Lorenz Meier
11 years ago
22 changed files with 2876 additions and 701 deletions
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|
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#!/usr/bin/env python |
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############################################################################ |
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# |
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# Copyright (C) 2012, 2013 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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# |
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# Log fetcher |
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# |
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# Print list of logs: |
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# python fetch_log.py |
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# |
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# Fetch log: |
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# python fetch_log.py sess001/log001.bin |
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# |
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import serial, time, sys, os |
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|
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def wait_for_string(ser, s, timeout=1.0, debug=False): |
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t0 = time.time() |
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buf = [] |
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res = [] |
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n = 0 |
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while (True): |
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c = ser.read() |
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if debug: |
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sys.stderr.write(c) |
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buf.append(c) |
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if len(buf) > len(s): |
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res.append(buf.pop(0)) |
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n += 1 |
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if n % 10000 == 0: |
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sys.stderr.write(str(n) + "\n") |
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if "".join(buf) == s: |
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break |
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if timeout > 0.0 and time.time() - t0 > timeout: |
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raise Exception("Timeout while waiting for: " + s) |
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return "".join(res) |
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|
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def exec_cmd(ser, cmd, timeout): |
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ser.write(cmd + "\n") |
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ser.flush() |
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wait_for_string(ser, cmd + "\r\n", timeout) |
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return wait_for_string(ser, "nsh> \x1b[K", timeout) |
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|
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def ls_dir(ser, dir, timeout=1.0): |
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res = [] |
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for line in exec_cmd(ser, "ls -l " + dir, timeout).splitlines()[1:]: |
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res.append((line[20:], int(line[11:19].strip()), line[1] == "d")) |
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return res |
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|
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def list_logs(ser): |
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logs_dir = "/fs/microsd/log" |
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res = [] |
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for d in ls_dir(ser, logs_dir): |
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if d[2]: |
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sess_dir = d[0][:-1] |
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for f in ls_dir(ser, logs_dir + "/" + sess_dir): |
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log_file = f[0] |
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log_size = f[1] |
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res.append(sess_dir + "/" + log_file + "\t" + str(log_size)) |
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return "\n".join(res) |
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|
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def fetch_log(ser, fn, timeout): |
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cmd = "dumpfile " + fn |
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ser.write(cmd + "\n") |
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ser.flush() |
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wait_for_string(ser, cmd + "\r\n", timeout, True) |
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res = wait_for_string(ser, "\n", timeout, True) |
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data = [] |
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if res.startswith("OK"): |
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size = int(res.split()[1]) |
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n = 0 |
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print "Reading data:" |
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while (n < size): |
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buf = ser.read(min(size - n, 8192)) |
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data.append(buf) |
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n += len(buf) |
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sys.stdout.write(".") |
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sys.stdout.flush() |
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print |
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else: |
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raise Exception("Error reading log") |
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wait_for_string(ser, "nsh> \x1b[K", timeout) |
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return "".join(data) |
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|
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def main(): |
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dev = "/dev/tty.usbmodem1" |
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ser = serial.Serial(dev, "115200", timeout=0.2) |
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if len(sys.argv) < 2: |
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print list_logs(ser) |
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else: |
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log_file = sys.argv[1] |
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data = fetch_log(ser, "/fs/microsd/log/" + log_file, 1.0) |
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try: |
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os.mkdir(log_file.split("/")[0]) |
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except: |
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pass |
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fout = open(log_file, "wb") |
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fout.write(data) |
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fout.close() |
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ser.close() |
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|
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if __name__ == "__main__": |
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main() |
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@ -0,0 +1,84 @@
@@ -0,0 +1,84 @@
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/****************************************************************************
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* |
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* Copyright (C) 2013 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 Rangefinder driver interface. |
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*/ |
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#ifndef _DRV_PX4FLOW_H |
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#define _DRV_PX4FLOW_H |
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#include <stdint.h> |
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#include <sys/ioctl.h> |
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#include "drv_sensor.h" |
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#include "drv_orb_dev.h" |
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#define PX4FLOW_DEVICE_PATH "/dev/px4flow" |
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/**
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* Optical flow in NED body frame in SI units. |
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* |
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* @see http://en.wikipedia.org/wiki/International_System_of_Units
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*/ |
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struct px4flow_report { |
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uint64_t timestamp; /**< in microseconds since system start */ |
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int16_t flow_raw_x; /**< flow in pixels in X direction, not rotation-compensated */ |
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int16_t flow_raw_y; /**< flow in pixels in Y direction, not rotation-compensated */ |
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float flow_comp_x_m; /**< speed over ground in meters, rotation-compensated */ |
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float flow_comp_y_m; /**< speed over ground in meters, rotation-compensated */ |
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float ground_distance_m; /**< Altitude / distance to ground in meters */ |
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uint8_t quality; /**< Quality of the measurement, 0: bad quality, 255: maximum quality */ |
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uint8_t sensor_id; /**< id of the sensor emitting the flow value */ |
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}; |
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/*
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* ObjDev tag for px4flow data. |
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*/ |
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ORB_DECLARE(optical_flow); |
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/*
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* ioctl() definitions |
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* |
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* px4flow drivers also implement the generic sensor driver |
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* interfaces from drv_sensor.h |
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*/ |
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#define _PX4FLOWIOCBASE (0x7700) |
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#define __PX4FLOWIOC(_n) (_IOC(_PX4FLOWIOCBASE, _n)) |
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#endif /* _DRV_PX4FLOW_H */ |
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@ -0,0 +1,40 @@
@@ -0,0 +1,40 @@
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############################################################################
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#
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# Copyright (c) 2013 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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# Makefile to build the PX4FLOW driver.
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#
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MODULE_COMMAND = px4flow
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SRCS = px4flow.cpp
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@ -0,0 +1,806 @@
@@ -0,0 +1,806 @@
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/****************************************************************************
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* |
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* Copyright (c) 2013 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 |
||||
* 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. |
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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, |
||||
* 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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/**
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* @file px4flow.cpp |
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* @author Dominik Honegger |
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* |
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* Driver for the PX4FLOW module connected via I2C. |
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*/ |
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#include <nuttx/config.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_px4flow.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/optical_flow.h>
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#include <board_config.h> |
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/* Configuration Constants */ |
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#define PX4FLOW_BUS PX4_I2C_BUS_EXPANSION |
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#define I2C_FLOW_ADDRESS 0x45 //* 7-bit address. 8-bit address is 0x8A
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//range 0x42 - 0x49
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/* PX4FLOW Registers addresses */ |
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#define PX4FLOW_REG 0x00 /* Measure Register */ |
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#define PX4FLOW_CONVERSION_INTERVAL 8000 /* 8ms 125Hz |
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/* oddly, ERROR is not defined for c++ */ |
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#ifdef ERROR |
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# undef ERROR |
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#endif |
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static const int ERROR = -1; |
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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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//struct i2c_frame
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//{
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// uint16_t frame_count;
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// int16_t pixel_flow_x_sum;
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// int16_t pixel_flow_y_sum;
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// int16_t flow_comp_m_x;
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// int16_t flow_comp_m_y;
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// int16_t qual;
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// int16_t gyro_x_rate;
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// int16_t gyro_y_rate;
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// int16_t gyro_z_rate;
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// uint8_t gyro_range;
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// uint8_t sonar_timestamp;
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// int16_t ground_distance;
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//};
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//
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//struct i2c_frame f;
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class PX4FLOW : public device::I2C |
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{ |
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public: |
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PX4FLOW(int bus = PX4FLOW_BUS, int address = I2C_FLOW_ADDRESS); |
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virtual ~PX4FLOW(); |
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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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/**
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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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|
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work_s _work; |
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RingBuffer *_reports; |
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bool _sensor_ok; |
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int _measure_ticks; |
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bool _collect_phase; |
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|
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orb_advert_t _px4flow_topic; |
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|
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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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/**
|
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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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/**
|
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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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/**
|
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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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/**
|
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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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|
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}; |
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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 px4flow_main(int argc, char *argv[]); |
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|
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PX4FLOW::PX4FLOW(int bus, int address) : |
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I2C("PX4FLOW", PX4FLOW_DEVICE_PATH, bus, address, 400000),//400khz
|
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_reports(nullptr), |
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_sensor_ok(false), |
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_measure_ticks(0), |
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_collect_phase(false), |
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_px4flow_topic(-1), |
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_sample_perf(perf_alloc(PC_ELAPSED, "px4flow_read")), |
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_comms_errors(perf_alloc(PC_COUNT, "px4flow_comms_errors")), |
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_buffer_overflows(perf_alloc(PC_COUNT, "px4flow_buffer_overflows")) |
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{ |
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// enable debug() calls
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_debug_enabled = true; |
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|
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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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|
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PX4FLOW::~PX4FLOW() |
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{ |
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/* make sure we are truly inactive */ |
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stop(); |
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|
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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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|
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int |
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PX4FLOW::init() |
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{ |
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int ret = ERROR; |
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|
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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(2, sizeof(px4flow_report)); |
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|
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if (_reports == nullptr) |
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goto out; |
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|
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/* get a publish handle on the px4flow topic */ |
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struct px4flow_report zero_report; |
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memset(&zero_report, 0, sizeof(zero_report)); |
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_px4flow_topic = orb_advertise(ORB_ID(optical_flow), &zero_report); |
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|
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if (_px4flow_topic < 0) |
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debug("failed to create px4flow object. Did you start uOrb?"); |
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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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|
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int |
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PX4FLOW::probe() |
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{ |
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return measure(); |
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} |
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|
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int |
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PX4FLOW::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 */ |
||||
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(PX4FLOW_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(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) |
||||
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; |
||||
|
||||
irqstate_t flags = irqsave(); |
||||
if (!_reports->resize(arg)) { |
||||
irqrestore(flags); |
||||
return -ENOMEM; |
||||
} |
||||
irqrestore(flags); |
||||
|
||||
return OK; |
||||
} |
||||
|
||||
case SENSORIOCGQUEUEDEPTH: |
||||
return _reports->size(); |
||||
|
||||
case SENSORIOCRESET: |
||||
/* XXX implement this */ |
||||
return -EINVAL; |
||||
|
||||
default: |
||||
/* give it to the superclass */ |
||||
return I2C::ioctl(filp, cmd, arg); |
||||
} |
||||
} |
||||
|
||||
ssize_t |
||||
PX4FLOW::read(struct file *filp, char *buffer, size_t buflen) |
||||
{ |
||||
unsigned count = buflen / sizeof(struct px4flow_report); |
||||
struct px4flow_report *rbuf = reinterpret_cast<struct px4flow_report *>(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(PX4FLOW_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 |
||||
PX4FLOW::measure() |
||||
{ |
||||
int ret; |
||||
|
||||
/*
|
||||
* Send the command to begin a measurement. |
||||
*/ |
||||
uint8_t cmd = PX4FLOW_REG; |
||||
ret = transfer(&cmd, 1, nullptr, 0); |
||||
|
||||
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; |
||||
} |
||||
|
||||
int |
||||
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}; |
||||
|
||||
perf_begin(_sample_perf); |
||||
|
||||
ret = transfer(nullptr, 0, &val[0], 22); |
||||
|
||||
if (ret < 0) |
||||
{ |
||||
log("error reading from sensor: %d", ret); |
||||
perf_count(_comms_errors); |
||||
perf_end(_sample_perf); |
||||
return ret; |
||||
} |
||||
|
||||
// f.frame_count = val[1] << 8 | val[0];
|
||||
// f.pixel_flow_x_sum= val[3] << 8 | val[2];
|
||||
// f.pixel_flow_y_sum= val[5] << 8 | val[4];
|
||||
// f.flow_comp_m_x= val[7] << 8 | val[6];
|
||||
// f.flow_comp_m_y= val[9] << 8 | val[8];
|
||||
// f.qual= val[11] << 8 | val[10];
|
||||
// f.gyro_x_rate= val[13] << 8 | val[12];
|
||||
// f.gyro_y_rate= val[15] << 8 | val[14];
|
||||
// f.gyro_z_rate= val[17] << 8 | val[16];
|
||||
// f.gyro_range= val[18];
|
||||
// f.sonar_timestamp= val[19];
|
||||
// f.ground_distance= val[21] << 8 | val[20];
|
||||
|
||||
int16_t flowcx = val[7] << 8 | val[6]; |
||||
int16_t flowcy = val[9] << 8 | val[8]; |
||||
int16_t gdist = val[21] << 8 | val[20]; |
||||
|
||||
struct px4flow_report 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.sensor_id = 0; |
||||
report.timestamp = hrt_absolute_time(); |
||||
|
||||
|
||||
/* publish it */ |
||||
orb_publish(ORB_ID(optical_flow), _px4flow_topic, &report); |
||||
|
||||
/* post a report to the ring */ |
||||
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 |
||||
PX4FLOW::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)&PX4FLOW::cycle_trampoline, this, 1); |
||||
|
||||
/* notify about state change */ |
||||
struct subsystem_info_s info = { |
||||
true, |
||||
true, |
||||
true, |
||||
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); |
||||
} |
||||
} |
||||
|
||||
void |
||||
PX4FLOW::stop() |
||||
{ |
||||
work_cancel(HPWORK, &_work); |
||||
} |
||||
|
||||
void |
||||
PX4FLOW::cycle_trampoline(void *arg) |
||||
{ |
||||
PX4FLOW *dev = (PX4FLOW *)arg; |
||||
|
||||
dev->cycle(); |
||||
} |
||||
|
||||
void |
||||
PX4FLOW::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(PX4FLOW_CONVERSION_INTERVAL)) { |
||||
|
||||
/* schedule a fresh cycle call when we are ready to measure again */ |
||||
work_queue(HPWORK, |
||||
&_work, |
||||
(worker_t)&PX4FLOW::cycle_trampoline, |
||||
this, |
||||
_measure_ticks - USEC2TICK(PX4FLOW_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)&PX4FLOW::cycle_trampoline, |
||||
this, |
||||
USEC2TICK(PX4FLOW_CONVERSION_INTERVAL)); |
||||
} |
||||
|
||||
void |
||||
PX4FLOW::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 px4flow |
||||
{ |
||||
|
||||
/* oddly, ERROR is not defined for c++ */ |
||||
#ifdef ERROR |
||||
# undef ERROR |
||||
#endif |
||||
const int ERROR = -1; |
||||
|
||||
PX4FLOW *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 PX4FLOW(PX4FLOW_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(PX4FLOW_DEVICE_PATH, O_RDONLY); |
||||
|
||||
if (fd < 0) |
||||
goto fail; |
||||
|
||||
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MAX) < 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 px4flow_report report; |
||||
ssize_t sz; |
||||
int ret; |
||||
|
||||
int fd = open(PX4FLOW_DEVICE_PATH, O_RDONLY); |
||||
|
||||
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("single read"); |
||||
warnx("flowx: %0.2f m/s", (double)report.flow_comp_x_m); |
||||
warnx("flowy: %0.2f m/s", (double)report.flow_comp_y_m); |
||||
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("flowx: %0.2f m/s", (double)report.flow_comp_x_m); |
||||
warnx("flowy: %0.2f m/s", (double)report.flow_comp_y_m); |
||||
warnx("time: %lld", report.timestamp); |
||||
|
||||
|
||||
} |
||||
|
||||
errx(0, "PASS"); |
||||
} |
||||
|
||||
/**
|
||||
* Reset the driver. |
||||
*/ |
||||
void |
||||
reset() |
||||
{ |
||||
int fd = open(PX4FLOW_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 |
||||
px4flow_main(int argc, char *argv[]) |
||||
{ |
||||
/*
|
||||
* Start/load the driver. |
||||
*/ |
||||
if (!strcmp(argv[1], "start")) |
||||
px4flow::start(); |
||||
|
||||
/*
|
||||
* Stop the driver |
||||
*/ |
||||
if (!strcmp(argv[1], "stop")) |
||||
px4flow::stop(); |
||||
|
||||
/*
|
||||
* Test the driver/device. |
||||
*/ |
||||
if (!strcmp(argv[1], "test")) |
||||
px4flow::test(); |
||||
|
||||
/*
|
||||
* Reset the driver. |
||||
*/ |
||||
if (!strcmp(argv[1], "reset")) |
||||
px4flow::reset(); |
||||
|
||||
/*
|
||||
* Print driver information. |
||||
*/ |
||||
if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) |
||||
px4flow::info(); |
||||
|
||||
errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'"); |
||||
} |
||||
@ -0,0 +1,40 @@
@@ -0,0 +1,40 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2014 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
#
|
||||
# Makefile to build the Lightware laser range finder driver.
|
||||
#
|
||||
|
||||
MODULE_COMMAND = sf0x
|
||||
|
||||
SRCS = sf0x.cpp
|
||||
@ -0,0 +1,977 @@
@@ -0,0 +1,977 @@
|
||||
/****************************************************************************
|
||||
* |
||||
* Copyright (c) 2014 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 sf0x.cpp |
||||
* @author Lorenz Meier <lm@inf.ethz.ch> |
||||
* @author Greg Hulands |
||||
* |
||||
* Driver for the Lightware SF0x laser rangefinder series |
||||
*/ |
||||
|
||||
#include <nuttx/config.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 <termios.h> |
||||
|
||||
#include <nuttx/arch.h> |
||||
#include <nuttx/wqueue.h> |
||||
#include <nuttx/clock.h> |
||||
|
||||
#include <systemlib/perf_counter.h> |
||||
#include <systemlib/err.h> |
||||
|
||||
#include <drivers/drv_hrt.h> |
||||
#include <drivers/drv_range_finder.h> |
||||
#include <drivers/device/device.h> |
||||
#include <drivers/device/ringbuffer.h> |
||||
|
||||
#include <uORB/uORB.h> |
||||
#include <uORB/topics/subsystem_info.h> |
||||
|
||||
#include <board_config.h> |
||||
|
||||
/* Configuration Constants */ |
||||
|
||||
/* 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 |
||||
|
||||
#define SF0X_CONVERSION_INTERVAL 83334 |
||||
#define SF0X_TAKE_RANGE_REG 'd' |
||||
#define SF02F_MIN_DISTANCE 0.0f |
||||
#define SF02F_MAX_DISTANCE 40.0f |
||||
#define SF0X_DEFAULT_PORT "/dev/ttyS2" |
||||
|
||||
class SF0X : public device::CDev |
||||
{ |
||||
public: |
||||
SF0X(const char *port = SF0X_DEFAULT_PORT); |
||||
virtual ~SF0X(); |
||||
|
||||
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; |
||||
RingBuffer *_reports; |
||||
bool _sensor_ok; |
||||
int _measure_ticks; |
||||
bool _collect_phase; |
||||
int _fd; |
||||
char _linebuf[10]; |
||||
unsigned _linebuf_index; |
||||
hrt_abstime _last_read; |
||||
|
||||
orb_advert_t _range_finder_topic; |
||||
|
||||
perf_counter_t _sample_perf; |
||||
perf_counter_t _comms_errors; |
||||
perf_counter_t _buffer_overflows; |
||||
|
||||
/**
|
||||
* 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 SF0X_MIN_DISTANCE |
||||
* and SF0X_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 sf0x_main(int argc, char *argv[]); |
||||
|
||||
SF0X::SF0X(const char *port) : |
||||
CDev("SF0X", RANGE_FINDER_DEVICE_PATH), |
||||
_min_distance(SF02F_MIN_DISTANCE), |
||||
_max_distance(SF02F_MAX_DISTANCE), |
||||
_reports(nullptr), |
||||
_sensor_ok(false), |
||||
_measure_ticks(0), |
||||
_collect_phase(false), |
||||
_fd(-1), |
||||
_linebuf_index(0), |
||||
_last_read(0), |
||||
_range_finder_topic(-1), |
||||
_sample_perf(perf_alloc(PC_ELAPSED, "sf0x_read")), |
||||
_comms_errors(perf_alloc(PC_COUNT, "sf0x_comms_errors")), |
||||
_buffer_overflows(perf_alloc(PC_COUNT, "sf0x_buffer_overflows")) |
||||
{ |
||||
/* open fd */ |
||||
_fd = ::open(port, O_RDWR | O_NOCTTY | O_NONBLOCK); |
||||
|
||||
if (_fd < 0) { |
||||
warnx("FAIL: laser fd"); |
||||
} |
||||
|
||||
/* tell it to stop auto-triggering */ |
||||
char stop_auto = ' '; |
||||
(void)::write(_fd, &stop_auto, 1); |
||||
usleep(100); |
||||
(void)::write(_fd, &stop_auto, 1); |
||||
|
||||
struct termios uart_config; |
||||
|
||||
int termios_state; |
||||
|
||||
/* fill the struct for the new configuration */ |
||||
tcgetattr(_fd, &uart_config); |
||||
|
||||
/* clear ONLCR flag (which appends a CR for every LF) */ |
||||
uart_config.c_oflag &= ~ONLCR; |
||||
/* no parity, one stop bit */ |
||||
uart_config.c_cflag &= ~(CSTOPB | PARENB); |
||||
|
||||
unsigned speed = B9600; |
||||
|
||||
/* set baud rate */ |
||||
if ((termios_state = cfsetispeed(&uart_config, speed)) < 0) { |
||||
warnx("ERR CFG: %d ISPD", termios_state); |
||||
} |
||||
|
||||
if ((termios_state = cfsetospeed(&uart_config, speed)) < 0) { |
||||
warnx("ERR CFG: %d OSPD\n", termios_state); |
||||
} |
||||
|
||||
if ((termios_state = tcsetattr(_fd, TCSANOW, &uart_config)) < 0) { |
||||
warnx("ERR baud %d ATTR", termios_state); |
||||
} |
||||
|
||||
// disable debug() calls
|
||||
_debug_enabled = false; |
||||
|
||||
// work_cancel in the dtor will explode if we don't do this...
|
||||
memset(&_work, 0, sizeof(_work)); |
||||
} |
||||
|
||||
SF0X::~SF0X() |
||||
{ |
||||
/* make sure we are truly inactive */ |
||||
stop(); |
||||
|
||||
/* free any existing reports */ |
||||
if (_reports != nullptr) { |
||||
delete _reports; |
||||
} |
||||
} |
||||
|
||||
int |
||||
SF0X::init() |
||||
{ |
||||
int ret = ERROR; |
||||
unsigned i = 0; |
||||
|
||||
/* do regular cdev init */ |
||||
if (CDev::init() != OK) { |
||||
goto out; |
||||
} |
||||
|
||||
/* allocate basic report buffers */ |
||||
_reports = new RingBuffer(2, sizeof(range_finder_report)); |
||||
|
||||
if (_reports == nullptr) { |
||||
warnx("mem err"); |
||||
goto out; |
||||
} |
||||
|
||||
/* get a publish handle on the range finder topic */ |
||||
struct range_finder_report zero_report; |
||||
memset(&zero_report, 0, sizeof(zero_report)); |
||||
_range_finder_topic = orb_advertise(ORB_ID(sensor_range_finder), &zero_report); |
||||
|
||||
if (_range_finder_topic < 0) { |
||||
warnx("advert err"); |
||||
} |
||||
|
||||
/* attempt to get a measurement 5 times */ |
||||
while (ret != OK && i < 5) { |
||||
|
||||
if (measure()) { |
||||
ret = ERROR; |
||||
_sensor_ok = false; |
||||
} |
||||
|
||||
usleep(100000); |
||||
|
||||
if (collect()) { |
||||
ret = ERROR; |
||||
_sensor_ok = false; |
||||
|
||||
} else { |
||||
ret = OK; |
||||
/* sensor is ok, but we don't really know if it is within range */ |
||||
_sensor_ok = true; |
||||
} |
||||
|
||||
i++; |
||||
} |
||||
|
||||
/* close the fd */ |
||||
::close(_fd); |
||||
_fd = -1; |
||||
out: |
||||
return ret; |
||||
} |
||||
|
||||
int |
||||
SF0X::probe() |
||||
{ |
||||
return measure(); |
||||
} |
||||
|
||||
void |
||||
SF0X::set_minimum_distance(float min) |
||||
{ |
||||
_min_distance = min; |
||||
} |
||||
|
||||
void |
||||
SF0X::set_maximum_distance(float max) |
||||
{ |
||||
_max_distance = max; |
||||
} |
||||
|
||||
float |
||||
SF0X::get_minimum_distance() |
||||
{ |
||||
return _min_distance; |
||||
} |
||||
|
||||
float |
||||
SF0X::get_maximum_distance() |
||||
{ |
||||
return _max_distance; |
||||
} |
||||
|
||||
int |
||||
SF0X::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(SF0X_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(SF0X_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: { |
||||
/* 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; |
||||
} |
||||
|
||||
irqrestore(flags); |
||||
|
||||
return OK; |
||||
} |
||||
|
||||
case SENSORIOCGQUEUEDEPTH: |
||||
return _reports->size(); |
||||
|
||||
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 CDev::ioctl(filp, cmd, arg); |
||||
} |
||||
} |
||||
|
||||
ssize_t |
||||
SF0X::read(struct file *filp, char *buffer, size_t buflen) |
||||
{ |
||||
unsigned count = buflen / sizeof(struct range_finder_report); |
||||
struct range_finder_report *rbuf = reinterpret_cast<struct range_finder_report *>(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(SF0X_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 |
||||
SF0X::measure() |
||||
{ |
||||
int ret; |
||||
|
||||
/*
|
||||
* Send the command to begin a measurement. |
||||
*/ |
||||
char cmd = SF0X_TAKE_RANGE_REG; |
||||
ret = ::write(_fd, &cmd, 1); |
||||
|
||||
if (ret != sizeof(cmd)) { |
||||
perf_count(_comms_errors); |
||||
log("write fail %d", ret); |
||||
return ret; |
||||
} |
||||
|
||||
ret = OK; |
||||
|
||||
return ret; |
||||
} |
||||
|
||||
int |
||||
SF0X::collect() |
||||
{ |
||||
int ret; |
||||
|
||||
perf_begin(_sample_perf); |
||||
|
||||
/* clear buffer if last read was too long ago */ |
||||
uint64_t read_elapsed = hrt_elapsed_time(&_last_read); |
||||
|
||||
if (read_elapsed > (SF0X_CONVERSION_INTERVAL * 2)) { |
||||
_linebuf_index = 0; |
||||
} |
||||
|
||||
/* read from the sensor (uart buffer) */ |
||||
ret = ::read(_fd, &_linebuf[_linebuf_index], sizeof(_linebuf) - _linebuf_index); |
||||
|
||||
if (ret < 0) { |
||||
_linebuf[sizeof(_linebuf) - 1] = '\0'; |
||||
debug("read err: %d lbi: %d buf: %s", ret, (int)_linebuf_index, _linebuf); |
||||
perf_count(_comms_errors); |
||||
perf_end(_sample_perf); |
||||
|
||||
/* only throw an error if we time out */ |
||||
if (read_elapsed > (SF0X_CONVERSION_INTERVAL * 2)) { |
||||
return ret; |
||||
|
||||
} else { |
||||
return -EAGAIN; |
||||
} |
||||
} |
||||
|
||||
_linebuf_index += ret; |
||||
|
||||
if (_linebuf_index >= sizeof(_linebuf)) { |
||||
_linebuf_index = 0; |
||||
} |
||||
|
||||
_last_read = hrt_absolute_time(); |
||||
|
||||
if (_linebuf[_linebuf_index - 2] != '\r' || _linebuf[_linebuf_index - 1] != '\n') { |
||||
/* incomplete read, reschedule ourselves */ |
||||
return -EAGAIN; |
||||
} |
||||
|
||||
char *end; |
||||
float si_units; |
||||
bool valid; |
||||
|
||||
/* enforce line ending */ |
||||
_linebuf[sizeof(_linebuf) - 1] = '\0'; |
||||
|
||||
if (_linebuf[0] == '-' && _linebuf[1] == '-' && _linebuf[2] == '.') { |
||||
si_units = -1.0f; |
||||
valid = false; |
||||
|
||||
} else { |
||||
si_units = strtod(_linebuf, &end); |
||||
valid = true; |
||||
} |
||||
|
||||
debug("val (float): %8.4f, raw: %s\n", si_units, _linebuf); |
||||
|
||||
/* done with this chunk, resetting */ |
||||
_linebuf_index = 0; |
||||
|
||||
struct range_finder_report report; |
||||
|
||||
/* this should be fairly close to the end of the measurement, so the best approximation of the time */ |
||||
report.timestamp = hrt_absolute_time(); |
||||
report.error_count = perf_event_count(_comms_errors); |
||||
report.distance = si_units; |
||||
report.valid = 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, &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 |
||||
SF0X::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)&SF0X::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 |
||||
SF0X::stop() |
||||
{ |
||||
work_cancel(HPWORK, &_work); |
||||
} |
||||
|
||||
void |
||||
SF0X::cycle_trampoline(void *arg) |
||||
{ |
||||
SF0X *dev = static_cast<SF0X *>(arg); |
||||
|
||||
dev->cycle(); |
||||
} |
||||
|
||||
void |
||||
SF0X::cycle() |
||||
{ |
||||
/* fds initialized? */ |
||||
if (_fd < 0) { |
||||
/* open fd */ |
||||
_fd = ::open(SF0X_DEFAULT_PORT, O_RDWR | O_NOCTTY | O_NONBLOCK); |
||||
} |
||||
|
||||
/* collection phase? */ |
||||
if (_collect_phase) { |
||||
|
||||
/* perform collection */ |
||||
int collect_ret = collect(); |
||||
|
||||
if (collect_ret == -EAGAIN) { |
||||
/* reschedule to grab the missing bits, time to transmit 10 bytes @9600 bps */ |
||||
work_queue(HPWORK, |
||||
&_work, |
||||
(worker_t)&SF0X::cycle_trampoline, |
||||
this, |
||||
USEC2TICK(1100)); |
||||
return; |
||||
} |
||||
|
||||
if (OK != collect_ret) { |
||||
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(SF0X_CONVERSION_INTERVAL)) { |
||||
|
||||
/* schedule a fresh cycle call when we are ready to measure again */ |
||||
work_queue(HPWORK, |
||||
&_work, |
||||
(worker_t)&SF0X::cycle_trampoline, |
||||
this, |
||||
_measure_ticks - USEC2TICK(SF0X_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)&SF0X::cycle_trampoline, |
||||
this, |
||||
USEC2TICK(SF0X_CONVERSION_INTERVAL)); |
||||
} |
||||
|
||||
void |
||||
SF0X::print_info() |
||||
{ |
||||
perf_print_counter(_sample_perf); |
||||
perf_print_counter(_comms_errors); |
||||
perf_print_counter(_buffer_overflows); |
||||
printf("poll interval: %d ticks\n", _measure_ticks); |
||||
_reports->print_info("report queue"); |
||||
} |
||||
|
||||
/**
|
||||
* Local functions in support of the shell command. |
||||
*/ |
||||
namespace sf0x |
||||
{ |
||||
|
||||
/* oddly, ERROR is not defined for c++ */ |
||||
#ifdef ERROR |
||||
# undef ERROR |
||||
#endif |
||||
const int ERROR = -1; |
||||
|
||||
SF0X *g_dev; |
||||
|
||||
void start(); |
||||
void stop(); |
||||
void test(); |
||||
void reset(); |
||||
void info(); |
||||
|
||||
/**
|
||||
* Start the driver. |
||||
*/ |
||||
void |
||||
start(const char *port) |
||||
{ |
||||
int fd; |
||||
|
||||
if (g_dev != nullptr) { |
||||
errx(1, "already started"); |
||||
} |
||||
|
||||
/* create the driver */ |
||||
g_dev = new SF0X(port); |
||||
|
||||
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, 0); |
||||
|
||||
if (fd < 0) { |
||||
warnx("device open fail"); |
||||
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 fd = open(RANGE_FINDER_DEVICE_PATH, O_RDONLY); |
||||
|
||||
if (fd < 0) { |
||||
err(1, "%s open failed (try 'sf0x 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; |
||||
int 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); |
||||
} |
||||
|
||||
/* 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(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 |
||||
sf0x_main(int argc, char *argv[]) |
||||
{ |
||||
/*
|
||||
* Start/load the driver. |
||||
*/ |
||||
if (!strcmp(argv[1], "start")) { |
||||
if (argc > 2) { |
||||
sf0x::start(argv[2]); |
||||
|
||||
} else { |
||||
sf0x::start(SF0X_DEFAULT_PORT); |
||||
} |
||||
} |
||||
|
||||
/*
|
||||
* Stop the driver |
||||
*/ |
||||
if (!strcmp(argv[1], "stop")) { |
||||
sf0x::stop(); |
||||
} |
||||
|
||||
/*
|
||||
* Test the driver/device. |
||||
*/ |
||||
if (!strcmp(argv[1], "test")) { |
||||
sf0x::test(); |
||||
} |
||||
|
||||
/*
|
||||
* Reset the driver. |
||||
*/ |
||||
if (!strcmp(argv[1], "reset")) { |
||||
sf0x::reset(); |
||||
} |
||||
|
||||
/*
|
||||
* Print driver information. |
||||
*/ |
||||
if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) { |
||||
sf0x::info(); |
||||
} |
||||
|
||||
errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'"); |
||||
} |
||||
@ -0,0 +1,116 @@
@@ -0,0 +1,116 @@
|
||||
/****************************************************************************
|
||||
* |
||||
* Copyright (c) 2014 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 dumpfile.c |
||||
* |
||||
* Dump file utility. Prints file size and contents in binary mode (don't replace LF with CR LF) to stdout. |
||||
* |
||||
* @author Anton Babushkin <anton.babushkin@me.com> |
||||
*/ |
||||
|
||||
#include <nuttx/config.h> |
||||
#include <unistd.h> |
||||
#include <stdio.h> |
||||
#include <string.h> |
||||
#include <stdlib.h> |
||||
#include <fcntl.h> |
||||
#include <termios.h> |
||||
|
||||
#include <systemlib/err.h> |
||||
|
||||
__EXPORT int dumpfile_main(int argc, char *argv[]); |
||||
|
||||
int |
||||
dumpfile_main(int argc, char *argv[]) |
||||
{ |
||||
if (argc < 2) { |
||||
errx(1, "usage: dumpfile <filename>"); |
||||
} |
||||
|
||||
/* open input file */ |
||||
FILE *f; |
||||
f = fopen(argv[1], "r"); |
||||
|
||||
if (f == NULL) { |
||||
printf("ERROR\n"); |
||||
exit(1); |
||||
} |
||||
|
||||
/* get file size */ |
||||
fseek(f, 0L, SEEK_END); |
||||
int size = ftell(f); |
||||
fseek(f, 0L, SEEK_SET); |
||||
|
||||
printf("OK %d\n", size); |
||||
|
||||
/* configure stdout */ |
||||
int out = fileno(stdout); |
||||
|
||||
struct termios tc; |
||||
struct termios tc_old; |
||||
tcgetattr(out, &tc); |
||||
|
||||
/* save old terminal attributes to restore it later on exit */ |
||||
memcpy(&tc_old, &tc, sizeof(tc)); |
||||
|
||||
/* don't add CR on each LF*/ |
||||
tc.c_oflag &= ~ONLCR; |
||||
|
||||
if (tcsetattr(out, TCSANOW, &tc) < 0) { |
||||
warnx("ERROR setting stdout attributes"); |
||||
exit(1); |
||||
} |
||||
|
||||
char buf[512]; |
||||
int nread; |
||||
|
||||
/* dump file */ |
||||
while ((nread = fread(buf, 1, sizeof(buf), f)) > 0) { |
||||
if (write(out, buf, nread) <= 0) { |
||||
warnx("error dumping file"); |
||||
break; |
||||
} |
||||
} |
||||
|
||||
fsync(out); |
||||
fclose(f); |
||||
|
||||
/* restore old terminal attributes */ |
||||
if (tcsetattr(out, TCSANOW, &tc_old) < 0) { |
||||
warnx("ERROR restoring stdout attributes"); |
||||
exit(1); |
||||
} |
||||
|
||||
return OK; |
||||
} |
||||
@ -0,0 +1,41 @@
@@ -0,0 +1,41 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2014 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
#
|
||||
# Dump file utility
|
||||
#
|
||||
|
||||
MODULE_COMMAND = dumpfile
|
||||
SRCS = dumpfile.c
|
||||
|
||||
MAXOPTIMIZATION = -Os
|
||||
Loading…
Reference in new issue