AP_RangeFinder: Add TOFSenseP CAN Rangefinder

libraries/AP_RangeFinder/AP_RangeFinder.cpp

@@ -53,6 +53,7 @@
 #include "AP_RangeFinder_Benewake_CAN.h"
 #include "AP_RangeFinder_Lua.h"
 #include "AP_RangeFinder_NoopLoop.h"
+#include "AP_RangeFinder_TOFSenseP_CAN.h"
 
 #include <AP_BoardConfig/AP_BoardConfig.h>
 #include <AP_Logger/AP_Logger.h>
@@ -71,7 +72,7 @@ const AP_Param::GroupInfo RangeFinder::var_info[] = {
 	AP_SUBGROUPINFO(params[0], "1_", 25, RangeFinder, AP_RangeFinder_Params),
 
     // @Group: 1_
-    // @Path: AP_RangeFinder_Wasp.cpp,AP_RangeFinder_Benewake_CAN.cpp,AP_RangeFinder_USD1_CAN.cpp
+    // @Path: AP_RangeFinder_Wasp.cpp,AP_RangeFinder_Backend_CAN.cpp
     AP_SUBGROUPVARPTR(drivers[0], "1_",  57, RangeFinder, backend_var_info[0]),
 
 #if RANGEFINDER_MAX_INSTANCES > 1
@@ -80,7 +81,7 @@ const AP_Param::GroupInfo RangeFinder::var_info[] = {
     AP_SUBGROUPINFO(params[1], "2_", 27, RangeFinder, AP_RangeFinder_Params),
 
     // @Group: 2_
-    // @Path: AP_RangeFinder_Wasp.cpp,AP_RangeFinder_Benewake_CAN.cpp,AP_RangeFinder_USD1_CAN.cpp
+    // @Path: AP_RangeFinder_Wasp.cpp,AP_RangeFinder_Backend_CAN.cpp
     AP_SUBGROUPVARPTR(drivers[1], "2_",  58, RangeFinder, backend_var_info[1]),
 #endif
 
@@ -90,7 +91,7 @@ const AP_Param::GroupInfo RangeFinder::var_info[] = {
     AP_SUBGROUPINFO(params[2], "3_", 29, RangeFinder, AP_RangeFinder_Params),
 
     // @Group: 3_
-    // @Path: AP_RangeFinder_Wasp.cpp,AP_RangeFinder_Benewake_CAN.cpp,AP_RangeFinder_USD1_CAN.cpp
+    // @Path: AP_RangeFinder_Wasp.cpp,AP_RangeFinder_Backend_CAN.cpp
     AP_SUBGROUPVARPTR(drivers[2], "3_",  59, RangeFinder, backend_var_info[2]),
 #endif
 
@@ -100,7 +101,7 @@ const AP_Param::GroupInfo RangeFinder::var_info[] = {
     AP_SUBGROUPINFO(params[3], "4_", 31, RangeFinder, AP_RangeFinder_Params),
 
     // @Group: 4_
-    // @Path: AP_RangeFinder_Wasp.cpp,AP_RangeFinder_Benewake_CAN.cpp,AP_RangeFinder_USD1_CAN.cpp
+    // @Path: AP_RangeFinder_Wasp.cpp,AP_RangeFinder_Backend_CAN.cpp
     AP_SUBGROUPVARPTR(drivers[3], "4_",  60, RangeFinder, backend_var_info[3]),
 #endif
 
@@ -110,7 +111,7 @@ const AP_Param::GroupInfo RangeFinder::var_info[] = {
     AP_SUBGROUPINFO(params[4], "5_", 33, RangeFinder, AP_RangeFinder_Params),
 
     // @Group: 5_
-    // @Path: AP_RangeFinder_Wasp.cpp,AP_RangeFinder_Benewake_CAN.cpp,AP_RangeFinder_USD1_CAN.cpp
+    // @Path: AP_RangeFinder_Wasp.cpp,AP_RangeFinder_Backend_CAN.cpp
     AP_SUBGROUPVARPTR(drivers[4], "5_",  34, RangeFinder, backend_var_info[4]),
 #endif
 
@@ -120,7 +121,7 @@ const AP_Param::GroupInfo RangeFinder::var_info[] = {
     AP_SUBGROUPINFO(params[5], "6_", 35, RangeFinder, AP_RangeFinder_Params),
 
     // @Group: 6_
-    // @Path: AP_RangeFinder_Wasp.cpp,AP_RangeFinder_Benewake_CAN.cpp,AP_RangeFinder_USD1_CAN.cpp
+    // @Path: AP_RangeFinder_Wasp.cpp,AP_RangeFinder_Backend_CAN.cpp
     AP_SUBGROUPVARPTR(drivers[5], "6_",  36, RangeFinder, backend_var_info[5]),
 #endif
 
@@ -130,7 +131,7 @@ const AP_Param::GroupInfo RangeFinder::var_info[] = {
     AP_SUBGROUPINFO(params[6], "7_", 37, RangeFinder, AP_RangeFinder_Params),
 
     // @Group: 7_
-    // @Path: AP_RangeFinder_Wasp.cpp,AP_RangeFinder_Benewake_CAN.cpp,AP_RangeFinder_USD1_CAN.cpp
+    // @Path: AP_RangeFinder_Wasp.cpp,AP_RangeFinder_Backend_CAN.cpp
     AP_SUBGROUPVARPTR(drivers[6], "7_",  38, RangeFinder, backend_var_info[6]),
 #endif
 
@@ -140,7 +141,7 @@ const AP_Param::GroupInfo RangeFinder::var_info[] = {
     AP_SUBGROUPINFO(params[7], "8_", 39, RangeFinder, AP_RangeFinder_Params),
 
     // @Group: 8_
-    // @Path: AP_RangeFinder_Wasp.cpp,AP_RangeFinder_Benewake_CAN.cpp,AP_RangeFinder_USD1_CAN.cpp
+    // @Path: AP_RangeFinder_Wasp.cpp,AP_RangeFinder_Backend_CAN.cpp
     AP_SUBGROUPVARPTR(drivers[7], "8_",  40, RangeFinder, backend_var_info[7]),
 #endif
 
@@ -150,7 +151,7 @@ const AP_Param::GroupInfo RangeFinder::var_info[] = {
     AP_SUBGROUPINFO(params[8], "9_", 41, RangeFinder, AP_RangeFinder_Params),
 
     // @Group: 9_
-    // @Path: AP_RangeFinder_Wasp.cpp,AP_RangeFinder_Benewake_CAN.cpp,AP_RangeFinder_USD1_CAN.cpp
+    // @Path: AP_RangeFinder_Wasp.cpp,AP_RangeFinder_Backend_CAN.cpp
     AP_SUBGROUPVARPTR(drivers[8], "9_",  42, RangeFinder, backend_var_info[8]),
 #endif
 
@@ -160,7 +161,7 @@ const AP_Param::GroupInfo RangeFinder::var_info[] = {
     AP_SUBGROUPINFO(params[9], "A_", 43, RangeFinder, AP_RangeFinder_Params),
 
     // @Group: A_
-    // @Path: AP_RangeFinder_Wasp.cpp,AP_RangeFinder_Benewake_CAN.cpp,AP_RangeFinder_USD1_CAN.cpp
+    // @Path: AP_RangeFinder_Wasp.cpp,AP_RangeFinder_Backend_CAN.cpp
     AP_SUBGROUPVARPTR(drivers[9], "A_",  44, RangeFinder, backend_var_info[9]),
 #endif
 
@@ -537,12 +538,19 @@ void RangeFinder::detect_instance(uint8_t instance, uint8_t& serial_instance)
         _add_backend(new AP_RangeFinder_Lua(state[instance], params[instance]), instance);
 #endif
         break;
+
     case Type::NoopLoop_P:
 #if AP_RANGEFINDER_NOOPLOOP_ENABLED
         serial_create_fn = AP_RangeFinder_NoopLoop::create;
 #endif
         break;
 
+    case Type::TOFSenseP_CAN:
+#if AP_RANGEFINDER_TOFSENSEP_CAN_ENABLED
+        _add_backend(new AP_RangeFinder_TOFSenseP_CAN(state[instance], params[instance]), instance);
+#endif
+        break;
+
     case Type::NONE:
         break;
     }
@@ -805,7 +813,7 @@ bool RangeFinder::prearm_healthy(char *failure_msg, const uint8_t failure_msg_le
             }
             break;
         }
-        default:
+default:
             break;
         }
 

libraries/AP_RangeFinder/AP_RangeFinder.h

@@ -94,6 +94,7 @@ public:
         TeraRanger_Serial = 35,
         Lua_Scripting = 36,
         NoopLoop_P = 37,
+        TOFSenseP_CAN = 38,
         SIM = 100,
     };
 

libraries/AP_RangeFinder/AP_RangeFinder_Backend_CAN.cpp

@@ -0,0 +1,96 @@
+/*
+   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_RangeFinder_Backend_CAN.h"
+
+#if HAL_MAX_CAN_PROTOCOL_DRIVERS
+
+const AP_Param::GroupInfo AP_RangeFinder_Backend_CAN::var_info[] = {
+
+    // @Param: RECV_ID
+    // @DisplayName: RangeFinder CAN receive ID
+    // @Description: The receive ID of the CAN frames. A value of zero means all IDs are accepted.
+    // @Range: 0 65535
+    // @User: Advanced
+    AP_GROUPINFO("RECV_ID", 10, AP_RangeFinder_Backend_CAN, receive_id, 0),
+
+    // @Param: SNR_MIN
+    // @DisplayName: RangeFinder Minimum signal strength
+    // @Description: RangeFinder Minimum signal strength (SNR) to accept distance
+    // @Range: 0 65535
+    // @User: Advanced
+    AP_GROUPINFO("SNR_MIN", 11, AP_RangeFinder_Backend_CAN, snr_min, 0),
+
+    AP_GROUPEND
+};
+
+// constructor
+AP_RangeFinder_Backend_CAN::AP_RangeFinder_Backend_CAN(
+    RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params) :
+    AP_RangeFinder_Backend(_state, _params)
+{
+    AP_Param::setup_object_defaults(this, var_info);
+    state.var_info = var_info;
+}
+
+// update the state of the sensor
+void AP_RangeFinder_Backend_CAN::update(void)
+{
+    if (get_reading(state.distance_m)) {
+        // update range_valid state based on distance measured
+        state.last_reading_ms = AP_HAL::millis();
+        update_status();
+    } else if (AP_HAL::millis() - state.last_reading_ms >= read_timeout_ms()) {
+        set_status(RangeFinder::Status::NoData);
+    }
+}
+
+// get distance measurement
+bool AP_RangeFinder_Backend_CAN::get_reading(float &reading_m)
+{
+    WITH_SEMAPHORE(_sem);
+    if (_distance_count != 0) {
+        reading_m = _distance_sum / _distance_count;
+        _distance_sum = 0;
+        _distance_count = 0;
+        return true;
+    }
+
+    return false;
+}
+
+// return true if the CAN ID is correct
+bool AP_RangeFinder_Backend_CAN::is_correct_id(uint32_t id) const
+{
+    if (receive_id != 0 && id != uint32_t(receive_id.get())) {
+        // incorrect receive ID
+        return false;
+    }
+    return true;
+}
+
+// handle frames from CANSensor, passing to the drivers
+void RangeFinder_MultiCAN::handle_frame(AP_HAL::CANFrame &frame)
+{
+    WITH_SEMAPHORE(sem);
+    for (auto *d = drivers; d; d=d->next) {
+        if (d->handle_frame(frame)) {
+            break;
+        }
+    }
+}
+
+#endif // HAL_MAX_CAN_PROTOCOL_DRIVERS

libraries/AP_RangeFinder/AP_RangeFinder_Backend_CAN.h

@@ -0,0 +1,78 @@
+#pragma once
+
+#include "AP_RangeFinder_Backend.h"
+
+#if HAL_MAX_CAN_PROTOCOL_DRIVERS
+
+#include <AP_CANManager/AP_CANSensor.h>
+#include <AP_BoardConfig/AP_BoardConfig.h>
+
+class RangeFinder_MultiCAN;
+
+class AP_RangeFinder_Backend_CAN : public AP_RangeFinder_Backend
+{
+public:
+    // constructor
+    AP_RangeFinder_Backend_CAN(RangeFinder::RangeFinder_State &_state,
+                                  AP_RangeFinder_Params &_params);
+
+    friend class RangeFinder_MultiCAN;
+
+    static const struct AP_Param::GroupInfo var_info[];
+
+protected:
+
+    // update state
+    virtual void update(void) override;
+
+    // get distance measurement
+    bool get_reading(float &reading_m);
+
+    // it is essential that anyone relying on the base-class update to implement this
+    virtual bool handle_frame(AP_HAL::CANFrame &frame) = 0;
+
+    // maximum time between readings before we change state to NoData:
+    virtual uint16_t read_timeout_ms() const { return 200; }
+
+    virtual MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {
+        return MAV_DISTANCE_SENSOR_RADAR;
+    }
+
+    // return true if the CAN ID is correct
+    bool is_correct_id(uint32_t can_id) const;
+
+    // set distance and count
+    void set_distance_m(float distance_m) {
+        _distance_sum += distance_m;
+        _distance_count++;
+    };
+
+    // linked list
+    AP_RangeFinder_Backend_CAN *next;
+
+    AP_Int32 receive_id; // CAN ID to receive for this backend
+    AP_Int32 snr_min; // minimum signal strength to accept packet
+
+private:
+
+    float _distance_sum; // meters
+    uint32_t _distance_count;
+};
+
+// a class to allow for multiple CAN backends with one
+// CANSensor driver
+class RangeFinder_MultiCAN : public CANSensor {
+public:
+    RangeFinder_MultiCAN(AP_CAN::Protocol can_type, const char *driver_name) : CANSensor(driver_name) {
+        register_driver(can_type);
+    }
+
+    // handler for incoming frames
+    void handle_frame(AP_HAL::CANFrame &frame) override;
+
+    // Semaphore for access to shared backend data
+    HAL_Semaphore sem;
+    AP_RangeFinder_Backend_CAN *drivers;
+};
+
+#endif // HAL_MAX_CAN_PROTOCOL_DRIVERS

libraries/AP_RangeFinder/AP_RangeFinder_Benewake_CAN.cpp

@@ -5,35 +5,16 @@
 
 #if AP_RANGEFINDER_BENEWAKE_CAN_ENABLED
 
-const AP_Param::GroupInfo AP_RangeFinder_Benewake_CAN::var_info[] = {
+RangeFinder_MultiCAN *AP_RangeFinder_Benewake_CAN::multican;
-
-    // @Param: RECV_ID
-    // @DisplayName: CAN receive ID
-    // @Description: The receive ID of the CAN frames. A value of zero means all IDs are accepted.
-    // @Range: 0 65535
-    // @User: Advanced
-    AP_GROUPINFO("RECV_ID", 10, AP_RangeFinder_Benewake_CAN, receive_id, 0),
-
-    // @Param: SNR_MIN
-    // @DisplayName: Minimum signal strength
-    // @Description: Minimum signal strength (SNR) to accept distance
-    // @Range: 0 65535
-    // @User: Advanced
-    AP_GROUPINFO("SNR_MIN", 11, AP_RangeFinder_Benewake_CAN, snr_min, 0),
-
-    AP_GROUPEND
-};
-
-Benewake_MultiCAN *AP_RangeFinder_Benewake_CAN::multican;
 
 /*
   constructor
  */
 AP_RangeFinder_Benewake_CAN::AP_RangeFinder_Benewake_CAN(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params) :
-    AP_RangeFinder_Backend(_state, _params)
+    AP_RangeFinder_Backend_CAN(_state, _params)
 {
     if (multican == nullptr) {
-        multican = new Benewake_MultiCAN();
+        multican = new RangeFinder_MultiCAN(AP_CAN::Protocol::Benewake, "Benewake MultiCAN");
         if (multican == nullptr) {
             AP_BoardConfig::allocation_error("Benewake_CAN");
         }
@@ -46,26 +27,6 @@ AP_RangeFinder_Benewake_CAN::AP_RangeFinder_Benewake_CAN(RangeFinder::RangeFinde
         next = prev;
         multican->drivers = this;
     }
-
-    AP_Param::setup_object_defaults(this, var_info);
-    state.var_info = var_info;
-}
-
-// update state
-void AP_RangeFinder_Benewake_CAN::update(void)
-{
-    WITH_SEMAPHORE(_sem);
-    const uint32_t now = AP_HAL::millis();
-    if (_distance_count == 0 && now - state.last_reading_ms > 500) {
-        // no new data.
-        set_status(RangeFinder::Status::NoData);
-    } else if (_distance_count != 0) {
-        state.distance_m = 0.01 * (_distance_sum_cm / _distance_count);
-        state.last_reading_ms = AP_HAL::millis();
-        _distance_sum_cm = 0;
-        _distance_count = 0;
-        update_status();
-    }
 }
 
 // handler for incoming frames for H30 radar
@@ -83,8 +44,7 @@ bool AP_RangeFinder_Benewake_CAN::handle_frame_H30(AP_HAL::CANFrame &frame)
     //uint16_t target2 = be16toh_ptr(&frame.data[2]);
     //uint16_t target3 = be16toh_ptr(&frame.data[4]);
 
-    _distance_sum_cm += target1_cm;
+    set_distance_m(target1_cm * 0.01);
-    _distance_count++;
 
     return true;
 }
@@ -96,28 +56,16 @@ bool AP_RangeFinder_Benewake_CAN::handle_frame(AP_HAL::CANFrame &frame)
     if (frame.isExtended()) {
         // H30 radar uses extended frames
         const int32_t id = int32_t(frame.id & AP_HAL::CANFrame::MaskExtID);
-        if (receive_id != 0 && id != receive_id.get()) {
+        if (!is_correct_id(id)) {
-            // incorrect receive ID
             return false;
         }
-        if (last_recv_id != -1 && id != last_recv_id) {
-            // changing ID
-            return false;
-        }
-        last_recv_id = id;
         return handle_frame_H30(frame);
     }
 
     const uint16_t id = frame.id & AP_HAL::CANFrame::MaskStdID;
-    if (receive_id != 0 && id != uint16_t(receive_id.get())) {
+    if (!is_correct_id(id)) {
-        // incorrect receive ID
         return false;
     }
-    if (last_recv_id != -1 && id != last_recv_id) {
-        // changing ID
-        return false;
-    }
-    last_recv_id = id;
 
     const uint16_t dist_cm = le16toh_ptr(&frame.data[0]);
     const uint16_t snr = le16toh_ptr(&frame.data[2]);
@@ -125,20 +73,9 @@ bool AP_RangeFinder_Benewake_CAN::handle_frame(AP_HAL::CANFrame &frame)
         // too low signal strength
         return true;
     }
-    _distance_sum_cm += dist_cm;
+
-    _distance_count++;
+    set_distance_m(dist_cm * 0.01);
     return true;
 }
 
-// handle frames from CANSensor, passing to the drivers
-void Benewake_MultiCAN::handle_frame(AP_HAL::CANFrame &frame)
-{
-    WITH_SEMAPHORE(sem);
-    for (auto *d = drivers; d; d=d->next) {
-        if (d->handle_frame(frame)) {
-            break;
-        }
-    }
-}
-
 #endif  // AP_RANGEFINDER_BENEWAKE_CAN_ENABLED

libraries/AP_RangeFinder/AP_RangeFinder_Benewake_CAN.h

@@ -3,58 +3,18 @@
 #include "AP_RangeFinder_config.h"
 
 #if AP_RANGEFINDER_BENEWAKE_CAN_ENABLED
+#include "AP_RangeFinder_Backend_CAN.h"
 
-#include "AP_RangeFinder_Backend.h"
+class AP_RangeFinder_Benewake_CAN : public AP_RangeFinder_Backend_CAN {
-#include <AP_CANManager/AP_CANSensor.h>
-
-class Benewake_MultiCAN;
-
-class AP_RangeFinder_Benewake_CAN : public AP_RangeFinder_Backend {
 public:
-    friend class Benewake_MultiCAN;
-
     AP_RangeFinder_Benewake_CAN(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params);
 
-    void update() override;
-
     // handler for incoming frames. Return true if consumed
-    bool handle_frame(AP_HAL::CANFrame &frame);
+    bool handle_frame(AP_HAL::CANFrame &frame) override;
     bool handle_frame_H30(AP_HAL::CANFrame &frame);
 
-    static const struct AP_Param::GroupInfo var_info[];
-
-protected:
-    virtual MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {
-        return MAV_DISTANCE_SENSOR_RADAR;
-    }
-
 private:
-    float _distance_sum_cm;
+    static RangeFinder_MultiCAN *multican;
-    uint32_t _distance_count;
-    int32_t last_recv_id = -1;
-
-    AP_Int32 snr_min;
-    AP_Int32 receive_id;
-
-    static Benewake_MultiCAN *multican;
-    AP_RangeFinder_Benewake_CAN *next;
-};
-
-// a class to allow for multiple Benewake_CAN backends with one
-// CANSensor driver
-class Benewake_MultiCAN : public CANSensor {
-public:
-    Benewake_MultiCAN() : CANSensor("Benewake") {
-        register_driver(AP_CAN::Protocol::Benewake);
-    }
-
-    // handler for incoming frames
-    void handle_frame(AP_HAL::CANFrame &frame) override;
-
-    HAL_Semaphore sem;
-    AP_RangeFinder_Benewake_CAN *drivers;
 };
 
 #endif  // AP_RANGEFINDER_BENEWAKE_CAN_ENABLED
-
-

libraries/AP_RangeFinder/AP_RangeFinder_Params.cpp

@@ -10,7 +10,7 @@ const AP_Param::GroupInfo AP_RangeFinder_Params::var_info[] = {
     // @Param: TYPE
     // @DisplayName: Rangefinder type
     // @Description: Type of connected rangefinder
-    // @Values: 0:None,1:Analog,2:MaxbotixI2C,3:LidarLite-I2C,5:PWM,6:BBB-PRU,7:LightWareI2C,8:LightWareSerial,9:Bebop,10:MAVLink,11:USD1_Serial,12:LeddarOne,13:MaxbotixSerial,14:TeraRangerI2C,15:LidarLiteV3-I2C,16:VL53L0X or VL53L1X,17:NMEA,18:WASP-LRF,19:BenewakeTF02,20:Benewake-Serial,21:LidarLightV3HP,22:PWM,23:BlueRoboticsPing,24:DroneCAN,25:BenewakeTFminiPlus-I2C,26:LanbaoPSK-CM8JL65-CC5,27:BenewakeTF03,28:VL53L1X-ShortRange,29:LeddarVu8-Serial,30:HC-SR04,31:GYUS42v2,32:MSP,33:USD1_CAN,34:Benewake_CAN,35:TeraRangerSerial,36:Lua_Scripting,37:NoopLoop_TOFSense, 100:SITL
+    // @Values: 0:None,1:Analog,2:MaxbotixI2C,3:LidarLite-I2C,5:PWM,6:BBB-PRU,7:LightWareI2C,8:LightWareSerial,9:Bebop,10:MAVLink,11:USD1_Serial,12:LeddarOne,13:MaxbotixSerial,14:TeraRangerI2C,15:LidarLiteV3-I2C,16:VL53L0X or VL53L1X,17:NMEA,18:WASP-LRF,19:BenewakeTF02,20:Benewake-Serial,21:LidarLightV3HP,22:PWM,23:BlueRoboticsPing,24:DroneCAN,25:BenewakeTFminiPlus-I2C,26:LanbaoPSK-CM8JL65-CC5,27:BenewakeTF03,28:VL53L1X-ShortRange,29:LeddarVu8-Serial,30:HC-SR04,31:GYUS42v2,32:MSP,33:USD1_CAN,34:Benewake_CAN,35:TeraRangerSerial,36:Lua_Scripting,37:NoopLoop_TOFSense, 38:NoopLoop_TOFSense_CAN, 100:SITL
     // @User: Standard
     AP_GROUPINFO_FLAGS("TYPE", 1, AP_RangeFinder_Params, type, 0, AP_PARAM_FLAG_ENABLE),
 

libraries/AP_RangeFinder/AP_RangeFinder_TOFSenseP_CAN.cpp

@@ -0,0 +1,58 @@
+#include "AP_RangeFinder_TOFSenseP_CAN.h"
+#include <GCS_MAVLink/GCS.h>
+#include <AP_BoardConfig/AP_BoardConfig.h>
+#include <AP_HAL/utility/sparse-endian.h>
+
+#if AP_RANGEFINDER_TOFSENSEP_CAN_ENABLED
+
+#include <AP_HAL/AP_HAL.h>
+
+RangeFinder_MultiCAN *AP_RangeFinder_TOFSenseP_CAN::multican_TOFSenseP;
+
+/*
+  constructor
+ */
+AP_RangeFinder_TOFSenseP_CAN::AP_RangeFinder_TOFSenseP_CAN(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params) :
+    AP_RangeFinder_Backend_CAN(_state, _params)
+{
+    if (multican_TOFSenseP == nullptr) {
+        multican_TOFSenseP = new RangeFinder_MultiCAN(AP_CAN::Protocol::TOFSenseP, "TOFSenseP MultiCAN");
+        if (multican_TOFSenseP == nullptr) {
+            AP_BoardConfig::allocation_error("Rangefinder_MultiCAN");
+        }
+    }
+
+    {
+        // add to linked list of drivers
+        WITH_SEMAPHORE(multican_TOFSenseP->sem);
+        auto *prev = multican_TOFSenseP->drivers;
+        next = prev;
+        multican_TOFSenseP->drivers = this;
+    }
+}
+
+
+// handler for incoming frames. These come in at 10-30Hz
+bool AP_RangeFinder_TOFSenseP_CAN::handle_frame(AP_HAL::CANFrame &frame)
+{
+    WITH_SEMAPHORE(_sem);
+    const uint32_t id = frame.id - 0x200U;
+
+    if (!is_correct_id(id)) {
+        return false;
+    }
+
+    const int32_t dist_cm = (int32_t)(frame.data[0] << 8U | frame.data[1] << 16U | frame.data[2] << 24U) / 2560;
+    const uint8_t status = frame.data[3];
+    const uint16_t snr = le16toh_ptr(&frame.data[4]);
+
+    if ((snr_min != 0 && snr < uint16_t(snr_min.get())) || status > 0) {
+        // too low signal strength or bad status
+        return false;
+    }
+
+    set_distance_m(dist_cm * 0.01);
+    return true;
+}
+
+#endif  // AP_RANGEFINDER_TOFSenseP_CAN_ENABLED

libraries/AP_RangeFinder/AP_RangeFinder_TOFSenseP_CAN.h

@@ -0,0 +1,25 @@
+#pragma once
+
+#include "AP_RangeFinder_Backend_CAN.h"
+
+#ifndef AP_RANGEFINDER_TOFSENSEP_CAN_ENABLED
+#define AP_RANGEFINDER_TOFSENSEP_CAN_ENABLED (HAL_MAX_CAN_PROTOCOL_DRIVERS && AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED)
+#endif
+
+#if AP_RANGEFINDER_TOFSENSEP_CAN_ENABLED
+
+class AP_RangeFinder_TOFSenseP_CAN : public AP_RangeFinder_Backend_CAN {
+public:
+    AP_RangeFinder_TOFSenseP_CAN(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params);
+
+    // handler for incoming frames
+    bool handle_frame(AP_HAL::CANFrame &frame) override;
+
+    static const struct AP_Param::GroupInfo var_info[];
+
+private:
+    static RangeFinder_MultiCAN *multican_TOFSenseP;
+
+};
+
+#endif  // AP_RANGEFINDER_USD1_CAN_ENABLED

libraries/AP_RangeFinder/AP_RangeFinder_USD1_CAN.cpp

@@ -1,32 +1,19 @@
 #include "AP_RangeFinder_USD1_CAN.h"
-#include <AP_BoardConfig/AP_BoardConfig.h>
 
 #if AP_RANGEFINDER_USD1_CAN_ENABLED
 
 #include <AP_HAL/AP_HAL.h>
 
-const AP_Param::GroupInfo AP_RangeFinder_USD1_CAN::var_info[] = {
+RangeFinder_MultiCAN *AP_RangeFinder_USD1_CAN::multican;
-
-    // @Param: RECV_ID
-    // @DisplayName: CAN receive ID
-    // @Description: The receive ID of the CAN frames. A value of zero means all IDs are accepted.
-    // @Range: 0 65535
-    // @User: Advanced
-    AP_GROUPINFO("RECV_ID", 12, AP_RangeFinder_USD1_CAN, receive_id, 0),
-
-    AP_GROUPEND
-};
-
-USD1_MultiCAN *AP_RangeFinder_USD1_CAN::multican;
 
 /*
   constructor
  */
 AP_RangeFinder_USD1_CAN::AP_RangeFinder_USD1_CAN(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params) :
-    AP_RangeFinder_Backend(_state, _params)
+    AP_RangeFinder_Backend_CAN(_state, _params)
 {
     if (multican == nullptr) {
-        multican = new USD1_MultiCAN();
+        multican = new RangeFinder_MultiCAN(AP_CAN::Protocol::USD1, "USD1 MultiCAN");
         if (multican == nullptr) {
             AP_BoardConfig::allocation_error("USD1_CAN");
         }
@@ -39,26 +26,6 @@ AP_RangeFinder_USD1_CAN::AP_RangeFinder_USD1_CAN(RangeFinder::RangeFinder_State
         next = prev;
         multican->drivers = this;
     }
-
-    AP_Param::setup_object_defaults(this, var_info);
-    state.var_info = var_info;
-}
-
-// update state
-void AP_RangeFinder_USD1_CAN::update(void)
-{
-    WITH_SEMAPHORE(_sem);
-    const uint32_t now = AP_HAL::millis();
-    if (_distance_count == 0 && now - state.last_reading_ms > 500) {
-        // no new data.
-        set_status(RangeFinder::Status::NoData);
-    } else if (_distance_count != 0) {
-        state.distance_m = _distance_sum / _distance_count;
-        state.last_reading_ms = AP_HAL::millis();
-        _distance_sum = 0;
-        _distance_count = 0;
-        update_status();
-    }
 }
 
 // handler for incoming frames. These come in at 100Hz
@@ -66,31 +33,14 @@ bool AP_RangeFinder_USD1_CAN::handle_frame(AP_HAL::CANFrame &frame)
 {
     WITH_SEMAPHORE(_sem);
     const uint16_t id = frame.id & AP_HAL::CANFrame::MaskStdID;
-    if (receive_id != 0 && id != uint16_t(receive_id.get())) {
+
-        // incorrect receive ID
+    if (!is_correct_id(id)) {
         return false;
     }
-    if (last_recv_id != -1 && id != last_recv_id) {
-        // changing ID
-        return false;
-    }
-    last_recv_id = id;
 
     const uint16_t dist_cm = (frame.data[0]<<8) | frame.data[1];
-    _distance_sum += dist_cm * 0.01;
+    set_distance_m(dist_cm * 0.01);
-    _distance_count++;
     return true;
 }
 
-// handle frames from CANSensor, passing to the drivers
-void USD1_MultiCAN::handle_frame(AP_HAL::CANFrame &frame)
-{
-    WITH_SEMAPHORE(sem);
-    for (auto *d = drivers; d; d=d->next) {
-        if (d->handle_frame(frame)) {
-            break;
-        }
-    }
-}
-
 #endif  // AP_RANGEFINDER_USD1_CAN_ENABLED

libraries/AP_RangeFinder/AP_RangeFinder_USD1_CAN.h

@@ -3,54 +3,22 @@
 #include "AP_RangeFinder_config.h"
 
 #if AP_RANGEFINDER_USD1_CAN_ENABLED
+#include "AP_RangeFinder_Backend_CAN.h"
 
-#include "AP_RangeFinder_Backend.h"
+class AP_RangeFinder_USD1_CAN : public AP_RangeFinder_Backend_CAN {
-#include <AP_CANManager/AP_CANSensor.h>
-
-class USD1_MultiCAN;
-
-class AP_RangeFinder_USD1_CAN : public AP_RangeFinder_Backend {
 public:
-    friend class USD1_MultiCAN;
 
     AP_RangeFinder_USD1_CAN(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params);
 
-    void update() override;
-
     // handler for incoming frames
-    bool handle_frame(AP_HAL::CANFrame &frame);
+    bool handle_frame(AP_HAL::CANFrame &frame) override;
 
     static const struct AP_Param::GroupInfo var_info[];
 
-
-protected:
-    virtual MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {
-        return MAV_DISTANCE_SENSOR_RADAR;
-    }
 private:
-    float _distance_sum;
-    uint32_t _distance_count;
-    int32_t last_recv_id = -1;
 
-    AP_Int32 receive_id;
+    static RangeFinder_MultiCAN *multican;
 
-    static USD1_MultiCAN *multican;
-    AP_RangeFinder_USD1_CAN *next;
-};
-
-// a class to allow for multiple USD1_CAN backends with one
-// CANSensor driver
-class USD1_MultiCAN : public CANSensor {
-public:
-    USD1_MultiCAN() : CANSensor("USD1") {
-        register_driver(AP_CAN::Protocol::USD1);
-    }
-
-    // handler for incoming frames
-    void handle_frame(AP_HAL::CANFrame &frame) override;
-
-    HAL_Semaphore sem;
-    AP_RangeFinder_USD1_CAN *drivers;
 };
 
 #endif  // AP_RANGEFINDER_USD1_CAN_ENABLED