diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors
index 389b16fc12bb8810baf1bb53f67ff217d24512ba..c20f7b8cf2fbaa34284e5f5a260d7b5f50dd50f3 100644
--- a/ROMFS/px4fmu_common/init.d/rc.sensors
+++ b/ROMFS/px4fmu_common/init.d/rc.sensors
@@ -321,6 +321,12 @@ then
mb12xx start
fi
+# teraranger evo tof sensor
+if param compare SENS_EN_TREVO 1
+then
+ trevo start
+fi
+
# teraranger one tof sensor
if param compare SENS_EN_TRONE 1
then
diff --git a/cmake/configs/nuttx_aerocore2_default.cmake b/cmake/configs/nuttx_aerocore2_default.cmake
index a6a79bfe4209f355c8628e109d2146a031eb118d..75f0944a4ce2e75cb4b8dbcc5ccd49df73e56a0c 100644
--- a/cmake/configs/nuttx_aerocore2_default.cmake
+++ b/cmake/configs/nuttx_aerocore2_default.cmake
@@ -20,6 +20,7 @@ set(config_module_list
drivers/lsm303d
drivers/l3gd20
drivers/ms5611
+ drivers/trevo
drivers/trone
drivers/gps
drivers/pwm_out_sim
diff --git a/cmake/configs/nuttx_auav-x21_default.cmake b/cmake/configs/nuttx_auav-x21_default.cmake
index c5b774cf55b1c5ba3787a00248b5b4d02a5c2dd7..8f51136f828fcf7d8c54c809a92fd20631ff45fa 100644
--- a/cmake/configs/nuttx_auav-x21_default.cmake
+++ b/cmake/configs/nuttx_auav-x21_default.cmake
@@ -28,6 +28,7 @@ set(config_module_list
drivers/sf0x
drivers/sf1xx
drivers/ll40ls
+ drivers/trevo
drivers/trone
drivers/gps
drivers/pwm_out_sim
diff --git a/cmake/configs/nuttx_mindpx-v2_default.cmake b/cmake/configs/nuttx_mindpx-v2_default.cmake
index 07c9e1f04552e17ef99a194a272abf4ad9e85816..9de9c688db9bcdb0163b549a675a801eee0ab407 100644
--- a/cmake/configs/nuttx_mindpx-v2_default.cmake
+++ b/cmake/configs/nuttx_mindpx-v2_default.cmake
@@ -31,6 +31,7 @@ set(config_module_list
drivers/sf0x
drivers/sf1xx
drivers/ll40ls
+ drivers/trevo
drivers/trone
drivers/gps
drivers/pwm_out_sim
diff --git a/cmake/configs/nuttx_px4fmu-v2_default.cmake b/cmake/configs/nuttx_px4fmu-v2_default.cmake
index 40a7ab4dd79e2fd6ea6bffdb573e488ce08ba9fd..2a08cf252fd039796b77565fb0dd88f33d52f5c5 100644
--- a/cmake/configs/nuttx_px4fmu-v2_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v2_default.cmake
@@ -29,6 +29,7 @@ set(config_module_list
#drivers/srf02
drivers/sf0x
drivers/ll40ls
+ drivers/trevo
drivers/trone
drivers/gps
drivers/pwm_out_sim
diff --git a/cmake/configs/nuttx_px4fmu-v2_test.cmake b/cmake/configs/nuttx_px4fmu-v2_test.cmake
index 36f2bf3ae4f2e45b7210d59afdef35b414cc31a7..b784cf6351666b0c211537dbeac4fe6db932a414 100644
--- a/cmake/configs/nuttx_px4fmu-v2_test.cmake
+++ b/cmake/configs/nuttx_px4fmu-v2_test.cmake
@@ -29,6 +29,7 @@ set(config_module_list
#drivers/srf02
#drivers/sf0x
#drivers/ll40ls
+ #drivers/trevo
#drivers/trone
drivers/gps
#drivers/pwm_out_sim
diff --git a/cmake/configs/nuttx_px4fmu-v3_default.cmake b/cmake/configs/nuttx_px4fmu-v3_default.cmake
index a2654535fd6f58cade4c0eec4946b73c846c8164..20e1401b7d3b28d006d5e9865e9b13a7a0ae9bd9 100644
--- a/cmake/configs/nuttx_px4fmu-v3_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v3_default.cmake
@@ -54,6 +54,7 @@ set(config_module_list
drivers/stm32/adc
drivers/stm32/tone_alarm
drivers/tap_esc
+ drivers/trevo
drivers/trone
drivers/vmount
modules/sensors
diff --git a/cmake/configs/nuttx_px4fmu-v4_default.cmake b/cmake/configs/nuttx_px4fmu-v4_default.cmake
index a7be2539427fc1c10bf3ced06589014de38688c3..206bb14caec859272c7ed7d04ef67cd10f8c9004 100644
--- a/cmake/configs/nuttx_px4fmu-v4_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v4_default.cmake
@@ -55,6 +55,7 @@ set(config_module_list
drivers/stm32/adc
drivers/stm32/tone_alarm
drivers/tap_esc
+ drivers/trevo
drivers/trone
drivers/vmount
modules/sensors
diff --git a/cmake/configs/nuttx_px4fmu-v4pro_default.cmake b/cmake/configs/nuttx_px4fmu-v4pro_default.cmake
index 1b61fa64c793911139f3d95b6a3fe4a7e68634d3..0db4ae9b105e1d6845f056ee2aeaf821c0aefd66 100644
--- a/cmake/configs/nuttx_px4fmu-v4pro_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v4pro_default.cmake
@@ -55,6 +55,7 @@ set(config_module_list
drivers/stm32/adc
drivers/stm32/tone_alarm
drivers/tap_esc
+ drivers/trevo
drivers/trone
drivers/vmount
modules/sensors
diff --git a/cmake/configs/nuttx_px4fmu-v5_default.cmake b/cmake/configs/nuttx_px4fmu-v5_default.cmake
index c0ddb71c070def50c629a1a27fdfca5a50705183..9ec432771c338e72f8cdb422b63bc32aef9be4ea 100644
--- a/cmake/configs/nuttx_px4fmu-v5_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v5_default.cmake
@@ -55,6 +55,7 @@ set(config_module_list
drivers/stm32/adc
drivers/stm32/tone_alarm
drivers/tap_esc
+ drivers/trevo
drivers/trone
drivers/vmount
modules/sensors
diff --git a/cmake/configs/nuttx_px4nucleoF767ZI-v1_default.cmake b/cmake/configs/nuttx_px4nucleoF767ZI-v1_default.cmake
index 2f2a0ec34d71dc571aefc690d21d9f7c53b67b9e..6ab5ce55521d05f98e5fc663aa9cafb0182e3da4 100644
--- a/cmake/configs/nuttx_px4nucleoF767ZI-v1_default.cmake
+++ b/cmake/configs/nuttx_px4nucleoF767ZI-v1_default.cmake
@@ -50,6 +50,7 @@ set(config_module_list
drivers/stm32/adc
drivers/stm32/tone_alarm
drivers/tap_esc
+ drivers/trevo
drivers/trone
modules/sensors
diff --git a/src/drivers/trevo/CMakeLists.txt b/src/drivers/trevo/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..171493adabfcac6c35a589e1fec239af630dfd07
--- /dev/null
+++ b/src/drivers/trevo/CMakeLists.txt
@@ -0,0 +1,43 @@
+############################################################################
+#
+# Copyright (c) 2015 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.
+#
+############################################################################
+px4_add_module(
+ MODULE drivers__trevo
+ MAIN trevo
+ STACK_MAIN 1200
+ COMPILE_FLAGS
+ SRCS
+ trevo.cpp
+ DEPENDS
+ platforms__common
+ )
+# vim: set noet ft=cmake fenc=utf-8 ff=unix :
diff --git a/src/drivers/trevo/trevo.cpp b/src/drivers/trevo/trevo.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..2698a516ee0017c0c589cd5ccce34e8578d01609
--- /dev/null
+++ b/src/drivers/trevo/trevo.cpp
@@ -0,0 +1,938 @@
+/****************************************************************************
+ *
+ * Copyright (c) 2013-2015 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 trevo.cpp
+ * @author Mateusz Sadowski
+ *
+ * Driver for the TeraRanger Evo range finders connected via I2C.
+ */
+
+#include <px4_config.h>
+#include <px4_defines.h>
+
+#include <drivers/device/i2c.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 <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/ringbuffer.h>
+
+#include <uORB/uORB.h>
+#include <uORB/topics/subsystem_info.h>
+#include <uORB/topics/distance_sensor.h>
+
+#include <board_config.h>
+
+/* Configuration Constants */
+#define TREVO_BUS PX4_I2C_BUS_EXPANSION
+#define TREVO_BASEADDR 0x31 /* 7-bit address */
+#define TREVO_DEVICE_PATH "/dev/trevo"
+
+/* TREVO Registers addresses */
+
+#define TREVO_MEASURE_REG 0x00 /* Measure range register */
+#define TREVO_WHO_AM_I_REG 0x01 /* Who am I test register */
+#define TREVO_WHO_AM_I_REG_VAL 0xA1
+
+
+/* Device limits */
+#define TREVO_MIN_DISTANCE (0.50f)
+#define TREVO_MAX_DISTANCE (60.00f)
+
+#define TREVO_CONVERSION_INTERVAL 50000 /* 50ms */
+
+#ifndef CONFIG_SCHED_WORKQUEUE
+# error This requires CONFIG_SCHED_WORKQUEUE.
+#endif
+
+class TREVO : public device::I2C
+{
+public:
+ TREVO(int bus = TREVO_BUS, int address = TREVO_BASEADDR);
+ virtual ~TREVO();
+
+ 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::RingBuffer *_reports;
+ bool _sensor_ok;
+ uint8_t _valid;
+ int _measure_ticks;
+ bool _collect_phase;
+ int _class_instance;
+ int _orb_class_instance;
+
+ orb_advert_t _distance_sensor_topic;
+
+ perf_counter_t _sample_perf;
+ perf_counter_t _comms_errors;
+ perf_counter_t _buffer_overflows;
+
+ /**
+ * Test whether the device supported by the driver is present at a
+ * specific address.
+ *
+ * @param address The I2C bus address to probe.
+ * @return True if the device is present.
+ */
+ int probe_address(uint8_t address);
+
+ /**
+ * 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 TREVO_MIN_DISTANCE
+ * and TREVO_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);
+
+
+};
+
+static const uint8_t crc_table[] = {
+ 0x00, 0x07, 0x0e, 0x09, 0x1c, 0x1b, 0x12, 0x15, 0x38, 0x3f, 0x36, 0x31,
+ 0x24, 0x23, 0x2a, 0x2d, 0x70, 0x77, 0x7e, 0x79, 0x6c, 0x6b, 0x62, 0x65,
+ 0x48, 0x4f, 0x46, 0x41, 0x54, 0x53, 0x5a, 0x5d, 0xe0, 0xe7, 0xee, 0xe9,
+ 0xfc, 0xfb, 0xf2, 0xf5, 0xd8, 0xdf, 0xd6, 0xd1, 0xc4, 0xc3, 0xca, 0xcd,
+ 0x90, 0x97, 0x9e, 0x99, 0x8c, 0x8b, 0x82, 0x85, 0xa8, 0xaf, 0xa6, 0xa1,
+ 0xb4, 0xb3, 0xba, 0xbd, 0xc7, 0xc0, 0xc9, 0xce, 0xdb, 0xdc, 0xd5, 0xd2,
+ 0xff, 0xf8, 0xf1, 0xf6, 0xe3, 0xe4, 0xed, 0xea, 0xb7, 0xb0, 0xb9, 0xbe,
+ 0xab, 0xac, 0xa5, 0xa2, 0x8f, 0x88, 0x81, 0x86, 0x93, 0x94, 0x9d, 0x9a,
+ 0x27, 0x20, 0x29, 0x2e, 0x3b, 0x3c, 0x35, 0x32, 0x1f, 0x18, 0x11, 0x16,
+ 0x03, 0x04, 0x0d, 0x0a, 0x57, 0x50, 0x59, 0x5e, 0x4b, 0x4c, 0x45, 0x42,
+ 0x6f, 0x68, 0x61, 0x66, 0x73, 0x74, 0x7d, 0x7a, 0x89, 0x8e, 0x87, 0x80,
+ 0x95, 0x92, 0x9b, 0x9c, 0xb1, 0xb6, 0xbf, 0xb8, 0xad, 0xaa, 0xa3, 0xa4,
+ 0xf9, 0xfe, 0xf7, 0xf0, 0xe5, 0xe2, 0xeb, 0xec, 0xc1, 0xc6, 0xcf, 0xc8,
+ 0xdd, 0xda, 0xd3, 0xd4, 0x69, 0x6e, 0x67, 0x60, 0x75, 0x72, 0x7b, 0x7c,
+ 0x51, 0x56, 0x5f, 0x58, 0x4d, 0x4a, 0x43, 0x44, 0x19, 0x1e, 0x17, 0x10,
+ 0x05, 0x02, 0x0b, 0x0c, 0x21, 0x26, 0x2f, 0x28, 0x3d, 0x3a, 0x33, 0x34,
+ 0x4e, 0x49, 0x40, 0x47, 0x52, 0x55, 0x5c, 0x5b, 0x76, 0x71, 0x78, 0x7f,
+ 0x6a, 0x6d, 0x64, 0x63, 0x3e, 0x39, 0x30, 0x37, 0x22, 0x25, 0x2c, 0x2b,
+ 0x06, 0x01, 0x08, 0x0f, 0x1a, 0x1d, 0x14, 0x13, 0xae, 0xa9, 0xa0, 0xa7,
+ 0xb2, 0xb5, 0xbc, 0xbb, 0x96, 0x91, 0x98, 0x9f, 0x8a, 0x8d, 0x84, 0x83,
+ 0xde, 0xd9, 0xd0, 0xd7, 0xc2, 0xc5, 0xcc, 0xcb, 0xe6, 0xe1, 0xe8, 0xef,
+ 0xfa, 0xfd, 0xf4, 0xf3
+};
+
+static uint8_t crc8(uint8_t *p, uint8_t len)
+{
+ uint16_t i;
+ uint16_t crc = 0x0;
+
+ while (len--) {
+ i = (crc ^ *p++) & 0xFF;
+ crc = (crc_table[i] ^ (crc << 8)) & 0xFF;
+ }
+
+ return crc & 0xFF;
+}
+
+/*
+ * Driver 'main' command.
+ */
+extern "C" __EXPORT int trevo_main(int argc, char *argv[]);
+
+TREVO::TREVO(int bus, int address) :
+ I2C("TREVO", TREVO_DEVICE_PATH, bus, address, 100000),
+ _min_distance(TREVO_MIN_DISTANCE),
+ _max_distance(TREVO_MAX_DISTANCE),
+ _reports(nullptr),
+ _sensor_ok(false),
+ _valid(0),
+ _measure_ticks(0),
+ _collect_phase(false),
+ _class_instance(-1),
+ _orb_class_instance(-1),
+ _distance_sensor_topic(nullptr),
+ _sample_perf(perf_alloc(PC_ELAPSED, "tr1_read")),
+ _comms_errors(perf_alloc(PC_COUNT, "tr1_com_err")),
+ _buffer_overflows(perf_alloc(PC_COUNT, "tr1_buf_of"))
+{
+ // up the retries since the device misses the first measure attempts
+ I2C::_retries = 3;
+
+ // enable debug() calls
+ _debug_enabled = false;
+
+ // work_cancel in the dtor will explode if we don't do this...
+ memset(&_work, 0, sizeof(_work));
+}
+
+TREVO::~TREVO()
+{
+ /* make sure we are truly inactive */
+ stop();
+
+ /* free any existing reports */
+ if (_reports != nullptr) {
+ delete _reports;
+ }
+
+ if (_class_instance != -1) {
+ unregister_class_devname(RANGE_FINDER_BASE_DEVICE_PATH, _class_instance);
+ }
+
+ // free perf counters
+ perf_free(_sample_perf);
+ perf_free(_comms_errors);
+ perf_free(_buffer_overflows);
+}
+
+int
+TREVO::init()
+{
+ int ret = PX4_ERROR;
+
+ /* do I2C init (and probe) first */
+ if (I2C::init() != OK) {
+ goto out;
+ }
+
+ /* allocate basic report buffers */
+ _reports = new ringbuffer::RingBuffer(2, sizeof(distance_sensor_s));
+
+ if (_reports == nullptr) {
+ goto out;
+ }
+
+ _class_instance = register_class_devname(RANGE_FINDER_BASE_DEVICE_PATH);
+
+ if (_class_instance == CLASS_DEVICE_PRIMARY) {
+ /* get a publish handle on the range finder topic */
+ struct distance_sensor_s ds_report;
+ measure();
+ _reports->get(&ds_report);
+
+ _distance_sensor_topic = orb_advertise_multi(ORB_ID(distance_sensor), &ds_report,
+ &_orb_class_instance, ORB_PRIO_LOW);
+
+ if (_distance_sensor_topic == nullptr) {
+ DEVICE_LOG("failed to create distance_sensor object. Did you start uOrb?");
+ }
+ }
+
+ ret = OK;
+ /* sensor is ok, but we don't really know if it is within range */
+ _sensor_ok = true;
+out:
+ return ret;
+}
+
+int
+TREVO::probe()
+{
+ uint8_t who_am_i = 0;
+
+ const uint8_t cmd = TREVO_WHO_AM_I_REG;
+
+ // set the I2C bus address
+ set_address(TREVO_BASEADDR);
+
+ // can't use a single transfer as TREvo need a bit of time for internal processing
+ if (transfer(&cmd, 1, nullptr, 0) == OK) {
+ if (transfer(nullptr, 0, &who_am_i, 1) == OK && who_am_i == TREVO_WHO_AM_I_REG_VAL) {
+ return measure();
+ }
+ }
+
+ DEVICE_DEBUG("WHO_AM_I byte mismatch 0x%02x should be 0x%02x\n",
+ (unsigned)who_am_i,
+ TREVO_WHO_AM_I_REG_VAL);
+
+ // not found on any address
+ return -EIO;
+}
+
+void
+TREVO::set_minimum_distance(float min)
+{
+ _min_distance = min;
+}
+
+void
+TREVO::set_maximum_distance(float max)
+{
+ _max_distance = max;
+}
+
+float
+TREVO::get_minimum_distance()
+{
+ return _min_distance;
+}
+
+float
+TREVO::get_maximum_distance()
+{
+ return _max_distance;
+}
+
+int
+TREVO::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(TREVO_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(TREVO_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 = px4_enter_critical_section();
+
+ if (!_reports->resize(arg)) {
+ px4_leave_critical_section(flags);
+ return -ENOMEM;
+ }
+
+ px4_leave_critical_section(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 I2C::ioctl(filp, cmd, arg);
+ }
+}
+
+ssize_t
+TREVO::read(struct file *filp, char *buffer, size_t buflen)
+{
+ unsigned count = buflen / sizeof(struct distance_sensor_s);
+ struct distance_sensor_s *rbuf = reinterpret_cast<struct distance_sensor_s *>(buffer);
+ int ret = 0;
+
+ /* buffer must be large enough */
+ if (count < 1) {
+ return -ENOSPC;
+ }
+
+ /* if automatic measurement is enabled */
+ if (_measure_ticks > 0) {
+
+ /*
+ * While there is space in the caller's buffer, and reports, copy them.
+ * Note that we may be pre-empted by the workq thread while we are doing this;
+ * we are careful to avoid racing with them.
+ */
+ while (count--) {
+ if (_reports->get(rbuf)) {
+ ret += sizeof(*rbuf);
+ rbuf++;
+ }
+ }
+
+ /* if there was no data, warn the caller */
+ return ret ? ret : -EAGAIN;
+ }
+
+ /* manual measurement - run one conversion */
+ do {
+ _reports->flush();
+
+ /* trigger a measurement */
+ if (OK != measure()) {
+ ret = -EIO;
+ break;
+ }
+
+ /* wait for it to complete */
+ usleep(TREVO_CONVERSION_INTERVAL);
+
+ /* run the collection phase */
+ if (OK != collect()) {
+ ret = -EIO;
+ break;
+ }
+
+ /* state machine will have generated a report, copy it out */
+ if (_reports->get(rbuf)) {
+ ret = sizeof(*rbuf);
+ }
+
+ } while (0);
+
+ return ret;
+}
+
+int
+TREVO::measure()
+{
+ int ret;
+
+ /*
+ * Send the command to begin a measurement.
+ */
+ const uint8_t cmd = TREVO_MEASURE_REG;
+ ret = transfer(&cmd, sizeof(cmd), nullptr, 0);
+
+ if (OK != ret) {
+ perf_count(_comms_errors);
+ DEVICE_LOG("i2c::transfer returned %d", ret);
+ return ret;
+ }
+
+ ret = OK;
+
+ return ret;
+}
+
+int
+TREVO::collect()
+{
+ int ret = -EIO;
+
+ /* read from the sensor */
+ uint8_t val[3] = {0, 0, 0};
+
+ perf_begin(_sample_perf);
+
+ ret = transfer(nullptr, 0, &val[0], 3);
+
+ if (ret < 0) {
+ DEVICE_LOG("error reading from sensor: %d", ret);
+ perf_count(_comms_errors);
+ perf_end(_sample_perf);
+ return ret;
+ }
+
+ uint16_t distance_mm = (val[0] << 8) | val[1];
+ float distance_m = float(distance_mm) * 1e-3f;
+ struct distance_sensor_s report;
+
+ report.timestamp = hrt_absolute_time();
+ /* there is no enum item for a combined LASER and ULTRASOUND which it should be */
+ report.type = distance_sensor_s::MAV_DISTANCE_SENSOR_LASER;
+ report.orientation = 8;
+ report.current_distance = distance_m;
+ report.min_distance = get_minimum_distance();
+ report.max_distance = get_maximum_distance();
+ report.covariance = 0.0f;
+ /* TODO: set proper ID */
+ report.id = 0;
+
+ // This validation check can be used later
+ _valid = crc8(val, 2) == val[2] && (float)report.current_distance > report.min_distance
+ && (float)report.current_distance < report.max_distance ? 1 : 0;
+
+ /* publish it, if we are the primary */
+ if (_distance_sensor_topic != nullptr) {
+ orb_publish(ORB_ID(distance_sensor), _distance_sensor_topic, &report);
+ }
+
+ if (_reports->force(&report)) {
+ perf_count(_buffer_overflows);
+ }
+
+ /* notify anyone waiting for data */
+ poll_notify(POLLIN);
+
+ ret = OK;
+
+ perf_end(_sample_perf);
+ return ret;
+}
+
+void
+TREVO::start()
+{
+ /* reset the report ring and state machine */
+ _collect_phase = false;
+ _reports->flush();
+
+ /* schedule a cycle to start things */
+ work_queue(HPWORK, &_work, (worker_t)&TREVO::cycle_trampoline, this, 1);
+
+ /* notify about state change */
+ struct subsystem_info_s info = {};
+ info.present = true;
+ info.enabled = true;
+ info.ok = true;
+ info.subsystem_type = subsystem_info_s::SUBSYSTEM_TYPE_RANGEFINDER;
+
+ static orb_advert_t pub = nullptr;
+
+ if (pub != nullptr) {
+ orb_publish(ORB_ID(subsystem_info), pub, &info);
+
+ } else {
+ pub = orb_advertise(ORB_ID(subsystem_info), &info);
+ }
+}
+
+void
+TREVO::stop()
+{
+ work_cancel(HPWORK, &_work);
+}
+
+void
+TREVO::cycle_trampoline(void *arg)
+{
+ TREVO *dev = (TREVO *)arg;
+
+ dev->cycle();
+}
+
+void
+TREVO::cycle()
+{
+ /* collection phase? */
+ if (_collect_phase) {
+
+ /* perform collection */
+ if (OK != collect()) {
+ DEVICE_LOG("collection error");
+ /* restart the measurement state machine */
+ start();
+ return;
+ }
+
+ /* next phase is measurement */
+ _collect_phase = false;
+
+ /*
+ * Is there a collect->measure gap?
+ */
+ if (_measure_ticks > USEC2TICK(TREVO_CONVERSION_INTERVAL)) {
+ /* schedule a fresh cycle call when we are ready to measure again */
+ work_queue(HPWORK,
+ &_work,
+ (worker_t)&TREVO::cycle_trampoline,
+ this,
+ _measure_ticks - USEC2TICK(TREVO_CONVERSION_INTERVAL));
+
+ return;
+ }
+ }
+
+ /* measurement phase */
+ if (OK != measure()) {
+ DEVICE_LOG("measure error");
+ }
+
+ /* next phase is collection */
+ _collect_phase = true;
+
+ /* schedule a fresh cycle call when the measurement is done */
+ work_queue(HPWORK,
+ &_work,
+ (worker_t)&TREVO::cycle_trampoline,
+ this,
+ USEC2TICK(TREVO_CONVERSION_INTERVAL));
+}
+
+void
+TREVO::print_info()
+{
+ perf_print_counter(_sample_perf);
+ perf_print_counter(_comms_errors);
+ perf_print_counter(_buffer_overflows);
+ printf("poll interval: %u ticks\n", _measure_ticks);
+ _reports->print_info("report queue");
+}
+
+/**
+ * Local functions in support of the shell command.
+ */
+namespace trevo
+{
+
+TREVO *g_dev;
+
+void start();
+void stop();
+void test();
+void reset();
+void info();
+
+/**
+ * Start the driver.
+ */
+void
+start()
+{
+ int fd;
+
+ if (g_dev != nullptr) {
+ errx(1, "already started");
+ }
+
+ /* create the driver */
+ g_dev = new TREVO(TREVO_BUS);
+
+
+ if (g_dev == nullptr) {
+ goto fail;
+ }
+
+ if (OK != g_dev->init()) {
+ goto fail;
+ }
+
+ /* set the poll rate to default, starts automatic data collection */
+ fd = open(TREVO_DEVICE_PATH, O_RDONLY);
+
+ if (fd < 0) {
+ goto fail;
+ }
+
+ if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
+ goto fail;
+ }
+
+ exit(0);
+
+fail:
+
+ if (g_dev != nullptr) {
+ delete g_dev;
+ g_dev = nullptr;
+ }
+
+ errx(1, "driver start failed");
+}
+
+/**
+ * Stop the driver
+ */
+void stop()
+{
+ if (g_dev != nullptr) {
+ delete g_dev;
+ g_dev = nullptr;
+
+ } else {
+ errx(1, "driver not running");
+ }
+
+ exit(0);
+}
+
+/**
+ * Perform some basic functional tests on the driver;
+ * make sure we can collect data from the sensor in polled
+ * and automatic modes.
+ */
+void
+test()
+{
+ struct distance_sensor_s report;
+ ssize_t sz;
+ int ret;
+
+ int fd = open(TREVO_DEVICE_PATH, O_RDONLY);
+
+ if (fd < 0) {
+ err(1, "%s open failed (try 'trevo start' if the driver is not running", TREVO_DEVICE_PATH);
+ }
+
+ /* do a simple demand read */
+ sz = read(fd, &report, sizeof(report));
+
+ if (sz != sizeof(report)) {
+ err(1, "immediate read failed");
+ }
+
+ warnx("single read");
+ warnx("measurement: %0.2f m", (double)report.current_distance);
+ warnx("time: %llu", report.timestamp);
+
+ /* start the sensor polling at 2Hz */
+ if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
+ errx(1, "failed to set 2Hz poll rate");
+ }
+
+ /* read the sensor 50x and report each value */
+ for (unsigned i = 0; i < 50; i++) {
+ struct pollfd fds;
+
+ /* wait for data to be ready */
+ fds.fd = fd;
+ fds.events = POLLIN;
+ ret = poll(&fds, 1, 2000);
+
+ if (ret != 1) {
+ errx(1, "timed out waiting for sensor data");
+ }
+
+ /* now go get it */
+ sz = read(fd, &report, sizeof(report));
+
+ if (sz != sizeof(report)) {
+ err(1, "periodic read failed");
+ }
+
+ warnx("periodic read %u", i);
+ warnx("measurement: %0.3f", (double)report.current_distance);
+ warnx("time: %llu", report.timestamp);
+ }
+
+ /* reset the sensor polling to default rate */
+ if (OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT)) {
+ errx(1, "failed to set default poll rate");
+ }
+
+ errx(0, "PASS");
+}
+
+/**
+ * Reset the driver.
+ */
+void
+reset()
+{
+ int fd = open(TREVO_DEVICE_PATH, O_RDONLY);
+
+ if (fd < 0) {
+ err(1, "failed ");
+ }
+
+ if (ioctl(fd, SENSORIOCRESET, 0) < 0) {
+ err(1, "driver reset failed");
+ }
+
+ if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
+ err(1, "driver poll restart failed");
+ }
+
+ exit(0);
+}
+
+/**
+ * Print a little info about the driver.
+ */
+void
+info()
+{
+ if (g_dev == nullptr) {
+ errx(1, "driver not running");
+ }
+
+ printf("state @ %p\n", g_dev);
+ g_dev->print_info();
+
+ exit(0);
+}
+
+} // namespace
+
+int
+trevo_main(int argc, char *argv[])
+{
+ /*
+ * Start/load the driver.
+ */
+ if (!strcmp(argv[1], "start")) {
+ trevo::start();
+ }
+
+ /*
+ * Stop the driver
+ */
+ if (!strcmp(argv[1], "stop")) {
+ trevo::stop();
+ }
+
+ /*
+ * Test the driver/device.
+ */
+ if (!strcmp(argv[1], "test")) {
+ trevo::test();
+ }
+
+ /*
+ * Reset the driver.
+ */
+ if (!strcmp(argv[1], "reset")) {
+ trevo::reset();
+ }
+
+ /*
+ * Print driver information.
+ */
+ if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) {
+ trevo::info();
+ }
+
+ errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'");
+}
diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c
index 03d48a598d9d0d3d88c3a27f95fe1544fc08bcec..d3bc09aeefe23a44512a2d3c333956822bf01278 100644
--- a/src/modules/sensors/sensor_params.c
+++ b/src/modules/sensors/sensor_params.c
@@ -1087,6 +1087,16 @@ PARAM_DEFINE_INT32(SENS_EN_SF0X, 0);
*/
PARAM_DEFINE_INT32(SENS_EN_MB12XX, 0);
+/**
+ * TeraRanger Evo (trevo)
+ *
+ * @reboot_required true
+ *
+ * @boolean
+ * @group Sensor Enable
+ */
+ PARAM_DEFINE_INT32(SENS_EN_TREVO, 0);
+
/**
* TeraRanger One (trone)
*