50x and report each value */ |
||||
for (unsigned i = 0; i < 50; 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.current_distance); |
||||
warnx("time: %llu", report.timestamp); |
||||
} |
||||
|
||||
/* 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(TREVO_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 |
||||
trevo_main(int argc, char *argv[]) |
||||
{ |
||||
/*
|
||||
* Start/load the driver. |
||||
*/ |
||||
if (!strcmp(argv[1], "start")) { |
||||
trevo::start(); |
||||
} |
||||
|
||||
/*
|
||||
* Stop the driver |
||||
*/ |
||||
if (!strcmp(argv[1], "stop")) { |
||||
trevo::stop(); |
||||
} |
||||
|
||||
/*
|
||||
* Test the driver/device. |
||||
*/ |
||||
if (!strcmp(argv[1], "test")) { |
||||
trevo::test(); |
||||
} |
||||
|
||||
/*
|
||||
* Reset the driver. |
||||
*/ |
||||
if (!strcmp(argv[1], "reset")) { |
||||
trevo::reset(); |
||||
} |
||||
|
||||
/*
|
||||
* Print driver information. |
||||
*/ |
||||
if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) { |
||||
trevo::info(); |
||||
} |
||||
|
||||
errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'"); |
||||
} |
||||
Loading…
Reference in new issue