ardupilot/libraries/AP_RangeFinder/AP_RangeFinder_TOFSenseF_I2...

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/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "AP_RangeFinder_TOFSenseF_I2C.h"
#if AP_RANGEFINDER_TOFSENSEF_I2C_ENABLED
#define TOFSENSEP_I2C_COMMAND_TAKE_RANGE_READING 0x24
#define TOFSENSEP_I2C_COMMAND_SIGNAL_STATUS 0x28
#include <utility>
#include <AP_HAL/AP_HAL.h>
#include <AP_HAL/utility/sparse-endian.h>
extern const AP_HAL::HAL& hal;
AP_RangeFinder_TOFSenseF_I2C::AP_RangeFinder_TOFSenseF_I2C(RangeFinder::RangeFinder_State &_state,
AP_RangeFinder_Params &_params,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev)
: AP_RangeFinder_Backend(_state, _params)
, _dev(std::move(dev))
{
}
// detect if a TOFSenseP rangefinder is connected. We'll detect by
// trying to take a reading on I2C. If we get a result the sensor is
// there.
AP_RangeFinder_Backend *AP_RangeFinder_TOFSenseF_I2C::detect(RangeFinder::RangeFinder_State &_state,
AP_RangeFinder_Params &_params,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev)
{
if (!dev) {
return nullptr;
}
AP_RangeFinder_TOFSenseF_I2C *sensor
= new AP_RangeFinder_TOFSenseF_I2C(_state, _params, std::move(dev));
if (!sensor) {
return nullptr;
}
if (!sensor->init()) {
delete sensor;
return nullptr;
}
return sensor;
}
// initialise sensor
bool AP_RangeFinder_TOFSenseF_I2C::init(void)
{
_dev->get_semaphore()->take_blocking();
if (!start_reading()) {
_dev->get_semaphore()->give();
return false;
}
// give time for the sensor to process the request
hal.scheduler->delay(100);
uint32_t reading_mm;
uint16_t status;
uint16_t signal_strength;
if (!get_reading(reading_mm, signal_strength, status)) {
_dev->get_semaphore()->give();
return false;
}
_dev->get_semaphore()->give();
_dev->register_periodic_callback(100000,
FUNCTOR_BIND_MEMBER(&AP_RangeFinder_TOFSenseF_I2C::timer, void));
return true;
}
// start_reading() - ask sensor to make a range reading
bool AP_RangeFinder_TOFSenseF_I2C::start_reading()
{
uint8_t cmd[] = {TOFSENSEP_I2C_COMMAND_TAKE_RANGE_READING, TOFSENSEP_I2C_COMMAND_SIGNAL_STATUS};
// send command to take reading
return _dev->transfer(cmd, sizeof(cmd), nullptr, 0);
}
// read - return last value measured by sensor
bool AP_RangeFinder_TOFSenseF_I2C::get_reading(uint32_t &reading_mm, uint16_t &signal_strength, uint16_t &status)
{
struct PACKED {
uint32_t distance_mm;
uint32_t signal_strength_and_status;
} packet;
// take range reading and read back results
const bool ret = _dev->transfer(nullptr, 0, (uint8_t *) &packet, sizeof(packet));
if (ret) {
// combine results into distance
reading_mm = packet.distance_mm;
signal_strength = (uint16_t)(packet.signal_strength_and_status >> 16);
status = (uint16_t)(packet.signal_strength_and_status);
}
// trigger a new reading
start_reading();
return ret;
}
// timer called at 10Hz
void AP_RangeFinder_TOFSenseF_I2C::timer(void)
{
uint32_t dist_mm;
uint16_t status;
uint16_t signal_strength;
if (get_reading(dist_mm, signal_strength, status)) {
WITH_SEMAPHORE(_sem);
if (status == 1) {
// healthy data
distance_mm = dist_mm;
new_distance = true;
state.last_reading_ms = AP_HAL::millis();
}
}
}
// update the state of the sensor
void AP_RangeFinder_TOFSenseF_I2C::update(void)
{
WITH_SEMAPHORE(_sem);
if (new_distance) {
state.distance_m = distance_mm * 0.001f;
new_distance = false;
update_status();
} else if (AP_HAL::millis() - state.last_reading_ms > 300) {
// if no updates for 0.3 seconds set no-data
set_status(RangeFinder::Status::NoData);
}
}
#endif // AP_RANGEFINDER_TOFSENSEF_I2C_ENABLED