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Distance Sensor : Driver for Lanbao CM8JL65 #11136

Merged
merged 16 commits into from
Jan 15, 2019
Merged

Distance Sensor : Driver for Lanbao CM8JL65 #11136

merged 16 commits into from
Jan 15, 2019

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cmic0
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@cmic0 cmic0 commented Jan 3, 2019 •
edited by AuterionWrikeBot
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Driver for a new distance sensor (Lanbao PSK-CM8JL65-CC5).

Additional context
If using TELEM1 port, disable MAVLINK messages there (MAV_0_CONFIG PARAMETER).
Data is published on distance_sensor topic at 10Hz rate.

Test data / coverage
image

@cmic0
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cmic0 commented Jan 3, 2019

@DanielePettenuzzo @RomanBapst FYI

@LorenzMeier
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Build failure in CI. Please also change from TELEM1 - that is not a great default because it is commonly used.

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cmic0 commented Jan 4, 2019

@dagar I get build failures on things not related to this driver. Could you check please?

@mhkabir
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mhkabir commented Jan 4, 2019

This should be using the new serial port allocation interface.

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dagar commented Jan 4, 2019 •
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@dagar I get build failures on things not related to this driver. Could you check please?

The fixedwing mission test has somewhat recently started failing intermittently. I'll restart it for now.
Issue created #11144

bkueng
bkueng requested changes Jan 7, 2019
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Thanks @cmic0, I reviewed and provided some feedback.
Most importantly we need to change to non-blocking reads since it's running on the work queue.

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cmic0 commented Jan 8, 2019

@bkueng thanks for the review! Applied your suggestions, now should be ok.. let me know :-)!

bkueng
bkueng previously approved these changes Jan 8, 2019
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Looks good now.
I restared CI, let's see if it passes.

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dagar commented Jan 8, 2019

You'd need to rebase to get the Jenkins hardware test to pass, but it isn't relevant for this PR.

dagar
dagar previously approved these changes Jan 8, 2019
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dagar commented Jan 8, 2019

Is this a standard CRC? I can't seem to find the datasheet for this device.
Consider the existing CRCs in systemlib, leddar_one, rc sumd, micrortps, or even NuttX itself.

cmic0 added 16 commits January 9, 2019 16:47
@cmic0
Initial commit. Integrated new distance sensor hardware.
7e164e9 
TODO: Parsing the data

Signed-off-by: Claudio Micheli <claudio@auterion.com>
@cmic0
Added parsing function. Everything works OK.
5504233 
TODO:
- Clean up the code
- Add uORB publishing messages

Signed-off-by: Claudio Micheli <claudio@auterion.com>
@cmic0
Added uORB publishing.
824d689 
TODO: Need to fix driver cycling.

Signed-off-by: Claudio Micheli <claudio@auterion.com>
@cmic0
Solved frequency rate issue. Now driver publish at ~10Hz.
efb1fd0 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
@cmic0
Renamed driver folder.
0dd187b 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
@cmic0
Removed blocking "while" cycle to access serial port.
c5af6ba 
Serial is now cycled with work_queue rescheduling if some bytes are missing.

TODO: - Fix occasional sensor spikes (can be identified with crc)
      - Clean up the code
      - disable debug printf


Signed-off-by: Claudio Micheli <claudio@auterion.com>
@cmic0
Removed dismissed folder.
ad6e4ca 
TODO : Adjust work_queue rescheduling (to always have a 10Hz cycle)

Signed-off-by: Claudio Micheli <claudio@auterion.com>
@cmic0
Debugging printf.
46da0ef 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
@cmic0
Redefined reading strategy from serial to get the latest available data.
7659241 
First "stable" version of the driver.

TODO: - Cleanup the code
      - Bench test (compare data with IMU)
      - Flight Test

Signed-off-by: Claudio Micheli <claudio@auterion.com>
@cmic0
Code Cleanup. Added configuration notes.
7614b3d 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
@cmic0
Renamed files according to distance sensor hardware.
97308ba 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
@cmic0
Added sensor enable/disable parameter (SENS_EN_CM8JL65).
1468ec0 
Disabled by default.

Signed-off-by: Claudio Micheli <claudio@auterion.com>
@cmic0
Fixed CI broken build. Made TELEM2 default port.
2209342 
Device port can be set via SENS_EN_CM8JL65 parameter:
SENS_EN_CM8JL65 = 0 -> Disabled
SENS_EN_CM8JL65 = 1 -> Enabled on TELEM2
SENS_EN_CM8JL65 = 2 -> Enabled on TELEM1

Signed-off-by: Claudio Micheli <claudio@auterion.com>
@cmic0
Formatted code.
c5f4b62 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
@cmic0
Added generic UART configuration.
a742755 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
@cmic0
Applied code-review suggestions.
50917f6 
- Removed blocking serial.
- Added passing variables by reference to parser.
- Removed commented code.

Signed-off-by: Claudio Micheli <claudio@auterion.com>
@cmic0 cmic0 dismissed stale reviews from dagar and bkueng via 50917f6 January 9, 2019 16:00
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cmic0 commented Jan 9, 2019

@dagar rebased on upstream, CI passed!
About the CRC: I got the infos from the manufacturer. It is a CRC16 IBM 8005. The two lookup tables defined in the code are standard 8005 ones, just splitted into MSB and LSB bytes. CRC calculation via lookup tables should be faster at the expense of some more memory occupation (not a CRC16 guru.. google helped me :-) ).

@bkueng bkueng merged commit 8a313ff into PX4:master Jan 15, 2019
@bkueng bkueng deleted the pr-distance_isl2950 branch January 15, 2019 08:17
@weekly-digest weekly-digest bot mentioned this pull request Jan 19, 2019
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@cmic0 @LorenzMeier @mhkabir @dagar @bkueng