ll40ls.cpp

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/**
 * @file ll40ls.cpp
 * @author Allyson Kreft
 * @author Johan Jansen <jnsn.johan@gmail.com>
 * @author Ban Siesta <bansiesta@gmail.com>
 * @author James Goppert <james.goppert@gmail.com>
 *
 * Interface for the PulsedLight Lidar-Lite range finders.
 */

#include <cstdlib>
#include <fcntl.h>
#include <string.h>
#include <stdio.h>
#include <systemlib/err.h>

#include <board_config.h>
#include <drivers/device/i2c.h>
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/module.h>

#include "LidarLiteI2C.h"
#include "LidarLitePWM.h"


/**
 * @brief Local functions in support of the shell command.
 */
namespace ll40ls
{

LidarLite *instance = nullptr;

int print_regs();
int start(const uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING);
int start_bus(const int bus = PX4_I2C_BUS_EXPANSION,
          const uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING);
int start_pwm(const uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING);
int status();
int stop();
int usage();

/**
 * @brief Prints register information to the console.
 */
int
print_regs()
{
    if (!instance) {
        PX4_ERR("No ll40ls driver running");
        return PX4_ERROR;
    }

    instance->print_registers();
    return PX4_OK;
}

/**
 * Attempt to start driver on all available I2C busses.
 *
 * This function will return as soon as the first sensor
 * is detected on one of the available busses or if no
 * sensors are detected.
 */
int
start(const uint8_t rotation)
{
    if (instance != nullptr) {
        PX4_ERR("already started");
        return PX4_ERROR;
    }

    for (size_t i = 0; i < NUM_I2C_BUS_OPTIONS; i++) {
        if (start_bus(i2c_bus_options[i], rotation) == PX4_OK) {
            return PX4_OK;
        }
    }

    return PX4_ERROR;
}

/**
 * Start the driver on a specific bus.
 *
 * This function only returns if the sensor is up and running
 * or could not be detected successfully.
 */
int
start_bus(const int bus, const uint8_t rotation)
{
    if (instance != nullptr) {
        PX4_ERR("already started");
        return PX4_OK;
    }

    // Instantiate the driver.
    instance = new LidarLiteI2C(bus, rotation);

    if (instance == nullptr) {
        PX4_ERR("Failed to instantiate the driver");
        delete instance;
        return PX4_ERROR;
    }

    // Initialize the sensor.
    if (instance->init() != PX4_OK) {
        PX4_ERR("Failed to initialize LidarLite on bus = %u", bus);
        delete instance;
        instance = nullptr;
        return PX4_ERROR;
    }

    // Start the driver.
    instance->start();

    PX4_INFO("driver started");
    return PX4_OK;
}

/**
 * Start the pwm driver.
 *
 * This function only returns if the sensor is up and running
 * or could not be detected successfully.
 */
int
start_pwm(const uint8_t rotation)
{
    if (instance != nullptr) {
        PX4_ERR("already started");
        return PX4_OK;
    }

    instance = new LidarLitePWM(rotation);

    if (instance == nullptr) {
        PX4_ERR("Failed to instantiate the driver");
        delete instance;
        return PX4_ERROR;
    }

    // Initialize the sensor.
    if (instance->init() != PX4_OK) {
        PX4_ERR("Failed to initialize LidarLite pwm.");
        delete instance;
        instance = nullptr;
        return PX4_ERROR;
    }

    // Start the driver.
    instance->start();

    PX4_INFO("driver started");
    return PX4_OK;
}

/**
 * @brief Prints status info about the driver.
 */
int
status()
{
    if (instance == nullptr) {
        PX4_ERR("driver not running");
        return PX4_ERROR;
    }

    instance->print_info();
    return PX4_OK;
}

/**
 * @brief Stops the driver
 */
int
stop()
{
    if (instance != nullptr) {
        delete instance;
        instance = nullptr;
    }

    PX4_INFO("driver stopped");
    return PX4_OK;
}

/**
 * @brief Displays driver usage at the console.
 */
int
usage()
{
    PRINT_MODULE_DESCRIPTION(
        R"DESCR_STR(
### Description

I2C bus driver for LidarLite rangefinders.

The sensor/driver must be enabled using the parameter SENS_EN_LL40LS.

Setup/usage information: https://docs.px4.io/en/sensor/lidar_lite.html

### Examples

Start driver on any bus (start on bus where first sensor found).
$ ll40ls start i2c -a
Start driver on specified bus
$ ll40ls start i2c -b 1
Stop driver
$ ll40ls stop
)DESCR_STR");

    PRINT_MODULE_USAGE_NAME("ll40ls", "driver");
    PRINT_MODULE_USAGE_SUBCATEGORY("distance_sensor");
    PRINT_MODULE_USAGE_COMMAND_DESCR("print_regs","Print the register values");
    PRINT_MODULE_USAGE_COMMAND_DESCR("start","Start driver");
    PRINT_MODULE_USAGE_COMMAND_DESCR("pwm", "PWM device");
    PRINT_MODULE_USAGE_COMMAND_DESCR("i2c", "I2C device");
    PRINT_MODULE_USAGE_PARAM_FLAG('a', "Attempt to start driver on all I2C buses (first one found)", true);
    PRINT_MODULE_USAGE_PARAM_INT('b', 1, 1, 2000, "Start driver on specific I2C bus", true);
    PRINT_MODULE_USAGE_PARAM_INT('R', 25, 1, 25, "Sensor rotation - downward facing by default", true);
    PRINT_MODULE_USAGE_COMMAND_DESCR("status","Print driver status information");
    PRINT_MODULE_USAGE_COMMAND_DESCR("stop","Stop driver");
    return PX4_OK;
}

} // namespace ll40ls


/**
 * @brief Driver 'main' command.
 */
extern "C" __EXPORT int ll40ls_main(int argc, char *argv[])
{
    const char *myoptarg = nullptr;

    int bus = PX4_I2C_BUS_EXPANSION;
    int ch = 0;
    int myoptind = 1;

    uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING;

    bool start_i2c_all = false;
    bool start_pwm = false;

    while ((ch = px4_getopt(argc, argv, "ab:R:", &myoptind, &myoptarg)) != EOF) {
        switch (ch) {
        case 'a':
            start_i2c_all = true;
            break;

        case 'b':
            bus = atoi(myoptarg);
            break;

        case 'R':
            rotation = (uint8_t)atoi(myoptarg);
            PX4_INFO("Setting Lidar orientation to %d", (int)rotation);
            break;

        default:
            return ll40ls::usage();
        }
    }

    // Determine protocol.
    if (argc > myoptind + 1) {
        const char *protocol = argv[myoptind + 1];

        if (!strcmp(protocol, "i2c")) {
            PX4_INFO("protocol %s", protocol);

        } else if (!strcmp(protocol, "pwm")) {
            PX4_INFO("protocol %s", protocol);
            start_pwm = true;

        } else {
            PX4_INFO("unknown protocol, choose pwm or i2c");
            return ll40ls::usage();
        }
    }

    if (myoptind >= argc) {
        return ll40ls::usage();
    }

    // Print the sensor register values.
    if (!strcmp(argv[myoptind], "print_regs")) {
        return ll40ls::print_regs();
    }

    // Start the driver.
    if (!strcmp(argv[myoptind], "start")) {
        if (start_i2c_all) {
            PX4_INFO("starting all i2c busses");
            return ll40ls::start(rotation);

        } else if (start_pwm) {
            PX4_INFO("starting pwm");
            return ll40ls::start_pwm(rotation);

        } else {
            return ll40ls::start_bus(bus, rotation);
        }
    }

    // Print the driver status.
    if (!strcmp(argv[myoptind], "status")) {
        return ll40ls::status();
    }

    // Stop the driver
    if (!strcmp(argv[myoptind], "stop")) {
        return ll40ls::stop();
    }

    // Print driver usage information.
    return ll40ls::usage();
}