ardupilot/libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.h

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#pragma once
#include "RangeFinder.h"
#include "RangeFinder_Backend.h"
// defines
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#define LEDDARONE_DEFAULT_ADDRESS 0x01
#define LEDDARONE_MODOBUS_FUNCTION_CODE 0x04
#define LEDDARONE_MODOBUS_FUNCTION_REGISTER_ADDRESS 20
#define LEDDARONE_MODOBUS_FUNCTION_READ_NUMBER 10
#define LEDDARONE_SERIAL_PORT_MAX 250
#define LEDDARONE_READ_BUFFER_SIZE 25
#define LEDDARONE_DETECTIONS_MAX 3
#define LEDDARONE_DETECTION_DATA_NUMBER_INDEX 10
#define LEDDARONE_DETECTION_DATA_INDEX_OFFSET 11
#define LEDDARONE_DETECTION_DATA_OFFSET 4
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// LeddarOne status
enum LeddarOne_Status {
LEDDARONE_STATE_OK = 0,
LEDDARONE_STATE_READING_BUFFER = 1,
LEDDARONE_STATE_ERR_BAD_CRC = -1,
LEDDARONE_STATE_ERR_NO_RESPONSES = -2,
LEDDARONE_STATE_ERR_BAD_RESPONSE = -3,
LEDDARONE_STATE_ERR_SHORT_RESPONSE = -4,
LEDDARONE_STATE_ERR_SERIAL_PORT = -5,
LEDDARONE_STATE_ERR_NUMBER_DETECTIONS = -6
};
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// LeddarOne Modbus status
enum LeddarOne_ModbusStatus {
LEDDARONE_MODBUS_STATE_INIT = 0,
LEDDARONE_MODBUS_STATE_PRE_SEND_REQUEST,
LEDDARONE_MODBUS_STATE_SENT_REQUEST,
LEDDARONE_MODBUS_STATE_AVAILABLE
};
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class AP_RangeFinder_LeddarOne : public AP_RangeFinder_Backend
{
public:
// constructor
AP_RangeFinder_LeddarOne(RangeFinder::RangeFinder_State &_state,
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AP_RangeFinder_Params &_params,
AP_SerialManager &serial_manager,
uint8_t serial_instance);
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// static detection function
static bool detect(AP_SerialManager &serial_manager, uint8_t serial_instance);
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// update state
void update(void) override;
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protected:
virtual MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {
return MAV_DISTANCE_SENSOR_LASER;
}
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private:
// get a reading
bool get_reading(uint16_t &reading_cm);
// CRC16
bool CRC16(uint8_t *aBuffer, uint8_t aLength, bool aCheck);
// parse a response message from ModBus
LeddarOne_Status parse_response(uint8_t &number_detections);
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AP_HAL::UARTDriver *uart = nullptr;
uint32_t last_sending_request_ms;
uint32_t last_available_ms;
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uint16_t detections[LEDDARONE_DETECTIONS_MAX];
uint32_t sum_distance;
LeddarOne_ModbusStatus modbus_status = LEDDARONE_MODBUS_STATE_INIT;
uint8_t read_buffer[LEDDARONE_READ_BUFFER_SIZE];
uint32_t read_len;
// Modbus send request buffer
// read input register (function code 0x04)
const uint8_t send_request_buffer[8] = {
LEDDARONE_DEFAULT_ADDRESS,
LEDDARONE_MODOBUS_FUNCTION_CODE,
0,
LEDDARONE_MODOBUS_FUNCTION_REGISTER_ADDRESS, // 20: Address of first register to read
0,
LEDDARONE_MODOBUS_FUNCTION_READ_NUMBER, // 10: The number of consecutive registers to read
0x30, // CRC Lo
0x09 // CRC Hi
};
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};