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AP_Proximity: Add LightWare SF45B I2C Driver

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This commit is contained in:
rishabsingh3003 2024-02-05 14:25:16 -05:00
parent 54ec26a80a
commit 475058ae15
9 changed files with 398 additions and 74 deletions
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27
libraries/AP_Proximity/AP_Proximity.cpp
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@ -23,7 +23,8 @@
#include "AP_Proximity_RangeFinder.h"
#include "AP_Proximity_MAV.h"
#include "AP_Proximity_LightWareSF40C.h"
#include "AP_Proximity_LightWareSF45B.h"
#include "AP_Proximity_LightWareSF45B_Serial.h"
#include "AP_Proximity_LightWareSF45B_I2C.h"
#include "AP_Proximity_SITL.h"
#include "AP_Proximity_AirSimSITL.h"
#include "AP_Proximity_Cygbot_D1.h"
@ -32,7 +33,6 @@
#include "AP_Proximity_LD06.h"
#include "AP_Proximity_MR72_CAN.h"
#include <AP_Logger/AP_Logger.h>
extern const AP_HAL::HAL &hal;
@ -197,11 +197,11 @@ void AP_Proximity::init()
}
break;
#endif
#if AP_PROXIMITY_LIGHTWARE_SF45B_ENABLED
#if AP_PROXIMITY_LIGHTWARE_SF45B_SERIAL_ENABLED
case Type::SF45B:
if (AP_Proximity_LightWareSF45B::detect(serial_instance)) {
if (AP_Proximity_LightWareSF45B_Serial::detect(serial_instance)) {
state[instance].instance = instance;
drivers[instance] = NEW_NOTHROW AP_Proximity_LightWareSF45B(*this, state[instance], params[instance], serial_instance);
drivers[instance] = NEW_NOTHROW AP_Proximity_LightWareSF45B_Serial(*this, state[instance], params[instance], serial_instance);
serial_instance++;
}
break;
@ -252,6 +252,23 @@ void AP_Proximity::init()
serial_instance++;
}
break;
#endif
#if AP_PROXIMITY_LIGHTWARE_SF45B_I2C_ENABLED
case Type::SF45B_I2C:
uint8_t addr = PROXIMITY_SF45B_I2C_ADDRESS;
if (params[instance].address != 0) {
addr = params[instance].address;
}
FOREACH_I2C(i) {
drivers[instance] = AP_Proximity_LightWareSF45B_I2C::detect(*this, state[instance], params[instance],
hal.i2c_mgr->get_device(i, addr));
if (drivers[instance] != nullptr) {
state[instance].instance = instance;
break;
}
}
break;
#endif
}

5
libraries/AP_Proximity/AP_Proximity.h
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@ -66,7 +66,7 @@ public:
#if AP_PROXIMITY_LIGHTWARE_SF40C_ENABLED
SF40C = 7,
#endif
#if AP_PROXIMITY_LIGHTWARE_SF45B_ENABLED
#if AP_PROXIMITY_LIGHTWARE_SF45B_SERIAL_ENABLED
SF45B = 8,
#endif
#if AP_PROXIMITY_SITL_ENABLED
@ -89,6 +89,9 @@ public:
#endif
#if AP_PROXIMITY_MR72_ENABLED
MR72 = 17,
#endif
#if AP_PROXIMITY_LIGHTWARE_SF45B_I2C_ENABLED
SF45B_I2C = 18,
#endif
};

60
libraries/AP_Proximity/AP_Proximity_LightWareSF45B.h
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@ -2,35 +2,22 @@
#include "AP_Proximity_config.h"
#if AP_PROXIMITY_LIGHTWARE_SF45B_ENABLED
#include "AP_Proximity_LightWareSerial.h"
#if AP_PROXIMITY_LIGHTWARE_SF45B_SERIAL_ENABLED || AP_PROXIMITY_LIGHTWARE_SF45B_I2C_ENABLED
#include "AP_Proximity.h"
#include "AP_Proximity_Backend.h"
#include <Filter/Filter.h>
class AP_Proximity_LightWareSF45B : public AP_Proximity_LightWareSerial
{
static const uint32_t PROXIMITY_SF45B_TIMEOUT_MS = 200;
static const uint32_t PROXIMITY_SF45B_REINIT_INTERVAL_MS = 5000; // re-initialise sensor after this many milliseconds
static const float PROXIMITY_SF45B_COMBINE_READINGS_DEG = 5.0f; // combine readings from within this many degrees to improve efficiency
static const uint32_t PROXIMITY_SF45B_DESIRED_FIELDS = ((uint32_t)1 << 0 | (uint32_t)1 << 8); // first return (unfiltered), yaw angle
static const uint16_t PROXIMITY_SF45B_DESIRED_FIELD_COUNT = 2; // DISTANCE_DATA_CM message should contain two fields
class AP_Proximity_LightWareSF45B
{
public:
// constructor
AP_Proximity_LightWareSF45B(AP_Proximity &_frontend,
AP_Proximity::Proximity_State &_state,
AP_Proximity_Params& _params,
uint8_t serial_instance) :
AP_Proximity_LightWareSerial(_frontend, _state, _params, serial_instance) {}
uint16_t rxspace() const override {
return 1280;
};
// update state
void update(void) override;
// get maximum and minimum distances (in meters) of sensor
float distance_max() const override { return 50.0f; }
float distance_min() const override { return 0.20f; }
private:
AP_Proximity_LightWareSF45B() {}
// message ids
enum class MessageID : uint8_t {
@ -57,6 +44,7 @@ private:
LOST_SIGNAL_COUNTER = 76,
BAUD_RATE = 79,
I2C_ADDRESS = 80,
SCAN_SPEED = 85,
STEPPER_STATUS = 93,
SCAN_ON_STARTUP = 94,
SCAN_ENABLE = 96,
@ -65,20 +53,8 @@ private:
SCAN_HIGH_ANGLE = 99
};
// initialise sensor
void initialise();
// request start of streaming of distances
void request_stream_start();
// check and process replies from sensor
void process_replies();
// process the latest message held in the msg structure
void process_message();
// convert an angle (in degrees) to a mini sector number
uint8_t convert_angle_to_minisector(float angle_deg) const;
uint8_t convert_angle_to_minisector(float angle_deg) const { return wrap_360(angle_deg + (PROXIMITY_SF45B_COMBINE_READINGS_DEG * 0.5f)) / PROXIMITY_SF45B_COMBINE_READINGS_DEG; };
// internal variables
uint32_t _last_init_ms; // system time of last re-initialisation
@ -97,14 +73,6 @@ private:
float _minisector_distance; // shortest distance (in meters) in mini sector
float _minisector_angle; // angle (in degrees) of shortest distance in mini sector
bool _minisector_distance_valid; // true if mini sector has at least one valid distance
// state of sensor
struct {
uint8_t update_rate; // sensor reported update rate enum from UPDATE_RATE message
uint32_t streaming_fields; // sensor reported bitmask of fields sent in DISTANCE_DATA_CM message
uint32_t stream_data_type; // sensor reported stream value. 5 if DISTANCE_DATA_CM messages are being streamed
} _sensor_state;
};
#endif // AP_PROXIMITY_LIGHTWARE_SF45B_ENABLED
#endif // AP_PROXIMITY_LIGHTWARE_SF45B_SERIAL_ENABLED

229
libraries/AP_Proximity/AP_Proximity_LightWareSF45B_I2C.cpp Normal file
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@ -0,0 +1,229 @@
/*
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/>.
The Lightware SF45B serial interface is described on this wiki page
http://support.lightware.co.za/sf45/#/commands
*/
#include "AP_Proximity_config.h"
#if AP_PROXIMITY_LIGHTWARE_SF45B_I2C_ENABLED
#include "AP_Proximity_LightWareSF45B_I2C.h"
#include <utility>
#include <AP_Common/AP_Common.h>
#include <AP_HAL/AP_HAL.h>
#include <AP_HAL/utility/sparse-endian.h>
#include <AP_HAL/Semaphores.h>
#include <AP_HAL/utility/OwnPtr.h>
#include <AP_HAL/I2CDevice.h>
#include <GCS_MAVLink/GCS.h>
extern const AP_HAL::HAL& hal;
AP_Proximity_LightWareSF45B_I2C::AP_Proximity_LightWareSF45B_I2C(AP_Proximity &_frontend,
AP_Proximity::Proximity_State &_state,
AP_Proximity_Params &_params,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev)
: AP_Proximity_Backend(_frontend, _state, _params), _dev(std::move(dev))
{
}
AP_Proximity_Backend* AP_Proximity_LightWareSF45B_I2C::detect(AP_Proximity &_frontend,
AP_Proximity::Proximity_State &_state,
AP_Proximity_Params &_params,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev)
{
if (!dev) {
return nullptr;
}
AP_Proximity_LightWareSF45B_I2C *sensor = new AP_Proximity_LightWareSF45B_I2C(_frontend, _state, _params, std::move(dev));
if (!sensor || !sensor->initialise()) {
delete sensor;
return nullptr;
}
return sensor;
}
// configure the sensor and check if it is saved
bool AP_Proximity_LightWareSF45B_I2C::initialise(void)
{
_dev->get_semaphore()->take_blocking();
if (!configure_sensor()) {
_dev->get_semaphore()->give();
return false;
}
hal.scheduler->delay(100);
if (!get_configuration()) {
_dev->get_semaphore()->give();
return false;
}
float reading_m, yaw;
if (!get_reading(reading_m, yaw)) {
_dev->get_semaphore()->give();
return false;
}
_dev->get_semaphore()->give();
_dev->register_periodic_callback(2500, FUNCTOR_BIND_MEMBER(&AP_Proximity_LightWareSF45B_I2C::timer, void));
return true;
}
// configure sensor to send distances and servo angle only
bool AP_Proximity_LightWareSF45B_I2C::configure_sensor()
{
struct PACKED {
uint8_t message_id = uint8_t(MessageID::DISTANCE_OUTPUT);
uint32_t data = PROXIMITY_SF45B_DESIRED_FIELDS;
} cmd;
if (!_dev->transfer((uint8_t *) &cmd, sizeof(cmd), nullptr, 0)) {
return false;
}
return true;
}
// get configuration from sensor
bool AP_Proximity_LightWareSF45B_I2C::get_configuration()
{
const uint8_t cmd = uint8_t(MessageID::DISTANCE_OUTPUT);
if (!_dev->transfer(&cmd, sizeof(cmd), nullptr, 0)) {
return false;
}
hal.scheduler->delay(100);
uint8_t response[4];
if (_dev->transfer(nullptr, 0, response, sizeof(response))) {
const uint32_t configuration = le32toh_ptr(response);
if (configuration != PROXIMITY_SF45B_DESIRED_FIELDS) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "SF45B: Unexpected configuration %08x", (unsigned int)configuration);
return false;
}
return true;
}
return false;
}
// trigger a distance reading
bool AP_Proximity_LightWareSF45B_I2C::get_reading(float &reading_m, float &yaw_angle_deg)
{
const uint8_t cmd = uint8_t(MessageID::DISTANCE_DATA_CM);
_dev->transfer(&cmd, sizeof(cmd), nullptr, 0);
struct PACKED {
int16_t first_distance_cm;
int16_t yaw_angle_cdeg;
} packet;
const bool ret = _dev->transfer(nullptr, 0, reinterpret_cast<uint8_t*>(&packet), sizeof(packet));
if (ret) {
reading_m = _distance_filt.apply(packet.first_distance_cm*0.01f);
yaw_angle_deg = packet.yaw_angle_cdeg * 0.01f;
}
return ret;
}
// timer function
void AP_Proximity_LightWareSF45B_I2C::timer(void)
{
float dist_m, yaw_angle_deg;
if (get_reading(dist_m, yaw_angle_deg)) {
WITH_SEMAPHORE(_sem);
distance_m = dist_m;
yaw_deg = yaw_angle_deg;
new_distance = true;
_last_distance_received_ms = AP_HAL::millis();
}
}
void AP_Proximity_LightWareSF45B_I2C::update(void)
{
WITH_SEMAPHORE(_sem);
if (new_distance) {
process_message(distance_m, yaw_deg);
new_distance = false;
}
if ((_last_distance_received_ms == 0) || ((AP_HAL::millis() - _last_distance_received_ms) > PROXIMITY_SF45B_TIMEOUT_MS)) {
set_status(AP_Proximity::Status::NoData);
} else {
set_status(AP_Proximity::Status::Good);
}
}
void AP_Proximity_LightWareSF45B_I2C::process_message(float dist_m, float angle)
{
_last_distance_received_ms = AP_HAL::millis();
const float angle_deg = correct_angle_for_orientation(angle);
const AP_Proximity_Boundary_3D::Face face = frontend.boundary.get_face(angle_deg);
if (face != _face) {
if (_face_distance_valid) {
frontend.boundary.set_face_attributes(_face, _face_yaw_deg, _face_distance, state.instance);
} else {
// mark previous face invalid
frontend.boundary.reset_face(_face, state.instance);
}
// record updated face
_face = face;
_face_yaw_deg = 0;
_face_distance = INT16_MAX;
_face_distance_valid = false;
}
// if distance is from a new minisector then update obstacle database using angle and distance from previous minisector
const uint8_t minisector = convert_angle_to_minisector(angle_deg);
if (minisector != _minisector) {
if ((_minisector != UINT8_MAX) && _minisector_distance_valid) {
database_push(_minisector_angle, _minisector_distance);
}
// init mini sector
_minisector = minisector;
_minisector_angle = 0;
_minisector_distance = INT16_MAX;
_minisector_distance_valid = false;
}
if (!ignore_reading(angle_deg, dist_m) && (dist_m >= distance_min()) && (dist_m <= distance_max())) {
if (!_face_distance_valid || (dist_m < _face_distance)) {
_face_yaw_deg = angle_deg;
_face_distance = dist_m;
_face_distance_valid = true;
}
if (dist_m < _minisector_distance) {
_minisector_angle = angle_deg;
_minisector_distance = dist_m;
_minisector_distance_valid = true;
}
}
}
#endif // AP_PROXIMITY_LIGHTWARE_SF45B_I2C_ENABLED

60
libraries/AP_Proximity/AP_Proximity_LightWareSF45B_I2C.h Normal file
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@ -0,0 +1,60 @@
#pragma once
#include "AP_Proximity_config.h"
#if AP_PROXIMITY_LIGHTWARE_SF45B_I2C_ENABLED
#include "AP_Proximity_LightWareSF45B.h"
#include <AP_HAL/I2CDevice.h>
static const uint8_t PROXIMITY_SF45B_I2C_ADDRESS = 0x66;
class AP_Proximity_LightWareSF45B_I2C : public AP_Proximity_Backend, public AP_Proximity_LightWareSF45B
{
public:
// static detection function
static AP_Proximity_Backend *detect(AP_Proximity &_frontend,
AP_Proximity::Proximity_State &_state,
AP_Proximity_Params& _params,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
// update state
void update(void) override;
// get maximum and minimum distances (in meters) of sensor
float distance_max() const override { return 50.0f; }
float distance_min() const override { return 0.20f; }
private:
// constructor
AP_Proximity_LightWareSF45B_I2C(AP_Proximity &_frontend, AP_Proximity::Proximity_State &_state, AP_Proximity_Params& _params, AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
// initialise sensor
bool initialise();
// timer function
void timer(void);
// configure sensor to send distances and servo angle only
bool configure_sensor();
// get configuration from sensor
bool get_configuration();
// trigger a distance reading
bool get_reading(float &reading_m, float &ang_deg);
// process the latest message held in the msg structure
void process_message(float distance_m, float angle_deg);
AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev;
float distance_m;
float yaw_deg;
bool new_distance; // true if we have a new distance
};
#endif // AP_PROXIMITY_LIGHTWARE_SF45B_I2C_ENABLED

27
libraries/AP_Proximity/AP_Proximity_LightWareSF45B.cpp → libraries/AP_Proximity/AP_Proximity_LightWareSF45B_Serial.cpp
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@ -18,9 +18,9 @@
#include "AP_Proximity_config.h"
#if AP_PROXIMITY_LIGHTWARE_SF45B_ENABLED
#if AP_PROXIMITY_LIGHTWARE_SF45B_SERIAL_ENABLED
#include "AP_Proximity_LightWareSF45B.h"
#include "AP_Proximity_LightWareSF45B_Serial.h"
#include <AP_Common/AP_Common.h>
#include <AP_HAL/AP_HAL.h>
@ -28,16 +28,11 @@
extern const AP_HAL::HAL& hal;
static const uint32_t PROXIMITY_SF45B_TIMEOUT_MS = 200;
static const uint32_t PROXIMITY_SF45B_REINIT_INTERVAL_MS = 5000; // re-initialise sensor after this many milliseconds
static const float PROXIMITY_SF45B_COMBINE_READINGS_DEG = 5.0f; // combine readings from within this many degrees to improve efficiency
static const uint32_t PROXIMITY_SF45B_STREAM_DISTANCE_DATA_CM = 5;
static const uint8_t PROXIMITY_SF45B_DESIRED_UPDATE_RATE = 6; // 1:48hz, 2:55hz, 3:64hz, 4:77hz, 5:97hz, 6:129hz, 7:194hz, 8:388hz
static const uint32_t PROXIMITY_SF45B_DESIRED_FIELDS = ((uint32_t)1 << 0 | (uint32_t)1 << 8); // first return (unfiltered), yaw angle
static const uint16_t PROXIMITY_SF45B_DESIRED_FIELD_COUNT = 2; // DISTANCE_DATA_CM message should contain two fields
// update the state of the sensor
void AP_Proximity_LightWareSF45B::update(void)
void AP_Proximity_LightWareSF45B_Serial::update(void)
{
if (_uart == nullptr) {
return;
@ -58,7 +53,7 @@ void AP_Proximity_LightWareSF45B::update(void)
}
// initialise sensor
void AP_Proximity_LightWareSF45B::initialise()
void AP_Proximity_LightWareSF45B_Serial::initialise()
{
// check sensor is configured correctly
_init_complete = (_sensor_state.stream_data_type == PROXIMITY_SF45B_STREAM_DISTANCE_DATA_CM) &&
@ -77,7 +72,7 @@ void AP_Proximity_LightWareSF45B::initialise()
}
// request start of streaming of distances
void AP_Proximity_LightWareSF45B::request_stream_start()
void AP_Proximity_LightWareSF45B_Serial::request_stream_start()
{
// request output rate
send_message((uint8_t)MessageID::UPDATE_RATE, true, &PROXIMITY_SF45B_DESIRED_UPDATE_RATE, sizeof(PROXIMITY_SF45B_DESIRED_UPDATE_RATE));
@ -90,7 +85,7 @@ void AP_Proximity_LightWareSF45B::request_stream_start()
}
// check for replies from sensor
void AP_Proximity_LightWareSF45B::process_replies()
void AP_Proximity_LightWareSF45B_Serial::process_replies()
{
if (_uart == nullptr) {
return;
@ -110,7 +105,7 @@ void AP_Proximity_LightWareSF45B::process_replies()
}
// process the latest message held in the _msg structure
void AP_Proximity_LightWareSF45B::process_message()
void AP_Proximity_LightWareSF45B_Serial::process_message()
{
// process payload
switch ((MessageID)_msg.msgid) {
@ -197,10 +192,4 @@ void AP_Proximity_LightWareSF45B::process_message()
}
}
// convert an angle (in degrees) to a mini sector number
uint8_t AP_Proximity_LightWareSF45B::convert_angle_to_minisector(float angle_deg) const
{
return wrap_360(angle_deg + (PROXIMITY_SF45B_COMBINE_READINGS_DEG * 0.5f)) / PROXIMITY_SF45B_COMBINE_READINGS_DEG;
}
#endif // AP_PROXIMITY_LIGHTWARE_SF45B_ENABLED
#endif // AP_PROXIMITY_LIGHTWARE_SF45B_SERIAL_ENABLED

55
libraries/AP_Proximity/AP_Proximity_LightWareSF45B_Serial.h Normal file
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@ -0,0 +1,55 @@
#pragma once
#include "AP_Proximity_config.h"
#if AP_PROXIMITY_LIGHTWARE_SF45B_SERIAL_ENABLED
#include "AP_Proximity_LightWareSerial.h"
#include "AP_Proximity_LightWareSF45B.h"
class AP_Proximity_LightWareSF45B_Serial : public AP_Proximity_LightWareSerial, public AP_Proximity_LightWareSF45B
{
public:
// constructor
AP_Proximity_LightWareSF45B_Serial(AP_Proximity &_frontend,
AP_Proximity::Proximity_State &_state,
AP_Proximity_Params& _params,
uint8_t serial_instance) :
AP_Proximity_LightWareSerial(_frontend, _state, _params, serial_instance) {}
uint16_t rxspace() const override {
return 1280;
};
// update state
void update(void) override;
// get maximum and minimum distances (in meters) of sensor
float distance_max() const override { return 50.0f; }
float distance_min() const override { return 0.20f; }
private:
// initialise sensor
void initialise();
// request start of streaming of distances
void request_stream_start();
// check and process replies from sensor
void process_replies();
// process the latest message held in the msg structure
void process_message();
// state of sensor
struct {
uint8_t update_rate; // sensor reported update rate enum from UPDATE_RATE message
uint32_t streaming_fields; // sensor reported bitmask of fields sent in DISTANCE_DATA_CM message
uint32_t stream_data_type; // sensor reported stream value. 5 if DISTANCE_DATA_CM messages are being streamed
} _sensor_state;
};
#endif // AP_PROXIMITY_LIGHTWARE_SF45B_SERIAL_ENABLED

2
libraries/AP_Proximity/AP_Proximity_Params.cpp
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@ -8,7 +8,7 @@ const AP_Param::GroupInfo AP_Proximity_Params::var_info[] = {
// @Param: _TYPE
// @DisplayName: Proximity type
// @Description: What type of proximity sensor is connected
// @Values: 0:None,7:LightwareSF40c,2:MAVLink,3:TeraRangerTower,4:RangeFinder,5:RPLidarA2,6:TeraRangerTowerEvo,8:LightwareSF45B,10:SITL,12:AirSimSITL,13:CygbotD1, 14:DroneCAN, 15:Scripting, 16:LD06, 17: MR72_CAN
// @Values: 0:None,7:LightwareSF40c,2:MAVLink,3:TeraRangerTower,4:RangeFinder,5:RPLidarA2,6:TeraRangerTowerEvo,8:LightwareSF45B_Serial,10:SITL,12:AirSimSITL,13:CygbotD1, 14:DroneCAN, 15:Scripting, 16:LD06, 17: MR72_CAN, 18:LightwareSF45B_I2C
// @RebootRequired: True
// @User: Standard
AP_GROUPINFO_FLAGS("_TYPE", 1, AP_Proximity_Params, type, 0, AP_PARAM_FLAG_ENABLE),

7
libraries/AP_Proximity/AP_Proximity_config.h
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@ -33,10 +33,13 @@
#define AP_PROXIMITY_LIGHTWARE_SF40C_ENABLED AP_PROXIMITY_BACKEND_DEFAULT_ENABLED
#endif
#ifndef AP_PROXIMITY_LIGHTWARE_SF45B_ENABLED
#define AP_PROXIMITY_LIGHTWARE_SF45B_ENABLED AP_PROXIMITY_BACKEND_DEFAULT_ENABLED
#ifndef AP_PROXIMITY_LIGHTWARE_SF45B_SERIAL_ENABLED
#define AP_PROXIMITY_LIGHTWARE_SF45B_SERIAL_ENABLED AP_PROXIMITY_BACKEND_DEFAULT_ENABLED
#endif
#ifndef AP_PROXIMITY_LIGHTWARE_SF45B_I2C_ENABLED
#define AP_PROXIMITY_LIGHTWARE_SF45B_I2C_ENABLED AP_PROXIMITY_BACKEND_DEFAULT_ENABLED
#endif
#ifndef AP_PROXIMITY_MR72_ENABLED
#define AP_PROXIMITY_MR72_ENABLED AP_PROXIMITY_BACKEND_DEFAULT_ENABLED && HAL_MAX_CAN_PROTOCOL_DRIVERS