diff --git a/src/drivers/distance_sensor/cm8jl65/cm8jl65.cpp b/src/drivers/distance_sensor/cm8jl65/cm8jl65.cpp
index c08aada2175271eae4c20094c19a3f54d44a326e..15b8ec9faa601a3ce28e3d87fefc0cde71a858cb 100644
--- a/src/drivers/distance_sensor/cm8jl65/cm8jl65.cpp
+++ b/src/drivers/distance_sensor/cm8jl65/cm8jl65.cpp
@@ -41,33 +41,33 @@
*
*/
- #include <px4_config.h>
- #include <px4_getopt.h>
- #include <px4_workqueue.h>
+#include <px4_config.h>
+#include <px4_getopt.h>
+#include <px4_workqueue.h>
- #include <sys/types.h>
- #include <stdint.h>
- #include <stdlib.h>
- #include <stdbool.h>
- #include <string.h>
- #include <poll.h>
- #include <stdio.h>
- #include <unistd.h>
- #include <termios.h>
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdlib.h>
+#include <stdbool.h>
+#include <string.h>
+#include <poll.h>
+#include <stdio.h>
+#include <unistd.h>
+#include <termios.h>
- #include <perf/perf_counter.h>
+#include <perf/perf_counter.h>
- #include <drivers/drv_hrt.h>
- #include <drivers/drv_range_finder.h>
- #include <drivers/device/device.h>
- #include <drivers/device/ringbuffer.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/distance_sensor.h>
+#include <uORB/uORB.h>
+#include <uORB/topics/distance_sensor.h>
- #include "cm8jl65_parser.h"
+#include "cm8jl65_parser.h"
- /* Configuration Constants */
+/* Configuration Constants */
#ifndef CONFIG_SCHED_WORKQUEUE
# error This requires CONFIG_SCHED_WORKQUEUE.
@@ -82,91 +82,91 @@
#define CM8JL65_CONVERSION_INTERVAL 50*1000UL/* 50ms */
- class CM8JL65 : public cdev::CDev
- {
- public:
+class CM8JL65 : public cdev::CDev
+{
+public:
- // Constructor
- CM8JL65(const char *port = CM8JL65_DEFAULT_PORT, uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING);
+ // Constructor
+ CM8JL65(const char *port = CM8JL65_DEFAULT_PORT, uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING);
- // Virtual destructor
- virtual ~CM8JL65();
+ // Virtual destructor
+ virtual ~CM8JL65();
- virtual int init();
- virtual int ioctl(device::file_t *filp, int cmd, unsigned long arg);
+ virtual int init();
+ virtual int ioctl(device::file_t *filp, int cmd, unsigned long arg);
- /**
- * Diagnostics - print some basic information about the driver.
- */
- void print_info();
+ /**
+ * Diagnostics - print some basic information about the driver.
+ */
+ void print_info();
- private:
+private:
- char _port[20];
- uint8_t _rotation;
- float _min_distance;
- float _max_distance;
- int _conversion_interval;
- work_s _work{};
- ringbuffer::RingBuffer *_reports;
- int _fd;
- uint8_t _linebuf[25];
- uint8_t _cycle_counter;
+ char _port[20];
+ uint8_t _rotation;
+ float _min_distance;
+ float _max_distance;
+ int _conversion_interval;
+ work_s _work{};
+ ringbuffer::RingBuffer *_reports;
+ int _fd;
+ uint8_t _linebuf[25];
+ uint8_t _cycle_counter;
- enum CM8JL65_PARSE_STATE _parse_state;
- unsigned char _frame_data[4];
- uint16_t _crc16;
- int _distance_mm;
+ enum CM8JL65_PARSE_STATE _parse_state;
+ unsigned char _frame_data[4];
+ uint16_t _crc16;
+ int _distance_mm;
- int _class_instance;
- int _orb_class_instance;
+ int _class_instance;
+ int _orb_class_instance;
- orb_advert_t _distance_sensor_topic;
+ orb_advert_t _distance_sensor_topic;
- perf_counter_t _sample_perf;
- perf_counter_t _comms_errors;
+ perf_counter_t _sample_perf;
+ perf_counter_t _comms_errors;
- /**
+ /**
* 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();
+ void start();
- /**
- * Stop the automatic measurement state machine.
- */
- void stop();
+ /**
+ * Stop the automatic measurement state machine.
+ */
+ void stop();
- /**
+ /**
* Set the min and max distance thresholds.
- */
- void set_minimum_distance(float min);
- void set_maximum_distance(float max);
- float get_minimum_distance();
- float get_maximum_distance();
-
- /**
- * Perform a reading cycle; collect from the previous measurement
- * and start a new one.
- */
- void cycle();
- 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 cm8jl65_main(int argc, char *argv[]);
+ */
+ void set_minimum_distance(float min);
+ void set_maximum_distance(float max);
+ float get_minimum_distance();
+ float get_maximum_distance();
+
+ /**
+ * Perform a reading cycle; collect from the previous measurement
+ * and start a new one.
+ */
+ void cycle();
+ 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 cm8jl65_main(int argc, char *argv[]);
/**
* Method : Constructor
@@ -174,7 +174,7 @@
* @note This method initializes the class variables
*/
- CM8JL65::CM8JL65(const char *port, uint8_t rotation) :
+CM8JL65::CM8JL65(const char *port, uint8_t rotation) :
CDev(RANGE_FINDER0_DEVICE_PATH),
_rotation(rotation),
_min_distance(0.10f),
@@ -182,17 +182,17 @@
_conversion_interval(CM8JL65_CONVERSION_INTERVAL),
_reports(nullptr),
_fd(-1),
- _cycle_counter(0),
+ _cycle_counter(0),
_parse_state(STATE0_WAITING_FRAME),
- _frame_data{START_FRAME_DIGIT1, START_FRAME_DIGIT2, 0, 0},
- _crc16(0),
- _distance_mm(-1),
+ _frame_data{START_FRAME_DIGIT1, START_FRAME_DIGIT2, 0, 0},
+ _crc16(0),
+ _distance_mm(-1),
_class_instance(-1),
_orb_class_instance(-1),
_distance_sensor_topic(nullptr),
_sample_perf(perf_alloc(PC_ELAPSED, "cm8jl65_read")),
_comms_errors(perf_alloc(PC_COUNT, "cm8jl65_com_err"))
- {
+{
/* store port name */
strncpy(_port, port, sizeof(_port));
/* enforce null termination */
@@ -228,39 +228,40 @@ CM8JL65::~CM8JL65()
int
CM8JL65::init()
{
- /* status */
-int ret = 0;
+ /* status */
+ int ret = 0;
-do { /* create a scope to handle exit conditions using break */
+ do { /* create a scope to handle exit conditions using break */
- /* do regular cdev init */
- ret = CDev::init();
+ /* do regular cdev init */
+ ret = CDev::init();
- if (ret != OK) { break; }
+ if (ret != OK) { break; }
- /* allocate basic report buffers */
- _reports = new ringbuffer::RingBuffer(2, sizeof(distance_sensor_s));
+ /* allocate basic report buffers */
+ _reports = new ringbuffer::RingBuffer(2, sizeof(distance_sensor_s));
- if (_reports == nullptr) {
- PX4_ERR("alloc failed");
- ret = -1;
- break;
- }
- _class_instance = register_class_devname(RANGE_FINDER_BASE_DEVICE_PATH);
+ if (_reports == nullptr) {
+ PX4_ERR("alloc failed");
+ ret = -1;
+ break;
+ }
- /* get a publish handle on the range finder topic */
- struct distance_sensor_s ds_report = {};
+ _class_instance = register_class_devname(RANGE_FINDER_BASE_DEVICE_PATH);
- _distance_sensor_topic = orb_advertise_multi(ORB_ID(distance_sensor), &ds_report,
- &_orb_class_instance, ORB_PRIO_HIGH);
+ /* get a publish handle on the range finder topic */
+ struct distance_sensor_s ds_report = {};
- if (_distance_sensor_topic == nullptr) {
- PX4_ERR("failed to create distance_sensor object");
- }
+ _distance_sensor_topic = orb_advertise_multi(ORB_ID(distance_sensor), &ds_report,
+ &_orb_class_instance, ORB_PRIO_HIGH);
+
+ if (_distance_sensor_topic == nullptr) {
+ PX4_ERR("failed to create distance_sensor object");
+ }
- } while (0);
+ } while (0);
- return ret;
+ return ret;
}
void
@@ -316,7 +317,7 @@ CM8JL65::ioctl(device::file_t *filp, int cmd, unsigned long arg)
return -EINVAL;
}
- start();
+ start();
return OK;
@@ -339,61 +340,64 @@ int
*/
CM8JL65::collect()
{
- int bytes_read = 0;
- int bytes_processed = 0;
- int i = 0;
- bool crc_valid = false;
+ int bytes_read = 0;
+ int bytes_processed = 0;
+ int i = 0;
+ bool crc_valid = false;
+
+
+ perf_begin(_sample_perf);
+
+ /* read from the sensor (uart buffer) */
+ bytes_read = ::read(_fd, &_linebuf[0], sizeof(_linebuf));
- perf_begin(_sample_perf);
+ if (bytes_read < 0) {
+ PX4_DEBUG("read err: %d \n", bytes_read);
+ perf_count(_comms_errors);
+ perf_end(_sample_perf);
- /* read from the sensor (uart buffer) */
- bytes_read = ::read(_fd, &_linebuf[0], sizeof(_linebuf));
+ } else if (bytes_read > 0) {
+ // printf("Bytes read: %d \n",bytes_read);
+ i = bytes_read - 6 ;
+ while ((i >= 0) && (!crc_valid)) {
+ if (_linebuf[i] == START_FRAME_DIGIT1) {
+ bytes_processed = i;
+
+ while ((bytes_processed < bytes_read) && (!crc_valid)) {
+ // printf("In the cycle, processing byte %d, 0x%02X \n",bytes_processed, _linebuf[bytes_processed]);
+ if (OK == cm8jl65_parser(_linebuf[bytes_processed], _frame_data, &_parse_state, &_crc16, &_distance_mm)) {
+ crc_valid = true;
+ }
+
+ bytes_processed++;
+ }
- if (bytes_read < 0) {
- PX4_DEBUG("read err: %d \n", bytes_read);
- perf_count(_comms_errors);
- perf_end(_sample_perf);
+ _parse_state = STATE0_WAITING_FRAME;
- } else if (bytes_read > 0){
- // printf("Bytes read: %d \n",bytes_read);
- i = bytes_read - 6 ;
- while ((i >=0) && (!crc_valid))
- {
- if (_linebuf[i] == START_FRAME_DIGIT1) {
- bytes_processed = i;
- while ((bytes_processed < bytes_read) && (!crc_valid))
- {
- // printf("In the cycle, processing byte %d, 0x%02X \n",bytes_processed, _linebuf[bytes_processed]);
- if (OK == cm8jl65_parser(_linebuf[bytes_processed],_frame_data, &_parse_state,&_crc16, &_distance_mm)){
- crc_valid = true;
- }
- bytes_processed++;
- }
- _parse_state = STATE0_WAITING_FRAME;
+ }
- }
- // else {printf("Starting frame wrong. Index: %d value 0x%02X \n",i,_linebuf[i]);}
- i--;
- }
+ // else {printf("Starting frame wrong. Index: %d value 0x%02X \n",i,_linebuf[i]);}
+ i--;
+ }
- }
+ }
- if (!crc_valid) {
+ if (!crc_valid) {
return -EAGAIN;
}
- //printf("val (int): %d, raw: 0x%08X, valid: %s \n", _distance_mm, _frame_data, ((crc_valid) ? "OK" : "NO"));
+ //printf("val (int): %d, raw: 0x%08X, valid: %s \n", _distance_mm, _frame_data, ((crc_valid) ? "OK" : "NO"));
struct distance_sensor_s report;
report.timestamp = hrt_absolute_time();
report.type = distance_sensor_s::MAV_DISTANCE_SENSOR_LASER;
report.orientation = _rotation;
- report.current_distance = _distance_mm/1000.0f;
+ report.current_distance = _distance_mm / 1000.0f;
report.min_distance = get_minimum_distance();
report.max_distance = get_maximum_distance();
report.covariance = 0.0f;
@@ -413,19 +417,19 @@ CM8JL65::collect()
perf_end(_sample_perf);
- /* ENABLE THIS IF YOU WANT TO PRINT OLD VALUES WHILE CRC CHECK IS WRONG
- if (!crc_valid) {
- return -EAGAIN;
- }
- else return OK; */
- return OK;
+ /* ENABLE THIS IF YOU WANT TO PRINT OLD VALUES WHILE CRC CHECK IS WRONG
+ if (!crc_valid) {
+ return -EAGAIN;
+ }
+ else return OK; */
+ return OK;
}
void
CM8JL65::start()
{
- PX4_INFO("driver started");
+ PX4_INFO("driver started");
_reports->flush();
@@ -451,11 +455,11 @@ CM8JL65::cycle_trampoline(void *arg)
void
CM8JL65::cycle()
{
- //PX4_DEBUG("CM8JL65::cycle() - in the cycle");
+ //PX4_DEBUG("CM8JL65::cycle() - in the cycle");
/* fds initialized? */
if (_fd < 0) {
/* open fd */
- _fd = ::open(_port,O_RDWR);
+ _fd = ::open(_port, O_RDWR);
if (_fd < 0) {
PX4_ERR("open failed (%i)", errno);
@@ -491,21 +495,21 @@ CM8JL65::cycle()
}
}
- /* perform collection */
- int collect_ret = collect();
+ /* perform collection */
+ int collect_ret = collect();
- if (collect_ret == -EAGAIN) {
- _cycle_counter++;
- /* We are missing bytes to complete the packet, re-cycle at 1ms */
+ if (collect_ret == -EAGAIN) {
+ _cycle_counter++;
+ /* We are missing bytes to complete the packet, re-cycle at 1ms */
// work_queue(HPWORK,&_work,(worker_t)&CM8JL65::cycle_trampoline,this,USEC2TICK(1000LL));
// return;
- }
+ }
/* schedule a fresh cycle call when a complete packet has been received */
//work_queue(HPWORK,&_work,(worker_t)&CM8JL65::cycle_trampoline,this,USEC2TICK(_conversion_interval - _cycle_counter * 1000LL));
- work_queue(HPWORK,&_work,(worker_t)&CM8JL65::cycle_trampoline,this,USEC2TICK(_conversion_interval));
- _cycle_counter = 0;
+ work_queue(HPWORK, &_work, (worker_t)&CM8JL65::cycle_trampoline, this, USEC2TICK(_conversion_interval));
+ _cycle_counter = 0;
}
void
@@ -563,14 +567,16 @@ start(const char *port, uint8_t rotation)
}
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
- PX4_ERR("failed to set baudrate %d", B115200);
+ PX4_ERR("failed to set baudrate %d", B115200);
goto fail;
}
- PX4_DEBUG("cm8jl65::start() succeeded");
+
+ PX4_DEBUG("cm8jl65::start() succeeded");
return 0;
fail:
- PX4_DEBUG("cm8jl65::start() failed");
+ PX4_DEBUG("cm8jl65::start() failed");
+
if (g_dev != nullptr) {
delete g_dev;
g_dev = nullptr;
diff --git a/src/drivers/distance_sensor/cm8jl65/cm8jl65_parser.cpp b/src/drivers/distance_sensor/cm8jl65/cm8jl65_parser.cpp
index b437972d4e5d212336db53e80890aa57cb981bd3..46cf0b0ff591829818591d043fa8d40345a03696 100644
--- a/src/drivers/distance_sensor/cm8jl65/cm8jl65_parser.cpp
+++ b/src/drivers/distance_sensor/cm8jl65/cm8jl65_parser.cpp
@@ -50,144 +50,154 @@
// Note : No clue what those static variables are
static const unsigned char crc_msb_vector[] = {
- 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
- 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
- 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
- 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
- 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
- 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
- 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
- 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
- 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
- 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
- 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
- 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
- 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
- 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
- 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
- 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
- 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
- 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
- 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
- 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
- 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
- 0x00, 0xC1, 0x81, 0x40
+ 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
+ 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
+ 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
+ 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
+ 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
+ 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
+ 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
+ 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
+ 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
+ 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
+ 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
+ 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
+ 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
+ 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
+ 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
+ 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
+ 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
+ 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
+ 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
+ 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
+ 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
+ 0x00, 0xC1, 0x81, 0x40
};
static const unsigned char crc_lsb_vector[] = {
- 0x00, 0xC0, 0xC1, 0x01, 0xC3, 0x03, 0x02, 0xC2, 0xC6, 0x06, 0x07, 0xC7,
- 0x05, 0xC5, 0xC4, 0x04, 0xCC, 0x0C, 0x0D, 0xCD, 0x0F, 0xCF, 0xCE, 0x0E,
- 0x0A, 0xCA, 0xCB, 0x0B, 0xC9, 0x09, 0x08, 0xC8, 0xD8, 0x18, 0x19, 0xD9,
- 0x1B, 0xDB, 0xDA, 0x1A, 0x1E, 0xDE, 0xDF, 0x1F, 0xDD, 0x1D, 0x1C, 0xDC,
- 0x14, 0xD4, 0xD5, 0x15, 0xD7, 0x17, 0x16, 0xD6, 0xD2, 0x12, 0x13, 0xD3,
- 0x11, 0xD1, 0xD0, 0x10, 0xF0, 0x30, 0x31, 0xF1, 0x33, 0xF3, 0xF2, 0x32,
- 0x36, 0xF6, 0xF7, 0x37, 0xF5, 0x35, 0x34, 0xF4, 0x3C, 0xFC, 0xFD, 0x3D,
- 0xFF, 0x3F, 0x3E, 0xFE, 0xFA, 0x3A, 0x3B, 0xFB, 0x39, 0xF9, 0xF8, 0x38,
- 0x28, 0xE8, 0xE9, 0x29, 0xEB, 0x2B, 0x2A, 0xEA, 0xEE, 0x2E, 0x2F, 0xEF,
- 0x2D, 0xED, 0xEC, 0x2C, 0xE4, 0x24, 0x25, 0xE5, 0x27, 0xE7, 0xE6, 0x26,
- 0x22, 0xE2, 0xE3, 0x23, 0xE1, 0x21, 0x20, 0xE0, 0xA0, 0x60, 0x61, 0xA1,
- 0x63, 0xA3, 0xA2, 0x62, 0x66, 0xA6, 0xA7, 0x67, 0xA5, 0x65, 0x64, 0xA4,
- 0x6C, 0xAC, 0xAD, 0x6D, 0xAF, 0x6F, 0x6E, 0xAE, 0xAA, 0x6A, 0x6B, 0xAB,
- 0x69, 0xA9, 0xA8, 0x68, 0x78, 0xB8, 0xB9, 0x79, 0xBB, 0x7B, 0x7A, 0xBA,
- 0xBE, 0x7E, 0x7F, 0xBF, 0x7D, 0xBD, 0xBC, 0x7C, 0xB4, 0x74, 0x75, 0xB5,
- 0x77, 0xB7, 0xB6, 0x76, 0x72, 0xB2, 0xB3, 0x73, 0xB1, 0x71, 0x70, 0xB0,
- 0x50, 0x90, 0x91, 0x51, 0x93, 0x53, 0x52, 0x92, 0x96, 0x56, 0x57, 0x97,
- 0x55, 0x95, 0x94, 0x54, 0x9C, 0x5C, 0x5D, 0x9D, 0x5F, 0x9F, 0x9E, 0x5E,
- 0x5A, 0x9A, 0x9B, 0x5B, 0x99, 0x59, 0x58, 0x98, 0x88, 0x48, 0x49, 0x89,
- 0x4B, 0x8B, 0x8A, 0x4A, 0x4E, 0x8E, 0x8F, 0x4F, 0x8D, 0x4D, 0x4C, 0x8C,
- 0x44, 0x84, 0x85, 0x45, 0x87, 0x47, 0x46, 0x86, 0x82, 0x42, 0x43, 0x83,
- 0x41, 0x81, 0x80, 0x40
+ 0x00, 0xC0, 0xC1, 0x01, 0xC3, 0x03, 0x02, 0xC2, 0xC6, 0x06, 0x07, 0xC7,
+ 0x05, 0xC5, 0xC4, 0x04, 0xCC, 0x0C, 0x0D, 0xCD, 0x0F, 0xCF, 0xCE, 0x0E,
+ 0x0A, 0xCA, 0xCB, 0x0B, 0xC9, 0x09, 0x08, 0xC8, 0xD8, 0x18, 0x19, 0xD9,
+ 0x1B, 0xDB, 0xDA, 0x1A, 0x1E, 0xDE, 0xDF, 0x1F, 0xDD, 0x1D, 0x1C, 0xDC,
+ 0x14, 0xD4, 0xD5, 0x15, 0xD7, 0x17, 0x16, 0xD6, 0xD2, 0x12, 0x13, 0xD3,
+ 0x11, 0xD1, 0xD0, 0x10, 0xF0, 0x30, 0x31, 0xF1, 0x33, 0xF3, 0xF2, 0x32,
+ 0x36, 0xF6, 0xF7, 0x37, 0xF5, 0x35, 0x34, 0xF4, 0x3C, 0xFC, 0xFD, 0x3D,
+ 0xFF, 0x3F, 0x3E, 0xFE, 0xFA, 0x3A, 0x3B, 0xFB, 0x39, 0xF9, 0xF8, 0x38,
+ 0x28, 0xE8, 0xE9, 0x29, 0xEB, 0x2B, 0x2A, 0xEA, 0xEE, 0x2E, 0x2F, 0xEF,
+ 0x2D, 0xED, 0xEC, 0x2C, 0xE4, 0x24, 0x25, 0xE5, 0x27, 0xE7, 0xE6, 0x26,
+ 0x22, 0xE2, 0xE3, 0x23, 0xE1, 0x21, 0x20, 0xE0, 0xA0, 0x60, 0x61, 0xA1,
+ 0x63, 0xA3, 0xA2, 0x62, 0x66, 0xA6, 0xA7, 0x67, 0xA5, 0x65, 0x64, 0xA4,
+ 0x6C, 0xAC, 0xAD, 0x6D, 0xAF, 0x6F, 0x6E, 0xAE, 0xAA, 0x6A, 0x6B, 0xAB,
+ 0x69, 0xA9, 0xA8, 0x68, 0x78, 0xB8, 0xB9, 0x79, 0xBB, 0x7B, 0x7A, 0xBA,
+ 0xBE, 0x7E, 0x7F, 0xBF, 0x7D, 0xBD, 0xBC, 0x7C, 0xB4, 0x74, 0x75, 0xB5,
+ 0x77, 0xB7, 0xB6, 0x76, 0x72, 0xB2, 0xB3, 0x73, 0xB1, 0x71, 0x70, 0xB0,
+ 0x50, 0x90, 0x91, 0x51, 0x93, 0x53, 0x52, 0x92, 0x96, 0x56, 0x57, 0x97,
+ 0x55, 0x95, 0x94, 0x54, 0x9C, 0x5C, 0x5D, 0x9D, 0x5F, 0x9F, 0x9E, 0x5E,
+ 0x5A, 0x9A, 0x9B, 0x5B, 0x99, 0x59, 0x58, 0x98, 0x88, 0x48, 0x49, 0x89,
+ 0x4B, 0x8B, 0x8A, 0x4A, 0x4E, 0x8E, 0x8F, 0x4F, 0x8D, 0x4D, 0x4C, 0x8C,
+ 0x44, 0x84, 0x85, 0x45, 0x87, 0x47, 0x46, 0x86, 0x82, 0x42, 0x43, 0x83,
+ 0x41, 0x81, 0x80, 0x40
};
-unsigned short crc16_calc(unsigned char *dataFrame,uint8_t crc16_length) {
- unsigned char crc_high_byte = 0xFF;
- unsigned char crc_low_byte = 0xFF;
- int i;
- while (crc16_length--) {
- i = crc_low_byte ^ *(dataFrame++);
- crc_low_byte = (unsigned char)(crc_high_byte ^ crc_msb_vector[i]);
- crc_high_byte = crc_lsb_vector[i];
- }
- return (unsigned short)(crc_high_byte << 8 | crc_low_byte);
+unsigned short crc16_calc(unsigned char *dataFrame, uint8_t crc16_length)
+{
+ unsigned char crc_high_byte = 0xFF;
+ unsigned char crc_low_byte = 0xFF;
+ int i;
+
+ while (crc16_length--) {
+ i = crc_low_byte ^ *(dataFrame++);
+ crc_low_byte = (unsigned char)(crc_high_byte ^ crc_msb_vector[i]);
+ crc_high_byte = crc_lsb_vector[i];
+ }
+
+ return (unsigned short)(crc_high_byte << 8 | crc_low_byte);
}
int cm8jl65_parser(uint8_t c, uint8_t *parserbuf, CM8JL65_PARSE_STATE *state, uint16_t *crc16, int *dist)
{
- int ret = -1;
+ int ret = -1;
// printf("parse byte 0x%02X \n", b);
- switch (*state) {
- case STATE0_WAITING_FRAME:
- if (c == START_FRAME_DIGIT1) {
- *state = STATE1_GOT_DIGIT1;
- //printf("Got SFD1 \n");
- }
- break;
-
- case STATE1_GOT_DIGIT1:
- if (c == START_FRAME_DIGIT2) {
- *state = STATE2_GOT_DIGIT2;
- //printf("Got SFD2 \n");
- }
- // @NOTE: (claudio@auterion.com): if second byte is wrong we skip all the frame and restart parsing !!
- else if (c == START_FRAME_DIGIT1) {
- *state = STATE1_GOT_DIGIT1;
- //printf("Discard previous SFD1, Got new SFD1 \n");
- } else {
- *state = STATE0_WAITING_FRAME;
- }
- break;
-
- case STATE2_GOT_DIGIT2:
- *state = STATE3_GOT_MSB_DATA;
- parserbuf[DISTANCE_MSB_POS] = c; // MSB Data
- //printf("Got DATA1 0x%02X \n", c);
- break;
-
- case STATE3_GOT_MSB_DATA:
- *state = STATE4_GOT_LSB_DATA;
- parserbuf[DISTANCE_LSB_POS] = c; // LSB Data
- //printf("Got DATA2 0x%02X \n", c);
- // do crc calculation
- *crc16 = crc16_calc(parserbuf, CHECKSUM_LENGTH);
- // convert endian
- *crc16 = (*crc16 >> 8) | (*crc16 << 8);
- break;
-
-
- case STATE4_GOT_LSB_DATA:
- if (c == (*crc16 >> 8)) {
- *state = STATE5_GOT_CHKSUM1;
- }
- else {
- // printf("Checksum invalid on high byte: 0x%02X, calculated: 0x%04X \n",c, *crc16);
- *state = STATE0_WAITING_FRAME;
-
- }
- break;
-
- case STATE5_GOT_CHKSUM1:
- // Here, reset state to `NOT-STARTED` no matter crc ok or not
- *state = STATE0_WAITING_FRAME;
- if (c == (*crc16 & 0xFF)) {
- // printf("Checksum verified \n");
- *dist = (parserbuf[DISTANCE_MSB_POS] << 8) | parserbuf[DISTANCE_LSB_POS];
- return 0;
- }
- /*else {
- //printf("Checksum invalidon low byte: 0x%02X, calculated: 0x%04X \n",c, *crc16);
- }*/
- break;
-
- default:
- printf("This should never happen. \n");
- break;
- }
-
- return ret;
+ switch (*state) {
+ case STATE0_WAITING_FRAME:
+ if (c == START_FRAME_DIGIT1) {
+ *state = STATE1_GOT_DIGIT1;
+ //printf("Got SFD1 \n");
+ }
+
+ break;
+
+ case STATE1_GOT_DIGIT1:
+ if (c == START_FRAME_DIGIT2) {
+ *state = STATE2_GOT_DIGIT2;
+ //printf("Got SFD2 \n");
+ }
+
+ // @NOTE: (claudio@auterion.com): if second byte is wrong we skip all the frame and restart parsing !!
+ else if (c == START_FRAME_DIGIT1) {
+ *state = STATE1_GOT_DIGIT1;
+ //printf("Discard previous SFD1, Got new SFD1 \n");
+
+ } else {
+ *state = STATE0_WAITING_FRAME;
+ }
+
+ break;
+
+ case STATE2_GOT_DIGIT2:
+ *state = STATE3_GOT_MSB_DATA;
+ parserbuf[DISTANCE_MSB_POS] = c; // MSB Data
+ //printf("Got DATA1 0x%02X \n", c);
+ break;
+
+ case STATE3_GOT_MSB_DATA:
+ *state = STATE4_GOT_LSB_DATA;
+ parserbuf[DISTANCE_LSB_POS] = c; // LSB Data
+ //printf("Got DATA2 0x%02X \n", c);
+ // do crc calculation
+ *crc16 = crc16_calc(parserbuf, CHECKSUM_LENGTH);
+ // convert endian
+ *crc16 = (*crc16 >> 8) | (*crc16 << 8);
+ break;
+
+
+ case STATE4_GOT_LSB_DATA:
+ if (c == (*crc16 >> 8)) {
+ *state = STATE5_GOT_CHKSUM1;
+
+ } else {
+ // printf("Checksum invalid on high byte: 0x%02X, calculated: 0x%04X \n",c, *crc16);
+ *state = STATE0_WAITING_FRAME;
+
+ }
+
+ break;
+
+ case STATE5_GOT_CHKSUM1:
+ // Here, reset state to `NOT-STARTED` no matter crc ok or not
+ *state = STATE0_WAITING_FRAME;
+
+ if (c == (*crc16 & 0xFF)) {
+ // printf("Checksum verified \n");
+ *dist = (parserbuf[DISTANCE_MSB_POS] << 8) | parserbuf[DISTANCE_LSB_POS];
+ return 0;
+ }
+
+ /*else {
+ //printf("Checksum invalidon low byte: 0x%02X, calculated: 0x%04X \n",c, *crc16);
+ }*/
+ break;
+
+ default:
+ printf("This should never happen. \n");
+ break;
+ }
+
+ return ret;
}
diff --git a/src/drivers/distance_sensor/cm8jl65/cm8jl65_parser.h b/src/drivers/distance_sensor/cm8jl65/cm8jl65_parser.h
index 6da9f3727204d1da5d309583a17d6b0fcd959fae..b7e54904e79902fcc1bb37d90c45b474418baa8e 100644
--- a/src/drivers/distance_sensor/cm8jl65/cm8jl65_parser.h
+++ b/src/drivers/distance_sensor/cm8jl65/cm8jl65_parser.h
@@ -31,12 +31,12 @@
*
****************************************************************************/
- /**
- * @file cm8jl65.cpp
- * @author Claudio Micheli <claudio@auterion.com>
- *
- * Parser declarations for Lanbao PSK-CM8JL65-CC5 distance sensor
- */
+/**
+ * @file cm8jl65.cpp
+ * @author Claudio Micheli <claudio@auterion.com>
+ *
+ * Parser declarations for Lanbao PSK-CM8JL65-CC5 distance sensor
+ */
#pragma once
@@ -58,15 +58,15 @@
enum CM8JL65_PARSE_STATE {
- STATE0_WAITING_FRAME = 0,
- STATE1_GOT_DIGIT1,
- STATE2_GOT_DIGIT2,
- STATE3_GOT_MSB_DATA,
- STATE4_GOT_LSB_DATA,
- STATE5_GOT_CHKSUM1,
- STATE6_GOT_CHKSUM2,
+ STATE0_WAITING_FRAME = 0,
+ STATE1_GOT_DIGIT1,
+ STATE2_GOT_DIGIT2,
+ STATE3_GOT_MSB_DATA,
+ STATE4_GOT_LSB_DATA,
+ STATE5_GOT_CHKSUM1,
+ STATE6_GOT_CHKSUM2,
};
-int cm8jl65_parser(uint8_t c, uint8_t *parserbuf,enum CM8JL65_PARSE_STATE *state,uint16_t *crc16, int *dist);
+int cm8jl65_parser(uint8_t c, uint8_t *parserbuf, enum CM8JL65_PARSE_STATE *state, uint16_t *crc16, int *dist);