2019-03-28 09:43:23 -03:00
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#pragma once
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2023-06-23 22:09:28 -03:00
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#include "AP_RangeFinder_config.h"
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2022-03-12 06:37:29 -04:00
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#if AP_RANGEFINDER_BLPING_ENABLED
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2019-11-10 22:47:38 -04:00
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#include "AP_RangeFinder_Backend_Serial.h"
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2019-03-28 09:43:23 -03:00
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2020-01-28 14:41:25 -04:00
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/**
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* @brief Simple class to deal with Ping Protocol
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*
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* Protocol documentation can be found here: https:* github.com/bluerobotics/ping-protocol
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*
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* Byte Type Name Description
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* --------------------------------------------------------------------------------------------------------------
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* 0 uint8_t start1 'B'
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* 1 uint8_t start2 'R'
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* 2-3 uint16_t payload_length number of bytes in payload (low byte, high byte)
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* 4-5 uint16_t message id message id (low byte, high byte)
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* 6 uint8_t src_device_id id of device sending the message
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* 7 uint8_t dst_device_id id of device of the intended recipient
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* 8-n uint8_t[] payload message payload
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* (n+1)-(n+2) uint16_t checksum the sum of all the non-checksum bytes in the message (low byte, high byte)
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*/
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class PingProtocol {
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static constexpr uint8_t _frame_header1 = 0x42; // // header first byte ('B')
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static constexpr uint8_t _frame_header2 = 0x52; // // header first byte ('R')
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static constexpr uint16_t _src_id = 0; // vehicle's source id
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static constexpr uint16_t _dst_id = 1; // sensor's id
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2019-03-28 09:43:23 -03:00
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public:
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2020-01-28 14:41:25 -04:00
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enum class MessageId {
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INVALID = 0,
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SET_PING_INTERVAL = 1004,
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DISTANCE_SIMPLE = 1211,
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CONTINUOUS_START = 1400,
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};
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2019-03-28 09:43:23 -03:00
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2020-01-28 14:41:25 -04:00
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/**
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* @brief Process a single byte received on serial port
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* return a valid MessageId if there is a message in buffer.
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*
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* @param byte
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* @return MessageId
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*/
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MessageId parse_byte(uint8_t b);
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/**
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* @brief Send a message with a defined payload
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*
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* @param uart
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* @param msgid
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* @param payload
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* @param payload_len
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*/
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void send_message(AP_HAL::UARTDriver *uart, PingProtocol::MessageId msg_id, const uint8_t *payload, uint16_t payload_len) const;
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/**
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* @brief Get distance from message
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*
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* @return uint32_t
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*/
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uint32_t get_distance_mm() const;
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/**
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* @brief Get confidence from message
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*
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* @return uint8_t
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*/
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uint8_t get_confidence() const;
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/**
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* @brief Get the message id available in bufffer
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*
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* @return MessageId
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*/
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MessageId get_message_id() const { return static_cast<MessageId>(msg.id); };
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2019-03-28 09:43:23 -03:00
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protected:
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2020-01-28 14:41:25 -04:00
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/**
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* @brief State for the parser logic
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*
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*/
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enum class ParserState {
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HEADER1 = 0,
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HEADER2,
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LEN_L,
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LEN_H,
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MSG_ID_L,
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MSG_ID_H,
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SRC_ID,
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DST_ID,
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PAYLOAD,
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CRC_L,
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CRC_H
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};
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2020-01-28 14:41:25 -04:00
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/**
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* @brief Structure holding the last message available with its state
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*
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*/
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struct {
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ParserState state; // state of incoming message processing
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bool done; // inform if the message is complete or not
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uint8_t payload[20]; // payload
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uint16_t payload_len; // latest message payload length
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uint16_t id; // latest message's message id
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2019-03-28 09:43:23 -03:00
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uint16_t payload_recv; // number of message's payload bytes received so far
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uint16_t crc; // latest message's crc
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uint16_t crc_expected; // latest message's expected crc
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} msg;
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};
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2020-01-28 14:41:25 -04:00
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/**
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* @brief Class for Blue Robotics Ping1D sensor
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*
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*/
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class AP_RangeFinder_BLPing : public AP_RangeFinder_Backend_Serial
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{
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static constexpr uint16_t _sensor_rate_ms = 50; // initialise sensor at no more than 20hz
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public:
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2022-06-22 08:03:22 -03:00
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static AP_RangeFinder_Backend_Serial *create(
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RangeFinder::RangeFinder_State &_state,
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AP_RangeFinder_Params &_params) {
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return new AP_RangeFinder_BLPing(_state, _params);
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}
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2020-01-28 14:41:25 -04:00
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/**
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* @brief Update class state
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*
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*/
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void update(void) override;
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protected:
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/**
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* @brief Return the sensor type
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*
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* @return MAV_DISTANCE_SENSOR
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*/
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MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {
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return MAV_DISTANCE_SENSOR_ULTRASOUND;
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}
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/**
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* @brief Sensor protocol class
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*
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*/
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PingProtocol protocol;
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private:
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2022-06-22 08:03:22 -03:00
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using AP_RangeFinder_Backend_Serial::AP_RangeFinder_Backend_Serial;
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2020-01-28 14:41:25 -04:00
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/**
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* @brief Do the necessary sensor initiation
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*
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*/
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void init_sensor();
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/**
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* @brief Read serial interface and calculate new distance
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*
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2021-10-18 02:45:33 -03:00
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* @param reading_m
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2020-01-28 14:41:25 -04:00
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* @return true
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* @return false
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*/
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bool get_reading(float &reading_m) override;
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/**
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* @brief Timeout between messages
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*
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* @return uint16_t
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*/
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uint16_t read_timeout_ms() const override { return 1000; }
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/**
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* @brief system time that sensor was last initialised
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*
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*/
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uint32_t last_init_ms;
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};
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2022-03-12 06:37:29 -04:00
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#endif
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