diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors
index e356f939d7d5624b7653912c28be1aa78068fdb6..3fc86b0873c20afcaf4936a8bd578bcfbd95aa8d 100644
--- a/ROMFS/px4fmu_common/init.d/rc.sensors
+++ b/ROMFS/px4fmu_common/init.d/rc.sensors
@@ -201,7 +201,7 @@ else
fi
fi
-if sf10a start
+if sf1xx start
then
fi
diff --git a/ROMFS/px4fmu_test/init.d/rc.sensors b/ROMFS/px4fmu_test/init.d/rc.sensors
index 9a4d12192ed0f5b5347dd81318d7f21f194f1830..a39bc4edba86fa5739781dd1279c2a3dd2848c45 100644
--- a/ROMFS/px4fmu_test/init.d/rc.sensors
+++ b/ROMFS/px4fmu_test/init.d/rc.sensors
@@ -190,7 +190,7 @@ else
fi
fi
-if sf10a start
+if sf1xx start
then
fi
diff --git a/ROMFS/tap_common/init.d/rc.sensors b/ROMFS/tap_common/init.d/rc.sensors
index fdb835baffcf811acfd43f9070d95a27f0416760..4e767bdc6cae73fdec591c6f312b48da8d07ba22 100644
--- a/ROMFS/tap_common/init.d/rc.sensors
+++ b/ROMFS/tap_common/init.d/rc.sensors
@@ -35,7 +35,7 @@ if meas_airspeed start
then
fi
-if sf10a start
+if sf1xx start
then
fi
diff --git a/cmake/configs/nuttx_px4fmu-v4_default.cmake b/cmake/configs/nuttx_px4fmu-v4_default.cmake
index fe356e49d6730b54bdedfd0294d975d71ab7b6a1..866e19dc0d5b23cf68a3f772f51619969ad9e2d9 100644
--- a/cmake/configs/nuttx_px4fmu-v4_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v4_default.cmake
@@ -23,7 +23,7 @@ set(config_module_list
drivers/mb12xx
drivers/srf02
drivers/sf0x
- drivers/sf10a
+ drivers/sf1xx
drivers/ll40ls
drivers/trone
drivers/gps
diff --git a/src/drivers/sf10a/CMakeLists.txt b/src/drivers/sf1xx/CMakeLists.txt
similarity index 97%
rename from src/drivers/sf10a/CMakeLists.txt
rename to src/drivers/sf1xx/CMakeLists.txt
index 5db2934a74eb5e2a7a4bb67359e05f8e96f8b792..098bd5417196f0bea76f9dd133e8721bb1bf1250 100644
--- a/src/drivers/sf10a/CMakeLists.txt
+++ b/src/drivers/sf1xx/CMakeLists.txt
@@ -32,12 +32,12 @@
############################################################################
px4_add_module(
- MODULE drivers__sf10a
- MAIN sf10a
+ MODULE drivers__sf1xx
+ MAIN sf1xx
COMPILE_FLAGS
-Os
SRCS
- sf10a.cpp
+ sf1xx.cpp
DEPENDS
platforms__common
)
diff --git a/src/drivers/sf10a/sf10a.cpp b/src/drivers/sf1xx/sf1xx.cpp
similarity index 86%
rename from src/drivers/sf10a/sf10a.cpp
rename to src/drivers/sf1xx/sf1xx.cpp
index ecfa4020d177b0c06fb587ade30daf3b65bfb7ad..6dc55d4916551e316f763b311945d21239bb616d 100644
--- a/src/drivers/sf10a/sf10a.cpp
+++ b/src/drivers/sf1xx/sf1xx.cpp
@@ -32,11 +32,12 @@
****************************************************************************/
/**
- * @file sf10a.cpp
+ * @file sf1xx.cpp
*
* @author ecmnet <ecm@gmx.de>
+ * @author Vasily Evseenko <svpcom@gmail.com>
*
- * Driver for the Lightware SF10x lidar range finder series.
+ * Driver for the Lightware SF1xx lidar range finder series.
* Default I2C address 0x55 is used.
*/
@@ -75,18 +76,18 @@
#include <board_config.h>
/* Configuration Constants */
-#define SF10A_BUS PX4_I2C_BUS_EXPANSION
-#define SF10A_BASEADDR 0x55
-#define SF10A_DEVICE_PATH "/dev/sf10a"
+#define SF1XX_BUS PX4_I2C_BUS_EXPANSION
+#define SF1XX_BASEADDR 0x55
+#define SF1XX_DEVICE_PATH "/dev/sf1xx"
/* Device limits */
-#define SF10A_MIN_DISTANCE (0.01f)
-#define SF10A_MAX_DISTANCE (25.0f)
+#define SF1XX_MIN_DISTANCE (0.01f)
+#define SF1XX_MAX_DISTANCE (120.0f)
/* conversion rates */
-#define SF10A_CONVERSION_INTERVAL 31250 // Maximum rate according to datasheet is 32Hz
+#define SF1XX_CONVERSION_INTERVAL 50000 // Maximum rate according to datasheet is 20Hz
/* oddly, ERROR is not defined for c++ */
@@ -99,11 +100,11 @@ static const int ERROR = -1;
# error This requires CONFIG_SCHED_WORKQUEUE.
#endif
-class SF10A : public device::I2C
+class SF1XX : public device::I2C
{
public:
- SF10A(int bus = SF10A_BUS, int address = SF10A_BASEADDR);
- virtual ~SF10A();
+ SF1XX(int bus = SF1XX_BUS, int address = SF1XX_BASEADDR);
+ virtual ~SF1XX();
virtual int init();
@@ -160,8 +161,8 @@ private:
/**
* 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 SF10A_MIN_DISTANCE
- * and SF10A_MAX_DISTANCE
+ * range to be brought in at all, otherwise it will use the defaults SF1XX_MIN_DISTANCE
+ * and SF1XX_MAX_DISTANCE
*/
void set_minimum_distance(float min);
void set_maximum_distance(float max);
@@ -189,21 +190,21 @@ private:
/*
* Driver 'main' command.
*/
-extern "C" __EXPORT int sf10a_main(int argc, char *argv[]);
+extern "C" __EXPORT int sf1xx_main(int argc, char *argv[]);
-SF10A::SF10A(int bus, int address) :
- I2C("SF10A", SF10A_DEVICE_PATH, bus, address, 100000),
- _min_distance(SF10A_MIN_DISTANCE),
- _max_distance(SF10A_MAX_DISTANCE),
+SF1XX::SF1XX(int bus, int address) :
+ I2C("SF1XX", SF1XX_DEVICE_PATH, bus, address, 400000),
+ _min_distance(SF1XX_MIN_DISTANCE),
+ _max_distance(SF1XX_MAX_DISTANCE),
_reports(nullptr),
_sensor_ok(false),
_measure_ticks(0),
_class_instance(-1),
_orb_class_instance(-1),
_distance_sensor_topic(nullptr),
- _sample_perf(perf_alloc(PC_ELAPSED, "sf10a_read")),
- _comms_errors(perf_alloc(PC_COUNT, "sf10a_com_err")),
- _buffer_overflows(perf_alloc(PC_COUNT, "sf10a_buf_of"))
+ _sample_perf(perf_alloc(PC_ELAPSED, "sf1xx_read")),
+ _comms_errors(perf_alloc(PC_COUNT, "sf1xx_com_err")),
+ _buffer_overflows(perf_alloc(PC_COUNT, "sf1xx_buf_of"))
{
/* enable debug() calls */
@@ -213,7 +214,7 @@ SF10A::SF10A(int bus, int address) :
memset(&_work, 0, sizeof(_work));
}
-SF10A::~SF10A()
+SF1XX::~SF1XX()
{
/* make sure we are truly inactive */
stop();
@@ -234,7 +235,7 @@ SF10A::~SF10A()
}
int
-SF10A::init()
+SF1XX::init()
{
int ret = ERROR;
@@ -246,7 +247,7 @@ SF10A::init()
/* allocate basic report buffers */
_reports = new ringbuffer::RingBuffer(2, sizeof(distance_sensor_s));
- set_address(SF10A_BASEADDR);
+ set_address(SF1XX_BASEADDR);
if (_reports == nullptr) {
return ret;
@@ -264,50 +265,50 @@ SF10A::init()
DEVICE_LOG("failed to create distance_sensor object. Did you start uOrb?");
}
-
+ // Select altitude register
int ret2 = measure();
if (ret2 == 0) {
ret = OK;
_sensor_ok = true;
- DEVICE_LOG("SF10x with address %d found", SF10A_BASEADDR);
+ DEVICE_LOG("SF1xx with address %d found", SF1XX_BASEADDR);
}
return ret;
}
int
-SF10A::probe()
+SF1XX::probe()
{
return measure();
}
void
-SF10A::set_minimum_distance(float min)
+SF1XX::set_minimum_distance(float min)
{
_min_distance = min;
}
void
-SF10A::set_maximum_distance(float max)
+SF1XX::set_maximum_distance(float max)
{
_max_distance = max;
}
float
-SF10A::get_minimum_distance()
+SF1XX::get_minimum_distance()
{
return _min_distance;
}
float
-SF10A::get_maximum_distance()
+SF1XX::get_maximum_distance()
{
return _max_distance;
}
int
-SF10A::ioctl(struct file *filp, int cmd, unsigned long arg)
+SF1XX::ioctl(struct file *filp, int cmd, unsigned long arg)
{
switch (cmd) {
@@ -334,7 +335,7 @@ SF10A::ioctl(struct file *filp, int cmd, unsigned long arg)
bool want_start = (_measure_ticks == 0);
/* set interval for next measurement to minimum legal value */
- _measure_ticks = USEC2TICK(SF10A_CONVERSION_INTERVAL);
+ _measure_ticks = USEC2TICK(SF1XX_CONVERSION_INTERVAL);
/* if we need to start the poll state machine, do it */
if (want_start) {
@@ -354,7 +355,7 @@ SF10A::ioctl(struct file *filp, int cmd, unsigned long arg)
int ticks = USEC2TICK(1000000 / arg);
/* check against maximum rate */
- if (ticks < USEC2TICK(SF10A_CONVERSION_INTERVAL)) {
+ if (ticks < USEC2TICK(SF1XX_CONVERSION_INTERVAL)) {
return -EINVAL;
}
@@ -422,7 +423,7 @@ SF10A::ioctl(struct file *filp, int cmd, unsigned long arg)
}
ssize_t
-SF10A::read(struct file *filp, char *buffer, size_t buflen)
+SF1XX::read(struct file *filp, char *buffer, size_t buflen)
{
unsigned count = buflen / sizeof(struct distance_sensor_s);
struct distance_sensor_s *rbuf = reinterpret_cast<struct distance_sensor_s *>(buffer);
@@ -463,7 +464,7 @@ SF10A::read(struct file *filp, char *buffer, size_t buflen)
}
/* wait for it to complete */
- usleep(SF10A_CONVERSION_INTERVAL);
+ usleep(SF1XX_CONVERSION_INTERVAL);
/* run the collection phase */
if (OK != collect()) {
@@ -482,17 +483,16 @@ SF10A::read(struct file *filp, char *buffer, size_t buflen)
}
int
-SF10A::measure()
+SF1XX::measure()
{
int ret;
/*
- * Send the command to begin a measurement.
+ * Send the command '0' -- read altitude
*/
- uint8_t cmd[1];
- cmd[0] = SF10A_BASEADDR;
- ret = transfer(cmd, 1, nullptr, 0);
+ uint8_t cmd = 0;
+ ret = transfer(&cmd, 1, nullptr, 0);
if (OK != ret) {
perf_count(_comms_errors);
@@ -506,16 +506,14 @@ SF10A::measure()
}
int
-SF10A::collect()
+SF1XX::collect()
{
int ret = -EIO;
/* read from the sensor */
uint8_t val[2] = {0, 0};
- uint8_t cmd = SF10A_BASEADDR;
perf_begin(_sample_perf);
- ret = transfer(&cmd, 1, nullptr, 0);
ret = transfer(nullptr, 0, &val[0], 2);
if (ret < 0) {
@@ -558,34 +556,35 @@ SF10A::collect()
}
void
-SF10A::start()
+SF1XX::start()
{
/* reset the report ring and state machine */
_reports->flush();
+ /* set register to '0' */
+ measure();
+
/* schedule a cycle to start things */
- work_queue(HPWORK, &_work, (worker_t)&SF10A::cycle_trampoline, this, 5);
+ work_queue(HPWORK, &_work, (worker_t)&SF1XX::cycle_trampoline, this, 5);
}
void
-SF10A::stop()
+SF1XX::stop()
{
work_cancel(HPWORK, &_work);
}
void
-SF10A::cycle_trampoline(void *arg)
+SF1XX::cycle_trampoline(void *arg)
{
- SF10A *dev = (SF10A *)arg;
+ SF1XX *dev = (SF1XX *)arg;
dev->cycle();
}
void
-SF10A::cycle()
+SF1XX::cycle()
{
- set_address(SF10A_BASEADDR);
-
/* Collect results */
if (OK != collect()) {
DEVICE_DEBUG("collection error");
@@ -594,24 +593,17 @@ SF10A::cycle()
return;
}
-
- /* Trigger measurement */
- if (OK != measure()) {
- DEVICE_DEBUG("measure error lidar");
- }
-
-
-
/* schedule a fresh cycle call when the measurement is done */
work_queue(HPWORK,
&_work,
- (worker_t)&SF10A::cycle_trampoline,
+ (worker_t)&SF1XX::cycle_trampoline,
this,
- USEC2TICK(SF10A_CONVERSION_INTERVAL));
+ USEC2TICK(SF1XX_CONVERSION_INTERVAL));
+
}
void
-SF10A::print_info()
+SF1XX::print_info()
{
perf_print_counter(_sample_perf);
perf_print_counter(_comms_errors);
@@ -623,7 +615,7 @@ SF10A::print_info()
/**
* Local functions in support of the shell command.
*/
-namespace sf10a
+namespace sf1xx
{
/* oddly, ERROR is not defined for c++ */
@@ -632,7 +624,7 @@ namespace sf10a
#endif
const int ERROR = -1;
-SF10A *g_dev;
+SF1XX *g_dev;
void start();
void stop();
@@ -653,7 +645,7 @@ start()
}
/* create the driver */
- g_dev = new SF10A(SF10A_BUS);
+ g_dev = new SF1XX(SF1XX_BUS);
if (g_dev == nullptr) {
goto fail;
@@ -664,7 +656,7 @@ start()
}
/* set the poll rate to default, starts automatic data collection */
- fd = open(SF10A_DEVICE_PATH, O_RDONLY);
+ fd = open(SF1XX_DEVICE_PATH, O_RDONLY);
if (fd < 0) {
goto fail;
@@ -714,10 +706,10 @@ test()
ssize_t sz;
int ret;
- int fd = open(SF10A_DEVICE_PATH, O_RDONLY);
+ int fd = open(SF1XX_DEVICE_PATH, O_RDONLY);
if (fd < 0) {
- err(1, "%s open failed (try 'sf10a start' if the driver is not running", SF10A_DEVICE_PATH);
+ err(1, "%s open failed (try 'sf1xx start' if the driver is not running", SF1XX_DEVICE_PATH);
}
/* do a simple demand read */
@@ -777,7 +769,7 @@ test()
void
reset()
{
- int fd = open(SF10A_DEVICE_PATH, O_RDONLY);
+ int fd = open(SF1XX_DEVICE_PATH, O_RDONLY);
if (fd < 0) {
err(1, "failed ");
@@ -813,41 +805,41 @@ info()
} /* namespace */
int
-sf10a_main(int argc, char *argv[])
+sf1xx_main(int argc, char *argv[])
{
/*
* Start/load the driver.
*/
if (!strcmp(argv[1], "start")) {
- sf10a::start();
+ sf1xx::start();
}
/*
* Stop the driver
*/
if (!strcmp(argv[1], "stop")) {
- sf10a::stop();
+ sf1xx::stop();
}
/*
* Test the driver/device.
*/
if (!strcmp(argv[1], "test")) {
- sf10a::test();
+ sf1xx::test();
}
/*
* Reset the driver.
*/
if (!strcmp(argv[1], "reset")) {
- sf10a::reset();
+ sf1xx::reset();
}
/*
* Print driver information.
*/
if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) {
- sf10a::info();
+ sf1xx::info();
}
errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'");