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AP_Proximity: Add support for TeraRanger Tower Evo

This commit is contained in:
Mateusz Sadowski 2018-06-15 11:08:01 +02:00 committed by Randy Mackay
parent 681645e324
commit 39ea8b835e
4 changed files with 256 additions and 2 deletions
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12
libraries/AP_Proximity/AP_Proximity.cpp
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@ -17,6 +17,7 @@
#include "AP_Proximity_LightWareSF40C.h"
#include "AP_Proximity_RPLidarA2.h"
#include "AP_Proximity_TeraRangerTower.h"
#include "AP_Proximity_TeraRangerTowerEvo.h"
#include "AP_Proximity_RangeFinder.h"
#include "AP_Proximity_MAV.h"
#include "AP_Proximity_SITL.h"
@ -30,7 +31,7 @@ const AP_Param::GroupInfo AP_Proximity::var_info[] = {
// @Param: _TYPE
// @DisplayName: Proximity type
// @Description: What type of proximity sensor is connected
// @Values: 0:None,1:LightWareSF40C,2:MAVLink,3:TeraRangerTower,4:RangeFinder,5:RPLidarA2
// @Values: 0:None,1:LightWareSF40C,2:MAVLink,3:TeraRangerTower,4:RangeFinder,5:RPLidarA2,6:TeraRangerTowerEvo
// @RebootRequired: True
// @User: Standard
AP_GROUPINFO("_TYPE", 1, AP_Proximity, _type[0], 0),
@ -150,7 +151,7 @@ const AP_Param::GroupInfo AP_Proximity::var_info[] = {
// @Param: 2_TYPE
// @DisplayName: Second Proximity type
// @Description: What type of proximity sensor is connected
// @Values: 0:None,1:LightWareSF40C,2:MAVLink,3:TeraRangerTower,4:RangeFinder,5:RPLidarA2
// @Values: 0:None,1:LightWareSF40C,2:MAVLink,3:TeraRangerTower,4:RangeFinder,5:RPLidarA2,6:TeraRangerTowerEvo
// @User: Advanced
// @RebootRequired: True
AP_GROUPINFO("2_TYPE", 16, AP_Proximity, _type[1], 0),
@ -305,6 +306,13 @@ void AP_Proximity::detect_instance(uint8_t instance)
return;
}
}
if (type == Proximity_Type_TRTOWEREVO) {
if (AP_Proximity_TeraRangerTowerEvo::detect(serial_manager)) {
state[instance].instance = instance;
drivers[instance] = new AP_Proximity_TeraRangerTowerEvo(*this, state[instance], serial_manager);
return;
}
}
if (type == Proximity_Type_RangeFinder) {
state[instance].instance = instance;
drivers[instance] = new AP_Proximity_RangeFinder(*this, state[instance]);

1
libraries/AP_Proximity/AP_Proximity.h
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@ -47,6 +47,7 @@ public:
Proximity_Type_TRTOWER = 3,
Proximity_Type_RangeFinder = 4,
Proximity_Type_RPLidarA2 = 5,
Proximity_Type_TRTOWEREVO = 6,
Proximity_Type_SITL = 10,
};

182
libraries/AP_Proximity/AP_Proximity_TeraRangerTowerEvo.cpp Normal file
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@ -0,0 +1,182 @@
/*
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_HAL/AP_HAL.h>
#include "AP_Proximity_TeraRangerTowerEvo.h"
#include <AP_SerialManager/AP_SerialManager.h>
#include <AP_Math/crc.h>
#include <ctype.h>
#include <stdio.h>
extern const AP_HAL::HAL& hal;
/*
The constructor also initialises the proximity sensor. Note that this
constructor is not called until detect() returns true, so we
already know that we should setup the proximity sensor
*/
AP_Proximity_TeraRangerTowerEvo::AP_Proximity_TeraRangerTowerEvo(AP_Proximity &_frontend,
AP_Proximity::Proximity_State &_state,
AP_SerialManager &serial_manager) :
AP_Proximity_Backend(_frontend, _state)
{
uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Lidar360, 0);
if (uart != nullptr) {
uart->begin(serial_manager.find_baudrate(AP_SerialManager::SerialProtocol_Lidar360, 0));
}
// _last_request_sent_ms = AP_HAL::millis();
}
// detect if a TeraRanger Tower proximity sensor is connected by looking for a configured serial port
bool AP_Proximity_TeraRangerTowerEvo::detect(AP_SerialManager &serial_manager)
{
AP_HAL::UARTDriver *uart = nullptr;
uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Lidar360, 0);
return uart != nullptr;
}
// update the state of the sensor
void AP_Proximity_TeraRangerTowerEvo::update(void)
{
if (uart == nullptr) {
return;
}
//initialize the sensor
if(_current_init_state != InitState::InitState_Finished)
{
initialise_modes();
}
// process incoming messages
read_sensor_data();
// check for timeout and set health status
if ((_last_distance_received_ms == 0) || (AP_HAL::millis() - _last_distance_received_ms > PROXIMITY_TRTOWER_TIMEOUT_MS)) {
set_status(AP_Proximity::Proximity_NoData);
} else {
set_status(AP_Proximity::Proximity_Good);
}
}
// get maximum and minimum distances (in meters) of primary sensor
float AP_Proximity_TeraRangerTowerEvo::distance_max() const
{
return 8.0f;
}
float AP_Proximity_TeraRangerTowerEvo::distance_min() const
{
return 0.75f;
}
void AP_Proximity_TeraRangerTowerEvo::initialise_modes()
{
if((AP_HAL::millis() - _last_request_sent_ms) < _mode_request_delay) {
return;
}
if (_current_init_state == InitState_Printout) {
set_mode(BINARY_MODE, 4);
_current_init_state = InitState_Sequence;
}
if (_current_init_state == InitState_Sequence) {
//set tower mode - 4 sensors are triggered at once with 90 deg angle between each sensor
//if this mode is not set the tower will default to sequential mode
set_mode(SEQUENCE_MODE, 4);
_current_init_state = InitState_Rate;
} else if (_current_init_state == InitState_Rate) {
//set update rate of the sensor. If it's not set it will default to ASAP mode
set_mode(REFRESH_50_HZ, 5);
_current_init_state = InitState_StreamStart;
} else if (_current_init_state == InitState_StreamStart) {
set_mode(ACTIVATE_STREAM, 5);
_current_init_state = InitState_Finished;
}
}
void AP_Proximity_TeraRangerTowerEvo::set_mode(const uint8_t *c, int length)
{
uart->write(c, length);
_last_request_sent_ms = AP_HAL::millis();
}
// check for replies from sensor, returns true if at least one message was processed
bool AP_Proximity_TeraRangerTowerEvo::read_sensor_data()
{
if (uart == nullptr) {
return false;
}
uint16_t message_count = 0;
int16_t nbytes = uart->available();
while (nbytes-- > 0) {
char c = uart->read();
if (c == 'T' ) {
buffer_count = 0;
}
buffer[buffer_count++] = c;
// we should always read 19 bytes THxxxxxxxxxxxxxxxxMC
if (buffer_count >= 20){
buffer_count = 0;
//check if message has right CRC
if (crc_crc8(buffer, 19) == buffer[19]){
uint16_t d1 = process_distance(buffer[2], buffer[3]);
uint16_t d2 = process_distance(buffer[4], buffer[5]);
uint16_t d3 = process_distance(buffer[6], buffer[7]);
uint16_t d4 = process_distance(buffer[8], buffer[9]);
uint16_t d5 = process_distance(buffer[10], buffer[11]);
uint16_t d6 = process_distance(buffer[12], buffer[13]);
uint16_t d7 = process_distance(buffer[14], buffer[15]);
uint16_t d8 = process_distance(buffer[16], buffer[17]);
update_sector_data(0, d1);
update_sector_data(45, d8);
update_sector_data(90, d7);
update_sector_data(135, d6);
update_sector_data(180, d5);
update_sector_data(225, d4);
update_sector_data(270, d3);
update_sector_data(315, d2);
message_count++;
}
}
}
return (message_count > 0);
}
uint16_t AP_Proximity_TeraRangerTowerEvo::process_distance(uint8_t buf1, uint8_t buf2)
{
return (buf1 << 8) + buf2;
}
// process reply
void AP_Proximity_TeraRangerTowerEvo::update_sector_data(int16_t angle_deg, uint16_t distance_cm)
{
uint8_t sector;
if (convert_angle_to_sector(angle_deg, sector)) {
_angle[sector] = angle_deg;
_distance[sector] = ((float) distance_cm) / 1000;
//check for target too far, target too close and sensor not connected
_distance_valid[sector] = distance_cm != 0xffff; //&& distance_cm != 0x0000 && distance_cm != 0x0001;
_last_distance_received_ms = AP_HAL::millis();
// update boundary used for avoidance
update_boundary_for_sector(sector);
}
}

63
libraries/AP_Proximity/AP_Proximity_TeraRangerTowerEvo.h Normal file
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@ -0,0 +1,63 @@
#pragma once
#include "AP_Proximity.h"
#include "AP_Proximity_Backend.h"
#define PROXIMITY_TRTOWER_TIMEOUT_MS 300 // requests timeout after 0.3 seconds
class AP_Proximity_TeraRangerTowerEvo : public AP_Proximity_Backend {
public:
// constructor
AP_Proximity_TeraRangerTowerEvo(AP_Proximity &_frontend, AP_Proximity::Proximity_State &_state, AP_SerialManager &serial_manager);
// static detection function
static bool detect(AP_SerialManager &serial_manager);
// update state
void update(void);
// get maximum and minimum distances (in meters) of sensor
float distance_max() const;
float distance_min() const;
private:
// check and process replies from sensor
void initialise_modes();
bool read_sensor_data();
void update_sector_data(int16_t angle_deg, uint16_t distance_cm);
uint16_t process_distance(uint8_t buf1, uint8_t buf2);
void set_mode(const uint8_t *c, int length);
enum InitState {
InitState_Printout = 0,
InitState_Sequence,
InitState_Rate,
InitState_StreamStart,
InitState_Finished
};
// reply related variables
AP_HAL::UARTDriver *uart = nullptr;
uint8_t buffer[20]; // buffer where to store data from serial
uint8_t buffer_count;
// request related variables
uint32_t _last_distance_received_ms; // system time of last distance measurement received from sensor
uint32_t _last_request_sent_ms; // system time of last command set
const uint16_t _mode_request_delay = 400;
enum InitState _current_init_state = InitState_Printout;
// tower evo operating modes
const uint8_t BINARY_MODE[4] = {(uint8_t)0x00, (uint8_t)0x11, (uint8_t)0x02, (uint8_t)0x4C};
const uint8_t TOWER_MODE[4] = {(uint8_t)0x00, (uint8_t)0x31, (uint8_t)0x03, (uint8_t)0xE5};
const uint8_t SEQUENCE_MODE[4] = {(uint8_t)0x00, (uint8_t)0x31, (uint8_t)0x02, (uint8_t)0xE2};
const uint8_t ACTIVATE_STREAM[5] = {(uint8_t)0x00, (uint8_t)0x52, (uint8_t)0x02, (uint8_t)0x01, (uint8_t)0xDF};
const uint8_t REFRESH_50_HZ[5] = { (uint8_t)0x00, (uint8_t)0x52, (uint8_t)0x03, (uint8_t)0x02, (uint8_t)0xC3};
const uint8_t REFRESH_100_HZ[5] = { (uint8_t)0x00, (uint8_t)0x52, (uint8_t)0x03, (uint8_t)0x03, (uint8_t)0xC4};
const uint8_t REFRESH_250_HZ[5] = { (uint8_t)0x00, (uint8_t)0x52, (uint8_t)0x03, (uint8_t)0x04, (uint8_t)0xD1};
const uint8_t REFRESH_500_HZ[5] = { (uint8_t)0x00, (uint8_t)0x52, (uint8_t)0x03, (uint8_t)0x05, (uint8_t)0xD6};
const uint8_t REFRESH_600_HZ[5] = { (uint8_t)0x00, (uint8_t)0x52, (uint8_t)0x03, (uint8_t)0x06, (uint8_t)0xDF};
};