LidarLitePWM.h
3.59 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
/****************************************************************************
*
* Copyright (c) 2014-2019 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 LidarLitePWM.h
* @author Johan Jansen <jnsn.johan@gmail.com>
* @author Ban Siesta <bansiesta@gmail.com>
*
* Driver for the PulsedLight Lidar-Lite range finders connected via PWM.
*
* This driver accesses the pwm_input published by the pwm_input driver.
*/
#pragma once
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <uORB/topics/pwm_input.h>
#include <uORB/Subscription.hpp>
#include <board_config.h>
#include <drivers/device/device.h>
#include <lib/drivers/rangefinder/PX4Rangefinder.hpp>
#include <perf/perf_counter.h>
using namespace time_literals;
// Device limits
static constexpr float LL40LS_MIN_DISTANCE{0.05f};
static constexpr float LL40LS_MAX_DISTANCE{25.00f};
static constexpr float LL40LS_MAX_DISTANCE_V2{35.00f};
// Normal conversion wait time.
static constexpr uint32_t LL40LS_CONVERSION_INTERVAL{50_ms};
// Maximum time to wait for a conversion to complete.
static constexpr uint32_t LL40LS_CONVERSION_TIMEOUT{100_ms};
#if DIRECT_PWM_OUTPUT_CHANNELS >= 6
#define GPIO_VDD_RANGEFINDER_EN_CHAN 5 // use pin 6
#define LIDAR_LITE_PWM_SUPPORTED
class LidarLitePWM : public px4::ScheduledWorkItem
{
public:
LidarLitePWM(const uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING);
virtual ~LidarLitePWM();
int init();
void start();
void stop();
void print_info();
protected:
int collect();
int measure();
void Run() override;
private:
uint32_t get_measure_interval() const { return LL40LS_CONVERSION_INTERVAL; };
uORB::Subscription _sub_pwm_input{ORB_ID(pwm_input)};
pwm_input_s _pwm{};
PX4Rangefinder _px4_rangefinder;
perf_counter_t _comms_errors{perf_alloc(PC_COUNT, "ll40ls: comms errors")};
perf_counter_t _sample_perf{perf_alloc(PC_ELAPSED, "ll40ls: read")};
perf_counter_t _sensor_resets{perf_alloc(PC_COUNT, "ll40ls: resets")};
perf_counter_t _sensor_zero_resets{perf_alloc(PC_COUNT, "ll40ls: zero resets")};
};
#endif